buildable without carma references

subsystem_controllers/config/drivers_controller_config.yaml

@@ -14,25 +14,22 @@
     # Required subsystem controller nodes for the overall system to be functional and will have their lifecycle's managed
     required_subsystem_nodes: ['']
 
-    # List of nodes which will not be directly managed by this subsystem controller 
+    # List of nodes which will not be directly managed by this subsystem controller
     # but which are required to be operational for the subsystem to function
     unmanaged_required_nodes: ['']
 
     # List of nodes in the namespace which will not be managed by this subsystem controller
     # Specifically includes the lidar and gps nodes which are handled in other subsystem controllers
     excluded_namespace_nodes : ['']
-    
+
     # List of ros1 controller drivers (node name) to consider required and who's failure shall result in automation abort
     ros1_required_drivers: ['']
 
-    # List of ros1 camera drivers (node name) to consider required and who's failure shall result in automation abort.
-    ros1_camera_drivers: ['']
-
     # Boolean: If this flag is true then all nodes under subsystem_namespace are treated as required in addition to any nodes in required_subsystem_nodes
     full_subsystem_required: false
 
     # Int: The time allocated for system startup in seconds
     startup_duration: 30
 
     # Double: The timeout threshold for essential drivers in ms
-    required_driver_timeout: 3000.0
+    required_driver_timeout: 3000.0

subsystem_controllers/include/subsystem_controllers/drivers_controller/driver_manager.hpp

@@ -16,89 +16,84 @@
  * the License.
  */
 
-#include <carma_planning_msgs/msg/plugin.hpp>
-#include <carma_planning_msgs/srv/get_plugin_api.hpp>
-#include <carma_planning_msgs/srv/plugin_list.hpp>
-#include <carma_planning_msgs/srv/plugin_activation.hpp>
-#include <ros2_lifecycle_manager/lifecycle_manager_interface.hpp>
-#include <unordered_set>
-#include <functional>
-#include <vector>
-#include <memory>
-#include <chrono>
+#include <gtest/gtest_prod.h>
 #include <rmw/types.h>
+
+#include <chrono>
+#include <functional>
 #include <map>
-#include "entry_manager.hpp"
+#include <memory>
+#include <unordered_set>
+#include <vector>
+
 #include "entry.hpp"
+#include "entry_manager.hpp"
+#include <ros2_lifecycle_manager/lifecycle_manager_interface.hpp>
+
 #include <carma_driver_msgs/msg/driver_status.hpp>
 #include <carma_msgs/msg/system_alert.hpp>
-#include <gtest/gtest_prod.h>
-
+#include <carma_planning_msgs/msg/plugin.hpp>
+#include <carma_planning_msgs/srv/get_plugin_api.hpp>
+#include <carma_planning_msgs/srv/plugin_activation.hpp>
+#include <carma_planning_msgs/srv/plugin_list.hpp>
 
 namespace subsystem_controllers
 {
-
-    /**
-     * \brief The DriverManager serves as a component to manage CARMA required ROS1 Drivers 
-     */ 
-    class DriverManager
-    {
-        public:
-
-        /*!
-         * \brief Default constructor for DriverManager with driver_timeout_ = 1000ms
-         */
-        DriverManager();
-
-        /**
-         * \brief Constructor for DriverManager
-         * 
-         * \param critical_driver_names The set of drivers which will be treated as required. A failure in these plugins will result in an exception
-         * \param camera_entries The set of camera drivers.
-         * \param driver_timeout The timeout threshold for essential drivers
-         */
-        DriverManager(const std::vector<std::string>& critical_driver_names,
-                        const std::vector<std::string>& camera_entries,
-                        const long driver_timeout);
-
-
-        /*!
-         * \brief Update driver status
-         */
-        void update_driver_status(const carma_driver_msgs::msg::DriverStatus::SharedPtr msg, long current_time);
-
-        /*!
-         * \brief Check if all critical drivers are operational
-         */
-        std::string are_critical_drivers_operational(long current_time);
-
-        /*!
-         * \brief Evaluate if the sensor is available
-         */
-        void evaluate_sensor(int &sensor_input,bool available,long current_time,long timestamp,long driver_timeout);
-
-        /*!
-         * \brief Handle the spin and publisher
-         */
-        carma_msgs::msg::SystemAlert handle_spin(long time_now,long start_up_timestamp,long startup_duration);
-
-        protected:
-
-        //list of critical drivers
-        std::vector<std::string> critical_drivers_;
-
-        //list of camera entries
-        std::vector<std::string> camera_entries_;
-
-        //! Entry manager to keep track of detected plugins
-        std::shared_ptr<EntryManager> em_;  
-
-        // timeout for critical driver timeout in milliseconds
-        long driver_timeout_ = 1000; 
-
-        bool starting_up_ = true;
-
-        FRIEND_TEST(DriverManagerTest, testCarTruckHandleSpinFatalUnknown);
-
-    };
-}
+/**
+ * \brief The DriverManager serves as a component to manage CARMA required ROS1 Drivers
+ */
+class DriverManager
+{
+public:
+  /*!
+   * \brief Default constructor for DriverManager with driver_timeout_ = 1000ms
+   */
+  DriverManager();
+
+  /**
+   * \brief Constructor for DriverManager
+   *
+   * \param critical_driver_names The set of drivers which will be treated as required. A failure in
+   * these plugins will result in an exception \param driver_timeout The timeout threshold for
+   * essential drivers
+   */
+  DriverManager(const std::vector<std::string> & critical_driver_names, const long driver_timeout);
+
+  /*!
+   * \brief Update driver status
+   */
+  void update_driver_status(
+    const carma_driver_msgs::msg::DriverStatus::SharedPtr msg, long current_time);
+
+  /*!
+   * \brief Check if all critical drivers are operational
+   */
+  std::string are_critical_drivers_operational(long current_time);
+
+  /*!
+   * \brief Evaluate if the sensor is available
+   */
+  void evaluate_sensor(
+    int & sensor_input, bool available, long current_time, long timestamp, long driver_timeout);
+
+  /*!
+   * \brief Handle the spin and publisher
+   */
+  carma_msgs::msg::SystemAlert handle_spin(
+    long time_now, long start_up_timestamp, long startup_duration);
+
+protected:
+  // list of critical drivers
+  std::vector<std::string> critical_drivers_;
+
+  //! Entry manager to keep track of detected plugins
+  std::shared_ptr<EntryManager> em_;
+
+  // timeout for critical driver timeout in milliseconds
+  long driver_timeout_ = 1000;
+
+  bool starting_up_ = true;
+
+  FRIEND_TEST(DriverManagerTest, testCarTruckHandleSpinFatalUnknown);
+};
+}  // namespace subsystem_controllers

subsystem_controllers/include/subsystem_controllers/drivers_controller/drivers_controller_config.hpp

@@ -21,51 +21,40 @@
 
 namespace subsystem_controllers
 {
- /**
-  * \brief Stuct containing the algorithm configuration values for the GuidanceController
-  */
-  struct DriversControllerConfig
-
+/**
+ * \brief Stuct containing the algorithm configuration values for the GuidanceController
+ */
+struct DriversControllerConfig
+
+{
+  //! List of ros1 controller drivers (node name) to consider required and who's failure shall
+  //! result in automation abort.
+  std::vector<std::string> ros1_required_drivers_;
+  //! List of nodes in the namespace which will not be managed by this subsystem controller
+  std::vector<std::string> excluded_namespace_nodes_;
+  //! The time allocated for system startup in seconds
+  int startup_duration_;
+  //! The timeout threshold for essential drivers in ms
+  double driver_timeout_ = 1000;
+
+  // Stream operator for this config
+  friend std::ostream & operator<<(std::ostream & output, const DriversControllerConfig & c)
   {
-    //! List of ros1 controller drivers (node name) to consider required and who's failure shall result in automation abort. 
-    std::vector<std::string> ros1_required_drivers_;
-    //! List of ros1 camera drivers (node name) to consider required and who's failure shall result in automation abort.
-    std::vector<std::string> ros1_camera_drivers_;
-    //! List of nodes in the namespace which will not be managed by this subsystem controller
-    std::vector<std::string> excluded_namespace_nodes_;
-    //! The time allocated for system startup in seconds
-    int startup_duration_;
-    //! The timeout threshold for essential drivers in ms
-    double driver_timeout_ = 1000;
-
+    output << "DriversControllerConfig { " << std::endl << "ros1_required_drivers: [ " << std::endl;
 
-    // Stream operator for this config
-    friend std::ostream &operator<<(std::ostream &output, const DriversControllerConfig &c)
-    {
-
-      output << "DriversControllerConfig { " << std::endl
-             << "ros1_required_drivers: [ " << std::endl;
-
-      for (auto node : c.ros1_required_drivers_)
-        output << node << " ";
+    for (auto node : c.ros1_required_drivers_) output << node << " ";
 
-      output << "] " << std::endl << "ros1_camera_drivers: [ ";
+    output << "] " << std::endl << "excluded_namespace_nodes: [ ";
 
-      for (auto node : c.ros1_camera_drivers_)
-        output << node << " ";
-
-      output << "] " << std::endl << "excluded_namespace_nodes: [ ";
+    for (auto node : c.excluded_namespace_nodes_) output << node << " ";
 
-      for (auto node : c.excluded_namespace_nodes_)
-        output << node << " ";
+    output << "] " << std::endl << "startup_duration: " << c.startup_duration_ << std::endl;
 
-      output<< "] " << std::endl << "startup_duration: "<< c.startup_duration_ << std::endl;
+    output << "driver_timeout: " << c.driver_timeout_ << std::endl
 
-      output <<"driver_timeout: "<< c.driver_timeout_ << std::endl
-
-        << "}" << std::endl;
-      return output;
-    }
-  };
+           << "}" << std::endl;
+    return output;
+  }
+};
 
-} // namespace subsystem_controllers
+}  // namespace subsystem_controllers

subsystem_controllers/include/subsystem_controllers/drivers_controller/drivers_controller_node.hpp

@@ -35,14 +35,14 @@ namespace subsystem_controllers
   class DriversControllerNode : public BaseSubsystemController
   {
   public:
-    
+
     DriversControllerNode() = delete;
 
     ~DriversControllerNode() = default;
 
     /**
      * \brief Constructor. Set explicitly to support node composition.
-     * 
+     *
      * \param options The node options to use for configuring this node
      */
     explicit DriversControllerNode(const rclcpp::NodeOptions &options);
@@ -62,15 +62,14 @@ namespace subsystem_controllers
     // message/service callbacks
     void driver_discovery_cb(const carma_driver_msgs::msg::DriverStatus::SharedPtr msg);
 
-    //! Timer callback function to check status of required ros1 drivers 
+    //! Timer callback function to check status of required ros1 drivers
     void timer_callback();
 
     carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &prev_state);
     carma_ros2_utils::CallbackReturn handle_on_activate(const rclcpp_lifecycle::State &prev_state);
 
     //! ROS parameters
     std::vector<std::string> ros1_required_drivers_;
-    std::vector<std::string> ros1_camera_drivers_;
 
     // record of startup timestamp
     long start_up_timestamp_;
@@ -83,4 +82,3 @@ namespace subsystem_controllers
   };
 
 } // namespace v2x_controller
-