#include <MockLightBarDriver.hpp>

Collaboration diagram for mock_drivers::MockLightBarDriver:

Public Member Functions
	MockLightBarDriver (ros::CARMANodeHandle node)

void	publishData ()

void	publishDriverStatus ()

string	getNodeName ()

vector< string >	getDriverTypesList ()

Private Member Functions
bool	getDriverStatus_cb (cav_srvs::GetDriverStatusRequest &req, cav_srvs::GetDriverStatusResponse &resp)

bool	bind_cb (cav_srvs::BindRequest &req, cav_srvs::BindResponse &resp)

bool	getApiService_cb (cav_srvs::GetDriverApiRequest &req, cav_srvs::GetDriverApiResponse &resp)

bool	setLightService_cb (cav_srvs::SetLightsRequest &req, cav_srvs::SetLightsResponse &resp)

bool	getLightService_cb (cav_srvs::GetLightsRequest &req, cav_srvs::GetLightsResponse &resp)

cav_msgs::LightBarStatus	getLightBarStatus ()

cav_msgs::DriverStatus	getDriverStatus ()

vector< string >	getDriverApi ()

Private Attributes
cav_msgs::DriverStatus	driverStatus

ros::Publisher	lbPub

string	lbStatusTopic

ros::Publisher	discoveryPub

ros::ServiceServer	getLightsService

ros::ServiceServer	setLightsService

ros::ServiceServer	getApiService

ros::ServiceServer	bindService

ros::ServiceServer	getDriverStatusService

string	lbGetLightService

string	lbSetLightService

short	EXPECTED_DATA_COL_COUNT

short	SAMPLE_ID_IDX

bool	greenFlash

bool	yellowFlash

bool	leftArrow

bool	rightArrow

bool	sidesSolid

bool	greenSolid

bool	yellowDim

bool	takedown

Detailed Description

Definition at line 45 of file MockLightBarDriver.hpp.

Constructor & Destructor Documentation

◆ MockLightBarDriver()

mock_drivers::MockLightBarDriver::MockLightBarDriver ( ros::CARMANodeHandle node )

Definition at line 35 of file MockLightBarDriver.cpp.

                                                                           {   
                //lightbar topics and services
                lbStatusTopic = "lightbar/light_bar_status";
                lbGetLightService = "lightbar/get_lights";
                lbSetLightService = "lightbar/set_lights";
                //lightbar states
                greenFlash = false;
                yellowFlash = false;
                leftArrow = false;
                rightArrow = false;
                sidesSolid = false;
                greenSolid = false;
                yellowDim = false;
                takedown = false;      
                //topics published
                lbPub = node.advertise<cav_msgs::LightBarStatus>(lbStatusTopic, 100);
                discoveryPub = node.advertise<cav_msgs::DriverStatus>("driver_discovery",100);  
                //service server
                getApiService = node.advertiseService("mock_lightbar/get_driver_api",&MockLightBarDriver::getApiService_cb, this);
                bindService = node.advertiseService("mock_lightbar/bind",&MockLightBarDriver::bind_cb, this);
                getDriverStatusService = node.advertiseService("mock_lightbar/get_status",&MockLightBarDriver::getDriverStatus_cb,this);
                setLightsService = node.advertiseService(lbSetLightService, &MockLightBarDriver::setLightService_cb, this);
                getLightsService = node.advertiseService(lbGetLightService, &MockLightBarDriver::getLightService_cb, this);
                //publish driver status
                driverStatus.status = cav_msgs::DriverStatus::OPERATIONAL;
                publishDriverStatus();
            }

References bind_cb(), bindService, discoveryPub, driverStatus, getApiService, getApiService_cb(), getDriverStatus_cb(), getDriverStatusService, getLightService_cb(), getLightsService, greenFlash, greenSolid, lbGetLightService, lbPub, lbSetLightService, lbStatusTopic, leftArrow, publishDriverStatus(), rightArrow, setLightService_cb(), setLightsService, sidesSolid, takedown, yellowDim, and yellowFlash.

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Member Function Documentation

◆ bind_cb()

bool mock_drivers::MockLightBarDriver::bind_cb	(	cav_srvs::BindRequest &	req,
		cav_srvs::BindResponse &	resp
	)

private

Definition at line 70 of file MockLightBarDriver.cpp.

                                                                                                {
                ROS_INFO_STREAM("bind received");
                return true;
            }

Referenced by MockLightBarDriver().

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◆ getApiService_cb()

bool mock_drivers::MockLightBarDriver::getApiService_cb	(	cav_srvs::GetDriverApiRequest &	req,
		cav_srvs::GetDriverApiResponse &	resp
	)

private

Definition at line 76 of file MockLightBarDriver.cpp.

                                                                                                                         {
                resp.api_list = getDriverApi();
                return true;
            }

References getDriverApi().

Referenced by MockLightBarDriver().

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◆ getDriverApi()

vector< string > mock_drivers::MockLightBarDriver::getDriverApi ( )

private

Definition at line 137 of file MockLightBarDriver.cpp.

                                                             {
                vector<string> api;
                api.push_back(lbStatusTopic);
                api.push_back(lbGetLightService);
                api.push_back(lbSetLightService);
                return api;
 
            } 

References lbGetLightService, lbSetLightService, and lbStatusTopic.

Referenced by getApiService_cb().

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◆ getDriverStatus()

cav_msgs::DriverStatus mock_drivers::MockLightBarDriver::getDriverStatus ( )

private

Definition at line 119 of file MockLightBarDriver.cpp.

                                                                    {
                cav_msgs::DriverStatus status;
                status.name = getNodeName();
                status.status = driverStatus.status;
                status.can = false;
                status.radar = false;
                status.gnss = false;
                status.imu = false;
                status.lidar = false;
                status.roadway_sensor = false;
                status.comms = false;
                status.controller = false;
                status.camera = false;
                status.lightbar = true;
                return status;
 
            }

References driverStatus, and getNodeName().

Referenced by getDriverStatus_cb(), and publishDriverStatus().

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◆ getDriverStatus_cb()

bool mock_drivers::MockLightBarDriver::getDriverStatus_cb	(	cav_srvs::GetDriverStatusRequest &	req,
		cav_srvs::GetDriverStatusResponse &	resp
	)

private

Definition at line 64 of file MockLightBarDriver.cpp.

                                                                                                                                 {
                resp.status = getDriverStatus();
                return true;
            }

References getDriverStatus().

Referenced by MockLightBarDriver().

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◆ getDriverTypesList()

vector< string > mock_drivers::MockLightBarDriver::getDriverTypesList ( )

Definition at line 159 of file MockLightBarDriver.cpp.

                                                                  {
                vector<string> list;
                list.push_back("lightbar");
                return list;
            }

◆ getLightBarStatus()

cav_msgs::LightBarStatus mock_drivers::MockLightBarDriver::getLightBarStatus ( )

private

Helper function to build the lightbar status message

Returns: The lightbar status message

Definition at line 105 of file MockLightBarDriver.cpp.

                                                                        {
                cav_msgs::LightBarStatus status;
                status.green_solid = greenSolid? 1:0;
                status.yellow_solid = yellowDim? 1:0;
                status.right_arrow = rightArrow? 1:0;
                status.left_arrow = leftArrow? 1:0;
                status.sides_solid = sidesSolid? 1:0;
                status.flash = yellowFlash? 1:0;
                status.green_flash = greenFlash? 1:0;
                status.takedown = takedown? 1:0;
                return status;
 
            }

References greenFlash, greenSolid, leftArrow, rightArrow, sidesSolid, takedown, yellowDim, and yellowFlash.

Referenced by getLightService_cb(), and publishData().

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◆ getLightService_cb()

bool mock_drivers::MockLightBarDriver::getLightService_cb	(	cav_srvs::GetLightsRequest &	req,
		cav_srvs::GetLightsResponse &	resp
	)

private

Definition at line 96 of file MockLightBarDriver.cpp.

                                                                                                                     {
                resp.status = getLightBarStatus();
                return true;
            }

References getLightBarStatus().

Referenced by MockLightBarDriver().

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◆ getNodeName()

string mock_drivers::MockLightBarDriver::getNodeName ( )

Definition at line 155 of file MockLightBarDriver.cpp.

                                                  {
                return "MockLightBarDriver";
            }

Referenced by getDriverStatus().

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◆ publishData()

void mock_drivers::MockLightBarDriver::publishData ( )

Definition at line 146 of file MockLightBarDriver.cpp.

                                                  {
                cav_msgs::LightBarStatus status = getLightBarStatus();
                lbPub.publish(status);
            }

References getLightBarStatus(), and lbPub.

Referenced by main().

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◆ publishDriverStatus()

void mock_drivers::MockLightBarDriver::publishDriverStatus ( )

Definition at line 151 of file MockLightBarDriver.cpp.

                                                        {
                discoveryPub.publish(getDriverStatus());
            }

References discoveryPub, and getDriverStatus().

Referenced by MockLightBarDriver(), and main().

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◆ setLightService_cb()

bool mock_drivers::MockLightBarDriver::setLightService_cb	(	cav_srvs::SetLightsRequest &	req,
		cav_srvs::SetLightsResponse &	resp
	)

private

Definition at line 82 of file MockLightBarDriver.cpp.

                                                                                                                     {
                cav_msgs::LightBarStatus lightstatus = req.set_state;
                greenFlash = lightstatus.green_flash == 1;
                yellowFlash = lightstatus.flash == 1;
                leftArrow = lightstatus.left_arrow == 1;
                rightArrow = lightstatus.right_arrow== 1;
                sidesSolid = lightstatus.sides_solid == 1;
                greenSolid = lightstatus.green_solid == 1;
                yellowDim = lightstatus.yellow_solid == 1;
                takedown = lightstatus.takedown == 1;
                return true;
            }

References greenFlash, greenSolid, leftArrow, rightArrow, sidesSolid, takedown, yellowDim, and yellowFlash.

Referenced by MockLightBarDriver().

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Member Data Documentation

◆ bindService

ros::ServiceServer mock_drivers::MockLightBarDriver::bindService

private

Definition at line 61 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver().

◆ discoveryPub

ros::Publisher mock_drivers::MockLightBarDriver::discoveryPub

private

Definition at line 55 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), and publishDriverStatus().

◆ driverStatus

cav_msgs::DriverStatus mock_drivers::MockLightBarDriver::driverStatus

private

Definition at line 51 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), and getDriverStatus().

◆ EXPECTED_DATA_COL_COUNT

short mock_drivers::MockLightBarDriver::EXPECTED_DATA_COL_COUNT

private

Definition at line 65 of file MockLightBarDriver.hpp.

◆ getApiService

ros::ServiceServer mock_drivers::MockLightBarDriver::getApiService

private

Definition at line 60 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver().

◆ getDriverStatusService

ros::ServiceServer mock_drivers::MockLightBarDriver::getDriverStatusService

private

Definition at line 62 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver().

◆ getLightsService

ros::ServiceServer mock_drivers::MockLightBarDriver::getLightsService

private

Definition at line 58 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver().

◆ greenFlash

bool mock_drivers::MockLightBarDriver::greenFlash

private

Definition at line 69 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ greenSolid

bool mock_drivers::MockLightBarDriver::greenSolid

private

Definition at line 74 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ lbGetLightService

string mock_drivers::MockLightBarDriver::lbGetLightService

private

Definition at line 63 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), and getDriverApi().

◆ lbPub

ros::Publisher mock_drivers::MockLightBarDriver::lbPub

private

Definition at line 53 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), and publishData().

◆ lbSetLightService

string mock_drivers::MockLightBarDriver::lbSetLightService

private

Definition at line 64 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), and getDriverApi().

◆ lbStatusTopic

string mock_drivers::MockLightBarDriver::lbStatusTopic

private

Definition at line 54 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), and getDriverApi().

◆ leftArrow

bool mock_drivers::MockLightBarDriver::leftArrow

private

Definition at line 71 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ rightArrow

bool mock_drivers::MockLightBarDriver::rightArrow

private

Definition at line 72 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ SAMPLE_ID_IDX

short mock_drivers::MockLightBarDriver::SAMPLE_ID_IDX

private

Definition at line 66 of file MockLightBarDriver.hpp.

◆ setLightsService

ros::ServiceServer mock_drivers::MockLightBarDriver::setLightsService

private

Definition at line 59 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver().

◆ sidesSolid

bool mock_drivers::MockLightBarDriver::sidesSolid

private

Definition at line 73 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ takedown

bool mock_drivers::MockLightBarDriver::takedown

private

Definition at line 76 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ yellowDim

bool mock_drivers::MockLightBarDriver::yellowDim

private

Definition at line 75 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

◆ yellowFlash

bool mock_drivers::MockLightBarDriver::yellowFlash

private

Definition at line 70 of file MockLightBarDriver.hpp.

Referenced by MockLightBarDriver(), getLightBarStatus(), and setLightService_cb().

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

mock_drivers/mock_lightbar_driver/include/mock_lightbar_driver/MockLightBarDriver.hpp
mock_drivers/mock_lightbar_driver/src/MockLightBarDriver.cpp

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ MockLightBarDriver()

Member Function Documentation

◆ bind_cb()

◆ getApiService_cb()

◆ getDriverApi()

◆ getDriverStatus()

◆ getDriverStatus_cb()

◆ getDriverTypesList()

◆ getLightBarStatus()

◆ getLightService_cb()

◆ getNodeName()

◆ publishData()

◆ publishDriverStatus()

◆ setLightService_cb()

Member Data Documentation

◆ bindService

◆ discoveryPub

◆ driverStatus

◆ EXPECTED_DATA_COL_COUNT

◆ getApiService

◆ getDriverStatusService

◆ getLightsService

◆ greenFlash

◆ greenSolid

◆ lbGetLightService

◆ lbPub

◆ lbSetLightService

◆ lbStatusTopic

◆ leftArrow

◆ rightArrow

◆ SAMPLE_ID_IDX

◆ setLightsService

◆ sidesSolid

◆ takedown

◆ yellowDim

◆ yellowFlash