traffic_incident_parser::TrafficIncidentParserNode Class Reference

The class responsible for processing incoming MobilityOperation messages with strategy "carma3/Incident_Use_Case". More...

#include <traffic_incident_parser_node.hpp>

Inheritance diagram for traffic_incident_parser::TrafficIncidentParserNode:

Collaboration diagram for traffic_incident_parser::TrafficIncidentParserNode:

Public Member Functions
	TrafficIncidentParserNode (const rclcpp::NodeOptions &)
	TrafficIncidentParserNode constructor. More...
carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)
void	publishTrafficControlMessage (const carma_v2x_msgs::msg::TrafficControlMessage &traffic_control_msg) const
	Publish traffic control message. More...

Private Attributes
carma_ros2_utils::SubPtr< std_msgs::msg::String >	projection_sub_
carma_ros2_utils::SubPtr< carma_v2x_msgs::msg::MobilityOperation >	mobility_operation_sub_
carma_ros2_utils::PubPtr< carma_v2x_msgs::msg::TrafficControlMessage >	traffic_control_msg_pub_
std::shared_ptr< carma_wm::WMListener >	wm_listener_
std::shared_ptr< TrafficIncidentParserWorker >	traffic_parser_worker_

Detailed Description

The class responsible for processing incoming MobilityOperation messages with strategy "carma3/Incident_Use_Case".

Definition at line 37 of file traffic_incident_parser_node.hpp.

Constructor & Destructor Documentation

TrafficIncidentParserNode()

traffic_incident_parser::TrafficIncidentParserNode::TrafficIncidentParserNode ( const rclcpp::NodeOptions &  options )

explicit

TrafficIncidentParserNode constructor.

Definition at line 22 of file traffic_incident_parser_node.cpp.

      : carma_ros2_utils::CarmaLifecycleNode(options)
  {
  }

Member Function Documentation

handle_on_configure()

carma_ros2_utils::CallbackReturn traffic_incident_parser::TrafficIncidentParserNode::handle_on_configure

(

const rclcpp_lifecycle::State &

)

Definition at line 27 of file traffic_incident_parser_node.cpp.

  {
 
    wm_listener_ = std::make_shared<carma_wm::WMListener>(get_node_base_interface(), get_node_logging_interface(), 
                     get_node_topics_interface(), get_node_parameters_interface());
    
    traffic_parser_worker_ = std::make_shared<TrafficIncidentParserWorker>(wm_listener_->getWorldModel(), std::bind(&TrafficIncidentParserNode::publishTrafficControlMessage, this, std_ph::_1), get_node_logging_interface(), get_clock());
 
 
    // Setup subscribers
    projection_sub_ = create_subscription<std_msgs::msg::String>("georeference", 1,
                                                              std::bind(&TrafficIncidentParserWorker::georeferenceCallback, traffic_parser_worker_.get(), std_ph::_1));
    mobility_operation_sub_ = create_subscription<carma_v2x_msgs::msg::MobilityOperation>("incoming_mobility_operation", 1,
                                                              std::bind(&TrafficIncidentParserWorker::mobilityOperationCallback, traffic_parser_worker_.get(), std_ph::_1));
 
    // Setup publishers
 
    // NOTE: Currently, intra-process comms must be disabled for publishers that are transient_local: https://github.com/ros2/rclcpp/issues/1753
    rclcpp::PublisherOptions traffic_control_msg_pub_options; 
    traffic_control_msg_pub_options.use_intra_process_comm = rclcpp::IntraProcessSetting::Disable; // Disable intra-process comms for this PublisherOptions object
 
    auto traffic_control_msg_pub_qos = rclcpp::QoS(rclcpp::KeepAll()); // A publisher with this QoS will store all messages that it has sent on the topic
    traffic_control_msg_pub_qos.transient_local();  // A publisher with this QoS will re-send all (when KeepAll is used) messages to all late-joining subscribers 
                                                    // NOTE: The subscriber's QoS must be set to transient_local() as well for earlier messages to be resent to the later-joiner.
 
 
    // Create a publisher that will send all previously published messages to late-joining subscribers ONLY If the subscriber is transient_local too
    traffic_control_msg_pub_ = create_publisher<carma_v2x_msgs::msg::TrafficControlMessage>("geofence", traffic_control_msg_pub_qos, traffic_control_msg_pub_options);
 
    // Return success if everthing initialized successfully
    return CallbackReturn::SUCCESS;
  }

References traffic_incident_parser::TrafficIncidentParserWorker::georeferenceCallback(), mobility_operation_sub_, traffic_incident_parser::TrafficIncidentParserWorker::mobilityOperationCallback(), projection_sub_, publishTrafficControlMessage(), traffic_control_msg_pub_, traffic_parser_worker_, and wm_listener_.

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publishTrafficControlMessage()

void traffic_incident_parser::TrafficIncidentParserNode::publishTrafficControlMessage

(

const carma_v2x_msgs::msg::TrafficControlMessage &

traffic_control_msg

)

const

Publish traffic control message.

Definition at line 60 of file traffic_incident_parser_node.cpp.

  {
    traffic_control_msg_pub_->publish(traffic_control_msg);
  }

References traffic_control_msg_pub_.

Referenced by handle_on_configure().

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Member Data Documentation

mobility_operation_sub_

carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::MobilityOperation> traffic_incident_parser::TrafficIncidentParserNode::mobility_operation_sub_

private

Definition at line 43 of file traffic_incident_parser_node.hpp.

Referenced by handle_on_configure().

projection_sub_

carma_ros2_utils::SubPtr<std_msgs::msg::String> traffic_incident_parser::TrafficIncidentParserNode::projection_sub_

private

Definition at line 42 of file traffic_incident_parser_node.hpp.

Referenced by handle_on_configure().

traffic_control_msg_pub_

carma_ros2_utils::PubPtr<carma_v2x_msgs::msg::TrafficControlMessage> traffic_incident_parser::TrafficIncidentParserNode::traffic_control_msg_pub_

private

Definition at line 46 of file traffic_incident_parser_node.hpp.

Referenced by handle_on_configure(), and publishTrafficControlMessage().

traffic_parser_worker_

std::shared_ptr<TrafficIncidentParserWorker> traffic_incident_parser::TrafficIncidentParserNode::traffic_parser_worker_

private

Definition at line 52 of file traffic_incident_parser_node.hpp.

Referenced by handle_on_configure().

wm_listener_

std::shared_ptr<carma_wm::WMListener> traffic_incident_parser::TrafficIncidentParserNode::wm_listener_

private

Definition at line 49 of file traffic_incident_parser_node.hpp.

Referenced by handle_on_configure().

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

• traffic_incident_parser/include/traffic_incident_parser/traffic_incident_parser_node.hpp
• traffic_incident_parser/src/traffic_incident_parser_node.cpp