transition_assertion.hpp File Reference

#include <chrono>
#include <rclcpp/node.hpp>
#include <rclcpp/rate.hpp>
#include <scenario_simulator_exception/exception.hpp>

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Classes
struct	concealer::TransitionAssertion< Autoware >

Namespaces
	concealer

Macros
#define	DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE(STATE)

Macro Definition Documentation

DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE

#define DEFINE_WAIT_FOR_AUTOWARE_STATE_TO_BE

(

STATE

)

Value:

  template <typename Thunk = void (*)(), typename Interval = std::chrono::seconds>      \
  auto waitForAutowareStateToBe_##STATE(                                                \
    Thunk && thunk = [] {}, Interval interval = std::chrono::seconds(1))                \
  {                                                                                     \
    for (thunk(); not static_cast<const Autoware &>(*this).is_stop_requested.load() and \
                  static_cast<const Autoware &>(*this).autoware_state != #STATE;        \
         rclcpp::GenericRate<std::chrono::steady_clock>(interval).sleep()) {            \
      if (                                                                              \
        have_never_been_engaged and                                                     \
        start + initialize_duration <= std::chrono::steady_clock::now()) {              \
        const auto state = static_cast<const Autoware &>(*this).autoware_state;         \
        throw common::AutowareError(                                                    \
          "Simulator waited for the Autoware state to transition to " #STATE            \
          ", but time is up. The current Autoware state is ",                           \
          (state.empty() ? "not published yet" : state));                               \
      } else {                                                                          \
        thunk();                                                                        \
      }                                                                                 \
    }                                                                                   \
    if constexpr (std::string_view(#STATE) == std::string_view("DRIVING")) {            \
      have_never_been_engaged = false;                                                  \
    }                                                                                   \
  }                                                                                     \
  static_assert(true)