lightbar_manager Namespace Reference

Classes
struct	Config
	Config struct. More...
struct	INDICATOR_NOT_MAPPED
struct	INVALID_LIGHTBAR_MANAGER_PRIORITY
class	LIGHTBAR_MANAGER_ERROR
class	LightBarManager
class	LightBarManagerStateMachine
class	LightBarManagerWorker

Enumerations
enum	LightBarIndicator {   GREEN_SOLID , GREEN_FLASH , YELLOW_SIDES , YELLOW_DIM ,   YELLOW_FLASH , YELLOW_ARROW_LEFT , YELLOW_ARROW_RIGHT , YELLOW_ARROW_OUT }
enum	LightBarEvent { GUIDANCE_ENGAGED , GUIDANCE_DISENGAGED , GUIDANCE_DISCONNECTED , GUIDANCE_CONNECTED }
enum	LightBarState { DISENGAGED , ENGAGED , ACTIVE }
enum	IndicatorStatus { OFF , ON }
enum	IndicatorControlEvent { CONTROL_LOST , CONTROL_GAINED }
enum	LightBarCDAType { TYPE_A , TYPE_B , TYPE_C , TYPE_D }

Functions
def	generate_launch_description ()

Enumeration Type Documentation

IndicatorControlEvent

enum lightbar_manager::IndicatorControlEvent

Enumerator
CONTROL_LOST
CONTROL_GAINED

Definition at line 35 of file lightbar_manager_sm.hpp.

{CONTROL_LOST, CONTROL_GAINED};

IndicatorStatus

enum lightbar_manager::IndicatorStatus

Enumerator
OFF
ON

Definition at line 34 of file lightbar_manager_sm.hpp.

{OFF, ON};

LightBarCDAType

enum lightbar_manager::LightBarCDAType

Enumerator
TYPE_A
TYPE_B
TYPE_C
TYPE_D

Definition at line 39 of file lightbar_manager_sm.hpp.

{TYPE_A, TYPE_B, TYPE_C, TYPE_D};

LightBarEvent

enum lightbar_manager::LightBarEvent

Enumerator
GUIDANCE_ENGAGED
GUIDANCE_DISENGAGED
GUIDANCE_DISCONNECTED
GUIDANCE_CONNECTED

Definition at line 32 of file lightbar_manager_sm.hpp.

{GUIDANCE_ENGAGED, GUIDANCE_DISENGAGED, GUIDANCE_DISCONNECTED, GUIDANCE_CONNECTED};

LightBarIndicator

enum lightbar_manager::LightBarIndicator

Enumerator
GREEN_SOLID
GREEN_FLASH
YELLOW_SIDES
YELLOW_DIM
YELLOW_FLASH
YELLOW_ARROW_LEFT
YELLOW_ARROW_RIGHT
YELLOW_ARROW_OUT

Definition at line 31 of file lightbar_manager_sm.hpp.

{GREEN_SOLID, GREEN_FLASH, YELLOW_SIDES, YELLOW_DIM, YELLOW_FLASH, YELLOW_ARROW_LEFT, YELLOW_ARROW_RIGHT, YELLOW_ARROW_OUT};

LightBarState

enum lightbar_manager::LightBarState

Enumerator
DISENGAGED
ENGAGED
ACTIVE

Definition at line 33 of file lightbar_manager_sm.hpp.

{DISENGAGED, ENGAGED, ACTIVE};

Function Documentation

generate_launch_description()

def lightbar_manager.generate_launch_description

(

)

Definition at line 31 of file lightbar_manager.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')
    
    lightbar_manager_param_file = os.path.join(
        get_package_share_directory('lightbar_manager'), 'config/params.yaml')
    
    # Launch node(s) in a carma container to allow logging to be configured
    container = ComposableNodeContainer(
        package='carma_ros2_utils',
        name='lightbar_manager_container',
        namespace=GetCurrentNamespace(),
        executable='carma_component_container_mt',
        composable_node_descriptions=[
            
            # Launch the core node(s)
            ComposableNode(
                    package='lightbar_manager',
                    plugin='lightbar_manager::LightBarManager',
                    name='lightbar_manager',
                    extra_arguments=[
                        {'use_intra_process_comms': True},
                        {'--log-level' : log_level }
                    ],
                    parameters=[ lightbar_manager_param_file ]
            ),
        ]
    )
 
    return LaunchDescription([
        declare_log_level_arg,
        container
    ])