61 lines
2.0 KiB
C++
61 lines
2.0 KiB
C++
#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_auto_perception_msgs/msg/predicted_objects.hpp"
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#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
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#include "autoware_auto_vehicle_msgs/msg/gear_report.hpp"
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#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
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#include "autoware_adapi_v1_msgs/msg/vehicle_dimensions.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/cam_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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// #include "autoware_v2x/v2x_node.hpp"
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namespace v2x
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{
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class V2XNode;
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class V2XApp
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{
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public:
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V2XApp(V2XNode *);
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void start();
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void objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr);
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void getVehicleDimensions(const autoware_adapi_v1_msgs::msg::VehicleDimensions);
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void velocityReportCallback(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr);
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void gearReportCallback(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr);
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void steeringReportCallback(const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr);
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void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr);
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CpmApplication *cp;
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CamApplication *cam;
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// V2XNode *v2x_node;
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private:
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friend class CpmApplication;
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friend class CamApplication;
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friend class Application;
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V2XNode* node_;
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bool tf_received_;
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int tf_interval_;
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bool velocity_report_received_;
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int velocity_report_interval_;
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bool gear_report_received_;
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int gear_report_interval_;
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bool steering_report_received_;
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int steering_report_interval_;
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bool vehicle_dimensions_set_;
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bool cp_started_;
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bool cam_started_;
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};
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}
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#endif |