Program Listing for File urg_node.hpp

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/*
 * Copyright (c) 2013, Willow Garage, Inc.
 * Copyright (c) 2017, Clearpath Robotics, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*
 * Author: Mike O'Driscoll
 */

#ifndef URG_NODE__URG_NODE_HPP_
#define URG_NODE__URG_NODE_HPP_

#include <chrono>
#include <iostream>
#include <memory>
#include <string>
#include <vector>
#include <atomic>

#include "diagnostic_updater/diagnostic_updater.hpp"
#include "diagnostic_updater/publisher.hpp"
#include "diagnostic_msgs/msg/diagnostic_status.hpp"

#include "laser_proc/laser_publisher.hpp"

#include "rcl_interfaces/msg/parameter.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"

#include "rclcpp/rclcpp.hpp"

#include "std_srvs/srv/trigger.hpp"

#include "urg_node_msgs/msg/status.hpp"
#include "urg_node/urg_c_wrapper.hpp"

namespace urg_node
{
class UrgNode : public rclcpp::Node
{
public:
  explicit UrgNode(const rclcpp::NodeOptions & node_options = rclcpp::NodeOptions());

  virtual ~UrgNode();

  void run();

  bool updateStatus();

  void initSetup();

private:
  bool connect();

  rcl_interfaces::msg::SetParametersResult param_change_callback(
    const std::vector<rclcpp::Parameter> parameters);

  void calibrate_time_offset();

  void updateDiagnostics();

  void populateDiagnosticsStatus(diagnostic_updater::DiagnosticStatusWrapper & stat);

  void scanThread();

  void statusCallback(
    const std::shared_ptr<rmw_request_id_t> requestHeader,
    const std_srvs::srv::Trigger::Request::SharedPtr req,
    const std_srvs::srv::Trigger::Response::SharedPtr res);

  std::thread run_thread_;
  std::thread diagnostics_thread_;
  std::thread scan_thread_;

  std::unique_ptr<urg_node::URGCWrapper> urg_;

  diagnostic_updater::Updater diagnostic_updater_;
  std::unique_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> laser_freq_;
  std::unique_ptr<diagnostic_updater::HeaderlessTopicDiagnostic> echoes_freq_;

  std::mutex lidar_mutex_;

  /*
   * Non-const device properties.
   * If you poll the driver for these
   * while scanning is running, then the scan will probably fail.
  */
  std::string device_status_;
  std::string vendor_name_;
  std::string product_name_;
  std::string firmware_version_;
  std::string firmware_date_;
  std::string protocol_version_;
  std::string device_id_;
  uint16_t error_code_;
  int error_count_;
  int error_limit_;
  bool lockout_status_;
  rclcpp::Duration system_latency_;
  rclcpp::Duration user_latency_;
  std::atomic_bool is_started_;
  double freq_min_;
  bool close_diagnostics_;
  bool close_scan_;

  std::string ip_address_;
  int ip_port_;
  std::string serial_port_;
  int serial_baud_;

  bool calibrate_time_;
  bool synchronize_time_;
  bool publish_intensity_;
  bool publish_multiecho_;
  double diagnostics_tolerance_;
  double diagnostics_window_time_;
  bool detailed_status_;
  double angle_min_;
  double angle_max_;
  int cluster_;  // default : 1, range : 1 to 100
  int skip_;  // default : 0, range : 0 to 9

  double default_user_latency_;

  std::string laser_frame_id_;

  volatile bool service_yield_;

  rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr laser_pub_;
  std::unique_ptr<laser_proc::LaserPublisher> echoes_pub_;
  rclcpp::Publisher<urg_node_msgs::msg::Status>::SharedPtr status_pub_;

  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr status_service_;

  //  Need to hold reference to callback, or it gets deregistered
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr parameters_callback_handle_;
};
}  // namespace urg_node

#endif  // URG_NODE__URG_NODE_HPP_