temp: includes #231, #232, #233, #234, #235

Signed-off-by: Max SCHMELLER <[email protected]>

.cspell.json

@@ -32,6 +32,7 @@
     "nproc",
     "nsec",
     "ntoa",
+    "OVFL",
     "pandar",
     "PANDAR",
     "PANDARAT",

nebula_common/include/nebula_common/loggers/console_logger.hpp

@@ -0,0 +1,55 @@
+// 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.
+
+#pragma once
+
+#include "nebula_common/loggers/logger.hpp"
+
+#include <cstdio>
+#include <iostream>
+#include <memory>
+#include <ostream>
+#include <string>
+#include <utility>
+
+namespace nebula::drivers::loggers
+{
+
+class ConsoleLogger : public Logger
+{
+public:
+  explicit ConsoleLogger(std::string name) : name_(std::move(name)) {}
+
+  void debug(const std::string & message) override { print_tagged(std::cout, "DEBUG", message); }
+  void info(const std::string & message) override { print_tagged(std::cout, "INFO", message); }
+  void warn(const std::string & message) override { print_tagged(std::cerr, "WARN", message); }
+  void error(const std::string & message) override { print_tagged(std::cerr, "ERROR", message); }
+
+  std::shared_ptr<Logger> child(const std::string & name) override
+  {
+    return std::make_shared<ConsoleLogger>(name_ + "." + name);
+  }
+
+private:
+  std::string name_;
+
+  void print_tagged(std::ostream & os, const std::string & severity, const std::string & message)
+  {
+    // In multithreaded logging, building the string first (... + ...) and then shifting to the
+    // stream will ensure that no other logger outputs between string fragments
+    os << ("[" + name_ + "][" + severity + "] " + message) << std::endl;
+  }
+};
+
+}  // namespace nebula::drivers::loggers

nebula_common/include/nebula_common/loggers/logger.hpp

@@ -0,0 +1,49 @@
+// 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.
+
+#pragma once
+
+#include <memory>
+#include <sstream>
+#include <string>
+
+#define NEBULA_LOG_STREAM(log_func, stream_args) \
+  {                                              \
+    std::stringstream ss{};                      \
+    ss << stream_args;                           \
+    log_func(ss.str());                          \
+  }
+
+namespace nebula::drivers::loggers
+{
+
+class Logger
+{
+public:
+  Logger() = default;
+  Logger(const Logger &) = default;
+  Logger(Logger &&) = delete;
+  Logger & operator=(const Logger &) = default;
+  Logger & operator=(Logger &&) = delete;
+  virtual ~Logger() = default;
+
+  virtual void debug(const std::string & message) = 0;
+  virtual void info(const std::string & message) = 0;
+  virtual void warn(const std::string & message) = 0;
+  virtual void error(const std::string & message) = 0;
+
+  virtual std::shared_ptr<Logger> child(const std::string & name) = 0;
+};
+
+}  // namespace nebula::drivers::loggers

nebula_common/include/nebula_common/util/expected.hpp

@@ -15,6 +15,7 @@
 #pragma once
 
 #include <exception>
+#include <stdexcept>
 #include <string>
 #include <variant>
 

nebula_hw_interfaces/CMakeLists.txt

@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.14)
 project(nebula_hw_interfaces)
 
 # Default to C++17
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
-endif ()
+endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(boost_tcp_driver)
@@ -53,7 +53,6 @@ target_link_libraries(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${velodyne_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -68,7 +67,6 @@ target_link_libraries(nebula_hw_interfaces_robosense PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${robosense_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_robosense PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -100,6 +98,34 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+    find_package(ament_cmake_gmock REQUIRED)
+
+    ament_add_gtest(test_udp
+        test/common/test_udp.cpp
+    )
+
+    target_include_directories(test_udp PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        include
+        test)
+
+    ament_add_gmock(hesai_test_ptc
+        test/hesai/test_ptc.cpp
+    )
+
+    target_include_directories(hesai_test_ptc PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        ${nebula_hw_interfaces_hesai_INCLUDE_DIRS}
+        ${boost_tcp_driver_INCLUDE_DIRS}
+        ${boost_udp_driver_INCLUDE_DIRS}
+        include
+        test)
+
+    target_link_libraries(hesai_test_ptc
+        nebula_hw_interfaces_hesai
+    )
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")