MMNode Class Reference

#include <MMNode.hpp>

Inheritance diagram for MMNode:

Collaboration diagram for MMNode:

Public Member Functions
	MMNode ()
	~MMNode ()

Static Public Member Functions
static void	on_mm_callback ()

Static Public Attributes
static MMNode *	m_instancePtr = nullptr

Private Member Functions
void	publish_data (const GPSDataType::SharedPtr msg)

Private Attributes
rclcpp::Publisher< GPSDataType >::SharedPtr	m_positionPubSPtr
rclcpp::Subscription< ServiceStateType >::SharedPtr	m_serviceStateSubSPtr
uint8_t	service_state_ = 0
std::string	node_name_
MarvelmindHedge *	m_hedgePtr

Detailed Description

Definition at line 15 of file MMNode.hpp.

Constructor & Destructor Documentation

MMNode()

MMNode::MMNode

(

)

Definition at line 6 of file MMNode.cpp.

               :
    Node("MarvelmindNode") {
 
  m_instancePtr = this;
  node_name_    = "MarvelmindNode";
 
  galaxis::ros::create_publisher(this, m_positionPubSPtr);
 
  m_hedgePtr                         = createMarvelmindHedge();
  m_hedgePtr->ttyFileName            = DEFAULT_TTY_FILENAME;
  m_hedgePtr->verbose                = true;
  m_hedgePtr->anyInputPacketCallback = MMNode::on_mm_callback;
 
  if(!m_hedgePtr) {
    return;
  }
 
  startMarvelmindHedge(m_hedgePtr);
  printStationaryBeaconsPositionsFromMarvelmindHedge(m_hedgePtr, false);
 
  RCLCPP_INFO(this->get_logger(), "Node initialized, starting operation.");
}

References MarvelmindHedge::anyInputPacketCallback, createMarvelmindHedge(), DEFAULT_TTY_FILENAME, m_hedgePtr, m_instancePtr, m_positionPubSPtr, node_name_, on_mm_callback(), printStationaryBeaconsPositionsFromMarvelmindHedge(), startMarvelmindHedge(), MarvelmindHedge::ttyFileName, and MarvelmindHedge::verbose.

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~MMNode()

MMNode::~MMNode

(

)

Definition at line 29 of file MMNode.cpp.

                {
  m_instancePtr = nullptr;
}

References m_instancePtr.

Member Function Documentation

on_mm_callback()

void MMNode::on_mm_callback ( )

static

Definition at line 33 of file MMNode.cpp.

                            {
  auto msg = std::make_shared<GPSDataType>();
 
  if(MMNode::m_instancePtr == nullptr) {
    std::cout << "m_instancePtr is nullptr" << std::endl;
    throw galaxis::Errors::POINTER_ERROR();
  }
 
  FusionIMUValue fusion;
  PositionValue position;
 
  getPositionFromMarvelmindHedge(MMNode::m_instancePtr->m_hedgePtr, &position);
  getFusionIMUFromMarvelmindHedge(MMNode::m_instancePtr->m_hedgePtr, &fusion);
 
  msg->gps_pos.x = static_cast<float>(position.x) / 1000.f;
  msg->gps_pos.y = static_cast<float>(position.y) / 1000.f;
 
  msg->fus_pos.x = static_cast<float>(fusion.x) / 1000.f;
  msg->fus_pos.y = static_cast<float>(fusion.y) / 1000.f;
 
  msg->timestamp = fusion.timestamp;
 
  RCLCPP_INFO(m_instancePtr->get_logger(), "Publish position: %f , %f", msg->gps_pos.x, msg->gps_pos.y);
  RCLCPP_INFO(m_instancePtr->get_logger(), "Publish fusion position: %f , %f", msg->fus_pos.x, msg->fus_pos.y);
 
  MMNode::m_instancePtr->publish_data(msg);
}

References getFusionIMUFromMarvelmindHedge(), getPositionFromMarvelmindHedge(), m_hedgePtr, m_instancePtr, publish_data(), FusionIMUValue::timestamp, PositionValue::x, FusionIMUValue::x, PositionValue::y, and FusionIMUValue::y.

Referenced by MMNode().

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publish_data()

void MMNode::publish_data ( const GPSDataType::SharedPtr  msg )

private

Definition at line 61 of file MMNode.cpp.

                                                              {
  if(p_msgSPtr == nullptr) {
    RCLCPP_ERROR(this->get_logger(), "p_msgSPtr is nullptr");
    throw galaxis::Errors::POINTER_ERROR();
  }
 
  auto msgUPtr = std::make_unique<GPSDataType>(*p_msgSPtr);
 
  m_positionPubSPtr->publish(std::move(msgUPtr));
}

References m_positionPubSPtr.

Referenced by on_mm_callback().

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Member Data Documentation

m_hedgePtr

MarvelmindHedge* MMNode::m_hedgePtr

private

Definition at line 22 of file MMNode.hpp.

Referenced by MMNode(), and on_mm_callback().

m_instancePtr

MMNode * MMNode::m_instancePtr = nullptr

static

Definition at line 30 of file MMNode.hpp.

Referenced by MMNode(), on_mm_callback(), and ~MMNode().

m_positionPubSPtr

rclcpp::Publisher<GPSDataType>::SharedPtr MMNode::m_positionPubSPtr

private

Definition at line 17 of file MMNode.hpp.

Referenced by MMNode(), and publish_data().

m_serviceStateSubSPtr

rclcpp::Subscription<ServiceStateType>::SharedPtr MMNode::m_serviceStateSubSPtr

private

Definition at line 18 of file MMNode.hpp.

node_name_

std::string MMNode::node_name_

private

Definition at line 21 of file MMNode.hpp.

Referenced by MMNode().

service_state_

uint8_t MMNode::service_state_ = 0

private

Definition at line 20 of file MMNode.hpp.

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

• nodes/MarvelmindNode/include/MMNode.hpp
• nodes/MarvelmindNode/src/MMNode.cpp