#include <state_daemon.h>

Inheritance diagram for StateDaemon:

Public Member Functions
void	ActionStateCallback (const vda5050_msgs::ActionState::ConstPtr &msg)

void	AGVPositionCallback (const vda5050_msgs::AGVPosition::ConstPtr &msg)

void	AGVPositionDeviationRangeCallback (const std_msgs::Float64::ConstPtr &msg)

void	AGVPositionInitializedCallback (const std_msgs::Bool::ConstPtr &msg)

void	AGVPositionLocalizationScoreCallback (const std_msgs::Float64::ConstPtr &msg)

void	AGVPositionMapDescriptionCallback (const std_msgs::String::ConstPtr &msg)

void	AGVPositionMapIdCallback (const std_msgs::String::ConstPtr &msg)

void	BatteryStateBatteryHealthCallback (const std_msgs::Int8::ConstPtr &msg)

void	BatteryStateCallback (const vda5050_msgs::BatteryState::ConstPtr &msg)

void	BatteryStateChargingCallback (const std_msgs::Bool::ConstPtr &msg)

void	BatteryStateReachCallback (const std_msgs::UInt32::ConstPtr &msg)

double	CalculateAgvOrientation (const nav_msgs::Odometry::ConstPtr &msg)

bool	CheckPassedTime ()

void	DistanceSinceLastNodeCallback (const std_msgs::Float64::ConstPtr &msg)

void	DrivingCallback (const std_msgs::Bool::ConstPtr &msg)

void	EdgeStatesCallback (const vda5050_msgs::EdgeStates::ConstPtr &msg)

void	ErrorsCallback (const vda5050_msgs::Errors::ConstPtr &msg)

void	InformationCallback (const vda5050_msgs::Information::ConstPtr &msg)

void	LastNodeIdCallback (const std_msgs::String::ConstPtr &msg)

void	LastNodeSequenceIdCallback (const std_msgs::UInt32::ConstPtr &msg)

void	LinkPublishTopics (ros::NodeHandle *nh)

void	LinkSubscriptionTopics (ros::NodeHandle *nh)

void	LoadsCallback (const vda5050_msgs::Loads::ConstPtr &msg)

void	NewBaseRequestCallback (const std_msgs::Bool::ConstPtr &msg)

void	NodeStatesCallback (const vda5050_msgs::NodeStates::ConstPtr &msg)

void	OperatingModeCallback (const std_msgs::String::ConstPtr &msg)

void	OrderIdCallback (const std_msgs::String::ConstPtr &msg)

void	OrderUpdateIdCallback (const std_msgs::UInt32::ConstPtr &msg)

void	PausedCallback (const std_msgs::Bool::ConstPtr &msg)

void	PublishState ()

void	ROSAGVPositionCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	ROSBatteryInfoCallback (const sensor_msgs::BatteryState::ConstPtr &msg)

void	ROSVelocityCallback (const nav_msgs::Odometry::ConstPtr &msg)

void	SafetyStateCallback (const vda5050_msgs::SafetyState::ConstPtr &msg)

void	SafetyStateEstopCallback (const std_msgs::String::ConstPtr &msg)

void	SafetyStateFieldViolationCallback (const std_msgs::Bool::ConstPtr &msg)

	StateDaemon ()

void	UpdateState ()

void	ZoneSetIdCallback (const std_msgs::String::ConstPtr &msg)

Public Member Functions inherited from Daemon
bool	CheckPassedTime ()

bool	CheckRange (double lowerRange, double upperRange, double value, std::string msg_name)

bool	CheckTopic (std::string str1, std::string str2)

bool	CompareStrings (std::string str1, std::string str2)

std::string	CreateTimestamp ()

void	createTopicStructurePrefix ()

	Daemon ()

	Daemon (ros::NodeHandle *nh, std::string daemonName)

vda5050_msgs::Header	GetHeader ()

std::vector< std::string >	GetMsgList (std::map< std::string, std::string > topicList)

std::string	GetParameter (std::string param)

std::string	GetTopic (std::string hierarchical_topic)

std::map< std::string, std::string >	GetTopicPublisherList ()

std::string	getTopicStructurePrefix ()

std::map< std::string, std::string >	GetTopicSubscriberList ()

void	InitHeaderInfo ()

void	LinkErrorTopics (ros::NodeHandle *nh)

void	PublishState ()

std::map< std::string, std::string >	ReadTopicParams (ros::NodeHandle *nh, std::string paramTopicName)

void	UpdateHeader ()

void	UpdateState ()

Private Attributes
ros::Subscriber	actionStatesSub

ros::Time	lastUpdateTimestamp

bool	newPublishTrigger

ros::Publisher	pub

vda5050_msgs::State	stateMessage

ros::Duration	updateInterval

Additional Inherited Members
Protected Attributes inherited from Daemon
ros::Publisher	errorPublisher

std::map< std::string, ros::Publisher >	messagePublisher

ros::NodeHandle	nh

std::map< std::string, ros::Subscriber >	subscribers

Detailed Description

Daemon for processing VDA 5050 state messages. This daemon gathers relevant information from different sources of the robot's communication system, i.e. different ROS topics. The collected information is then compiled into the form which the VDA 5050 expects. State messages are repeatedly sent to the MQTT bridge so that they can be transmitted to the fleet control system with the desired frequency.

Definition at line 45 of file state_daemon.h.

Constructor & Destructor Documentation

◆ StateDaemon()

StateDaemon::StateDaemon ( )

Standard Constructor.

Parameters

nh	Pointer to nodehandler.
daemonName	Name of the daemon.

TODO: publish to topicPub, if following requirements are met:

received order
received order update
change of load status Done in Callback
error Done in Callback
driving over an node
change in operationMode Done in Callback
change in "driving" field of the state Done in Callback
change in nodeStates, edgeStates or actionStates
every 30 seconds if nothing changed

Definition at line 27 of file state_daemon.cpp.

Member Function Documentation

◆ ActionStateCallback()

void StateDaemon::ActionStateCallback ( const vda5050_msgs::ActionState::ConstPtr & msg )

Callback function that receives new states of actions.

Parameters

msg	Incoming message.

TODO: Use single action states

Definition at line 283 of file state_daemon.cpp.

◆ AGVPositionCallback()

void StateDaemon::AGVPositionCallback ( const vda5050_msgs::AGVPosition::ConstPtr & msg )

Callback function for incoming AGV positions.

Parameters

msg	Incoming message.

Definition at line 226 of file state_daemon.cpp.

◆ AGVPositionDeviationRangeCallback()

void StateDaemon::AGVPositionDeviationRangeCallback ( const std_msgs::Float64::ConstPtr & msg )

Callback function for incoming information about the deviation range of the AGV's position.

Parameters

msg	Incoming message.

Definition at line 248 of file state_daemon.cpp.

◆ AGVPositionInitializedCallback()

void StateDaemon::AGVPositionInitializedCallback ( const std_msgs::Bool::ConstPtr & msg )

Callback function for the incoming notification when the AGV position was initialized.

Parameters

msg	Incoming message.

Definition at line 237 of file state_daemon.cpp.

◆ AGVPositionLocalizationScoreCallback()

void StateDaemon::AGVPositionLocalizationScoreCallback ( const std_msgs::Float64::ConstPtr & msg )

Callback function for incoming information about the localization score of the AGV.

Parameters

msg	Incoming message.

Definition at line 241 of file state_daemon.cpp.

◆ AGVPositionMapDescriptionCallback()

void StateDaemon::AGVPositionMapDescriptionCallback ( const std_msgs::String::ConstPtr & msg )

Callback function for incoming map description strings of the AGV's position.

Parameters

msg	Incoming message.

Definition at line 256 of file state_daemon.cpp.

◆ AGVPositionMapIdCallback()

void StateDaemon::AGVPositionMapIdCallback ( const std_msgs::String::ConstPtr & msg )

Callback function for incoming MapIDs of the AGV's position.

Parameters

msg	Incoming message.

Definition at line 252 of file state_daemon.cpp.

◆ BatteryStateBatteryHealthCallback()

void StateDaemon::BatteryStateBatteryHealthCallback ( const std_msgs::Int8::ConstPtr & msg )

Callback function that receives information about the battery health.

Parameters

msg	Incoming message.

Definition at line 296 of file state_daemon.cpp.

◆ BatteryStateCallback()

void StateDaemon::BatteryStateCallback ( const vda5050_msgs::BatteryState::ConstPtr & msg )

Callback function that receives new battery state messages.

Parameters

msg	Incoming message.

Definition at line 288 of file state_daemon.cpp.

◆ BatteryStateChargingCallback()

void StateDaemon::BatteryStateChargingCallback ( const std_msgs::Bool::ConstPtr & msg )

Callback function that is called when the vehicle starts or stops charging its battery.

Parameters

msg	Incoming message.

Definition at line 300 of file state_daemon.cpp.

◆ BatteryStateReachCallback()

void StateDaemon::BatteryStateReachCallback ( const std_msgs::UInt32::ConstPtr & msg )

Callback function for incoming updates about the reach of the battery.

Parameters

msg	Incoming message.

Definition at line 304 of file state_daemon.cpp.

◆ CalculateAgvOrientation()

double StateDaemon::CalculateAgvOrientation ( const nav_msgs::Odometry::ConstPtr & msg )

Calculate the vehicle's orientation.

Parameters

msg	Odometry message containing implicit pose data.

Returns: Orientation of the vehicle as theta angle.

Definition at line 149 of file state_daemon.cpp.

◆ CheckPassedTime()

bool StateDaemon::CheckPassedTime ( )

Calculates the passed time between last update interval and now.

Returns: Returns true if passed time since last publish is greater than 30 seconds, else returns false.

Definition at line 40 of file state_daemon.cpp.

◆ DistanceSinceLastNodeCallback()

void StateDaemon::DistanceSinceLastNodeCallback ( const std_msgs::Float64::ConstPtr & msg )

Callback function that receives the updated distance since the last node.

Parameters

msg	Incoming message.

Definition at line 279 of file state_daemon.cpp.

◆ DrivingCallback()

void StateDaemon::DrivingCallback ( const std_msgs::Bool::ConstPtr & msg )

Callback function for incoming messages about the vehicle's driving status.

Parameters

msg	Incoming message.

Definition at line 266 of file state_daemon.cpp.

◆ EdgeStatesCallback()

void StateDaemon::EdgeStatesCallback ( const vda5050_msgs::EdgeStates::ConstPtr & msg )

Callback function for incoming EdgeStates.

Parameters

msg	Incoming message.

Definition at line 222 of file state_daemon.cpp.

◆ ErrorsCallback()

void StateDaemon::ErrorsCallback ( const vda5050_msgs::Errors::ConstPtr & msg )

Callback function that receives error messages.

Parameters

msg	Incoming message.

Definition at line 313 of file state_daemon.cpp.

◆ InformationCallback()

void StateDaemon::InformationCallback ( const vda5050_msgs::Information::ConstPtr & msg )

Callback function that receives general information messages.

Parameters

msg	Incoming message.

Definition at line 318 of file state_daemon.cpp.

◆ LastNodeIdCallback()

void StateDaemon::LastNodeIdCallback ( const std_msgs::String::ConstPtr & msg )

Callback function for incoming LastNodeIDs.

Parameters

msg	Incoming message.

Definition at line 210 of file state_daemon.cpp.

◆ LastNodeSequenceIdCallback()

void StateDaemon::LastNodeSequenceIdCallback ( const std_msgs::UInt32::ConstPtr & msg )

Callback function for incoming LastNodeSequenceIDs.

Parameters

msg	Incoming message.

Definition at line 214 of file state_daemon.cpp.

◆ LinkPublishTopics()

void StateDaemon::LinkPublishTopics ( ros::NodeHandle * nh )

Creates the publisher for the required topics given from the config file.

Parameters

nh	Pointer to the node handler.

Definition at line 60 of file state_daemon.cpp.

◆ LinkSubscriptionTopics()

void StateDaemon::LinkSubscriptionTopics ( ros::NodeHandle * nh )

Creates the subscribers for the required topics given from the config file.

Parameters

nh	Pointer to node handler.

Definition at line 76 of file state_daemon.cpp.

◆ LoadsCallback()

void StateDaemon::LoadsCallback ( const vda5050_msgs::Loads::ConstPtr & msg )

Callback function for incoming Load messages.

Parameters

msg	Incoming message.

Definition at line 261 of file state_daemon.cpp.

◆ NewBaseRequestCallback()

void StateDaemon::NewBaseRequestCallback ( const std_msgs::Bool::ConstPtr & msg )

Callback function for notifying this daemon when a new base was requested.

Parameters

msg	Incoming message.

Definition at line 275 of file state_daemon.cpp.

◆ NodeStatesCallback()

void StateDaemon::NodeStatesCallback ( const vda5050_msgs::NodeStates::ConstPtr & msg )

Callback function for incoming NodeStates.

Parameters

msg	Incoming message.

Definition at line 218 of file state_daemon.cpp.

◆ OperatingModeCallback()

void StateDaemon::OperatingModeCallback ( const std_msgs::String::ConstPtr & msg )

Callback function that is called when the operating mode of the vehicle changes.

Parameters

msg	Incoming message.

Definition at line 308 of file state_daemon.cpp.

◆ OrderIdCallback()

void StateDaemon::OrderIdCallback ( const std_msgs::String::ConstPtr & msg )

Callback function for incoming OrderIDs.

Parameters

msg	Incoming message.

Definition at line 198 of file state_daemon.cpp.

◆ OrderUpdateIdCallback()

void StateDaemon::OrderUpdateIdCallback ( const std_msgs::UInt32::ConstPtr & msg )

Callback function for incoming OrderUpdateIDs.

Parameters

msg	Incoming message.

Definition at line 202 of file state_daemon.cpp.

◆ PausedCallback()

void StateDaemon::PausedCallback ( const std_msgs::Bool::ConstPtr & msg )

Callback function for notifying this daemon when the vehicle pauses or resumes.

Parameters

msg	Incoming message.

Definition at line 271 of file state_daemon.cpp.

◆ PublishState()

void StateDaemon::PublishState ( )

Fetches the header message and publishes the state message. Updates the timestamp since last publishing.

Definition at line 46 of file state_daemon.cpp.

◆ ROSAGVPositionCallback()

void StateDaemon::ROSAGVPositionCallback ( const nav_msgs::Odometry::ConstPtr & msg )

Callback function for incoming ROSAGVPosition messages.

Parameters

msg	Incoming message.

Definition at line 163 of file state_daemon.cpp.

◆ ROSBatteryInfoCallback()

void StateDaemon::ROSBatteryInfoCallback ( const sensor_msgs::BatteryState::ConstPtr & msg )

Callback function for incoming ROS battery information messages.

Parameters

msg	Incoming message.

Definition at line 191 of file state_daemon.cpp.

◆ ROSVelocityCallback()

void StateDaemon::ROSVelocityCallback ( const nav_msgs::Odometry::ConstPtr & msg )

Callback function for incoming ROS velocity messages.

Parameters

msg	Incoming message.

Definition at line 179 of file state_daemon.cpp.

◆ SafetyStateCallback()

void StateDaemon::SafetyStateCallback ( const vda5050_msgs::SafetyState::ConstPtr & msg )

Callback function that is called when the safety state of the vehicle changes.

Parameters

msg	Incoming message.

Definition at line 322 of file state_daemon.cpp.

◆ SafetyStateEstopCallback()

void StateDaemon::SafetyStateEstopCallback ( const std_msgs::String::ConstPtr & msg )

Callback function that is called when the emergency stop of the vehicle was triggered.

Parameters

msg	Incoming message.

Definition at line 327 of file state_daemon.cpp.

◆ SafetyStateFieldViolationCallback()

void StateDaemon::SafetyStateFieldViolationCallback ( const std_msgs::Bool::ConstPtr & msg )

Callback function for notification about safety field violations.

Parameters

msg	Incoming message.

Definition at line 331 of file state_daemon.cpp.

◆ UpdateState()

void StateDaemon::UpdateState ( )

Checks all the logic within the state daemon. For example, it checks if 30 seconds have passed without update.

Definition at line 53 of file state_daemon.cpp.

◆ ZoneSetIdCallback()

void StateDaemon::ZoneSetIdCallback ( const std_msgs::String::ConstPtr & msg )

Callback function for incoming ZoneSetIDs.

Parameters

msg	Incoming message.

Definition at line 206 of file state_daemon.cpp.

Member Data Documentation

◆ actionStatesSub

ros::Subscriber StateDaemon::actionStatesSub

private

states of actions from action_daemon to state_daemon.

Definition at line 58 of file state_daemon.h.

◆ lastUpdateTimestamp

ros::Time StateDaemon::lastUpdateTimestamp

private

Timestamp of the last emitted state message.

Definition at line 64 of file state_daemon.h.

◆ newPublishTrigger

bool StateDaemon::newPublishTrigger

private

Flag for initiating the emission of a new state message.

Definition at line 67 of file state_daemon.h.

◆ pub

ros::Publisher StateDaemon::pub

private

Publisher object for state messages to the fleet controller.

Definition at line 51 of file state_daemon.h.

◆ stateMessage

vda5050_msgs::State StateDaemon::stateMessage

private

TODO: What is this used for?

Definition at line 48 of file state_daemon.h.

◆ updateInterval

ros::Duration StateDaemon::updateInterval

private

Time interval for emitting state messages.

Definition at line 61 of file state_daemon.h.

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

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ StateDaemon()

Member Function Documentation

◆ ActionStateCallback()

◆ AGVPositionCallback()

◆ AGVPositionDeviationRangeCallback()

◆ AGVPositionInitializedCallback()

◆ AGVPositionLocalizationScoreCallback()

◆ AGVPositionMapDescriptionCallback()

◆ AGVPositionMapIdCallback()

◆ BatteryStateBatteryHealthCallback()

◆ BatteryStateCallback()

◆ BatteryStateChargingCallback()

◆ BatteryStateReachCallback()

◆ CalculateAgvOrientation()

◆ CheckPassedTime()

◆ DistanceSinceLastNodeCallback()

◆ DrivingCallback()

◆ EdgeStatesCallback()

◆ ErrorsCallback()

◆ InformationCallback()

◆ LastNodeIdCallback()

◆ LastNodeSequenceIdCallback()

◆ LinkPublishTopics()

◆ LinkSubscriptionTopics()

◆ LoadsCallback()

◆ NewBaseRequestCallback()

◆ NodeStatesCallback()

◆ OperatingModeCallback()

◆ OrderIdCallback()

◆ OrderUpdateIdCallback()

◆ PausedCallback()

◆ PublishState()

◆ ROSAGVPositionCallback()

◆ ROSBatteryInfoCallback()

◆ ROSVelocityCallback()

◆ SafetyStateCallback()

◆ SafetyStateEstopCallback()

◆ SafetyStateFieldViolationCallback()

◆ UpdateState()

◆ ZoneSetIdCallback()

Member Data Documentation

◆ actionStatesSub

◆ lastUpdateTimestamp

◆ newPublishTrigger

◆ pub

◆ stateMessage

◆ updateInterval