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feat: pretty-print sensor configurations #172

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Jul 5, 2024
Merged

feat: pretty-print sensor configurations #172

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0f4570f
style: pretty-printing sensor configs
mojomex Jun 27, 2024
7f8db71
chore: make config field names more readable when pretty-printing
mojomex Jul 5, 2024
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24 changes: 12 additions & 12 deletions nebula_common/include/nebula_common/continental/continental_ars548.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,6 @@
#pragma once

#include "nebula_common/nebula_common.hpp"
#include "nebula_common/nebula_status.hpp"

#include <boost/algorithm/string/join.hpp>
#include <boost/endian/buffers.hpp>
Expand All @@ -24,9 +23,7 @@
#include <pcl/point_types.h>

#include <iostream>
#include <sstream>
#include <string>
#include <vector>

namespace nebula
{
Expand Down Expand Up @@ -58,15 +55,18 @@ struct ContinentalARS548SensorConfiguration : EthernetSensorConfigurationBase
inline std::ostream & operator<<(
std::ostream & os, ContinentalARS548SensorConfiguration const & arg)
{
os << (EthernetSensorConfigurationBase)(arg) << ", MulticastIP: " << arg.multicast_ip
<< ", BaseFrame: " << arg.base_frame << ", ObjectFrame: " << arg.object_frame
<< ", ConfigurationHostPort: " << arg.configuration_host_port
<< ", ConfigurationSensorPort: " << arg.configuration_sensor_port
<< ", UseSensorTime: " << arg.use_sensor_time
<< ", ConfigurationVehicleLength: " << arg.configuration_vehicle_length
<< ", ConfigurationVehicleWidth: " << arg.configuration_vehicle_width
<< ", ConfigurationVehicleHeight: " << arg.configuration_vehicle_height
<< ", ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
os << "ContinentalARS548SensorConfiguration:" << '\n';
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Suggested change
os << "ContinentalARS548SensorConfiguration:" << '\n';
os << "Continental ARS548 Sensor Configuration:" << '\n';

os << (EthernetSensorConfigurationBase)(arg) << '\n';
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os << "MulticastIP: " << arg.multicast_ip << '\n';
os << "BaseFrame: " << arg.base_frame << '\n';
os << "ObjectFrame: " << arg.object_frame << '\n';
os << "ConfigurationHostPort: " << arg.configuration_host_port << '\n';
os << "ConfigurationSensorPort: " << arg.configuration_sensor_port << '\n';
os << "UseSensorTime: " << arg.use_sensor_time << '\n';
os << "ConfigurationVehicleLength: " << arg.configuration_vehicle_length << '\n';
os << "ConfigurationVehicleWidth: " << arg.configuration_vehicle_width << '\n';
os << "ConfigurationVehicleHeight: " << arg.configuration_vehicle_height << '\n';
os << "ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
return os;
}

Expand Down
13 changes: 5 additions & 8 deletions nebula_common/include/nebula_common/continental/continental_srr520.hpp
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Expand Up @@ -15,21 +15,16 @@
#pragma once

#include "nebula_common/nebula_common.hpp"
#include "nebula_common/nebula_status.hpp"

#include <boost/endian/buffers.hpp>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include <bitset>
#include <cmath>
#include <cstddef>
#include <cstdint>
#include <ctime>
#include <fstream>
#include <iostream>
#include <sstream>
#include <string>

namespace nebula
Expand All @@ -55,9 +50,11 @@ struct ContinentalSRR520SensorConfiguration : CANSensorConfigurationBase
inline std::ostream & operator<<(
std::ostream & os, ContinentalSRR520SensorConfiguration const & arg)
{
os << (CANSensorConfigurationBase)(arg) << ", BaseFrame: " << arg.base_frame
<< ", SyncUseBusTime: " << arg.sync_use_bus_time
<< ", ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
os << "ContinentalSRR520SensorConfiguration:" << '\n';
os << (CANSensorConfigurationBase)(arg) << '\n';
os << "BaseFrame: " << arg.base_frame << '\n';
os << "SyncUseBusTime: " << arg.sync_use_bus_time << '\n';
os << "ConfigurationVehicleWheelbase: " << arg.configuration_vehicle_wheelbase;
return os;
}

Expand Down
26 changes: 16 additions & 10 deletions nebula_common/include/nebula_common/hesai/hesai_common.hpp
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Expand Up @@ -35,6 +35,7 @@ struct HesaiSensorConfiguration : public LidarConfigurationBase
uint16_t gnss_port{};
double scan_phase{};
double dual_return_distance_threshold{};
std::string calibration_path{};
uint16_t rotation_speed;
uint16_t cloud_min_angle;
uint16_t cloud_max_angle;
Expand All @@ -49,13 +50,18 @@ struct HesaiSensorConfiguration : public LidarConfigurationBase
/// @return stream
inline std::ostream & operator<<(std::ostream & os, HesaiSensorConfiguration const & arg)
{
os << (LidarConfigurationBase)(arg) << ", GnssPort: " << arg.gnss_port
<< ", ScanPhase:" << arg.scan_phase << ", RotationSpeed:" << arg.rotation_speed
<< ", FOV(Start):" << arg.cloud_min_angle << ", FOV(End):" << arg.cloud_max_angle
<< ", DualReturnDistanceThreshold:" << arg.dual_return_distance_threshold
<< ", PtpProfile:" << arg.ptp_profile << ", PtpDomain:" << std::to_string(arg.ptp_domain)
<< ", PtpTransportType:" << arg.ptp_transport_type
<< ", PtpSwitchType:" << arg.ptp_switch_type;
os << "HesaiSensorConfiguration:" << '\n';
os << (LidarConfigurationBase)(arg) << '\n';
os << "GnssPort: " << arg.gnss_port << '\n';
os << "ScanPhase: " << arg.scan_phase << '\n';
os << "RotationSpeed: " << arg.rotation_speed << '\n';
os << "FOV(Start): " << arg.cloud_min_angle << '\n';
os << "FOV(End): " << arg.cloud_max_angle << '\n';
os << "DualReturnDistanceThreshold: " << arg.dual_return_distance_threshold << '\n';
os << "PtpProfile: " << arg.ptp_profile << '\n';
os << "PtpDomain: " << std::to_string(arg.ptp_domain) << '\n';
os << "PtpTransportType: " << arg.ptp_transport_type << '\n';
os << "PtpSwitchType: " << arg.ptp_switch_type;
return os;
}

Expand Down Expand Up @@ -106,7 +112,7 @@ struct HesaiCalibrationConfiguration : public HesaiCalibrationConfigurationBase

std::vector<std::string> actual_tokens(tok.begin(), tok.end());
if (actual_tokens.size() < expected_cols || actual_tokens.size() > expected_cols) {
std::cerr << "Ignoring line with unexpected data:" << line << std::endl;
std::cerr << "Ignoring line with unexpected data: " << line << std::endl;
continue;
}

Expand Down Expand Up @@ -318,10 +324,10 @@ struct HesaiCorrection : public HesaiCalibrationConfigurationBase
inline nebula::Status SaveToFileFromBytes(
const std::string & correction_file, const std::vector<uint8_t> & buf) override
{
std::cerr << "Saving in:" << correction_file << "\n";
std::cerr << "Saving in: " << correction_file << "\n";
std::ofstream ofs(correction_file, std::ios::trunc | std::ios::binary);
if (!ofs) {
std::cerr << "Could not create file:" << correction_file << "\n";
std::cerr << "Could not create file: " << correction_file << "\n";
return Status::CANNOT_SAVE_FILE;
}
std::cerr << "Writing start...." << buf.size() << "\n";
Expand Down
28 changes: 17 additions & 11 deletions nebula_common/include/nebula_common/nebula_common.hpp
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Expand Up @@ -20,7 +20,6 @@
#include <boost/tokenizer.hpp>

#include <algorithm>
#include <map>
#include <ostream>
#include <string>
#include <vector>
Expand Down Expand Up @@ -498,7 +497,8 @@ struct LidarConfigurationBase : EthernetSensorConfigurationBase
/// @return stream
inline std::ostream & operator<<(std::ostream & os, SensorConfigurationBase const & arg)
{
os << "SensorModel: " << arg.sensor_model << ", FrameID: " << arg.frame_id;
os << "SensorModel: " << arg.sensor_model << '\n';
os << "FrameID: " << arg.frame_id;
return os;
}

Expand All @@ -508,8 +508,10 @@ inline std::ostream & operator<<(std::ostream & os, SensorConfigurationBase cons
/// @return stream
inline std::ostream & operator<<(std::ostream & os, EthernetSensorConfigurationBase const & arg)
{
os << (SensorConfigurationBase)(arg) << ", HostIP: " << arg.host_ip
<< ", SensorIP: " << arg.sensor_ip << ", DataPort: " << arg.data_port;
os << (SensorConfigurationBase)(arg) << '\n';
os << "HostIP: " << arg.host_ip << '\n';
os << "SensorIP: " << arg.sensor_ip << '\n';
os << "DataPort: " << arg.data_port;
return os;
}

Expand All @@ -519,10 +521,12 @@ inline std::ostream & operator<<(std::ostream & os, EthernetSensorConfigurationB
/// @return stream
inline std::ostream & operator<<(std::ostream & os, CANSensorConfigurationBase const & arg)
{
os << (SensorConfigurationBase)(arg)
<< ", Interface: " << arg.interface << ", ReceiverTimeoutSec: " << arg.receiver_timeout_sec
<< ", SenderTimeoutSec: " << arg.sender_timeout_sec << ", Filters: " << arg.filters
<< ", UseBusTime: " << arg.use_bus_time;
os << (SensorConfigurationBase)(arg) << '\n';
os << "Interface: " << arg.interface << '\n';
os << "ReceiverTimeoutSec: " << arg.receiver_timeout_sec << '\n';
os << "SenderTimeoutSec: " << arg.sender_timeout_sec << '\n';
os << "Filters: " << arg.filters << '\n';
os << "UseBusTime: " << arg.use_bus_time;
return os;
}

Expand All @@ -533,9 +537,11 @@ inline std::ostream & operator<<(std::ostream & os, CANSensorConfigurationBase c
inline std::ostream & operator<<(
std::ostream & os, nebula::drivers::LidarConfigurationBase const & arg)
{
os << (EthernetSensorConfigurationBase)(arg) << ", ReturnMode: " << arg.return_mode
<< ", Frequency: " << arg.frequency_ms << ", MTU: " << arg.packet_mtu_size
<< ", Use sensor time: " << arg.use_sensor_time;
os << (EthernetSensorConfigurationBase)(arg) << '\n';
os << "ReturnMode: " << arg.return_mode << '\n';
os << "Frequency: " << arg.frequency_ms << '\n';
os << "MTU: " << arg.packet_mtu_size << '\n';
os << "Use sensor time: " << arg.use_sensor_time;
return os;
}

Expand Down
6 changes: 4 additions & 2 deletions nebula_common/include/nebula_common/robosense/robosense_common.hpp
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Expand Up @@ -46,8 +46,10 @@ struct RobosenseSensorConfiguration : LidarConfigurationBase
/// @return stream
inline std::ostream & operator<<(std::ostream & os, RobosenseSensorConfiguration const & arg)
{
os << (LidarConfigurationBase)(arg) << ", GnssPort: " << arg.gnss_port
<< ", ScanPhase:" << arg.scan_phase;
os << "RobosenseSensorConfiguration:" << '\n';
os << (LidarConfigurationBase)(arg) << '\n';
os << "GnssPort: " << arg.gnss_port << '\n';
os << "ScanPhase: " << arg.scan_phase;
return os;
}

Expand Down
10 changes: 7 additions & 3 deletions nebula_common/include/nebula_common/velodyne/velodyne_common.hpp
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Expand Up @@ -39,9 +39,13 @@ struct VelodyneSensorConfiguration : LidarConfigurationBase
/// @return stream
inline std::ostream & operator<<(std::ostream & os, VelodyneSensorConfiguration const & arg)
{
os << (LidarConfigurationBase)(arg) << ", GnssPort: " << arg.gnss_port
<< ", ScanPhase:" << arg.scan_phase << ", RotationSpeed:" << arg.rotation_speed
<< ", FOV(Start):" << arg.cloud_min_angle << ", FOV(End):" << arg.cloud_max_angle;
os << "VelodyneSensorConfiguration:" << '\n';
os << (LidarConfigurationBase)(arg) << '\n';
os << "GnssPort: " << arg.gnss_port << '\n';
os << "ScanPhase: " << arg.scan_phase << '\n';
os << "RotationSpeed: " << arg.rotation_speed << '\n';
os << "FOV(Start): " << arg.cloud_min_angle << '\n';
os << "FOV(End): " << arg.cloud_max_angle;
return os;
}

Expand Down
4 changes: 2 additions & 2 deletions nebula_decoders/include/nebula_decoders/nebula_decoders_hesai/decoders/hesai_decoder.hpp
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Expand Up @@ -77,8 +77,8 @@ class HesaiDecoder : public HesaiScanDecoder
{
if (packet.size() < sizeof(typename SensorT::packet_t)) {
RCLCPP_ERROR_STREAM(
logger_, "Packet size mismatch:" << packet.size() << " | Expected at least:"
<< sizeof(typename SensorT::packet_t));
logger_, "Packet size mismatch: " << packet.size() << " | Expected at least: "
<< sizeof(typename SensorT::packet_t));
return false;
}
if (std::memcpy(&packet_, packet.data(), sizeof(typename SensorT::packet_t))) {
Expand Down
4 changes: 2 additions & 2 deletions ...decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_decoder.hpp
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Expand Up @@ -67,8 +67,8 @@ class RobosenseDecoder : public RobosenseScanDecoder
{
if (msop_packet.size() < sizeof(typename SensorT::packet_t)) {
RCLCPP_ERROR_STREAM(
logger_, "Packet size mismatch:" << msop_packet.size() << " | Expected at least:"
<< sizeof(typename SensorT::packet_t));
logger_, "Packet size mismatch: " << msop_packet.size() << " | Expected at least: "
<< sizeof(typename SensorT::packet_t));
return false;
}
if (std::memcpy(&packet_, msop_packet.data(), sizeof(typename SensorT::packet_t))) {
Expand Down
4 changes: 2 additions & 2 deletions ...ers/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_info_decoder.hpp
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Expand Up @@ -50,8 +50,8 @@ class RobosenseInfoDecoder : public RobosenseInfoDecoderBase
const auto packet_size = raw_packet.size();
if (packet_size < sizeof(typename SensorT::info_t)) {
RCLCPP_ERROR_STREAM(
logger_, "Packet size mismatch:" << packet_size << " | Expected at least:"
<< sizeof(typename SensorT::info_t));
logger_, "Packet size mismatch: " << packet_size << " | Expected at least: "
<< sizeof(typename SensorT::info_t));
return false;
}
try {
Expand Down
6 changes: 2 additions & 4 deletions nebula_examples/src/hesai/hesai_ros_offline_extract_bag_pcd.cpp
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Expand Up @@ -17,10 +17,8 @@
#include "rclcpp/serialization.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rcpputils/filesystem_helper.hpp"
#include "rcutils/time.h"
#include "rosbag2_cpp/reader.hpp"
#include "rosbag2_cpp/readers/sequential_reader.hpp"
#include "rosbag2_cpp/writer.hpp"
#include "rosbag2_cpp/writers/sequential_writer.hpp"
#include "rosbag2_storage/storage_options.hpp"

Expand All @@ -41,7 +39,7 @@ HesaiRosOfflineExtractBag::HesaiRosOfflineExtractBag(
wrapper_status_ =
GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
if (Status::OK != wrapper_status_) {
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
return;
}
RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
Expand Down Expand Up @@ -152,7 +150,7 @@ Status HesaiRosOfflineExtractBag::GetParameters(
}
}

RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
return Status::OK;
}

Expand Down
5 changes: 2 additions & 3 deletions nebula_examples/src/hesai/hesai_ros_offline_extract_pcd.cpp
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Expand Up @@ -17,7 +17,6 @@
#include "rclcpp/serialization.hpp"
#include "rclcpp/serialized_message.hpp"
#include "rcpputils/filesystem_helper.hpp"
#include "rcutils/time.h"
#include "rosbag2_cpp/reader.hpp"
#include "rosbag2_cpp/readers/sequential_reader.hpp"
#include "rosbag2_storage/storage_options.hpp"
Expand All @@ -41,7 +40,7 @@ HesaiRosOfflineExtractSample::HesaiRosOfflineExtractSample(
wrapper_status_ =
GetParameters(sensor_configuration, calibration_configuration, correction_configuration);
if (Status::OK != wrapper_status_) {
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
return;
}
RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
Expand Down Expand Up @@ -149,7 +148,7 @@ Status HesaiRosOfflineExtractSample::GetParameters(
}
}

RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration);
RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig: " << sensor_configuration);
return Status::OK;
}

Expand Down
2 changes: 1 addition & 1 deletion nebula_examples/src/velodyne/velodyne_ros_offline_extract_bag_pcd.cpp
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Expand Up @@ -32,7 +32,7 @@ VelodyneRosOfflineExtractBag::VelodyneRosOfflineExtractBag(

wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration);
if (Status::OK != wrapper_status_) {
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_);
RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error: " << wrapper_status_);
return;
}
RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting...");
Expand Down
2 changes: 1 addition & 1 deletion nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp
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Expand Up @@ -56,7 +56,7 @@ Status RobosenseHwInterface::InfoInterfaceStart()
try {
std::cout << "Starting UDP server for info packets on: " << *sensor_configuration_ << std::endl;
PrintInfo(
"Starting UDP server for info packets on: " + sensor_configuration_->sensor_ip + ":" +
"Starting UDP server for info packets on: " + sensor_configuration_->sensor_ip + ": " +
std::to_string(sensor_configuration_->gnss_port));
info_udp_driver_->init_receiver(
sensor_configuration_->host_ip, sensor_configuration_->gnss_port);
Expand Down
2 changes: 1 addition & 1 deletion nebula_hw_interfaces/src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp
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Expand Up @@ -129,7 +129,7 @@ boost::property_tree::ptree VelodyneHwInterface::ParseJson(const std::string & s
ss << str;
boost::property_tree::read_json(ss, tree);
} catch (boost::property_tree::json_parser_error & e) {
std::cerr << "Error on ParseJson:" << e.what() << std::endl;
std::cerr << "Error on ParseJson: " << e.what() << std::endl;
}
return tree;
}
Expand Down
2 changes: 1 addition & 1 deletion nebula_ros/src/continental/continental_ars548_ros_wrapper.cpp
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Expand Up @@ -37,7 +37,7 @@ ContinentalARS548RosWrapper::ContinentalARS548RosWrapper(const rclcpp::NodeOptio
(std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
}

RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *config_ptr_);
RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *config_ptr_);

launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());

Expand Down
4 changes: 3 additions & 1 deletion nebula_ros/src/continental/continental_srr520_ros_wrapper.cpp
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Expand Up @@ -14,6 +14,8 @@

#include "nebula_ros/continental/continental_srr520_ros_wrapper.hpp"

#pragma clang diagnostic ignored "-Wbitwise-instead-of-logical"

namespace nebula
{
namespace ros
Expand All @@ -35,7 +37,7 @@ ContinentalSRR520RosWrapper::ContinentalSRR520RosWrapper(const rclcpp::NodeOptio
(std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
}

RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *config_ptr_);
RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *config_ptr_);

launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());

Expand Down
2 changes: 1 addition & 1 deletion nebula_ros/src/hesai/hesai_ros_wrapper.cpp
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Expand Up @@ -26,7 +26,7 @@ HesaiRosWrapper::HesaiRosWrapper(const rclcpp::NodeOptions & options)
(std::stringstream{} << "Sensor configuration invalid: " << wrapper_status_).str());
}

RCLCPP_INFO_STREAM(get_logger(), "SensorConfig:" << *sensor_cfg_ptr_);
RCLCPP_INFO_STREAM(get_logger(), "SensorConfig: " << *sensor_cfg_ptr_);

launch_hw_ = declare_parameter<bool>("launch_hw", param_read_only());

Expand Down
4 changes: 2 additions & 2 deletions nebula_ros/src/hesai/hw_monitor_wrapper.cpp
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Expand Up @@ -59,8 +59,8 @@ HesaiHwMonitorWrapper::HesaiHwMonitorWrapper(
std::cout << result << std::endl;
info_model_ = result.get_str_model();
info_serial_ = std::string(std::begin(result.sn), std::end(result.sn));
RCLCPP_INFO_STREAM(logger_, "Model:" << info_model_);
RCLCPP_INFO_STREAM(logger_, "Serial:" << info_serial_);
RCLCPP_INFO_STREAM(logger_, "Model: " << info_model_);
RCLCPP_INFO_STREAM(logger_, "Serial: " << info_serial_);
InitializeHesaiDiagnostics();
}

Expand Down
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