ssc_interface::SscInterface Class Reference

Class for interfacing with AS SSC. More...

#include <ssc_interface.hpp>

Inheritance diagram for ssc_interface::SscInterface:

Collaboration diagram for ssc_interface::SscInterface:

Public Member Functions
	SscInterface (rclcpp::Node &node, float32_t front_axle_to_cog, float32_t rear_axle_to_cog, float32_t max_accel_mps2, float32_t max_decel_mps2, float32_t max_yaw_rate_rad)
	Default constructor. More...
	~SscInterface () noexcept override=default
	Default destructor. More...
bool8_t	update (std::chrono::nanoseconds timeout) override
	Try to receive data from the vehicle platform, and update StateReport and Odometry. Exceptions may be thrown on errors. More...
bool8_t	send_state_command (const VehicleStateCommand &msg) override
	Send the state command to the vehicle platform. Exceptions may be thrown on errors. More...
bool8_t	send_control_command (const HighLevelControlCommand &msg)
	Send the control command to the vehicle platform. Exceptions may be thrown on errors. More...
bool8_t	send_control_command (const RawControlCommand &msg) override
	Send the control command to the vehicle platform. Exceptions may be thrown on errors. More...
bool8_t	send_control_command (const VehicleControlCommand &msg) override
	Send the control command to the vehicle platform. Exceptions may be thrown on errors. More...
bool8_t	handle_mode_change_request (ModeChangeRequest::SharedPtr request) override
	Handle a request from the user to enable or disable the DBW system. Exceptions may be thrown on errors. More...
Public Member Functions inherited from autoware::drivers::vehicle_interface::PlatformInterface
	PlatformInterface ()=default
	Constructor. More...
virtual	~PlatformInterface ()=default
	Destructor. More...
const VehicleStateReport &	get_state_report () const noexcept
const VehicleOdometry &	get_odometry () const noexcept

Static Public Member Functions
static void	kinematic_bicycle_model (float32_t dt, float32_t l_r, float32_t l_f, VehicleKinematicState *vks)

Additional Inherited Members
Protected Member Functions inherited from autoware::drivers::vehicle_interface::PlatformInterface
VehicleStateReport &	state_report () noexcept
	Get the underlying state report for modification. More...
VehicleOdometry &	odometry () noexcept
	Get the underlying odometry for modification. More...

Detailed Description

Class for interfacing with AS SSC.

Constructor & Destructor Documentation

SscInterface()

ssc_interface::SscInterface::SscInterface ( rclcpp::Node &  node, float32_t  front_axle_to_cog, float32_t  rear_axle_to_cog, float32_t  max_accel_mps2, float32_t  max_decel_mps2, float32_t  max_yaw_rate_rad  )

explicit

Default constructor.

Parameters

[in]	node	Reference to node
[in]	front_axle_to_cog	Distance from front axle to center-of-gravity in meters
[in]	rear_axle_to_cog	Distance from rear axle to center-of-gravity in meters
[in]	max_accel_mps2	Maximum acceleration in m/s^2
[in]	max_decel_mps2	Maximum deceleration in m/s^2
[in]	max_yaw_rate_rad	Maximum rate of change of heading in radians/sec

~SscInterface()

ssc_interface::SscInterface::~SscInterface ( )

overridedefaultnoexcept

Default destructor.

Member Function Documentation

handle_mode_change_request()

bool8_t ssc_interface::SscInterface::handle_mode_change_request ( ModeChangeRequest::SharedPtr  request )

overridevirtual

Handle a request from the user to enable or disable the DBW system. Exceptions may be thrown on errors.

Parameters

[in]

request

The requested autonomy mode

Returns

false only if enabling the DBW system actually failed, true otherwise

Implements autoware::drivers::vehicle_interface::PlatformInterface.

kinematic_bicycle_model()

void ssc_interface::SscInterface::kinematic_bicycle_model ( float32_t  dt, float32_t  l_r, float32_t  l_f, VehicleKinematicState *  vks  )

static

send_control_command() [1/3]

bool8_t ssc_interface::SscInterface::send_control_command

(

const HighLevelControlCommand &

msg

)

Send the control command to the vehicle platform. Exceptions may be thrown on errors.

Parameters

[in]

msg

The control command to send to the vehicle

Returns

false if sending failed in some way, true otherwise

send_control_command() [2/3]

bool8_t ssc_interface::SscInterface::send_control_command ( const RawControlCommand &  msg )

overridevirtual

Send the control command to the vehicle platform. Exceptions may be thrown on errors.

Parameters

[in]

msg

The control command to send to the vehicle

Returns

false if sending failed in some way, true otherwise

Implements autoware::drivers::vehicle_interface::PlatformInterface.

send_control_command() [3/3]

bool8_t ssc_interface::SscInterface::send_control_command ( const VehicleControlCommand &  msg )

overridevirtual

Send the control command to the vehicle platform. Exceptions may be thrown on errors.

Parameters

[in]

msg

The control command to send to the vehicle

Returns

false if sending failed in some way, true otherwise

Implements autoware::drivers::vehicle_interface::PlatformInterface.

send_state_command()

bool8_t ssc_interface::SscInterface::send_state_command ( const VehicleStateCommand &  msg )

overridevirtual

Send the state command to the vehicle platform. Exceptions may be thrown on errors.

Parameters

[in]

msg

The state command to send to the vehicle

Returns

false if sending failed in some way, true otherwise

Implements autoware::drivers::vehicle_interface::PlatformInterface.

update()

bool8_t ssc_interface::SscInterface::update ( std::chrono::nanoseconds  timeout )

overridevirtual

Try to receive data from the vehicle platform, and update StateReport and Odometry. Exceptions may be thrown on errors.

Parameters

[in]

timeout

The maximum amount of time to check/receive data

Returns

True if data was received before the timeout, false otherwise

Implements autoware::drivers::vehicle_interface::PlatformInterface.

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

• ssc_interface.hpp
• ssc_interface.cpp