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feat(tier4_autoware_utils): add published time debug class into utils (…
…#6440) Signed-off-by: Berkay Karaman <[email protected]>
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common/tier4_autoware_utils/include/tier4_autoware_utils/ros/published_time_publisher.hpp
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// Copyright 2024 The Autoware Contributors | ||
// | ||
// 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. | ||
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#ifndef TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_ | ||
#define TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_ | ||
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#include <rclcpp/rclcpp.hpp> | ||
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#include <autoware_internal_msgs/msg/published_time.hpp> | ||
#include <std_msgs/msg/header.hpp> | ||
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#include <functional> | ||
#include <map> | ||
#include <string> | ||
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namespace tier4_autoware_utils | ||
{ | ||
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class PublishedTimePublisher | ||
{ | ||
public: | ||
explicit PublishedTimePublisher( | ||
rclcpp::Node * node, const std::string & publisher_topic_suffix = "/debug/published_time", | ||
const rclcpp::QoS & qos = rclcpp::QoS(1)) | ||
: node_(node), publisher_topic_suffix_(publisher_topic_suffix), qos_(qos) | ||
{ | ||
} | ||
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void publish(const rclcpp::PublisherBase::ConstSharedPtr & publisher, const rclcpp::Time & stamp) | ||
{ | ||
const auto & gid_key = publisher->get_gid(); | ||
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// if the publisher is not in the map, create a new publisher for published time | ||
ensure_publisher_exists(gid_key, publisher->get_topic_name()); | ||
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const auto & pub_published_time_ = publishers_[gid_key]; | ||
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// Check if there are any subscribers, otherwise don't do anything | ||
if (pub_published_time_->get_subscription_count() > 0) { | ||
PublishedTime published_time; | ||
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published_time.header.stamp = stamp; | ||
published_time.published_stamp = rclcpp::Clock().now(); | ||
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pub_published_time_->publish(published_time); | ||
} | ||
} | ||
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void publish( | ||
const rclcpp::PublisherBase::ConstSharedPtr & publisher, const std_msgs::msg::Header & header) | ||
{ | ||
const auto & gid_key = publisher->get_gid(); | ||
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// if the publisher is not in the map, create a new publisher for published time | ||
ensure_publisher_exists(gid_key, publisher->get_topic_name()); | ||
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const auto & pub_published_time_ = publishers_[gid_key]; | ||
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// Check if there are any subscribers, otherwise don't do anything | ||
if (pub_published_time_->get_subscription_count() > 0) { | ||
PublishedTime published_time; | ||
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published_time.header = header; | ||
published_time.published_stamp = rclcpp::Clock().now(); | ||
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pub_published_time_->publish(published_time); | ||
} | ||
} | ||
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private: | ||
rclcpp::Node * node_; | ||
std::string publisher_topic_suffix_; | ||
rclcpp::QoS qos_; | ||
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using PublishedTime = autoware_internal_msgs::msg::PublishedTime; | ||
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// Custom comparison struct for rmw_gid_t | ||
struct GidCompare | ||
{ | ||
bool operator()(const rmw_gid_t & lhs, const rmw_gid_t & rhs) const | ||
{ | ||
return std::memcmp(lhs.data, rhs.data, RMW_GID_STORAGE_SIZE) < 0; | ||
} | ||
}; | ||
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// ensure that the publisher exists in publisher_ map, if not, create a new one | ||
void ensure_publisher_exists(const rmw_gid_t & gid_key, const std::string & topic_name) | ||
{ | ||
if (publishers_.find(gid_key) == publishers_.end()) { | ||
publishers_[gid_key] = | ||
node_->create_publisher<PublishedTime>(topic_name + publisher_topic_suffix_, qos_); | ||
} | ||
} | ||
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// store them for each different publisher of the node | ||
std::map<rmw_gid_t, rclcpp::Publisher<PublishedTime>::SharedPtr, GidCompare> publishers_; | ||
}; | ||
} // namespace tier4_autoware_utils | ||
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#endif // TIER4_AUTOWARE_UTILS__ROS__PUBLISHED_TIME_PUBLISHER_HPP_ |
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