pacmod_node.cpp File Reference

#include <pacmod_ros_msg_handler.h>
#include <thread>
#include <unistd.h>
#include <time.h>
#include <algorithm>
#include <unordered_map>
#include <std_msgs/Int16.h>
#include <std_msgs/Bool.h>
#include <std_msgs/Float64.h>
#include <can_msgs/Frame.h>

Include dependency graph for pacmod_node.cpp:

Go to the source code of this file.

Functions
void	callback_accelerator_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	callback_brake_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	callback_headlight_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	callback_horn_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	callback_pacmod_enable (const std_msgs::Bool::ConstPtr &msg)
void	callback_shift_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	callback_steering_set_cmd (const pacmod_msgs::PositionWithSpeed::ConstPtr &msg)
void	callback_turn_signal_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	callback_wiper_set_cmd (const pacmod_msgs::PacmodCmd::ConstPtr &msg)
void	can_read (const can_msgs::Frame::ConstPtr &msg)
void	can_write ()
int	main (int argc, char *argv[])
void	send_can (int32_t id, const std::vector< unsigned char > &vec)
void	set_enable (bool val)
Variables
ros::Publisher	accel_rpt_pub
ros::Publisher	brake_rpt_detail_1_pub
ros::Publisher	brake_rpt_detail_2_pub
ros::Publisher	brake_rpt_detail_3_pub
ros::Publisher	brake_rpt_pub
std::chrono::milliseconds	can_error_pause = std::chrono::milliseconds(1000)
ros::Publisher	can_rx_pub
ros::Publisher	date_time_rpt_pub
std::mutex	enable_mut
ros::Publisher	enable_pub
bool	enable_state = false
bool	global_keep_going = true
ros::Publisher	global_rpt_pub
PacmodTxRosMsgHandler	handler
ros::Publisher	headlight_rpt_pub
std::shared_ptr< ros::Subscriber >	headlight_set_cmd_sub
ros::Publisher	horn_rpt_pub
std::shared_ptr< ros::Subscriber >	horn_set_cmd_sub
std::mutex	keep_going_mut
double	last_global_rpt_msg_received = 0.0
ros::Publisher	lat_lon_heading_rpt_pub
std::mutex	override_mut
bool	override_state = false
ros::Publisher	parking_brake_status_rpt_pub
std::unordered_map< int64_t, ros::Publisher >	pub_tx_list
std::unordered_map< int64_t, int64_t >	rpt_cmd_list
std::unordered_map< int64_t, std::shared_ptr< LockedData > >	rx_list
ros::Publisher	shift_rpt_pub
ros::Publisher	steer_rpt_2_pub
ros::Publisher	steer_rpt_3_pub
ros::Publisher	steer_rpt_pub
ros::Publisher	steering_pid_rpt_1_pub
ros::Publisher	steering_pid_rpt_2_pub
ros::Publisher	steering_pid_rpt_3_pub
ros::Publisher	steering_pid_rpt_4_pub
ros::Publisher	steering_rpt_detail_1_pub
ros::Publisher	steering_rpt_detail_2_pub
ros::Publisher	steering_rpt_detail_3_pub
ros::Publisher	turn_rpt_pub
VehicleType	veh_type = VehicleType::POLARIS_GEM
std::string	veh_type_string = "POLARIS_GEM"
ros::Publisher	vehicle_speed_ms_pub
ros::Publisher	vehicle_speed_pub
ros::Publisher	vin_rpt_pub
const double	watchdog_timeout = 0.3
ros::Publisher	wheel_speed_rpt_pub
ros::Publisher	wiper_rpt_pub
std::shared_ptr< ros::Subscriber >	wiper_set_cmd_sub
ros::Publisher	yaw_rate_rpt_pub

---

Function Documentation

void callback_accelerator_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 184 of file pacmod_node.cpp.

void callback_brake_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 218 of file pacmod_node.cpp.

void callback_headlight_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 116 of file pacmod_node.cpp.

void callback_horn_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 133 of file pacmod_node.cpp.

void callback_pacmod_enable

(

const std_msgs::Bool::ConstPtr &

msg

)

Definition at line 93 of file pacmod_node.cpp.

void callback_shift_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 167 of file pacmod_node.cpp.

void callback_steering_set_cmd

(

const pacmod_msgs::PositionWithSpeed::ConstPtr &

msg

)

Definition at line 201 of file pacmod_node.cpp.

void callback_turn_signal_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 99 of file pacmod_node.cpp.

void callback_wiper_set_cmd

(

const pacmod_msgs::PacmodCmd::ConstPtr &

msg

)

Definition at line 150 of file pacmod_node.cpp.

void can_read

(

const can_msgs::Frame::ConstPtr &

msg

)

Definition at line 318 of file pacmod_node.cpp.

void can_write

(

)

Definition at line 249 of file pacmod_node.cpp.

int main	(	int	argc,
		char *	argv[]
	)

Definition at line 438 of file pacmod_node.cpp.

void send_can	(	int32_t	id,
		const std::vector< unsigned char > &	vec
	)

Definition at line 234 of file pacmod_node.cpp.

void set_enable

(

bool

val

)

Definition at line 86 of file pacmod_node.cpp.

---

Variable Documentation

ros::Publisher accel_rpt_pub

Definition at line 61 of file pacmod_node.cpp.

ros::Publisher brake_rpt_detail_1_pub

Definition at line 47 of file pacmod_node.cpp.

ros::Publisher brake_rpt_detail_2_pub

Definition at line 48 of file pacmod_node.cpp.

ros::Publisher brake_rpt_detail_3_pub

Definition at line 49 of file pacmod_node.cpp.

ros::Publisher brake_rpt_pub

Definition at line 63 of file pacmod_node.cpp.

std::chrono::milliseconds can_error_pause = std::chrono::milliseconds(1000)

Definition at line 83 of file pacmod_node.cpp.

ros::Publisher can_rx_pub

Definition at line 67 of file pacmod_node.cpp.

ros::Publisher date_time_rpt_pub

Definition at line 41 of file pacmod_node.cpp.

std::mutex enable_mut

Definition at line 73 of file pacmod_node.cpp.

ros::Publisher enable_pub

Definition at line 66 of file pacmod_node.cpp.

bool enable_state = false

Definition at line 72 of file pacmod_node.cpp.

bool global_keep_going = true

Definition at line 76 of file pacmod_node.cpp.

ros::Publisher global_rpt_pub

Definition at line 57 of file pacmod_node.cpp.

PacmodTxRosMsgHandler handler

Definition at line 27 of file pacmod_node.cpp.

ros::Publisher headlight_rpt_pub

Definition at line 31 of file pacmod_node.cpp.

std::shared_ptr<ros::Subscriber> headlight_set_cmd_sub

Definition at line 52 of file pacmod_node.cpp.

ros::Publisher horn_rpt_pub

Definition at line 32 of file pacmod_node.cpp.

std::shared_ptr<ros::Subscriber> horn_set_cmd_sub

Definition at line 52 of file pacmod_node.cpp.

std::mutex keep_going_mut

Definition at line 77 of file pacmod_node.cpp.

double last_global_rpt_msg_received = 0.0

Definition at line 22 of file pacmod_node.cpp.

ros::Publisher lat_lon_heading_rpt_pub

Definition at line 40 of file pacmod_node.cpp.

std::mutex override_mut

Definition at line 75 of file pacmod_node.cpp.

bool override_state = false

Definition at line 74 of file pacmod_node.cpp.

ros::Publisher parking_brake_status_rpt_pub

Definition at line 42 of file pacmod_node.cpp.

std::unordered_map<int64_t, ros::Publisher> pub_tx_list

Definition at line 26 of file pacmod_node.cpp.

std::unordered_map<int64_t, int64_t> rpt_cmd_list

Definition at line 70 of file pacmod_node.cpp.

std::unordered_map<int64_t, std::shared_ptr<LockedData> > rx_list

Definition at line 69 of file pacmod_node.cpp.

ros::Publisher shift_rpt_pub

Definition at line 60 of file pacmod_node.cpp.

ros::Publisher steer_rpt_2_pub

Definition at line 33 of file pacmod_node.cpp.

ros::Publisher steer_rpt_3_pub

Definition at line 34 of file pacmod_node.cpp.

ros::Publisher steer_rpt_pub

Definition at line 62 of file pacmod_node.cpp.

ros::Publisher steering_pid_rpt_1_pub

Definition at line 36 of file pacmod_node.cpp.

ros::Publisher steering_pid_rpt_2_pub

Definition at line 37 of file pacmod_node.cpp.

ros::Publisher steering_pid_rpt_3_pub

Definition at line 38 of file pacmod_node.cpp.

ros::Publisher steering_pid_rpt_4_pub

Definition at line 39 of file pacmod_node.cpp.

ros::Publisher steering_rpt_detail_1_pub

Definition at line 44 of file pacmod_node.cpp.

ros::Publisher steering_rpt_detail_2_pub

Definition at line 45 of file pacmod_node.cpp.

ros::Publisher steering_rpt_detail_3_pub

Definition at line 46 of file pacmod_node.cpp.

ros::Publisher turn_rpt_pub

Definition at line 59 of file pacmod_node.cpp.

VehicleType veh_type = VehicleType::POLARIS_GEM

Definition at line 25 of file pacmod_node.cpp.

std::string veh_type_string = "POLARIS_GEM"

Definition at line 24 of file pacmod_node.cpp.

ros::Publisher vehicle_speed_ms_pub

Definition at line 65 of file pacmod_node.cpp.

ros::Publisher vehicle_speed_pub

Definition at line 64 of file pacmod_node.cpp.

ros::Publisher vin_rpt_pub

Definition at line 58 of file pacmod_node.cpp.

const double watchdog_timeout = 0.3

Definition at line 23 of file pacmod_node.cpp.

ros::Publisher wheel_speed_rpt_pub

Definition at line 35 of file pacmod_node.cpp.

ros::Publisher wiper_rpt_pub

Definition at line 30 of file pacmod_node.cpp.

std::shared_ptr<ros::Subscriber> wiper_set_cmd_sub

Definition at line 52 of file pacmod_node.cpp.

ros::Publisher yaw_rate_rpt_pub

Definition at line 43 of file pacmod_node.cpp.