GalaxisNode Class Reference

#include <GalaxisNode.hpp>

Inheritance diagram for GalaxisNode:

Collaboration diagram for GalaxisNode:

Protected Member Functions
	GalaxisNode ()=delete
	GalaxisNode (std::string p_name, unsigned int p_heartbeatTimePeriod)
	GalaxisNode (std::string p_name)
template<typename MsgSPtr >
void	tickSub (std::map< galaxis::serviceStates::State, std::function< void(const MsgSPtr)>> const *p_functionMapPtr, MsgSPtr const p_message)
template<typename... Args>
void	tickPub (std::map< galaxis::serviceStates::State, std::function< void(Args...)>> const *p_functionMapPtr, Args... p_args)
void	register_callback (std::function< void(galaxis::serviceStates::State)> p_function)
void	service_state_callback (ServiceStateType::SharedPtr const p_msgSPtr)
galaxis::serviceStates::State	get_current_service_state () const
void	enable_parameters (std::function< rcl_interfaces::msg::SetParametersResult(const std::vector< rclcpp::Parameter > &)> callbackFunc)
void	create_parameters (std::shared_ptr< json > configJsonSPtr)
json const &	get_global_settings ()

Private Attributes
std::string	m_nodeName = "nodename_not_set"
galaxis::serviceStates::State	m_serviceState = galaxis::serviceStates::State::BOOTSTRAP
galaxis::ROSHeartbeat	m_heartbeatHandler
rclcpp::Subscription< ServiceStateType >::SharedPtr	m_serviceSubscription
rclcpp::Subscription< SystemSettingsType >::SharedPtr	m_systemSettingsSubSPtr
std::function< void(galaxis::serviceStates::State)>	m_callback_service_state
OnSetParametersCallbackHandle::SharedPtr	m_parameterCallbackHandle
std::vector< std::string >	m_rosParameterNamesVec
json	m_globalSettings

Detailed Description

Definition at line 21 of file GalaxisNode.hpp.

Constructor & Destructor Documentation

GalaxisNode() [1/3]

GalaxisNode::GalaxisNode ( )

protecteddelete

GalaxisNode() [2/3]

GalaxisNode::GalaxisNode ( std::string  p_name, unsigned int  p_heartbeatTimePeriod  )

protected

Definition at line 10 of file GalaxisNode.cpp.

                                                                             :
    Node(p_name), m_heartbeatHandler(static_cast<rclcpp::Node*>(this), p_name, p_heartbeatTimePeriod) {
  
  m_nodeName = p_name;
  galaxis::ros::create_subscription(this, m_serviceSubscription, std::bind(&GalaxisNode::service_state_callback, this, std::placeholders::_1));
 
  m_parameterCallbackHandle = nullptr;
 
  // load global settings: settings/global.json
  try {
    auto settings = galaxis::utils::read_json_file("settings/onstartup_global.json");
    m_globalSettings = (*settings)["settings"];
  }
  catch (std::exception &e) {
    log_warning("Failed to load Global System Settings!");
  }
}

References galaxis::utils::log_warning(), m_globalSettings, m_nodeName, m_parameterCallbackHandle, m_serviceSubscription, galaxis::utils::read_json_file(), and service_state_callback().

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GalaxisNode() [3/3]

GalaxisNode::GalaxisNode ( std::string  p_name )

protected

Definition at line 27 of file GalaxisNode.cpp.

: GalaxisNode(p_name, 200) {}

Member Function Documentation

create_parameters()

void GalaxisNode::create_parameters ( std::shared_ptr< json >  configJsonSPtr )

protected

Definition at line 81 of file GalaxisNode.cpp.

                                                                      {
  log("[GALAXIS_NODE] Create ROS parameters from JSON.");
 
  try {
    for (json::iterator itSubSec = configJsonSPtr->begin(); itSubSec != configJsonSPtr->end(); ++itSubSec) {
      for (json::iterator itParam = itSubSec.value().begin(); itParam != itSubSec.value().end(); ++itParam) {
        std::string fullParameterName = itSubSec.key() + "." + itParam.key();
 
        rcl_interfaces::msg::ParameterDescriptor paramDesc;
        paramDesc.description = fullParameterName;
        if(itParam.value().is_number_integer()) {
          this->declare_parameter<int>(fullParameterName.c_str(), itParam.value(), paramDesc);
        }
        else if(itParam.value().is_number_float()) {
          this->declare_parameter<double>(fullParameterName.c_str(), itParam.value(), paramDesc);
        }
        else {
          log_warning("[GALAXIS_NODE] Type of parameter ", fullParameterName, " is NOT valid (INT or FLOAT/DOUBLE). Skipping.");
        }
 
        m_rosParameterNamesVec.push_back(fullParameterName);
      }
    }
  }
  catch(const std::exception& e) {
    log_warning("[GALAXIS_NODE] Failed to create parameters!");
  }
}

References galaxis::utils::log(), galaxis::utils::log_warning(), and m_rosParameterNamesVec.

Referenced by enable_parameters().

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enable_parameters()

void GalaxisNode::enable_parameters ( std::function< rcl_interfaces::msg::SetParametersResult(const std::vector< rclcpp::Parameter > &)>  callbackFunc )

protected

Definition at line 69 of file GalaxisNode.cpp.

                                                                                                                                     {
  // read parameters from json, create ros params, run node implemented cb and set cb for new params
  std::shared_ptr<json> nodeSettings = galaxis::utils::read_system_settings(m_nodeName);
  this->create_parameters(nodeSettings);
  auto result = callbackFunc(this->get_parameters(m_rosParameterNamesVec));
  m_parameterCallbackHandle = this->add_on_set_parameters_callback(callbackFunc);
 
  if (result.successful == false) {
    log_error("[GALAXIS_NODE] Can NOT enable parameter functionality. Reason:\n", result.reason);
  }
}

References create_parameters(), galaxis::utils::log_error(), m_nodeName, m_parameterCallbackHandle, m_rosParameterNamesVec, and galaxis::utils::read_system_settings().

Referenced by AutoPilotNode::AutoPilotNode(), ControllerNode::ControllerNode(), RealSenseNode::RealSenseNode(), and StopLineDetection::StopLineDetection().

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get_current_service_state()

galaxis::serviceStates::State GalaxisNode::get_current_service_state ( ) const

protected

Definition at line 65 of file GalaxisNode.cpp.

                                                                       {
  return m_serviceState;
}

References m_serviceState.

get_global_settings()

json const & GalaxisNode::get_global_settings ( )

protected

Definition at line 119 of file GalaxisNode.cpp.

                                             {
  return m_globalSettings;
}

References m_globalSettings.

Referenced by AutoPilotNode::AutoPilotNode(), ControllerNode::ControllerNode(), and StopLineDetection::StopLineDetection().

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register_callback()

void GalaxisNode::register_callback ( std::function< void(galaxis::serviceStates::State)>  p_function )

protected

Definition at line 29 of file GalaxisNode.cpp.

                                                                                           {
  m_callback_service_state = p_function;
}

References m_callback_service_state.

service_state_callback()

void GalaxisNode::service_state_callback ( ServiceStateType::SharedPtr const  p_msgSPtr )

protected

Definition at line 33 of file GalaxisNode.cpp.

                                                                                  {
  switch(p_msgSPtr->state) {
    case ServiceStateType::STATE_BOOTSTRAP:
      RCLCPP_INFO(this->get_logger(), "galaxis::serviceStates::State: switch to BOOTSTRAP");
      if(m_callback_service_state) {
        m_callback_service_state(galaxis::serviceStates::State::BOOTSTRAP);
      }
      break;
    case ServiceStateType::STATE_FREE_DRIVING:
      RCLCPP_INFO(this->get_logger(), "galaxis::serviceStates::State: switch to FREE_DRIVING");
      if(m_callback_service_state) {
        m_callback_service_state(galaxis::serviceStates::State::FREE_DRIVING);
      }
      break;
    case ServiceStateType::STATE_OBSTACLE_DRIVING:
      RCLCPP_INFO(this->get_logger(), "galaxis::serviceStates::State: switch to OBSTACLE_DRIVING");
      if(m_callback_service_state) {
        m_callback_service_state(galaxis::serviceStates::State::OBSTACLE_DRIVING);
      }
      break;
    default:
      RCLCPP_ERROR(this->get_logger(), "galaxis::serviceStates::State not implemented. %i", m_serviceState);
      // throw galaxis::Errors::NOT_IMPLEMENTED_ERROR();
      break;
  }
 
  m_serviceState = static_cast<galaxis::serviceStates::State>(p_msgSPtr->state);
 
  // set service state for heartbeat message
  m_heartbeatHandler.set_service_state(m_serviceState);
}

References galaxis::serviceStates::BOOTSTRAP, galaxis::serviceStates::FREE_DRIVING, m_callback_service_state, m_heartbeatHandler, m_serviceState, galaxis::serviceStates::OBSTACLE_DRIVING, and galaxis::ROSHeartbeat::set_service_state().

Referenced by GalaxisNode().

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tickPub()

template<typename... Args>

void GalaxisNode::tickPub ( std::map< galaxis::serviceStates::State, std::function< void(Args...)>> const *  p_functionMapPtr, Args...  p_args  )

inlineprotected

Definition at line 55 of file GalaxisNode.hpp.

                                                                                                                      {
    if(p_functionMapPtr->find(m_serviceState) != p_functionMapPtr->end()) {
      p_functionMapPtr->at(m_serviceState)(p_args...);
    } else {
      RCLCPP_INFO(this->get_logger(), "No Pub/Sub implemented for %i", m_serviceState);
    }
  }

References m_serviceState.

tickSub()

template<typename MsgSPtr >

void GalaxisNode::tickSub ( std::map< galaxis::serviceStates::State, std::function< void(const MsgSPtr)>> const *  p_functionMapPtr, MsgSPtr const  p_message  )

inlineprotected

Definition at line 46 of file GalaxisNode.hpp.

                                                                                                                                     {
    if(p_functionMapPtr->find(m_serviceState) != p_functionMapPtr->end()) {
      p_functionMapPtr->at(m_serviceState)(p_message);
    } else {
      RCLCPP_INFO(this->get_logger(), "No Pub/Sub implemented for %i", m_serviceState);
    }
  }

References m_serviceState.

Member Data Documentation

m_callback_service_state

std::function<void(galaxis::serviceStates::State)> GalaxisNode::m_callback_service_state

private

Definition at line 32 of file GalaxisNode.hpp.

Referenced by register_callback(), and service_state_callback().

m_globalSettings

json GalaxisNode::m_globalSettings

private

Definition at line 38 of file GalaxisNode.hpp.

Referenced by GalaxisNode(), and get_global_settings().

m_heartbeatHandler

galaxis::ROSHeartbeat GalaxisNode::m_heartbeatHandler

private

Definition at line 27 of file GalaxisNode.hpp.

Referenced by service_state_callback().

m_nodeName

std::string GalaxisNode::m_nodeName = "nodename_not_set"

private

Definition at line 23 of file GalaxisNode.hpp.

Referenced by enable_parameters(), and GalaxisNode().

m_parameterCallbackHandle

OnSetParametersCallbackHandle::SharedPtr GalaxisNode::m_parameterCallbackHandle

private

Definition at line 35 of file GalaxisNode.hpp.

Referenced by enable_parameters(), and GalaxisNode().

m_rosParameterNamesVec

std::vector<std::string> GalaxisNode::m_rosParameterNamesVec

private

Definition at line 36 of file GalaxisNode.hpp.

Referenced by create_parameters(), and enable_parameters().

m_serviceState

galaxis::serviceStates::State GalaxisNode::m_serviceState = galaxis::serviceStates::State::BOOTSTRAP

private

Definition at line 25 of file GalaxisNode.hpp.

Referenced by get_current_service_state(), service_state_callback(), tickPub(), and tickSub().

m_serviceSubscription

rclcpp::Subscription<ServiceStateType>::SharedPtr GalaxisNode::m_serviceSubscription

private

Definition at line 29 of file GalaxisNode.hpp.

Referenced by GalaxisNode().

m_systemSettingsSubSPtr

rclcpp::Subscription<SystemSettingsType>::SharedPtr GalaxisNode::m_systemSettingsSubSPtr

private

Definition at line 30 of file GalaxisNode.hpp.

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

• utilities/include/galaxis/GalaxisNode.hpp
• utilities/src/GalaxisNode.cpp