From b90c4ed1ad441414013af71a8c8c1b3aec1df2ae Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Mon, 12 Feb 2018 18:14:58 +0100
Subject: [PATCH] -
---
modules/catkin_ws/src/car/CMakeLists.txt | 2 +
.../car/include/mainNode/PlatoonController.h | 1 +
.../src/car/include/mainNode/mainNode.h | 16 +++++++-
.../car/src/mainNode/PlatoonController.cpp | 11 +++++
.../src/car/src/mainNode/mainNode.cpp | 40 ++++++++++++-------
5 files changed, 54 insertions(+), 16 deletions(-)
diff --git a/modules/catkin_ws/src/car/CMakeLists.txt b/modules/catkin_ws/src/car/CMakeLists.txt
index 1521b22e..2a033a1d 100644
--- a/modules/catkin_ws/src/car/CMakeLists.txt
+++ b/modules/catkin_ws/src/car/CMakeLists.txt
@@ -78,6 +78,8 @@ set(MAIN_NODE_SOURCE_FILES
src/mainNode/mainNode.cpp
include/mainNode/mainNode.h include/mainNode/PlatoonController.h src/mainNode/PlatoonController.cpp)
+message(MAIN_NODE_SOURCE_FILES)
+
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
diff --git a/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h b/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
index 703c9513..09916fe0 100644
--- a/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
+++ b/modules/catkin_ws/src/car/include/mainNode/PlatoonController.h
@@ -11,6 +11,7 @@ namespace car
class PlatoonController
{
public:
+ void run();
private:
};
diff --git a/modules/catkin_ws/src/car/include/mainNode/mainNode.h b/modules/catkin_ws/src/car/include/mainNode/mainNode.h
index bf1157b6..34071ea8 100644
--- a/modules/catkin_ws/src/car/include/mainNode/mainNode.h
+++ b/modules/catkin_ws/src/car/include/mainNode/mainNode.h
@@ -6,7 +6,8 @@
#include "boost/thread.hpp"
#include "car/environmentDataMsg.h"
#include "NotifiableThread.h"
-#include "../../../../../Communication/NetworkingLib/include/Networking.h"
+//#include "../../../../../Communication/NetworkingLib/include/Networking.h"
+#include "PlatoonController.h"
namespace car
{
@@ -22,12 +23,25 @@ public:
~MainNode();
private:
+ std::function<void()> platoonControllerNotify =
+ [this]
+ { platoonControllerThread.notify(); };
+
+ NotifiableThread::Callback platoonControllerRun =
+ [this]
+ { platoonController.run(); };
+
ros::NodeHandle nh;
std::string name;
boost::thread loggerModule;
ros::Publisher logEnabled;
ros::Subscriber environmentData;
+ //Networking platoonProtocolThread;
+ NotifiableThread platoonControllerThread;
+
+ PlatoonController platoonController;
+
void environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg);
};
}
diff --git a/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp b/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
index 5a3dbccf..fcb44c3c 100644
--- a/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp
@@ -2,3 +2,14 @@
// Created by philipp on 12.02.18.
//
+#include "../../include/mainNode/PlatoonController.h"
+
+namespace car
+{
+
+void car::PlatoonController::run()
+{
+ // TODO: implementation
+}
+
+}
diff --git a/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp b/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
index 3c22e498..8bef4824 100644
--- a/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
+++ b/modules/catkin_ws/src/car/src/mainNode/mainNode.cpp
@@ -16,23 +16,33 @@ PLUGINLIB_EXPORT_CLASS(car::MainNode, nodelet::Nodelet);
namespace car
{
- MainNode::MainNode(ros::NodeHandle &nh, std::string &name) : nh(nh), name(name) {}
- MainNode::MainNode() {}
- MainNode::~MainNode() {}
- void MainNode::onInit()
- {
- NODELET_INFO("MainNode::onInit -- START");
- logEnabled = nh.advertise<logEnabledMsg>("logEnabled", 5);
- environmentData = nh.subscribe("environmentData", 1, &MainNode::environmentDataCallback, this);
+MainNode::MainNode(ros::NodeHandle & nh, std::string & name)
+ : nh(nh)
+ , name(name)
+ , platoonControllerThread(platoonControllerRun)
+{}
+
+MainNode::MainNode()
+ : platoonControllerThread(platoonControllerRun)
+{}
+
+MainNode::~MainNode()
+{}
+
+void MainNode::onInit()
+{
+ NODELET_INFO("MainNode::onInit -- START");
+ logEnabled = nh.advertise<logEnabledMsg>("logEnabled", 5);
+ environmentData = nh.subscribe("environmentData", 1, &MainNode::environmentDataCallback, this);
std::cout << "MainNode &nh: " << &nh << "\n";
+ // CODE GOES HERE
- // CODE GOES HERE
- NODELET_INFO("MainNode::onInit -- END");
- }
-
- void MainNode::environmentDataCallback(const environmentDataMsg::ConstPtr& inMsg)
- {
+ NODELET_INFO("MainNode::onInit -- END");
+}
+
+void MainNode::environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg)
+{
std::cout << "MainNode recived new environmentData data (" << inMsg->distance << ", " << inMsg->prevSpeed << ").\n";
- }
+}
}
--
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