AutowareV2X/include/autoware_v2x/cpm_sender.hpp

48 lines
1.6 KiB
C++

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