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2026-07-27 13:51:19 +08:00
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+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_DRIVER_PUB_HANDLER_H_
+#define LIVOX_DRIVER_PUB_HANDLER_H_
+
+#include <atomic>
+#include <cstring>
+#include <condition_variable> // std::condition_variable
+#include <deque>
+#include <functional>
+#include <map>
+#include <memory>
+#include <mutex>              // std::mutex
+#include <thread>
+
+#include "livox_lidar_def.h"
+#include "livox_lidar_api.h"
+#include "comm/comm.h"
+
+namespace livox_ros {
+
+class LidarPubHandler {
+ public:
+  LidarPubHandler();
+  ~ LidarPubHandler() {}
+
+  void PointCloudProcess(RawPacket& pkt);
+  void SetLidarsExtParam(LidarExtParameter param);
+  void GetLidarPointClouds(std::vector<PointXyzlt>& points_clouds);
+
+  uint64_t GetRecentTimeStamp();
+  uint32_t GetLidarPointCloudsSize();
+  uint64_t GetLidarBaseTime();
+
+ private:
+  void LivoxLidarPointCloudProcess(RawPacket & pkt);
+  void ProcessCartesianHighPoint(RawPacket & pkt);
+  void ProcessCartesianLowPoint(RawPacket & pkt);
+  void ProcessSphericalPoint(RawPacket & pkt);
+  std::vector<PointXyzlt> points_clouds_;
+  ExtParameterDetailed extrinsic_ = {
+    {0, 0, 0},
+    {
+      {1, 0, 0},
+      {0, 1, 1},
+      {0, 0, 1}
+    }
+  };
+  std::mutex mutex_;
+  std::atomic_bool is_set_extrinsic_params_;
+};
+  
+class PubHandler {
+ public:
+  using PointCloudsCallback = std::function<void(PointFrame*, void *)>;
+  using ImuDataCallback = std::function<void(ImuData*, void*)>;
+  using TimePoint = std::chrono::high_resolution_clock::time_point;
+
+  PubHandler() {}
+
+  ~ PubHandler() { Uninit(); }
+
+  void Uninit();
+  void RequestExit();
+  void Init();
+  void SetPointCloudConfig(const double publish_freq);
+  void SetPointCloudsCallback(PointCloudsCallback cb, void* client_data);
+  void AddLidarsExtParam(LidarExtParameter& extrinsic_params);
+  void ClearAllLidarsExtrinsicParams();
+  void SetImuDataCallback(ImuDataCallback cb, void* client_data);
+
+ private:
+  //thread to process raw data
+  void RawDataProcess();
+  std::atomic<bool> is_quit_{false};
+  std::shared_ptr<std::thread> point_process_thread_;
+  std::mutex packet_mutex_;
+  std::condition_variable packet_condition_;
+
+  //publish callback
+  void CheckTimer(uint32_t id);
+  void PublishPointCloud();
+  static void OnLivoxLidarPointCloudCallback(uint32_t handle, const uint8_t dev_type,
+                                             LivoxLidarEthernetPacket *data, void *client_data);
+  
+  static bool GetLidarId(LidarProtoType lidar_type, uint32_t handle, uint32_t& id);
+  static uint64_t GetEthPacketTimestamp(uint8_t timestamp_type, uint8_t* time_stamp, uint8_t size);
+
+  PointCloudsCallback points_callback_;
+  void* pub_client_data_ = nullptr;
+
+  ImuDataCallback imu_callback_;
+  void* imu_client_data_ = nullptr;
+
+  PointFrame frame_;
+
+  std::deque<RawPacket> raw_packet_queue_;
+
+  //pub config
+  uint64_t publish_interval_ = 100000000; //100 ms
+  uint64_t publish_interval_tolerance_ = 100000000; //100 ms
+  uint64_t publish_interval_ms_ = 100; //100 ms
+  TimePoint last_pub_time_;
+
+  std::map<uint32_t, std::unique_ptr<LidarPubHandler>> lidar_process_handlers_;
+  std::map<uint32_t, std::vector<PointXyzlt>> points_;
+  std::map<uint32_t, LidarExtParameter> lidar_extrinsics_;
+  static std::atomic<bool> is_timestamp_sync_;
+  uint16_t lidar_listen_id_ = 0;
+};
+
+PubHandler &pub_handler();
+
+}  // namespace livox_ros
+
+#endif  // LIVOX_DRIVER_PUB_HANDLER_H_