Universe leike

CMakeLists.txt

@@ -1,234 +1,31 @@
-cmake_minimum_required(VERSION 3.0.2)
+cmake_minimum_required(VERSION 3.5)
 project(obu)
 
-## Compile as C++11, supported in ROS Kinetic and newer
-# add_compile_options(-std=c++11)
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  geometry_msgs
-  roscpp
-  rospy
-  message_generation
-  std_msgs
-  pix_driver_msgs
-  autoware_perception_msgs
-)
-
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-################################################
-## Declare ROS messages, services and actions ##
-################################################
-
-## To declare and build messages, services or actions from within this
-## package, follow these steps:
-## * Let MSG_DEP_SET be the set of packages whose message types you use in
-##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-## * In the file package.xml:
-##   * add a build_depend tag for "message_generation"
-##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
-##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-##     but can be declared for certainty nonetheless:
-##     * add a exec_depend tag for "message_runtime"
-## * In this file (CMakeLists.txt):
-##   * add "message_generation" and every package in MSG_DEP_SET to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * add "message_runtime" and every package in MSG_DEP_SET to
-##     catkin_package(CATKIN_DEPENDS ...)
-##   * uncomment the add_*_files sections below as needed
-##     and list every .msg/.srv/.action file to be processed
-##   * uncomment the generate_messages entry below
-##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-## Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-## Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-## Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
 
-## Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   geometry_msgs
-# )
+ament_export_include_directories(include/obu)
 
+ament_auto_add_executable(${PROJECT_NAME}_server_node
+  src/udp_server.cpp
+  src/obu_socket_node.cpp
+  src/data_process.cpp
 
-add_service_files(FILES OBUinterflowVehicle.srv)
-generate_messages(DEPENDENCIES std_msgs autoware_perception_msgs)
-################################################
-## Declare ROS dynamic reconfigure parameters ##
-################################################
-
-## To declare and build dynamic reconfigure parameters within this
-## package, follow these steps:
-## * In the file package.xml:
-##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
-## * In this file (CMakeLists.txt):
-##   * add "dynamic_reconfigure" to
-##     find_package(catkin REQUIRED COMPONENTS ...)
-##   * uncomment the "generate_dynamic_reconfigure_options" section below
-##     and list every .cfg file to be processed
-
-## Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if your package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES obu
-#  CATKIN_DEPENDS geometry_msgs roscpp rospy
-#  DEPENDS system_lib
-   CATKIN_DEPENDS roscpp rospy std_msgs message_runtime pix_driver_msgs autoware_perception_msgs
 )
 
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-include_directories(
-# include
-  ${catkin_INCLUDE_DIRS}
-)
-
-## Declare a C++ library
-# add_library(${PROJECT_NAME}
-#   src/${PROJECT_NAME}/obu.cpp
-# )
-
-
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-## With catkin_make all packages are built within a single CMake context
-## The recommended prefix ensures that target names across packages don't collide
-# add_executable(${PROJECT_NAME}_node src/obu_node.cpp)
-
-## Rename C++ executable without prefix
-## The above recommended prefix causes long target names, the following renames the
-## target back to the shorter version for ease of user use
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(${PROJECT_NAME}_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-catkin_install_python(PROGRAMS
-  scripts/obu/chassisAbnormalnformationUpload.py
-  scripts/obu/chassisRealTimeInformationUpload.py
-  scripts/obu/chassisRegistrationInformationReport.py
-  scripts/obu/chassisStatusInformationUpload.py
-  scripts/obu/config.py
-  scripts/obu/mySocket.py
-  scripts/obu/udp_interface_node.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-install(TARGETS
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-install(DIRECTORY
+# install
+ament_auto_package(
+  INSTALL_TO_SHARE
   launch
-  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# catkin_install_python(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
-# install(TARGETS ${PROJECT_NAME}_node
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark libraries for installation
-## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
-# install(TARGETS ${PROJECT_NAME}
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_obu.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
+  include
+  # config
+)

include/obu/data_process.hpp

@@ -0,0 +1,62 @@
+#pragma once
+#include <iostream>
+#include <nlohmann/json.hpp>
+#include <cstring>
+#include "macro_scope.hpp"
+#include <vector>
+#include <autoware_auto_perception_msgs/msg/traffic_signal_array.hpp>
+#include <autoware_auto_perception_msgs/msg/traffic_light.hpp>
+#include <autoware_auto_perception_msgs/msg/traffic_signal.hpp>
+#include <std_msgs/msg/float32.hpp>
+#include "rclcpp/rclcpp.hpp"
+
+using json = nlohmann::json;
+struct Message
+{
+    uint16_t header=0x5AA5;
+    uint16_t version=0x2001;
+    uint64_t timestamp=0;
+    uint16_t device_type=0x0001;
+    int device_id=1234567;
+    uint8_t data_direction=0x1;
+    uint8_t data_type=0x1;
+    uint8_t encryption_type=0x0;
+    uint32_t reserved=0xffffffff;
+    uint16_t message_length=0;
+    std::string message_body;
+    uint16_t check_code=0x0005;
+    Message() = default;
+    operator std::vector<uint8_t>() const;
+    Message& operator=(const std::vector<uint8_t>& byte_stream);
+};
+
+class data_process {
+public:
+    data_process(rclcpp::Node::SharedPtr node);
+    ~data_process();
+    // 获取message的消息体
+    rclcpp::Node::SharedPtr node_;
+    std::string get_string();
+    // 将message打包为字节流
+    std::vector<uint8_t> packed_data();
+    void parse_data(std::vector<uint8_t> received_data);
+
+    using TrafficSignalArray = autoware_auto_perception_msgs::msg::TrafficSignalArray;
+    using TrafficSignal = autoware_auto_perception_msgs::msg::TrafficSignal;
+    using TrafficLight = autoware_auto_perception_msgs::msg::TrafficLight;
+    using Float32 = std_msgs::msg::Float32;
+    void callback_heading(const Float32::SharedPtr msg);
+    int Lanlet_id = 0;
+
+    rclcpp::Publisher<TrafficSignalArray>::SharedPtr traffic_signal_array_pub_;
+    rclcpp::Subscription<Float32>::SharedPtr heading_sub_;
+
+    Message receive_message;
+    TrafficSignalArray traffic_signal_array_msg_;
+    TrafficSignal traffic_signal_msg_;
+    TrafficLight traffic_light_msg_;
+
+private:
+    json message_json;
+};
+