port_drayage_plugin::PortDrayagePlugin Class Reference

#include <port_drayage_plugin.hpp>

Inheritance diagram for port_drayage_plugin::PortDrayagePlugin:

Collaboration diagram for port_drayage_plugin::PortDrayagePlugin:

Public Member Functions
	PortDrayagePlugin (const rclcpp::NodeOptions &)
	PortDrayagePlugin constructor. More...
bool	callSetActiveRouteClient (std::shared_ptr< carma_planning_msgs::srv::SetActiveRoute::Request > req)
	Calls the /guidance/set_active_route service client to set an active route. More...
void	publishMobilityOperation (const carma_v2x_msgs::msg::MobilityOperation &msg)
	Publishes a Mobility Operation message to the outgoing mobility operation topic. More...
void	publishUIInstructions (const carma_msgs::msg::UIInstructions &msg)
	Publishes a UI Instructions message to the outgoing UI Instructions topic. More...
rcl_interfaces::msg::SetParametersResult	parameter_update_callback (const std::vector< rclcpp::Parameter > &parameters)
	Callback for dynamic parameter updates. More...
carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &prev_state)

Private Attributes
carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseStamped >	pose_subscriber_
carma_ros2_utils::SubPtr< carma_v2x_msgs::msg::MobilityOperation >	inbound_mobility_operation_subscriber_
carma_ros2_utils::SubPtr< carma_planning_msgs::msg::GuidanceState >	guidance_state_subscriber_
carma_ros2_utils::SubPtr< carma_planning_msgs::msg::RouteEvent >	route_event_subscriber_
carma_ros2_utils::SubPtr< std_msgs::msg::String >	georeference_subscriber_
carma_ros2_utils::PubPtr< carma_v2x_msgs::msg::MobilityOperation >	outbound_mobility_operations_publisher_
carma_ros2_utils::PubPtr< carma_msgs::msg::UIInstructions >	ui_instructions_publisher_
carma_ros2_utils::ClientPtr< carma_planning_msgs::srv::SetActiveRoute >	set_active_route_client_
Config	config_
PortDrayageWorker	pdw_

Detailed Description

Primary Port Drayage Plugin implementation class. Split into this class primarily concerned with the handling of ROS message processing and the PortDrayageWorker class responsible for handling the core business logic of the Port Drayage functionality.

Definition at line 43 of file port_drayage_plugin.hpp.

Constructor & Destructor Documentation

PortDrayagePlugin()

port_drayage_plugin::PortDrayagePlugin::PortDrayagePlugin ( const rclcpp::NodeOptions &  options )

explicit

PortDrayagePlugin constructor.

Definition at line 22 of file port_drayage_plugin.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options),
      pdw_(get_node_logging_interface(), get_clock(),
           std::bind(&PortDrayagePlugin::publishMobilityOperation, this, std_ph::_1),
           std::bind(&PortDrayagePlugin::publishUIInstructions, this, std_ph::_1),
           std::bind(&PortDrayagePlugin::callSetActiveRouteClient, this, std_ph::_1))
  {
    // Create initial config
    config_ = Config();
 
    // Declare parameters
    config_.cmv_id = declare_parameter<std::string>("vehicle_id", config_.cmv_id);
    config_.cargo_id = declare_parameter<std::string>("cargo_id", config_.cargo_id);
    config_.enable_port_drayage = declare_parameter<bool>("enable_port_drayage", config_.enable_port_drayage);
    config_.starting_at_staging_area = declare_parameter<bool>("starting_at_staging_area", config_.starting_at_staging_area);
  }

References port_drayage_plugin::Config::cargo_id, port_drayage_plugin::Config::cmv_id, config_, port_drayage_plugin::Config::enable_port_drayage, and port_drayage_plugin::Config::starting_at_staging_area.

Member Function Documentation

callSetActiveRouteClient()

bool port_drayage_plugin::PortDrayagePlugin::callSetActiveRouteClient

(

std::shared_ptr< carma_planning_msgs::srv::SetActiveRoute::Request >

req

)

Calls the /guidance/set_active_route service client to set an active route.

Parameters

req	The service request being used to call the service client

Returns

If the service client call was successful and no errors occurred while setting the new active route

Definition at line 110 of file port_drayage_plugin.cpp.

  {
    // Send request to set_active_route service 
    auto route_result = set_active_route_client_->async_send_request(req);
 
    // Wait for response from service call
    auto future_status = route_result.wait_for(std::chrono::milliseconds(100));
 
    if (future_status == std::future_status::ready) {
      if(route_result.get()->error_status == carma_planning_msgs::srv::SetActiveRoute::Response::NO_ERROR){
        RCLCPP_DEBUG_STREAM(get_logger(), "Route Generation succeeded for Set Active Route service call.");
        return true;
      }
      else{
        RCLCPP_DEBUG_STREAM(get_logger(), "Route Generation failed for Set Active Route service call.");
        return false;
      }
    }
    else {
      // No response was received after making the service call
      RCLCPP_DEBUG_STREAM(get_logger(), "Set Active Route service call was not successful.");
      return false;
    }
 
  }

References set_active_route_client_.

handle_on_configure()

carma_ros2_utils::CallbackReturn port_drayage_plugin::PortDrayagePlugin::handle_on_configure

(

const rclcpp_lifecycle::State &

prev_state

)

Definition at line 63 of file port_drayage_plugin.cpp.

  {
    RCLCPP_INFO_STREAM(get_logger(), "port_drayage_plugin trying to configure");
 
    // Reset config
    config_ = Config();
 
    // Load parameters
    get_parameter<std::string>("vehicle_id", config_.cmv_id);
    get_parameter<std::string>("cargo_id", config_.cargo_id);
    get_parameter<bool>("enable_port_drayage", config_.enable_port_drayage);
    get_parameter<bool>("starting_at_staging_area", config_.starting_at_staging_area);
 
    RCLCPP_INFO_STREAM(get_logger(), "Loaded params: " << config_);
 
    // Register runtime parameter update callback
    add_on_set_parameters_callback(std::bind(&PortDrayagePlugin::parameter_update_callback, this, std_ph::_1));
 
    // Setup subscribers
    pose_subscriber_ = create_subscription<geometry_msgs::msg::PoseStamped>("current_pose", 5,
                                                              std::bind(&PortDrayageWorker::onNewPose, &pdw_, std_ph::_1));
    inbound_mobility_operation_subscriber_ = create_subscription<carma_v2x_msgs::msg::MobilityOperation>("incoming_mobility_operation", 5,
                                                              std::bind(&PortDrayageWorker::onInboundMobilityOperation, &pdw_, std_ph::_1));
    guidance_state_subscriber_ = create_subscription<carma_planning_msgs::msg::GuidanceState> ("guidance_state", 5,
                                                              std::bind(&PortDrayageWorker::onGuidanceState, &pdw_, std_ph::_1));
    route_event_subscriber_ = create_subscription<carma_planning_msgs::msg::RouteEvent>("route_event", 5,
                                                              std::bind(&PortDrayageWorker::onRouteEvent, &pdw_, std_ph::_1));
    georeference_subscriber_ = create_subscription<std_msgs::msg::String>("georeference", 1,
                                                              std::bind(&PortDrayageWorker::onNewGeoreference, &pdw_, std_ph::_1));
 
    // Setup publishers
    outbound_mobility_operations_publisher_ = create_publisher<carma_v2x_msgs::msg::MobilityOperation>("outgoing_mobility_operation", 5);
    ui_instructions_publisher_ = create_publisher<carma_msgs::msg::UIInstructions>("ui_instructions", 5);
 
    // Setup service clients
    set_active_route_client_ = create_client<carma_planning_msgs::srv::SetActiveRoute>("set_active_route");
 
    // Set PortDrayageWorker variables
    pdw_.setVehicleID(config_.cmv_id);
    pdw_.setCargoID(config_.cargo_id);
    pdw_.setEnablePortDrayageFlag(config_.enable_port_drayage);
    pdw_.setStartingAtStagingAreaFlag(config_.starting_at_staging_area);
 
    // Return success if everything initialized successfully
    return CallbackReturn::SUCCESS;
  }

References port_drayage_plugin::Config::cargo_id, port_drayage_plugin::Config::cmv_id, config_, port_drayage_plugin::Config::enable_port_drayage, georeference_subscriber_, guidance_state_subscriber_, inbound_mobility_operation_subscriber_, port_drayage_plugin::PortDrayageWorker::onGuidanceState(), port_drayage_plugin::PortDrayageWorker::onInboundMobilityOperation(), port_drayage_plugin::PortDrayageWorker::onNewGeoreference(), port_drayage_plugin::PortDrayageWorker::onNewPose(), port_drayage_plugin::PortDrayageWorker::onRouteEvent(), outbound_mobility_operations_publisher_, parameter_update_callback(), pdw_, pose_subscriber_, route_event_subscriber_, set_active_route_client_, port_drayage_plugin::PortDrayageWorker::setCargoID(), port_drayage_plugin::PortDrayageWorker::setEnablePortDrayageFlag(), port_drayage_plugin::PortDrayageWorker::setStartingAtStagingAreaFlag(), port_drayage_plugin::PortDrayageWorker::setVehicleID(), port_drayage_plugin::Config::starting_at_staging_area, and ui_instructions_publisher_.

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parameter_update_callback()

rcl_interfaces::msg::SetParametersResult port_drayage_plugin::PortDrayagePlugin::parameter_update_callback

(

const std::vector< rclcpp::Parameter > &

parameters

)

Callback for dynamic parameter updates.

Definition at line 39 of file port_drayage_plugin.cpp.

  {
    auto error = update_params<std::string>({
      {"vehicle_id", config_.cmv_id},
      {"cargo_id", config_.cargo_id}}, parameters);
    auto error_2 = update_params<bool>({
      {"enable_port_drayage", config_.enable_port_drayage},
      {"starting_at_staging_area", config_.starting_at_staging_area}}, parameters);
 
    rcl_interfaces::msg::SetParametersResult result;
 
    result.successful = !error && !error_2;
 
    if (result.successful) {
      // Set PortDrayageWorker parameters
      pdw_.setVehicleID(config_.cmv_id);
      pdw_.setCargoID(config_.cargo_id);
      pdw_.setEnablePortDrayageFlag(config_.enable_port_drayage);
      pdw_.setStartingAtStagingAreaFlag(config_.starting_at_staging_area);
    }
 
    return result;
  }

References port_drayage_plugin::Config::cargo_id, port_drayage_plugin::Config::cmv_id, config_, port_drayage_plugin::Config::enable_port_drayage, pdw_, port_drayage_plugin::PortDrayageWorker::setCargoID(), port_drayage_plugin::PortDrayageWorker::setEnablePortDrayageFlag(), port_drayage_plugin::PortDrayageWorker::setStartingAtStagingAreaFlag(), port_drayage_plugin::PortDrayageWorker::setVehicleID(), and port_drayage_plugin::Config::starting_at_staging_area.

Referenced by handle_on_configure().

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publishMobilityOperation()

void port_drayage_plugin::PortDrayagePlugin::publishMobilityOperation

(

const carma_v2x_msgs::msg::MobilityOperation &

msg

)

Publishes a Mobility Operation message to the outgoing mobility operation topic.

Parameters

msg	The Mobility Operation message to be published

Definition at line 136 of file port_drayage_plugin.cpp.

  {
    outbound_mobility_operations_publisher_->publish(msg);
  }

References outbound_mobility_operations_publisher_.

publishUIInstructions()

void port_drayage_plugin::PortDrayagePlugin::publishUIInstructions

(

const carma_msgs::msg::UIInstructions &

msg

)

Publishes a UI Instructions message to the outgoing UI Instructions topic.

Parameters

msg	The UI Instructions message to be published

Definition at line 141 of file port_drayage_plugin.cpp.

  {
    ui_instructions_publisher_->publish(msg);
  }

References ui_instructions_publisher_.

Member Data Documentation

config_

Config port_drayage_plugin::PortDrayagePlugin::config_

private

Definition at line 62 of file port_drayage_plugin.hpp.

Referenced by PortDrayagePlugin(), handle_on_configure(), and parameter_update_callback().

georeference_subscriber_

carma_ros2_utils::SubPtr<std_msgs::msg::String> port_drayage_plugin::PortDrayagePlugin::georeference_subscriber_

private

Definition at line 52 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure().

guidance_state_subscriber_

carma_ros2_utils::SubPtr<carma_planning_msgs::msg::GuidanceState> port_drayage_plugin::PortDrayagePlugin::guidance_state_subscriber_

private

Definition at line 50 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure().

inbound_mobility_operation_subscriber_

carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::MobilityOperation> port_drayage_plugin::PortDrayagePlugin::inbound_mobility_operation_subscriber_

private

Definition at line 49 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure().

outbound_mobility_operations_publisher_

carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::MobilityOperation> port_drayage_plugin::PortDrayagePlugin::outbound_mobility_operations_publisher_

private

Definition at line 55 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure(), and publishMobilityOperation().

pdw_

PortDrayageWorker port_drayage_plugin::PortDrayagePlugin::pdw_

private

Definition at line 65 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure(), and parameter_update_callback().

pose_subscriber_

carma_ros2_utils::SubPtr<geometry_msgs::msg::PoseStamped> port_drayage_plugin::PortDrayagePlugin::pose_subscriber_

private

Definition at line 48 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure().

route_event_subscriber_

carma_ros2_utils::SubPtr<carma_planning_msgs::msg::RouteEvent> port_drayage_plugin::PortDrayagePlugin::route_event_subscriber_

private

Definition at line 51 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure().

set_active_route_client_

carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::SetActiveRoute> port_drayage_plugin::PortDrayagePlugin::set_active_route_client_

private

Definition at line 59 of file port_drayage_plugin.hpp.

Referenced by callSetActiveRouteClient(), and handle_on_configure().

ui_instructions_publisher_

carma_ros2_utils::PubPtr<carma_msgs::msg::UIInstructions> port_drayage_plugin::PortDrayagePlugin::ui_instructions_publisher_

private

Definition at line 56 of file port_drayage_plugin.hpp.

Referenced by handle_on_configure(), and publishUIInstructions().

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

• port_drayage_plugin/include/port_drayage_plugin/port_drayage_plugin.hpp
• port_drayage_plugin/src/port_drayage_plugin.cpp