48 lines
1.6 KiB
C++
48 lines
1.6 KiB
C++
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#include "rclcpp/rclcpp.hpp"
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#include "std_msgs/msg/string.hpp"
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#include "autoware_perception_msgs/msg/dynamic_object_array.hpp"
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#include "tf2_msgs/msg/tf_message.hpp"
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#include <boost/asio/io_service.hpp>
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#include "autoware_v2x/cpm_application.hpp"
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#include "autoware_v2x/time_trigger.hpp"
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#include "autoware_v2x/link_layer.hpp"
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#include "autoware_v2x/ethernet_device.hpp"
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#include "autoware_v2x/positioning.hpp"
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#include "autoware_v2x/security.hpp"
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#include "autoware_v2x/router_context.hpp"
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namespace v2x
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{
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class V2XNode : public rclcpp::Node
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{
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public:
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explicit V2XNode(const rclcpp::NodeOptions &node_options);
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private:
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void objectsCallback(
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const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr msg);
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void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg);
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friend class CpmApplication;
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friend class Application;
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rclcpp::Subscription<autoware_perception_msgs::msg::DynamicObjectArray>::SharedPtr subscription_;
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rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr subscription_pos_;
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std::unique_ptr<CpmApplication> cp_;
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std::unique_ptr<Application> app_;
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boost::asio::io_service io_service_;
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TimeTrigger trigger_;
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const char *device_name_;
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EthernetDevice device_;
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vanetza::MacAddress mac_address_;
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std::unique_ptr<LinkLayer> link_layer_;
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vanetza::geonet::MIB mib_;
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std::unique_ptr<vanetza::PositionProvider> positioning_;
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std::unique_ptr<vanetza::security::SecurityEntity> security_;
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RouterContext context_;
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double pos_lat_;
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double pos_lon_;
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};
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}
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