File velodyne_hw_interface.hpp

File List > include > nebula_hw_interfaces > nebula_hw_interfaces_velodyne > velodyne_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.

#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
{
namespace 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 StringCallback(const std::string & str);

  std::string HttpGetRequest(const std::string & endpoint);
  std::string HttpPostRequest(const std::string & endpoint, const std::string & body);

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

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

  std::shared_ptr<rclcpp::Logger> parent_node_logger;
  void PrintInfo(std::string info);
  void PrintError(std::string error);
  void PrintDebug(std::string debug);

public:
  VelodyneHwInterface();

  void ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer);
  Status SensorInterfaceStart();
  Status SensorInterfaceStop();
  Status GetSensorConfiguration(SensorConfigurationBase & sensor_configuration);
  Status GetCalibrationConfiguration(CalibrationConfigurationBase & calibration_configuration);
  Status InitializeSensorConfiguration(
    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
  Status SetSensorConfiguration(
    std::shared_ptr<const VelodyneSensorConfiguration> sensor_configuration);
  Status RegisterScanCallback(std::function<void(std::vector<uint8_t> & packet)> scan_callback);

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

  VelodyneStatus InitHttpClient();
  std::string GetStatus();
  std::string GetDiag();
  std::string GetSnapshot();
  VelodyneStatus SetRpm(uint16_t rpm);
  VelodyneStatus SetFovStart(uint16_t fov_start);
  VelodyneStatus SetFovEnd(uint16_t fov_end);
  VelodyneStatus SetReturnType(ReturnMode return_mode);
  VelodyneStatus SaveConfig();
  VelodyneStatus ResetSystem();
  VelodyneStatus LaserOn();
  VelodyneStatus LaserOff();
  VelodyneStatus LaserOnOff(bool on);
  VelodyneStatus SetHostAddr(std::string addr);
  VelodyneStatus SetHostDport(uint16_t dport);
  VelodyneStatus SetHostTport(uint16_t tport);
  VelodyneStatus SetNetAddr(std::string addr);
  VelodyneStatus SetNetMask(std::string mask);
  VelodyneStatus SetNetGateway(std::string gateway);
  VelodyneStatus SetNetDhcp(bool use_dhcp);

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

}  // namespace drivers
}  // namespace nebula

#endif  // NEBULA_VELODYNE_HW_INTERFACE_H