File robosense_hw_interface.hpp
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// Copyright 2024 TIER IV, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#pragma once
// Have to define macros to silence warnings about deprecated headers being used by
// boost/property_tree/ in some versions of boost.
// See: https://github.com/boostorg/property_tree/issues/51
#include <boost/version.hpp>
#if (BOOST_VERSION / 100 >= 1073 && BOOST_VERSION / 100 <= 1076) // Boost 1.73 - 1.76
#define BOOST_BIND_GLOBAL_PLACEHOLDERS
#endif
#if (BOOST_VERSION / 100 == 1074) // Boost 1.74
#define BOOST_ALLOW_DEPRECATED_HEADERS
#endif
#include <boost_udp_driver/udp_driver.hpp>
#include <nebula_common/robosense/robosense_common.hpp>
#include <rclcpp/rclcpp.hpp>
#include <memory>
#include <string>
#include <vector>
namespace nebula::drivers
{
constexpr uint16_t mtu_size = 1248;
constexpr uint16_t helios_packet_size = 1248;
constexpr uint16_t helios_info_packet_size = 1248;
constexpr uint16_t bpearl_packet_size = 1248;
constexpr uint16_t bpearl_info_packet_size = 1248;
class RobosenseHwInterface
{
private:
std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
std::unique_ptr<::drivers::common::IoContext> info_io_context_;
std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
std::unique_ptr<::drivers::udp_driver::UdpDriver> info_udp_driver_;
std::shared_ptr<const RobosenseSensorConfiguration> sensor_configuration_;
std::function<void(std::vector<uint8_t> & buffer)>
scan_reception_callback_;
std::function<void(std::vector<uint8_t> & buffer)>
info_reception_callback_;
std::shared_ptr<rclcpp::Logger> parent_node_logger_;
void print_info(std::string info);
void print_debug(std::string debug);
public:
RobosenseHwInterface();
void receive_sensor_packet_callback(std::vector<uint8_t> & buffer);
void receive_info_packet_callback(std::vector<uint8_t> & buffer);
Status sensor_interface_start();
Status info_interface_start();
Status set_sensor_configuration(
std::shared_ptr<const RobosenseSensorConfiguration> sensor_configuration);
Status register_scan_callback(std::function<void(std::vector<uint8_t> &)> scan_callback);
Status register_info_callback(std::function<void(std::vector<uint8_t> &)> info_callback);
void set_logger(std::shared_ptr<rclcpp::Logger> logger);
};
} // namespace nebula::drivers