masterNode.hpp

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#ifndef MASTERNODE_H
#define MASTERNODE_H
 
#include <rclcpp/rclcpp.hpp>
#include <galaxis/ServiceState.hpp>
#include <galaxis/ros_heartbeat.hpp>
#include <chrono>
 
#include <atomic>
 
constexpr long long _HEARTBEAT_CHECK_PERIOD        = 50;
constexpr long long _HEARTBEAT_MAXIMUM_OFF_TIME_MS = _HEARTBEAT_MAXIMUM_PERIOD_TIME + _HEARTBEAT_CHECK_PERIOD + 50;
 
class masterNode : public rclcpp::Node {
public:
  masterNode();
  ~masterNode();
 
private:
  std::map<std::string, std::pair<long long, galaxis::serviceStates::State>> system_state_;
 
  std::string nodeName;
  rclcpp::Publisher<ServiceStateType>::SharedPtr service_state_pub_;
  rclcpp::Publisher<SettingsValuesType>::SharedPtr settingsValuesPubSPtr;
  rclcpp::Subscription<HeartbeatMessageType>::SharedPtr heartbeat_sub_;
  rclcpp::Subscription<ButtonStateMessageType>::SharedPtr buttonStateSubSPtr;
  rclcpp::TimerBase::SharedPtr periodic_timer_, periodic_timer_print_system_status_;
 
  galaxis::serviceStates::State m_currentServiceState  = galaxis::serviceStates::State::BOOTSTRAP;
  galaxis::serviceStates::State m_previousServiceState = galaxis::serviceStates::State::BOOTSTRAP;
  bool m_systemOnlineStatus                            = false;
 
  bool m_ecuOnlineStatus = false;
  bool m_ecuInitStatus   = false;
 
  void init(void);
  void heartbeat_callback(const messages::msg::Heartbeat::SharedPtr msg);
  bool getSystemOnlineState();
  void print_system_status();
  void check_heartbeats();
  void switch_system_state(galaxis::serviceStates::State p_state, bool p_force);
  void callback_buttonState(ButtonStateMessageType::SharedPtr const buttonStateMsgSPtr);
  void handle_controller(bool start);
 
  void initial_set_ecu_settings();
 
  uint8_t get_service_state_by_enum_state(galaxis::serviceStates::State p_state);
  galaxis::serviceStates::State get_service_state_by_uint8(uint8_t p_state);
};
 
#endif //MASTERNODE_H