38 lines
995 B
C++
38 lines
995 B
C++
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#ifndef V2X_APP_HPP_EUIC2VFR
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#define V2X_APP_HPP_EUIC2VFR
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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 V2XApp
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{
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public:
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V2XApp(rclcpp::Node*);
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void start();
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void objectsCallback(const autoware_perception_msgs::msg::DynamicObjectArray::ConstSharedPtr);
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void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr);
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CpmApplication *cp;
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private:
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friend class CpmApplication;
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friend class Application;
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rclcpp::Node* node_;
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bool tf_received_;
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bool cp_started_;
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};
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}
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#endif
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