File hw_monitor_wrapper.hpp

File List > hesai > hw_monitor_wrapper.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

#include <diagnostic_updater/diagnostic_updater.hpp>
#include <nebula_common/hesai/hesai_common.hpp>
#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp>
#include <nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp>
#include <nlohmann/json.hpp>
#include <rclcpp/rclcpp.hpp>

#include <boost/asio.hpp>
#include <boost/lexical_cast.hpp>
#include <boost/property_tree/ptree.hpp>

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

namespace nebula::ros
{

using nlohmann::json;

class HesaiHwMonitorWrapper
{
public:
  HesaiHwMonitorWrapper(
    rclcpp::Node * const parent_node,
    const std::shared_ptr<nebula::drivers::HesaiHwInterface> & hw_interface,
    std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & config);

  void on_config_change(
    const std::shared_ptr<const nebula::drivers::HesaiSensorConfiguration> & /* new_config */)
  {
  }

  nebula::Status status();

private:
  static void add_json_item_to_diagnostics(
    diagnostic_updater::DiagnosticStatusWrapper & diagnostics, const std::string & key,
    const json & value);

  void initialize_hesai_diagnostics(bool monitor_enabled);

  std::string get_ptree_value(boost::property_tree::ptree * pt, const std::string & key);

  std::string get_fixed_precision_string(double val, int pre);

  void on_hesai_status_timer();

  void on_hesai_lidar_monitor_timer_http();

  void on_hesai_lidar_monitor_timer();

  void hesai_check_status(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  void hesai_check_ptp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  void hesai_check_temperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  void hesai_check_rpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  void hesai_check_voltage_http(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  void hesai_check_voltage(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  rclcpp::Logger logger_;
  diagnostic_updater::Updater diagnostics_updater_;
  nebula::Status status_;

  const std::shared_ptr<nebula::drivers::HesaiHwInterface> hw_interface_;
  rclcpp::Node * const parent_node_;

  uint16_t diag_span_;
  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_{};
  rclcpp::TimerBase::SharedPtr fetch_diagnostics_timer_{};

  std::shared_ptr<HesaiLidarStatusBase> current_status_{};
  std::shared_ptr<HesaiLidarMonitor> current_monitor_{};
  std::shared_ptr<HesaiConfigBase> current_config_{};
  std::shared_ptr<boost::property_tree::ptree> current_lidar_monitor_tree_{};

  std::unique_ptr<rclcpp::Time> current_status_time_{};
  std::unique_ptr<rclcpp::Time> current_config_time_{};
  std::unique_ptr<rclcpp::Time> current_lidar_monitor_time_{};

  uint8_t current_diag_status_;
  uint8_t current_monitor_status_;

  std::mutex mtx_lidar_status_;
  std::mutex mtx_lidar_monitor_;

  const std::string MSG_NOT_SUPPORTED_ = "Not supported";
  const std::string MSG_ERROR_ = "Error";
  const std::string MSG_SEP_ = ": ";
};
}  // namespace nebula::ros