feat(nebula_hw_interfaces): better UDP socket (#231)

* feat(udp): a new UDP socket implementation Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): more error handling and doc comments Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): always enable socket reuse Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): clean up C-style code Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): remove unnecessary double parens Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): use poll to prevent blocking when there is no received data Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): differentiate between socket and usage-related errors Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): allow setting receive buffer size Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): use uint8_t because std::byte is annoying to refactor into everywhere Signed-off-by: Max SCHMELLER <[email protected]> * fix(udp): update state correctly when `bind()` is called Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): monitor socket packet drops Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): add explicit unsubscribe function to facilitate clean shutdown Signed-off-by: Max SCHMELLER <[email protected]> * chore(expected): add stdexcept include Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): report when messages have been truncated Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): relax some usage requirements Signed-off-by: Max SCHMELLER <[email protected]> * test(udp): add most of the unit tests for udp socket Signed-off-by: Max SCHMELLER <[email protected]> * ci(pre-commit): autofix * chore(cspell): add OVFL to dictionary Signed-off-by: Max SCHMELLER <[email protected]> * fix(udp): return correctly truncated buffer when oversized packet is received Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): uniform initialization for buffer_size_ Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): disallow re-initializing socket Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): make error value checking consistent (== -1) Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): add explanatory comment on handling of 0-length datagrams Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): disallow binding to broadcast IP Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): bind to host IP instead of INADDR_ANY in non-multicast case Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): make polling interval configurable Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): rename ReceiveMetadata to RxMetadata Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): parse IP addresses with error checking Signed-off-by: Max SCHMELLER <[email protected]> * test(udp): update and fix tests after changes of recent commits Signed-off-by: Max SCHMELLER <[email protected]> * feat(expected): add shorthand `value_or_throw()` function Signed-off-by: Max SCHMELLER <[email protected]> * feat(udp): refactor to typestate-based builder pattern to make misuse a compiler error Signed-off-by: Max SCHMELLER <[email protected]> * ci(pre-commit): autofix * chore(udp): replace `-1` with `uninitialized` in `SockFd` for clarity Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): mark SockFd constructor explicit Signed-off-by: Max SCHMELLER <[email protected]> * fix(udp): enforce that at most one multicast group is joined Signed-off-by: Max SCHMELLER <[email protected]> * chore(udp): reorder UdpSocket class to reduce number of needed visibility modifiers Signed-off-by: Max SCHMELLER <[email protected]> * fix(udp): make UDP socket object move-constructible to enable things like optional.emplace() etc. Signed-off-by: Max SCHMELLER <[email protected]> --------- Signed-off-by: Max SCHMELLER <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
tier4 · Dec 23, 2024 · dc69e52 · dc69e52
1 parent 97959dd
commit dc69e52
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Showing 6 changed files with 769 additions and 6 deletions.
diff --git a/.cspell.json b/.cspell.json
@@ -32,6 +32,7 @@
     "nproc",
     "nsec",
     "ntoa",
+    "OVFL",
     "pandar",
     "PANDAR",
     "PANDARAT",

diff --git a/nebula_common/include/nebula_common/util/expected.hpp b/nebula_common/include/nebula_common/util/expected.hpp
@@ -15,6 +15,7 @@
 #pragma once
 
 #include <exception>
+#include <stdexcept>
 #include <string>
 #include <variant>
 
@@ -78,6 +79,13 @@ struct expected
     throw std::runtime_error(error_msg);
   }
 
+  /// @brief If the instance has a value, return the value, else throw the stored error instance.
+  T value_or_throw()
+  {
+    if (has_value()) return value();
+    throw error();
+  }
+
   /// @brief Retrieve the error, or throw `bad_expected_access` if a value is contained.
   /// @return The error of type `E`
   E error()

diff --git a/nebula_hw_interfaces/CMakeLists.txt b/nebula_hw_interfaces/CMakeLists.txt
@@ -2,13 +2,13 @@ cmake_minimum_required(VERSION 3.14)
 project(nebula_hw_interfaces)
 
 # Default to C++17
-if (NOT CMAKE_CXX_STANDARD)
+if(NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)
-endif ()
+endif()
 
-if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
     add_compile_options(-Wall -Wextra -Wpedantic -Wunused-function)
-endif ()
+endif()
 
 find_package(ament_cmake_auto REQUIRED)
 find_package(boost_tcp_driver)
@@ -53,7 +53,6 @@ target_link_libraries(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${velodyne_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_velodyne PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -68,7 +67,6 @@ target_link_libraries(nebula_hw_interfaces_robosense PUBLIC
     ${boost_tcp_driver_LIBRARIES}
     ${boost_udp_driver_LIBRARIES}
     ${robosense_msgs_TARGETS}
-
 )
 target_include_directories(nebula_hw_interfaces_robosense PUBLIC
     ${boost_udp_driver_INCLUDE_DIRS}
@@ -100,6 +98,17 @@ install(DIRECTORY include/ DESTINATION include/${PROJECT_NAME})
 if(BUILD_TESTING)
     find_package(ament_lint_auto REQUIRED)
     ament_lint_auto_find_test_dependencies()
+
+    find_package(ament_cmake_gtest REQUIRED)
+
+    ament_add_gtest(test_udp
+        test/common/test_udp.cpp
+    )
+
+    target_include_directories(test_udp PUBLIC
+        ${nebula_common_INCLUDE_DIRS}
+        include
+        test)
 endif()
 
 ament_export_include_directories("include/${PROJECT_NAME}")