autoware::ne_raptor_interface::NERaptorInterface Class Reference

Class for interfacing with NE Raptor DBW. More...

#include <ne_raptor_interface.hpp>

Inheritance diagram for autoware::ne_raptor_interface::NERaptorInterface:

Collaboration diagram for autoware::ne_raptor_interface::NERaptorInterface:

Public Member Functions
	NERaptorInterface (rclcpp::Node &node, uint16_t ecu_build_num, float32_t front_axle_to_cog, float32_t rear_axle_to_cog, float32_t steer_to_tire_ratio, float32_t max_steer_angle, float32_t acceleration_limit, float32_t deceleration_limit, float32_t acceleration_positive_jerk_limit, float32_t deceleration_negative_jerk_limit, uint32_t pub_period)
	Default constructor. More...

	~NERaptorInterface () 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 Steering -> tire angle conversion is linear except for extreme angles. More...

bool8_t	send_control_command (const AckermannControlCommand &msg) override
	Send the control command to the vehicle platform. Exceptions may be thrown on errors Steering -> tire angle conversion is linear except for extreme angles. 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...

void	send_headlights_command (const HeadlightsCommand &msg) override
	Send a headlights command to the vehicle platform. More...

void	send_horn_command (const HornCommand &msg) override
	Send a horn command to the vehicle platform. More...

void	send_wipers_command (const WipersCommand &msg) override
	Send a wipers command to the vehicle platform. More...

void	kinematic_bicycle_model (float32_t dt, VehicleKinematicState *vks)
	Update vehicle's position & heading relative from time = 0 based on time difference, current speed, & current tire angle. 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

const HeadlightsReport &	get_headlights_report () const noexcept
	Get the most recent state of the headlights feature. More...

const HornReport &	get_horn_report () const noexcept
	Get the most recent state of the horn feature. More...

const WipersReport &	get_wipers_report () const noexcept
	Get the most recent state of the wipers feature. More...

const GearReport &	get_gear_report () const noexcept
	Get the most recent state of the gear feature. More...

virtual void	send_gear_command (const GearCommand &msg)
	Send the gear control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...

virtual void	send_hand_brake_command (const HandBrakeCommand &msg)
	Send the hand_brake control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...

virtual void	send_hazard_lights_command (const HazardLightsCommand &msg)
	Send the hazard lights control command to the vehicle platform. If this is not implemented for a specific vehicle but is called, a runtime error will be thrown. More...

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...

HeadlightsReport &	headlights_report () noexcept
	Get the underlying headlight state for modification. More...

HornReport &	horn_report () noexcept
	Get the underlying horn state for modification. More...

WipersReport &	wipers_report () noexcept
	Get the underlying wiper state for modification. More...

GearReport &	gear_report () noexcept
	Get the underlying gear state for modification. More...

Detailed Description

Class for interfacing with NE Raptor DBW.

Constructor & Destructor Documentation

◆ NERaptorInterface()

autoware::ne_raptor_interface::NERaptorInterface::NERaptorInterface	(	rclcpp::Node &	node,
		uint16_t	ecu_build_num,
		float32_t	front_axle_to_cog,
		float32_t	rear_axle_to_cog,
		float32_t	steer_to_tire_ratio,
		float32_t	max_steer_angle,
		float32_t	acceleration_limit,
		float32_t	deceleration_limit,
		float32_t	acceleration_positive_jerk_limit,
		float32_t	deceleration_negative_jerk_limit,
		uint32_t	pub_period
	)

explicit

Default constructor.

Parameters

[in]	node	Reference to node
[in]	ecu_build_num	ECU build #
[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]	steer_to_tire_ratio	Ratio of steering angle / car tire angle
[in]	max_steer_angle	Maximum steering wheel turn angle
[in]	acceleration_limit	m/s^2, zero = no limit
[in]	deceleration_limit	m/s^2, zero = no limit
[in]	acceleration_positive_jerk_limit	m/s^3
[in]	deceleration_negative_jerk_limit	m/s^3
[in]	pub_period	message publishing period, in milliseconds

◆ ~NERaptorInterface()

autoware::ne_raptor_interface::NERaptorInterface::~NERaptorInterface ( )

overridedefaultnoexcept

Default destructor.

Member Function Documentation

◆ handle_mode_change_request()

bool8_t autoware::ne_raptor_interface::NERaptorInterface::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 autoware::ne_raptor_interface::NERaptorInterface::kinematic_bicycle_model	(	float32_t	dt,
		VehicleKinematicState *	vks
	)

Update vehicle's position & heading relative from time = 0 based on time difference, current speed, & current tire angle.

Parameters

[in]	dt	delta-T - how much time since this was last called
[in,out]	vks	the current vehicle kinematic state (contains current motion data)

◆ send_control_command() [1/4]

bool8_t autoware::ne_raptor_interface::NERaptorInterface::send_control_command ( const AckermannControlCommand & msg )

overridevirtual

Send the control command to the vehicle platform. Exceptions may be thrown on errors Steering -> tire angle conversion is linear except for extreme angles.

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() [2/4]

bool8_t autoware::ne_raptor_interface::NERaptorInterface::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() [3/4]

bool8_t autoware::ne_raptor_interface::NERaptorInterface::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() [4/4]

bool8_t autoware::ne_raptor_interface::NERaptorInterface::send_control_command ( const VehicleControlCommand & msg )

overridevirtual

Send the control command to the vehicle platform. Exceptions may be thrown on errors Steering -> tire angle conversion is linear except for extreme angles.

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_headlights_command()

void autoware::ne_raptor_interface::NERaptorInterface::send_headlights_command ( const HeadlightsCommand & msg )

overridevirtual

Send a headlights command to the vehicle platform.

Parameters

[in] msg The headlights command to send to the vehicle

Reimplemented from autoware::drivers::vehicle_interface::PlatformInterface.

◆ send_horn_command()

void autoware::ne_raptor_interface::NERaptorInterface::send_horn_command ( const HornCommand & msg )

overridevirtual

Send a horn command to the vehicle platform.

Parameters

[in] msg The horn command to send to the vehicle

Reimplemented from autoware::drivers::vehicle_interface::PlatformInterface.

◆ send_state_command()

bool8_t autoware::ne_raptor_interface::NERaptorInterface::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.

◆ send_wipers_command()

void autoware::ne_raptor_interface::NERaptorInterface::send_wipers_command ( const WipersCommand & msg )

overridevirtual

Send a wipers command to the vehicle platform.

Parameters

[in] msg The wipers command to send to the vehicle

Reimplemented from autoware::drivers::vehicle_interface::PlatformInterface.

◆ update()

bool8_t autoware::ne_raptor_interface::NERaptorInterface::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.

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

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ NERaptorInterface()

◆ ~NERaptorInterface()

Member Function Documentation

◆ handle_mode_change_request()

◆ kinematic_bicycle_model()

◆ send_control_command() [1/4]

◆ send_control_command() [2/4]

◆ send_control_command() [3/4]

◆ send_control_command() [4/4]

◆ send_headlights_command()

◆ send_horn_command()

◆ send_state_command()

◆ send_wipers_command()

◆ update()