concealer::FieldOperatorApplication Struct Reference

#include <field_operator_application.hpp>

Inheritance diagram for concealer::FieldOperatorApplication:

Collaboration diagram for concealer::FieldOperatorApplication:

Public Types
using	AutowareState = autoware_system_msgs::msg::AutowareState
using	Control = autoware_control_msgs::msg::Control
using	CooperateStatusArray = tier4_rtc_msgs::msg::CooperateStatusArray
using	Emergency = tier4_external_api_msgs::msg::Emergency
using	LocalizationInitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState
using	MrmState = autoware_adapi_v1_msgs::msg::MrmState
using	PathWithLaneId = tier4_planning_msgs::msg::PathWithLaneId
using	Trajectory = tier4_planning_msgs::msg::Trajectory
using	TurnIndicatorsCommand = autoware_vehicle_msgs::msg::TurnIndicatorsCommand
using	ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute
using	CooperateCommands = tier4_rtc_msgs::srv::CooperateCommands
using	Engage = tier4_external_api_msgs::srv::Engage
using	InitializeLocalization = autoware_adapi_v1_msgs::srv::InitializeLocalization
using	SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints
using	AutoModeWithModule = tier4_rtc_msgs::srv::AutoModeWithModule
using	SetVelocityLimit = tier4_external_api_msgs::srv::SetVelocityLimit
using	ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode

Public Member Functions
CONCEALER_PUBLIC	FieldOperatorApplication (const pid_t=0)
template<typename... Ts>
CONCEALER_PUBLIC	FieldOperatorApplication (Ts &&... xs)
	~FieldOperatorApplication ()
auto	spinSome () -> void
auto	engage () -> void
auto	engageable () const -> bool
auto	engaged () const -> bool
auto	initialize (const geometry_msgs::msg::Pose &) -> void
auto	plan (const std::vector< geometry_msgs::msg::PoseStamped > &) -> void
auto	clearRoute () -> void
auto	getAutowareStateName () const
auto	getMinimumRiskManeuverBehaviorName () const
auto	getMinimumRiskManeuverStateName () const
auto	getEmergencyStateName () const
auto	getWaypoints () const -> traffic_simulator_msgs::msg::WaypointsArray
auto	initialized () const noexcept
auto	requestAutoModeForCooperation (const std::string &, bool) -> void
auto	rethrow () const
auto	sendCooperateCommand (const std::string &, const std::string &) -> void
auto	setVelocityLimit (double) -> void
auto	enableAutowareControl () -> void

Public Attributes
std::atomic< bool >	is_stop_requested = false
bool	is_autoware_exited = false
const pid_t	process_id = 0
bool	initialize_was_called = false
std::string	autoware_state
tier4_rtc_msgs::msg::CooperateStatusArray	latest_cooperate_status_array
std::string	minimum_risk_maneuver_state
std::string	minimum_risk_maneuver_behavior
SubscriberWrapper< AutowareState >	getAutowareState
SubscriberWrapper< Control >	getCommand
SubscriberWrapper< CooperateStatusArray >	getCooperateStatusArray
SubscriberWrapper< Emergency >	getEmergencyState
SubscriberWrapper< MrmState >	getMrmState
SubscriberWrapper< PathWithLaneId >	getPathWithLaneId
SubscriberWrapper< Trajectory >	getTrajectory
SubscriberWrapper< TurnIndicatorsCommand >	getTurnIndicatorsCommand
ServiceWithValidation< ClearRoute >	requestClearRoute
ServiceWithValidation< CooperateCommands >	requestCooperateCommands
ServiceWithValidation< Engage >	requestEngage
ServiceWithValidation< InitializeLocalization >	requestInitialPose
ServiceWithValidation< SetRoutePoints >	requestSetRoutePoints
ServiceWithValidation< AutoModeWithModule >	requestSetRtcAutoMode
ServiceWithValidation< SetVelocityLimit >	requestSetVelocityLimit
ServiceWithValidation< ChangeOperationMode >	requestEnableAutowareControl
TaskQueue	task_queue

Additional Inherited Members
Protected Member Functions inherited from concealer::TransitionAssertion< FieldOperatorApplication >
	TransitionAssertion ()
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (INITIALIZING)
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (WAITING_FOR_ROUTE)
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (PLANNING)
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (WAITING_FOR_ENGAGE)
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (DRIVING)
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (ARRIVED_GOAL)
	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE (FINALIZING)
Protected Attributes inherited from concealer::TransitionAssertion< FieldOperatorApplication >
const std::chrono::steady_clock::time_point	start
const std::chrono::seconds	initialize_duration
bool	have_never_been_engaged

Member Typedef Documentation

AutoModeWithModule

using concealer::FieldOperatorApplication::AutoModeWithModule = tier4_rtc_msgs::srv::AutoModeWithModule

AutowareState

using concealer::FieldOperatorApplication::AutowareState = autoware_system_msgs::msg::AutowareState

ChangeOperationMode

using concealer::FieldOperatorApplication::ChangeOperationMode = autoware_adapi_v1_msgs::srv::ChangeOperationMode

ClearRoute

using concealer::FieldOperatorApplication::ClearRoute = autoware_adapi_v1_msgs::srv::ClearRoute

Control

using concealer::FieldOperatorApplication::Control = autoware_control_msgs::msg::Control

CooperateCommands

using concealer::FieldOperatorApplication::CooperateCommands = tier4_rtc_msgs::srv::CooperateCommands

CooperateStatusArray

using concealer::FieldOperatorApplication::CooperateStatusArray = tier4_rtc_msgs::msg::CooperateStatusArray

Emergency

using concealer::FieldOperatorApplication::Emergency = tier4_external_api_msgs::msg::Emergency

Engage

using concealer::FieldOperatorApplication::Engage = tier4_external_api_msgs::srv::Engage

InitializeLocalization

using concealer::FieldOperatorApplication::InitializeLocalization = autoware_adapi_v1_msgs::srv::InitializeLocalization

LocalizationInitializationState

using concealer::FieldOperatorApplication::LocalizationInitializationState = autoware_adapi_v1_msgs::msg::LocalizationInitializationState

MrmState

using concealer::FieldOperatorApplication::MrmState = autoware_adapi_v1_msgs::msg::MrmState

PathWithLaneId

using concealer::FieldOperatorApplication::PathWithLaneId = tier4_planning_msgs::msg::PathWithLaneId

SetRoutePoints

using concealer::FieldOperatorApplication::SetRoutePoints = autoware_adapi_v1_msgs::srv::SetRoutePoints

SetVelocityLimit

using concealer::FieldOperatorApplication::SetVelocityLimit = tier4_external_api_msgs::srv::SetVelocityLimit

Trajectory

using concealer::FieldOperatorApplication::Trajectory = tier4_planning_msgs::msg::Trajectory

TurnIndicatorsCommand

using concealer::FieldOperatorApplication::TurnIndicatorsCommand = autoware_vehicle_msgs::msg::TurnIndicatorsCommand

Constructor & Destructor Documentation

FieldOperatorApplication() [1/2]

concealer::FieldOperatorApplication::FieldOperatorApplication ( const pid_t  pid = 0 )

explicit

FieldOperatorApplication() [2/2]

template<typename... Ts>

CONCEALER_PUBLIC concealer::FieldOperatorApplication::FieldOperatorApplication ( Ts &&...  xs )

inlineexplicit

~FieldOperatorApplication()

concealer::FieldOperatorApplication::~FieldOperatorApplication

(

)

Member Function Documentation

clearRoute()

auto concealer::FieldOperatorApplication::clearRoute

(

)

-> void

enableAutowareControl()

auto concealer::FieldOperatorApplication::enableAutowareControl

(

)

-> void

engage()

auto concealer::FieldOperatorApplication::engage

(

)

-> void

engageable()

auto concealer::FieldOperatorApplication::engageable

(

)

const -> bool

engaged()

auto concealer::FieldOperatorApplication::engaged

(

)

const -> bool

getAutowareStateName()

auto concealer::FieldOperatorApplication::getAutowareStateName ( ) const

inline

getEmergencyStateName()

auto concealer::FieldOperatorApplication::getEmergencyStateName ( ) const

inline

getMinimumRiskManeuverBehaviorName()

auto concealer::FieldOperatorApplication::getMinimumRiskManeuverBehaviorName ( ) const

inline

getMinimumRiskManeuverStateName()

auto concealer::FieldOperatorApplication::getMinimumRiskManeuverStateName ( ) const

inline

getWaypoints()

auto concealer::FieldOperatorApplication::getWaypoints

(

)

const -> traffic_simulator_msgs::msg::WaypointsArray

initialize()

auto concealer::FieldOperatorApplication::initialize

(

const geometry_msgs::msg::Pose &

initial_pose

)

-> void

initialized()

auto concealer::FieldOperatorApplication::initialized ( ) const

inlinenoexcept

plan()

auto concealer::FieldOperatorApplication::plan

(

const std::vector< geometry_msgs::msg::PoseStamped > &

route

)

-> void

requestAutoModeForCooperation()

auto concealer::FieldOperatorApplication::requestAutoModeForCooperation	(	const std::string &	module_name,
		bool	enable
	)		-> void

rethrow()

auto concealer::FieldOperatorApplication::rethrow ( ) const

inline

sendCooperateCommand()

auto concealer::FieldOperatorApplication::sendCooperateCommand	(	const std::string &	module_name,
		const std::string &	command
	)		-> void

setVelocityLimit()

auto concealer::FieldOperatorApplication::setVelocityLimit

(

double

velocity_limit

)

-> void

spinSome()

auto concealer::FieldOperatorApplication::spinSome

(

)

-> void

Member Data Documentation

autoware_state

std::string concealer::FieldOperatorApplication::autoware_state

getAutowareState

SubscriberWrapper<AutowareState> concealer::FieldOperatorApplication::getAutowareState

getCommand

SubscriberWrapper<Control> concealer::FieldOperatorApplication::getCommand

getCooperateStatusArray

SubscriberWrapper<CooperateStatusArray> concealer::FieldOperatorApplication::getCooperateStatusArray

getEmergencyState

SubscriberWrapper<Emergency> concealer::FieldOperatorApplication::getEmergencyState

getMrmState

SubscriberWrapper<MrmState> concealer::FieldOperatorApplication::getMrmState

getPathWithLaneId

SubscriberWrapper<PathWithLaneId> concealer::FieldOperatorApplication::getPathWithLaneId

getTrajectory

SubscriberWrapper<Trajectory> concealer::FieldOperatorApplication::getTrajectory

getTurnIndicatorsCommand

SubscriberWrapper<TurnIndicatorsCommand> concealer::FieldOperatorApplication::getTurnIndicatorsCommand

initialize_was_called

bool concealer::FieldOperatorApplication::initialize_was_called = false

is_autoware_exited

bool concealer::FieldOperatorApplication::is_autoware_exited = false

is_stop_requested

std::atomic<bool> concealer::FieldOperatorApplication::is_stop_requested = false

latest_cooperate_status_array

tier4_rtc_msgs::msg::CooperateStatusArray concealer::FieldOperatorApplication::latest_cooperate_status_array

minimum_risk_maneuver_behavior

std::string concealer::FieldOperatorApplication::minimum_risk_maneuver_behavior

minimum_risk_maneuver_state

std::string concealer::FieldOperatorApplication::minimum_risk_maneuver_state

process_id

const pid_t concealer::FieldOperatorApplication::process_id = 0

requestClearRoute

ServiceWithValidation<ClearRoute> concealer::FieldOperatorApplication::requestClearRoute

requestCooperateCommands

ServiceWithValidation<CooperateCommands> concealer::FieldOperatorApplication::requestCooperateCommands

requestEnableAutowareControl

ServiceWithValidation<ChangeOperationMode> concealer::FieldOperatorApplication::requestEnableAutowareControl

requestEngage

ServiceWithValidation<Engage> concealer::FieldOperatorApplication::requestEngage

requestInitialPose

ServiceWithValidation<InitializeLocalization> concealer::FieldOperatorApplication::requestInitialPose

requestSetRoutePoints

ServiceWithValidation<SetRoutePoints> concealer::FieldOperatorApplication::requestSetRoutePoints

requestSetRtcAutoMode

ServiceWithValidation<AutoModeWithModule> concealer::FieldOperatorApplication::requestSetRtcAutoMode

requestSetVelocityLimit

ServiceWithValidation<SetVelocityLimit> concealer::FieldOperatorApplication::requestSetVelocityLimit

task_queue

TaskQueue concealer::FieldOperatorApplication::task_queue

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The documentation for this struct was generated from the following files:

• external/concealer/include/concealer/field_operator_application.hpp
• external/concealer/src/field_operator_application.cpp