Program Listing for File config_store.h

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#ifndef SBG_ROS_CONFIG_STORE_H
#define SBG_ROS_CONFIG_STORE_H

// SbgECom headers
#include <sbgEComLib.h>

// ROS headers
#include <rclcpp/rclcpp.hpp>

// Project headers
#include "sbg_vector3.h"

namespace sbg
{
  enum class TimeReference
  {
    ROS = 0,
    INS_UNIX = 1,
  };

class ConfigStore
{
public:

  struct SbgLogOutput
  {
    SbgEComClass              message_class;
    SbgEComMsgId              message_id;
    SbgEComOutputMode         output_mode;
  };

private:

  std::string                 uart_port_name_;
  SbgEComOutputPort           output_port_;
  uint32_t                    uart_baud_rate_;
  std::vector<int64_t>        uart_fallback_baud_rates_;
  bool                        serial_communication_;

  sbgIpAddress                sbg_ip_address_;
  uint32_t                    out_port_address_;
  uint32_t                    in_port_address_;
  bool                        upd_communication_;

  std::string                 sbg_file_;
  bool                        file_communication_;

  bool                        configure_through_ros_;

  SbgEComInitConditionConf    init_condition_conf_;
  SbgEComMotionProfileStdIds  motion_profile_model_info_;

  SbgEComSensorAlignmentInfo  sensor_alignement_info_;
  SbgVector3<float>           sensor_lever_arm_;

  SbgEComAidingAssignConf     aiding_assignement_conf_;

  SbgEComMagModelsStdId       mag_model_info_;
  SbgEComMagRejectionConf     mag_rejection_conf_;
  SbgEComMagCalibMode         mag_calib_mode_;
  SbgEComMagCalibBandwidth    mag_calib_bandwidth_;

  SbgEComGnssModelsStdIds     gnss_model_info_;
  SbgEComGnssInstallation     gnss_installation_;
  SbgEComGnssRejectionConf    gnss_rejection_conf_;

  SbgEComOdoConf              odometer_conf_;
  SbgVector3<float>           odometer_lever_arm_;
  SbgEComOdoRejectionConf     odometer_rejection_conf_;

  std::vector<SbgLogOutput>   output_modes_;
  bool                        ros_standard_output_;

  TimeReference               time_reference_;

  uint32_t                    rate_frequency_;
  std::string                 frame_id_;
  bool                        use_enu_;

  bool                        odom_enable_;
  bool                        odom_publish_tf_;
  std::string                 odom_frame_id_;
  std::string                 odom_base_frame_id_;
  std::string                 odom_init_frame_id_;

  bool                        rtcm_subscribe_;
  std::string                 rtcm_full_topic_;

  bool                        nmea_publish_;
  std::string                 nmea_full_topic_;

  //---------------------------------------------------------------------//
  //- Private  methods                                                  -//
  //---------------------------------------------------------------------//

  template <typename T>
  T getParameter(const rclcpp::Node& ref_node_handle, std::string param_key, int default_value) const
  {
    if (ref_node_handle.has_parameter(param_key))
    {
      int parameter;
      ref_node_handle.get_parameter_or<int>(param_key, parameter, default_value);

      return static_cast<T>(parameter);
    }
    else
    {
      return static_cast<T>(default_value);
    }
  }

  void loadDriverParameters(const rclcpp::Node& ref_node_handle);

  void loadOdomParameters(const rclcpp::Node& ref_node_handle);

  void loadCommunicationParameters(const rclcpp::Node& ref_node_handle);

  void loadSensorParameters(const rclcpp::Node& ref_node_handle);

  void loadImuAlignementParameters(const rclcpp::Node& ref_node_handle);

  void loadAidingAssignementParameters(const rclcpp::Node& ref_node_handle);

  void loadMagnetometersParameters(const rclcpp::Node& ref_node_handle);

  void loadGnssParameters(const rclcpp::Node& ref_node_handle);

  void loadOdometerParameters(const rclcpp::Node& ref_node_handle);

   void loadOutputFrameParameters(const rclcpp::Node& ref_node_handle);

  void loadOutputConfiguration(const rclcpp::Node& ref_node_handle, const std::string& ref_key, SbgEComClass sbg_msg_class, SbgEComMsgId sbg_msg_id);

  void loadOutputTimeReference(const rclcpp::Node& ref_node_handle, const std::string& ref_key);

  void loadRtcmParameters(const rclcpp::Node& ref_node_handle);

  void loadNmeaParameters(const rclcpp::Node& ref_node_handle);

public:

  //---------------------------------------------------------------------//
  //- Constructor                                                       -//
  //---------------------------------------------------------------------//

  ConfigStore();

  //---------------------------------------------------------------------//
  //- Parameters                                                        -//
  //---------------------------------------------------------------------//

  bool checkConfigWithRos() const;

  bool isInterfaceSerial() const;

  const std::string &getUartPortName() const;

  uint32_t getBaudRate() const;

  const std::vector<int64_t> getFallbackBaudRates() const;

  SbgEComOutputPort getOutputPort() const;

  bool isInterfaceUdp() const;

  sbgIpAddress getIpAddress() const;

  uint32_t getOutputPortAddress() const;

  uint32_t getInputPortAddress() const;

  bool isInterfaceFile() const;

  const std::string &getFile() const;

  const SbgEComInitConditionConf &getInitialConditions() const;

  const SbgEComMotionProfileStdIds &getMotionProfile() const;

  const SbgEComSensorAlignmentInfo &getSensorAlignement() const;

  const SbgVector3<float> &getSensorLeverArm() const;

  const SbgEComAidingAssignConf &getAidingAssignement() const;

  const SbgEComMagModelsStdId &getMagnetometerModel() const;

  const SbgEComMagRejectionConf &getMagnetometerRejection() const;

  const SbgEComMagCalibMode &getMagnetometerCalibMode() const;

  const SbgEComMagCalibBandwidth &getMagnetometerCalibBandwidth() const;

  const SbgEComGnssModelsStdIds &getGnssModel() const;

  const SbgEComGnssInstallation &getGnssInstallation() const;

  const SbgEComGnssRejectionConf &getGnssRejection() const;

  const SbgEComOdoConf &getOdometerConf() const;

  const SbgVector3<float> &getOdometerLeverArm() const;

  const SbgEComOdoRejectionConf &getOdometerRejection() const;

  const std::vector<SbgLogOutput> &getOutputModes() const;

  bool checkRosStandardMessages() const;

  uint32_t getReadingRateFrequency() const;

  const std::string &getFrameId() const;

  bool getUseEnu() const;

  bool getOdomEnable() const;

  bool getOdomPublishTf() const;

  const std::string &getOdomFrameId() const;

  const std::string &getOdomBaseFrameId() const;

  const std::string &getOdomInitFrameId() const;

  TimeReference getTimeReference() const;

  bool shouldSubscribeToRtcm() const;

  const std::string &getRtcmFullTopic() const;

  bool shouldPublishNmea() const;

  const std::string &getNmeaFullTopic() const;

  //---------------------------------------------------------------------//
  //- Operations                                                        -//
  //---------------------------------------------------------------------//

  void loadFromRosNodeHandle(const rclcpp::Node& ref_node_handle);
};
}

#endif // SBG_ROS_CONFIG_STORE_H