chore: clear merge artifacts

tier4 · Jun 26, 2024 · a8c9ee5 · a8c9ee5
1 parent fbd236e
commit a8c9ee5
Show file tree

Hide file tree

Showing 10 changed files with 39 additions and 14 deletions.
diff --git a/nebula_common/include/nebula_common/nebula_common.hpp b/nebula_common/include/nebula_common/nebula_common.hpp
@@ -344,7 +344,8 @@ enum class SensorModel {
   ROBOSENSE_BPEARL_V3,
   ROBOSENSE_BPEARL_V4,
   CONTINENTAL_ARS548,
-  CONTINENTAL_SRR520
+  CONTINENTAL_SRR520,
+  AEVA_AERIES2
 };
 
 /// @brief not used?
@@ -444,6 +445,9 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::SensorModel
     case SensorModel::CONTINENTAL_SRR520:
       os << "SRR520";
       break;
+    case SensorModel::AEVA_AERIES2:
+      os << "Aeries II";
+      break;
     case SensorModel::UNKNOWN:
       os << "Sensor Unknown";
       break;
@@ -575,6 +579,7 @@ inline SensorModel SensorModelFromString(const std::string & sensor_model)
   // Continental
   if (sensor_model == "ARS548") return SensorModel::CONTINENTAL_ARS548;
   if (sensor_model == "SRR520") return SensorModel::CONTINENTAL_SRR520;
+  if (sensor_model == "Aeries2") return SensorModel::AEVA_AERIES2;
   return SensorModel::UNKNOWN;
 }
 
@@ -625,6 +630,8 @@ inline std::string SensorModelToString(const SensorModel & sensor_model)
       return "ARS548";
     case SensorModel::CONTINENTAL_SRR520:
       return "SRR520";
+    case SensorModel::AEVA_AERIES2:
+      return "Aeries II";
     default:
       return "UNKNOWN";
   }

diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt
@@ -215,11 +215,34 @@ rclcpp_components_register_node(continental_srr520_ros_wrapper
     EXECUTABLE continental_srr520_ros_wrapper_node
 )
 
+## Aeva
+add_library(aeva_ros_wrapper SHARED
+    src/aeva/aeva_ros_wrapper.cpp
+    src/aeva/hw_monitor_wrapper.cpp
+    src/common/parameter_descriptors.cpp
+)
+
+target_include_directories(aeva_ros_wrapper PUBLIC
+    ${nebula_decoders_INCLUDE_DIRS}
+    ${nebula_hw_interfaces_INCLUDE_DIRS}
+)
+
+target_link_libraries(aeva_ros_wrapper PUBLIC
+    nebula_decoders::nebula_decoders_aeva
+    nebula_hw_interfaces::nebula_hw_interfaces_aeva
+)
+
+rclcpp_components_register_node(aeva_ros_wrapper
+    PLUGIN "AevaRosWrapper"
+    EXECUTABLE aeva_ros_wrapper_node
+)
+
 install(TARGETS hesai_ros_wrapper EXPORT export_hesai_ros_wrapper)
 install(TARGETS velodyne_ros_wrapper EXPORT export_velodyne_ros_wrapper)
 install(TARGETS robosense_ros_wrapper EXPORT export_robosense_ros_wrapper)
 install(TARGETS continental_ars548_ros_wrapper EXPORT export_continental_ars548_ros_wrapper)
 install(TARGETS continental_srr520_ros_wrapper EXPORT export_continental_srr520_ros_wrapper)
+install(TARGETS aeva_ros_wrapper EXPORT export_aeva_ros_wrapper)
 install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 
 if(BUILD_TESTING)

diff --git a/nebula_ros/include/nebula_ros/continental/continental_ars548_decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/continental/continental_ars548_decoder_wrapper.hpp
@@ -14,7 +14,6 @@
 
 #pragma once
 
-#include "nebula_ros/common/parameter_descriptors.hpp"
 #include "nebula_ros/common/watchdog_timer.hpp"
 
 #include <nebula_common/continental/continental_ars548.hpp>

diff --git a/nebula_ros/include/nebula_ros/continental/continental_ars548_hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/continental/continental_ars548_hw_interface_wrapper.hpp
@@ -14,8 +14,6 @@
 
 #pragma once
 
-#include "nebula_ros/common/parameter_descriptors.hpp"
-
 #include <nebula_common/continental/continental_ars548.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_continental/continental_ars548_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/nebula_ros/include/nebula_ros/continental/continental_ars548_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/continental/continental_ars548_ros_wrapper.hpp
@@ -14,8 +14,6 @@
 
 #pragma once
 
-#include "nebula_ros/common/mt_queue.hpp"
-#include "nebula_ros/common/parameter_descriptors.hpp"
 #include "nebula_ros/continental/continental_ars548_decoder_wrapper.hpp"
 #include "nebula_ros/continental/continental_ars548_hw_interface_wrapper.hpp"
 

diff --git a/nebula_ros/include/nebula_ros/continental/continental_srr520_decoder_wrapper.hpp b/nebula_ros/include/nebula_ros/continental/continental_srr520_decoder_wrapper.hpp
@@ -14,7 +14,6 @@
 
 #pragma once
 
-#include "nebula_ros/common/parameter_descriptors.hpp"
 #include "nebula_ros/common/watchdog_timer.hpp"
 
 #include <nebula_common/continental/continental_srr520.hpp>

diff --git a/nebula_ros/include/nebula_ros/continental/continental_srr520_hw_interface_wrapper.hpp b/nebula_ros/include/nebula_ros/continental/continental_srr520_hw_interface_wrapper.hpp
@@ -14,8 +14,6 @@
 
 #pragma once
 
-#include "nebula_ros/common/parameter_descriptors.hpp"
-
 #include <nebula_common/continental/continental_srr520.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_continental/continental_srr520_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>

diff --git a/nebula_ros/include/nebula_ros/continental/continental_srr520_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/continental/continental_srr520_ros_wrapper.hpp
@@ -14,14 +14,13 @@
 
 #pragma once
 
-#include "nebula_ros/common/mt_queue.hpp"
-#include "nebula_ros/common/parameter_descriptors.hpp"
 #include "nebula_ros/continental/continental_srr520_decoder_wrapper.hpp"
 #include "nebula_ros/continental/continental_srr520_hw_interface_wrapper.hpp"
 
 #include <nebula_common/continental/continental_srr520.hpp>
 #include <nebula_common/nebula_common.hpp>
 #include <nebula_common/nebula_status.hpp>
+#include <nebula_common/util/mt_queue.hpp>
 #include <nebula_hw_interfaces/nebula_hw_interfaces_continental/continental_srr520_hw_interface.hpp>
 #include <rclcpp/rclcpp.hpp>
 #include <rclcpp_components/register_node_macro.hpp>
@@ -81,7 +80,7 @@ class ContinentalSRR520RosWrapper final : public rclcpp::Node
     config_ptr_{};
 
   /// @brief Stores received packets that have not been processed yet by the decoder thread
-  mt_queue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
+  MtQueue<std::unique_ptr<nebula_msgs::msg::NebulaPacket>> packet_queue_;
   /// @brief Thread to isolate decoding from receiving
   std::thread decoder_thread_;
 

diff --git a/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp b/nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp
@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_ars548_ros_wrapper.hpp"
 
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
 #pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"
 
 namespace nebula
@@ -160,7 +162,7 @@ void ContinentalARS548RosWrapper::ReceivePacketCallback(
     return;
   }
 
-  if (!packet_queue_.try_push(std::move(msg_ptr))) {
+  if (!packet_queue_.tryPush(std::move(msg_ptr))) {
     RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
 }

diff --git a/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp b/nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp
@@ -14,6 +14,8 @@
 
 #include "nebula_ros/continental/continental_srr520_ros_wrapper.hpp"
 
+#include "nebula_ros/common/parameter_descriptors.hpp"
+
 namespace nebula
 {
 namespace ros
@@ -150,7 +152,7 @@ void ContinentalSRR520RosWrapper::ReceivePacketCallback(
     return;
   }
 
-  if (!packet_queue_.try_push(std::move(msg_ptr))) {
+  if (!packet_queue_.tryPush(std::move(msg_ptr))) {
     RCLCPP_ERROR_THROTTLE(get_logger(), *get_clock(), 500, "Packet(s) dropped");
   }
 }