chote: rebased and fixed rebse-related errors

Signed-off-by: Kenzo Lobos-Tsunekawa <kenzo.lobos@tier4.jp>

.pre-commit-config.yaml

@@ -18,7 +18,7 @@ repos:
         args: [--markdown-linebreak-ext=md]
 
   - repo: https://github.com/igorshubovych/markdownlint-cli
-    rev: v0.40.0
+    rev: v0.41.0
     hooks:
       - id: markdownlint
         args: [-c, .markdownlint.yaml, --fix]

README.md

@@ -99,6 +99,7 @@ Supported models, where sensor_model is the ROS param to be used at launch:
 | Velodyne     | VLP-32        | VLP32        | VLP32.yaml         | :warning:            |
 | Velodyne     | VLS-128       | VLS128       | VLS128.yaml        | :warning:            |
 | Continental  | ARS548        | ARS548       | ARS548.yaml        | :warning:            |
+| Continental  | SRR520        | SRR520       | SRR520.yaml        | :warning:            |
 
 Test status:\
 :heavy_check_mark:: complete\

build_depends.repos

@@ -4,3 +4,7 @@ repositories:
     type: git
     url: https://github.com/mojomex/transport_drivers
     version: mutable-buffer-in-udp-callback
+  ros2_socketcan:
+    type: git
+    url: https://github.com/knzo25/ros2_socketcan
+    version: feat/continental_fd

nebula_common/include/nebula_common/nebula_common.hpp

@@ -2,10 +2,7 @@
 #define NEBULA_COMMON_H
 
 #include <nebula_common/point_types.hpp>
-
 #include <boost/tokenizer.hpp>
-
-#include <algorithm>
 #include <map>
 #include <ostream>
 #include <string>
@@ -327,9 +324,11 @@ enum class SensorModel {
   VELODYNE_HDL32,
   VELODYNE_VLP16,
   ROBOSENSE_HELIOS,
+  ROBOSENSE_BPEARL,
   ROBOSENSE_BPEARL_V3,
   ROBOSENSE_BPEARL_V4,
-  CONTINENTAL_ARS548
+  CONTINENTAL_ARS548,
+  CONTINENTAL_SRR520
 };
 
 /// @brief not used?
@@ -344,11 +343,24 @@ enum class datatype {
   FLOAT64 = 8
 };
 
-enum class PtpProfile { IEEE_1588v2 = 0, IEEE_802_1AS, IEEE_802_1AS_AUTO, UNKNOWN_PROFILE };
+enum class PtpProfile {
+  IEEE_1588v2 = 0,
+  IEEE_802_1AS,
+  IEEE_802_1AS_AUTO,
+  UNKNOWN_PROFILE
+};
 
-enum class PtpTransportType { UDP_IP = 0, L2, UNKNOWN_TRANSPORT };
+enum class PtpTransportType {
+  UDP_IP = 0,
+  L2,
+  UNKNOWN_TRANSPORT
+};
 
-enum class PtpSwitchType { NON_TSN = 0, TSN, UNKNOWN_SWITCH };
+enum class PtpSwitchType {
+  NON_TSN = 0,
+  TSN,
+  UNKNOWN_SWITCH
+};
 
 /// @brief not used?
 struct PointField
@@ -417,6 +429,9 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::SensorModel
     case SensorModel::ROBOSENSE_HELIOS:
       os << "HELIOS";
       break;
+    case SensorModel::ROBOSENSE_BPEARL:
+      os << "BPEARL";
+      break;
     case SensorModel::ROBOSENSE_BPEARL_V3:
       os << "BPEARL V3.0";
       break;
@@ -426,6 +441,9 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::SensorModel
     case SensorModel::CONTINENTAL_ARS548:
       os << "ARS548";
       break;
+    case SensorModel::CONTINENTAL_SRR520:
+      os << "SRR520";
+      break;
     case SensorModel::UNKNOWN:
       os << "Sensor Unknown";
       break;
@@ -448,6 +466,16 @@ struct EthernetSensorConfigurationBase : SensorConfigurationBase
   uint16_t data_port;
 };
 
+/// @brief Base struct for CAN-based Sensor configuration
+struct CANSensorConfigurationBase : SensorConfigurationBase
+{
+  std::string interface;
+  float receiver_timeout_sec{};
+  float sender_timeout_sec{};
+  std::string filters{};
+  bool use_bus_time{};
+};
+
 /// @brief Base struct for Lidar configuration
 struct LidarConfigurationBase : EthernetSensorConfigurationBase
 {
@@ -483,6 +511,19 @@ inline std::ostream & operator<<(std::ostream & os, EthernetSensorConfigurationB
   return os;
 }
 
+/// @brief Convert CANSensorConfigurationBase to string (Overloading the << operator)
+/// @param os
+/// @param arg
+/// @return stream
+inline std::ostream & operator<<(std::ostream & os, CANSensorConfigurationBase const & arg)
+{
+  os << (SensorConfigurationBase)(arg)
+     << ", Interface: " << arg.interface << ", ReceiverTimeoutSec: " << arg.receiver_timeout_sec
+     << ", SenderTimeoutSec: " << arg.sender_timeout_sec << ", Filters: " << arg.filters
+     << ", UseBusTime: " << arg.use_bus_time;
+  return os;
+}
+
 /// @brief Convert LidarConfigurationBase to string (Overloading the << operator)
 /// @param os
 /// @param arg
@@ -526,10 +567,12 @@ inline SensorModel SensorModelFromString(const std::string & sensor_model)
   if (sensor_model == "VLP16") return SensorModel::VELODYNE_VLP16;
   // Robosense
   if (sensor_model == "Helios") return SensorModel::ROBOSENSE_HELIOS;
-  if (sensor_model == "Bpearl" || sensor_model == "Bpearl_V4")
-    return SensorModel::ROBOSENSE_BPEARL_V4;
+  if (sensor_model == "Bpearl") return SensorModel::ROBOSENSE_BPEARL;
   if (sensor_model == "Bpearl_V3") return SensorModel::ROBOSENSE_BPEARL_V3;
+  if (sensor_model == "Bpearl_V4") return SensorModel::ROBOSENSE_BPEARL_V4;
+  // Continental
   if (sensor_model == "ARS548") return SensorModel::CONTINENTAL_ARS548;
+  if (sensor_model == "SRR520") return SensorModel::CONTINENTAL_SRR520;
   return SensorModel::UNKNOWN;
 }
 
@@ -571,12 +614,17 @@ inline std::string SensorModelToString(const SensorModel & sensor_model)
     // Robosense
     case SensorModel::ROBOSENSE_HELIOS:
       return "Helios";
+    case SensorModel::ROBOSENSE_BPEARL:
+      return "Bpearl";
     case SensorModel::ROBOSENSE_BPEARL_V3:
       return "Bpearl_V3";
     case SensorModel::ROBOSENSE_BPEARL_V4:
       return "Bpearl_V4";
+    // Continental
     case SensorModel::CONTINENTAL_ARS548:
       return "ARS548";
+    case SensorModel::CONTINENTAL_SRR520:
+      return "SRR520";
     default:
       return "UNKNOWN";
   }
@@ -602,9 +650,8 @@ inline PtpProfile PtpProfileFromString(const std::string & ptp_profile)
 {
   // Hesai
   auto tmp_str = ptp_profile;
-  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(), [](unsigned char c) {
-    return std::tolower(c);
-  });
+  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(),
+                 [](unsigned char c){ return std::tolower(c); });
   if (tmp_str == "1588v2") return PtpProfile::IEEE_1588v2;
   if (tmp_str == "802.1as") return PtpProfile::IEEE_802_1AS;
   if (tmp_str == "automotive") return PtpProfile::IEEE_802_1AS_AUTO;
@@ -642,9 +689,8 @@ inline PtpTransportType PtpTransportTypeFromString(const std::string & transport
 {
   // Hesai
   auto tmp_str = transport_type;
-  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(), [](unsigned char c) {
-    return std::tolower(c);
-  });
+  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(),
+                 [](unsigned char c){ return std::tolower(c); });
   if (tmp_str == "udp") return PtpTransportType::UDP_IP;
   if (tmp_str == "l2") return PtpTransportType::L2;
 
@@ -678,9 +724,8 @@ inline PtpSwitchType PtpSwitchTypeFromString(const std::string & switch_type)
 {
   // Hesai
   auto tmp_str = switch_type;
-  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(), [](unsigned char c) {
-    return std::tolower(c);
-  });
+  std::transform(tmp_str.begin(), tmp_str.end(), tmp_str.begin(),
+                 [](unsigned char c){ return std::tolower(c); });
   if (tmp_str == "tsn") return PtpSwitchType::TSN;
   if (tmp_str == "non_tsn") return PtpSwitchType::NON_TSN;
 

nebula_common/include/nebula_common/nebula_status.hpp

@@ -1,3 +1,17 @@
+// Copyright 2024 Tier IV, Inc.
+//
+// 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.
+
 #ifndef NEBULA_STATUS_HPP
 #define NEBULA_STATUS_HPP
 
@@ -14,6 +28,7 @@ struct Status
   enum Type {
     OK = 0,
     UDP_CONNECTION_ERROR,
+    CAN_CONNECTION_ERROR,
     SENSOR_CONFIG_ERROR,
     INVALID_SENSOR_MODEL,
     INVALID_ECHO_MODE,

nebula_decoders/CMakeLists.txt

@@ -55,6 +55,7 @@ ament_auto_add_library(nebula_decoders_robosense_info SHARED
 # Continental
 ament_auto_add_library(nebula_decoders_continental SHARED
         src/nebula_decoders_continental/decoders/continental_ars548_decoder.cpp
+        src/nebula_decoders_continental/decoders/continental_srr520_decoder.cpp
         )
 
 if(BUILD_TESTING)

nebula_decoders/include/nebula_decoders/nebula_decoders_continental/decoders/continental_ars548_decoder.hpp

@@ -51,21 +51,6 @@ class ContinentalArs548Decoder : public ContinentalPacketsDecoder
   /// @return Resulting flag
   bool ProcessPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg) override;
 
-  /// @brief Function for parsing detection lists
-  /// @param data
-  /// @return Resulting flag
-  bool ParseDetectionsListPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
-
-  /// @brief Function for parsing object lists
-  /// @param data
-  /// @return Resulting flag
-  bool ParseObjectsListPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
-
-  /// @brief Function for parsing sensor status messages
-  /// @param data
-  /// @return Resulting flag
-  bool ParseSensorStatusPacket(std::unique_ptr<nebula_msgs::msg::NebulaPacket> packet_msg);
-
   /// @brief Register function to call when a new detection list is processed
   /// @param detection_list_callback
   /// @return Resulting status
@@ -111,10 +96,10 @@ class ContinentalArs548Decoder : public ContinentalPacketsDecoder
   std::function<void(std::unique_ptr<continental_msgs::msg::ContinentalArs548DetectionList> msg)>
     detection_list_callback_{};
   std::function<void(std::unique_ptr<continental_msgs::msg::ContinentalArs548ObjectList> msg)>
-    object_list_callback_;
-  std::function<void(const ContinentalArs548Status & status)> sensor_status_callback_;
+    object_list_callback_{};
+  std::function<void(const ContinentalArs548Status & status)> sensor_status_callback_{};
   std::function<void(std::unique_ptr<nebula_msgs::msg::NebulaPackets> msg)>
-    nebula_packets_callback_;
+    nebula_packets_callback_{};
 
   ContinentalArs548Status radar_status_{};