138 lines
4.5 KiB
C++
138 lines
4.5 KiB
C++
//
|
|
// 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_
|