autoware_universe.hpp

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// Copyright 2015 TIER IV, Inc. All rights reserved.
//
// 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.
 
#ifndef CONCEALER__AUTOWARE_UNIVERSE_HPP_
#define CONCEALER__AUTOWARE_UNIVERSE_HPP_
 
#include <atomic>
#include <autoware_control_msgs/msg/control.hpp>
#include <autoware_vehicle_msgs/msg/control_mode_report.hpp>
#include <autoware_vehicle_msgs/msg/gear_command.hpp>
#include <autoware_vehicle_msgs/msg/gear_report.hpp>
#include <autoware_vehicle_msgs/msg/steering_report.hpp>
#include <autoware_vehicle_msgs/msg/turn_indicators_command.hpp>
#include <autoware_vehicle_msgs/msg/turn_indicators_report.hpp>
#include <autoware_vehicle_msgs/msg/velocity_report.hpp>
#include <autoware_vehicle_msgs/srv/control_mode_command.hpp>
#include <concealer/continuous_transform_broadcaster.hpp>
#include <concealer/publisher_wrapper.hpp>
#include <concealer/subscriber_wrapper.hpp>
#include <concealer/visibility.hpp>
#include <geometry_msgs/msg/accel_with_covariance_stamped.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <nav_msgs/msg/odometry.hpp>
#include <rclcpp/rclcpp.hpp>
#include <tier4_planning_msgs/msg/path_with_lane_id.hpp>
 
namespace concealer
{
class AutowareUniverse : public rclcpp::Node,
                         public ContinuousTransformBroadcaster<AutowareUniverse>
{
public:
  // clang-format off
  using AccelWithCovarianceStamped  = geometry_msgs::msg::AccelWithCovarianceStamped;
  using Control                     = autoware_control_msgs::msg::Control;
  using ControlModeCommand          = autoware_vehicle_msgs::srv::ControlModeCommand;
  using ControlModeReport           = autoware_vehicle_msgs::msg::ControlModeReport;
  using GearCommand                 = autoware_vehicle_msgs::msg::GearCommand;
  using GearReport                  = autoware_vehicle_msgs::msg::GearReport;
  using Odometry                    = nav_msgs::msg::Odometry;
  using PathWithLaneId              = tier4_planning_msgs::msg::PathWithLaneId;
  using PoseWithCovarianceStamped   = geometry_msgs::msg::PoseWithCovarianceStamped;
  using SteeringReport              = autoware_vehicle_msgs::msg::SteeringReport;
  using TurnIndicatorsCommand       = autoware_vehicle_msgs::msg::TurnIndicatorsCommand;
  using TurnIndicatorsReport        = autoware_vehicle_msgs::msg::TurnIndicatorsReport;
  using VelocityReport              = autoware_vehicle_msgs::msg::VelocityReport;
 
  SubscriberWrapper<Control>               getCommand;
  SubscriberWrapper<GearCommand>           getGearCommand;
  SubscriberWrapper<TurnIndicatorsCommand> getTurnIndicatorsCommand;
  SubscriberWrapper<PathWithLaneId>        getPathWithLaneId;
 
  PublisherWrapper<AccelWithCovarianceStamped> setAcceleration;
  PublisherWrapper<Odometry>                   setOdometry;
  PublisherWrapper<PoseWithCovarianceStamped>  setPose;
  PublisherWrapper<SteeringReport>             setSteeringReport;
  PublisherWrapper<GearReport>                 setGearReport;
  PublisherWrapper<ControlModeReport>          setControlModeReport;
  PublisherWrapper<VelocityReport>             setVelocityReport;
  PublisherWrapper<TurnIndicatorsReport>       setTurnIndicatorsReport;
 
  std::atomic<geometry_msgs::msg::Accel> current_acceleration;
  std::atomic<geometry_msgs::msg::Pose>  current_pose;
  std::atomic<geometry_msgs::msg::Twist> current_twist;
  // clang-format on
 
private:
  rclcpp::Service<ControlModeCommand>::SharedPtr control_mode_request_server;
 
  const rclcpp::TimerBase::SharedPtr localization_update_timer;
 
  const rclcpp::TimerBase::SharedPtr vehicle_state_update_timer;
 
  std::thread localization_and_vehicle_state_update_thread;
 
  std::atomic<bool> is_stop_requested = false;
 
  std::atomic<std::uint8_t> current_control_mode = ControlModeReport::AUTONOMOUS;
 
  std::atomic<bool> is_thrown = false;
 
  std::exception_ptr thrown;
 
public:
  CONCEALER_PUBLIC explicit AutowareUniverse(bool);
 
  ~AutowareUniverse();
 
  auto rethrow() -> void;
 
  auto updateLocalization() -> void;
 
  auto updateVehicleState() -> void;
 
  auto getVehicleCommand() const -> std::tuple<double, double, double, double, int>;
 
  auto getRouteLanelets() const -> std::vector<std::int64_t>;
 
  auto getControlModeReport() const -> ControlModeReport;
 
  auto setManualMode() -> void;
};
}  // namespace concealer
 
#endif  // CONCEALER__AUTOWARE_UNIVERSE_HPP_