Program Listing for File udp_receiver_node.hpp
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// Copyright 2021 LeoDrive, Copyright 2021 the Autoware Foundation
//
// 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 UDP_DRIVER__UDP_RECEIVER_NODE_HPP_
#define UDP_DRIVER__UDP_RECEIVER_NODE_HPP_
#include "udp_driver/udp_driver.hpp"
#include <chrono>
#include <memory>
#include <string>
#include <vector>
#include <rclcpp/rclcpp.hpp>
#include <rclcpp_lifecycle/lifecycle_node.hpp>
#include <lifecycle_msgs/msg/state.hpp>
#include "msg_converters/converters.hpp"
namespace lc = rclcpp_lifecycle;
using LNI = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface;
namespace drivers
{
namespace udp_driver
{
class UdpReceiverNode final
: public lc::LifecycleNode
{
public:
explicit UdpReceiverNode(const rclcpp::NodeOptions & options);
UdpReceiverNode(
const rclcpp::NodeOptions &,
const IoContext & ctx);
~UdpReceiverNode();
LNI::CallbackReturn on_configure(const lc::State & state) override;
LNI::CallbackReturn on_activate(const lc::State & state) override;
LNI::CallbackReturn on_deactivate(const lc::State & state) override;
LNI::CallbackReturn on_cleanup(const lc::State & state) override;
LNI::CallbackReturn on_shutdown(const lc::State & state) override;
void receiver_callback(const std::vector<uint8_t> & buffer);
private:
void get_params();
std::unique_ptr<IoContext> m_owned_ctx{};
std::string m_ip{};
uint16_t m_port{};
std::unique_ptr<UdpDriver> m_udp_driver;
lc::LifecyclePublisher<udp_msgs::msg::UdpPacket>::SharedPtr m_publisher;
}; // class UdpReceiverNode
} // namespace udp_driver
} // namespace drivers
#endif // UDP_DRIVER__UDP_RECEIVER_NODE_HPP_