external_command_wrapper_demo.h

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/******************************************************************************
 * Copyright 2023 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <memory>
#include <string>
#include <vector>
 
#include "modules/common_msgs/external_command_msgs/action_command.pb.h"
#include "modules/common_msgs/external_command_msgs/chassis_command.pb.h"
#include "modules/common_msgs/external_command_msgs/command_status.pb.h"
#include "modules/common_msgs/external_command_msgs/free_space_command.pb.h"
#include "modules/common_msgs/external_command_msgs/lane_follow_command.pb.h"
#include "modules/common_msgs/external_command_msgs/path_follow_command.pb.h"
#include "modules/common_msgs/external_command_msgs/speed_command.pb.h"
#include "modules/common_msgs/external_command_msgs/valet_parking_command.pb.h"
#include "modules/common_msgs/external_command_msgs/zone_cover_command.pb.h"
#include "modules/common_msgs/planning_msgs/planning.pb.h"
#include "modules/external_command/external_command_demo/proto/demo_config.pb.h"
 
#include "cyber/component/timer_component.h"
#include "cyber/cyber.h"
#include "modules/common/service_wrapper/client_wrapper.h"
#include "modules/common/util/message_util.h"
 
class ExternalCommandWrapperDemo final : public apollo::cyber::TimerComponent {
 public:
  ExternalCommandWrapperDemo();
 
  bool Init() override;
 
  bool Proc() override;
 
 private:
  template <typename T>
  void FillCommandHeader(const std::shared_ptr<T>& command);
 
  void SendActionCommand(
      apollo::external_command::ActionCommandType action_command_type);
 
  void SendSpeedCommand(double speed);
 
  void SendSpeedFactorCommand(double speed_factor);
 
  void RestoreSpeed();
 
  void SendLaneFollowCommand(
      const std::vector<apollo::external_command::Pose>& way_points,
      const apollo::external_command::Pose& end, double target_speed);
 
  void SendValetParkingCommand(const std::string& parking_spot_id,
                               double target_speed);
 
  void SendVehicleSignalCommand();
 
  void SendCustomChassisCommand();
 
  void SendPathFollowCommandWithPathRecord(const std::string& record_path);
 
  void SendPathFollowCommandWithLocationRecord(const std::string& record_dir);
 
  void CheckCommandStatus(const uint64_t command_id);
 
  void SendFreespaceCommand(
      const std::vector<apollo::external_command::Point>& way_points,
      const apollo::external_command::Pose& end);
 
  void SendZoneCoverCommand(const std::string overlap_id);
 
  void ReadPathFromPathRecord(
      const std::string& record_file,
      google::protobuf::RepeatedPtrField<apollo::external_command::Point>*
          waypoints,
      std::vector<apollo::external_command::Point>& left_boundary_points,
      std::vector<apollo::external_command::Point>& right_boundary_points);
 
  void ReadPathFromLocationRecord(
      const std::string& record_file,
      google::protobuf::RepeatedPtrField<apollo::external_command::Point>*
          waypoints) const;
 
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::ActionCommand,
                                    apollo::external_command::CommandStatus>>
      action_command_client_;
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::ChassisCommand,
                                    apollo::external_command::CommandStatus>>
      chassis_command_client_;
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::FreeSpaceCommand,
                                    apollo::external_command::CommandStatus>>
      free_space_command_client_;
 
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::ZoneCoverCommand,
                                    apollo::external_command::CommandStatus>>
      zone_cover_command_client_;
 
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::LaneFollowCommand,
                                    apollo::external_command::CommandStatus>>
      lane_follow_command_client_;
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::PathFollowCommand,
                                    apollo::external_command::CommandStatus>>
      path_follow_command_client_;
  std::shared_ptr<
      apollo::common::ClientWrapper<apollo::external_command::SpeedCommand,
                                    apollo::external_command::CommandStatus>>
      speed_command_client_;
  std::shared_ptr<apollo::common::ClientWrapper<
      apollo::external_command::ValetParkingCommand,
      apollo::external_command::CommandStatus>>
      valet_parking_command_client_;
  std::shared_ptr<apollo::common::ClientWrapper<
      apollo::external_command::CommandStatusRequest,
      apollo::external_command::CommandStatus>>
      status_client_;
 
  uint64_t command_id_;
  const std::string module_name_;
  apollo::external_command_demo::DemoConfig demo_config_;
};
 
template <typename T>
void ExternalCommandWrapperDemo::FillCommandHeader(
    const std::shared_ptr<T>& command) {
  apollo::common::util::FillHeader(module_name_, command.get());
  command->set_command_id(++command_id_);
}
 
CYBER_REGISTER_COMPONENT(ExternalCommandWrapperDemo);