platooning_control.hpp

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/*
 * Copyright (C) 2024 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.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <carma_planning_msgs/msg/trajectory_plan_point.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <autoware_msgs/msg/control_command.hpp>
#include <carma_planning_msgs/msg/platooning_info.hpp>
 
#include <carma_guidance_plugins/control_plugin.hpp>
#include "platooning_control/platooning_control_config.hpp"
#include "platooning_control/platooning_control_worker.hpp"
#include <pure_pursuit/pure_pursuit.hpp>
#include <basic_autonomy/basic_autonomy.hpp>
#include <gtest/gtest_prod.h>
 
namespace pure_pursuit = autoware::motion::control::pure_pursuit;
namespace platooning_control
{
 
  class PlatooningControlPlugin : public carma_guidance_plugins::ControlPlugin
  {
 
  public:
    explicit PlatooningControlPlugin(const rclcpp::NodeOptions& options);
 
        autoware_msgs::msg::ControlCommandStamped generate_control_signals(const carma_planning_msgs::msg::TrajectoryPlanPoint& first_trajectory_point, const geometry_msgs::msg::PoseStamped& current_pose, const geometry_msgs::msg::TwistStamped& current_twist);
 
        geometry_msgs::msg::TwistStamped compose_twist_cmd(double linear_vel, double angular_vel);
 
    motion::motion_common::State convert_state(const geometry_msgs::msg::PoseStamped& pose, const geometry_msgs::msg::TwistStamped& twist) const;
 
    double trajectory_speed_ = 0.0;
 
    rcl_interfaces::msg::SetParametersResult parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters);
 
    void current_trajectory_callback(const carma_planning_msgs::msg::TrajectoryPlan::UniquePtr tp);
 
        autoware_msgs::msg::ControlCommandStamped compose_ctrl_cmd(double linear_vel, double steering_angle);
 
    bool get_availability() override;
 
    std::string get_version_id() override;
 
    // Overrides
 
    autoware_msgs::msg::ControlCommandStamped generate_command() override;
 
    carma_ros2_utils::CallbackReturn on_configure_plugin() override;
 
    std::shared_ptr<pure_pursuit::PurePursuit> pp_;
 
 
  private:
 
    // Node configuration
    PlatooningControlPluginConfig config_;
 
    // platoon control worker object
    PlatooningControlWorker pcw_;
 
    // Variables
    PlatoonLeaderInfo platoon_leader_;
    double prev_input_time_ms_ = 0;             //timestamp of the previous trajectory plan input received
    long consecutive_input_counter_ = 0;    //num inputs seen without a timeout
 
    void platoon_info_cb(const carma_planning_msgs::msg::PlatooningInfo::SharedPtr msg);
 
    double get_trajectory_speed(const std::vector<carma_planning_msgs::msg::TrajectoryPlanPoint>& trajectory_points);
 
 
    // Subscribers
    carma_ros2_utils::SubPtr<carma_planning_msgs::msg::TrajectoryPlan> trajectory_plan_sub_;
    carma_ros2_utils::SubPtr<carma_planning_msgs::msg::PlatooningInfo> platoon_info_sub_;
 
    // Publishers
    carma_ros2_utils::PubPtr<carma_planning_msgs::msg::PlatooningInfo> platoon_info_pub_;
 
    // Unit Test Accessors
    FRIEND_TEST(PlatooningControlPluginTest, test_platoon_info_cb);
    FRIEND_TEST(PlatooningControlPluginTest, test_get_trajectory_speed);
    FRIEND_TEST(PlatooningControlPluginTest, test_generate_controls);
    FRIEND_TEST(PlatooningControlPluginTest, test_current_trajectory_callback);
 
  };
 
} // platooning_control