platform_interface.hpp

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// Copyright 2020-2021 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_control_msgs/msg/ackermann_control_command.hpp>
 
#include <autoware_auto_vehicle_msgs/msg/gear_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/gear_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/hand_brake_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/hand_brake_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/hazard_lights_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/hazard_lights_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/headlights_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/headlights_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/horn_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/horn_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/wipers_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/wipers_report.hpp>
#include <autoware_auto_vehicle_msgs/msg/raw_control_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/vehicle_control_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/vehicle_odometry.hpp>
#include <autoware_auto_vehicle_msgs/msg/vehicle_state_command.hpp>
#include <autoware_auto_vehicle_msgs/msg/vehicle_state_report.hpp>
#include <autoware_auto_vehicle_msgs/srv/autonomy_mode_change.hpp>
#include <vehicle_interface/visibility_control.hpp>
 
#include <chrono>
 
using autoware::common::types::bool8_t;
 
using autoware_auto_vehicle_msgs::msg::GearCommand;
using autoware_auto_vehicle_msgs::msg::GearReport;
using autoware_auto_vehicle_msgs::msg::HandBrakeCommand;
using autoware_auto_vehicle_msgs::msg::HandBrakeReport;
using autoware_auto_vehicle_msgs::msg::HazardLightsCommand;
using autoware_auto_vehicle_msgs::msg::HazardLightsReport;
using autoware_auto_vehicle_msgs::msg::HeadlightsCommand;
using autoware_auto_vehicle_msgs::msg::HeadlightsReport;
using autoware_auto_vehicle_msgs::msg::HornCommand;
using autoware_auto_vehicle_msgs::msg::HornReport;
using autoware_auto_vehicle_msgs::msg::WipersCommand;
using autoware_auto_vehicle_msgs::msg::WipersReport;
using autoware_auto_vehicle_msgs::msg::RawControlCommand;
using autoware_auto_control_msgs::msg::AckermannControlCommand;
using autoware_auto_vehicle_msgs::msg::VehicleControlCommand;
using autoware_auto_vehicle_msgs::msg::VehicleStateCommand;
using autoware_auto_vehicle_msgs::msg::VehicleStateReport;
using autoware_auto_vehicle_msgs::msg::VehicleOdometry;
using ModeChangeRequest = autoware_auto_vehicle_msgs::srv::AutonomyModeChange_Request;
using ModeChangeResponse = autoware_auto_vehicle_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 AckermannControlCommand & 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;
  const HeadlightsReport & get_headlights_report() const noexcept;
  const HornReport & get_horn_report() const noexcept;
  const WipersReport & get_wipers_report() const noexcept;
  const GearReport & get_gear_report() const noexcept;
 
  virtual void send_gear_command(const GearCommand & msg);
 
  virtual void send_hand_brake_command(const HandBrakeCommand & msg);
 
  virtual void send_headlights_command(const HeadlightsCommand & msg);
 
  virtual void send_horn_command(const HornCommand & msg);
 
  virtual void send_wipers_command(const WipersCommand & msg);
 
  virtual void send_hazard_lights_command(const HazardLightsCommand & msg);
 
protected:
  VehicleStateReport & state_report() noexcept;
  VehicleOdometry & odometry() noexcept;
  HeadlightsReport & headlights_report() noexcept;
  HornReport & horn_report() noexcept;
  WipersReport & wipers_report() noexcept;
  GearReport & gear_report() noexcept;
 
private:
  HeadlightsReport m_headlights_report{};
  HornReport m_horn_report{};
  WipersReport m_wipers_report{};
  VehicleStateReport m_state_report{};
  GearReport m_gear_report{};
  VehicleOdometry m_odometry{};
};  // class PlatformInterface
}  // namespace vehicle_interface
}  // namespace drivers
}  // namespace autoware
 
#endif  // VEHICLE_INTERFACE__PLATFORM_INTERFACE_HPP_