87 {
88
89
90
91 modem0_info_reader_ = node_->CreateReader<ModemInfo>(
94 });
95
96 modem1_info_reader_ = node_->CreateReader<ModemInfo>(
99 });
100
101 modem2_info_reader_ = node_->CreateReader<ModemInfo>(
104 });
105
106 planning_reader_ = node_->CreateReader<ADCTrajectory>(
108 UpdatePlanning(msg);
109 });
110
111 remote_daemon_cmd_writer_ =
113
114 local_daemon_cmd_writer_ =
116
117 remote_daemon_rpt_reader_ = node_->CreateReader<DaemonRpt>(
119 [this](const std::shared_ptr<DaemonRpt> &msg) {
120 UpdateCarDaemonRpt(msg);
121 });
122
123 local_daemon_rpt_reader_ = node_->CreateReader<DaemonRpt>(
125 [this](const std::shared_ptr<DaemonRpt> &msg) {
126 UpdateOperatorDaemonRpt(msg);
127 });
128
129 action_command_client_ =
131 CommandStatus>(FLAGS_action_command_topic);
132}
const std::string local_daemon_cmd_channel
const std::string modem2_channel
const std::string modem1_id
const std::string modem0_channel
const std::string modem1_channel
const std::string planning_channel
const std::string modem2_id
const std::string local_daemon_rpt_channel
const std::string remote_daemon_rpt_channel
const std::string modem0_id
const std::string remote_daemon_cmd_channel