Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
dbw_fca_can::DbwNode Class Reference

#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 faultBrakes (bool fault)
 
void faultSteering (bool fault)
 
void faultSteeringCal (bool fault)
 
void faultThrottle (bool fault)
 
void faultWatchdog (bool fault, uint8_t src, bool braking)
 
void faultWatchdog (bool fault, uint8_t src=0)
 
bool override ()
 
void overrideBrake (bool override, bool timeout)
 
void overrideGear (bool override)
 
void overrideSteering (bool override, bool timeout)
 
void overrideThrottle (bool override, bool timeout)
 
bool publishDbwEnabled (bool force=false)
 
void publishJointStates (const ros::Time &stamp, const dbw_fca_msgs::SteeringReport *steering)
 
void recvBrakeCmd (const dbw_fca_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_fca_msgs::GearCmd::ConstPtr &msg)
 
void recvMiscCmd (const dbw_fca_msgs::MiscCmd::ConstPtr &msg)
 
void recvSteeringCmd (const dbw_fca_msgs::SteeringCmd::ConstPtr &msg)
 
void recvThrottleCmd (const dbw_fca_msgs::ThrottleCmd::ConstPtr &msg)
 
void timeoutBrake (bool timeout, bool enabled)
 
void timeoutSteering (bool timeout, bool enabled)
 
void timeoutThrottle (bool timeout, bool enabled)
 
void timerCallback (const ros::TimerEvent &event)
 

Static Private Member Functions

template<typename T >
static int sgn (T val)
 

Private Attributes

double acker_track_
 
double acker_wheelbase_
 
std::map< uint8_t, std::string > bdate_
 
bool buttons_
 
bool enable_
 
bool enable_joint_states_
 
bool enabled_brakes_
 
bool enabled_steering_
 
bool enabled_throttle_
 
bool fault_brakes_
 
bool fault_steering_
 
bool fault_steering_cal_
 
bool fault_throttle_
 
bool fault_watchdog_
 
bool fault_watchdog_using_brakes_
 
bool fault_watchdog_warned_
 
PlatformMap firmware_
 
std::string frame_id_
 
bool gear_warned_
 
sensor_msgs::JointState joint_state_
 
std::string ldate_
 
bool override_brake_
 
bool override_gear_
 
bool override_steering_
 
bool override_throttle_
 
bool pedal_luts_
 
bool prev_enable_
 
ros::Publisher pub_brake_
 
ros::Publisher pub_brake_info_
 
ros::Publisher pub_can_
 
ros::Publisher pub_fuel_level_
 
ros::Publisher pub_gear_
 
ros::Publisher pub_gps_fix_
 
ros::Publisher pub_gps_fix_dr
 
ros::Publisher pub_gps_time_
 
ros::Publisher pub_imu_
 
ros::Publisher pub_joint_states_
 
ros::Publisher pub_misc_1_
 
ros::Publisher pub_misc_2_
 
ros::Publisher pub_steering_
 
ros::Publisher pub_sys_enable_
 
ros::Publisher pub_throttle_
 
ros::Publisher pub_throttle_info_
 
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_brake_
 
ros::Subscriber sub_can_
 
ros::Subscriber sub_disable_
 
ros::Subscriber sub_enable_
 
ros::Subscriber sub_gear_
 
ros::Subscriber sub_misc_
 
ros::Subscriber sub_steering_
 
ros::Subscriber sub_throttle_
 
ros::Subscriber sub_turn_signal_
 
dataspeed_can_msg_filters::ApproximateTime sync_gps_
 
dataspeed_can_msg_filters::ApproximateTime sync_imu_
 
bool timeout_brakes_
 
bool timeout_steering_
 
bool timeout_throttle_
 
ros::Timer timer_
 
std::string vin_
 
bool warn_cmds_
 
double wheel_radius_
 

Detailed Description

Definition at line 75 of file DbwNode.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
private
Enumerator
JOINT_FL 
JOINT_FR 
JOINT_RL 
JOINT_RR 
JOINT_SL 
JOINT_SR 
JOINT_COUNT 

Definition at line 137 of file DbwNode.h.

Constructor & Destructor Documentation

◆ DbwNode()

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

Definition at line 79 of file DbwNode.cpp.

◆ ~DbwNode()

dbw_fca_can::DbwNode::~DbwNode ( )

Definition at line 191 of file DbwNode.cpp.

Member Function Documentation

◆ buttonCancel()

void dbw_fca_can::DbwNode::buttonCancel ( )
private

Definition at line 1165 of file DbwNode.cpp.

◆ clear()

bool dbw_fca_can::DbwNode::clear ( )
inlineprivate

Definition at line 117 of file DbwNode.h.

◆ disableSystem()

void dbw_fca_can::DbwNode::disableSystem ( )
private

Definition at line 1156 of file DbwNode.cpp.

◆ enabled()

bool dbw_fca_can::DbwNode::enabled ( )
inlineprivate

Definition at line 118 of file DbwNode.h.

◆ enableSystem()

void dbw_fca_can::DbwNode::enableSystem ( )
private

Definition at line 1126 of file DbwNode.cpp.

◆ fault()

bool dbw_fca_can::DbwNode::fault ( )
inlineprivate

Definition at line 115 of file DbwNode.h.

◆ faultBrakes()

void dbw_fca_can::DbwNode::faultBrakes ( bool  fault)
private

Definition at line 1274 of file DbwNode.cpp.

◆ faultSteering()

void dbw_fca_can::DbwNode::faultSteering ( bool  fault)
private

Definition at line 1306 of file DbwNode.cpp.

◆ faultSteeringCal()

void dbw_fca_can::DbwNode::faultSteeringCal ( bool  fault)
private

Definition at line 1322 of file DbwNode.cpp.

◆ faultThrottle()

void dbw_fca_can::DbwNode::faultThrottle ( bool  fault)
private

Definition at line 1290 of file DbwNode.cpp.

◆ faultWatchdog() [1/2]

void dbw_fca_can::DbwNode::faultWatchdog ( bool  fault,
uint8_t  src,
bool  braking 
)
private

Definition at line 1338 of file DbwNode.cpp.

◆ faultWatchdog() [2/2]

void dbw_fca_can::DbwNode::faultWatchdog ( bool  fault,
uint8_t  src = 0 
)
private

Definition at line 1415 of file DbwNode.cpp.

◆ override()

bool dbw_fca_can::DbwNode::override ( )
inlineprivate

Definition at line 116 of file DbwNode.h.

◆ overrideBrake()

void dbw_fca_can::DbwNode::overrideBrake ( bool  override,
bool  timeout 
)
private

Definition at line 1174 of file DbwNode.cpp.

◆ overrideGear()

void dbw_fca_can::DbwNode::overrideGear ( bool  override)
private

Definition at line 1231 of file DbwNode.cpp.

◆ overrideSteering()

void dbw_fca_can::DbwNode::overrideSteering ( bool  override,
bool  timeout 
)
private

Definition at line 1212 of file DbwNode.cpp.

◆ overrideThrottle()

void dbw_fca_can::DbwNode::overrideThrottle ( bool  override,
bool  timeout 
)
private

Definition at line 1193 of file DbwNode.cpp.

◆ publishDbwEnabled()

bool dbw_fca_can::DbwNode::publishDbwEnabled ( bool  force = false)
private

Definition at line 1067 of file DbwNode.cpp.

◆ publishJointStates()

void dbw_fca_can::DbwNode::publishJointStates ( const ros::Time &  stamp,
const dbw_fca_msgs::SteeringReport *  steering 
)
private

Definition at line 1419 of file DbwNode.cpp.

◆ recvBrakeCmd()

void dbw_fca_can::DbwNode::recvBrakeCmd ( const dbw_fca_msgs::BrakeCmd::ConstPtr &  msg)
private

Definition at line 850 of file DbwNode.cpp.

◆ recvCAN()

void dbw_fca_can::DbwNode::recvCAN ( const can_msgs::Frame::ConstPtr &  msg)
private

Definition at line 205 of file DbwNode.cpp.

◆ recvCanGps()

void dbw_fca_can::DbwNode::recvCanGps ( const std::vector< can_msgs::Frame::ConstPtr > &  msgs)
private

Definition at line 791 of file DbwNode.cpp.

◆ recvCanImu()

void dbw_fca_can::DbwNode::recvCanImu ( const std::vector< can_msgs::Frame::ConstPtr > &  msgs)
private

Definition at line 755 of file DbwNode.cpp.

◆ recvDisable()

void dbw_fca_can::DbwNode::recvDisable ( const std_msgs::Empty::ConstPtr &  msg)
private

Definition at line 200 of file DbwNode.cpp.

◆ recvEnable()

void dbw_fca_can::DbwNode::recvEnable ( const std_msgs::Empty::ConstPtr &  msg)
private

Definition at line 195 of file DbwNode.cpp.

◆ recvGearCmd()

void dbw_fca_can::DbwNode::recvGearCmd ( const dbw_fca_msgs::GearCmd::ConstPtr &  msg)
private

Definition at line 1016 of file DbwNode.cpp.

◆ recvMiscCmd()

void dbw_fca_can::DbwNode::recvMiscCmd ( const dbw_fca_msgs::MiscCmd::ConstPtr &  msg)
private

Definition at line 1033 of file DbwNode.cpp.

◆ recvSteeringCmd()

void dbw_fca_can::DbwNode::recvSteeringCmd ( const dbw_fca_msgs::SteeringCmd::ConstPtr &  msg)
private

Definition at line 969 of file DbwNode.cpp.

◆ recvThrottleCmd()

void dbw_fca_can::DbwNode::recvThrottleCmd ( const dbw_fca_msgs::ThrottleCmd::ConstPtr &  msg)
private

Definition at line 925 of file DbwNode.cpp.

◆ sgn()

template<typename T >
static int dbw_fca_can::DbwNode::sgn ( T  val)
inlinestaticprivate

Definition at line 150 of file DbwNode.h.

◆ timeoutBrake()

void dbw_fca_can::DbwNode::timeoutBrake ( bool  timeout,
bool  enabled 
)
private

Definition at line 1247 of file DbwNode.cpp.

◆ timeoutSteering()

void dbw_fca_can::DbwNode::timeoutSteering ( bool  timeout,
bool  enabled 
)
private

Definition at line 1265 of file DbwNode.cpp.

◆ timeoutThrottle()

void dbw_fca_can::DbwNode::timeoutThrottle ( bool  timeout,
bool  enabled 
)
private

Definition at line 1256 of file DbwNode.cpp.

◆ timerCallback()

void dbw_fca_can::DbwNode::timerCallback ( const ros::TimerEvent &  event)
private

Definition at line 1080 of file DbwNode.cpp.

Member Data Documentation

◆ acker_track_

double dbw_fca_can::DbwNode::acker_track_
private

Definition at line 176 of file DbwNode.h.

◆ acker_wheelbase_

double dbw_fca_can::DbwNode::acker_wheelbase_
private

Definition at line 175 of file DbwNode.h.

◆ bdate_

std::map<uint8_t, std::string> dbw_fca_can::DbwNode::bdate_
private

Definition at line 157 of file DbwNode.h.

◆ buttons_

bool dbw_fca_can::DbwNode::buttons_
private

Definition at line 169 of file DbwNode.h.

◆ enable_

bool dbw_fca_can::DbwNode::enable_
private

Definition at line 96 of file DbwNode.h.

◆ enable_joint_states_

bool dbw_fca_can::DbwNode::enable_joint_states_
private

Definition at line 181 of file DbwNode.h.

◆ enabled_brakes_

bool dbw_fca_can::DbwNode::enabled_brakes_
private

Definition at line 111 of file DbwNode.h.

◆ enabled_steering_

bool dbw_fca_can::DbwNode::enabled_steering_
private

Definition at line 113 of file DbwNode.h.

◆ enabled_throttle_

bool dbw_fca_can::DbwNode::enabled_throttle_
private

Definition at line 112 of file DbwNode.h.

◆ fault_brakes_

bool dbw_fca_can::DbwNode::fault_brakes_
private

Definition at line 101 of file DbwNode.h.

◆ fault_steering_

bool dbw_fca_can::DbwNode::fault_steering_
private

Definition at line 103 of file DbwNode.h.

◆ fault_steering_cal_

bool dbw_fca_can::DbwNode::fault_steering_cal_
private

Definition at line 104 of file DbwNode.h.

◆ fault_throttle_

bool dbw_fca_can::DbwNode::fault_throttle_
private

Definition at line 102 of file DbwNode.h.

◆ fault_watchdog_

bool dbw_fca_can::DbwNode::fault_watchdog_
private

Definition at line 105 of file DbwNode.h.

◆ fault_watchdog_using_brakes_

bool dbw_fca_can::DbwNode::fault_watchdog_using_brakes_
private

Definition at line 106 of file DbwNode.h.

◆ fault_watchdog_warned_

bool dbw_fca_can::DbwNode::fault_watchdog_warned_
private

Definition at line 107 of file DbwNode.h.

◆ firmware_

PlatformMap dbw_fca_can::DbwNode::firmware_
private

Definition at line 160 of file DbwNode.h.

◆ frame_id_

std::string dbw_fca_can::DbwNode::frame_id_
private

Definition at line 163 of file DbwNode.h.

◆ gear_warned_

bool dbw_fca_can::DbwNode::gear_warned_
private

Definition at line 114 of file DbwNode.h.

◆ joint_state_

sensor_msgs::JointState dbw_fca_can::DbwNode::joint_state_
private

Definition at line 146 of file DbwNode.h.

◆ ldate_

std::string dbw_fca_can::DbwNode::ldate_
private

Definition at line 156 of file DbwNode.h.

◆ override_brake_

bool dbw_fca_can::DbwNode::override_brake_
private

Definition at line 97 of file DbwNode.h.

◆ override_gear_

bool dbw_fca_can::DbwNode::override_gear_
private

Definition at line 100 of file DbwNode.h.

◆ override_steering_

bool dbw_fca_can::DbwNode::override_steering_
private

Definition at line 99 of file DbwNode.h.

◆ override_throttle_

bool dbw_fca_can::DbwNode::override_throttle_
private

Definition at line 98 of file DbwNode.h.

◆ pedal_luts_

bool dbw_fca_can::DbwNode::pedal_luts_
private

Definition at line 172 of file DbwNode.h.

◆ prev_enable_

bool dbw_fca_can::DbwNode::prev_enable_
private

Definition at line 95 of file DbwNode.h.

◆ pub_brake_

ros::Publisher dbw_fca_can::DbwNode::pub_brake_
private

Definition at line 196 of file DbwNode.h.

◆ pub_brake_info_

ros::Publisher dbw_fca_can::DbwNode::pub_brake_info_
private

Definition at line 206 of file DbwNode.h.

◆ pub_can_

ros::Publisher dbw_fca_can::DbwNode::pub_can_
private

Definition at line 195 of file DbwNode.h.

◆ pub_fuel_level_

ros::Publisher dbw_fca_can::DbwNode::pub_fuel_level_
private

Definition at line 205 of file DbwNode.h.

◆ pub_gear_

ros::Publisher dbw_fca_can::DbwNode::pub_gear_
private

Definition at line 199 of file DbwNode.h.

◆ pub_gps_fix_

ros::Publisher dbw_fca_can::DbwNode::pub_gps_fix_
private

Definition at line 209 of file DbwNode.h.

◆ pub_gps_fix_dr

ros::Publisher dbw_fca_can::DbwNode::pub_gps_fix_dr
private

Definition at line 211 of file DbwNode.h.

◆ pub_gps_time_

ros::Publisher dbw_fca_can::DbwNode::pub_gps_time_
private

Definition at line 210 of file DbwNode.h.

◆ pub_imu_

ros::Publisher dbw_fca_can::DbwNode::pub_imu_
private

Definition at line 208 of file DbwNode.h.

◆ pub_joint_states_

ros::Publisher dbw_fca_can::DbwNode::pub_joint_states_
private

Definition at line 212 of file DbwNode.h.

◆ pub_misc_1_

ros::Publisher dbw_fca_can::DbwNode::pub_misc_1_
private

Definition at line 200 of file DbwNode.h.

◆ pub_misc_2_

ros::Publisher dbw_fca_can::DbwNode::pub_misc_2_
private

Definition at line 201 of file DbwNode.h.

◆ pub_steering_

ros::Publisher dbw_fca_can::DbwNode::pub_steering_
private

Definition at line 198 of file DbwNode.h.

◆ pub_sys_enable_

ros::Publisher dbw_fca_can::DbwNode::pub_sys_enable_
private

Definition at line 215 of file DbwNode.h.

◆ pub_throttle_

ros::Publisher dbw_fca_can::DbwNode::pub_throttle_
private

Definition at line 197 of file DbwNode.h.

◆ pub_throttle_info_

ros::Publisher dbw_fca_can::DbwNode::pub_throttle_info_
private

Definition at line 207 of file DbwNode.h.

◆ pub_tire_pressure_

ros::Publisher dbw_fca_can::DbwNode::pub_tire_pressure_
private

Definition at line 204 of file DbwNode.h.

◆ pub_twist_

ros::Publisher dbw_fca_can::DbwNode::pub_twist_
private

Definition at line 213 of file DbwNode.h.

◆ pub_vin_

ros::Publisher dbw_fca_can::DbwNode::pub_vin_
private

Definition at line 214 of file DbwNode.h.

◆ pub_wheel_positions_

ros::Publisher dbw_fca_can::DbwNode::pub_wheel_positions_
private

Definition at line 203 of file DbwNode.h.

◆ pub_wheel_speeds_

ros::Publisher dbw_fca_can::DbwNode::pub_wheel_speeds_
private

Definition at line 202 of file DbwNode.h.

◆ steering_ratio_

double dbw_fca_can::DbwNode::steering_ratio_
private

Definition at line 177 of file DbwNode.h.

◆ sub_brake_

ros::Subscriber dbw_fca_can::DbwNode::sub_brake_
private

Definition at line 187 of file DbwNode.h.

◆ sub_can_

ros::Subscriber dbw_fca_can::DbwNode::sub_can_
private

Definition at line 186 of file DbwNode.h.

◆ sub_disable_

ros::Subscriber dbw_fca_can::DbwNode::sub_disable_
private

Definition at line 185 of file DbwNode.h.

◆ sub_enable_

ros::Subscriber dbw_fca_can::DbwNode::sub_enable_
private

Definition at line 184 of file DbwNode.h.

◆ sub_gear_

ros::Subscriber dbw_fca_can::DbwNode::sub_gear_
private

Definition at line 190 of file DbwNode.h.

◆ sub_misc_

ros::Subscriber dbw_fca_can::DbwNode::sub_misc_
private

Definition at line 192 of file DbwNode.h.

◆ sub_steering_

ros::Subscriber dbw_fca_can::DbwNode::sub_steering_
private

Definition at line 189 of file DbwNode.h.

◆ sub_throttle_

ros::Subscriber dbw_fca_can::DbwNode::sub_throttle_
private

Definition at line 188 of file DbwNode.h.

◆ sub_turn_signal_

ros::Subscriber dbw_fca_can::DbwNode::sub_turn_signal_
private

Definition at line 191 of file DbwNode.h.

◆ sync_gps_

dataspeed_can_msg_filters::ApproximateTime dbw_fca_can::DbwNode::sync_gps_
private

Definition at line 219 of file DbwNode.h.

◆ sync_imu_

dataspeed_can_msg_filters::ApproximateTime dbw_fca_can::DbwNode::sync_imu_
private

Definition at line 218 of file DbwNode.h.

◆ timeout_brakes_

bool dbw_fca_can::DbwNode::timeout_brakes_
private

Definition at line 108 of file DbwNode.h.

◆ timeout_steering_

bool dbw_fca_can::DbwNode::timeout_steering_
private

Definition at line 110 of file DbwNode.h.

◆ timeout_throttle_

bool dbw_fca_can::DbwNode::timeout_throttle_
private

Definition at line 109 of file DbwNode.h.

◆ timer_

ros::Timer dbw_fca_can::DbwNode::timer_
private

Definition at line 94 of file DbwNode.h.

◆ vin_

std::string dbw_fca_can::DbwNode::vin_
private

Definition at line 155 of file DbwNode.h.

◆ warn_cmds_

bool dbw_fca_can::DbwNode::warn_cmds_
private

Definition at line 166 of file DbwNode.h.

◆ wheel_radius_

double dbw_fca_can::DbwNode::wheel_radius_
private

Definition at line 178 of file DbwNode.h.

The documentation for this class was generated from the following files:

dbw_fca_can
Author(s): Kevin Hallenbeck
autogenerated on Fri Jun 16 2023 02:36:28