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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
Status ConfigureSensor (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.
ContinentalSRR520HwInterface ()
Constructor.
Status RegisterPacketCallback (std::function< void(std::unique_ptr< nebula_msgs::msg::NebulaPacket >)> packet_callback)
Registering callback.
Status SensorInterfaceStart ()
Starting the interface that handles UDP streams.
Status SensorInterfaceStop ()
Function for stopping the interface that handles UDP streams.
void SensorSync ()
Sensor synchronization routine.
void SensorSyncFollowUp (builtin_interfaces::msg::Time stamp)
Process a new Sync Follow-up request.
void SetLogger (std::shared_ptr< rclcpp::Logger > node)
Setting rclcpp::Logger.
Status SetSensorConfiguration (const std::shared_ptr< const nebula::drivers::continental_srr520::ContinentalSRR520SensorConfiguration > new_config_ptr)
Setting sensor configuration.
Status SetVehicleDynamics (float longitudinal_acceleration, float lateral_acceleration, float yaw_rate, float longitudinal_velocity, bool standstill)
Set the current vehicle dynamics.

Public Functions Documentation

function ConfigureSensor

Configure the sensor. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::ConfigureSensor (
    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 ContinentalSRR520HwInterface

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

function RegisterPacketCallback

Registering callback. 

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

Parameters:

  • callback Callback function

Returns:

Resulting status

function SensorInterfaceStart

Starting the interface that handles UDP streams. 

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

Returns:

Resulting status

function SensorInterfaceStop

Function for stopping the interface that handles UDP streams. 

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

Returns:

Resulting status

function SensorSync

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

function SensorSyncFollowUp

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

function SetLogger

Setting rclcpp::Logger. 

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

Parameters:

  • node Logger

function SetSensorConfiguration

Setting sensor configuration. 

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

Parameters:

  • sensor_configuration SensorConfiguration for this interface

Returns:

Resulting status

function SetVehicleDynamics

Set the current vehicle dynamics. 

Status nebula::drivers::continental_srr520::ContinentalSRR520HwInterface::SetVehicleDynamics (
    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