responsible for replicating behavior of control driver More...

#include <mock_controller_driver_node.hpp>

Inheritance diagram for mock_controller_driver::MockControllerDriver:

Collaboration diagram for mock_controller_driver::MockControllerDriver:

Public Member Functions
	MockControllerDriver (const rclcpp::NodeOptions &)
	MockControllerDriver constructor. More...

rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Callback for dynamic parameter updates. More...

void	publish_robot_status_callback ()
	Timer callback, to publish robot status message. More...

bool	enable_robotic_srv (std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< carma_driver_msgs::srv::SetEnableRobotic::Request > request, std::shared_ptr< carma_driver_msgs::srv::SetEnableRobotic::Response > response)
	Callback for the enable robotic service. Triggering this callback will modify the RobotEnabled message output by this driver. This service enables the robotic drive-by-wire controller. More...

void	vehicle_cmd_callback (const autoware_msgs::msg::VehicleCmd::UniquePtr msg)
	Callback for the vehicle command topic. This callback must be triggered at least once before the enable robotic service is called. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &prev_state)

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &)

Public Attributes
const std::string	robot_status_topic_ = "controller/robot_status"

const std::string	vehicle_cmd_topic_ = "vehicle_cmd"

const std::string	enable_robotic_srv_ = "controller/enable_robotic"

bool	robot_active_ = false

bool	robot_enabled_ = false

Private Attributes
carma_ros2_utils::SubPtr< autoware_msgs::msg::VehicleCmd >	vehicle_cmd_sub_

carma_ros2_utils::PubPtr< carma_driver_msgs::msg::RobotEnabled >	robot_status_pub_

carma_ros2_utils::ServicePtr< carma_driver_msgs::srv::SetEnableRobotic >	enable_robotic_srvice_

rclcpp::TimerBase::SharedPtr	spin_timer_

Detailed Description

responsible for replicating behavior of control driver

Definition at line 37 of file mock_controller_driver_node.hpp.

Constructor & Destructor Documentation

◆ MockControllerDriver()

mock_controller_driver::MockControllerDriver::MockControllerDriver ( const rclcpp::NodeOptions & options )

explicit

MockControllerDriver constructor.

Definition at line 22 of file mock_controller_driver_node.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options)
  {
 
  }

Member Function Documentation

◆ enable_robotic_srv()

bool mock_controller_driver::MockControllerDriver::enable_robotic_srv	(	std::shared_ptr< rmw_request_id_t >	,
		const std::shared_ptr< carma_driver_msgs::srv::SetEnableRobotic::Request >	request,
		std::shared_ptr< carma_driver_msgs::srv::SetEnableRobotic::Response >	response
	)

Callback for the enable robotic service. Triggering this callback will modify the RobotEnabled message output by this driver. This service enables the robotic drive-by-wire controller.

Parameters

request	The service request in message
response	The service response out message

Returns: Flag idicating if the service was processed successfully.

Definition at line 65 of file mock_controller_driver_node.cpp.

  {
    if (robot_enabled_ && request->set == carma_driver_msgs::srv::SetEnableRobotic::Request::ENABLE)
    {
      robot_active_ = true;
    }
    else
    {
      robot_active_ = false;
    }
 
    return true;
  }

References robot_active_, and robot_enabled_.

Referenced by handle_on_configure().

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◆ handle_on_activate()

carma_ros2_utils::CallbackReturn mock_controller_driver::MockControllerDriver::handle_on_activate ( const rclcpp_lifecycle::State & prev_state )

Definition at line 48 of file mock_controller_driver_node.cpp.

  {
    // Setup timers
    spin_timer_ = create_timer(
        get_clock(),
        std::chrono::milliseconds(33), // 30 Hz
        std::bind(&MockControllerDriver::publish_robot_status_callback, this));
 
    return CallbackReturn::SUCCESS;
  }

References publish_robot_status_callback(), and spin_timer_.

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◆ handle_on_configure()

carma_ros2_utils::CallbackReturn mock_controller_driver::MockControllerDriver::handle_on_configure ( const rclcpp_lifecycle::State & prev_state )

Definition at line 29 of file mock_controller_driver_node.cpp.

  {
 
    // Setup subscribers
    vehicle_cmd_sub_ = create_subscription<autoware_msgs::msg::VehicleCmd>(vehicle_cmd_topic_, 10,
                                                              std::bind(&MockControllerDriver::vehicle_cmd_callback, this, std_ph::_1));
 
    // Setup publishers
    robot_status_pub_ = create_publisher<carma_driver_msgs::msg::RobotEnabled>(robot_status_topic_, 10);
 
    // Setup service servers
    enable_robotic_srvice_ = create_service<carma_driver_msgs::srv::SetEnableRobotic>(enable_robotic_srv_,
                                                            std::bind(&MockControllerDriver::enable_robotic_srv, this, std_ph::_1, std_ph::_2, std_ph::_3));
 
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
  }

References enable_robotic_srv(), enable_robotic_srv_, enable_robotic_srvice_, robot_status_pub_, robot_status_topic_, vehicle_cmd_callback(), vehicle_cmd_sub_, and vehicle_cmd_topic_.

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◆ parameter_update_callback()

rcl_interfaces::msg::SetParametersResult mock_controller_driver::MockControllerDriver::parameter_update_callback ( const std::vector< rclcpp::Parameter > & parameters )

Callback for dynamic parameter updates.

◆ publish_robot_status_callback()

void mock_controller_driver::MockControllerDriver::publish_robot_status_callback ( )

Timer callback, to publish robot status message.

Definition at line 81 of file mock_controller_driver_node.cpp.

  {
    RCLCPP_DEBUG(get_logger(), "Generating robot status message");
    carma_driver_msgs::msg::RobotEnabled robot_status;
    robot_status.robot_active = robot_active_;
    robot_status.robot_enabled = robot_enabled_;
    robot_status_pub_->publish(robot_status);
  }

References robot_active_, robot_enabled_, and robot_status_pub_.

Referenced by handle_on_activate().

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◆ vehicle_cmd_callback()

void mock_controller_driver::MockControllerDriver::vehicle_cmd_callback ( const autoware_msgs::msg::VehicleCmd::UniquePtr msg )

Callback for the vehicle command topic. This callback must be triggered at least once before the enable robotic service is called.

Parameters

msg	The vehicle command to receive

Definition at line 60 of file mock_controller_driver_node.cpp.

  {
    robot_enabled_ = true;  // If a command was received set the robot enabled status to true
  }

References robot_enabled_.

Referenced by handle_on_configure().

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Member Data Documentation

◆ enable_robotic_srv_

const std::string mock_controller_driver::MockControllerDriver::enable_robotic_srv_ = "controller/enable_robotic"

Definition at line 64 of file mock_controller_driver_node.hpp.

Referenced by handle_on_configure().

◆ enable_robotic_srvice_

carma_ros2_utils::ServicePtr<carma_driver_msgs::srv::SetEnableRobotic> mock_controller_driver::MockControllerDriver::enable_robotic_srvice_

private

Definition at line 49 of file mock_controller_driver_node.hpp.

Referenced by handle_on_configure().

◆ robot_active_

bool mock_controller_driver::MockControllerDriver::robot_active_ = false

Definition at line 67 of file mock_controller_driver_node.hpp.

Referenced by enable_robotic_srv(), and publish_robot_status_callback().

◆ robot_enabled_

bool mock_controller_driver::MockControllerDriver::robot_enabled_ = false

Definition at line 68 of file mock_controller_driver_node.hpp.

Referenced by enable_robotic_srv(), publish_robot_status_callback(), and vehicle_cmd_callback().

◆ robot_status_pub_

carma_ros2_utils::PubPtr<carma_driver_msgs::msg::RobotEnabled> mock_controller_driver::MockControllerDriver::robot_status_pub_

private

Definition at line 45 of file mock_controller_driver_node.hpp.

Referenced by handle_on_configure(), and publish_robot_status_callback().

◆ robot_status_topic_

const std::string mock_controller_driver::MockControllerDriver::robot_status_topic_ = "controller/robot_status"

Definition at line 58 of file mock_controller_driver_node.hpp.

Referenced by handle_on_configure().

◆ spin_timer_

rclcpp::TimerBase::SharedPtr mock_controller_driver::MockControllerDriver::spin_timer_

private

Definition at line 52 of file mock_controller_driver_node.hpp.

Referenced by handle_on_activate().

◆ vehicle_cmd_sub_

carma_ros2_utils::SubPtr<autoware_msgs::msg::VehicleCmd> mock_controller_driver::MockControllerDriver::vehicle_cmd_sub_

private

Definition at line 42 of file mock_controller_driver_node.hpp.

Referenced by handle_on_configure().

◆ vehicle_cmd_topic_

const std::string mock_controller_driver::MockControllerDriver::vehicle_cmd_topic_ = "vehicle_cmd"

Definition at line 61 of file mock_controller_driver_node.hpp.

Referenced by handle_on_configure().

The documentation for this class was generated from the following files:

mock_controller_driver/include/mock_controller_driver/mock_controller_driver_node.hpp
mock_controller_driver/src/mock_controller_driver_node.cpp

Public Member Functions

Public Attributes

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MockControllerDriver()

Member Function Documentation

◆ enable_robotic_srv()

◆ handle_on_activate()

◆ handle_on_configure()

◆ parameter_update_callback()

◆ publish_robot_status_callback()

◆ vehicle_cmd_callback()

Member Data Documentation

◆ enable_robotic_srv_

◆ enable_robotic_srvice_

◆ robot_active_

◆ robot_enabled_

◆ robot_status_pub_

◆ robot_status_topic_

◆ spin_timer_

◆ vehicle_cmd_sub_

◆ vehicle_cmd_topic_