autoware::drivers::vehicle_interface::PlatformInterface Class Reference

#include <platform_interface.hpp>

Inheritance diagram for autoware::drivers::vehicle_interface::PlatformInterface:

Public Member Functions
	PlatformInterface ()=default
	Constructor. More...
virtual	~PlatformInterface ()=default
	Destructor. More...
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 Member Functions
VehicleStateReport &	state_report () noexcept
	Get the underlying state report for modification. More...
VehicleOdometry &	odometry () noexcept
	Get the underlying odometry for modification. More...

Detailed Description

Interface class for specific vehicle implementations. Child classes which implement this interface are expected to have wrap their own communication mechanism, and create a subclass from the VehicleInterfaceNode

Constructor & Destructor Documentation

PlatformInterface()

autoware::drivers::vehicle_interface::PlatformInterface::PlatformInterface ( )

default

Constructor.

~PlatformInterface()

virtual autoware::drivers::vehicle_interface::PlatformInterface::~PlatformInterface ( )

virtualdefault

Destructor.

Member Function Documentation

get_odometry()

const autoware_auto_msgs::msg::VehicleOdometry & autoware::drivers::vehicle_interface::PlatformInterface::get_odometry ( ) const

noexcept

Get the most recent odomoetry of the vehicle

Returns

A Odometry message intended to be published.

get_state_report()

const autoware_auto_msgs::msg::VehicleStateReport & autoware::drivers::vehicle_interface::PlatformInterface::get_state_report ( ) const

noexcept

Get the most recent state of the vehicle. The State should be assumed to be constant unless data from the vehicle platform implies a state should be changed. For example, if the gear state is drive, the StateReport should be in drive until the vehicle platform reports that it is in neutral or some other gear state.

Returns

A StateReport message intended to be published.

handle_mode_change_request()

virtual bool8_t autoware::drivers::vehicle_interface::PlatformInterface::handle_mode_change_request ( ModeChangeRequest::SharedPtr  request )

pure virtual

Respond to a request to change the autonomy mode. This should only fail if changing the mode on the actual low-level autonomy interface fails. Exceptions may be thrown on errors

Parameters

[in]

request

The requested mode

Returns

false If changing the mode failed in some way, true otherwise

Implemented in autoware::ne_raptor_interface::NERaptorInterface, and ssc_interface::SscInterface.

odometry()

autoware_auto_msgs::msg::VehicleOdometry & autoware::drivers::vehicle_interface::PlatformInterface::odometry ( )

protectednoexcept

Get the underlying odometry for modification.

send_control_command() [1/2]

virtual bool8_t autoware::drivers::vehicle_interface::PlatformInterface::send_control_command ( const RawControlCommand &  msg )

pure virtual

Send the state command to the vehicle platform. May require translation into a vehicle-specific representation and sending multiple messages. 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

Implemented in autoware::ne_raptor_interface::NERaptorInterface, and ssc_interface::SscInterface.

send_control_command() [2/2]

virtual bool8_t autoware::drivers::vehicle_interface::PlatformInterface::send_control_command ( const VehicleControlCommand &  msg )

pure virtual

Send the state command to the vehicle platform. May require translation into a vehicle-specific representation and sending multiple messages. 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

Implemented in autoware::ne_raptor_interface::NERaptorInterface, and ssc_interface::SscInterface.

send_state_command()

virtual bool8_t autoware::drivers::vehicle_interface::PlatformInterface::send_state_command ( const VehicleStateCommand &  msg )

pure virtual

Send the state command to the vehicle platform. May require translation into a vehicle-specific representation and sending multiple messages 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

Implemented in autoware::ne_raptor_interface::NERaptorInterface, and ssc_interface::SscInterface.

state_report()

autoware_auto_msgs::msg::VehicleStateReport & autoware::drivers::vehicle_interface::PlatformInterface::state_report ( )

protectednoexcept

Get the underlying state report for modification.

update()

virtual bool8_t autoware::drivers::vehicle_interface::PlatformInterface::update ( std::chrono::nanoseconds  timeout )

pure virtual

Try to receive data from the vehicle platform, and update StateReport and Odometry. If no data is received, return false, and the VehicleInterfaceNode will treat this as an error If the platform supports additional sensors/messages, then publishing can happen in this method. 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

Implemented in autoware::ne_raptor_interface::NERaptorInterface, lgsvl_interface::LgsvlInterface, and ssc_interface::SscInterface.

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

• platform_interface.hpp
• platform_interface.cpp