Program Listing for File rawdata.hpp

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// Copyright 2007, 2009, 2010, 2012, 2019 Yaxin Liu, Patrick Beeson, Jack O'Quin, Joshua Whitley  // NOLINT
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#ifndef VELODYNE_POINTCLOUD__RAWDATA_HPP_
#define VELODYNE_POINTCLOUD__RAWDATA_HPP_

#include <pcl/point_cloud.h>

#include <memory>
#include <string>
#include <vector>

#include <rclcpp/rclcpp.hpp>
#include <velodyne_msgs/msg/velodyne_packet.hpp>

#include "velodyne_pointcloud/calibration.hpp"
#include "velodyne_pointcloud/datacontainerbase.hpp"

namespace velodyne_rawdata
{
static const int SIZE_BLOCK = 100;
static const int RAW_SCAN_SIZE = 3;
static const int SCANS_PER_BLOCK = 32;
static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);

static const float ROTATION_RESOLUTION = 0.01f;     // [deg]
static const uint16_t ROTATION_MAX_UNITS = 36000u;  // [deg/100]

static const uint16_t UPPER_BANK = 0xeeff;
static const uint16_t LOWER_BANK = 0xddff;

static const int VLP16_FIRINGS_PER_BLOCK = 2;
static const int VLP16_SCANS_PER_FIRING = 16;
static const float VLP16_BLOCK_TDURATION = 110.592f;  // [µs]
static const float VLP16_DSR_TOFFSET = 2.304f;        // [µs]
static const float VLP16_FIRING_TOFFSET = 55.296f;    // [µs]

struct raw_block
{
  uint16_t header;
  uint16_t rotation;
  uint8_t data[BLOCK_DATA_SIZE];
};

union two_bytes {
  uint16_t uint;
  uint8_t bytes[2];
};

static const int PACKET_SIZE = 1206;
static const int BLOCKS_PER_PACKET = 12;
static const int PACKET_STATUS_SIZE = 4;
static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);

// These are used to detect which bank of 32 lasers is in this block
static const uint16_t VLS128_BANK_1 = 0xeeff;
static const uint16_t VLS128_BANK_2 = 0xddff;
static const uint16_t VLS128_BANK_3 = 0xccff;
static const uint16_t VLS128_BANK_4 = 0xbbff;

static const float VLS128_CHANNEL_TDURATION = 2.665f;    // [µs] Channels corresponds to one laser firing // NOLINT
static const float VLS128_SEQ_TDURATION = 53.3f;         // [µs] Sequence is a set of laser firings including recharging // NOLINT
static const float VLS128_TOH_ADJUSTMENT = 8.7f;          // [µs] μs. Top Of the Hour is aligned with the fourth firing group in a firing sequence. // NOLINT
static const float VLS128_DISTANCE_RESOLUTION = 0.004f;  // [m]
static const float VLS128_MODEL_ID = 161;


struct raw_packet
{
  raw_block blocks[BLOCKS_PER_PACKET];
  uint16_t revolution;
  uint8_t status[PACKET_STATUS_SIZE];
};

class RawData final
{
public:
  RawData(const std::string & calibration_file, const std::string & model);

  void setupSinCosCache();
  void setupAzimuthCache();
  bool loadCalibration();

  void unpack(
    const velodyne_msgs::msg::VelodynePacket & pkt, DataContainerBase & data,
    const rclcpp::Time & scan_start_time);

  void setParameters(double min_range, double max_range, double view_direction, double view_width);

  int scansPerPacket() const;

  int numLasers() const;

private:
  struct Config
  {
    std::string model;
    double min_range;
    double max_range;
    int min_angle;
    int max_angle;
  };
  Config config_{};

  std::unique_ptr<velodyne_pointcloud::Calibration> calibration_;
  float sin_rot_table_[ROTATION_MAX_UNITS]{};
  float cos_rot_table_[ROTATION_MAX_UNITS]{};

  // Caches the azimuth percent offset for the VLS-128 laser firings
  float vls_128_laser_azimuth_cache_[16];

  // timing offset lookup table
  std::vector<std::vector<float>> timing_offsets_;

  bool buildTimings();

  void unpack_vlp16(
    const velodyne_msgs::msg::VelodynePacket & pkt, DataContainerBase & data,
    const rclcpp::Time & scan_start_time);

  void unpack_vls128(
    const velodyne_msgs::msg::VelodynePacket & pkt, DataContainerBase & data,
    const rclcpp::Time & scan_start_time);

  inline bool pointInRange(const float range)
  {
    return range >= config_.min_range &&
           range <= config_.max_range;
  }
};

}  // namespace velodyne_rawdata

#endif  // VELODYNE_POINTCLOUD__RAWDATA_HPP_