Class responsible for the Inspection Mission of the car. More...

#include <inspection_ros.hpp>

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Public Member Functions
void	mission_decider (custom_interfaces::msg::OperationalStatus::SharedPtr mission_signal)
	recieves GoSignal and stores the mission that should be ran

void	inspection_script ()
	Function to publish control command while time is less than the defined time limit.

void	update_rpms_callback (const custom_interfaces::msg::WheelRPM &motor_rpm)
	Function to update the current rpms of the wheels.

void	publish_controls (double throttle, double steering) const
	Publishes the control command.

	InspectionMission ()
	Contruct a new Inspection Mission with constants defined in file.

Private Types
using	WSSPolicy = message_filters::sync_policies::ApproximateTime< custom_interfaces::msg::WheelRPM, custom_interfaces::msg::WheelRPM >

Private Member Functions
void	end_of_mission ()
	Rotations per minute of the motor.

void	handle_end_of_mission_response (rclcpp::Client< std_srvs::srv::Trigger >::SharedFuture future) const
	Function to end communication of end of mission.

Private Attributes
rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	_finish_client_

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	_emergency_client_

rclcpp::Publisher< custom_interfaces::msg::ControlCommand >::SharedPtr	_control_command_publisher_

rclcpp::Subscription< custom_interfaces::msg::OperationalStatus >::SharedPtr	_mission_signal_subscription_

rclcpp::Subscription< custom_interfaces::msg::WheelRPM >::SharedPtr	_motor_rpm_subscription_

rclcpp::TimerBase::SharedPtr	_timer_

std::shared_ptr< message_filters::Synchronizer< WSSPolicy > >	_sync_

rclcpp::TimerBase::SharedPtr	_mission_end_timer_

bool	_mission_end_timer_started_ = false
	Timer for repetition of end of mission signal.

bool	_car_stopped_ = false

rclcpp::TimerBase::SharedPtr	_main_callback_timer_

rclcpp::Clock	_clock_
	Timer for main callback.

rclcpp::Time	_initial_time_

InspectionFunctions	_inspection_object_ = InspectionFunctions()
	Ellapsed time in seconds.

bool	_go_ = false

common_lib::competition_logic::Mission	_mission_
	Flag to start the mission.

double	_motor_rpm_ = 0.0
	Mission to be executed;.

Detailed Description

Class responsible for the Inspection Mission of the car.

This class inherits from rclcpp::Node, subscribing to current velocity and publishing control commands.

Definition at line 29 of file inspection_ros.hpp.

Member Typedef Documentation

◆ WSSPolicy

using InspectionMission::WSSPolicy = message_filters::sync_policies::ApproximateTime<custom_interfaces::msg::WheelRPM, custom_interfaces::msg::WheelRPM>

private

Definition at line 41 of file inspection_ros.hpp.

Constructor & Destructor Documentation

◆ InspectionMission()

InspectionMission::InspectionMission ( )

Contruct a new Inspection Mission with constants defined in file.

Definition at line 8 of file inspection_ros.cpp.

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Member Function Documentation

◆ end_of_mission()

void InspectionMission::end_of_mission ( )

private

Rotations per minute of the motor.

Function for communication of end of mission (or emergency according to the mission)

Definition at line 172 of file inspection_ros.cpp.

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◆ handle_end_of_mission_response()

void InspectionMission::handle_end_of_mission_response ( rclcpp::Client< std_srvs::srv::Trigger >::SharedFuture future ) const

private

Function to end communication of end of mission.

Definition at line 190 of file inspection_ros.cpp.

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◆ inspection_script()

void InspectionMission::inspection_script ( )

Function to publish control command while time is less than the defined time limit.

Parameters

current_rpm rotations of the wheels per minute

Definition at line 90 of file inspection_ros.cpp.

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◆ mission_decider()

void InspectionMission::mission_decider ( custom_interfaces::msg::OperationalStatus::SharedPtr mission_signal )

recieves GoSignal and stores the mission that should be ran

Parameters

mission_signal GoSignal

Definition at line 48 of file inspection_ros.cpp.

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◆ publish_controls()

void InspectionMission::publish_controls	(	double	throttle,
		double	steering
	)		const

Publishes the control command.

Parameters

throttle	throttle to be applied
steering	steering angle to be applied

Definition at line 163 of file inspection_ros.cpp.

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◆ update_rpms_callback()

void InspectionMission::update_rpms_callback ( const custom_interfaces::msg::WheelRPM & motor_rpm )

Function to update the current rpms of the wheels.

Parameters

motor_rpm rotations of the motor per minute

Definition at line 85 of file inspection_ros.cpp.

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Member Data Documentation

◆ _car_stopped_

bool InspectionMission::_car_stopped_ = false

private

Definition at line 50 of file inspection_ros.hpp.

◆ _clock_

rclcpp::Clock InspectionMission::_clock_

private

Timer for main callback.

Definition at line 52 of file inspection_ros.hpp.

◆ _control_command_publisher_

rclcpp::Publisher<custom_interfaces::msg::ControlCommand>::SharedPtr InspectionMission::_control_command_publisher_

private

Definition at line 33 of file inspection_ros.hpp.

◆ _emergency_client_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr InspectionMission::_emergency_client_

private

Definition at line 32 of file inspection_ros.hpp.

◆ _finish_client_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr InspectionMission::_finish_client_

private

Definition at line 31 of file inspection_ros.hpp.

◆ _go_

bool InspectionMission::_go_ = false

private

Definition at line 56 of file inspection_ros.hpp.

◆ _initial_time_

rclcpp::Time InspectionMission::_initial_time_

private

Definition at line 53 of file inspection_ros.hpp.

◆ _inspection_object_

InspectionFunctions InspectionMission::_inspection_object_ = InspectionFunctions()

private

Ellapsed time in seconds.

Definition at line 54 of file inspection_ros.hpp.

◆ _main_callback_timer_

rclcpp::TimerBase::SharedPtr InspectionMission::_main_callback_timer_

private

Definition at line 51 of file inspection_ros.hpp.

◆ _mission_

common_lib::competition_logic::Mission InspectionMission::_mission_

private

Flag to start the mission.

Definition at line 57 of file inspection_ros.hpp.

◆ _mission_end_timer_

rclcpp::TimerBase::SharedPtr InspectionMission::_mission_end_timer_

private

Definition at line 48 of file inspection_ros.hpp.

◆ _mission_end_timer_started_

bool InspectionMission::_mission_end_timer_started_ = false

private

Timer for repetition of end of mission signal.

Definition at line 49 of file inspection_ros.hpp.

◆ _mission_signal_subscription_

rclcpp::Subscription<custom_interfaces::msg::OperationalStatus>::SharedPtr InspectionMission::_mission_signal_subscription_

private

Definition at line 36 of file inspection_ros.hpp.

◆ _motor_rpm_

double InspectionMission::_motor_rpm_ = 0.0

private

Mission to be executed;.

Definition at line 59 of file inspection_ros.hpp.

◆ _motor_rpm_subscription_

rclcpp::Subscription<custom_interfaces::msg::WheelRPM>::SharedPtr InspectionMission::_motor_rpm_subscription_

private

Definition at line 37 of file inspection_ros.hpp.

◆ _sync_

std::shared_ptr<message_filters::Synchronizer<WSSPolicy> > InspectionMission::_sync_

private

Definition at line 45 of file inspection_ros.hpp.

◆ _timer_

rclcpp::TimerBase::SharedPtr InspectionMission::_timer_

private

Definition at line 38 of file inspection_ros.hpp.

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

src/inspection/include/inspection_node/inspection_ros.hpp
src/inspection/src/inspection_node/inspection_ros.cpp

Public Member Functions

Private Types

Private Member Functions

Private Attributes

Detailed Description

Member Typedef Documentation

◆ WSSPolicy

Constructor & Destructor Documentation

◆ InspectionMission()

Member Function Documentation

◆ end_of_mission()

◆ handle_end_of_mission_response()

◆ inspection_script()

◆ mission_decider()

◆ publish_controls()

◆ update_rpms_callback()

Member Data Documentation

◆ _car_stopped_

◆ _clock_

◆ _control_command_publisher_

◆ _emergency_client_

◆ _finish_client_

◆ _go_

◆ _initial_time_

◆ _inspection_object_

◆ _main_callback_timer_

◆ _mission_

◆ _mission_end_timer_

◆ _mission_end_timer_started_

◆ _mission_signal_subscription_

◆ _motor_rpm_

◆ _motor_rpm_subscription_

◆ _sync_

◆ _timer_