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dummy_infrastructure_node.hpp
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// Copyright 2021 Tier IV
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef DUMMY_INFRASTRUCTURE__DUMMY_INFRASTRUCTURE_NODE_HPP_
#define DUMMY_INFRASTRUCTURE__DUMMY_INFRASTRUCTURE_NODE_HPP_
#include <rclcpp/rclcpp.hpp>
#include <tier4_v2x_msgs/msg/infrastructure_command_array.hpp>
#include <tier4_v2x_msgs/msg/virtual_traffic_light_state_array.hpp>
#include <chrono>
#include <memory>
#include <string>
#include <vector>
namespace dummy_infrastructure
{
using tier4_v2x_msgs::msg::InfrastructureCommand;
using tier4_v2x_msgs::msg::InfrastructureCommandArray;
using tier4_v2x_msgs::msg::VirtualTrafficLightState;
using tier4_v2x_msgs::msg::VirtualTrafficLightStateArray;
class DummyInfrastructureNode : public rclcpp::Node
{
public:
explicit DummyInfrastructureNode(const rclcpp::NodeOptions & node_options);
struct NodeParam
{
double update_rate_hz{};
bool use_first_command{};
bool use_command_state{};
std::string instrument_id{};
bool approval{};
bool is_finalized{};
};
private:
// Subscriber
rclcpp::Subscription<InfrastructureCommandArray>::SharedPtr sub_command_array_{};
// Callback
void onCommandArray(const InfrastructureCommandArray::ConstSharedPtr msg);
// Data Buffer
InfrastructureCommandArray::ConstSharedPtr command_array_{};
// Publisher
rclcpp::Publisher<VirtualTrafficLightStateArray>::SharedPtr pub_state_array_{};
// Timer
rclcpp::TimerBase::SharedPtr timer_{};
bool isDataReady();
void onTimer();
// Parameter Server
OnSetParametersCallbackHandle::SharedPtr set_param_res_;
rcl_interfaces::msg::SetParametersResult onSetParam(
const std::vector<rclcpp::Parameter> & params);
// Parameter
NodeParam node_param_{};
};
} // namespace dummy_infrastructure
#endif // DUMMY_INFRASTRUCTURE__DUMMY_INFRASTRUCTURE_NODE_HPP_