lci_strategic_plugin Namespace Reference

Classes
struct	BoundaryDistances
class	LCIStrategicPlugin
struct	LCIStrategicPluginConfig
	Struct to store the configuration settings for the LCIStrategicPlugin class. More...
class	LCIStrategicStateTransitionTable
	Class defining the state transition table behavior for the LCIStrategic Strategic Plugin. More...
struct	TrajectoryParams

Enumerations
enum class	TransitState { UNAVAILABLE , APPROACHING , WAITING , DEPARTING }
	Enum describing the possible states of the LCIStrategic Strategic Plugin. More...
enum class	TransitEvent {   IN_STOPPING_RANGE , STOPPED , CROSSED_STOP_BAR , RED_TO_GREEN_LIGHT ,   INTERSECTION_EXIT }
	Enum describing the possible signals to change the current TransitState. More...
enum class	TurnDirection { Straight , Right , Left }
enum	TSCase {   CASE_1 = 1 , CASE_2 = 2 , CASE_3 = 3 , CASE_4 = 4 ,   CASE_5 = 5 , CASE_6 = 6 , CASE_7 = 7 , CASE_8 = 8 ,   STOPPING =9 , UNAVAILABLE = 10 , EMERGENCY_STOPPING =11 , DEGRADED_TSCASE =12 }
	Struct representing trajectory smoothing algorithm parameters using distance and acceleration Based on TSMO USE CASE 2. Chapter 2. Trajectory Smoothing. More...

Functions
std::ostream &	operator<< (std::ostream &os, TransitState s)
	Stream operator for TransitStates enum. More...
std::ostream &	operator<< (std::ostream &os, TransitEvent s)
	Stream operator for TransitEvent enum. More...
def	generate_launch_description ()

Enumeration Type Documentation

TransitEvent

enum class lci_strategic_plugin::TransitEvent

strong

Enum describing the possible signals to change the current TransitState.

Enumerator
IN_STOPPING_RANGE
STOPPED
CROSSED_STOP_BAR
RED_TO_GREEN_LIGHT
INTERSECTION_EXIT

Definition at line 38 of file lci_states.hpp.

{
  IN_STOPPING_RANGE, // Transition event representing that the vehicle is in the stopping range of a light
  STOPPED, // Transition event representing that the vehicle has come to a full stop
  CROSSED_STOP_BAR, // Transition event representing that the vehicle has crossed the stop bar
  RED_TO_GREEN_LIGHT, // Transition event representing that the current light of interest has changed from red to green
  INTERSECTION_EXIT // Transition event representing that the end of the current intersection was crossed
};

TransitState

enum class lci_strategic_plugin::TransitState

strong

Enum describing the possible states of the LCIStrategic Strategic Plugin.

Enumerator
UNAVAILABLE
APPROACHING
WAITING
DEPARTING

Definition at line 24 of file lci_states.hpp.

{
  UNAVAILABLE, // State representing that there are no applicable intersections in range, so the plugin cannot plan
  APPROACHING, // State representing that the vehicle is approaching an intersection
  WAITING, // State representing that the vehicle is stopped and waiting at a light
  DEPARTING // State representing that the vehicle is traversing the intersection
};

TSCase

enum lci_strategic_plugin::TSCase

Struct representing trajectory smoothing algorithm parameters using distance and acceleration Based on TSMO USE CASE 2. Chapter 2. Trajectory Smoothing.

Enumerator
CASE_1
CASE_2
CASE_3
CASE_4
CASE_5
CASE_6
CASE_7
CASE_8
STOPPING
UNAVAILABLE
EMERGENCY_STOPPING
DEGRADED_TSCASE

Definition at line 61 of file lci_strategic_plugin.hpp.

            {
  CASE_1 = 1,
  CASE_2 = 2,
  CASE_3 = 3,
  CASE_4 = 4,
  CASE_5 = 5,
  CASE_6 = 6,
  CASE_7 = 7,
  CASE_8 = 8,
  STOPPING=9,
  UNAVAILABLE = 10,
  EMERGENCY_STOPPING=11,
  DEGRADED_TSCASE=12  // when not performing trajectory smoothing, but making through GREEN
};

TurnDirection

enum class lci_strategic_plugin::TurnDirection

strong

Enumerator
Straight
Right
Left

Definition at line 51 of file lci_strategic_plugin.hpp.

                         {
  Straight,
  Right,
  Left
};

Function Documentation

generate_launch_description()

def lci_strategic_plugin.generate_launch_description

(

)

Definition at line 31 of file lci_strategic_plugin.launch.py.

def generate_launch_description():
 
    # Declare the log_level launch argument
    log_level = LaunchConfiguration('log_level')
    declare_log_level_arg = DeclareLaunchArgument(
        name ='log_level', default_value='WARN')
    
    lci_strategic_plugin_file_path = os.path.join(
        get_package_share_directory('lci_strategic_plugin'), 'config/parameters.yaml')
 
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='lci_strategic_plugin_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                package='lci_strategic_plugin',
                plugin='lci_strategic_plugin::LCIStrategicPlugin',
                name='lci_strategic_plugin_node',
                extra_arguments=[
                    {'use_intra_process_comms': True},
                    {'--log-level' : log_level }
                ],
                parameters=[
                    lci_strategic_plugin_file_path
                ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])

operator<<() [1/2]

std::ostream & lci_strategic_plugin::operator<<	(	std::ostream &	os,
		TransitEvent	s
	)

Stream operator for TransitEvent enum.

Definition at line 35 of file lci_states.cpp.

{
  os << "TransitEvent::";
  switch (s)
  {  // clang-format off
    case TransitEvent::IN_STOPPING_RANGE   : os << "IN_STOPPING_RANGE"; break;
    case TransitEvent::STOPPED: os << "STOPPED"; break;
    case TransitEvent::CROSSED_STOP_BAR : os << "CROSSED_STOP_BAR"; break;
    case TransitEvent::RED_TO_GREEN_LIGHT  : os << "RED_TO_GREEN_LIGHT"; break;
    case TransitEvent::INTERSECTION_EXIT  : os << "INTERSECTION_EXIT"; break;
    default: os.setstate(std::ios_base::failbit);
  }  // clang-format on
  return os;
}

References CROSSED_STOP_BAR, IN_STOPPING_RANGE, INTERSECTION_EXIT, RED_TO_GREEN_LIGHT, and STOPPED.

operator<<() [2/2]

std::ostream & lci_strategic_plugin::operator<<	(	std::ostream &	os,
		TransitState	s
	)

Stream operator for TransitStates enum.

Definition at line 21 of file lci_states.cpp.

{
  os << "TransitState::";
  switch (s)
  {  // clang-format off
    case TransitState::UNAVAILABLE   : os << "UNAVAILABLE"; break;
    case TransitState::APPROACHING: os << "APPROACHING"; break;
    case TransitState::WAITING : os << "WAITING"; break;
    case TransitState::DEPARTING  : os << "DEPARTING"; break;
    default: os.setstate(std::ios_base::failbit);
  }  // clang-format on
  return os;
}

References APPROACHING, DEPARTING, UNAVAILABLE, and WAITING.