File robosense_hw_interface.hpp

File List > include > nebula_hw_interfaces > nebula_hw_interfaces_robosense > robosense_hw_interface.hpp

Go to the documentation of this file

// 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
{
namespace 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 PrintInfo(std::string info);

  void PrintDebug(std::string debug);

public:
  RobosenseHwInterface();

  void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);

  void ReceiveInfoPacketCallback(std::vector<uint8_t> & buffer);

  Status SensorInterfaceStart();

  Status InfoInterfaceStart();

  Status SetSensorConfiguration(
    std::shared_ptr<const RobosenseSensorConfiguration> sensor_configuration);

  Status RegisterScanCallback(std::function<void(std::vector<uint8_t> &)> scan_callback);

  Status RegisterInfoCallback(std::function<void(std::vector<uint8_t> &)> info_callback);

  void SetLogger(std::shared_ptr<rclcpp::Logger> logger);
};

}  // namespace drivers
}  // namespace nebula