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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,32 @@ | ||
| /** | ||
| * @file | ||
| * @copyright Copyright (C) 2024, Blickfeld GmbH | ||
| */ | ||
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| #pragma once | ||
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| #include "qb2/point_cloud_reader.h" | ||
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| #include "qb2_driver_status.h" | ||
| #include "qb2_ros2_type.h" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| namespace blickfeld { | ||
| namespace ros_interop { | ||
| namespace qb2 { | ||
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| class PointCloudGetter : public PointCloudReader { | ||
| public: | ||
| using PointCloudReader::PointCloudReader; | ||
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| /** | ||
| * @brief Read the Frame object from Qb2 | ||
| * | ||
| * @return std::pair<CommunicationState, Qb2Frame> The state of communication and the new optional frame object | ||
| */ | ||
| std::pair<CommunicationState, std::optional<Qb2Frame>> readFrame() final; | ||
| }; | ||
| } // namespace qb2 | ||
| } // namespace ros_interop | ||
| } // namespace blickfeld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,54 @@ | ||
| /** | ||
| * @file | ||
| * @copyright Copyright (C) 2024, Blickfeld GmbH | ||
| */ | ||
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| #pragma once | ||
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| #include "qb2_driver_status.h" | ||
| #include "qb2_ros2_type.h" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <memory> | ||
| #include <optional> | ||
| #include <utility> | ||
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| namespace blickfeld { | ||
| namespace ros_interop { | ||
| namespace qb2 { | ||
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| class PointCloudReader { | ||
| public: | ||
| PointCloudReader(rclcpp::Node::SharedPtr node, const Qb2Info& qb2); | ||
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| virtual ~PointCloudReader(); | ||
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| /** | ||
| * @brief Read the Frame object from Qb2 | ||
| * | ||
| * @return std::pair<CommunicationState, Qb2Frame> The state of communication and the new optional frame object | ||
| */ | ||
| virtual std::pair<CommunicationState, std::optional<Qb2Frame>> readFrame() = 0; | ||
|
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| /** | ||
| * @brief Try to cancel the running getter | ||
| * | ||
| */ | ||
| virtual void cancel(); | ||
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| protected: | ||
| rclcpp::Node::SharedPtr node_; | ||
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| /// Device info that we want to connect to | ||
| Qb2Info qb2_; | ||
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| /// Connection channel to the Qb2 gRPC server | ||
| std::shared_ptr<grpc::Channel> qb2_channel_; | ||
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| /// The gRPC client context for Qb2 | ||
| std::unique_ptr<grpc::ClientContext> point_cloud_context_ = nullptr; | ||
| }; | ||
| } // namespace qb2 | ||
| } // namespace ros_interop | ||
| } // namespace blickfeld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,66 @@ | ||
| /** | ||
| * @file | ||
| * @copyright Copyright (C) 2024, Blickfeld GmbH | ||
| */ | ||
|
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| #pragma once | ||
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| #include "qb2/point_cloud_reader.h" | ||
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| #include "qb2_driver_status.h" | ||
| #include "qb2_ros2_type.h" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| namespace blickfeld { | ||
| namespace ros_interop { | ||
| namespace qb2 { | ||
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| class PointCloudStreamer : public PointCloudReader { | ||
| public: | ||
| using PointCloudReader::PointCloudReader; | ||
|
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| /** | ||
| * @brief Read the Frame object from Qb2 | ||
| * | ||
| * @return std::pair<CommunicationState, Qb2Frame> The state of communication and the new optional frame object | ||
| */ | ||
| std::pair<CommunicationState, std::optional<Qb2Frame>> readFrame() final; | ||
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| private: | ||
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| /** | ||
| * @brief Read the Frame object from Qb2. | ||
| * The method doesn't cleanup the internal state after connection issues | ||
| * | ||
| * @return std::pair<CommunicationState, Qb2Frame> The state of communication and the new optional frame object | ||
| */ | ||
| std::pair<CommunicationState, std::optional<Qb2Frame>> tryReadFrame(); | ||
|
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| /** | ||
| * @brief Attempts to open a point cloud stream if the qb2_channel is connected | ||
| * | ||
| * @return The state of communication with Qb2, if successful it should return | ||
| * CommunicationState::SUCCESS_OPEN_STREAM | ||
| */ | ||
| CommunicationState openPointCloudStream(); | ||
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| /** | ||
| * @brief Checks if the stream is open | ||
| * | ||
| * @return true | ||
| * @return false | ||
| */ | ||
| bool isStreamingPointCloud() const; | ||
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| /** | ||
| * @brief disconnects from the server and cleans up all internal connection state | ||
| */ | ||
| void disconnect(); | ||
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| /// Unique pointers for Qb2 streams | ||
| std::unique_ptr<grpc::ClientReader<Qb2PointCloudStreamResponse>> point_cloud_stream_ = nullptr; | ||
| }; | ||
| } // namespace qb2 | ||
| } // namespace ros_interop | ||
| } // namespace blickfeld |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,87 @@ | ||
| /** | ||
| * @file | ||
| * @copyright Copyright (C) 2024, Blickfeld GmbH | ||
| */ | ||
|
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| #pragma once | ||
|
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| #include "qb2_driver_status.h" | ||
| #include "qb2_ros2_type.h" | ||
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| #include <rclcpp/rclcpp.hpp> | ||
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| #include <optional> | ||
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| namespace blickfeld { | ||
| namespace ros_interop { | ||
| namespace qb2 { | ||
|
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| class ScanPatternWatcher { | ||
| public: | ||
| ScanPatternWatcher(rclcpp::Node::SharedPtr node, const Qb2Info& qb2); | ||
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| ~ScanPatternWatcher(); | ||
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| /** | ||
| * @brief Watches the scan pattern changes on the Qb2 | ||
| * | ||
| * @return std::pair<CommunicationState, std::optional<Qb2ScanPattern>> The state of communication and the optional | ||
| * new scan pattern object | ||
| */ | ||
| std::pair<CommunicationState, std::optional<Qb2ScanPattern>> watchScanPattern(); | ||
|
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| /** | ||
| * @brief Try to cancel the running watch stream | ||
| * | ||
| */ | ||
| void cancel(); | ||
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| private: | ||
| /** | ||
| * @brief tries opening a scan patter watch stream and returns a response of the stream. | ||
| * The method doesn't cleanup the internal state after connection issues | ||
| * | ||
| * @return std::pair<CommunicationState, std::optional<Qb2ScanPattern>> The state of communication and the optional | ||
| * new scan pattern object | ||
| */ | ||
| std::pair<CommunicationState, std::optional<Qb2ScanPattern>> tryWatchScanPattern(); | ||
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| /** | ||
| * @brief Attempts to open a scan pattern watch if the qb2_channel is connected | ||
| * | ||
| * @return The state of communication with Qb2, if successful it should return | ||
| * CommunicationState::SUCCESS_OPEN_STREAM | ||
| */ | ||
| CommunicationState openScanPatternWatch(); | ||
|
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| /** | ||
| * @brief disconnects from the server and cleans up all internal connection state | ||
| */ | ||
| void disconnect(); | ||
|
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| /** | ||
| * @brief Checks if the watch stream is open | ||
| * | ||
| * @return true | ||
| * @return false | ||
| */ | ||
| bool isWatchingScanPattern() const; | ||
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| rclcpp::Node::SharedPtr node_; | ||
|
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| /// Device info that we want to connect to | ||
| Qb2Info qb2_; | ||
|
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| /// Connection channel to the Qb2 gRPC server | ||
| std::shared_ptr<grpc::Channel> qb2_channel_; | ||
|
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| /// The gRPC client context for Qb2 streams | ||
| std::unique_ptr<grpc::ClientContext> scan_pattern_watch_context_ = nullptr; | ||
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| /// Unique pointers for Qb2 streams | ||
| std::unique_ptr<grpc::ClientReader<Qb2ScanPatternWatchResponse>> scan_pattern_watch_ = nullptr; | ||
| }; | ||
| } // namespace qb2 | ||
| } // namespace ros_interop | ||
| } // namespace blickfeld |
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