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Adds reporting for Hazard Light status for Lexus. #51

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Adds reporting for Hazard Light status for Lexus. #51

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3 changes: 3 additions & 0 deletions src/pacmod3_core.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,9 @@ std::shared_ptr<Pacmod3TxMsg> Pacmod3TxMsg::make_message(const uint32_t& can_id)
case GlobalRptMsg::CAN_ID:
return std::shared_ptr<Pacmod3TxMsg>(new GlobalRptMsg);
break;
case HazardLightRptMsg::CAN_ID:
return std::shared_ptr<Pacmod3TxMsg>(new HazardLightRptMsg);
break;
case HeadlightRptMsg::CAN_ID:
return std::shared_ptr<Pacmod3TxMsg>(new HeadlightRptMsg);
break;
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3 changes: 3 additions & 0 deletions src/pacmod3_node.cpp
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Expand Up @@ -38,6 +38,7 @@ ros::Publisher headlight_rpt_pub;
ros::Publisher headlight_aux_rpt_pub;
ros::Publisher horn_rpt_pub;
ros::Publisher wheel_speed_rpt_pub;
ros::Publisher hazards_rpt_pub;
ros::Publisher steering_pid_rpt_1_pub;
ros::Publisher steering_pid_rpt_2_pub;
ros::Publisher steering_pid_rpt_3_pub;
Expand Down Expand Up @@ -494,11 +495,13 @@ int main(int argc, char *argv[])

if (veh_type == VehicleType::LEXUS_RX_450H)
{
hazards_rpt_pub = n.advertise<pacmod_msgs::SystemRptBool>("parsed_tx/hazards_rpt", 20);
steering_pid_rpt_1_pub = n.advertise<pacmod_msgs::SteeringPIDRpt1>("parsed_tx/steer_pid_rpt_1", 20);
steering_pid_rpt_2_pub = n.advertise<pacmod_msgs::SteeringPIDRpt2>("parsed_tx/steer_pid_rpt_2", 20);
steering_pid_rpt_3_pub = n.advertise<pacmod_msgs::SteeringPIDRpt3>("parsed_tx/steer_pid_rpt_3", 20);
steering_pid_rpt_4_pub = n.advertise<pacmod_msgs::SteeringPIDRpt4>("parsed_tx/steer_pid_rpt_4", 20);

pub_tx_list.insert(std::make_pair(HazardLightRptMsg::CAN_ID, hazards_rpt_pub));
pub_tx_list.insert(std::make_pair(SteeringPIDRpt1Msg::CAN_ID, steering_pid_rpt_1_pub));
pub_tx_list.insert(std::make_pair(SteeringPIDRpt2Msg::CAN_ID, steering_pid_rpt_2_pub));
pub_tx_list.insert(std::make_pair(SteeringPIDRpt3Msg::CAN_ID, steering_pid_rpt_3_pub));
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