carma_cloud_client_node.hpp

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
 
#pragma once
 
#define CURL_STATICLIB 
 
#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <std_msgs/msg/string.hpp>
#include <std_srvs/srv/empty.hpp>
#include <curl/curl.h>
#include <curl/easy.h>
#include <j2735_convertor/control_request_convertor.hpp>
#include <stdio.h>
#include <cstdio>
#include <iostream>
#include <zlib.h>
 
#include <QCoreApplication>
#include <QHostAddress>
#include <QVariantMap>
 
#include <qhttpengine/handler.h>
#include <qhttpengine/localauthmiddleware.h>
#include <qhttpengine/qobjecthandler.h>
#include <qhttpengine/server.h>
#include <qhttpengine/socket.h>
 
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include "carma_cloud_client/carma_cloud_client_config.hpp"
#include <j2735_v2x_msgs/msg/traffic_control_request.hpp>
#include <carma_v2x_msgs/msg/traffic_control_request.hpp>
#include <j2735_v2x_msgs/msg/traffic_control_message.hpp>
#include <boost/property_tree/ptree.hpp>
#include <boost/property_tree/xml_parser.hpp>
#include <boost/foreach.hpp>
 
#include <v2xhubWebAPI/OAIApiRouter.h>
 
// using namespace OpenAPI;
 
namespace carma_cloud_client
{
 
  class CarmaCloudClient : public carma_ros2_utils::CarmaLifecycleNode
  {
 
  private:
    // TCR Subscriber
    carma_ros2_utils::SubPtr<carma_v2x_msgs::msg::TrafficControlRequest> tcr_sub_;
    carma_ros2_utils::PubPtr<j2735_v2x_msgs::msg::TrafficControlMessage> tcm_pub_;
 
    // Node configuration
    Config config_;
 
    const char *CONTENT_ENCODING_KEY = "Content-Encoding";
    const char *CONTENT_ENCODING_VALUE = "gzip";
    
  public:
    explicit CarmaCloudClient(const rclcpp::NodeOptions &);
 
    rcl_interfaces::msg::SetParametersResult 
    parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters);
 
 
    void tcr_callback(carma_v2x_msgs::msg::TrafficControlRequest::UniquePtr msg);
 
    void XMLconversion(char* xml_str, carma_v2x_msgs::msg::TrafficControlRequest request_msg);
 
    int CloudSend(const std::string &local_msg, const std::string& local_url, const std::string& local_base, const std::string& local_method);
 
    void CloudSendAsync(const std::string& local_msg,const std::string& local_url, const std::string& local_base, const std::string& local_method);
 
    void TCMHandler(QHttpEngine::Socket *socket);
 
    int StartWebService();
 
    j2735_v2x_msgs::msg::TrafficControlMessage parseTCMXML(boost::property_tree::ptree& tree);
 
    unsigned char parse_hex(char c);
 
    j2735_v2x_msgs::msg::TrafficControlPackage parse_package(boost::property_tree::ptree& tree);
 
    j2735_v2x_msgs::msg::TrafficControlParams parse_params(boost::property_tree::ptree& tree);
    
    j2735_v2x_msgs::msg::TrafficControlGeometry parse_geometry(boost::property_tree::ptree& tree);
 
    j2735_v2x_msgs::msg::TrafficControlSchedule parse_schedule(boost::property_tree::ptree& tree);
 
    j2735_v2x_msgs::msg::TrafficControlDetail parse_detail(boost::property_tree::ptree& tree);
    
    QByteArray UncompressBytes(const QByteArray compressedBytes) const;
 
 
    // Overrides
    carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &prev_state);
 
  };
 
} // carma_cloud_client