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Only create UDP publisher/subscriber if required #69

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Mar 12, 2025
Merged

Only create UDP publisher/subscriber if required #69

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75e3413
only create udp pub/sub if required
lreiher Mar 7, 2025
09b4096
check params for supported etsi types and not only param default types
lreiher Mar 12, 2025
4be3fbb
remove redundant kEtsiTypesParamSupportedOptions variable
lreiher Mar 12, 2025
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4 changes: 2 additions & 2 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -208,8 +208,8 @@ rosrun nodelet nodelet standalone etsi_its_conversion/Converter _etsi_types:=[ca
| `has_btp_destination_port` | `bool` | whether incoming/outgoing UDP messages include a [2-byte BTP destination port](https://www.etsi.org/deliver/etsi_en/302600_302699/3026360501/02.01.00_20/en_3026360501v020100a.pdf) |
| `btp_destination_port_offset` | `int` | number of bytes before an optional 2-byte BTP destination port, see `has_btp_destination_port` (always `0` in outgoing UDP payload) |
| `etsi_message_payload_offset` | `int` | number of bytes before actual ETSI message payload (always `0` or `4` (if `has_btp_destination_port`) in outgoing UDP payload) |
| `ros2udp_etsi_types` | `string[]` | list of ETSI types to convert from `etsi_its_msgs` to `udp_msgs` (defaults to all norms and specifications of all possible ETSI types) | `cam`, `cam_ts`, `cpm_ts`, `denm`, `denm_ts`, `mapem_ts`, `spatem_ts`, `vam_ts` |
| `udp2ros_etsi_types` | `string[]` | list of ETSI types to convert from `udp_msgs` to `etsi_its_msgs` (defaults only to the norm or specification of all possible ETSI types) | `cam`, `cam_ts`, `cpm_ts`, `denm`, `denm_ts`, `mapem_ts`, `spatem_ts`, `vam_ts` |
| `ros2udp_etsi_types` | `string[]` | list of ETSI types to convert from `etsi_its_msgs` to `udp_msgs` (defaults to all supported ETSI types, including EN and TS versions) | `cam`, `cam_ts`, `cpm_ts`, `denm`, `denm_ts`, `mapem_ts`, `spatem_ts`, `vam_ts` |
| `udp2ros_etsi_types` | `string[]` | list of ETSI types to convert from `udp_msgs` to `etsi_its_msgs` (defaults to all supported ETSI types, either EN or TS version) | `cam`, `cam_ts`, `cpm_ts`, `denm`, `denm_ts`, `mapem_ts`, `spatem_ts`, `vam_ts` |
| `subscriber_queue_size` | `int` | queue size for incoming ROS messages |
| `publisher_queue_size` | `int` | queue size for outgoing ROS messages |
| `check_constraints_before_encoding` | `bool` | whether an asn constraint check should be performed before encoding using asn1c's `asn_check_constraints` function (setting to `true` could lead to segmentation faults because of infinite recursion; [known asn1c issue](https://github.com/vlm/asn1c/issues/410)) |
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1 change: 1 addition & 0 deletions etsi_its_conversion/etsi_its_conversion/include/etsi_its_conversion/Converter.hpp
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Expand Up @@ -173,6 +173,7 @@ class Converter : public rclcpp::Node {
static const int kEtsiMessagePayloadOffsetParamDefault;
static const std::string kRos2UdpEtsiTypesParam;
static const std::string kUdp2RosEtsiTypesParam;
static const std::vector<std::string> kEtsiTypesParamSupportedOptions;
static const std::vector<std::string> kRos2UdpEtsiTypesParamDefault;
static const std::vector<std::string> kUdp2RosEtsiTypesParamDefault;
static const std::string kSubscriberQueueSizeParam;
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39 changes: 28 additions & 11 deletions etsi_its_conversion/etsi_its_conversion/src/Converter.cpp
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Expand Up @@ -102,7 +102,8 @@ const std::string Converter::kEtsiMessagePayloadOffsetParam{"etsi_message_payloa
const int Converter::kEtsiMessagePayloadOffsetParamDefault{78};
const std::string Converter::kRos2UdpEtsiTypesParam{"ros2udp_etsi_types"};
const std::string Converter::kUdp2RosEtsiTypesParam{"udp2ros_etsi_types"};
const std::vector<std::string> Converter::kRos2UdpEtsiTypesParamDefault{"cam", "cam_ts", "cpm_ts", "denm", "denm_ts", "mapem_ts", "spatem_ts", "vam_ts"};
const std::vector<std::string> kEtsiTypesParamSupportedOptions{"cam", "cam_ts", "cpm_ts", "denm", "denm_ts", "mapem_ts", "spatem_ts", "vam_ts"};
const std::vector<std::string> Converter::kRos2UdpEtsiTypesParamDefault = kEtsiTypesParamSupportedOptions;
const std::vector<std::string> Converter::kUdp2RosEtsiTypesParamDefault{"cam", "cpm_ts", "denm", "mapem_ts", "spatem_ts", "vam_ts"};
const std::string Converter::kSubscriberQueueSizeParam{"subscriber_queue_size"};
const int Converter::kSubscriberQueueSizeParamDefault{10};
Expand Down Expand Up @@ -206,9 +207,13 @@ void Converter::loadParameters() {
}

// check ros2udp_etsi_types
for (const auto& e : ros2udp_etsi_types_) {
if (std::find(kRos2UdpEtsiTypesParamDefault.begin(), kRos2UdpEtsiTypesParamDefault.end(), e) == kRos2UdpEtsiTypesParamDefault.end())
ROS12_LOG(WARN, "Invalid value '%s' for parameter '%s', skipping", e.c_str(), kRos2UdpEtsiTypesParam.c_str());
for (auto it = ros2udp_etsi_types_.begin(); it != ros2udp_etsi_types_.end(); ) {
if (std::find(kEtsiTypesParamSupportedOptions.begin(), kEtsiTypesParamSupportedOptions.end(), *it) == kEtsiTypesParamSupportedOptions.end()) {
ROS12_LOG(WARN, "Invalid value '%s' for parameter '%s', removing", it->c_str(), kRos2UdpEtsiTypesParam.c_str());
it = ros2udp_etsi_types_.erase(it);
} else {
++it;
}
}

// load udp2ros_etsi_types_
Expand All @@ -227,9 +232,13 @@ void Converter::loadParameters() {
}

// check udp2ros_etsi_types
for (const auto& e : udp2ros_etsi_types_) {
if (std::find(kUdp2RosEtsiTypesParamDefault.begin(), kUdp2RosEtsiTypesParamDefault.end(), e) == kUdp2RosEtsiTypesParamDefault.end())
ROS12_LOG(WARN, "Invalid value '%s' for parameter '%s', skipping", e.c_str(), kUdp2RosEtsiTypesParam.c_str());
for (auto it = udp2ros_etsi_types_.begin(); it != udp2ros_etsi_types_.end(); ) {
if (std::find(kEtsiTypesParamSupportedOptions.begin(), kEtsiTypesParamSupportedOptions.end(), *it) == kEtsiTypesParamSupportedOptions.end()) {
ROS12_LOG(WARN, "Invalid value '%s' for parameter '%s', removing", it->c_str(), kRos2UdpEtsiTypesParam.c_str());
it = udp2ros_etsi_types_.erase(it);
} else {
++it;
}
}
if (!has_btp_destination_port_ && udp2ros_etsi_types_.size() > 1) {
ROS12_LOG(WARN, "Parameter '%s' is set to 'false', but multiple 'udp2ros_etsi_types' are configured, dropping all but the first", kHasBtpDestinationPortParam.c_str());
Expand Down Expand Up @@ -278,8 +287,12 @@ void Converter::setup() {

// create subscribers and publishers
#ifdef ROS1
publisher_udp_ = std::make_shared<ros::Publisher>(private_node_handle_.advertise<UdpPacket>(kOutputTopicUdp, publisher_queue_size_));
subscriber_udp_ = std::make_shared<ros::Subscriber>(private_node_handle_.subscribe(kInputTopicUdp, subscriber_queue_size_, &Converter::udpCallback, this));
if (!ros2udp_etsi_types_.empty()) {
publisher_udp_ = std::make_shared<ros::Publisher>(private_node_handle_.advertise<UdpPacket>(kOutputTopicUdp, publisher_queue_size_));
}
if (!udp2ros_etsi_types_.empty()) {
subscriber_udp_ = std::make_shared<ros::Subscriber>(private_node_handle_.subscribe(kInputTopicUdp, subscriber_queue_size_, &Converter::udpCallback, this));
}
if (std::find(udp2ros_etsi_types_.begin(), udp2ros_etsi_types_.end(), "cam") != udp2ros_etsi_types_.end()) {
publishers_["cam"] = std::make_shared<ros::Publisher>(private_node_handle_.advertise<cam_msgs::CAM>(kOutputTopicCam, publisher_queue_size_));
ROS12_LOG(INFO, "Converting UDP messages of type CAM on '%s' to native ROS messages on '%s'", subscriber_udp_->getTopic().c_str(), publishers_["cam"]->getTopic().c_str());
Expand Down Expand Up @@ -361,8 +374,12 @@ void Converter::setup() {
ROS12_LOG(INFO, "Converting native ROS VAM (TS) on '%s' to UDP messages on '%s'", subscribers_["vam_ts"]->getTopic().c_str(), publisher_udp_->getTopic().c_str());
}
#else
publisher_udp_ = this->create_publisher<UdpPacket>(kOutputTopicUdp, publisher_queue_size_);
subscriber_udp_ = this->create_subscription<UdpPacket>(kInputTopicUdp, subscriber_queue_size_, std::bind(&Converter::udpCallback, this, std::placeholders::_1));
if (!ros2udp_etsi_types_.empty()) {
publisher_udp_ = this->create_publisher<UdpPacket>(kOutputTopicUdp, publisher_queue_size_);
}
if (!udp2ros_etsi_types_.empty()) {
subscriber_udp_ = this->create_subscription<UdpPacket>(kInputTopicUdp, subscriber_queue_size_, std::bind(&Converter::udpCallback, this, std::placeholders::_1));
}
if (std::find(udp2ros_etsi_types_.begin(), udp2ros_etsi_types_.end(), "cam") != udp2ros_etsi_types_.end()) {
publisher_cam_ = this->create_publisher<cam_msgs::CAM>(kOutputTopicCam, publisher_queue_size_);
ROS12_LOG(INFO, "Converting UDP messages of type CAM on '%s' to native ROS messages on '%s'", subscriber_udp_->get_topic_name(), publisher_cam_->get_topic_name());
Expand Down
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