RemoteControl Class Reference

#include <RemoteControl.hpp>

Inheritance diagram for RemoteControl:

Collaboration diagram for RemoteControl:

Public Member Functions
	RemoteControl ()
	~RemoteControl ()

Private Member Functions
void	loop ()
void	sendControlInputs ()

Private Attributes
float	m_speed = 1.f
float	m_yaw = 0.f
bool	m_reset = false
bool	m_remoteEnabled = false
rclcpp::Publisher< SimulationVehicleControlType >::SharedPtr	m_publisherSPtr

Detailed Description

Definition at line 13 of file RemoteControl.hpp.

Constructor & Destructor Documentation

RemoteControl()

RemoteControl::RemoteControl

(

)

Definition at line 13 of file RemoteControl.cpp.

                             :
    rclcpp::Node("SimulationRemoteControl") {
  rclcpp::QoS qos_params = get_qos_profile(QOS_BEST_EFFORT);
  m_publisherSPtr        = this->create_publisher<SimulationVehicleControlType>("galaxis/simulation/remotecontrol", qos_params);
  log("Vehicle Control Message Publisher created.");
 
  loop();
}

References galaxis::utils::log(), loop(), and m_publisherSPtr.

Here is the call graph for this function:

~RemoteControl()

RemoteControl::~RemoteControl

(

)

Definition at line 22 of file RemoteControl.cpp.

                              {
  system("stty cooked");
}

Member Function Documentation

loop()

void RemoteControl::loop ( )

private

Definition at line 26 of file RemoteControl.cpp.

                         {
  log("Start RemoteControl Loop");
  log("Press 'w a d 1 2 3 4 e' for drive and ESC/q for quit");
 
  // get raw input from terminal
  system("stty raw");
 
  log("Waiting for input...");
 
  int index = 0;
  while(true) {
    char c;
    c = getchar();
 
    // DO NOT REMOVE THIS LINE!
    if(c == 'q' || c == 27) {
      m_speed = 0.f;
      sendControlInputs();
      break;
    }
 
    switch(c) {
      case 'w':
        m_yaw = 0.f;
        break;
      case 'a':
        m_yaw += 0.15;
        break;
      case 'd':
        m_yaw += -0.15;
        break;
      case '1':
        m_speed = 0.f;
        break;
      case '2':
        m_speed = 0.3f;
        break;
      case '3':
        m_speed = 1.f;
        break;
      case '4':
        m_speed = 2.f;
        break;
      case 'r':
        m_reset = true;
        break;
      case 'e':
        m_remoteEnabled = m_remoteEnabled ? false : true;
        m_speed = 0.f;
        break;
      default:
        log(" No Command. [", c, "] ");
        break;
    }
 
    log_nonewline("\r[", ++index, "] Update VehicleControl Inputs. Speed: ", m_speed, " [m/s] Turning Angle: ", m_yaw, " ");
    sendControlInputs();
 
    usleep(100000);
  }
  system("stty cooked");
 
  log("\nRemoteControl exited.");
  exit(0);
}

References galaxis::utils::log(), galaxis::utils::log_nonewline(), m_remoteEnabled, m_reset, m_speed, m_yaw, and sendControlInputs().

Referenced by RemoteControl().

Here is the call graph for this function:

Here is the caller graph for this function:

sendControlInputs()

void RemoteControl::sendControlInputs ( )

private

Definition at line 92 of file RemoteControl.cpp.

                                      {
  auto message = std::make_unique<SimulationVehicleControlType>();
 
  message->car_speed       = m_speed;
  message->turnangle_front = m_yaw;
 
  message->reset = m_reset;
  m_reset        = false;
 
  message->remote_control = m_remoteEnabled ? 1 : 0;
 
  m_publisherSPtr->publish(std::move(message));
}

References m_publisherSPtr, m_remoteEnabled, m_reset, m_speed, and m_yaw.

Referenced by loop().

Here is the caller graph for this function:

Member Data Documentation

m_publisherSPtr

rclcpp::Publisher<SimulationVehicleControlType>::SharedPtr RemoteControl::m_publisherSPtr

private

Definition at line 21 of file RemoteControl.hpp.

Referenced by RemoteControl(), and sendControlInputs().

m_remoteEnabled

bool RemoteControl::m_remoteEnabled = false

private

Definition at line 18 of file RemoteControl.hpp.

Referenced by loop(), and sendControlInputs().

m_reset

bool RemoteControl::m_reset = false

private

Definition at line 17 of file RemoteControl.hpp.

Referenced by loop(), and sendControlInputs().

m_speed

float RemoteControl::m_speed = 1.f

private

Definition at line 15 of file RemoteControl.hpp.

Referenced by loop(), and sendControlInputs().

m_yaw

float RemoteControl::m_yaw = 0.f

private

Definition at line 16 of file RemoteControl.hpp.

Referenced by loop(), and sendControlInputs().

---

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

• nodes/SimulationAdapter/include/remotecontrol/RemoteControl.hpp
• nodes/SimulationAdapter/src/remotecontrol/RemoteControl.cpp