oem7_receiver_file.cpp

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//
// Copyright (c) 2020 NovAtel Inc.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in all
// copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//
 
#include <novatel_oem7_driver/oem7_receiver_if.hpp>
 
#include <ros/ros.h>
 
#include <boost/asio.hpp>
#include <fstream>
 
 
namespace novatel_oem7_driver
{
  class Oem7ReceiverFile: public Oem7ReceiverIf
  {
    std::ifstream oem7_file_; 
 
    size_t num_byte_read_; 
 
 
  public:
    Oem7ReceiverFile():
      num_byte_read_(0)
    {
    }
 
    ~Oem7ReceiverFile()
    {
    }
 
    virtual bool initialize(ros::NodeHandle& nh)
    {
      std::string oem7_file_name;;
      nh.getParam("oem7_file_name", oem7_file_name);
 
      ROS_INFO_STREAM("Oem7File['" << oem7_file_name << "']");
 
      oem7_file_.open(oem7_file_name, std::ios::in | std::ios::binary);
      int errno_value = errno; // Cache errno locally, in case any ROS calls /macros affect it.
      if(!oem7_file_)
      {
        ROS_ERROR_STREAM("Could not open '" << oem7_file_name << "'; error= " << errno_value << " '"
                                            << strerror(errno_value) << "'");
        return false;
      }
 
      return true;
    }
 
    virtual bool read( boost::asio::mutable_buffer buf, size_t& rlen)
    {
      if(!oem7_file_)
      {
        ROS_ERROR_STREAM("Error accessing file." );
        return false;
      }
 
      // Workaround for automated testing:
      // delay reporting logs so that 'rosbag record' has a chance to subscribe to the topic after they are published.
      // Otherwise it is likely to miss messages.
      if(num_byte_read_ == 0)
      {
        sleep(3); // Use absolute sleep, as this is not related to ROS internal timing.
      }
 
      oem7_file_.read(boost::asio::buffer_cast<char*>(buf), boost::asio::buffer_size(buf));
      int errno_value = errno; // Cache errno locally, in case any ROS calls /macros affect it.
 
      rlen = oem7_file_.gcount();
      num_byte_read_ += rlen;
 
      if(oem7_file_.eof())
      {
        ROS_INFO_STREAM("No more input available. Read " << num_byte_read_ << " bytes." );
 
        return false;
      }
 
      if(!oem7_file_)
      {
        ROS_ERROR_STREAM("Error " << errno_value << " reading input: '"  << strerror(errno_value) << "'" );
 
        return false;
      }
 
      return true;
    }
 
    virtual bool write(boost::asio::const_buffer buf)
    {
      return false;
    }
  };
}
 
#include <pluginlib/class_list_macros.h>
PLUGINLIB_EXPORT_CLASS(novatel_oem7_driver::Oem7ReceiverFile, novatel_oem7_driver::Oem7ReceiverIf)