[NET] Local Transceiver: ROS modes and config file (#343)

* Added modes and config file for Local Transceiver

* Fixed error with spacing

* Adjust comments

---------

Co-authored-by: hhenry01 <henryhuang2001@gmail.com>

src/network_systems/config/local_transceiver/local_transceiver_template.yaml

@@ -0,0 +1,6 @@
+# Template for the local_transceiver module
+local_transceiver_node:
+  ros__parameters:
+    enabled: true
+    # The following parameters are optional. Defaults are set in local_transceiver_ros_intf.cpp
+    port: # String: Serial port that the Local Transceiver will use (default: /tmp/local_transceiver_test_port)

src/network_systems/launch/main_launch.py

@@ -86,6 +86,7 @@ def setup_launch(context: LaunchContext) -> List[Node]:
     launch_description_entities.append(get_mock_ais_description(context))
     launch_description_entities.append(get_can_transceiver_description(context))
     launch_description_entities.append(get_remote_transceiver_description(context))
+    launch_description_entities.append(get_local_transceiver_description(context))
     return launch_description_entities
 
 
@@ -215,3 +216,34 @@ def get_remote_transceiver_description(context: LaunchContext) -> Node:
     )
 
     return node
+
+
+def get_local_transceiver_description(context: LaunchContext) -> Node:
+    """Gets the launch description for the local_transceiver_node.
+
+        Args:
+            context (LaunchContext): The current launch context.
+
+        Returns:
+            Node: The node object that launches the local_transceiver_node.
+        """
+    node_name = "local_transceiver_node"
+    ros_parameters = [
+        global_launch_config,
+        {"mode": LaunchConfiguration("mode")},
+        *LaunchConfiguration("config").perform(context).split(","),
+    ]
+    ros_arguments: List[SomeSubstitutionsType] = [
+        "--log-level",
+        [f"{node_name}:=", LaunchConfiguration("log_level")],
+    ]
+    node = Node(
+        package=PACKAGE_NAME,
+        namespace=NAMESPACE,
+        executable="local_transceiver",
+        name=node_name,
+        parameters=ros_parameters,
+        ros_arguments=ros_arguments,
+    )
+
+    return node

src/network_systems/projects/local_transceiver/src/local_transceiver_ros_intf.cpp

@@ -13,7 +13,7 @@
 #include "net_node.h"
 
 /**
- * Local Transceiver Interface Node
+ * @brief Connect the Local Transceiver to the ROS network
  *
  */
 class LocalTransceiverIntf : public NetNode
@@ -24,40 +24,67 @@ class LocalTransceiverIntf : public NetNode
      *
      * @param lcl_trns Local Transceiver instance
      */
-    explicit LocalTransceiverIntf(std::shared_ptr<LocalTransceiver> lcl_trns)
-    : NetNode(ros_nodes::LOCAL_TRANSCEIVER), lcl_trns_(lcl_trns)
+    explicit LocalTransceiverIntf() : NetNode("local_transceiver_node")
+
     {
-        static constexpr int  ROS_Q_SIZE     = 5;
-        static constexpr auto TIMER_INTERVAL = std::chrono::milliseconds(500);
-        timer_ = this->create_wall_timer(TIMER_INTERVAL, std::bind(&LocalTransceiverIntf::pub_cb, this));
-        pub_   = this->create_publisher<custom_interfaces::msg::Path>(ros_topics::GLOBAL_PATH, ROS_Q_SIZE);
-
-        // subscriber nodes
-        sub_wind_sensor = this->create_subscription<custom_interfaces::msg::WindSensors>(
-          ros_topics::WIND_SENSORS, ROS_Q_SIZE,
-          std::bind(&LocalTransceiverIntf::sub_wind_sensor_cb, this, std::placeholders::_1));
-        sub_batteries = this->create_subscription<custom_interfaces::msg::Batteries>(
-          ros_topics::BATTERIES, ROS_Q_SIZE,
-          std::bind(&LocalTransceiverIntf::sub_batteries_cb, this, std::placeholders::_1));
-        sub_data_sensors = this->create_subscription<custom_interfaces::msg::GenericSensors>(
-          ros_topics::DATA_SENSORS, ROS_Q_SIZE,
-          std::bind(&LocalTransceiverIntf::sub_data_sensors_cb, this, std::placeholders::_1));
-        sub_ais_ships = this->create_subscription<custom_interfaces::msg::AISShips>(
-          ros_topics::AIS_SHIPS, ROS_Q_SIZE,
-          std::bind(&LocalTransceiverIntf::sub_ais_ships_cb, this, std::placeholders::_1));
-        sub_gps = this->create_subscription<custom_interfaces::msg::GPS>(
-          ros_topics::GPS, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_gps_cb, this, std::placeholders::_1));
-        sub_local_path_data = this->create_subscription<custom_interfaces::msg::LPathData>(
-          ros_topics::LOCAL_PATH, ROS_Q_SIZE,
-          std::bind(&LocalTransceiverIntf::sub_local_path_data_cb, this, std::placeholders::_1));
+        this->declare_parameter("enabled", true);
+        bool enabled_ = this->get_parameter("enabled").as_bool();
+
+        if (!enabled_) {
+            RCLCPP_INFO(this->get_logger(), "Local Transceiver is DISABLED");
+        } else {
+            this->declare_parameter("mode", SYSTEM_MODE::DEV);
+
+            rclcpp::Parameter mode_param = this->get_parameter("mode");
+            std::string       mode       = mode_param.as_string();
+            std::string       default_port;
+
+            if (mode == SYSTEM_MODE::PROD) {
+                //TODO(Jng468) placeholder
+            } else if (mode == SYSTEM_MODE::DEV) {
+                default_port = LOCAL_TRANSCEIVER_TEST_PORT;
+            } else {
+                std::string msg = "Error, invalid system mode" + mode;
+                throw std::runtime_error(msg);
+            }
+
+            this->declare_parameter("port", default_port);
+            rclcpp::Parameter default_port_parm = this->get_parameter("port");
+            std::string       port              = default_port_parm.as_string();
+
+            RCLCPP_INFO(
+              this->get_logger(), "Running Local Transceiver in mode: %s, with port: %s.", mode.c_str(), port.c_str());
+            lcl_trns_ = std::make_unique<LocalTransceiver>(port, SATELLITE_BAUD_RATE);
+
+            static constexpr int  ROS_Q_SIZE     = 5;
+            static constexpr auto TIMER_INTERVAL = std::chrono::milliseconds(500);
+            timer_ = this->create_wall_timer(TIMER_INTERVAL, std::bind(&LocalTransceiverIntf::pub_cb, this));
+            pub_   = this->create_publisher<custom_interfaces::msg::Path>(ros_topics::GLOBAL_PATH, ROS_Q_SIZE);
+
+            // subscriber nodes
+            sub_wind_sensor = this->create_subscription<custom_interfaces::msg::WindSensors>(
+              ros_topics::WIND_SENSORS, ROS_Q_SIZE,
+              std::bind(&LocalTransceiverIntf::sub_wind_sensor_cb, this, std::placeholders::_1));
+            sub_batteries = this->create_subscription<custom_interfaces::msg::Batteries>(
+              ros_topics::BATTERIES, ROS_Q_SIZE,
+              std::bind(&LocalTransceiverIntf::sub_batteries_cb, this, std::placeholders::_1));
+            sub_data_sensors = this->create_subscription<custom_interfaces::msg::GenericSensors>(
+              ros_topics::DATA_SENSORS, ROS_Q_SIZE,
+              std::bind(&LocalTransceiverIntf::sub_data_sensors_cb, this, std::placeholders::_1));
+            sub_ais_ships = this->create_subscription<custom_interfaces::msg::AISShips>(
+              ros_topics::AIS_SHIPS, ROS_Q_SIZE,
+              std::bind(&LocalTransceiverIntf::sub_ais_ships_cb, this, std::placeholders::_1));
+            sub_gps = this->create_subscription<custom_interfaces::msg::GPS>(
+              ros_topics::GPS, ROS_Q_SIZE, std::bind(&LocalTransceiverIntf::sub_gps_cb, this, std::placeholders::_1));
+            sub_local_path_data = this->create_subscription<custom_interfaces::msg::LPathData>(
+              ros_topics::LOCAL_PATH, ROS_Q_SIZE,
+              std::bind(&LocalTransceiverIntf::sub_local_path_data_cb, this, std::placeholders::_1));
+        }
     }
 
 private:
-    // Local Transceiver instance
-    std::shared_ptr<LocalTransceiver> lcl_trns_;
-    // Publishing timer
-    rclcpp::TimerBase::SharedPtr timer_;
-    // String is a placeholder pub and sub msg type - we will definitely define custom message types
+    std::unique_ptr<LocalTransceiver>                          lcl_trns_;  // Local Transceiver instance
+    rclcpp::TimerBase::SharedPtr                               timer_;     // Publishing timer
     rclcpp::Publisher<custom_interfaces::msg::Path>::SharedPtr pub_;
 
     rclcpp::Subscription<custom_interfaces::msg::WindSensors>::SharedPtr    sub_wind_sensor;
@@ -71,73 +98,45 @@ class LocalTransceiverIntf : public NetNode
      * @brief Callback function to publish to onboard ROS network
      *
      */
-    void pub_cb(/*place*/)
+    void pub_cb(/*placeholder*/)
     {
-        // TODO(Jng468): complete, after receive is done
-        // std::string recent_data = lcl_trns_->receive();  //receives most recent data from remote server
-        // auto msg = custom_interfaces::msg::Path();
-        // pub_->publish(msg);
+        // TODO(Jng468): complete this, after receive is done
     }
 
     /**
      * @brief Callback function to subscribe to the onboard ROS network for wind sensors
      */
-    void sub_wind_sensor_cb(custom_interfaces::msg::WindSensors in_msg)
-    {
-        custom_interfaces::msg::WindSensors data = in_msg;
-        lcl_trns_->updateSensor(data);
-    }
+    void sub_wind_sensor_cb(custom_interfaces::msg::WindSensors in_msg) { lcl_trns_->updateSensor(in_msg); }
 
     /**
      * @brief Callback function to subscribe to the onboard ROS network for batteries
      */
-    void sub_batteries_cb(custom_interfaces::msg::Batteries in_msg)
-    {
-        custom_interfaces::msg::Batteries data = in_msg;
-        lcl_trns_->updateSensor(data);
-    }
+    void sub_batteries_cb(custom_interfaces::msg::Batteries in_msg) { lcl_trns_->updateSensor(in_msg); }
 
     /**
      * @brief Callback function to subscribe to the onboard ROS network for generic sensors
      */
-    void sub_data_sensors_cb(custom_interfaces::msg::GenericSensors in_msg)
-    {
-        custom_interfaces::msg::GenericSensors data = in_msg;
-        lcl_trns_->updateSensor(data);
-    }
+    void sub_data_sensors_cb(custom_interfaces::msg::GenericSensors in_msg) { lcl_trns_->updateSensor(in_msg); }
 
     /**
      * @brief Callback function to subscribe to the onboard ROS network for ais ships
      */
-    void sub_ais_ships_cb(custom_interfaces::msg::AISShips in_msg)
-    {
-        custom_interfaces::msg::AISShips data = in_msg;
-        lcl_trns_->updateSensor(data);
-    }
+    void sub_ais_ships_cb(custom_interfaces::msg::AISShips in_msg) { lcl_trns_->updateSensor(in_msg); }
 
     /**
      * @brief Callback function to subscribe to the onboard ROS network for GPS
      */
-    void sub_gps_cb(custom_interfaces::msg::GPS in_msg)
-    {
-        custom_interfaces::msg::GPS data = in_msg;
-        lcl_trns_->updateSensor(data);
-    }
+    void sub_gps_cb(custom_interfaces::msg::GPS in_msg) { lcl_trns_->updateSensor(in_msg); }
 
-    void sub_local_path_data_cb(custom_interfaces::msg::LPathData in_msg)
-    {
-        custom_interfaces::msg::LPathData data = in_msg;
-        lcl_trns_->updateSensor(data);
-    }
+    void sub_local_path_data_cb(custom_interfaces::msg::LPathData in_msg) { lcl_trns_->updateSensor(in_msg); }
 };
 
 int main(int argc, char * argv[])
 {
     bool err = false;
     rclcpp::init(argc, argv);
-    std::shared_ptr<LocalTransceiver> lcl_trns = std::make_shared<LocalTransceiver>("PLACEHOLDER", SATELLITE_BAUD_RATE);
     try {
-        std::shared_ptr<LocalTransceiverIntf> node = std::make_shared<LocalTransceiverIntf>(lcl_trns);
+        std::shared_ptr<LocalTransceiverIntf> node = std::make_shared<LocalTransceiverIntf>();
         try {
             rclcpp::spin(node);
         } catch (std::exception & e) {