Merge branch 'main' into feat/rosbag_decode_script

nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_hw_interface.hpp

@@ -17,7 +17,7 @@
 // Have to define macros to silence warnings about deprecated headers being used by
 // boost/property_tree/ in some versions of boost.
 // See: https://github.com/boostorg/property_tree/issues/51
-#include "nebula_common/nebula_status.hpp"
+#include <nebula_common/nebula_status.hpp>
 
 #include <boost/version.hpp>
 
@@ -28,15 +28,15 @@
 #if (BOOST_VERSION / 100 == 1074)  // Boost 1.74
 #define BOOST_ALLOW_DEPRECATED_HEADERS
 #endif
-#include "boost_tcp_driver/http_client_driver.hpp"
-#include "boost_tcp_driver/tcp_driver.hpp"
-#include "boost_udp_driver/udp_driver.hpp"
-#include "nebula_common/hesai/hesai_common.hpp"
-#include "nebula_common/hesai/hesai_status.hpp"
-#include "nebula_common/util/expected.hpp"
 #include "nebula_hw_interfaces/nebula_hw_interfaces_hesai/hesai_cmd_response.hpp"
 
-#include <rclcpp/rclcpp.hpp>
+#include <boost_tcp_driver/http_client_driver.hpp>
+#include <boost_tcp_driver/tcp_driver.hpp>
+#include <boost_udp_driver/udp_driver.hpp>
+#include <nebula_common/hesai/hesai_common.hpp>
+#include <nebula_common/hesai/hesai_status.hpp>
+#include <nebula_common/loggers/logger.hpp>
+#include <nebula_common/util/expected.hpp>
 
 #include <boost/algorithm/string.hpp>
 #include <boost/property_tree/json_parser.hpp>
@@ -136,6 +136,7 @@ class HesaiHwInterface
 
   using ptc_cmd_result_t = nebula::util::expected<std::vector<uint8_t>, ptc_error_t>;
 
+  std::shared_ptr<loggers::Logger> logger_;
   std::unique_ptr<::drivers::common::IoContext> cloud_io_context_;
   std::shared_ptr<boost::asio::io_context> m_owned_ctx;
   std::unique_ptr<::drivers::udp_driver::UdpDriver> cloud_udp_driver_;
@@ -165,20 +166,6 @@ class HesaiHwInterface
   /// @param str Received string
   void str_cb(const std::string & str);
 
-  std::shared_ptr<rclcpp::Logger> parent_node_logger;
-  /// @brief Printing the string to RCLCPP_INFO_STREAM
-  /// @param info Target string
-  void PrintInfo(std::string info);
-  /// @brief Printing the string to RCLCPP_ERROR_STREAM
-  /// @param error Target string
-  void PrintError(std::string error);
-  /// @brief Printing the string to RCLCPP_DEBUG_STREAM
-  /// @param debug Target string
-  void PrintDebug(std::string debug);
-  /// @brief Printing the bytes to RCLCPP_DEBUG_STREAM
-  /// @param bytes Target byte vector
-  void PrintDebug(const std::vector<uint8_t> & bytes);
-
   /// @brief Convert an error code to a human-readable string
   /// @param error_code The error code, containing the sensor's error code (if any), along with
   /// flags such as TCP_ERROR_UNRELATED_RESPONSE etc.
@@ -202,7 +189,7 @@ class HesaiHwInterface
 
 public:
   /// @brief Constructor
-  HesaiHwInterface();
+  explicit HesaiHwInterface(const std::shared_ptr<loggers::Logger> & logger);
   /// @brief Destructor
   ~HesaiHwInterface();
   /// @brief Initializing tcp_driver for TCP communication
@@ -460,10 +447,6 @@ class HesaiHwInterface
   /// @brief Whether to use HTTP for getting LidarMonitor
   /// @return Use HTTP
   bool UseHttpGetLidarMonitor();
-
-  /// @brief Setting rclcpp::Logger
-  /// @param node Logger
-  void SetLogger(std::shared_ptr<rclcpp::Logger> node);
 };
 }  // namespace nebula::drivers