62 lines
2.7 KiB
C++
62 lines
2.7 KiB
C++
#ifndef V2X_NODE_HPP_EUIC2VFR
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#define V2X_NODE_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 "tf2_msgs/msg/tf_message.hpp"
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#include <boost/asio/io_service.hpp>
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#include "autoware_v2x/v2x_app.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 <fstream>
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#include <etsi_its_cam_ts_msgs/msg/cam.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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V2XApp *app;
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void publishObjects(std::vector<CpmApplication::Object> *, int cpm_num);
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void publishCpmSenderObject(double, double, double);
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void publishReceivedCam(etsi_its_cam_ts_msgs::msg::CAM &);
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std::ofstream latency_log_file;
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private:
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void objectsCallback(const autoware_auto_perception_msgs::msg::PredictedObjects::ConstSharedPtr msg);
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void velocityReportCallback(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr msg);
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void gearReportCallback(const autoware_auto_vehicle_msgs::msg::GearReport::ConstSharedPtr msg);
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void steeringReportCallback(const autoware_auto_vehicle_msgs::msg::SteeringReport::ConstSharedPtr msg);
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void getVehicleDimensions();
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void tfCallback(const tf2_msgs::msg::TFMessage::ConstSharedPtr msg);
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rclcpp::Subscription<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr objects_sub_;
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rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>::SharedPtr velocity_report_sub_;
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rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::GearReport>::SharedPtr gear_report_sub_;
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rclcpp::Subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>::SharedPtr steering_report_sub_;
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rclcpp::Subscription<tf2_msgs::msg::TFMessage>::SharedPtr tf_sub_;
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rclcpp::Client<autoware_adapi_v1_msgs::srv::GetVehicleDimensions>::SharedPtr get_vehicle_dimensions_;
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rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cpm_objects_pub_;
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rclcpp::Publisher<autoware_auto_perception_msgs::msg::PredictedObjects>::SharedPtr cpm_sender_pub_;
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rclcpp::Publisher<etsi_its_cam_ts_msgs::msg::CAM>::SharedPtr cam_rec_pub_;
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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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#endif
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