localization_controller.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 "carma_msgs/msg/system_alert.hpp"
#include "ros2_lifecycle_manager/ros2_lifecycle_manager.hpp"
#include "rclcpp/rclcpp.hpp"
#include "subsystem_controllers/base_subsystem_controller/base_subsystem_controller.hpp"
#include "subsystem_controllers/localization_controller/localization_controller_config.hpp"
 
namespace subsystem_controllers
{
 
  class LocalizationControllerNode : public BaseSubsystemController
  {
  public:
    LocalizationControllerNode() = delete;
 
    ~LocalizationControllerNode() = default;
 
    explicit LocalizationControllerNode(const rclcpp::NodeOptions &options);
 
    // Overrides
    void on_system_alert(const carma_msgs::msg::SystemAlert::UniquePtr msg);
    carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &prev_state);
 
  protected:
    std::unordered_map<std::vector<SensorBooleanStatus>, SensorAlertStatus, VectorHash> sensor_fault_map_from_json(std::string json_string);
 
    // A map of sensor node names to their status and index in the config_.sensor_nodes list
    std::unordered_map<std::string, SensorBooleanStatus> sensor_status_;
    LocalizationControllerConfig config_;
 
    // TODO The ROS1 localization manager functionality should be updated to properly interact with or exist in this node
    // https://github.com/usdot-fhwa-stol/carma-platform/issues/1498 
 
  };
 
} // namespace subsystem_controllers