Add Fleet Manager build integration #683
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There was a problem hiding this comment. Replaced |
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There was a problem hiding this comment. Added explicit |
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There was a problem hiding this comment. Added a direct |
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There was a problem hiding this comment. Added missing return statements, corrected debug |
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There was a problem hiding this comment. Made |
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There was a problem hiding this comment. Added a null/failed-service guard before reading the object-control-state response. |
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There was a problem hiding this comment. Increased the waits for trajectory, IP, and origin service responses, and extended the overall scenario-loading timeout. |
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| # This Source Code Form is subject to the terms of the Mozilla Public | ||
| # License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| # file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
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| cmake_minimum_required(VERSION 3.8) | ||
| set(CMAKE_CXX_STANDARD 17) | ||
| set(CMAKE_CXX_STANDARD_REQUIRED ON) | ||
| set(CMAKE_C_STANDARD 11) | ||
| set(CMAKE_C_STANDARD_REQUIRED ON) | ||
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| project(truck_object_control) | ||
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| find_package(rclcpp REQUIRED) | ||
| find_package(std_msgs REQUIRED) | ||
| find_package(ament_index_cpp REQUIRED) | ||
| find_package(OpenSSL REQUIRED) | ||
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| include(GNUInstallDirs) | ||
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| set(COREUTILS_LIBRARY ATOSCoreUtil) | ||
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| add_executable(${PROJECT_NAME} | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/main.cpp | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/truckobjectcontrol.cpp | ||
| ) | ||
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| target_include_directories(${PROJECT_NAME} PUBLIC | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/inc | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/../../common | ||
| ) | ||
| target_link_libraries(${PROJECT_NAME} | ||
| ${COREUTILS_LIBRARY} | ||
| OpenSSL::SSL | ||
| OpenSSL::Crypto | ||
| ) | ||
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| ament_target_dependencies(${PROJECT_NAME} | ||
| rclcpp | ||
| std_msgs | ||
| ament_index_cpp | ||
| ) | ||
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| add_executable(atos_truck_simulator | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/main_simulator.cpp | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/src/atostrucksimulator.cpp | ||
| ) | ||
| target_include_directories(atos_truck_simulator PUBLIC | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/inc | ||
| ${CMAKE_CURRENT_SOURCE_DIR}/../../common | ||
| ) | ||
| target_link_libraries(atos_truck_simulator | ||
| ${COREUTILS_LIBRARY} | ||
| ) | ||
| ament_target_dependencies(atos_truck_simulator | ||
| rclcpp | ||
| std_msgs | ||
| ament_index_cpp | ||
| ) | ||
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| install(CODE "MESSAGE(STATUS \"Installing target ${PROJECT_NAME}\")") | ||
| install(TARGETS ${PROJECT_NAME} | ||
| RUNTIME DESTINATION "${CMAKE_INSTALL_LIBDIR}/atos" | ||
| LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} | ||
| ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} | ||
| PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} | ||
| ) | ||
| install(CODE "MESSAGE(STATUS \"Installing target atos_truck_simulator\")") | ||
| install(TARGETS atos_truck_simulator | ||
| RUNTIME DESTINATION "${CMAKE_INSTALL_LIBDIR}/atos" | ||
| LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR} | ||
| ARCHIVE DESTINATION ${CMAKE_INSTALL_LIBDIR} | ||
| PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR} | ||
| ) |
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| /* | ||
| * This Source Code Form is subject to the terms of the Mozilla Public | ||
| * License, v. 2.0. If a copy of the MPL was not distributed with this | ||
| * file, You can obtain one at https://mozilla.org/MPL/2.0/. | ||
| */ | ||
| #pragma once | ||
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| #include <rclcpp/rclcpp.hpp> | ||
| #include <std_msgs/msg/string.hpp> | ||
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| #include <string> | ||
| #include <vector> | ||
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| class AtosTruckSimulator : public rclcpp::Node { | ||
| public: | ||
| AtosTruckSimulator(); | ||
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| private: | ||
| struct GeoPoint { | ||
| double lat = 0.0; | ||
| double lon = 0.0; | ||
| double distance_m = 0.0; | ||
| }; | ||
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| std::string uid_ = "L5S-TRUCK-SIM"; | ||
| std::string tcp_host_ = "127.0.0.1"; | ||
| int tcp_port_ = 8114; | ||
| std::string trajectory_geojson_path_ = ""; | ||
| std::string trajectory_path_name_ = ""; | ||
| int start_index_ = 0; | ||
| double initial_speed_kmh_ = 0.0; | ||
| double target_speed_kmh_ = 40.0; | ||
| double acceleration_mps2_ = 2.0; | ||
| double publish_hz_ = 5.0; | ||
| bool loop_path_ = true; | ||
| bool ignore_warning_speed_commands_ = false; | ||
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| double current_distance_m_ = 0.0; | ||
| double current_speed_mps_ = 0.0; | ||
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| int tcp_fd_ = -1; | ||
| std::string tcp_rx_buffer_; | ||
| std::vector<GeoPoint> trajectory_path_; | ||
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| rclcpp::TimerBase::SharedPtr simulation_timer_; | ||
| rclcpp::Subscription<std_msgs::msg::String>::SharedPtr speed_command_sub_; | ||
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| rclcpp::Time last_step_time_; | ||
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| bool loadTrajectoryPath(); | ||
| bool ensureTcpConnected(); | ||
| void closeTcp(); | ||
| void pollTcpCommands(); | ||
| void simulationStep(); | ||
| bool pointAtDistance(double distance_m, double& lat, double& lon, double& course_deg, int& path_index) const; | ||
| static std::string utcIso8601FromRosTime(const rclcpp::Time& time); | ||
| void applySpeedCommandPayload(const std::string& payload); | ||
| void onSpeedCommand(const std_msgs::msg::String::SharedPtr msg); | ||
| }; |
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Added a
WITH_TRUCK_OBJECT_CONTROLCMake option and appended the module toENABLED_MODULESwhen the flag is enabled.This was needed so the new TruckObjectControl module can be built selectively without changing the default build path for existing environments.