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fix: ars548: replace removed logger with nebula logger #321

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Merged
mojomex merged 1 commit into from
May 16, 2025
Merged

fix: ars548: replace removed logger with nebula logger #321

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12 changes: 0 additions & 12 deletions ...nebula_hw_interfaces/nebula_hw_interfaces_continental/continental_ars548_hw_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,18 +131,6 @@ class ContinentalARS548HwInterface
Status set_yaw_rate(float yaw_rate);

private:
/// @brief Printing the string to RCLCPP_INFO_STREAM
/// @param info Target string
void print_info(std::string info);

/// @brief Printing the string to RCLCPP_ERROR_STREAM
/// @param error Target string
void print_error(std::string error);

/// @brief Printing the string to RCLCPP_DEBUG_STREAM
/// @param debug Target string
void print_debug(std::string debug);

/// @brief Callback function to receive the Cloud Packet data from the UDP Driver
/// @param buffer Buffer containing the data received from the UDP socket
void receive_sensor_packet_callback_with_sender(
Expand Down
58 changes: 29 additions & 29 deletions ...la_hw_interfaces/src/nebula_continental_hw_interfaces/continental_ars548_hw_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,7 +119,7 @@
lateral_autosar > 100.f || vertical_autosar < 0.01f || vertical_autosar > 10.f ||
yaw_autosar < -M_PI || yaw_autosar > M_PI || pitch_autosar < -M_PI_2 ||
pitch_autosar > M_PI_2) {
print_error("Invalid SetSensorMounting values");
logger_->error("Invalid SetSensorMounting values");
return Status::SENSOR_CONFIG_ERROR;
}

Expand All @@ -138,12 +138,12 @@
std::vector<uint8_t> send_vector(sizeof(ConfigurationPacket));
std::memcpy(send_vector.data(), &configuration_packet, sizeof(ConfigurationPacket));

print_info("longitudinal_autosar = " + std::to_string(longitudinal_autosar));
print_info("lateral_autosar = " + std::to_string(lateral_autosar));
print_info("vertical_autosar = " + std::to_string(vertical_autosar));
print_info("yaw_autosar = " + std::to_string(yaw_autosar));
print_info("pitch_autosar = " + std::to_string(pitch_autosar));
print_info("plug_orientation = " + std::to_string(plug_orientation));
logger_->info("longitudinal_autosar = " + std::to_string(longitudinal_autosar));
logger_->info("lateral_autosar = " + std::to_string(lateral_autosar));
logger_->info("vertical_autosar = " + std::to_string(vertical_autosar));
logger_->info("yaw_autosar = " + std::to_string(yaw_autosar));
logger_->info("pitch_autosar = " + std::to_string(pitch_autosar));

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logger_->info("plug_orientation = " + std::to_string(plug_orientation));

if (!sensor_udp_driver_ptr_->sender()->isOpen()) {
return Status::ERROR_1;
Expand All @@ -161,7 +161,7 @@
length_autosar < 0.01f || length_autosar > 100.f || width_autosar < 0.01f ||
width_autosar > 100.f || height_autosar < 0.01f || height_autosar > 100.f ||
wheel_base_autosar < 0.01f || wheel_base_autosar > 100.f) {
print_error("Invalid SetVehicleParameters values");
logger_->error("Invalid SetVehicleParameters values");
return Status::SENSOR_CONFIG_ERROR;
}

Expand All @@ -179,10 +179,10 @@
std::vector<uint8_t> send_vector(sizeof(ConfigurationPacket));
std::memcpy(send_vector.data(), &configuration_packet, sizeof(ConfigurationPacket));

print_info("length_autosar = " + std::to_string(length_autosar));
print_info("width_autosar = " + std::to_string(width_autosar));
print_info("height_autosar = " + std::to_string(height_autosar));
print_info("wheel_base_autosar = " + std::to_string(wheel_base_autosar));
logger_->info("length_autosar = " + std::to_string(length_autosar));

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logger_->info("width_autosar = " + std::to_string(width_autosar));
logger_->info("height_autosar = " + std::to_string(height_autosar));
logger_->info("wheel_base_autosar = " + std::to_string(wheel_base_autosar));

if (!sensor_udp_driver_ptr_->sender()->isOpen()) {
return Status::ERROR_1;
Expand All @@ -200,19 +200,19 @@
if (
maximum_distance < maximum_distance_min_value ||
maximum_distance > maximum_distance_max_value) {
print_error("Invalid maximum_distance value");
logger_->error("Invalid maximum_distance value");
return Status::SENSOR_CONFIG_ERROR;
}

if (cycle_time_ms < min_cycle_time_ms || cycle_time_ms > max_cycle_time_ms) {
print_error("Invalid cycle_time_ms value");
logger_->error("Invalid cycle_time_ms value");

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return Status::SENSOR_CONFIG_ERROR;
}

if (
time_slot_ms < min_time_slot_ms || time_slot_ms > cycle_time_ms - 1 ||
time_slot_ms > max_time_slot_ms) {
print_error("Invalid time_slot_ms value");
logger_->error("Invalid time_slot_ms value");
return Status::SENSOR_CONFIG_ERROR;
}

Expand All @@ -232,12 +232,12 @@
std::vector<uint8_t> send_vector(sizeof(ConfigurationPacket));
std::memcpy(send_vector.data(), &configuration_packet, sizeof(ConfigurationPacket));

print_info("maximum_distance = " + std::to_string(maximum_distance));
print_info("frequency_slot = " + std::to_string(frequency_slot) + " ms");
print_info("cycle_time = " + std::to_string(cycle_time_ms) + " ms");
print_info("time_slot = " + std::to_string(time_slot_ms) + " ms");
print_info("hcc = " + std::to_string(hcc));
print_info("power_save_standstill = " + std::to_string(power_save_standstill));
logger_->info("maximum_distance = " + std::to_string(maximum_distance));
logger_->info("frequency_slot = " + std::to_string(frequency_slot) + " ms");
logger_->info("cycle_time = " + std::to_string(cycle_time_ms) + " ms");

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logger_->info("time_slot = " + std::to_string(time_slot_ms) + " ms");
logger_->info("hcc = " + std::to_string(hcc));
logger_->info("power_save_standstill = " + std::to_string(power_save_standstill));

if (!sensor_udp_driver_ptr_->sender()->isOpen()) {
return Status::ERROR_1;
Expand All @@ -256,11 +256,11 @@
auto sensor_ip = boost::asio::ip::address::from_string(sensor_ip_address);
ip_bytes = sensor_ip.to_v4().to_bytes();
} catch (const std::exception & ex) {
print_error("Setting invalid IP=" + sensor_ip_address);
logger_->error("Setting invalid IP=" + sensor_ip_address);
return Status::SENSOR_CONFIG_ERROR;
}

print_info("New sensor IP = " + sensor_ip_address);
logger_->info("New sensor IP = " + sensor_ip_address);

ConfigurationPacket configuration{};
static_assert(sizeof(ConfigurationPacket) == configuration_udp_length);
Expand Down Expand Up @@ -297,7 +297,7 @@
const int acceleration_lateral_cog_udp_length = 40;

if (lateral_acceleration < -65.f || lateral_acceleration > 65.f) {
print_error("Invalid lateral_acceleration value");
logger_->error("Invalid lateral_acceleration value");
return Status::ERROR_1;
}

Expand Down Expand Up @@ -329,7 +329,7 @@
const int acceleration_longitudinal_cog_udp_length = 40;

if (longitudinal_acceleration < -65.f || longitudinal_acceleration > 65.f) {
print_error("Invalid longitudinal_acceleration value");
logger_->error("Invalid longitudinal_acceleration value");
return Status::ERROR_1;
}

Expand Down Expand Up @@ -362,7 +362,7 @@
const int characteristic_speed_udp_length = 19;

if (characteristic_speed < 0.f || characteristic_speed > 255.f) {
print_error("Invalid characteristic_speed value");
logger_->error("Invalid characteristic_speed value");
return Status::ERROR_1;
}

Expand Down Expand Up @@ -429,7 +429,7 @@
const int steering_angle_udp_length = 40;

if (angle_rad < -90.f || angle_rad > 90.f) {
print_error("Invalid angle_rad value");
logger_->error("Invalid angle_rad value");
return Status::ERROR_1;
}

Expand All @@ -456,7 +456,7 @@
Status ContinentalARS548HwInterface::set_velocity_vehicle(float velocity_kmh)
{
if (velocity_kmh < 0.f || velocity_kmh > 350.f) {
print_error("Invalid velocity value");
logger_->error("Invalid velocity value");

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return Status::ERROR_1;
}

Expand Down Expand Up @@ -487,7 +487,7 @@
Status ContinentalARS548HwInterface::set_yaw_rate(float yaw_rate)
{
if (yaw_rate < -163.83 || yaw_rate > 163.83) {
print_error("Invalid yaw rate value");
logger_->error("Invalid yaw rate value");
return Status::ERROR_1;
}

Expand Down
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