Program Listing for File sick_generic_monitoring.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* Copyright (C) 2021, Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2021, SICK AG, Waldkirch
* All rights reserved.
*
* 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.
*
*
* 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 Osnabrueck University nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning 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.
*
* Created on: 22nd november 2021
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
*/
#ifndef SICK_GENERIC_MONITORING_H_
#define SICK_GENERIC_MONITORING_H_
#include <sick_scan/sick_ros_wrapper.h>
#include <sick_scan/sick_generic_laser.h>
#include <sick_scan/sick_generic_parser.h>
#include <sick_scan/sick_scan_common.h>
#include <sick_scan/sick_scan_services.h>
namespace sick_scan_xd
{
/*
* @brief class SickScanMonitor monitors incoming scanner messages.
* After a read timeout, the tcp connection is closed
* and the scanner is re-initialized.
*/
class SickScanMonitor
{
public:
SickScanMonitor(int read_timeout_millisec = READ_TIMEOUT_MILLISEC_DEFAULT);
~SickScanMonitor();
/*
* @brief Monitors incoming scanner messages.
* In case of read timeouts, checkState returns ExitError, otherwise ExitSuccess.
*/
sick_scan_xd::ExitCode checkState(NodeRunState runState, SickScanCommonTcp* scanner, sick_scan_xd::SickGenericParser *parser, sick_scan_xd::SickScanServices* services);
/*
* @brief Monitors incoming scanner messages.
* In case of read timeouts, checkStateReinitOnError closes the tcp connection, re-initializes the scanner.
* Returns ExitSuccess (no timeout or successful re-init), or ExitError otherwise.
*/
sick_scan_xd::ExitCode checkStateReinitOnError(rosNodePtr nh, NodeRunState runState, SickScanCommonTcp* scanner, sick_scan_xd::SickGenericParser *parser, sick_scan_xd::SickScanServices* services);
protected:
int m_read_timeout_millisec; // read timeout in milliseconds, messages are expected after max <read_timeout_millisec> delay (otherwise timeout and scanner re-init)
NodeRunState m_lastRunState; // runState of last check: scanner_init, scanner_run or scanner_finalize
};
/*
* @brief class PointCloudMonitor monitors point cloud messages.
* The ros node will be killed, if no point cloud is published within a given amount of time.
*/
class PointCloudMonitor
{
public:
PointCloudMonitor();
~PointCloudMonitor();
/*
* @brief Starts a thread to monitor point cloud messages.
* The ros node will be killed, if no point cloud is published within a given amount of time.
*/
bool startPointCloudMonitoring(rosNodePtr nh, int timeout_millisec = READ_TIMEOUT_MILLISEC_KILL_NODE, const std::string& ros_cloud_topic = "cloud");
/*
* @brief Stops the thread to monitor point cloud messages.
*/
void stopPointCloudMonitoring(void);
protected:
void messageCbPointCloud(const ros_sensor_msgs::PointCloud2 & msg);
void messageCbPointCloudROS2(const std::shared_ptr<ros_sensor_msgs::PointCloud2> msg);
/*
* @brief Thread callback, runs the point cloud monitoring.
* If no point cloud is published within the timeout (150 sec. by default),
* the process is killed (and the node is restarted by ros)
*/
void runMonitoringThreadCb(void);
rosNodePtr m_nh;
int m_timeout_millisec;
std::string m_ros_cloud_topic;
uint64_t m_last_msg_timestamp_nanosec; // timestamp of last received point cloud message in nanoseconds
bool m_monitoring_thread_running;
std::thread* m_monitoring_thread;
};
} /* namespace sick_scan_xd */
#endif // SICK_GENERIC_MONITORING_H_