Public Member Functions | Private Types | Private Member Functions | Static Private Member Functions | Private Attributes | List of all members
dbw_mkz_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_mkz_msgs::WheelSpeedReport *wheels, const dbw_mkz_msgs::SteeringReport *steering)
 
void recvBrakeCmd (const dbw_mkz_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_mkz_msgs::GearCmd::ConstPtr &msg)
 
void recvMiscCmd (const dbw_mkz_msgs::MiscCmd::ConstPtr &msg)
 
void recvSteeringCmd (const dbw_mkz_msgs::SteeringCmd::ConstPtr &msg)
 
void recvThrottleCmd (const dbw_mkz_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_driver_assist_
 
ros::Publisher pub_fuel_level_
 
ros::Publisher pub_gear_
 
ros::Publisher pub_gps_fix_
 
ros::Publisher pub_gps_time_
 
ros::Publisher pub_gps_vel_
 
ros::Publisher pub_imu_
 
ros::Publisher pub_joint_states_
 
ros::Publisher pub_misc_1_
 
ros::Publisher pub_sonar_cloud_
 
ros::Publisher pub_steering_
 
ros::Publisher pub_surround_
 
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_
 

Detailed Description

Definition at line 109 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 203 of file DbwNode.h.

Constructor & Destructor Documentation

◆ DbwNode()

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

Definition at line 117 of file DbwNode.cpp.

◆ ~DbwNode()

dbw_mkz_can::DbwNode::~DbwNode ( )

Definition at line 230 of file DbwNode.cpp.

Member Function Documentation

◆ buttonCancel()

void dbw_mkz_can::DbwNode::buttonCancel ( )
private

Definition at line 1367 of file DbwNode.cpp.

◆ clear()

bool dbw_mkz_can::DbwNode::clear ( )
inlineprivate

Definition at line 183 of file DbwNode.h.

◆ disableSystem()

void dbw_mkz_can::DbwNode::disableSystem ( )
private

Definition at line 1358 of file DbwNode.cpp.

◆ enabled()

bool dbw_mkz_can::DbwNode::enabled ( )
inlineprivate

Definition at line 184 of file DbwNode.h.

◆ enableSystem()

void dbw_mkz_can::DbwNode::enableSystem ( )
private

Definition at line 1328 of file DbwNode.cpp.

◆ fault()

bool dbw_mkz_can::DbwNode::fault ( )
inlineprivate

Definition at line 181 of file DbwNode.h.

◆ faultBrakes()

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

Definition at line 1476 of file DbwNode.cpp.

◆ faultSteering()

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

Definition at line 1508 of file DbwNode.cpp.

◆ faultSteeringCal()

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

Definition at line 1524 of file DbwNode.cpp.

◆ faultThrottle()

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

Definition at line 1492 of file DbwNode.cpp.

◆ faultWatchdog() [1/2]

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

Definition at line 1540 of file DbwNode.cpp.

◆ faultWatchdog() [2/2]

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

Definition at line 1617 of file DbwNode.cpp.

◆ override()

bool dbw_mkz_can::DbwNode::override ( )
inlineprivate

Definition at line 182 of file DbwNode.h.

◆ overrideBrake()

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

Definition at line 1376 of file DbwNode.cpp.

◆ overrideGear()

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

Definition at line 1433 of file DbwNode.cpp.

◆ overrideSteering()

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

Definition at line 1414 of file DbwNode.cpp.

◆ overrideThrottle()

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

Definition at line 1395 of file DbwNode.cpp.

◆ publishDbwEnabled()

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

Definition at line 1269 of file DbwNode.cpp.

◆ publishJointStates()

void dbw_mkz_can::DbwNode::publishJointStates ( const ros::Time &  stamp,
const dbw_mkz_msgs::WheelSpeedReport *  wheels,
const dbw_mkz_msgs::SteeringReport *  steering 
)
private

Definition at line 1621 of file DbwNode.cpp.

◆ recvBrakeCmd()

void dbw_mkz_can::DbwNode::recvBrakeCmd ( const dbw_mkz_msgs::BrakeCmd::ConstPtr &  msg)
private

Definition at line 1035 of file DbwNode.cpp.

◆ recvCAN()

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

Definition at line 244 of file DbwNode.cpp.

◆ recvCanGps()

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

Definition at line 967 of file DbwNode.cpp.

◆ recvCanImu()

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

Definition at line 921 of file DbwNode.cpp.

◆ recvDisable()

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

Definition at line 239 of file DbwNode.cpp.

◆ recvEnable()

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

Definition at line 234 of file DbwNode.cpp.

◆ recvGearCmd()

void dbw_mkz_can::DbwNode::recvGearCmd ( const dbw_mkz_msgs::GearCmd::ConstPtr &  msg)
private

Definition at line 1237 of file DbwNode.cpp.

◆ recvMiscCmd()

void dbw_mkz_can::DbwNode::recvMiscCmd ( const dbw_mkz_msgs::MiscCmd::ConstPtr &  msg)
private

Definition at line 1254 of file DbwNode.cpp.

◆ recvSteeringCmd()

void dbw_mkz_can::DbwNode::recvSteeringCmd ( const dbw_mkz_msgs::SteeringCmd::ConstPtr &  msg)
private

Definition at line 1187 of file DbwNode.cpp.

◆ recvThrottleCmd()

void dbw_mkz_can::DbwNode::recvThrottleCmd ( const dbw_mkz_msgs::ThrottleCmd::ConstPtr &  msg)
private

Definition at line 1142 of file DbwNode.cpp.

◆ sgn()

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

Definition at line 216 of file DbwNode.h.

◆ timeoutBrake()

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

Definition at line 1449 of file DbwNode.cpp.

◆ timeoutSteering()

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

Definition at line 1467 of file DbwNode.cpp.

◆ timeoutThrottle()

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

Definition at line 1458 of file DbwNode.cpp.

◆ timerCallback()

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

Definition at line 1282 of file DbwNode.cpp.

Member Data Documentation

◆ acker_track_

double dbw_mkz_can::DbwNode::acker_track_
private

Definition at line 242 of file DbwNode.h.

◆ acker_wheelbase_

double dbw_mkz_can::DbwNode::acker_wheelbase_
private

Definition at line 241 of file DbwNode.h.

◆ bdate_

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

Definition at line 223 of file DbwNode.h.

◆ buttons_

bool dbw_mkz_can::DbwNode::buttons_
private

Definition at line 235 of file DbwNode.h.

◆ enable_

bool dbw_mkz_can::DbwNode::enable_
private

Definition at line 162 of file DbwNode.h.

◆ enable_joint_states_

bool dbw_mkz_can::DbwNode::enable_joint_states_
private

Definition at line 246 of file DbwNode.h.

◆ enabled_brakes_

bool dbw_mkz_can::DbwNode::enabled_brakes_
private

Definition at line 177 of file DbwNode.h.

◆ enabled_steering_

bool dbw_mkz_can::DbwNode::enabled_steering_
private

Definition at line 179 of file DbwNode.h.

◆ enabled_throttle_

bool dbw_mkz_can::DbwNode::enabled_throttle_
private

Definition at line 178 of file DbwNode.h.

◆ fault_brakes_

bool dbw_mkz_can::DbwNode::fault_brakes_
private

Definition at line 167 of file DbwNode.h.

◆ fault_steering_

bool dbw_mkz_can::DbwNode::fault_steering_
private

Definition at line 169 of file DbwNode.h.

◆ fault_steering_cal_

bool dbw_mkz_can::DbwNode::fault_steering_cal_
private

Definition at line 170 of file DbwNode.h.

◆ fault_throttle_

bool dbw_mkz_can::DbwNode::fault_throttle_
private

Definition at line 168 of file DbwNode.h.

◆ fault_watchdog_

bool dbw_mkz_can::DbwNode::fault_watchdog_
private

Definition at line 171 of file DbwNode.h.

◆ fault_watchdog_using_brakes_

bool dbw_mkz_can::DbwNode::fault_watchdog_using_brakes_
private

Definition at line 172 of file DbwNode.h.

◆ fault_watchdog_warned_

bool dbw_mkz_can::DbwNode::fault_watchdog_warned_
private

Definition at line 173 of file DbwNode.h.

◆ firmware_

PlatformMap dbw_mkz_can::DbwNode::firmware_
private

Definition at line 226 of file DbwNode.h.

◆ frame_id_

std::string dbw_mkz_can::DbwNode::frame_id_
private

Definition at line 229 of file DbwNode.h.

◆ gear_warned_

bool dbw_mkz_can::DbwNode::gear_warned_
private

Definition at line 180 of file DbwNode.h.

◆ joint_state_

sensor_msgs::JointState dbw_mkz_can::DbwNode::joint_state_
private

Definition at line 212 of file DbwNode.h.

◆ ldate_

std::string dbw_mkz_can::DbwNode::ldate_
private

Definition at line 222 of file DbwNode.h.

◆ override_brake_

bool dbw_mkz_can::DbwNode::override_brake_
private

Definition at line 163 of file DbwNode.h.

◆ override_gear_

bool dbw_mkz_can::DbwNode::override_gear_
private

Definition at line 166 of file DbwNode.h.

◆ override_steering_

bool dbw_mkz_can::DbwNode::override_steering_
private

Definition at line 165 of file DbwNode.h.

◆ override_throttle_

bool dbw_mkz_can::DbwNode::override_throttle_
private

Definition at line 164 of file DbwNode.h.

◆ pedal_luts_

bool dbw_mkz_can::DbwNode::pedal_luts_
private

Definition at line 238 of file DbwNode.h.

◆ prev_enable_

bool dbw_mkz_can::DbwNode::prev_enable_
private

Definition at line 161 of file DbwNode.h.

◆ pub_brake_

ros::Publisher dbw_mkz_can::DbwNode::pub_brake_
private

Definition at line 261 of file DbwNode.h.

◆ pub_brake_info_

ros::Publisher dbw_mkz_can::DbwNode::pub_brake_info_
private

Definition at line 272 of file DbwNode.h.

◆ pub_can_

ros::Publisher dbw_mkz_can::DbwNode::pub_can_
private

Definition at line 260 of file DbwNode.h.

◆ pub_driver_assist_

ros::Publisher dbw_mkz_can::DbwNode::pub_driver_assist_
private

Definition at line 274 of file DbwNode.h.

◆ pub_fuel_level_

ros::Publisher dbw_mkz_can::DbwNode::pub_fuel_level_
private

Definition at line 269 of file DbwNode.h.

◆ pub_gear_

ros::Publisher dbw_mkz_can::DbwNode::pub_gear_
private

Definition at line 264 of file DbwNode.h.

◆ pub_gps_fix_

ros::Publisher dbw_mkz_can::DbwNode::pub_gps_fix_
private

Definition at line 276 of file DbwNode.h.

◆ pub_gps_time_

ros::Publisher dbw_mkz_can::DbwNode::pub_gps_time_
private

Definition at line 278 of file DbwNode.h.

◆ pub_gps_vel_

ros::Publisher dbw_mkz_can::DbwNode::pub_gps_vel_
private

Definition at line 277 of file DbwNode.h.

◆ pub_imu_

ros::Publisher dbw_mkz_can::DbwNode::pub_imu_
private

Definition at line 275 of file DbwNode.h.

◆ pub_joint_states_

ros::Publisher dbw_mkz_can::DbwNode::pub_joint_states_
private

Definition at line 279 of file DbwNode.h.

◆ pub_misc_1_

ros::Publisher dbw_mkz_can::DbwNode::pub_misc_1_
private

Definition at line 265 of file DbwNode.h.

◆ pub_sonar_cloud_

ros::Publisher dbw_mkz_can::DbwNode::pub_sonar_cloud_
private

Definition at line 271 of file DbwNode.h.

◆ pub_steering_

ros::Publisher dbw_mkz_can::DbwNode::pub_steering_
private

Definition at line 263 of file DbwNode.h.

◆ pub_surround_

ros::Publisher dbw_mkz_can::DbwNode::pub_surround_
private

Definition at line 270 of file DbwNode.h.

◆ pub_sys_enable_

ros::Publisher dbw_mkz_can::DbwNode::pub_sys_enable_
private

Definition at line 282 of file DbwNode.h.

◆ pub_throttle_

ros::Publisher dbw_mkz_can::DbwNode::pub_throttle_
private

Definition at line 262 of file DbwNode.h.

◆ pub_throttle_info_

ros::Publisher dbw_mkz_can::DbwNode::pub_throttle_info_
private

Definition at line 273 of file DbwNode.h.

◆ pub_tire_pressure_

ros::Publisher dbw_mkz_can::DbwNode::pub_tire_pressure_
private

Definition at line 268 of file DbwNode.h.

◆ pub_twist_

ros::Publisher dbw_mkz_can::DbwNode::pub_twist_
private

Definition at line 280 of file DbwNode.h.

◆ pub_vin_

ros::Publisher dbw_mkz_can::DbwNode::pub_vin_
private

Definition at line 281 of file DbwNode.h.

◆ pub_wheel_positions_

ros::Publisher dbw_mkz_can::DbwNode::pub_wheel_positions_
private

Definition at line 267 of file DbwNode.h.

◆ pub_wheel_speeds_

ros::Publisher dbw_mkz_can::DbwNode::pub_wheel_speeds_
private

Definition at line 266 of file DbwNode.h.

◆ steering_ratio_

double dbw_mkz_can::DbwNode::steering_ratio_
private

Definition at line 243 of file DbwNode.h.

◆ sub_brake_

ros::Subscriber dbw_mkz_can::DbwNode::sub_brake_
private

Definition at line 252 of file DbwNode.h.

◆ sub_can_

ros::Subscriber dbw_mkz_can::DbwNode::sub_can_
private

Definition at line 251 of file DbwNode.h.

◆ sub_disable_

ros::Subscriber dbw_mkz_can::DbwNode::sub_disable_
private

Definition at line 250 of file DbwNode.h.

◆ sub_enable_

ros::Subscriber dbw_mkz_can::DbwNode::sub_enable_
private

Definition at line 249 of file DbwNode.h.

◆ sub_gear_

ros::Subscriber dbw_mkz_can::DbwNode::sub_gear_
private

Definition at line 255 of file DbwNode.h.

◆ sub_misc_

ros::Subscriber dbw_mkz_can::DbwNode::sub_misc_
private

Definition at line 257 of file DbwNode.h.

◆ sub_steering_

ros::Subscriber dbw_mkz_can::DbwNode::sub_steering_
private

Definition at line 254 of file DbwNode.h.

◆ sub_throttle_

ros::Subscriber dbw_mkz_can::DbwNode::sub_throttle_
private

Definition at line 253 of file DbwNode.h.

◆ sub_turn_signal_

ros::Subscriber dbw_mkz_can::DbwNode::sub_turn_signal_
private

Definition at line 256 of file DbwNode.h.

◆ sync_gps_

dataspeed_can_msg_filters::ApproximateTime dbw_mkz_can::DbwNode::sync_gps_
private

Definition at line 286 of file DbwNode.h.

◆ sync_imu_

dataspeed_can_msg_filters::ApproximateTime dbw_mkz_can::DbwNode::sync_imu_
private

Definition at line 285 of file DbwNode.h.

◆ timeout_brakes_

bool dbw_mkz_can::DbwNode::timeout_brakes_
private

Definition at line 174 of file DbwNode.h.

◆ timeout_steering_

bool dbw_mkz_can::DbwNode::timeout_steering_
private

Definition at line 176 of file DbwNode.h.

◆ timeout_throttle_

bool dbw_mkz_can::DbwNode::timeout_throttle_
private

Definition at line 175 of file DbwNode.h.

◆ timer_

ros::Timer dbw_mkz_can::DbwNode::timer_
private

Definition at line 160 of file DbwNode.h.

◆ vin_

std::string dbw_mkz_can::DbwNode::vin_
private

Definition at line 221 of file DbwNode.h.

◆ warn_cmds_

bool dbw_mkz_can::DbwNode::warn_cmds_
private

Definition at line 232 of file DbwNode.h.

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

dbw_mkz_can
Author(s): Kevin Hallenbeck
autogenerated on Thu Jan 4 2024 03:46:24