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use std::{
    sync::{Arc, RwLock},
    time::Duration,
};

use arci::*;
use r2r::{sensor_msgs::msg::LaserScan, QosProfile};
use serde::{Deserialize, Serialize};

use crate::{utils, Node};

/// `arci::LaserScan2D` implementation for ROS2.
pub struct Ros2LaserScan2D {
    scan: Arc<RwLock<Option<LaserScan>>>,
    laser_scan_topic_name: String,
    // keep not to be dropped
    _node: Node,
}

impl Ros2LaserScan2D {
    /// Creates a new `Ros2LaserScan2D` from sensor_msgs/LaserScan topic name.
    pub fn new(node: Node, laser_scan_topic_name: &str) -> Result<Self, Error> {
        let mut scan_subscriber = node
            .r2r()
            .subscribe::<LaserScan>(laser_scan_topic_name, QosProfile::default())
            .map_err(anyhow::Error::from)?;
        let scan = utils::subscribe_one(&mut scan_subscriber, Duration::from_secs(1));
        let scan = Arc::new(RwLock::new(scan));
        utils::subscribe_thread(scan_subscriber, scan.clone(), Some);

        Ok(Self {
            scan,
            laser_scan_topic_name: laser_scan_topic_name.to_owned(),
            _node: node,
        })
    }
}

impl LaserScan2D for Ros2LaserScan2D {
    fn current_scan(&self) -> Result<arci::Scan2D, arci::Error> {
        let subscribed_scan = self.scan.read().unwrap();
        let current_scan = match &*subscribed_scan {
            Some(msg) => Scan2D {
                angle_min: msg.angle_min as f64,
                angle_max: msg.angle_max as f64,
                angle_increment: msg.angle_increment as f64,
                time_increment: msg.time_increment as f64,
                scan_time: msg.scan_time as f64,
                range_min: msg.range_min as f64,
                range_max: msg.range_max as f64,
                ranges: msg.ranges.iter().map(|&v| v as f64).collect::<Vec<f64>>(),
                intensities: msg
                    .intensities
                    .iter()
                    .map(|&v| v as f64)
                    .collect::<Vec<f64>>(),
            },
            None => {
                return Err(Error::Connection {
                    message: format!("Failed to get scan from {}", self.laser_scan_topic_name),
                });
            }
        };
        Ok(current_scan)
    }
}

/// Configuration for `Ros2LaserScan2D`.
#[derive(Debug, Clone, Serialize, Deserialize)]
#[serde(deny_unknown_fields)]
pub struct Ros2LaserScan2DConfig {
    /// Topic name for sensor_msgs/LaserScan.
    pub topic: String,
}