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	MrmState = autoware_adapi_v1_msgs::msg::MrmState
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	SetRoute = autoware_adapi_v1_msgs::srv::SetRoute
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
using	RouteOption = void

Public Member Functions
template<typename Thunk = void (*)()>
auto	waitForAutowareStateToBe (const LegacyAutowareState &from_state, const LegacyAutowareState &to_state, Thunk thunk=[] {})
CONCEALER_PUBLIC	FieldOperatorApplication (const pid_t)
	~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 > &, const bool) -> void
auto	plan (const geometry_msgs::msg::Pose &goal, const std::vector< geometry_msgs::msg::Pose > &, const RouteOption &) -> void
auto	plan (const geometry_msgs::msg::Pose &goal, const std::vector< autoware_adapi_v1_msgs::msg::RouteSegment > &, const RouteOption &) -> void
auto	clearRoute () -> void
auto	getLegacyAutowareState () const -> LegacyAutowareState
auto	requestAutoModeForCooperation (const std::string &, bool) -> void
auto	sendCooperateCommand (const std::string &, const std::string &) -> void
auto	setVelocityLimit (double) -> void
auto	enableAutowareControl () -> void

Public Attributes
pid_t	process_id
bool	initialized = false
std::atomic< bool >	finalized = false
std::chrono::steady_clock::time_point	time_limit
std::string	minimum_risk_maneuver_state
std::string	minimum_risk_maneuver_behavior
Subscriber< AutowareState >	getAutowareState
Subscriber< Control >	getCommand
Subscriber< CooperateStatusArray >	getCooperateStatusArray
Subscriber< Emergency >	getEmergencyState
Subscriber< MrmState >	getMrmState
Subscriber< priority::PathWithLaneId >	getPathWithLaneId
Subscriber< TurnIndicatorsCommand >	getTurnIndicatorsCommand
Service< ClearRoute >	requestClearRoute
Service< CooperateCommands >	requestCooperateCommands
Service< Engage >	requestEngage
Service< InitializeLocalization >	requestInitialPose
Service< SetRoute >	requestSetRoute
Service< SetRoutePoints >	requestSetRoutePoints
Service< AutoModeWithModule >	requestSetRtcAutoMode
Service< SetVelocityLimit >	requestSetVelocityLimit
Service< ChangeOperationMode >	requestEnableAutowareControl
Service< ChangeOperationMode >	requestChangeToStop
rclcpp::executors::SingleThreadedExecutor	executor
TaskQueue	task_queue

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

MrmState

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

RouteOption

using concealer::FieldOperatorApplication::RouteOption = void

SetRoute

using concealer::FieldOperatorApplication::SetRoute = autoware_adapi_v1_msgs::srv::SetRoute

SetRoutePoints

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

SetVelocityLimit

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

TurnIndicatorsCommand

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

Constructor & Destructor Documentation

FieldOperatorApplication()

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

explicit

~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

getLegacyAutowareState()

auto concealer::FieldOperatorApplication::getLegacyAutowareState

(

)

const -> LegacyAutowareState

initialize()

auto concealer::FieldOperatorApplication::initialize

(

const geometry_msgs::msg::Pose &

initial_pose

)

-> void

plan() [1/3]

auto concealer::FieldOperatorApplication::plan	(	const geometry_msgs::msg::Pose &	goal,
		const std::vector< autoware_adapi_v1_msgs::msg::RouteSegment > &	waypoints,
		const RouteOption &	option
	)		-> void

plan() [2/3]

auto concealer::FieldOperatorApplication::plan	(	const geometry_msgs::msg::Pose &	goal,
		const std::vector< geometry_msgs::msg::Pose > &	waypoints,
		const RouteOption &	option
	)		-> void

plan() [3/3]

auto concealer::FieldOperatorApplication::plan	(	const std::vector< geometry_msgs::msg::PoseStamped > &	route,
		const bool	allow_goal_modification
	)		-> void

requestAutoModeForCooperation()

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

sendCooperateCommand()

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

The finish_distance filter is set to over -20.0, because some valid rtc statuses has negative finish_distance due to the errors of localization or numerical calculation. This threshold is advised by a member of TIER IV planning and control team.

The difference in the variable referred as a distance is the impact of the message specification changes in the following URL. This was also decided after consulting with a member of TIER IV planning and control team. ref: https://github.com/tier4/tier4_autoware_msgs/commit/8b85e6e43aa48cf4a439c77bf4bf6aee2e70c3ef

setVelocityLimit()

auto concealer::FieldOperatorApplication::setVelocityLimit

(

double

velocity_limit

)

-> void

spinSome()

auto concealer::FieldOperatorApplication::spinSome

(

)

-> void

waitForAutowareStateToBe()

template<typename Thunk = void (*)()>

auto concealer::FieldOperatorApplication::waitForAutowareStateToBe ( const LegacyAutowareState &  from_state, const LegacyAutowareState &  to_state, Thunk  thunk = [] {}  )

inline

Member Data Documentation

executor

rclcpp::executors::SingleThreadedExecutor concealer::FieldOperatorApplication::executor

finalized

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

getAutowareState

Subscriber<AutowareState> concealer::FieldOperatorApplication::getAutowareState

getCommand

Subscriber<Control> concealer::FieldOperatorApplication::getCommand

getCooperateStatusArray

Subscriber<CooperateStatusArray> concealer::FieldOperatorApplication::getCooperateStatusArray

getEmergencyState

Subscriber<Emergency> concealer::FieldOperatorApplication::getEmergencyState

getMrmState

Subscriber<MrmState> concealer::FieldOperatorApplication::getMrmState

getPathWithLaneId

Subscriber<priority::PathWithLaneId> concealer::FieldOperatorApplication::getPathWithLaneId

getTurnIndicatorsCommand

Subscriber<TurnIndicatorsCommand> concealer::FieldOperatorApplication::getTurnIndicatorsCommand

initialized

bool concealer::FieldOperatorApplication::initialized = false

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

pid_t concealer::FieldOperatorApplication::process_id

requestChangeToStop

Service<ChangeOperationMode> concealer::FieldOperatorApplication::requestChangeToStop

requestClearRoute

Service<ClearRoute> concealer::FieldOperatorApplication::requestClearRoute

requestCooperateCommands

Service<CooperateCommands> concealer::FieldOperatorApplication::requestCooperateCommands

requestEnableAutowareControl

Service<ChangeOperationMode> concealer::FieldOperatorApplication::requestEnableAutowareControl

requestEngage

Service<Engage> concealer::FieldOperatorApplication::requestEngage

requestInitialPose

Service<InitializeLocalization> concealer::FieldOperatorApplication::requestInitialPose

requestSetRoute

Service<SetRoute> concealer::FieldOperatorApplication::requestSetRoute

requestSetRoutePoints

Service<SetRoutePoints> concealer::FieldOperatorApplication::requestSetRoutePoints

requestSetRtcAutoMode

Service<AutoModeWithModule> concealer::FieldOperatorApplication::requestSetRtcAutoMode

requestSetVelocityLimit

Service<SetVelocityLimit> concealer::FieldOperatorApplication::requestSetVelocityLimit

task_queue

TaskQueue concealer::FieldOperatorApplication::task_queue

time_limit

std::chrono::steady_clock::time_point concealer::FieldOperatorApplication::time_limit

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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