Inheritance diagram for SystemSafetyChannelTest:

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Collaboration diagram for SystemSafetyChannelTest:

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Protected Member Functions
std::vector< double >	run (std::chrono::milliseconds duration)
uint8_t	safety_level ()
void	start_with_safety_status (std::vector< std::string > extra={})
Protected Member Functions inherited from SystemSafetyModeTest
bool	activate ()
bool	configure ()
void	connect_safety_channel ()
void	expect_subnodes_in (uint8_t state)
void	listen_cmd_vel ()
std::optional< diagnostic_msgs::msg::DiagnosticStatus >	rt_diagnostic ()
void	run_rt_at_rate (std::chrono::milliseconds duration, bool real_time=false)
void	run_rt_cycles (int cycles, std::chrono::milliseconds gap)
std::optional< diagnostic_msgs::msg::DiagnosticStatus >	safety_diagnostic ()
void	spin_for (std::chrono::milliseconds duration)
void	start (const std::vector< std::string > &params)
rclcpp_lifecycle::LifecycleNode::SharedPtr	subnode (const std::string &name)
void	TearDown () override

Static Protected Member Functions
static void	expect_all_zero (const std::vector< double > &cmds)
Static Protected Member Functions inherited from SystemSafetyModeTest
static easynav_interfaces::msg::SafetyStatus	channel_status (bool protective_stop, std::optional< double > speed_limit=std::nullopt)
static std::vector< std::string >	hanging_controller (double hang_time, double rt_freq=200.0, std::vector< std::string > extra={}, int fault_after=20)

Additional Inherited Members
Protected Attributes inherited from SystemSafetyModeTest
rclcpp::Subscription< geometry_msgs::msg::Twist >::SharedPtr	cmd_vel_sub_
std::vector< double >	cmd_vels_
std::unique_ptr< rclcpp::executors::SingleThreadedExecutor >	exe_
rclcpp::Node::SharedPtr	listener_
std::optional< easynav_interfaces::msg::SafetyStatus >	status_
rclcpp::Node::SharedPtr	status_node_
rclcpp::Publisher< easynav_interfaces::msg::SafetyStatus >::SharedPtr	status_pub_
easynav::SystemNode::SharedPtr	system_node_

Member Function Documentation

◆ expect_all_zero()

void expect_all_zero ( const std::vector< double > & cmds )

staticprotected

std::vector< double > run ( std::chrono::milliseconds duration )

protected

uint8_t safety_level ( )

protected

void start_with_safety_status ( std::vector< std::string > extra = {} )

protected

The documentation for this class was generated from the following file: