drivers_controller_node.hpp

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#pragma once
 
/*
 * Copyright (C) 2021 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#include <memory>
 
#include "drivers_controller_config.hpp"
#include "rclcpp/rclcpp.hpp"
#include "ros2_lifecycle_manager/ros2_lifecycle_manager.hpp"
#include "ssc_driver_manager.hpp"
#include "subsystem_controllers/base_subsystem_controller/base_subsystem_controller.hpp"
#include <boost/algorithm/string.hpp>
 
#include "carma_msgs/msg/system_alert.hpp"
#include <carma_driver_msgs/msg/driver_status.hpp>
 
namespace subsystem_controllers
{
class DriversControllerNode : public BaseSubsystemController
{
public:
  DriversControllerNode() = delete;
 
  ~DriversControllerNode() = default;
 
  explicit DriversControllerNode(const rclcpp::NodeOptions & options);
 
private:
  // SSCDriverManager to handle all the driver specific discovery and reporting
  std::shared_ptr<SSCDriverManager> ssc_driver_manager_;
 
  DriversControllerConfig config_;
 
  carma_ros2_utils::SubPtr<carma_driver_msgs::msg::DriverStatus> driver_status_sub_;
 
  // message/service callbacks
  void driver_discovery_cb(const carma_driver_msgs::msg::DriverStatus::SharedPtr msg);
 
  void critical_drivers_check_callback();
 
  carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State & prev_state);
  carma_ros2_utils::CallbackReturn handle_on_activate(const rclcpp_lifecycle::State & prev_state);
 
  std::vector<std::string> ros1_ssc_driver_name_;
 
  // record of startup timestamp
  long start_up_timestamp_;
 
  rclcpp::TimerBase::SharedPtr ssc_status_check_timer_;
 
  // Previously published alert message
  boost::optional<carma_msgs::msg::SystemAlert> prev_alert;
};
 
}  // namespace subsystem_controllers