autoware::drivers::vehicle_interface::DbwStateMachine Class Reference

Class for maintaining the DBW state. More...

#include <dbw_state_machine.hpp>

Public Member Functions
	DbwStateMachine (uint16_t dbw_disabled_debounce)
	Default constructor. More...
	~DbwStateMachine ()=default
	Destructor. More...
bool8_t	enabled () const
	Returns true if state is ENABLED, ENABLE_SENT, or ENABLE_REQUESTED with conditions. More...
DbwState	get_state () const
	Returns current internal state. More...
void	dbw_feedback (bool8_t enabled)
	Notifies the state machine that feedback was received from the DBW system. More...
void	control_cmd_sent ()
	Notifies the state machine that a control command was sent to the DBW system. More...
void	state_cmd_sent ()
	Notifies the state machine that a state command was sent to the DBW system. More...
void	user_request (bool8_t enable)
	The user has requested the DBW system to enable (true) or disable (false) More...

Detailed Description

Class for maintaining the DBW state.

Constructor & Destructor Documentation

DbwStateMachine()

autoware::drivers::vehicle_interface::DbwStateMachine::DbwStateMachine ( uint16_t  dbw_disabled_debounce )

explicit

Default constructor.

Parameters

[in]

dbw_disabled_debounce

If state = ENABLE_SENT and DBW reports DISABLED, debounce this many msgs // NOLINT

~DbwStateMachine()

autoware::drivers::vehicle_interface::DbwStateMachine::~DbwStateMachine ( )

default

Destructor.

Member Function Documentation

control_cmd_sent()

void autoware::drivers::vehicle_interface::DbwStateMachine::control_cmd_sent

(

)

Notifies the state machine that a control command was sent to the DBW system.

dbw_feedback()

void autoware::drivers::vehicle_interface::DbwStateMachine::dbw_feedback

(

bool8_t

enabled

)

Notifies the state machine that feedback was received from the DBW system.

Parameters

[in]

enabled

If true, DBW system reports enabled. If false, DBW system reports disabled

enabled()

bool8_t autoware::drivers::vehicle_interface::DbwStateMachine::enabled

(

)

const

Returns true if state is ENABLED, ENABLE_SENT, or ENABLE_REQUESTED with conditions.

get_state()

DbwState autoware::drivers::vehicle_interface::DbwStateMachine::get_state

(

)

const

Returns current internal state.

Returns

A DbwState object representing the current state

state_cmd_sent()

void autoware::drivers::vehicle_interface::DbwStateMachine::state_cmd_sent

(

)

Notifies the state machine that a state command was sent to the DBW system.

user_request()

void autoware::drivers::vehicle_interface::DbwStateMachine::user_request

(

bool8_t

enable

)

The user has requested the DBW system to enable (true) or disable (false)

Parameters

[in]

enable

If true, request enable. If false, request disable

---

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

• dbw_state_machine.hpp
• dbw_state_machine.cpp