#include <DbwNode.h>

Public Member Functions
	DbwNode (ros::NodeHandle &node, ros::NodeHandle &priv_nh)
	~DbwNode ()
Private Types
enum	{ JOINT_FL = 0, JOINT_FR, JOINT_RL, JOINT_RR, JOINT_SL, JOINT_SR, JOINT_COUNT }
Private Member Functions
void	buttonCancel ()
bool	clear ()
void	disableSystem ()
bool	enabled ()
void	enableSystem ()
bool	fault ()
void	faultAcceleratorPedal (bool fault)
void	faultBrakes (bool fault)
void	faultSteering (bool fault)
void	faultSteeringCal (bool fault)
void	faultWatchdog (bool fault, uint8_t src, bool braking)
void	faultWatchdog (bool fault, uint8_t src=0)
bool	override ()
void	overrideAcceleratorPedal (bool override)
void	overrideBrake (bool override)
void	overrideGear (bool override)
void	overrideSteering (bool override)
bool	publishDbwEnabled ()
void	publishJointStates (const ros::Time &stamp, const dbw_pacifica_msgs::WheelSpeedReport wheels, const dbw_pacifica_msgs::SteeringReport steering)
void	recvAcceleratorPedalCmd (const dbw_pacifica_msgs::AcceleratorPedalCmd::ConstPtr &msg)
void	recvBrakeCmd (const dbw_pacifica_msgs::BrakeCmd::ConstPtr &msg)
void	recvCAN (const can_msgs::Frame::ConstPtr &msg)
void	recvCanGps (const std::vector< can_msgs::Frame::ConstPtr > &msgs)
void	recvCanImu (const std::vector< can_msgs::Frame::ConstPtr > &msgs)
void	recvDisable (const std_msgs::Empty::ConstPtr &msg)
void	recvEnable (const std_msgs::Empty::ConstPtr &msg)
void	recvGearCmd (const dbw_pacifica_msgs::GearCmd::ConstPtr &msg)
void	recvGlobalEnableCmd (const dbw_pacifica_msgs::GlobalEnableCmd::ConstPtr &msg)
void	recvMiscCmd (const dbw_pacifica_msgs::MiscCmd::ConstPtr &msg)
void	recvSteeringCmd (const dbw_pacifica_msgs::SteeringCmd::ConstPtr &msg)
void	timeoutAcceleratorPedal (bool timeout, bool enabled)
void	timeoutBrake (bool timeout, bool enabled)
void	timeoutSteering (bool timeout, bool enabled)
void	timerCallback (const ros::TimerEvent &event)
Private Attributes
double	acker_track_
double	acker_wheelbase_
bool	buttons_
uint32_t	count_
std::string	dbcFile_
NewEagle::Dbc	dbwDbc_
bool	enable_
bool	enabled_accelerator_pedal_
bool	enabled_brakes_
bool	enabled_steering_
bool	fault_accelerator_pedal_
bool	fault_brakes_
bool	fault_steering_
bool	fault_steering_cal_
bool	fault_watchdog_
bool	fault_watchdog_using_brakes_
bool	fault_watchdog_warned_
std::string	frame_id_
bool	gear_warned_
sensor_msgs::JointState	joint_state_
bool	override_accelerator_pedal_
bool	override_brake_
bool	override_gear_
bool	override_steering_
ros::Publisher	pdu1_relay_pub_
bool	prev_enable_
ros::Publisher	pub_accel_pedal_
ros::Publisher	pub_brake_
ros::Publisher	pub_brake_2_report_
ros::Publisher	pub_can_
ros::Publisher	pub_driver_input_
ros::Publisher	pub_fault_actions_report_
ros::Publisher	pub_gear_
ros::Publisher	pub_hmi_global_enable_report_
ros::Publisher	pub_imu_
ros::Publisher	pub_joint_states_
ros::Publisher	pub_low_voltage_system_
ros::Publisher	pub_misc_
ros::Publisher	pub_steering_
ros::Publisher	pub_steering_2_report_
ros::Publisher	pub_surround_
ros::Publisher	pub_sys_enable_
ros::Publisher	pub_tire_pressure_
ros::Publisher	pub_twist_
ros::Publisher	pub_vin_
ros::Publisher	pub_wheel_positions_
ros::Publisher	pub_wheel_speeds_
double	steering_ratio_
ros::Subscriber	sub_accelerator_pedal_
ros::Subscriber	sub_brake_
ros::Subscriber	sub_can_
ros::Subscriber	sub_disable_
ros::Subscriber	sub_enable_
ros::Subscriber	sub_gear_
ros::Subscriber	sub_global_enable_
ros::Subscriber	sub_misc_
ros::Subscriber	sub_steering_
bool	timeout_accelerator_pedal_
bool	timeout_brakes_
bool	timeout_steering_
ros::Timer	timer_
std::string	vin_

Detailed Description

Definition at line 85 of file DbwNode.h.

Member Enumeration Documentation

anonymous enum [private]

Enumerator:

JOINT_FL
JOINT_FR
JOINT_RL
JOINT_RR
JOINT_SL
JOINT_SR
JOINT_COUNT

Definition at line 148 of file DbwNode.h.

Constructor & Destructor Documentation

dbw_pacifica_can::DbwNode::DbwNode	(	ros::NodeHandle &	node,
		ros::NodeHandle &	priv_nh
	)

Definition at line 42 of file DbwNode.cpp.

dbw_pacifica_can::DbwNode::~DbwNode ( )

Definition at line 144 of file DbwNode.cpp.

Member Function Documentation

void dbw_pacifica_can::DbwNode::buttonCancel ( ) [private]

Definition at line 1027 of file DbwNode.cpp.

bool dbw_pacifica_can::DbwNode::clear ( ) [inline, private]

Definition at line 128 of file DbwNode.h.

void dbw_pacifica_can::DbwNode::disableSystem ( ) [private]

Definition at line 1018 of file DbwNode.cpp.

bool dbw_pacifica_can::DbwNode::enabled ( ) [inline, private]

Definition at line 129 of file DbwNode.h.

void dbw_pacifica_can::DbwNode::enableSystem ( ) [private]

Definition at line 988 of file DbwNode.cpp.

bool dbw_pacifica_can::DbwNode::fault ( ) [inline, private]

Definition at line 126 of file DbwNode.h.

void dbw_pacifica_can::DbwNode::faultAcceleratorPedal ( bool fault ) [private]

Definition at line 1143 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::faultBrakes ( bool fault ) [private]

Definition at line 1127 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::faultSteering ( bool fault ) [private]

Definition at line 1159 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::faultSteeringCal ( bool fault ) [private]

Definition at line 1175 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::faultWatchdog	(	bool	fault,
		uint8_t	src,
		bool	braking
	)		`[private]`

Definition at line 1191 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::faultWatchdog	(	bool	fault,
		uint8_t	src = `0`
	)		`[private]`

Definition at line 1269 of file DbwNode.cpp.

bool dbw_pacifica_can::DbwNode::override ( ) [inline, private]

Definition at line 127 of file DbwNode.h.

void dbw_pacifica_can::DbwNode::overrideAcceleratorPedal ( bool override ) [private]

Definition at line 1052 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::overrideBrake ( bool override ) [private]

Definition at line 1036 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::overrideGear ( bool override ) [private]

Definition at line 1084 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::overrideSteering ( bool override ) [private]

Definition at line 1068 of file DbwNode.cpp.

bool dbw_pacifica_can::DbwNode::publishDbwEnabled ( ) [private]

Definition at line 926 of file DbwNode.cpp.

void dbw_pacifica_can::DbwNode::publishJointStates	(	const ros::Time &	stamp,
		const dbw_pacifica_msgs::WheelSpeedReport *	wheels,
		const dbw_pacifica_msgs::SteeringReport *	steering
	)		`[private]`