File velodyne_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.

#ifndef NEBULA_VELODYNE_HW_INTERFACE_H
#define NEBULA_VELODYNE_HW_INTERFACE_H

// 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 "nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp"

#include <boost_tcp_driver/http_client_driver.hpp>
#include <boost_udp_driver/udp_driver.hpp>
#include <nebula_common/velodyne/velodyne_common.hpp>
#include <nebula_common/velodyne/velodyne_status.hpp>
#include <rclcpp/rclcpp.hpp>

#include <boost/property_tree/json_parser.hpp>
#include <boost/property_tree/ptree.hpp>

#include <memory>
#include <string>
#include <vector>

namespace nebula::drivers
{
class VelodyneHwInterface
{
private:
  std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
  std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
  std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration_;
  std::function<void(std::vector<uint8_t> &)>
    cloud_packet_callback_; 
  std::shared_ptr<boost::asio::io_context> boost_ctx_;
  std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> http_client_driver_;

  std::mutex mtx_inflight_request_;

  std::string target_status_{"/cgi/status.json"};
  std::string target_diag_{"/cgi/diag.json"};
  std::string target_snapshot_{"/cgi/snapshot.hdl"};
  std::string target_setting_{"/cgi/setting"};
  std::string target_fov_{"/cgi/setting/fov"};
  std::string target_host_{"/cgi/setting/host"};
  std::string target_net_{"/cgi/setting/net"};
  std::string target_save_{"/cgi/save"};
  std::string target_reset_{"/cgi/reset"};
  void string_callback(const std::string & str);

  std::string http_get_request(const std::string & endpoint);
  std::string http_post_request(const std::string & endpoint, const std::string & body);

  VelodyneStatus get_http_client_driver_once(
    std::shared_ptr<boost::asio::io_context> ctx,
    std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> & hcd);
  VelodyneStatus get_http_client_driver_once(
    std::unique_ptr<::drivers::tcp_driver::HttpClientDriver> & hcd);

  VelodyneStatus check_and_set_config(
    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration,
    boost::property_tree::ptree tree);

  std::shared_ptr<rclcpp::Logger> parent_node_logger_;
  void print_info(std::string info);
  void print_error(std::string error);
  void print_debug(std::string debug);

public:
  VelodyneHwInterface();

  void receive_sensor_packet_callback(std::vector<uint8_t> & buffer);
  Status sensor_interface_start();
  Status sensor_interface_stop();
  Status get_sensor_configuration(SensorConfigurationBase & sensor_configuration);
  Status get_calibration_configuration(CalibrationConfigurationBase & calibration_configuration);
  Status initialize_sensor_configuration(
    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
  Status set_sensor_configuration(
    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
  Status register_scan_callback(std::function<void(std::vector<uint8_t> & packet)> scan_callback);

  boost::property_tree::ptree parse_json(const std::string & str);

  VelodyneStatus init_http_client();
  std::string get_status();
  std::string get_diag();
  std::string get_snapshot();
  VelodyneStatus set_rpm(uint16_t rpm);
  VelodyneStatus set_fov_start(uint16_t fov_start);
  VelodyneStatus set_fov_end(uint16_t fov_end);
  VelodyneStatus set_return_type(ReturnMode return_mode);
  VelodyneStatus save_config();
  VelodyneStatus reset_system();
  VelodyneStatus laser_on();
  VelodyneStatus laser_off();
  VelodyneStatus laser_on_off(bool on);
  VelodyneStatus set_host_addr(std::string addr);
  VelodyneStatus set_host_dport(uint16_t dport);
  VelodyneStatus set_host_tport(uint16_t tport);
  VelodyneStatus set_net_addr(std::string addr);
  VelodyneStatus set_net_mask(std::string mask);
  VelodyneStatus set_net_gateway(std::string gateway);
  VelodyneStatus set_net_dhcp(bool use_dhcp);

  void set_logger(std::shared_ptr<rclcpp::Logger> node);
};

}  // namespace nebula::drivers

#endif  // NEBULA_VELODYNE_HW_INTERFACE_H