The template node for the mock drivers that will handle all of the default driver logic. More...

#include <MockDriver.h>

Inheritance diagram for mock_drivers::MockDriver:

Collaboration diagram for mock_drivers::MockDriver:

Public Member Functions
virtual	~MockDriver ()=0

int	run ()
	A function to initialize the publishers and subsricers and start the node. In child classes, this function will trigger a call to onRun(). More...

virtual std::vector< DriverType >	getDriverTypes ()=0
	Pure Virtual method which child classes must override that returns the list of all driver types that class implements. More...

virtual uint8_t	getDriverStatus ()=0
	Pure Virtual method. Returns an integer value which corresponds to the cav_msgs/DriverStatus enum felids representing the status of the driver. More...

virtual unsigned int	getRate ()=0
	Pure virtual method that returns the desired operational rate of a child class. More...

bool	spinCallback ()
	Callback which will be triggered at the rate specified by getRate(). This callback will also trigger the onSpin() method. More...

Protected Types
template<class T >
using	ConstPtr = boost::shared_ptr< const T >

template<class T >
using	ConstPtrRef = const ConstPtr< T > &

template<class T >
using	ROSCommsPtr = boost::shared_ptr< ROSComms< T > >

template<class T >
using	ConstPtrRefROSComms = ROSComms< ConstPtrRef< T > >

template<class T >
using	ConstPtrRefROSCommsPtr = ROSCommsPtr< ConstPtrRef< T > >

Protected Member Functions
virtual bool	onSpin ()
	Virtual method which child classes can override to add functionality which will occur during each spin loop. This means this function will be nominally called at the rate specified by getRate() More...

virtual int	onRun ()=0
	Pure virtual method which must be implemented by child classes. This method will be run once at startup. Child classes should add pub/sub initialization in this method implementation. More...

void	driverDiscovery ()
	Helper function to publish the driver discovery message. More...

MockDriverNode	getMockDriverNode () const
	Returns the mock driver node for the mock driver (used for testing) More...

template<typename T >
void	addPassthroughPub (const std::string &sub_topic, const std::string &pub_topic, bool latch, size_t queue_size)
	Function adds both a publisher and subscriber of the specified type. This means a passthrough subscription has been created. This version of the method should be used for message types which contain a Header at the field "header". The header field will be automatically updated to the current ros::Time::now(). More...

template<typename T >
void	addPassthroughPubNoHeader (const std::string &sub_topic, const std::string &pub_topic, bool latch, size_t queue_size)
	Function adds both a publisher and subscriber of the specified type. This means a passthrough subscription has been created. This version of the method should be used for message types which does NOT contain a Header at the field "header". More...

Protected Attributes
MockDriverNode	mock_driver_node_

const std::string	bag_prefix_ = "/bag/hardware_interface/"

const std::string	driver_discovery_topic_ = "driver_discovery"

ROSCommsPtr< cav_msgs::DriverStatus >	driver_discovery_pub_ptr_

ros::Time	last_discovery_pub_ = ros::Time(0)

Detailed Description

The template node for the mock drivers that will handle all of the default driver logic.

This class has virtual functions that define what to do when the mock driver is run.

It will also have build in default mock driver publishers and subscribers baked in, such as the driver discovery publisher.

Definition at line 39 of file MockDriver.h.

Member Typedef Documentation

◆ ConstPtr

template<class T >

using mock_drivers::MockDriver::ConstPtr = boost::shared_ptr<const T>

protected

Definition at line 44 of file MockDriver.h.

◆ ConstPtrRef

template<class T >

using mock_drivers::MockDriver::ConstPtrRef = const ConstPtr<T>&

protected

Definition at line 47 of file MockDriver.h.

◆ ConstPtrRefROSComms

template<class T >

using mock_drivers::MockDriver::ConstPtrRefROSComms = ROSComms<ConstPtrRef<T> >

protected

Definition at line 53 of file MockDriver.h.

◆ ConstPtrRefROSCommsPtr

template<class T >

using mock_drivers::MockDriver::ConstPtrRefROSCommsPtr = ROSCommsPtr<ConstPtrRef<T> >

protected

Definition at line 56 of file MockDriver.h.

◆ ROSCommsPtr

template<class T >

using mock_drivers::MockDriver::ROSCommsPtr = boost::shared_ptr<ROSComms<T> >

protected

Definition at line 50 of file MockDriver.h.

Constructor & Destructor Documentation

◆ ~MockDriver()

mock_drivers::MockDriver::~MockDriver ( )

pure virtual

Definition at line 21 of file MockDriver.cpp.

22{

23}

Member Function Documentation

◆ addPassthroughPub()

template<typename T >

void mock_drivers::MockDriver::addPassthroughPub	(	const std::string &	sub_topic,
		const std::string &	pub_topic,
		bool	latch,
		size_t	queue_size
	)

protected

Function adds both a publisher and subscriber of the specified type. This means a passthrough subscription has been created. This version of the method should be used for message types which contain a Header at the field "header". The header field will be automatically updated to the current ros::Time::now().

Template Parameters

T	ROS message type which the provided topic name applies to. Should be the base type only such as sensor_msgs/NavSatFix

Parameters

sub_topic	The topic name to subscribe to.
pub_topic	The topic name to publish to.
latch	Flag idicating if the output publisher should be latched.
queue_size	The size of the queue to use both for the publisher and subscriber

TODO: This function can be combined with addPassthroughPubNoHeader using C++ 17's constexpr if statements.

◆ addPassthroughPubNoHeader()

template<typename T >

void mock_drivers::MockDriver::addPassthroughPubNoHeader	(	const std::string &	sub_topic,
		const std::string &	pub_topic,
		bool	latch,
		size_t	queue_size
	)

protected

Function adds both a publisher and subscriber of the specified type. This means a passthrough subscription has been created. This version of the method should be used for message types which does NOT contain a Header at the field "header".

Template Parameters

T	ROS message type which the provided topic name applies to. Should be the base type only such as sensor_msgs/NavSatFix

Parameters

sub_topic	The topic name to subscribe to.
pub_topic	The topic name to publish to.
latch	Flag idicating if the output publisher should be latched.
queue_size	The size of the queue to use both for the publisher and subscriber

TODO: This function can be combined with addPassthroughPub using C++ 17's constexpr if statements.

◆ driverDiscovery()

void mock_drivers::MockDriver::driverDiscovery ( )

protected

Helper function to publish the driver discovery message.

Definition at line 63 of file MockDriver.cpp.

{
  cav_msgs::DriverStatus discovery_msg;
 
  discovery_msg.name = mock_driver_node_.getGraphName();
  discovery_msg.status = getDriverStatus();
 
  for (DriverType type : getDriverTypes())
  {
    switch (type)
    {
      case DriverType::CAN:
        discovery_msg.can = true;
        break;
      case DriverType::RADAR:
        discovery_msg.radar = true;
        break;
      case DriverType::GNSS:
        discovery_msg.gnss = true;
        break;
      case DriverType::LIDAR:
        discovery_msg.lidar = true;
        break;
      case DriverType::ROADWAY_SENSOR:
        discovery_msg.roadway_sensor = true;
        break;
      case DriverType::COMMS:
        discovery_msg.comms = true;
        break;
      case DriverType::CONTROLLER:
        discovery_msg.controller = true;
        break;
      case DriverType::CAMERA:
        discovery_msg.camera = true;
        break;
      case DriverType::IMU:
        discovery_msg.imu = true;
        break;
      case DriverType::TRAILER_ANGLE_SENSOR:
        discovery_msg.trailer_angle_sensor = true;
        break;
      case DriverType::LIGHTBAR:
        discovery_msg.lightbar = true;
        break;
 
      default:
        std::invalid_argument("Unsupported DriverType provided by getDriverTypes");
        break;
    }
  }
 
  mock_driver_node_.publishDataNoHeader<cav_msgs::DriverStatus>(driver_discovery_topic_, discovery_msg);
}

References CAMERA, CAN, COMMS, CONTROLLER, driver_discovery_topic_, getDriverStatus(), getDriverTypes(), mock_drivers::MockDriverNode::getGraphName(), GNSS, IMU, LIDAR, LIGHTBAR, mock_driver_node_, mock_drivers::MockDriverNode::publishDataNoHeader(), RADAR, ROADWAY_SENSOR, and TRAILER_ANGLE_SENSOR.

Referenced by spinCallback().

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◆ getDriverStatus()

virtual uint8_t mock_drivers::MockDriver::getDriverStatus ( )

pure virtual

Pure Virtual method. Returns an integer value which corresponds to the cav_msgs/DriverStatus enum felids representing the status of the driver.

Returns: Integer value which must match one of the enum fields in cav_msgs/DriverStatus

Implemented in mock_drivers::MockCameraDriver, mock_drivers::MockCANDriver, mock_drivers::MockCommsDriver, mock_drivers::MockControllerDriver, mock_drivers::MockGNSSDriver, mock_drivers::MockIMUDriver, mock_drivers::MockLidarDriver, mock_drivers::MockRadarDriver, and mock_drivers::MockRoadwaySensorDriver.

Referenced by driverDiscovery().

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◆ getDriverTypes()

virtual std::vector< DriverType > mock_drivers::MockDriver::getDriverTypes ( )

pure virtual

Pure Virtual method which child classes must override that returns the list of all driver types that class implements.

Returns: A list of DriverType that defines the interfaces the implementing class provides

Implemented in mock_drivers::MockCameraDriver, mock_drivers::MockCANDriver, mock_drivers::MockCommsDriver, mock_drivers::MockControllerDriver, mock_drivers::MockGNSSDriver, mock_drivers::MockIMUDriver, mock_drivers::MockLidarDriver, mock_drivers::MockRadarDriver, and mock_drivers::MockRoadwaySensorDriver.

Referenced by driverDiscovery().

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◆ getMockDriverNode()

MockDriverNode mock_drivers::MockDriver::getMockDriverNode ( ) const

protected

Returns the mock driver node for the mock driver (used for testing)

Definition at line 25 of file MockDriver.cpp.

{
  return mock_driver_node_;
}

References mock_driver_node_.

◆ getRate()

virtual unsigned int mock_drivers::MockDriver::getRate ( )

pure virtual

Pure virtual method that returns the desired operational rate of a child class.

Returns: Spin rate in Hz

Implemented in mock_drivers::MockCameraDriver, mock_drivers::MockCANDriver, mock_drivers::MockCommsDriver, mock_drivers::MockControllerDriver, mock_drivers::MockGNSSDriver, mock_drivers::MockIMUDriver, mock_drivers::MockLidarDriver, mock_drivers::MockRadarDriver, and mock_drivers::MockRoadwaySensorDriver.

Referenced by run().

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◆ onRun()

virtual int mock_drivers::MockDriver::onRun ( )

protectedpure virtual

Pure virtual method which must be implemented by child classes. This method will be run once at startup. Child classes should add pub/sub initialization in this method implementation.

Returns: An integer error code. A non-zero value will indicate an initialization failure and result in node shutdown.

Implemented in mock_drivers::MockCameraDriver, mock_drivers::MockCANDriver, mock_drivers::MockCommsDriver, mock_drivers::MockControllerDriver, mock_drivers::MockGNSSDriver, mock_drivers::MockIMUDriver, mock_drivers::MockLidarDriver, mock_drivers::MockRadarDriver, and mock_drivers::MockRoadwaySensorDriver.

Referenced by run().

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◆ onSpin()

bool mock_drivers::MockDriver::onSpin ( )

protectedvirtual

Virtual method which child classes can override to add functionality which will occur during each spin loop. This means this function will be nominally called at the rate specified by getRate()

Returns: Return false if this node should shutdown. True otherwise.

Reimplemented in mock_drivers::MockControllerDriver.

Definition at line 30 of file MockDriver.cpp.

{
  return true;
}

Referenced by spinCallback().

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◆ run()

int mock_drivers::MockDriver::run ( )

A function to initialize the publishers and subsricers and start the node. In child classes, this function will trigger a call to onRun().

Returns: An integer error code. A non-zero value will indicate an initialization failure and result in node shutdown.

Definition at line 35 of file MockDriver.cpp.

                    {
  mock_driver_node_.init();
 
  // driver discovery publisher
  mock_driver_node_.addPub(driver_discovery_pub_ptr_);
  mock_driver_node_.setSpinCallback(std::bind(&MockDriver::spinCallback, this));
 
  int return_val = onRun();
  
  if (return_val != 0) {
    return return_val;
  }
 
  mock_driver_node_.spin(getRate());
 
  return 0;
}

References mock_drivers::MockDriverNode::addPub(), driver_discovery_pub_ptr_, getRate(), mock_drivers::MockDriverNode::init(), mock_driver_node_, onRun(), mock_drivers::MockDriverNode::setSpinCallback(), mock_drivers::MockDriverNode::spin(), and spinCallback().

Referenced by main().

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◆ spinCallback()

bool mock_drivers::MockDriver::spinCallback ( )

Callback which will be triggered at the rate specified by getRate(). This callback will also trigger the onSpin() method.

Returns: False if this node should shutdown. True otherwise.

Definition at line 53 of file MockDriver.cpp.

{
  if (last_discovery_pub_ == ros::Time(0) || (ros::Time::now() - last_discovery_pub_).toSec() > 0.95)
  {
    driverDiscovery();
    last_discovery_pub_ = ros::Time::now();
  }
  return onSpin();
}

References driverDiscovery(), last_discovery_pub_, and onSpin().

Referenced by run().

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Member Data Documentation

◆ bag_prefix_

const std::string mock_drivers::MockDriver::bag_prefix_ = "/bag/hardware_interface/"

protected

Definition at line 63 of file MockDriver.h.

Referenced by mock_drivers::MockCameraDriver::onRun(), mock_drivers::MockCANDriver::onRun(), mock_drivers::MockCommsDriver::onRun(), mock_drivers::MockGNSSDriver::onRun(), mock_drivers::MockIMUDriver::onRun(), mock_drivers::MockLidarDriver::onRun(), mock_drivers::MockRadarDriver::onRun(), and mock_drivers::MockRoadwaySensorDriver::onRun().

◆ driver_discovery_pub_ptr_

ROSCommsPtr<cav_msgs::DriverStatus> mock_drivers::MockDriver::driver_discovery_pub_ptr_

protected

Initial value:

=

boost::make_shared<ROSComms<cav_msgs::DriverStatus>>(CommTypes::pub, false, 10, driver_discovery_topic_)

CommTypes::pub

@ pub

Definition at line 67 of file MockDriver.h.

Referenced by run().

◆ driver_discovery_topic_

const std::string mock_drivers::MockDriver::driver_discovery_topic_ = "driver_discovery"

protected

Definition at line 65 of file MockDriver.h.

Referenced by driverDiscovery().

◆ last_discovery_pub_

ros::Time mock_drivers::MockDriver::last_discovery_pub_ = ros::Time(0)

protected

Definition at line 70 of file MockDriver.h.

Referenced by spinCallback().

◆ mock_driver_node_

MockDriverNode mock_drivers::MockDriver::mock_driver_node_

protected

Definition at line 59 of file MockDriver.h.

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

mock_drivers/rosbag_mock_drivers/include/rosbag_mock_drivers/MockDriver.h
mock_drivers/rosbag_mock_drivers/src/MockDriver.cpp

Public Member Functions

Protected Types

Protected Member Functions

Protected Attributes

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ ConstPtrRef

◆ ConstPtrRefROSComms

◆ ConstPtrRefROSCommsPtr

◆ ROSCommsPtr

Constructor & Destructor Documentation

◆ ~MockDriver()

Member Function Documentation

◆ addPassthroughPub()

◆ addPassthroughPubNoHeader()

◆ driverDiscovery()

◆ getDriverStatus()

◆ getDriverTypes()

◆ getMockDriverNode()

◆ getRate()

◆ onRun()

◆ onSpin()

◆ run()

◆ spinCallback()

Member Data Documentation

◆ bag_prefix_

◆ driver_discovery_pub_ptr_

◆ driver_discovery_topic_

◆ last_discovery_pub_

◆ mock_driver_node_