platform_interface.hpp

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// Copyright 2020 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.
#ifndef VEHICLE_INTERFACE__PLATFORM_INTERFACE_HPP_
#define VEHICLE_INTERFACE__PLATFORM_INTERFACE_HPP_

#include <common/types.hpp>
#include <autoware_auto_msgs/msg/raw_control_command.hpp>
#include <autoware_auto_msgs/msg/vehicle_control_command.hpp>
#include <autoware_auto_msgs/msg/vehicle_odometry.hpp>
#include <autoware_auto_msgs/msg/vehicle_state_command.hpp>
#include <autoware_auto_msgs/msg/vehicle_state_report.hpp>
#include <autoware_auto_msgs/srv/autonomy_mode_change.hpp>
#include <vehicle_interface/visibility_control.hpp>

#include <chrono>

using autoware::common::types::bool8_t;

using autoware_auto_msgs::msg::RawControlCommand;
using autoware_auto_msgs::msg::VehicleControlCommand;
using autoware_auto_msgs::msg::VehicleStateCommand;
using autoware_auto_msgs::msg::VehicleStateReport;
using autoware_auto_msgs::msg::VehicleOdometry;
using ModeChangeRequest = autoware_auto_msgs::srv::AutonomyModeChange_Request;
using ModeChangeResponse = autoware_auto_msgs::srv::AutonomyModeChange_Response;

namespace autoware
{
namespace drivers
{
namespace vehicle_interface
{

class VEHICLE_INTERFACE_PUBLIC PlatformInterface
{
public:
  PlatformInterface() = default;
  virtual ~PlatformInterface() = default;

  virtual bool8_t update(std::chrono::nanoseconds timeout) = 0;
  virtual bool8_t send_state_command(const VehicleStateCommand & msg) = 0;
  virtual bool8_t send_control_command(const VehicleControlCommand & msg) = 0;
  virtual bool8_t send_control_command(const RawControlCommand & msg) = 0;
  virtual bool8_t handle_mode_change_request(ModeChangeRequest::SharedPtr request) = 0;

  const VehicleStateReport & get_state_report() const noexcept;
  const VehicleOdometry & get_odometry() const noexcept;

protected:
  VehicleStateReport & state_report() noexcept;
  VehicleOdometry & odometry() noexcept;

private:
  VehicleStateReport m_state_report{};
  VehicleOdometry m_odometry{};
};  // class PlatformInterface
}  // namespace vehicle_interface
}  // namespace drivers
}  // namespace autoware

#endif  // VEHICLE_INTERFACE__PLATFORM_INTERFACE_HPP_