File hw_monitor_wrapper.hpp

File List > include > nebula_ros > robosense > hw_monitor_wrapper.hpp
// 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 <boost_tcp_driver/tcp_driver.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
#include <nebula_common/nebula_common.hpp>
#include <nebula_common/robosense/robosense_common.hpp>
#include <nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp>
#include <rclcpp/rclcpp.hpp>

#include <boost/algorithm/string/join.hpp>
#include <boost/asio.hpp>
#include <boost/lexical_cast.hpp>

#include <map>
#include <memory>
#include <mutex>
#include <string>

namespace nebula::ros
{

class RobosenseHwMonitorWrapper
{
public:
  explicit RobosenseHwMonitorWrapper(
    rclcpp::Node * const parent_node,
    std::shared_ptr<const nebula::drivers::RobosenseSensorConfiguration> & config);

  void on_config_change(
    const std::shared_ptr<const nebula::drivers::RobosenseSensorConfiguration> & new_config);

  void diagnostics_callback(const std::map<std::string, std::string> & diag_info);

private:
  void initialize_robosense_diagnostics();
  void on_robosense_status_timer();

  void robosense_check_status(diagnostic_updater::DiagnosticStatusWrapper & diagnostics);

  rclcpp::Node * parent_;
  rclcpp::Logger logger_;
  std::optional<diagnostic_updater::Updater> diagnostics_updater_;
  nebula::Status status_;

  std::shared_ptr<const nebula::drivers::RobosenseSensorConfiguration> sensor_cfg_ptr_;
  std::mutex mtx_config_;

  rclcpp::TimerBase::SharedPtr diagnostics_status_timer_;
  rclcpp::TimerBase::SharedPtr diagnostics_update_timer_;
  std::map<std::string, std::string> current_sensor_info_;
  std::mutex mtx_current_sensor_info_;

  rclcpp::Time current_info_time_;
  uint16_t diag_span_{1000};
};

}  // namespace nebula::ros