pacmod3_node.cpp File Reference

#include <pacmod3_ros_msg_handler.h>
#include <signal.h>
#include <queue>
#include <thread>
#include <unistd.h>
#include <time.h>
#include <map>
#include <unordered_map>
#include <tuple>
#include <std_msgs/Bool.h>
#include <std_msgs/Float64.h>
#include <can_msgs/Frame.h>

Include dependency graph for pacmod3_node.cpp:

Go to the source code of this file.

Functions
void	callback_accel_cmd_sub (const pacmod_msgs::SystemCmdFloat::ConstPtr &msg)
void	callback_brake_cmd_sub (const pacmod_msgs::SystemCmdFloat::ConstPtr &msg)
void	callback_cruise_control_buttons_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_dash_controls_left_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_dash_controls_right_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_headlight_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_horn_set_cmd (const pacmod_msgs::SystemCmdBool::ConstPtr &msg)
void	callback_media_controls_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_shift_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_steer_cmd_sub (const pacmod_msgs::SteerSystemCmd::ConstPtr &msg)
void	callback_turn_signal_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	callback_wiper_set_cmd (const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	can_read (const can_msgs::Frame::ConstPtr &msg)
void	can_write ()
void	lookup_and_encode (const int64_t &can_id, const pacmod_msgs::SystemCmdBool::ConstPtr &msg)
void	lookup_and_encode (const int64_t &can_id, const pacmod_msgs::SystemCmdInt::ConstPtr &msg)
void	lookup_and_encode (const int64_t &can_id, const pacmod_msgs::SystemCmdFloat::ConstPtr &msg)
int	main (int argc, char *argv[])
void	send_can (long id, const std::vector< unsigned char > &vec)
void	set_enable (bool val)

Variables
ros::Publisher	accel_aux_rpt_pub
ros::Publisher	accel_rpt_pub
ros::Publisher	all_system_statuses_pub
ros::Publisher	brake_aux_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
ros::Publisher	can_rx_pub
ros::Publisher	cruise_control_buttons_rpt_pub
ros::Publisher	dash_controls_left_rpt_pub
ros::Publisher	dash_controls_right_rpt_pub
ros::Publisher	date_time_rpt_pub
ros::Publisher	detected_object_rpt_pub
ros::Publisher	door_rpt_pub
ros::Publisher	enabled_pub
bool	global_keep_going = true
ros::Publisher	global_rpt_pub
Pacmod3TxRosMsgHandler	handler
ros::Publisher	headlight_aux_rpt_pub
ros::Publisher	headlight_rpt_pub
ros::Publisher	horn_rpt_pub
ros::Publisher	interior_lights_rpt_pub
std::mutex	keep_going_mut
ros::Publisher	lat_lon_heading_rpt_pub
ros::Publisher	media_controls_rpt_pub
ros::Publisher	occupancy_rpt_pub
ros::Publisher	parking_brake_rpt_pub
std::unordered_map< int64_t, ros::Publisher >	pub_tx_list
ros::Publisher	rear_lights_rpt_pub
std::unordered_map< long long, std::shared_ptr< LockedData > >	rx_list
ros::Publisher	shift_aux_rpt_pub
ros::Publisher	shift_rpt_pub
ros::Publisher	steer_aux_rpt_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
std::map< long long, std::tuple< bool, bool, bool > >	system_statuses
ros::Publisher	turn_aux_rpt_pub
ros::Publisher	turn_rpt_pub
VehicleType	veh_type = VehicleType::POLARIS_GEM
std::string	veh_type_string = "POLARIS_GEM"
ros::Publisher	vehicle_dynamics_rpt_pub
ros::Publisher	vehicle_specific_rpt_1_pub
ros::Publisher	vehicle_speed_ms_pub
ros::Publisher	vehicle_speed_pub
ros::Publisher	vin_rpt_pub
ros::Publisher	wheel_speed_rpt_pub
ros::Publisher	wiper_aux_rpt_pub
ros::Publisher	wiper_rpt_pub
ros::Publisher	yaw_rate_rpt_pub

Function Documentation

void callback_accel_cmd_sub

(

const pacmod_msgs::SystemCmdFloat::ConstPtr &

msg

)

Definition at line 138 of file pacmod3_node.cpp.

void callback_brake_cmd_sub

(

const pacmod_msgs::SystemCmdFloat::ConstPtr &

msg

)

Definition at line 144 of file pacmod3_node.cpp.

void callback_cruise_control_buttons_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 149 of file pacmod3_node.cpp.

void callback_dash_controls_left_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 154 of file pacmod3_node.cpp.

void callback_dash_controls_right_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 159 of file pacmod3_node.cpp.

void callback_headlight_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 165 of file pacmod3_node.cpp.

void callback_horn_set_cmd

(

const pacmod_msgs::SystemCmdBool::ConstPtr &

msg

)

Definition at line 171 of file pacmod3_node.cpp.

void callback_media_controls_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 176 of file pacmod3_node.cpp.

void callback_shift_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 182 of file pacmod3_node.cpp.

void callback_steer_cmd_sub

(

const pacmod_msgs::SteerSystemCmd::ConstPtr &

msg

)

Definition at line 188 of file pacmod3_node.cpp.

void callback_turn_signal_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 200 of file pacmod3_node.cpp.

void callback_wiper_set_cmd

(

const pacmod_msgs::SystemCmdInt::ConstPtr &

msg

)

Definition at line 206 of file pacmod3_node.cpp.

void can_read

(

const can_msgs::Frame::ConstPtr &

msg

)

Definition at line 259 of file pacmod3_node.cpp.

void can_write

(

)

Definition at line 226 of file pacmod3_node.cpp.

void lookup_and_encode	(	const int64_t &	can_id,
		const pacmod_msgs::SystemCmdBool::ConstPtr &	msg
	)

Definition at line 107 of file pacmod3_node.cpp.

void lookup_and_encode	(	const int64_t &	can_id,
		const pacmod_msgs::SystemCmdInt::ConstPtr &	msg
	)

Definition at line 117 of file pacmod3_node.cpp.

void lookup_and_encode	(	const int64_t &	can_id,
		const pacmod_msgs::SystemCmdFloat::ConstPtr &	msg
	)

Definition at line 127 of file pacmod3_node.cpp.

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

Definition at line 307 of file pacmod3_node.cpp.

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

Definition at line 211 of file pacmod3_node.cpp.

void set_enable

(

bool

val

)

Definition at line 88 of file pacmod3_node.cpp.

Variable Documentation

ros::Publisher accel_aux_rpt_pub

Definition at line 74 of file pacmod3_node.cpp.

ros::Publisher accel_rpt_pub

Definition at line 67 of file pacmod3_node.cpp.

ros::Publisher all_system_statuses_pub

Definition at line 79 of file pacmod3_node.cpp.

ros::Publisher brake_aux_rpt_pub

Definition at line 75 of file pacmod3_node.cpp.

ros::Publisher brake_rpt_detail_1_pub

Definition at line 51 of file pacmod3_node.cpp.

ros::Publisher brake_rpt_detail_2_pub

Definition at line 52 of file pacmod3_node.cpp.

ros::Publisher brake_rpt_detail_3_pub

Definition at line 53 of file pacmod3_node.cpp.

ros::Publisher brake_rpt_pub

Definition at line 69 of file pacmod3_node.cpp.

ros::Publisher can_rx_pub

Definition at line 73 of file pacmod3_node.cpp.

ros::Publisher cruise_control_buttons_rpt_pub

Definition at line 30 of file pacmod3_node.cpp.

ros::Publisher dash_controls_left_rpt_pub

Definition at line 31 of file pacmod3_node.cpp.

ros::Publisher dash_controls_right_rpt_pub

Definition at line 32 of file pacmod3_node.cpp.

ros::Publisher date_time_rpt_pub

Definition at line 45 of file pacmod3_node.cpp.

ros::Publisher detected_object_rpt_pub

Definition at line 54 of file pacmod3_node.cpp.

ros::Publisher door_rpt_pub

Definition at line 59 of file pacmod3_node.cpp.

ros::Publisher enabled_pub

Definition at line 72 of file pacmod3_node.cpp.

bool global_keep_going = true

Definition at line 84 of file pacmod3_node.cpp.

ros::Publisher global_rpt_pub

Definition at line 63 of file pacmod3_node.cpp.

Pacmod3TxRosMsgHandler handler

Definition at line 27 of file pacmod3_node.cpp.

ros::Publisher headlight_aux_rpt_pub

Definition at line 37 of file pacmod3_node.cpp.

ros::Publisher headlight_rpt_pub

Definition at line 36 of file pacmod3_node.cpp.

ros::Publisher horn_rpt_pub

Definition at line 38 of file pacmod3_node.cpp.

ros::Publisher interior_lights_rpt_pub

Definition at line 58 of file pacmod3_node.cpp.

std::mutex keep_going_mut

Definition at line 85 of file pacmod3_node.cpp.

ros::Publisher lat_lon_heading_rpt_pub

Definition at line 44 of file pacmod3_node.cpp.

ros::Publisher media_controls_rpt_pub

Definition at line 33 of file pacmod3_node.cpp.

ros::Publisher occupancy_rpt_pub

Definition at line 57 of file pacmod3_node.cpp.

ros::Publisher parking_brake_rpt_pub

Definition at line 46 of file pacmod3_node.cpp.

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

Definition at line 26 of file pacmod3_node.cpp.

ros::Publisher rear_lights_rpt_pub

Definition at line 60 of file pacmod3_node.cpp.

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

Definition at line 81 of file pacmod3_node.cpp.

ros::Publisher shift_aux_rpt_pub

Definition at line 76 of file pacmod3_node.cpp.

ros::Publisher shift_rpt_pub

Definition at line 66 of file pacmod3_node.cpp.

ros::Publisher steer_aux_rpt_pub

Definition at line 77 of file pacmod3_node.cpp.

ros::Publisher steer_rpt_pub

Definition at line 68 of file pacmod3_node.cpp.

ros::Publisher steering_pid_rpt_1_pub

Definition at line 40 of file pacmod3_node.cpp.

ros::Publisher steering_pid_rpt_2_pub

Definition at line 41 of file pacmod3_node.cpp.

ros::Publisher steering_pid_rpt_3_pub

Definition at line 42 of file pacmod3_node.cpp.

ros::Publisher steering_pid_rpt_4_pub

Definition at line 43 of file pacmod3_node.cpp.

ros::Publisher steering_rpt_detail_1_pub

Definition at line 48 of file pacmod3_node.cpp.

ros::Publisher steering_rpt_detail_2_pub

Definition at line 49 of file pacmod3_node.cpp.

ros::Publisher steering_rpt_detail_3_pub

Definition at line 50 of file pacmod3_node.cpp.

std::map<long long, std::tuple<bool, bool, bool> > system_statuses

Definition at line 82 of file pacmod3_node.cpp.

ros::Publisher turn_aux_rpt_pub

Definition at line 78 of file pacmod3_node.cpp.

ros::Publisher turn_rpt_pub

Definition at line 65 of file pacmod3_node.cpp.

VehicleType veh_type = VehicleType::POLARIS_GEM

Definition at line 25 of file pacmod3_node.cpp.

std::string veh_type_string = "POLARIS_GEM"

Definition at line 24 of file pacmod3_node.cpp.

ros::Publisher vehicle_dynamics_rpt_pub

Definition at line 56 of file pacmod3_node.cpp.

ros::Publisher vehicle_specific_rpt_1_pub

Definition at line 55 of file pacmod3_node.cpp.

ros::Publisher vehicle_speed_ms_pub

Definition at line 71 of file pacmod3_node.cpp.

ros::Publisher vehicle_speed_pub

Definition at line 70 of file pacmod3_node.cpp.

ros::Publisher vin_rpt_pub

Definition at line 64 of file pacmod3_node.cpp.

ros::Publisher wheel_speed_rpt_pub

Definition at line 39 of file pacmod3_node.cpp.

ros::Publisher wiper_aux_rpt_pub

Definition at line 35 of file pacmod3_node.cpp.

ros::Publisher wiper_rpt_pub

Definition at line 34 of file pacmod3_node.cpp.

ros::Publisher yaw_rate_rpt_pub

Definition at line 47 of file pacmod3_node.cpp.