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feat(vehicle_cmd_gate): add multiple pause source ability #3435

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feat(vehicle_cmd_gate): add multiple pause source ability #3435

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33 changes: 24 additions & 9 deletions control/vehicle_cmd_gate/src/pause_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,24 +24,23 @@ PauseInterface::PauseInterface(rclcpp::Node * node) : node_(node)
adaptor.init_pub(pub_is_paused_);
adaptor.init_pub(pub_is_start_requested_);

is_paused_ = false;
pause_state_.data = false;
pause_state_.requested_sources.clear();
is_start_requested_ = false;
publish();
}

bool PauseInterface::is_paused()
{
return is_paused_;
return pause_state_.data;
}

void PauseInterface::publish()
{
if (prev_is_paused_ != is_paused_) {
IsPaused::Message msg;
msg.stamp = node_->now();
msg.data = is_paused_;
pub_is_paused_->publish(msg);
prev_is_paused_ = is_paused_;
if (prev_pause_map_ != pause_map_) {
update_pause_state();
pub_is_paused_->publish(pause_state_);
prev_pause_map_ = pause_map_;
}

if (prev_is_start_requested_ != is_start_requested_) {
Expand All @@ -61,8 +60,24 @@ void PauseInterface::update(const AckermannControlCommand & control)
void PauseInterface::on_pause(
const SetPause::Service::Request::SharedPtr req, const SetPause::Service::Response::SharedPtr res)
{
is_paused_ = req->pause;
pause_map_[req->request_source] = req->pause;
res->status.success = true;
}

void PauseInterface::update_pause_state()
{
pause_state_.stamp = node_->now();
pause_state_.requested_sources.clear();
pause_state_.data = false;

if (pause_map_.empty()) {
return;
}
for (auto & itr : pause_map_) {
if (itr.second) {
pause_state_.data = true;
pause_state_.requested_sources.push_back(itr.first);
}
}
}
} // namespace vehicle_cmd_gate
10 changes: 8 additions & 2 deletions control/vehicle_cmd_gate/src/pause_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,9 @@

#include <autoware_auto_control_msgs/msg/ackermann_control_command.hpp>

#include <string>
#include <unordered_map>

namespace vehicle_cmd_gate
{

Expand All @@ -40,10 +43,11 @@ class PauseInterface
void update(const AckermannControlCommand & control);

private:
bool is_paused_;
bool is_start_requested_;
std::optional<bool> prev_is_paused_;
std::optional<bool> prev_is_start_requested_;
IsPaused::Message pause_state_;
std::unordered_map<std::string, bool> pause_map_;
std::optional<std::unordered_map<std::string, bool>> prev_pause_map_;

rclcpp::Node * node_;
component_interface_utils::Service<SetPause>::SharedPtr srv_set_pause_;
Expand All @@ -53,6 +57,8 @@ class PauseInterface
void on_pause(
const SetPause::Service::Request::SharedPtr req,
const SetPause::Service::Response::SharedPtr res);

void update_pause_state();
};

} // namespace vehicle_cmd_gate
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