network_configuration.cpp

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/*  Copyright (c) 2023, Beamagine
 
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    are permitted provided that the following conditions are met:
 
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          this list of conditions and the following disclaimer.
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          other materials provided with the distribution.
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          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
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#include <iostream>
#include <ros/ros.h>
 
#include <dynamic_reconfigure/server.h>
#include "l3cam_ros/NetworkConfig.h"
 
#include <libL3Cam.h>
#include <beamagine.h>
#include <beamErrors.h>
 
#include "l3cam_ros/GetNetworkConfiguration.h"
#include "l3cam_ros/ChangeNetworkConfiguration.h"
 
#include "l3cam_ros/SensorDisconnected.h"
 
#include "l3cam_ros_utils.hpp"
 
namespace l3cam_ros
{
    class NetworkConfiguration : public ros::NodeHandle
    {
    public:
        explicit NetworkConfiguration() : ros::NodeHandle("~")
        {
            // Create service clients
            client_get_ = serviceClient<l3cam_ros::GetNetworkConfiguration>("/L3Cam/l3cam_ros_node/get_network_configuration");
            client_change_ = serviceClient<l3cam_ros::ChangeNetworkConfiguration>("/L3Cam/l3cam_ros_node/change_network_configuration");
 
            // Create service server
            srv_sensor_disconnected_ = advertiseService("network_configuration_disconnected", &NetworkConfiguration::sensorDisconnectedCallback, this);
 
            loadParam("timeout_secs", timeout_secs_, 60);
 
            m_default_configured = false;
            m_shutdown_requested = false;
        }
 
        void spin()
        {
            while (ros::ok() && !m_shutdown_requested)
            {
                ros::spinOnce();
                ros::Duration(0.1).sleep();
            }
 
            ros::shutdown();
        }
 
        int getNetworkConfiguration()
        {
            // Check if service is available
            ros::Duration timeout_duration(timeout_secs_);
            if (!client_get_.waitForExistence(timeout_duration))
            {
                ROS_ERROR_STREAM(this->getNamespace() << " error: " << getErrorDescription(L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR) << ". Waited " << timeout_duration << " seconds");
                return L3CAM_ROS_SERVICE_AVAILABILITY_TIMEOUT_ERROR;
            }
 
            int error = L3CAM_OK;
            if (client_get_.call(srv_get_))
            {
                error = srv_get_.response.error;
 
                if (!error)
                {
                    ip_address_ = srv_get_.response.ip_address;
                    netmask_ = srv_get_.response.netmask;
                    gateway_ = srv_get_.response.gateway;
                    dhcp_ = false;
 
                    setDynamicReconfigure();
                }
                else
                {
                    ROS_ERROR_STREAM(this->getNamespace() << " error " << error << " while getting network configuration in " << __func__ << ": " << getErrorDescription(error));
                    return error;
                }
            }
            else
            {
                ROS_ERROR_STREAM(this->getNamespace() << " error: Failed to call service get_network_configuration");
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        ros::ServiceClient client_get_;
        l3cam_ros::GetNetworkConfiguration srv_get_;
 
    private:
        void setDynamicReconfigure()
        {
            // Dynamic reconfigure callback
            server_.setCallback(std::bind(&NetworkConfiguration::parametersCallback, this, std::placeholders::_1, std::placeholders::_2));
        }
 
        template <typename T>
        void loadParam(const std::string &param_name, T &param_var, const T &default_val)
        {
            std::string full_param_name;
 
            if (searchParam(param_name, full_param_name))
            {
                if(!getParam(full_param_name, param_var))
            {
                ROS_ERROR_STREAM(this->getNamespace() << " error: Could not retreive '" << full_param_name << "' param value");
            }
            }
            else
            {
                ROS_WARN_STREAM(this->getNamespace() << " Parameter '" << param_name << "' not defined");
                param_var = default_val;
            }
        }
 
        void parametersCallback(l3cam_ros::NetworkConfig &config, uint32_t level)
        {
            int error = L3CAM_OK;
 
            if (!m_default_configured)
            {
                config.ip_address = ip_address_;
                config.netmask = netmask_;
                config.gateway = gateway_;
                config.dhcp = dhcp_;
 
                m_default_configured = true;
            }
            else
            {
                error = callNetwork(config);
            }
 
            if (error)
            {
                ROS_ERROR_STREAM(this->getNamespace() << " error " << error << " while changing parameter: " << getErrorDescription(error));
            }
        }
 
        // Sensor calls
        int callNetwork(l3cam_ros::NetworkConfig &config)
        {
            int error = L3CAM_OK;
 
            srv_change_.request.ip_address = config.ip_address;
            srv_change_.request.netmask = config.netmask;
            srv_change_.request.gateway = config.gateway;
            srv_change_.request.enable_dhcp = config.dhcp;
            if (client_change_.call(srv_change_))
            {
                error = srv_change_.response.error;
                if (!error)
                {
                    // Parameter changed successfully, save value
                    ip_address_ = config.ip_address;
                    netmask_ = config.netmask;
                    gateway_ = config.gateway;
                    dhcp_ = config.dhcp;
                }
                else
                {
                    // Parameter could not be changed, reset parameter to value before change
                    config.ip_address = ip_address_;
                    config.netmask = netmask_;
                    config.gateway = gateway_;
                    config.dhcp = dhcp_;
                }
            }
            else
            {
                // Service could not be called, reset parameter to value before change
                config.ip_address = ip_address_;
                config.netmask = netmask_;
                config.gateway = gateway_;
                config.dhcp = dhcp_;
                return L3CAM_ROS_FAILED_TO_CALL_SERVICE;
            }
 
            return error;
        }
 
        bool sensorDisconnectedCallback(l3cam_ros::SensorDisconnected::Request &req, l3cam_ros::SensorDisconnected::Response &res)
        {
            ROS_BMG_UNUSED(res);
            if (req.code == 0)
            {
                ROS_INFO_STREAM("Exiting " << this->getNamespace() << " cleanly.");
            }
            else
            {
                ROS_WARN_STREAM("Exiting " << this->getNamespace() << ". Sensor got disconnected with error " << req.code << ": " << getErrorDescription(req.code));
            }
 
            m_shutdown_requested = true;
            return true;
        }
 
        dynamic_reconfigure::Server<l3cam_ros::NetworkConfig> server_;
 
        ros::ServiceClient client_change_;
        l3cam_ros::ChangeNetworkConfiguration srv_change_;
 
        ros::ServiceServer srv_sensor_disconnected_;
 
        std::string ip_address_;
        std::string netmask_;
        std::string gateway_;
        bool dhcp_;
 
        int timeout_secs_;
 
        bool m_default_configured;
        bool m_shutdown_requested;
 
    }; // class NetworkConfiguration
 
} // namespace l3cam_ros
 
int main(int argc, char **argv)
{
    ros::init(argc, argv, "network_configuration");
 
    l3cam_ros::NetworkConfiguration *node = new l3cam_ros::NetworkConfiguration();
 
    // Shutdown if error returned
    int error = node->getNetworkConfiguration();
    if (error)
    {
        return error;
    }
 
    ROS_INFO("Network configuration is available");
 
    node->spin();
 
    ros::shutdown();
    return 0;
}