feat : add light_status fountion

is-whale · Jan 31, 2024 · 579817f · 579817f
1 parent ad42168
commit 579817f
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Showing 2 changed files with 17 additions and 1 deletion.
diff --git a/.../core_planning/waypoint_planner/include/waypoint_planner/velocity_set/velocity_set_info.h b/.../core_planning/waypoint_planner/include/waypoint_planner/velocity_set/velocity_set_info.h
@@ -43,6 +43,8 @@ class VelocitySetInfo
   double velocity_change_limit_;    // (m/s)
   double temporal_waypoints_size_;  // (meter)
   int  wpidx_detectionResultByOtherNodes_; // waypoints index@finalwaypoints
+  // TODO : light_brake
+  std_msgs::Int32 light_status_;
 
   // ROS param
   double remove_points_upto_;
@@ -65,9 +67,15 @@ class VelocitySetInfo
   void localizerPoseCallback(const geometry_msgs::PoseStampedConstPtr &msg);
   void detectionCallback(const std_msgs::Int32 &msg);
 
+  //light brake
+  void light_brakeCallback(const std_msgs::Int32 &msg);
   void clearPoints();
 
-
+  //light brake
+  std_msgs::Int32 getLightStatus() const
+  {
+    return light_status_;
+  }
   int getDetectionResultByOtherNodes() const
   {
     return wpidx_detectionResultByOtherNodes_;

diff --git a/autoware/core_planning/waypoint_planner/src/velocity_set/velocity_set_info.cpp b/autoware/core_planning/waypoint_planner/src/velocity_set/velocity_set_info.cpp
@@ -129,3 +129,11 @@ void VelocitySetInfo::localizerPoseCallback(const geometry_msgs::PoseStampedCons
   health_checker_ptr_->CHECK_RATE("topic_rate_localizer_pose_slow", 8, 5, 1, "topic localizer_pose subscribe rate slow.");
   localizer_pose_ = *msg;
 }
+
+/**
+ * @brief light dectection
+  */
+void VelocitySetInfo::light_brakeCallback(const std_msgs::Int32 &msg)
+{
+  light_status_ = msg;
+}