xsens_common_node.hpp

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// Copyright 2018 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.



#ifndef XSENS_NODES__XSENS_COMMON_NODE_HPP_
#define XSENS_NODES__XSENS_COMMON_NODE_HPP_

#include <string>
#include <vector>
#include "common/types.hpp"
#include "serial_driver/serial_driver_node.hpp"
#include "xsens_nodes/visibility_control.hpp"

using autoware::common::types::bool8_t;

namespace autoware
{
namespace drivers
{
namespace xsens_nodes
{

using autoware::drivers::serial_driver::flow_control_t;
using autoware::drivers::serial_driver::parity_t;
using autoware::drivers::serial_driver::stop_bits_t;

template<typename TranslatorT, typename MessageT>
class XSENS_NODES_PUBLIC XsensCommonNode
  : public serial_driver::SerialDriverNode<
    XsensCommonNode<TranslatorT, MessageT>,
    typename TranslatorT::Packet,
    MessageT>
{
public:
  XsensCommonNode(
    const std::string & node_name,
    const std::string & device_name,
    const typename autoware::drivers::serial_driver::SerialDriverNode<XsensCommonNode<TranslatorT,
    MessageT>,
    typename TranslatorT::Packet, MessageT>
    ::SerialPortConfig & serial_port_config,
    const std::string & frame_id,
    const typename TranslatorT::Config & config)
  : autoware::drivers::serial_driver::SerialDriverNode<XsensCommonNode<TranslatorT, MessageT>,
      typename TranslatorT::Packet, MessageT>(
      node_name,
      "raw",
      device_name,
      serial_port_config),
    m_translator(config),
    m_frame_id(frame_id)
  {
  }

  XsensCommonNode(
    const std::string & node_name,
    const std::string & node_namespace = "")


  : autoware::drivers::serial_driver::SerialDriverNode<XsensCommonNode<TranslatorT, MessageT>,
      typename TranslatorT::Packet, MessageT>(

      node_name, node_namespace),
    m_translator(
        {
        }),
    m_frame_id(this->declare_parameter("frame_id").template get<std::string>().c_str())
  {
  }

  void init_output(MessageT & output)
  {
    (void)output;
  }

  bool8_t convert(
    const typename TranslatorT::Packet & pkt,
    MessageT & output)
  {
    return m_translator.convert(pkt, output);
  }

  bool8_t get_output_remainder(MessageT & output)
  {
    (void)output;
    return false;
  }

private:
  TranslatorT m_translator;

  const std::string m_frame_id;

  std::vector<MessageT> m_imu;
};  // class XsensCommonNode

}  // namespace xsens_nodes
}  // namespace drivers
}  // namespace autoware

#endif  // XSENS_NODES__XSENS_COMMON_NODE_HPP_