subsystem_controllers::SSCDriverManager Class Reference

The SSCDriverManager serves as a component to manage ROS1 SSC Driver in CARMA which is primarily in ROS2. More...

#include <ssc_driver_manager.hpp>

Collaboration diagram for subsystem_controllers::SSCDriverManager:

Public Member Functions
	SSCDriverManager ()
	Default constructor for SSCDriverManager with driver_timeout_ = 1000ms. More...
	SSCDriverManager (const std::string &ssc_driver_name, const long driver_timeout)
	Constructor for SSCDriverManager. More...
void	update_driver_status (const carma_driver_msgs::msg::DriverStatus::SharedPtr msg, long current_time)
	Update driver status. More...
bool	is_ssc_driver_operational (long current_time)
	Check if all critical drivers are operational. More...
carma_msgs::msg::SystemAlert	get_latest_system_alert (long time_now, long start_up_timestamp, long startup_duration)
	Handle the spin and publisher. More...

Protected Member Functions
	FRIEND_TEST (DriverManagerTest, testCarTruckHandleSpinFatalUnknown)

Protected Attributes
std::string	ssc_driver_name_ = ""
std::shared_ptr< Entry >	latest_ssc_status_entry_ = std::make_shared<Entry>()
	Latest SSC Status entry to keep track. More...
long	driver_timeout_ = 1000
bool	starting_up_ = true

Detailed Description

The SSCDriverManager serves as a component to manage ROS1 SSC Driver in CARMA which is primarily in ROS2.

Definition at line 45 of file ssc_driver_manager.hpp.

Constructor & Destructor Documentation

SSCDriverManager() [1/2]

subsystem_controllers::SSCDriverManager::SSCDriverManager

(

)

Default constructor for SSCDriverManager with driver_timeout_ = 1000ms.

Definition at line 29 of file ssc_driver_manager.cpp.

{}

SSCDriverManager() [2/2]

subsystem_controllers::SSCDriverManager::SSCDriverManager	(	const std::string &	ssc_driver_name,
		const long	driver_timeout
	)

Constructor for SSCDriverManager.

Parameters

ssc_driver_name	The driver name which will be treated as required. A failure in this plugin will result in an exception
driver_timeout	The timeout threshold for the driver

Definition at line 31 of file ssc_driver_manager.cpp.

: ssc_driver_name_(ssc_driver_name), driver_timeout_(driver_timeout)
{
}

Member Function Documentation

FRIEND_TEST()

subsystem_controllers::SSCDriverManager::FRIEND_TEST ( DriverManagerTest  , testCarTruckHandleSpinFatalUnknown    )

protected

get_latest_system_alert()

carma_msgs::msg::SystemAlert subsystem_controllers::SSCDriverManager::get_latest_system_alert	(	long	time_now,
		long	start_up_timestamp,
		long	startup_duration
	)

Handle the spin and publisher.

Definition at line 36 of file ssc_driver_manager.cpp.

{
  carma_msgs::msg::SystemAlert alert;
 
  bool ssc_is_operational = is_ssc_driver_operational(time_now);
  if (ssc_is_operational) {
    starting_up_ = false;
    alert.description = "All essential drivers are ready";
    alert.type = carma_msgs::msg::SystemAlert::DRIVERS_READY;
    return alert;
  } else if (starting_up_ && (time_now - start_up_timestamp <= startup_duration)) {
    alert.description = "System is starting up...";
    alert.type = carma_msgs::msg::SystemAlert::NOT_READY;
    return alert;
  } else if (!ssc_is_operational) {
    alert.description = "SSC Failed";
    alert.type = carma_msgs::msg::SystemAlert::SHUTDOWN;
    return alert;
  } else {
    alert.description = "Unknown problem assessing SSC driver availability";
    alert.type = carma_msgs::msg::SystemAlert::FATAL;
    return alert;
  }
}

References is_ssc_driver_operational(), arbitrator::SHUTDOWN, and starting_up_.

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is_ssc_driver_operational()

bool subsystem_controllers::SSCDriverManager::is_ssc_driver_operational

(

long

current_time

)

Check if all critical drivers are operational.

Definition at line 78 of file ssc_driver_manager.cpp.

{
  // Manual disable of ssc entry in case ssc wrapper is in ros2
  if (ssc_driver_name_.empty()) {
    return true;
  }
 
  // No entry recorded, then return false
  if (!latest_ssc_status_entry_) {
    return false;
  }
 
  RCLCPP_DEBUG_STREAM(
    rclcpp::get_logger("subsystem_controller"),
    "latest_ssc_status_entry_->name_: "
      << latest_ssc_status_entry_->name_ << ", current_time: " << current_time
      << ", latest_ssc_status_entry_->timestamp_: " << latest_ssc_status_entry_->timestamp_
      << ", difference: " << current_time - (latest_ssc_status_entry_->timestamp_));
 
  // Detect whether if available or timed out
  if (
    (!latest_ssc_status_entry_->available_) ||
    (current_time - latest_ssc_status_entry_->timestamp_ > driver_timeout_)) {
    return false;
  } else {
    return true;
  }
}

References driver_timeout_, latest_ssc_status_entry_, and ssc_driver_name_.

Referenced by get_latest_system_alert().

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update_driver_status()

void subsystem_controllers::SSCDriverManager::update_driver_status	(	const carma_driver_msgs::msg::DriverStatus::SharedPtr	msg,
		long	current_time
	)

Update driver status.

Definition at line 62 of file ssc_driver_manager.cpp.

{
  // update driver status is only called in response to a message received on driver_discovery.
  // This topic is only being published in ros1. Check only SSC
 
  if (ssc_driver_name_ == msg->name) {
    Entry driver_status(
      msg->status == carma_driver_msgs::msg::DriverStatus::OPERATIONAL ||
        msg->status == carma_driver_msgs::msg::DriverStatus::DEGRADED,
      msg->name, current_time);
 
    latest_ssc_status_entry_ = std::make_shared<Entry>(driver_status);
  }
}

References latest_ssc_status_entry_, and ssc_driver_name_.

Member Data Documentation

driver_timeout_

long subsystem_controllers::SSCDriverManager::driver_timeout_ = 1000

protected

Definition at line 87 of file ssc_driver_manager.hpp.

Referenced by is_ssc_driver_operational().

latest_ssc_status_entry_

std::shared_ptr<Entry> subsystem_controllers::SSCDriverManager::latest_ssc_status_entry_ = std::make_shared<Entry>()

protected

Latest SSC Status entry to keep track.

Definition at line 84 of file ssc_driver_manager.hpp.

Referenced by is_ssc_driver_operational(), and update_driver_status().

ssc_driver_name_

std::string subsystem_controllers::SSCDriverManager::ssc_driver_name_ = ""

protected

Definition at line 81 of file ssc_driver_manager.hpp.

Referenced by is_ssc_driver_operational(), and update_driver_status().

starting_up_

bool subsystem_controllers::SSCDriverManager::starting_up_ = true

protected

Definition at line 89 of file ssc_driver_manager.hpp.

Referenced by get_latest_system_alert().

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

• subsystem_controllers/include/subsystem_controllers/drivers_controller/ssc_driver_manager.hpp
• subsystem_controllers/src/drivers_controller/ssc_driver_manager.cpp