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feat(rtc_interface): add publisher to publish auto mode status (#5845) #1076

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merged 1 commit into from
Dec 18, 2023
Merged

feat(rtc_interface): add publisher to publish auto mode status (#5845) #1076

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8 changes: 7 additions & 1 deletion planning/rtc_interface/include/rtc_interface/rtc_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@

#include "rclcpp/rclcpp.hpp"

#include "tier4_rtc_msgs/msg/auto_mode_status.hpp"
#include "tier4_rtc_msgs/msg/command.hpp"
#include "tier4_rtc_msgs/msg/cooperate_command.hpp"
#include "tier4_rtc_msgs/msg/cooperate_response.hpp"
Expand All @@ -33,6 +34,7 @@

namespace rtc_interface
{
using tier4_rtc_msgs::msg::AutoModeStatus;
using tier4_rtc_msgs::msg::Command;
using tier4_rtc_msgs::msg::CooperateCommand;
using tier4_rtc_msgs::msg::CooperateResponse;
Expand Down Expand Up @@ -64,6 +66,7 @@ class RTCInterface
const CooperateCommands::Response::SharedPtr responses);
void onAutoModeService(
const AutoMode::Request::SharedPtr request, const AutoMode::Response::SharedPtr response);
void onTimer();
std::vector<CooperateResponse> validateCooperateCommands(
const std::vector<CooperateCommand> & commands);
void updateCooperateCommandStatus(const std::vector<CooperateCommand> & commands);
Expand All @@ -72,18 +75,21 @@ class RTCInterface
bool isLocked() const;

rclcpp::Publisher<CooperateStatusArray>::SharedPtr pub_statuses_;
rclcpp::Publisher<AutoModeStatus>::SharedPtr pub_auto_mode_status_;
rclcpp::Service<CooperateCommands>::SharedPtr srv_commands_;
rclcpp::Service<AutoMode>::SharedPtr srv_auto_mode_;
rclcpp::CallbackGroup::SharedPtr callback_group_;
rclcpp::TimerBase::SharedPtr timer_;
rclcpp::Logger logger_;

Module module_;
CooperateStatusArray registered_status_;
std::vector<CooperateCommand> stored_commands_;
bool is_auto_mode_init_;
bool is_auto_mode_enabled_;
bool is_locked_;

std::string cooperate_status_namespace_ = "/planning/cooperate_status";
std::string auto_mode_status_namespace_ = "/planning/auto_mode_status";
std::string cooperate_commands_namespace_ = "/planning/cooperate_commands";
std::string enable_auto_mode_namespace_ = "/planning/enable_auto_mode";

Expand Down
25 changes: 22 additions & 3 deletions planning/rtc_interface/src/rtc_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,8 @@

#include "rtc_interface/rtc_interface.hpp"

#include <chrono>

namespace
{
using tier4_rtc_msgs::msg::Module;
Expand Down Expand Up @@ -80,16 +82,24 @@ namespace rtc_interface
{
RTCInterface::RTCInterface(rclcpp::Node * node, const std::string & name, const bool enable_rtc)
: logger_{node->get_logger().get_child("RTCInterface[" + name + "]")},
is_auto_mode_init_{!enable_rtc},
is_auto_mode_enabled_{!enable_rtc},
is_locked_{false}
{
using std::placeholders::_1;
using std::placeholders::_2;

constexpr double update_rate = 10.0;
const auto period_ns = rclcpp::Rate(update_rate).period();
timer_ = rclcpp::create_timer(
node, node->get_clock(), period_ns, std::bind(&RTCInterface::onTimer, this));

// Publisher
pub_statuses_ =
node->create_publisher<CooperateStatusArray>(cooperate_status_namespace_ + "/" + name, 1);

pub_auto_mode_status_ =
node->create_publisher<AutoModeStatus>(auto_mode_status_namespace_ + "/" + name, 1);

// Service
callback_group_ = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
srv_commands_ = node->create_service<CooperateCommands>(
Expand Down Expand Up @@ -174,13 +184,22 @@ void RTCInterface::onAutoModeService(
const AutoMode::Request::SharedPtr request, const AutoMode::Response::SharedPtr response)
{
std::lock_guard<std::mutex> lock(mutex_);
is_auto_mode_init_ = request->enable;
is_auto_mode_enabled_ = request->enable;
for (auto & status : registered_status_.statuses) {
status.auto_mode = request->enable;
}
response->success = true;
}

void RTCInterface::onTimer()
{
AutoModeStatus auto_mode_status;
auto_mode_status.module = module_;
auto_mode_status.is_auto_mode = is_auto_mode_enabled_;

pub_auto_mode_status_->publish(auto_mode_status);
}

void RTCInterface::updateCooperateStatus(
const UUID & uuid, const bool safe, const double start_distance, const double finish_distance,
const rclcpp::Time & stamp)
Expand All @@ -201,7 +220,7 @@ void RTCInterface::updateCooperateStatus(
status.command_status.type = Command::DEACTIVATE;
status.start_distance = start_distance;
status.finish_distance = finish_distance;
status.auto_mode = is_auto_mode_init_;
status.auto_mode = is_auto_mode_enabled_;
registered_status_.statuses.push_back(status);
return;
}
Expand Down
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