From f836960001adb39a6906e2326a24f54257992ac3 Mon Sep 17 00:00:00 2001
From: David Wong <david.wong@tier4.jp>
Date: Tue, 21 May 2024 15:01:59 +0900
Subject: [PATCH] fix(seyond): fix hw interface for minimal build

Signed-off-by: David Wong <david.wong@tier4.jp>
---
 nebula_decoders/CMakeLists.txt                |  2 +-
 .../seyond_hw_interface.hpp                   |  5 ++--
 .../seyond_hw_interface.cpp                   | 27 +++++--------------
 3 files changed, 10 insertions(+), 24 deletions(-)

diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt
index fc7f9262d..c9e285810 100644
--- a/nebula_decoders/CMakeLists.txt
+++ b/nebula_decoders/CMakeLists.txt
@@ -31,7 +31,7 @@ include_directories(
 
 # Lidar Decoders
 
-# Hesai
+# Seyond
 ament_auto_add_library(nebula_decoders_seyond SHARED
         src/nebula_decoders_seyond/seyond_driver.cpp
         )
diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_seyond/seyond_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_seyond/seyond_hw_interface.hpp
index f8d604559..5e028760c 100755
--- a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_seyond/seyond_hw_interface.hpp
+++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_seyond/seyond_hw_interface.hpp
@@ -41,15 +41,14 @@ class SeyondHwInterface
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
-  std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_;
   std::shared_ptr<const SeyondSensorConfiguration> sensor_configuration_;
   std::function<void(std::vector<uint8_t> & buffer)>
     cloud_packet_callback_; /**This function pointer is called when the scan is complete*/
 
   int prev_phase_{};
   int target_model_no;
+  std::shared_ptr<rclcpp::Logger> parent_node_logger_;
 
-  std::shared_ptr<rclcpp::Logger> parent_node_logger;
   /// @brief Printing the string to RCLCPP_INFO_STREAM
   /// @param info Target string
   void PrintInfo(std::string info);
@@ -87,7 +86,7 @@ class SeyondHwInterface
   /// @brief Printing calibration configuration
   /// @param calibration_configuration CalibrationConfiguration for the checking
   /// @return Resulting status
-  Status GetCalibrationConfiguration(CalibrationConfigurationBase & calibration_configuration);
+  Status GetCalibrationConfiguration(const CalibrationConfigurationBase & calibration_configuration);
 
   /// @brief Setting sensor configuration
   /// @param sensor_configuration SensorConfiguration for this interface
diff --git a/nebula_hw_interfaces/src/nebula_seyond_hw_interfaces/seyond_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_seyond_hw_interfaces/seyond_hw_interface.cpp
index 06eef22e0..ffe3f89e1 100755
--- a/nebula_hw_interfaces/src/nebula_seyond_hw_interfaces/seyond_hw_interface.cpp
+++ b/nebula_hw_interfaces/src/nebula_seyond_hw_interfaces/seyond_hw_interface.cpp
@@ -5,14 +5,12 @@ namespace drivers
 {
 SeyondHwInterface::SeyondHwInterface()
 : cloud_io_context_{new ::drivers::common::IoContext(1)},
-  info_io_context_{new ::drivers::common::IoContext(1)},
-  cloud_udp_driver_{new ::drivers::udp_driver::UdpDriver(*cloud_io_context_)},
-  info_udp_driver_{new ::drivers::udp_driver::UdpDriver(*info_io_context_)},
-  scan_cloud_ptr_{std::make_unique<nebula_msgs::msg::NebulaPackets>()}
+  m_owned_ctx{new boost::asio::io_context(1)},
+  cloud_udp_driver_{new ::drivers::udp_driver::UdpDriver(*cloud_io_context_)}
 {
 }
 
-void SeyondHwInterface::ReceiveSensorPacketCallback(const std::vector<uint8_t> & buffer)
+void SeyondHwInterface::ReceiveSensorPacketCallback(std::vector<uint8_t> & buffer)
 {
 
 }
@@ -22,41 +20,30 @@ Status SeyondHwInterface::SensorInterfaceStart()
   return Status::OK;
 }
 
-Status SeyondHwInterface::InfoInterfaceStart()
-{
-  return Status::OK;
-}
-
 Status SeyondHwInterface::SensorInterfaceStop()
 {
   return Status::ERROR_1;
 }
 
 Status SeyondHwInterface::SetSensorConfiguration(
-  std::shared_ptr<SensorConfigurationBase> sensor_configuration)
+  std::shared_ptr<const SensorConfigurationBase> sensor_configuration)
 {
   return Status::OK;
 }
 
-Status SeyondHwInterface::GetSensorConfiguration(SensorConfigurationBase & sensor_configuration)
-{
-  return Status::ERROR_1;
-}
-
-Status SeyondHwInterface::SetCalibrationConfiguration(
-  CalibrationConfigurationBase & calibration_configuration)
+Status SeyondHwInterface::GetSensorConfiguration(const SensorConfigurationBase & sensor_configuration)
 {
   return Status::ERROR_1;
 }
 
 Status SeyondHwInterface::GetCalibrationConfiguration(
-  CalibrationConfigurationBase & calibration_configuration)
+  const CalibrationConfigurationBase & calibration_configuration)
 {
   return Status::ERROR_1;
 }
 
 Status SeyondHwInterface::RegisterScanCallback(
-  std::function<void(std::unique_ptr<nebula_msgs::msg::NebulaPackets)> scan_callback)
+  std::function<void(std::vector<uint8_t> &)> scan_callback)
 {
   return Status::OK;
 }