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Class nebula::drivers::continental_srr520::ContinentalSRR520HwInterface

ClassList > nebula > drivers > continental_srr520 > ContinentalSRR520HwInterface

Hardware interface of the Continental SRR520 radar.

  • #include <continental_srr520_hw_interface.hpp>

Public Functions

Type Name
ContinentalSRR520HwInterface ()
Constructor.
Status configure_sensor (uint8_t sensor_id, float longitudinal_autosar, float lateral_autosar, float vertical_autosar, float yaw_autosar, float longitudinal_cog, float wheelbase, float cover_damping, bool plug_bottom, bool reset)
Configure the sensor.
Status register_packet_callback (std::function< void(std::unique_ptr< nebula_msgs::msg::NebulaPacket >)> packet_callback)
Registering callback.
Status sensor_interface_start ()
Starting the interface that handles UDP streams.
Status sensor_interface_stop ()
Function for stopping the interface that handles UDP streams.
void sensor_sync ()
Sensor synchronization routine.
void sensor_sync_follow_up (builtin_interfaces::msg::Time stamp)
Process a new Sync Follow-up request.
void set_logger (std::shared_ptr< rclcpp::Logger > node)
Setting rclcpp::Logger.
Status set_sensor_configuration (const std::shared_ptr< const nebula::drivers::continental_srr520::ContinentalSRR520SensorConfiguration > new_config_ptr)
Setting sensor configuration.
Status set_vehicle_dynamics (float longitudinal_acceleration, float lateral_acceleration, float yaw_rate, float longitudinal_velocity, bool standstill)
Set the current vehicle dynamics.

Public Functions Documentation

function ContinentalSRR520HwInterface

nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::ContinentalSRR520HwInterface ()

function configure_sensor

Configure the sensor. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::configure_sensor (
    uint8_t sensor_id,
    float longitudinal_autosar,
    float lateral_autosar,
    float vertical_autosar,
    float yaw_autosar,
    float longitudinal_cog,
    float wheelbase,
    float cover_damping,
    bool plug_bottom,
    bool reset
)

Parameters:

  • sensor_id Desired sensor id
  • longitudinal_autosar Desired longitudinal value in autosar coordinates
  • lateral_autosar Desired lateral value in AUTOSAR coordinates
  • vertical_autosar Desired vertical value in autosar coordinates
  • yaw_autosar Desired yaw value in autosar coordinates
  • longitudinal_cog Desired longitudinal cog
  • wheelbase Desired wheelbase
  • cover_damping Desired cover damping
  • plug_bottom Desired plug bottom
  • reset Rest the sensor to its default values

Returns:

Resulting status

function register_packet_callback

Registering callback. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::register_packet_callback (
    std::function< void(std::unique_ptr< nebula_msgs::msg::NebulaPacket >)> packet_callback
)

Parameters:

  • callback Callback function

Returns:

Resulting status

function sensor_interface_start

Starting the interface that handles UDP streams. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::sensor_interface_start ()

Returns:

Resulting status

function sensor_interface_stop

Function for stopping the interface that handles UDP streams. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::sensor_interface_stop ()

Returns:

Resulting status

function sensor_sync

void nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::sensor_sync ()

function sensor_sync_follow_up

void nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::sensor_sync_follow_up (
    builtin_interfaces::msg::Time stamp
)

function set_logger

Setting rclcpp::Logger. 

void nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::set_logger (
    std::shared_ptr< rclcpp::Logger > node
)

Parameters:

  • node Logger

function set_sensor_configuration

Setting sensor configuration. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::set_sensor_configuration (
    const std::shared_ptr< const nebula::drivers::continental_srr520::ContinentalSRR520SensorConfiguration > new_config_ptr
)

Parameters:

  • sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function set_vehicle_dynamics

Set the current vehicle dynamics. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::set_vehicle_dynamics (
    float longitudinal_acceleration,
    float lateral_acceleration,
    float yaw_rate,
    float longitudinal_velocity,
    bool standstill
)

Parameters:

  • longitudinal_acceleration Longitudinal acceleration
  • lateral_acceleration Lateral acceleration
  • yaw_rate Yaw rate
  • longitudinal_velocity Longitudinal velocity
  • driving_direction Driving direction

Returns:

Resulting status

The documentation for this class was generated from the following file nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_continental/continental_srr520_hw_interface.hpp