From 64c09dc8d44ac76ff8e3e6df7bc88189b440a0ab Mon Sep 17 00:00:00 2001 From: felix Date: Thu, 17 Aug 2023 19:25:28 +0800 Subject: [PATCH] support robosense lidar --- README.md | 34 +- .../include/nebula_common/nebula_common.hpp | 11 + .../nebula_common/robosense/error_code.hpp | 164 + .../robosense/robosense_common.hpp | 280 + .../robosense/robosense_status.hpp | 69 + .../nebula_common/robosense/rs_log.hpp | 48 + nebula_decoders/CMakeLists.txt | 6 + .../calibration/robosense/RobosenseHelios.csv | 32 + .../robosense/RobosenseHelios16P.csv | 16 + .../decoders/basic_attr.hpp | 349 + .../decoders/block_iterator.hpp | 286 + .../decoders/chan_angles.hpp | 210 + .../decoders/decoder.hpp | 394 + .../decoders/driver_param.hpp | 109 + .../decoders/robosense_helios16P_decoder.hpp | 314 + .../decoders/robosense_helios_decoder.hpp | 341 + .../decoders/robosense_mech_decoder.hpp | 211 + .../decoders/section.hpp | 99 + .../decoders/split_strategy.hpp | 172 + .../decoders/trigon.hpp | 133 + .../robosense_driver.hpp | 77 + nebula_decoders/package.xml | 1 + .../robosense_driver.cpp | 97 + nebula_examples/CMakeLists.txt | 18 + .../robosense_ros_offline_extract_bag_pcd.hpp | 62 + .../robosense_ros_offline_extract_pcd.hpp | 75 + nebula_examples/launch/robosense_offline.xml | 30 + .../launch/robosense_offline_bag_pcd.xml | 36 + .../robosense_ros_offline_extract_bag_pcd.cpp | 313 + ...sense_ros_offline_extract_bag_pcd_main.cpp | 35 + .../robosense_ros_offline_extract_pcd.cpp | 260 + ...robosense_ros_offline_extract_pcd_main.cpp | 34 + nebula_hw_interfaces/CMakeLists.txt | 4 +- .../robosense_cmd_response.hpp | 116 + .../robosense_hw_interface.hpp | 180 + nebula_hw_interfaces/package.xml | 1 + .../robosense_hw_interface.cpp | 518 + nebula_messages/robosense_msgs/CMakeLists.txt | 25 + .../msg/RobosenseMonitorInfo.msg | 11 + .../robosense_msgs/msg/RobosensePacket.msg | 4 + .../robosense_msgs/msg/RobosenseScan.msg | 2 + nebula_messages/robosense_msgs/package.xml | 25 + nebula_ros/CMakeLists.txt | 31 + .../config/robosense/RobosenseHelios.yaml | 16 + .../config/robosense/RobosenseHelios16P.yaml | 16 + .../robosense_decoder_ros_wrapper.hpp | 97 + .../robosense_hw_interface_ros_wrapper.hpp | 97 + .../robosense_hw_monitor_ros_wrapper.hpp | 159 + nebula_ros/launch/nebula_launch.py | 3 + nebula_ros/launch/robosense_launch_all_hw.xml | 62 + .../robosense_decoder_ros_wrapper.cpp | 313 + .../robosense_hw_interface_ros_wrapper.cpp | 320 + .../robosense_hw_monitor_ros_wrapper.cpp | 571 + nebula_tests/CMakeLists.txt | 2 + .../robosense/helios/1691141763462381376.pcd | 37519 +++++++++++++++ .../robosense/helios/1691141763562823631.pcd | 37552 +++++++++++++++ .../robosense/helios/1691141764362927048.pcd | 37618 ++++++++++++++++ .../robosense/helios/1691141764463116351.pcd | 37566 +++++++++++++++ .../robosense/helios/1691141765262460167.pcd | 37498 +++++++++++++++ .../robosense/helios/1691141765362603104.pcd | 37477 +++++++++++++++ .../rosbag2_2023_08_04-17_36_03/metadata.yaml | 26 + .../rosbag2_2023_08_04-17_36_03_0.db3 | Bin 0 -> 5300224 bytes .../helios16P/1691031766781547066.pcd | 15269 +++++++ .../helios16P/1691031766880833506.pcd | 15806 +++++++ .../helios16P/1691031766980937333.pcd | 15797 +++++++ .../rosbag2_2023_08_03-11_02_46/metadata.yaml | 26 + .../rosbag2_2023_08_03-11_02_46_0.db3 | Bin 0 -> 1171456 bytes nebula_tests/robosense/CMakeLists.txt | 43 + .../robosense_ros_decoder_test_helios.cpp | 316 + .../robosense_ros_decoder_test_helios.hpp | 82 + .../robosense_ros_decoder_test_helios16P.cpp | 317 + .../robosense_ros_decoder_test_helios16P.hpp | 82 + ...robosense_ros_decoder_test_main_helios.cpp | 46 + ...osense_ros_decoder_test_main_helios16P.cpp | 46 + transport_drivers | 1 + 75 files changed, 279973 insertions(+), 3 deletions(-) create mode 100644 nebula_common/include/nebula_common/robosense/error_code.hpp create mode 100644 nebula_common/include/nebula_common/robosense/robosense_common.hpp create mode 100644 nebula_common/include/nebula_common/robosense/robosense_status.hpp create mode 100644 nebula_common/include/nebula_common/robosense/rs_log.hpp create mode 100644 nebula_decoders/calibration/robosense/RobosenseHelios.csv create mode 100644 nebula_decoders/calibration/robosense/RobosenseHelios16P.csv create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/basic_attr.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/block_iterator.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/chan_angles.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/decoder.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/driver_param.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios16P_decoder.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios_decoder.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_mech_decoder.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/section.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/split_strategy.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/trigon.hpp create mode 100644 nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp create mode 100644 nebula_decoders/src/nebula_decoders_robosense/robosense_driver.cpp create mode 100644 nebula_examples/include/robosense/robosense_ros_offline_extract_bag_pcd.hpp create mode 100644 nebula_examples/include/robosense/robosense_ros_offline_extract_pcd.hpp create mode 100644 nebula_examples/launch/robosense_offline.xml create mode 100644 nebula_examples/launch/robosense_offline_bag_pcd.xml create mode 100644 nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd.cpp create mode 100644 nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd_main.cpp create mode 100644 nebula_examples/src/robosense/robosense_ros_offline_extract_pcd.cpp create mode 100644 nebula_examples/src/robosense/robosense_ros_offline_extract_pcd_main.cpp create mode 100644 nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_cmd_response.hpp create mode 100644 nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp create mode 100644 nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp create mode 100644 nebula_messages/robosense_msgs/CMakeLists.txt create mode 100644 nebula_messages/robosense_msgs/msg/RobosenseMonitorInfo.msg create mode 100644 nebula_messages/robosense_msgs/msg/RobosensePacket.msg create mode 100644 nebula_messages/robosense_msgs/msg/RobosenseScan.msg create mode 100644 nebula_messages/robosense_msgs/package.xml create mode 100644 nebula_ros/config/robosense/RobosenseHelios.yaml create mode 100644 nebula_ros/config/robosense/RobosenseHelios16P.yaml create mode 100644 nebula_ros/include/nebula_ros/robosense/robosense_decoder_ros_wrapper.hpp create mode 100644 nebula_ros/include/nebula_ros/robosense/robosense_hw_interface_ros_wrapper.hpp create mode 100644 nebula_ros/include/nebula_ros/robosense/robosense_hw_monitor_ros_wrapper.hpp create mode 100644 nebula_ros/launch/robosense_launch_all_hw.xml create mode 100644 nebula_ros/src/robosense/robosense_decoder_ros_wrapper.cpp create mode 100644 nebula_ros/src/robosense/robosense_hw_interface_ros_wrapper.cpp create mode 100644 nebula_ros/src/robosense/robosense_hw_monitor_ros_wrapper.cpp create mode 100644 nebula_tests/data/robosense/helios/1691141763462381376.pcd create mode 100644 nebula_tests/data/robosense/helios/1691141763562823631.pcd create mode 100644 nebula_tests/data/robosense/helios/1691141764362927048.pcd create mode 100644 nebula_tests/data/robosense/helios/1691141764463116351.pcd create mode 100644 nebula_tests/data/robosense/helios/1691141765262460167.pcd create mode 100644 nebula_tests/data/robosense/helios/1691141765362603104.pcd create mode 100644 nebula_tests/data/robosense/helios/rosbag2_2023_08_04-17_36_03/metadata.yaml create mode 100644 nebula_tests/data/robosense/helios/rosbag2_2023_08_04-17_36_03/rosbag2_2023_08_04-17_36_03_0.db3 create mode 100644 nebula_tests/data/robosense/helios16P/1691031766781547066.pcd create mode 100644 nebula_tests/data/robosense/helios16P/1691031766880833506.pcd create mode 100644 nebula_tests/data/robosense/helios16P/1691031766980937333.pcd create mode 100644 nebula_tests/data/robosense/helios16P/rosbag2_2023_08_03-11_02_46/metadata.yaml create mode 100644 nebula_tests/data/robosense/helios16P/rosbag2_2023_08_03-11_02_46/rosbag2_2023_08_03-11_02_46_0.db3 create mode 100644 nebula_tests/robosense/CMakeLists.txt create mode 100644 nebula_tests/robosense/robosense_ros_decoder_test_helios.cpp create mode 100644 nebula_tests/robosense/robosense_ros_decoder_test_helios.hpp create mode 100644 nebula_tests/robosense/robosense_ros_decoder_test_helios16P.cpp create mode 100644 nebula_tests/robosense/robosense_ros_decoder_test_helios16P.hpp create mode 100644 nebula_tests/robosense/robosense_ros_decoder_test_main_helios.cpp create mode 100644 nebula_tests/robosense/robosense_ros_decoder_test_main_helios16P.cpp create mode 160000 transport_drivers diff --git a/README.md b/README.md index 00f05e04d..a79fe2573 100644 --- a/README.md +++ b/README.md @@ -211,8 +211,38 @@ Parameters shared by all supported models: | calibration_file | string | | | LiDAR calibration file | | min_range | double | 0.3 | meters, >= 0.3 | Minimum point range published | | max_range | double | 300.0 | meters, <= 300.0 | Maximum point range published | -| cloud_min_angle | uint16 | 0 | degrees [0, 360] | FoV start angle | -| cloud_max_angle | uint16 | 359 | degrees [0, 360] | FoV end angle | +## Robosense specific parameters + +#### Supported return modes + +| | return_mode | Mode | +| - | --------------- | ------------------ | +| | SingleFirst | Single (First) | +| | SingleStrongest | Single (Strongest) | +| | SingleLast | Single (Last) | +| | Dual | Dual | + +#### Hardware interface parameters + +| Parameter | Type | Default | Accepted values | Description | +| --------------- | ------ | ------------- | ---------------- | --------------------------------------- | +| frame_id | string | robosense | | ROS frame ID | +| sensor_ip | string | 192.168.1.201 | | Sensor IP | +| host_ip | string | 192.168.1.102 | | Host IP | +| data_port | uint16 | 6699 | | Sensor port | +| difop_port | uint16 | 7788 | | Device Information Output Protocol Port | +| rotation_speed | uint16 | 600 | | Rotation speed | +| cloud_min_angle | uint16 | 0 | degrees [0, 360] | Fov start angle | +| cloud_max_angle | uint16 | 360 | degrees [0, 360] | Fov end angle | +| | | | | | + +#### Driver parameters + +| Parameter | Type | Default | Accepted values | Description | +| ---------------- | ------ | --------- | --------------- | ---------------------- | +| frame_id | string | robosense | | ROS frame ID | +| calibration_file | string | | | LiDAR calibration file | +| correction_file | string | | | LiDAR correction file | ## Software design overview diff --git a/nebula_common/include/nebula_common/nebula_common.hpp b/nebula_common/include/nebula_common/nebula_common.hpp index d8648ee11..1f82236d3 100644 --- a/nebula_common/include/nebula_common/nebula_common.hpp +++ b/nebula_common/include/nebula_common/nebula_common.hpp @@ -323,6 +323,8 @@ enum class SensorModel { VELODYNE_VLP32MR, VELODYNE_HDL32, VELODYNE_VLP16, + ROBOSENSE_HELIOS, + ROBOSENSE_HELIOS16P }; /// @brief not used? @@ -401,6 +403,12 @@ inline std::ostream & operator<<(std::ostream & os, nebula::drivers::SensorModel case SensorModel::VELODYNE_VLP16: os << "VLP16"; break; + case SensorModel::ROBOSENSE_HELIOS: + os << "RobosenseHelios"; + break; + case SensorModel::ROBOSENSE_HELIOS16P: + os << "ROBOSENSE_HELIOS16P"; + break; case SensorModel::UNKNOWN: os << "Sensor Unknown"; break; @@ -468,6 +476,9 @@ inline SensorModel SensorModelFromString(const std::string & sensor_model) if (sensor_model == "VLP32MR") return SensorModel::VELODYNE_VLP32MR; if (sensor_model == "HDL32") return SensorModel::VELODYNE_HDL32; if (sensor_model == "VLP16") return SensorModel::VELODYNE_VLP16; + // Robosense + if (sensor_model == "RobosenseHelios") return SensorModel::ROBOSENSE_HELIOS; + if (sensor_model == "RobosenseHelios16P") return SensorModel::ROBOSENSE_HELIOS16P; return SensorModel::UNKNOWN; } diff --git a/nebula_common/include/nebula_common/robosense/error_code.hpp b/nebula_common/include/nebula_common/robosense/error_code.hpp new file mode 100644 index 000000000..b8a7aa0cd --- /dev/null +++ b/nebula_common/include/nebula_common/robosense/error_code.hpp @@ -0,0 +1,164 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include +#include + +namespace nebular +{ +namespace drivers +{ + +enum class ErrCodeType { + INFO_CODE, // 0x00 ~ 0x3F + WARNING_CODE, // 0x40 ~ 0x7F + ERROR_CODE // 0x80 ~ 0xBF +}; + +enum ErrCode { + // info + ERRCODE_SUCCESS = 0x00, ///< Normal Status + ERRCODE_PCAPREPEAT = 0x01, ///< Reach file end, and play PCAP file again. + ERRCODE_PCAPEXIT = 0x02, ///< Reach file end, and exit parsing PCAP file + + // warning + ERRCODE_MSOPTIMEOUT = 0x40, ///< Timeout (1s) of receiving MSOP Packets + ERRCODE_NODIFOPRECV = 0x41, ///< Calibration data (in DIFOP packet in general) is not ready while + ///< handling MOSP Packet + ERRCODE_WRONGMSOPLEN = 0x42, ///< MSOP Packet length is wrong + ERRCODE_WRONGMSOPID = 0x43, ///< MSOP Packet ID is wrong + ERRCODE_WRONGMSOPBLKID = 0x44, ///< Block ID in MSOP Packet is wrong + ERRCODE_WRONGDIFOPLEN = 0x45, ///< DIFOP Packet length is wrong + ERRCODE_WRONGDIFOPID = 0x46, ///< DIFOP Packet ID is wrong + ERRCODE_ZEROPOINTS = 0x47, ///< No points in PointCloud + ERRCODE_PKTBUFOVERFLOW = 0x48, ///< Packet queue is overflow + ERRCODE_CLOUDOVERFLOW = 0x49, ///< Point cloud buffer is overflow + ERRCODE_WRONGCRC32 = 0x4A, ///< Wrong CRC32 value of MSOP Packet + + // error + ERRCODE_STARTBEFOREINIT = 0x80, ///< User calls start() before init() + ERRCODE_PCAPWRONGPATH = 0x81, ///< Path of pcap file is wrong + ERRCODE_POINTCLOUDNULL = 0x82 ///< User provided PointCloud buffer is invalid +}; + +struct Error +{ + ErrCode error_code; + ErrCodeType error_code_type; + + Error() : error_code(ErrCode::ERRCODE_SUCCESS) {} + + explicit Error(const ErrCode & code) : error_code(code) + { + if (error_code < 0x40) { + error_code_type = ErrCodeType::INFO_CODE; + } else if (error_code < 0x80) { + error_code_type = ErrCodeType::WARNING_CODE; + } else { + error_code_type = ErrCodeType::ERROR_CODE; + } + } + std::string toString() const + { + switch (error_code) { + // info + case ERRCODE_PCAPREPEAT: + return "Info_PcapRepeat"; + case ERRCODE_PCAPEXIT: + return "Info_PcapExit"; + + // warning + case ERRCODE_MSOPTIMEOUT: + return "ERRCODE_MSOPTIMEOUT"; + case ERRCODE_NODIFOPRECV: + return "ERRCODE_NODIFOPRECV"; + case ERRCODE_WRONGMSOPID: + return "ERRCODE_WRONGMSOPID"; + case ERRCODE_WRONGMSOPLEN: + return "ERRCODE_WRONGMSOPLEN"; + case ERRCODE_WRONGMSOPBLKID: + return "ERRCODE_WRONGMSOPBLKID"; + case ERRCODE_WRONGDIFOPID: + return "ERRCODE_WRONGDIFOPID"; + case ERRCODE_WRONGDIFOPLEN: + return "ERRCODE_WRONGDIFOPLEN"; + case ERRCODE_ZEROPOINTS: + return "ERRCODE_ZEROPOINTS"; + case ERRCODE_PKTBUFOVERFLOW: + return "ERRCODE_PKTBUFOVERFLOW"; + case ERRCODE_CLOUDOVERFLOW: + return "ERRCODE_CLOUDOVERFLOW"; + case ERRCODE_WRONGCRC32: + return "ERRCODE_WRONGCRC32"; + + // error + case ERRCODE_STARTBEFOREINIT: + return "ERRCODE_STARTBEFOREINIT"; + case ERRCODE_PCAPWRONGPATH: + return "ERRCODE_PCAPWRONGPATH"; + case ERRCODE_POINTCLOUDNULL: + return "ERRCODE_POINTCLOUDNULL"; + + // default + default: + return "ERRCODE_SUCCESS"; + } + } +}; + +#define LIMIT_CALL(func, sec) \ + { \ + static time_t prev_tm = 0; \ + time_t cur_tm = time(NULL); \ + if ((cur_tm - prev_tm) > sec) { \ + func; \ + prev_tm = cur_tm; \ + } \ + } + +#define DELAY_LIMIT_CALL(func, sec) \ + { \ + static time_t prev_tm = time(NULL); \ + time_t cur_tm = time(NULL); \ + if ((cur_tm - prev_tm) > sec) { \ + func; \ + prev_tm = cur_tm; \ + } \ + } + +} // namespace drivers +} // namespace nebular diff --git a/nebula_common/include/nebula_common/robosense/robosense_common.hpp b/nebula_common/include/nebula_common/robosense/robosense_common.hpp new file mode 100644 index 000000000..3a9a58583 --- /dev/null +++ b/nebula_common/include/nebula_common/robosense/robosense_common.hpp @@ -0,0 +1,280 @@ +#ifndef NEBULA_ROBOSENSE_COMMON_H +#define NEBULA_ROBOSENSE_COMMON_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#ifdef _WIN32 +#include +#else //__linux__ +#include +#endif +#include +#include +#include +#include +#include +namespace nebula +{ +namespace drivers + +{ + +inline int16_t RS_SWAP_INT16(int16_t value) +{ + uint8_t * v = (uint8_t *)&value; + + uint8_t temp; + temp = v[0]; + v[0] = v[1]; + v[1] = temp; + + return value; +} + +struct DeviceInfo +{ + void operator=(DeviceInfo & deviceInfo) + { + memcpy(this->sn, deviceInfo.sn, 6); + memcpy(this->mac, deviceInfo.mac, 6); + memcpy(this->top_ver, deviceInfo.top_ver, 5); + memcpy(this->bottom_ver, deviceInfo.bottom_ver, 5); + this->rpm = deviceInfo.rpm; + this->bot_fpga_temperature = deviceInfo.bot_fpga_temperature; + this->recv_A_temperature = deviceInfo.recv_A_temperature; + this->recv_B_temperature = deviceInfo.recv_B_temperature; + this->main_fpga_temperature = deviceInfo.main_fpga_temperature; + this->main_fpga_core_temperature = deviceInfo.main_fpga_core_temperature; + this->lane_up = deviceInfo.lane_up; + this->lane_up_cnt = deviceInfo.lane_up_cnt; + this->main_status = deviceInfo.main_status; + this->gps_status = deviceInfo.gps_status; + } + uint8_t sn[6]; + uint8_t mac[6]; + uint8_t top_ver[5]; + uint8_t bottom_ver[5]; + uint16_t rpm; + uint16_t bot_fpga_temperature; + uint16_t recv_A_temperature; + uint16_t recv_B_temperature; + uint16_t main_fpga_temperature; + uint16_t main_fpga_core_temperature; + uint8_t lane_up; + uint16_t lane_up_cnt; + uint16_t main_status; + uint8_t gps_status; +}; + +struct DeviceCalculateParamsInfo : DeviceInfo +{ + float bot_fpga_temperature_val; + float recv_A_temperature_val; + float recv_B_temperature_val; + float main_fpga_temperature_val; + float main_fpga_core_temperature_val; +}; +// +// define M_PI +// +#ifndef _USE_MATH_DEFINES +#define _USE_MATH_DEFINES // for VC++, required to use const M_IP in +#endif + +#include + +#define DEGREE_TO_RADIAN(deg) ((deg)*M_PI / 180) +#define RADIAN_TO_DEGREE(deg) ((deg)*180 / M_PI) +/// @brief struct for Robosense sensor configuration +struct RobosenseSensorConfiguration : SensorConfigurationBase +{ + uint16_t difop_port{}; + double scan_phase{}; + double dual_return_distance_threshold{}; + uint16_t rotation_speed; + uint16_t cloud_min_angle; + uint16_t cloud_max_angle; +}; +/// @brief Convert RobosenseSensorConfiguration to string (Overloading the << operator) +/// @param os +/// @param arg +/// @return stream +inline std::ostream & operator<<(std::ostream & os, RobosenseSensorConfiguration const & arg) +{ + os << (SensorConfigurationBase)(arg) << ", DifopPort: " << arg.difop_port + << ", ScanPhase:" << arg.scan_phase << ", RotationSpeed:" << arg.rotation_speed + << ", FOV(Start):" << arg.cloud_min_angle << ", FOV(End):" << arg.cloud_max_angle; + return os; +} + +/// @brief struct for Robosense calibration configuration +struct RobosenseCalibrationConfiguration : CalibrationConfigurationBase +{ + std::map elev_angle_map; + std::map azimuth_offset_map; + + inline nebula::Status LoadFromFile(const std::string & calibration_file) + { + std::ifstream ifs(calibration_file); + if (!ifs) { + return Status::INVALID_CALIBRATION_FILE; + } + + std::string header; + std::getline(ifs, header); + + char sep; + int laser_id; + float elevation; + float azimuth; + while (!ifs.eof()) { + ifs >> laser_id >> sep >> elevation >> sep >> azimuth; + elev_angle_map[laser_id - 1] = elevation; + azimuth_offset_map[laser_id - 1] = azimuth; + } + ifs.close(); + return Status::OK; + } + + /// @brief Loading calibration data (not used) + /// @param calibration_content + /// @return Resulting status + inline nebula::Status LoadFromString(const std::string & calibration_content) + { + std::stringstream ss; + ss << calibration_content; + + std::string header; + std::getline(ss, header); + + char sep; + int laser_id; + float elevation; + float azimuth; + while (!ss.eof()) { + ss >> laser_id >> sep >> elevation >> sep >> azimuth; + elev_angle_map[laser_id - 1] = elevation; + azimuth_offset_map[laser_id - 1] = azimuth; + } + return Status::OK; + } + + /// @brief Saving calibration data (not used) + /// @param calibration_file + /// @return Resulting status + inline nebula::Status SaveFile(const std::string & calibration_file) + { + std::ofstream ofs(calibration_file); + if (!ofs) { + return Status::CANNOT_SAVE_FILE; + } + ofs << "Laser id,Elevation,Azimuth" << std::endl; + for (const auto & pair : elev_angle_map) { + auto laser_id = pair.first + 1; + float elevation = pair.second; + float azimuth = azimuth_offset_map[pair.first]; + ofs << laser_id << "," << elevation << "," << azimuth << std::endl; + } + ofs.close(); + + return Status::OK; + } +}; + +/* + + + + + + +*/ +/* + + + + + + + +*/ + +/// @brief Convert return mode name to ReturnMode enum (Robosense-specific ReturnModeFromString) +/// @param return_mode Return mode name (Upper and lower case letters must match) +/// @param sensor_model Model for correct conversion +/// @return Corresponding ReturnMode +inline ReturnMode ReturnModeFromStringRobosense( + const std::string & return_mode, const SensorModel & sensor_model) +{ + switch (sensor_model) { + case SensorModel::ROBOSENSE_HELIOS: + if (return_mode == "Dual") return ReturnMode::DUAL; + if (return_mode == "Strongest") return ReturnMode::STRONGEST; + if (return_mode == "Last") return ReturnMode::LAST; + if (return_mode == "First") return ReturnMode::FIRST; + break; + default: + if (return_mode == "Dual") return ReturnMode::DUAL; + if (return_mode == "Strongest") return ReturnMode::STRONGEST; + if (return_mode == "Last") return ReturnMode::LAST; + if (return_mode == "First") return ReturnMode::FIRST; + break; + } + + return ReturnMode::UNKNOWN; +} + +/// @brief Convert return mode number to ReturnMode enum +/// @param return_mode Return mode number from the hardware response +/// @param sensor_model Model for correct conversion +/// @return Corresponding ReturnMode +inline ReturnMode ReturnModeFromIntRobosense( + const int return_mode, const SensorModel & sensor_model) +{ + switch (sensor_model) { + case SensorModel::ROBOSENSE_HELIOS: + if (return_mode == 0) return ReturnMode::DUAL; + if (return_mode == 4) return ReturnMode::STRONGEST; + if (return_mode == 5) return ReturnMode::LAST; + if (return_mode == 6) return ReturnMode::FIRST; + break; + default: + if (return_mode == 0) return ReturnMode::DUAL; + if (return_mode == 4) return ReturnMode::STRONGEST; + if (return_mode == 5) return ReturnMode::LAST; + if (return_mode == 6) return ReturnMode::FIRST; + break; + } + + return ReturnMode::UNKNOWN; +} + +/// @brief Convert ReturnMode enum to return mode number +/// @param return_mode target ReturnMode +/// @param sensor_model Model for correct conversion +/// @return Corresponding return mode number for the hardware +inline int IntFromReturnModeRobosense( + const ReturnMode return_mode, const SensorModel & sensor_model) +{ + switch (sensor_model) { + case SensorModel::ROBOSENSE_HELIOS: + if (return_mode == ReturnMode::DUAL) return 0; + if (return_mode == ReturnMode::STRONGEST) return 4; + if (return_mode == ReturnMode::LAST) return 5; + if (return_mode == ReturnMode::FIRST) return 6; + break; + default: + if (return_mode == ReturnMode::DUAL) return 0; + if (return_mode == ReturnMode::STRONGEST) return 4; + if (return_mode == ReturnMode::LAST) return 5; + if (return_mode == ReturnMode::FIRST) return 6; + break; + } + + return -1; +} + +} // namespace drivers +} // namespace nebula + +#endif // NEBULA_ROBOSENSE_COMMON_H diff --git a/nebula_common/include/nebula_common/robosense/robosense_status.hpp b/nebula_common/include/nebula_common/robosense/robosense_status.hpp new file mode 100644 index 000000000..2fec002c1 --- /dev/null +++ b/nebula_common/include/nebula_common/robosense/robosense_status.hpp @@ -0,0 +1,69 @@ +#ifndef ROBOSENSE_STATUS_HPP +#define ROBOSENSE_STATUS_HPP + +#include "nebula_common/nebula_status.hpp" + +#include +#include + +namespace nebula +{ +// from https://marycore.jp/prog/cpp/extends-enum/ + +/// @brief Status definition for Robosense +struct RobosenseStatus : Status +{ + using Status::Status; + +private: + int _type_num; + +public: + enum RobosenseType { + INVALID_RPM_ERROR = Type_end_of_Status + 1, + INVALID_FOV_ERROR, + INVALID_RETURN_MODE_ERROR, + Type_end_of_Status = INVALID_RPM_ERROR + } _robosense_type; + RobosenseStatus() : _type_num(static_cast(Status::OK)) { _type = static_cast(type()); } + RobosenseStatus(Type v) : _type_num(static_cast(v)) { _type = v; } + RobosenseStatus(RobosenseType v) : _type_num(static_cast(v)), _robosense_type(v) + { + _type = Type::Type_end_of_Status; + } + RobosenseStatus(int type) : _type_num(type) {} + int type() const { return _type_num; } + friend bool operator==(const RobosenseStatus & L, const RobosenseStatus & R) + { + return L.type() == R.type(); + } + friend bool operator!=(const RobosenseStatus & L, const RobosenseStatus & R) + { + return L.type() != R.type(); + } + + /// @brief Convert Status enum to string (Overloading the << operator) + /// @param os + /// @param arg + /// @return stream + friend std::ostream & operator<<(std::ostream & os, nebula::RobosenseStatus const & arg) + { + switch (arg.type()) { + // Velodyne + case RobosenseStatus::INVALID_RPM_ERROR: + os << "Invalid rotation speed value(range from 300 to 1200, in increments of 60)"; + break; + case RobosenseStatus::INVALID_FOV_ERROR: + os << "Invalid fov value(0 to 359)"; + break; + case RobosenseStatus::INVALID_RETURN_MODE_ERROR: + os << "Invalid return mode(only SINGLE_STRONGEST, SINGLE_LAST, DUAL_ONLY)"; + break; + default: + os << Status(arg._type); + } + return os; + } +}; +} // namespace nebula +#endif // ROBOSENSE_STATUS_HPP diff --git a/nebula_common/include/nebula_common/robosense/rs_log.hpp b/nebula_common/include/nebula_common/robosense/rs_log.hpp new file mode 100644 index 000000000..cf5f7e916 --- /dev/null +++ b/nebula_common/include/nebula_common/robosense/rs_log.hpp @@ -0,0 +1,48 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include + +#define RS_ERROR std::cout << "\033[1m\033[31m" // bold red +#define RS_WARNING std::cout << "\033[1m\033[33m" // bold yellow +#define RS_INFO std::cout << "\033[1m\033[32m" // bold green +#define RS_INFOL std::cout << "\033[32m" // green +#define RS_DEBUG std::cout << "\033[1m\033[36m" // bold cyan +#define RS_REND "\033[0m" << std::endl + +#define RS_TITLE std::cout << "\033[1m\033[35m" // bold magenta +#define RS_MSG std::cout << "\033[1m\033[37m" // bold white diff --git a/nebula_decoders/CMakeLists.txt b/nebula_decoders/CMakeLists.txt index cb0f3bb2f..7947c33fc 100644 --- a/nebula_decoders/CMakeLists.txt +++ b/nebula_decoders/CMakeLists.txt @@ -48,6 +48,12 @@ ament_auto_add_library(nebula_decoders_velodyne SHARED src/nebula_decoders_velodyne/decoders/vlp32_decoder.cpp ) + # Robosense +ament_auto_add_library(nebula_decoders_robosense SHARED + src/nebula_decoders_robosense/robosense_driver.cpp + # src/nebula_decoders_robosense/decoders/vls128_decoder.cpp + ) + if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() diff --git a/nebula_decoders/calibration/robosense/RobosenseHelios.csv b/nebula_decoders/calibration/robosense/RobosenseHelios.csv new file mode 100644 index 000000000..3f770f39c --- /dev/null +++ b/nebula_decoders/calibration/robosense/RobosenseHelios.csv @@ -0,0 +1,32 @@ + 14.94,-4.07 +13.03,3.63 +10.92,-4.02 +8.89,3.60 +6.96,-3.99 +5.46,3.58 +3.98,-3.98 +2.67,3.57 +1.33,-3.97 +0,3.57 +-1.33,-3.97 +-2.67,3.57 +-3.96,-3.98 +-5.13,3.58 +-6.53,-3.99 +-7.91,3.59 +-9.89,-4.01 +-15.97,3.66 +-12.90,-4.04 +-19.08,3.70 +-22.02,-4.19 +-27.97,3.88 +-25.16,-4.26 +-31.15,3.97 +-34.09,-4.52 +-37.29,4.14 +-40.25,-4.76 +-43.71,4.38 +-46.70,-5.03 +-49.75,4.61 +-52.70,-5.32 +-54.60,4.80 \ No newline at end of file diff --git a/nebula_decoders/calibration/robosense/RobosenseHelios16P.csv b/nebula_decoders/calibration/robosense/RobosenseHelios16P.csv new file mode 100644 index 000000000..d9e6d9981 --- /dev/null +++ b/nebula_decoders/calibration/robosense/RobosenseHelios16P.csv @@ -0,0 +1,16 @@ +14.94,-4.05 +13.03,3.61 +10.92,-4.00 +8.90,3.58 +6.96,-3.97 +5.46,3.56 +3.98,-3.96 +2.67,3.55 +1.33,-3.95 +0,3.55 +-1.33,-3.95 +-2.67,3.55 +-3.96,-3.96 +-5.23,3.56 +-6.63,-3.97 +-8.01,3.57 \ No newline at end of file diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/basic_attr.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/basic_attr.hpp new file mode 100644 index 000000000..b7fc8e778 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/basic_attr.hpp @@ -0,0 +1,349 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include + +#include +#include +#include +#include +#include +#include +#include + +namespace nebula +{ +namespace drivers +{ + +#pragma pack(push, 1) + +typedef struct +{ + uint8_t year; + uint8_t month; + uint8_t day; + uint8_t hour; + uint8_t minute; + uint8_t second; + uint16_t ms; + uint16_t us; +} RSTimestampYMD; + +typedef struct +{ + uint8_t sec[6]; + uint8_t ss[4]; +} RSTimestampUTC; + +typedef struct +{ + uint8_t tt[2]; +} RSTemperature; + +#pragma pack(pop) + +#ifdef ENABLE_STAMP_WITH_LOCAL +inline long getTimezone(void) +{ + static long tzone = 0; + static bool tzoneReady = false; + + if (!tzoneReady) { +#ifdef _MSC_VER + _get_timezone(&tzone); +#else + tzset(); + tzone = timezone; +#endif + + tzoneReady = true; + } + + return tzone; +} +#endif + +inline uint64_t parseTimeUTCWithUs(const RSTimestampUTC * tsUtc) +{ + // sec + uint64_t sec = 0; + for (int i = 0; i < 6; i++) { + sec <<= 8; + sec += tsUtc->sec[i]; + } + + // us + uint64_t us = 0; + for (int i = 0; i < 4; i++) { + us <<= 8; + us += tsUtc->ss[i]; + } + +#ifdef ENABLE_STAMP_WITH_LOCAL + sec -= getTimezone(); +#endif + + return (sec * 1000000 + us); +} + +inline void createTimeUTCWithUs(uint64_t us, RSTimestampUTC * tsUtc) +{ + uint64_t sec = us / 1000000; + uint64_t usec = us % 1000000; + +#ifdef ENABLE_STAMP_WITH_LOCAL + sec += getTimezone(); +#endif + + for (int i = 5; i >= 0; i--) { + tsUtc->sec[i] = sec & 0xFF; + sec >>= 8; + } + + for (int i = 3; i >= 0; i--) { + tsUtc->ss[i] = usec & 0xFF; + usec >>= 8; + } +} + +inline uint64_t parseTimeYMD(const RSTimestampYMD * tsYmd) +{ + std::tm stm; + memset(&stm, 0, sizeof(stm)); + + // since 2000 in robosense YMD, and since 1900 in struct tm + stm.tm_year = tsYmd->year + (2000 - 1900); + // since 1 in robosense YMD, and since 0 in struct tm + stm.tm_mon = tsYmd->month - 1; + // since 1 in both robosense YMD and struct tm + stm.tm_mday = tsYmd->day; + stm.tm_hour = tsYmd->hour; + stm.tm_min = tsYmd->minute; + stm.tm_sec = tsYmd->second; + time_t sec = std::mktime(&stm); + + uint64_t ms = ntohs(tsYmd->ms); + uint64_t us = ntohs(tsYmd->us); + +#if 0 + std::cout << "tm_year:" << stm.tm_year + << ", tm_mon:" << stm.tm_mon + << ", tm_day:" << stm.tm_mday + << ", tm_hour:" << stm.tm_hour + << ", tm_min:" << stm.tm_min + << ", tm_sec:" << stm.tm_sec + << ", ms:" << ms + << ", us:" << us + << std::endl; +#endif + +#ifdef ENABLE_STAMP_WITH_LOCAL + sec -= getTimezone(); +#endif + + return (sec * 1000000 + ms * 1000 + us); +} + +inline void createTimeYMD(uint64_t usec, RSTimestampYMD * tsYmd) +{ + uint64_t us = usec % 1000; + uint64_t tot_ms = (usec - us) / 1000; + + uint64_t ms = tot_ms % 1000; + uint64_t sec = tot_ms / 1000; + +#ifdef ENABLE_STAMP_WITH_LOCAL + sec += getTimezone(); +#endif + + time_t t_sec = sec; + + std::tm * stm = localtime(&t_sec); + +#if 0 + std::cout << "+ tm_year:" << stm->tm_year + << ", tm_mon:" << stm->tm_mon + << ", tm_day:" << stm->tm_mday + << ", tm_hour:" << stm->tm_hour + << ", tm_min:" << stm->tm_min + << ", tm_sec:" << stm->tm_sec + << ", ms:" << ms + << ", us:" << us + << std::endl; +#endif + + // since 2000 in robosense YMD, and since 1900 in struct tm + tsYmd->year = stm->tm_year - (2000 - 1900); + // since 1 in robosense YMD, and since 0 in struct tm + tsYmd->month = stm->tm_mon + 1; + // since 1 in both robosense YMD and struct tm + tsYmd->day = stm->tm_mday; + tsYmd->hour = stm->tm_hour; + tsYmd->minute = stm->tm_min; + tsYmd->second = stm->tm_sec; + + tsYmd->ms = htons((uint16_t)ms); + tsYmd->us = htons((uint16_t)us); +} + +inline uint64_t getTimeHost(void) +{ + std::chrono::system_clock::time_point t = std::chrono::system_clock::now(); + std::chrono::system_clock::duration t_s = t.time_since_epoch(); + + std::chrono::duration> t_us = + std::chrono::duration_cast>>(t_s); + return t_us.count(); +} + +inline int16_t parseTempInLe(const RSTemperature * tmp) // format of little endian +{ + // | lsb | padding | neg | msb | + // | 5 | 3 | 1 | 7 | (in bits) + uint8_t lsb = tmp->tt[0] >> 3; + uint8_t neg = tmp->tt[1] & 0x80; + uint8_t msb = tmp->tt[1] & 0x7F; + + int16_t t = ((uint16_t)msb << 5) + lsb; + if (neg) t = -t; + + return t; +} + +inline int16_t parseTempInBe(const RSTemperature * tmp) // format of big endian +{ + // | neg | msb | lsb | padding | + // | 1 | 7 | 4 | 4 | (in bits) + uint8_t neg = tmp->tt[0] & 0x80; + uint8_t msb = tmp->tt[0] & 0x7F; + uint8_t lsb = tmp->tt[1] >> 4; + + int16_t t = ((uint16_t)msb << 4) + lsb; + if (neg) t = -t; + + return t; +} + +inline uint32_t calcCrc32(const uint8_t * data, uint32_t len, uint32_t startValue, bool isFirstCall) +{ + static const uint32_t crc32table[] = { + 0x00000000U, 0x77073096U, 0xee0e612cU, 0x990951baU, 0x076dc419U, 0x706af48fU, 0xe963a535U, + 0x9e6495a3U, 0x0edb8832U, 0x79dcb8a4U, 0xe0d5e91eU, 0x97d2d988U, 0x09b64c2bU, 0x7eb17cbdU, + 0xe7b82d07U, 0x90bf1d91U, 0x1db71064U, 0x6ab020f2U, 0xf3b97148U, 0x84be41deU, 0x1adad47dU, + 0x6ddde4ebU, 0xf4d4b551U, 0x83d385c7U, 0x136c9856U, 0x646ba8c0U, 0xfd62f97aU, 0x8a65c9ecU, + 0x14015c4fU, 0x63066cd9U, 0xfa0f3d63U, 0x8d080df5U, 0x3b6e20c8U, 0x4c69105eU, 0xd56041e4U, + 0xa2677172U, 0x3c03e4d1U, 0x4b04d447U, 0xd20d85fdU, 0xa50ab56bU, 0x35b5a8faU, 0x42b2986cU, + 0xdbbbc9d6U, 0xacbcf940U, 0x32d86ce3U, 0x45df5c75U, 0xdcd60dcfU, 0xabd13d59U, 0x26d930acU, + 0x51de003aU, 0xc8d75180U, 0xbfd06116U, 0x21b4f4b5U, 0x56b3c423U, 0xcfba9599U, 0xb8bda50fU, + 0x2802b89eU, 0x5f058808U, 0xc60cd9b2U, 0xb10be924U, 0x2f6f7c87U, 0x58684c11U, 0xc1611dabU, + 0xb6662d3dU, 0x76dc4190U, 0x01db7106U, 0x98d220bcU, 0xefd5102aU, 0x71b18589U, 0x06b6b51fU, + 0x9fbfe4a5U, 0xe8b8d433U, 0x7807c9a2U, 0x0f00f934U, 0x9609a88eU, 0xe10e9818U, 0x7f6a0dbbU, + 0x086d3d2dU, 0x91646c97U, 0xe6635c01U, 0x6b6b51f4U, 0x1c6c6162U, 0x856530d8U, 0xf262004eU, + 0x6c0695edU, 0x1b01a57bU, 0x8208f4c1U, 0xf50fc457U, 0x65b0d9c6U, 0x12b7e950U, 0x8bbeb8eaU, + 0xfcb9887cU, 0x62dd1ddfU, 0x15da2d49U, 0x8cd37cf3U, 0xfbd44c65U, 0x4db26158U, 0x3ab551ceU, + 0xa3bc0074U, 0xd4bb30e2U, 0x4adfa541U, 0x3dd895d7U, 0xa4d1c46dU, 0xd3d6f4fbU, 0x4369e96aU, + 0x346ed9fcU, 0xad678846U, 0xda60b8d0U, 0x44042d73U, 0x33031de5U, 0xaa0a4c5fU, 0xdd0d7cc9U, + 0x5005713cU, 0x270241aaU, 0xbe0b1010U, 0xc90c2086U, 0x5768b525U, 0x206f85b3U, 0xb966d409U, + 0xce61e49fU, 0x5edef90eU, 0x29d9c998U, 0xb0d09822U, 0xc7d7a8b4U, 0x59b33d17U, 0x2eb40d81U, + 0xb7bd5c3bU, 0xc0ba6cadU, 0xedb88320U, 0x9abfb3b6U, 0x03b6e20cU, 0x74b1d29aU, 0xead54739U, + 0x9dd277afU, 0x04db2615U, 0x73dc1683U, 0xe3630b12U, 0x94643b84U, 0x0d6d6a3eU, 0x7a6a5aa8U, + 0xe40ecf0bU, 0x9309ff9dU, 0x0a00ae27U, 0x7d079eb1U, 0xf00f9344U, 0x8708a3d2U, 0x1e01f268U, + 0x6906c2feU, 0xf762575dU, 0x806567cbU, 0x196c3671U, 0x6e6b06e7U, 0xfed41b76U, 0x89d32be0U, + 0x10da7a5aU, 0x67dd4accU, 0xf9b9df6fU, 0x8ebeeff9U, 0x17b7be43U, 0x60b08ed5U, 0xd6d6a3e8U, + 0xa1d1937eU, 0x38d8c2c4U, 0x4fdff252U, 0xd1bb67f1U, 0xa6bc5767U, 0x3fb506ddU, 0x48b2364bU, + 0xd80d2bdaU, 0xaf0a1b4cU, 0x36034af6U, 0x41047a60U, 0xdf60efc3U, 0xa867df55U, 0x316e8eefU, + 0x4669be79U, 0xcb61b38cU, 0xbc66831aU, 0x256fd2a0U, 0x5268e236U, 0xcc0c7795U, 0xbb0b4703U, + 0x220216b9U, 0x5505262fU, 0xc5ba3bbeU, 0xb2bd0b28U, 0x2bb45a92U, 0x5cb36a04U, 0xc2d7ffa7U, + 0xb5d0cf31U, 0x2cd99e8bU, 0x5bdeae1dU, 0x9b64c2b0U, 0xec63f226U, 0x756aa39cU, 0x026d930aU, + 0x9c0906a9U, 0xeb0e363fU, 0x72076785U, 0x05005713U, 0x95bf4a82U, 0xe2b87a14U, 0x7bb12baeU, + 0x0cb61b38U, 0x92d28e9bU, 0xe5d5be0dU, 0x7cdcefb7U, 0x0bdbdf21U, 0x86d3d2d4U, 0xf1d4e242U, + 0x68ddb3f8U, 0x1fda836eU, 0x81be16cdU, 0xf6b9265bU, 0x6fb077e1U, 0x18b74777U, 0x88085ae6U, + 0xff0f6a70U, 0x66063bcaU, 0x11010b5cU, 0x8f659effU, 0xf862ae69U, 0x616bffd3U, 0x166ccf45U, + 0xa00ae278U, 0xd70dd2eeU, 0x4e048354U, 0x3903b3c2U, 0xa7672661U, 0xd06016f7U, 0x4969474dU, + 0x3e6e77dbU, 0xaed16a4aU, 0xd9d65adcU, 0x40df0b66U, 0x37d83bf0U, 0xa9bcae53U, 0xdebb9ec5U, + 0x47b2cf7fU, 0x30b5ffe9U, 0xbdbdf21cU, 0xcabac28aU, 0x53b39330U, 0x24b4a3a6U, 0xbad03605U, + 0xcdd70693U, 0x54de5729U, 0x23d967bfU, 0xb3667a2eU, 0xc4614ab8U, 0x5d681b02U, 0x2a6f2b94U, + 0xb40bbe37U, 0xc30c8ea1U, 0x5a05df1bU, 0x2d02ef8dU}; + + if (isFirstCall) { + startValue = 0xFFFFFFFFU; + } else { + /* undo the XOR on the start value */ + startValue ^= 0xFFFFFFFFU; + + /* The reflection of the initial value is not necessary here as we used + * the "reflected" algorithm and reflected table values. */ + } + + /* Process all data byte-wise */ + while (len != 0U) { + /* Process one byte of data */ + startValue = crc32table[((uint8_t)startValue) ^ *data] ^ (startValue >> 8U); + /* Advance the pointer and decrease remaining bytes to calculate over + * until all bytes in the buffer have been used as input */ + ++data; + --len; + } /* while (u32Length != 0U) */ + + /* The reflection of the remainder is not necessary here as we used the + * "reflected" algorithm and reflected table values. */ + startValue ^= 0xFFFFFFFFU; /* XOR crc value */ + + return startValue; +} + +inline bool isCrc32Correct(const uint8_t * pkt, size_t size) +{ + // + // packet format + // + // | packet header + packet data | crc32 | rolling_counter | + // | n bytes | 4 bytes | 2 bytes | + // + uint32_t expected; + expected = calcCrc32(pkt, size - 6, 0 /* ignored */, true); + expected = calcCrc32(pkt + size - 2, 2, expected, false); + + uint32_t actual = *(uint32_t *)(pkt + size - 6); + actual = htonl(actual); + + return (expected == actual); +} + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/block_iterator.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/block_iterator.hpp new file mode 100644 index 000000000..54307bcd6 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/block_iterator.hpp @@ -0,0 +1,286 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once +namespace nebula +{ +namespace drivers +{ + +template +class BlockIterator +{ +public: + static const int MAX_BLOCKS_PER_PKT = 12; + + void get(uint16_t blk, int32_t & az_diff, double & ts) + { + az_diff = az_diffs[blk]; + ts = tss[blk]; + } + + BlockIterator( + const T_Packet & pkt, uint16_t blocks_per_pkt, double block_duration, + uint16_t block_az_duration, double fov_blind_duration) + : pkt_(pkt), + BLOCKS_PER_PKT(blocks_per_pkt), + BLOCK_DURATION(block_duration), + BLOCK_AZ_DURATION(block_az_duration), + FOV_BLIND_DURATION(fov_blind_duration) + { + // assert(BLOCKS_PER_PKT <= MAX_BLOCKS_PER_PKT); + } + +protected: + const T_Packet & pkt_; + const uint16_t BLOCKS_PER_PKT; + const double BLOCK_DURATION; + const uint16_t BLOCK_AZ_DURATION; + const double FOV_BLIND_DURATION; + int32_t az_diffs[MAX_BLOCKS_PER_PKT]; + double tss[MAX_BLOCKS_PER_PKT]; +}; + +template +class SingleReturnBlockIterator : public BlockIterator +{ +public: + SingleReturnBlockIterator( + const T_Packet & pkt, uint16_t blocks_per_pkt, double block_duration, + uint16_t block_az_duration, double fov_blind_duration) + : BlockIterator( + pkt, blocks_per_pkt, block_duration, block_az_duration, fov_blind_duration) + { + double tss = 0; + uint16_t blk = 0; + for (; blk < (this->BLOCKS_PER_PKT - 1); blk++) { + double ts_diff = this->BLOCK_DURATION; + int32_t az_diff = + ntohs(this->pkt_.blocks[blk + 1].azimuth) - ntohs(this->pkt_.blocks[blk].azimuth); + if (az_diff < 0) { + az_diff += 36000; + } + // Skip FOV blind zone + if (az_diff > 100) { + az_diff = this->BLOCK_AZ_DURATION; + ts_diff = this->FOV_BLIND_DURATION; + } + + this->az_diffs[blk] = az_diff; + this->tss[blk] = tss; + + tss += ts_diff; + } + + this->az_diffs[blk] = this->BLOCK_AZ_DURATION; + this->tss[blk] = tss; + } +}; + +template +class DualReturnBlockIterator : public BlockIterator +{ +public: + DualReturnBlockIterator( + const T_Packet & pkt, uint16_t blocks_per_pkt, double block_duration, + uint16_t block_az_duration, double fov_blind_duration) + : BlockIterator( + pkt, blocks_per_pkt, block_duration, block_az_duration, fov_blind_duration) + { + double tss = 0; + uint16_t blk = 0; + for (; blk < (this->BLOCKS_PER_PKT - 2); blk = blk + 2) { + double ts_diff = this->BLOCK_DURATION; + int32_t az_diff = + ntohs(this->pkt_.blocks[blk + 2].azimuth) - ntohs(this->pkt_.blocks[blk].azimuth); + if (az_diff < 0) { + az_diff += 36000; + } + + // Skip FOV blind zone + if (az_diff > 100) { + az_diff = this->BLOCK_AZ_DURATION; + ts_diff = this->FOV_BLIND_DURATION; + } + + this->az_diffs[blk] = this->az_diffs[blk + 1] = az_diff; + this->tss[blk] = this->tss[blk + 1] = tss; + + tss += ts_diff; + } + + this->az_diffs[blk] = this->az_diffs[blk + 1] = this->BLOCK_AZ_DURATION; + this->tss[blk] = this->tss[blk + 1] = tss; + } +}; + +template +class ABDualReturnBlockIterator : public BlockIterator +{ +public: + ABDualReturnBlockIterator( + const T_Packet & pkt, uint16_t blocks_per_pkt, double block_duration, + uint16_t block_az_duration, double fov_blind_duration) + : BlockIterator( + pkt, blocks_per_pkt, block_duration, block_az_duration, fov_blind_duration) + { + double ts_diff = this->BLOCK_DURATION; + int32_t az_diff = ntohs(this->pkt_.blocks[2].azimuth) - ntohs(this->pkt_.blocks[0].azimuth); + if (az_diff < 0) { + az_diff += 36000; + } + + // Skip FOV blind zone + if (az_diff > 100) { + az_diff = this->BLOCK_AZ_DURATION; + ts_diff = this->FOV_BLIND_DURATION; + } + + if (ntohs(this->pkt_.blocks[0].azimuth) == ntohs(this->pkt_.blocks[1].azimuth)) // AAB + { + double tss = 0; + this->az_diffs[0] = this->az_diffs[1] = az_diff; + this->tss[0] = this->tss[1] = tss; + + tss += ts_diff; + this->az_diffs[2] = this->BLOCK_AZ_DURATION; + this->tss[2] = tss; + } else // ABB + { + double tss = 0; + this->az_diffs[0] = az_diff; + this->tss[0] = tss; + + tss += ts_diff; + this->az_diffs[1] = this->az_diffs[2] = this->BLOCK_AZ_DURATION; + this->tss[1] = this->tss[2] = tss; + } + } +}; + +template +class Rs16SingleReturnBlockIterator : public BlockIterator +{ +public: + static void calcChannel( + const float blk_ts, const float firing_tss[], float az_percents[], double ts_diffs[]) + { + for (uint16_t chan = 0; chan < 32; chan++) { + az_percents[chan] = firing_tss[chan] / (blk_ts * 2); + ts_diffs[chan] = (double)firing_tss[chan] / 1000000; + } + } + + Rs16SingleReturnBlockIterator( + const T_Packet & pkt, uint16_t blocks_per_pkt, double block_duration, + uint16_t block_az_duration, double fov_blind_duration) + : BlockIterator( + pkt, blocks_per_pkt, block_duration, block_az_duration, fov_blind_duration) + { + double tss = 0; + uint16_t blk = 0; + for (; blk < (this->BLOCKS_PER_PKT - 1); blk++) { + double ts_diff = this->BLOCK_DURATION * 2; + int32_t az_diff = + ntohs(this->pkt_.blocks[blk + 1].azimuth) - ntohs(this->pkt_.blocks[blk].azimuth); + if (az_diff < 0) { + az_diff += 36000; + } + + // Skip FOV blind zone + if (az_diff > 100) { + az_diff = this->BLOCK_AZ_DURATION * 2; + ts_diff = this->FOV_BLIND_DURATION; + } + + this->az_diffs[blk] = az_diff; + this->tss[blk] = tss; + + tss += ts_diff; + } + + this->az_diffs[blk] = this->BLOCK_AZ_DURATION * 2; + this->tss[blk] = tss; + } +}; + +template +class Rs16DualReturnBlockIterator : public BlockIterator +{ +public: + static void calcChannel( + const float blk_ts, const float firing_tss[], float az_percents[], double ts_diffs[]) + { + for (uint16_t chan = 0; chan < 32; chan++) { + az_percents[chan] = firing_tss[chan % 16] / blk_ts; + ts_diffs[chan] = (double)firing_tss[chan % 16] / 1000000; + } + } + + Rs16DualReturnBlockIterator( + const T_Packet & pkt, uint16_t blocks_per_pkt, double block_duration, + uint16_t block_az_duration, double fov_blind_duration) + : BlockIterator( + pkt, blocks_per_pkt, block_duration, block_az_duration, fov_blind_duration) + { + double tss = 0; + uint16_t blk = 0; + for (; blk < (this->BLOCKS_PER_PKT - 1); blk++) { + double ts_diff = this->BLOCK_DURATION; + int32_t az_diff = + ntohs(this->pkt_.blocks[blk + 1].azimuth) - ntohs(this->pkt_.blocks[blk].azimuth); + if (az_diff < 0) { + az_diff += 36000; + } + + // Skip FOV blind zone + if (az_diff > 100) { + az_diff = this->BLOCK_AZ_DURATION; + ts_diff = this->FOV_BLIND_DURATION; + } + + this->az_diffs[blk] = az_diff; + this->tss[blk] = tss; + + tss += ts_diff; + } + + this->az_diffs[blk] = this->BLOCK_AZ_DURATION; + this->tss[blk] = tss; + } +}; + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/chan_angles.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/chan_angles.hpp new file mode 100644 index 000000000..da1ef0a4f --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/chan_angles.hpp @@ -0,0 +1,210 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include + +#include +#include + +namespace nebula +{ +namespace drivers +{ + +#pragma pack(push, 1) +typedef struct +{ + uint8_t sign; + uint16_t value; +} RSCalibrationAngle; +#pragma pack(pop) + +class ChanAngles +{ +public: + ChanAngles(uint16_t chan_num) : chan_num_(chan_num) + { + vert_angles_.resize(chan_num_); + horiz_angles_.resize(chan_num_); + user_chans_.resize(chan_num_); + } + + int loadFromFile(const std::string & angle_path) + { + RS_DEBUG << "loadFromFile 001" << RS_REND; + std::vector vert_angles; + std::vector horiz_angles; + int ret = loadFromFile(angle_path, chan_num_, vert_angles, horiz_angles); + RS_DEBUG << "loadFromFile 002 ret:" << ret << RS_REND; + if (ret < 0) return ret; + + if (vert_angles.size() != chan_num_) { + return -1; + } + + vert_angles_.swap(vert_angles); + horiz_angles_.swap(horiz_angles); + genUserChan(vert_angles_, user_chans_); + return 0; + } + + int loadFromDifop( + const RSCalibrationAngle vert_angle_arr[], const RSCalibrationAngle horiz_angle_arr[]) + { + std::vector vert_angles; + std::vector horiz_angles; + int ret = loadFromDifop(vert_angle_arr, horiz_angle_arr, chan_num_, vert_angles, horiz_angles); + if (ret < 0) return ret; + std::cout << "ret:" << ret << std::endl; + vert_angles_.swap(vert_angles); + horiz_angles_.swap(horiz_angles); + genUserChan(vert_angles_, user_chans_); + return 0; + } + + uint16_t toUserChan(uint16_t chan) { return user_chans_[chan]; } + + int32_t horizAdjust(uint16_t chan, int32_t horiz) { return (horiz + horiz_angles_[chan]); } + + int32_t vertAdjust(uint16_t chan) { return vert_angles_[chan]; } + + void print() + { + std::cout << "---------------------" << std::endl << "chan_num:" << chan_num_ << std::endl; + + std::cout << "vert_angle\thoriz_angle\tuser_chan" << std::endl; + + for (uint16_t chan = 0; chan < chan_num_; chan++) { + std::cout << vert_angles_[chan] << "\t" << horiz_angles_[chan] << "\t" << user_chans_[chan] + << std::endl; + } + } + +#ifndef UNIT_TEST +private: +#endif + + static void genUserChan( + const std::vector & vert_angles, std::vector & user_chans) + { + user_chans.resize(vert_angles.size()); + + for (size_t i = 0; i < vert_angles.size(); i++) { + int32_t angle = vert_angles[i]; + uint16_t chan = 0; + + for (size_t j = 0; j < vert_angles.size(); j++) { + if (vert_angles[j] < angle) { + chan++; + } + } + + user_chans[i] = chan; + } + } + + static int loadFromFile( + const std::string & angle_path, size_t size, std::vector & vert_angles, + std::vector & horiz_angles) + { + vert_angles.clear(); + horiz_angles.clear(); + RS_DEBUG << "loadFromFile 003 size:" << size << RS_REND; + std::ifstream fd(angle_path.c_str(), std::ios::in); + if (!fd.is_open()) { + std::cout << "fail to open angle file:" << angle_path << std::endl; + return -1; + } + + std::string line; + for (size_t i = 0; i < size; i++) { + if (!std::getline(fd, line)) return -1; + + float vert = std::stof(line); + + float horiz = 0; + size_t pos_comma = line.find_first_of(','); + if (pos_comma != std::string::npos) { + horiz = std::stof(line.substr(pos_comma + 1)); + } + + vert_angles.emplace_back(static_cast(vert * 100)); + horiz_angles.emplace_back(static_cast(horiz * 100)); + } + + fd.close(); + return 0; + } + + static int loadFromDifop( + const RSCalibrationAngle * vert_angle_arr, const RSCalibrationAngle * horiz_angle_arr, + size_t size, std::vector & vert_angles, std::vector & horiz_angles) + { + vert_angles.clear(); + horiz_angles.clear(); + + for (size_t i = 0; i < size; i++) { + const RSCalibrationAngle & vert = vert_angle_arr[i]; + const RSCalibrationAngle & horiz = horiz_angle_arr[i]; + int32_t v; + + if (vert.sign == 0xFF) return -1; + + v = ntohs(vert.value); + if (vert.sign != 0) v = -v; + vert_angles.emplace_back(v); + if (!angleCheck(v)) return -1; + + v = ntohs(horiz.value); + if (horiz.sign != 0) v = -v; + horiz_angles.emplace_back(v); + if (!angleCheck(v)) return -1; + } + + return ((vert_angles.size() > 0) ? 0 : -1); + } + + static bool angleCheck(int32_t v) { return ((-9000 <= v) && (v < 9000)); } + + uint16_t chan_num_; + std::vector vert_angles_; + std::vector horiz_angles_; + std::vector user_chans_; +}; + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/decoder.hpp new file mode 100644 index 000000000..2c0de1605 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/decoder.hpp @@ -0,0 +1,394 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include "basic_attr.hpp" +#include "driver_param.hpp" +#include "nebula_common/point_types.hpp" +#include "section.hpp" +#include "trigon.hpp" + +#include + +#ifndef _USE_MATH_DEFINES +#define _USE_MATH_DEFINES // for VC++, required to use const M_IP in +#endif + +#include +#include +#include +#include + +namespace nebula +{ +namespace drivers +{ + +#pragma pack(push, 1) +typedef struct +{ + uint8_t id[8]; + uint8_t reserved_1[12]; + RSTimestampYMD timestamp; + uint8_t legacy_lidar_type; + uint8_t lidar_type; + uint8_t lidar_model; + uint8_t reserved_2[5]; + RSTemperature temp; + uint8_t reserved_3[2]; +} RSMsopHeaderV1; + +typedef struct +{ + uint8_t id[4]; + uint16_t protocol_version; + uint8_t reserved_1; + uint8_t wave_mode; + RSTemperature temp; + RSTimestampUTC timestamp; + uint8_t reserved_2[10]; + uint8_t lidar_type; + uint8_t lidar_model; + uint8_t reserved_3[48]; +} RSMsopHeaderV2; + +typedef struct +{ + uint16_t distance; + uint8_t intensity; +} RSChannel; + +typedef struct +{ + uint8_t lidar_ip[4]; + uint8_t host_ip[4]; + uint8_t mac_addr[6]; + uint16_t local_port; + uint16_t dest_port; + uint16_t port3; + uint16_t port4; +} RSEthNetV1; + +typedef struct +{ + uint8_t lidar_ip[4]; + uint8_t dest_ip[4]; + uint8_t mac_addr[6]; + uint16_t msop_port; + uint16_t reserve_1; + uint16_t difop_port; + uint16_t reserve_2; +} RSEthNetV2; + +typedef struct +{ + uint16_t start_angle; + uint16_t end_angle; +} RSFOV; + +typedef struct +{ + uint8_t top_ver[5]; + uint8_t bottom_ver[5]; +} RSVersionV1; + +typedef struct +{ + uint8_t top_ver[5]; // firmware + uint8_t bottom_ver[5]; // firmware + uint8_t bot_soft_ver[5]; + uint8_t motor_firmware_ver[5]; + uint8_t hw_ver[3]; +} RSVersionV2; + +typedef struct +{ + uint8_t num[6]; +} RSSN; + +typedef struct +{ + uint8_t device_current[3]; + uint8_t main_current[3]; + uint16_t vol_12v; + uint16_t vol_sim_1v8; + uint16_t vol_dig_3v3; + uint16_t vol_sim_3v3; + uint16_t vol_dig_5v4; + uint16_t vol_sim_5v; + uint16_t vol_ejc_5v; + uint16_t vol_recv_5v; + uint16_t vol_apd; +} RSStatusV1; + +typedef struct +{ + uint16_t device_current; + uint16_t vol_fpga; + uint16_t vol_12v; + uint16_t vol_dig_5v4; + uint16_t vol_sim_5v; + uint16_t vol_apd; + uint8_t reserved[12]; +} RSStatusV2; + +typedef struct +{ + uint8_t reserved_1[9]; + uint16_t checksum; + uint16_t manc_err1; + uint16_t manc_err2; + uint8_t gps_status; + uint16_t temperature1; + uint16_t temperature2; + uint16_t temperature3; + uint16_t temperature4; + uint16_t temperature5; + uint8_t reserved_2[5]; + uint16_t cur_rpm; + uint8_t reserved_3[7]; +} RSDiagnoV1; + +typedef struct +{ + uint16_t bot_fpga_temperature; + uint16_t recv_A_temperature; + uint16_t recv_B_temperature; + uint16_t main_fpga_temperature; + uint16_t main_fpga_core_temperature; + uint16_t real_rpm; + uint8_t lane_up; + uint16_t lane_up_cnt; + uint16_t main_status; + uint8_t gps_status; + uint8_t reserved[22]; +} RSDiagnoV2; + +typedef struct +{ + uint8_t sync_mode; + uint8_t sync_sts; + RSTimestampUTC timestamp; +} RSTimeInfo; + +#pragma pack(pop) + +// Echo mode +enum RSEchoMode { ECHO_SINGLE = 0, ECHO_DUAL }; + +// decoder const param +struct RSDecoderConstParam +{ + // packet len + uint16_t MSOP_LEN; + uint16_t DIFOP_LEN; + + // packet identity + uint8_t MSOP_ID_LEN; + uint8_t DIFOP_ID_LEN; + uint8_t MSOP_ID[8]; + uint8_t DIFOP_ID[8]; + uint8_t BLOCK_ID[2]; + + // packet structure + uint16_t LASER_NUM; + uint16_t BLOCKS_PER_PKT; + uint16_t CHANNELS_PER_BLOCK; + + // distance & temperature + float DISTANCE_MIN; + float DISTANCE_MAX; + float DISTANCE_RES; + float TEMPERATURE_RES; +}; + +#define INIT_ONLY_ONCE() \ + static bool init_flag = false; \ + if (init_flag) return param; \ + init_flag = true; + +class Decoder +{ +public: + virtual void decodeDifopPkt(const uint8_t * pkt) = 0; + virtual bool decodeMsopPkt(const uint8_t * pkt) = 0; + virtual ~Decoder() = default; + + void processDifopPkt(const uint8_t * pkt, size_t size); + bool processMsopPkt(const uint8_t * pkt, size_t size); + bool isSplitFrame{false}; + + explicit Decoder(const RSDecoderConstParam & const_param, const RSDecoderParam & param); + + float getTemperature(); + bool getDeviceInfo(DeviceInfo & info); + bool getDeviceStatus(DeviceStatus & status); + double getPacketDuration(); + void enableWritePktTs(bool value); + double prevPktTs(); + + bool isSpliteFrame(); + virtual std::tuple get_pointcloud() = 0; + +protected: + double cloudTs(); + DeviceInfo device_info_; + DeviceStatus device_status_; + RSDecoderConstParam const_param_; // const param + RSDecoderParam param_; // user param + drivers::NebulaPointCloudPtr current_point_cloud_; // accumulated point cloud currently + drivers::NebulaPointCloudPtr next_point_cloud_; // accumulated point cloud currently + bool write_pkt_ts_; + uint8_t return_type_{static_cast(ReturnType::STRONGEST)}; + uint8_t first_return_type_{}; + uint8_t second_return_type_{}; + Trigon trigon_; +#define SIN(angle) this->trigon_.sin(angle) +#define COS(angle) this->trigon_.cos(angle) + + double packet_duration_; + DistanceSection distance_section_; // invalid section of distance + + RSEchoMode echo_mode_; // echo mode (defined by return mode) + float temperature_; // lidar temperature + + bool isSpliteFrame_{false}; + bool angles_ready_; // is vert_angles/horiz_angles ready from csv file/difop packet? + double prev_pkt_ts_; // timestamp of prevous packet + double prev_point_ts_; // timestamp of previous point + double first_point_ts_; // timestamp of first point +}; + +inline Decoder::Decoder(const RSDecoderConstParam & const_param, const RSDecoderParam & param) +: const_param_(const_param), + param_(param), + write_pkt_ts_(false), + packet_duration_(0), + distance_section_( + const_param.DISTANCE_MIN, const_param.DISTANCE_MAX, param.min_distance, param.max_distance), + echo_mode_(ECHO_SINGLE), + temperature_(0.0), + angles_ready_(false), + prev_pkt_ts_(0.0), + prev_point_ts_(0.0), + first_point_ts_(0.0) +{ +} + +inline void Decoder::enableWritePktTs(bool value) +{ + write_pkt_ts_ = value; +} + +inline float Decoder::getTemperature() +{ + return temperature_; +} + +inline bool Decoder::getDeviceInfo(DeviceInfo & info) +{ + info = device_info_; + return true; +} + +inline bool Decoder::isSpliteFrame() +{ + return isSpliteFrame_; +} +inline bool Decoder::getDeviceStatus(DeviceStatus & status) +{ + memcpy(&status, &device_status_, sizeof(DeviceStatus)); + return true; +} + +inline double Decoder::getPacketDuration() +{ + return packet_duration_; +} + +inline double Decoder::prevPktTs() +{ + return prev_pkt_ts_; +} + +inline double Decoder::cloudTs() +{ + return (param_.ts_first_point ? first_point_ts_ : prev_point_ts_); +} + +inline void Decoder::processDifopPkt(const uint8_t * pkt, size_t size) +{ + if (size != this->const_param_.DIFOP_LEN) { + std::cout << "ERRCODE_WRONGDIFOPLEN" << std::endl; + return; + } + + if (memcmp(pkt, this->const_param_.DIFOP_ID, const_param_.DIFOP_ID_LEN) != 0) { + std::cout << "ERRCODE_WRONGDIFOPID" << std::endl; + return; + } + decodeDifopPkt(pkt); +} + +inline bool Decoder::processMsopPkt(const uint8_t * pkt, size_t size) +{ + constexpr static int CLOUD_POINT_MAX = 1000000; + + if (this->current_point_cloud_ && (this->current_point_cloud_->points.size() > CLOUD_POINT_MAX)) { + std::cout << "ERRCODE_CLOUDOVERFLOW" << std::endl; + this->current_point_cloud_->points.clear(); + } + + if (param_.wait_for_difop && !angles_ready_) { + // std::cout << "ERRCODE_NODIFOPRECV" << std::endl; + return false; + } + + if (size != this->const_param_.MSOP_LEN) { + std::cout << "ERRCODE_WRONGMSOPLEN" << std::endl; + return false; + } + + if (memcmp(pkt, this->const_param_.MSOP_ID, this->const_param_.MSOP_ID_LEN) != 0) { + std::cout << "ERRCODE_WRONGMSOPID" << std::endl; + return false; + } + + return decodeMsopPkt(pkt); +} + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/driver_param.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/driver_param.hpp new file mode 100644 index 000000000..079c00ae3 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/driver_param.hpp @@ -0,0 +1,109 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include + +#include +#include + +namespace nebula +{ +namespace drivers +{ + +enum SplitFrameMode { SPLIT_BY_ANGLE = 1, SPLIT_BY_FIXED_BLKS, SPLIT_BY_CUSTOM_BLKS }; + +struct RSDecoderParam ///< LiDAR decoder parameter +{ + bool config_from_file = false; ///< Internal use only for debugging + std::string angle_path = ""; ///< Internal use only for debugging + bool wait_for_difop = true; ///< true: start sending point cloud until receive difop packet + float min_distance = + 0.0f; ///< min/max distances of point cloud range. valid if min distance or max distance > 0 + float max_distance = 0.0f; + float start_angle = 0.0f; ///< Start angle of point cloud + float end_angle = 360.0f; ///< End angle of point cloud + SplitFrameMode split_frame_mode = SplitFrameMode::SPLIT_BY_ANGLE; + ///< 1: Split frames by split_angle; + ///< 2: Split frames by fixed number of blocks; + ///< 3: Split frames by custom number of blocks (num_blks_split) + float split_angle = + 0.0f; ///< Split angle(degree) used to split frame, only be used when split_frame_mode=1 + uint16_t num_blks_split = + 1; ///< Number of packets in one frame, only be used when split_frame_mode=3 + bool use_lidar_clock = + false; ///< true: use LiDAR clock as timestamp; false: use system clock as timestamp + bool dense_points = false; ///< true: discard NAN points; false: reserve NAN points + bool ts_first_point = + false; ///< true: time-stamp point cloud with the first point; false: with the last point; + + void print() const + { + RS_INFO << "------------------------------------------------------" << RS_REND; + RS_INFO << " RoboSense Decoder Parameters " << RS_REND; + RS_INFOL << "wait_for_difop: " << wait_for_difop << RS_REND; + RS_INFOL << "min_distance: " << min_distance << RS_REND; + RS_INFOL << "max_distance: " << max_distance << RS_REND; + RS_INFOL << "start_angle: " << start_angle << RS_REND; + RS_INFOL << "end_angle: " << end_angle << RS_REND; + RS_INFOL << "use_lidar_clock: " << use_lidar_clock << RS_REND; + RS_INFOL << "dense_points: " << dense_points << RS_REND; + RS_INFOL << "config_from_file: " << config_from_file << RS_REND; + RS_INFOL << "angle_path: " << angle_path << RS_REND; + RS_INFOL << "split_frame_mode: " << split_frame_mode << RS_REND; + RS_INFOL << "split_angle: " << split_angle << RS_REND; + RS_INFOL << "num_blks_split: " << num_blks_split << RS_REND; + RS_INFO << "------------------------------------------------------" << RS_REND; + } +}; + +// struct DeviceInfo +// { +// uint8_t sn[6]; +// uint8_t mac[6]; +// uint8_t top_ver[5]; +// uint8_t bottom_ver[5]; +// uint16_t rpm; +// }; + +struct DeviceStatus +{ + float voltage = 0.0f; +}; + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios16P_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios16P_decoder.hpp new file mode 100644 index 000000000..4dfb178bd --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios16P_decoder.hpp @@ -0,0 +1,314 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once +#include "robosense_helios_decoder.hpp" +#include "robosense_mech_decoder.hpp" +namespace nebula +{ +namespace drivers +{ +namespace robosense_helios16P +{ +#pragma pack(push, 1) + +#pragma pack(pop) + +class RobosenseHelios16PDecoder : public DecoderMech +{ +public: + virtual void decodeDifopPkt(const uint8_t * pkt); + virtual bool decodeMsopPkt(const uint8_t * pkt); + virtual ~RobosenseHelios16PDecoder() = default; + + explicit RobosenseHelios16PDecoder(const RSDecoderParam & param); + std::tuple get_pointcloud() override; + +#ifndef UNIT_TEST +protected: +#endif + + void calcParam(); + static RSDecoderMechConstParam & getConstParam(); + RSEchoMode getEchoMode(uint8_t mode); + + template + bool internDecodeMsopPkt(const uint8_t * pkt); +}; + +inline RSDecoderMechConstParam & RobosenseHelios16PDecoder::getConstParam() +{ + static RSDecoderMechConstParam param = { + 1248 // msop len + , + 1248 // difop len + , + 4 // msop id len + , + 8 // difop id len + , + {0x55, 0xAA, 0x05, 0x5A} // msop id + , + {0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55} // difop id + , + {0xFF, 0xEE} // block id + , + 16 // laser number + , + 12 // blocks per packet + , + 32 // channels per block + , + 0.1f // distance min + , + 180.0f // distance max + , + 0.0025f // distance resolution + , + 0.0625f // temperature resolution + + // lens center + , + 0.03498f // RX + , + -0.015f // RY + , + 0.0f // RZ + , + 0.0f // BLOCK_DURATION + , + {0.0f} // CHAN_TSS + , + {0.0f} // CHAN_AZIS + }; + + float blk_ts = 55.56f; + param.BLOCK_DURATION = blk_ts / 1000000; + + return param; +} // namespace robosense_helios16P + +inline void RobosenseHelios16PDecoder::calcParam() +{ + float blk_ts = 55.56f; + float firing_tss[] = {0.00f, 3.15f, 6.30f, 9.45f, 13.26f, 17.08f, 20.56f, 23.71f, + 26.53f, 27.77f, 31.49f, 32.73f, 36.46f, 38.94f, 41.42f, 43.91f, + 55.56f, 58.70f, 61.85f, 65.00f, 68.82f, 72.64f, 76.12f, 79.27f, + 82.08f, 83.32f, 87.05f, 88.29f, 92.01f, 94.50f, 96.98f, 99.46f}; + + if (this->echo_mode_ == RSEchoMode::ECHO_SINGLE) { + Rs16SingleReturnBlockIterator::calcChannel( + blk_ts, firing_tss, this->mech_const_param_.CHAN_AZIS, this->mech_const_param_.CHAN_TSS); + } else { + Rs16DualReturnBlockIterator::calcChannel( + blk_ts, firing_tss, this->mech_const_param_.CHAN_AZIS, this->mech_const_param_.CHAN_TSS); + } +} + +inline RSEchoMode RobosenseHelios16PDecoder::getEchoMode(uint8_t mode) +{ + switch (mode) { + case 0x00: // dual return + first_return_type_ = static_cast(ReturnType::STRONGEST); + second_return_type_ = static_cast(ReturnType::SECOND_STRONGEST); + return RSEchoMode::ECHO_DUAL; + case 0x04: // strongest return + return_type_ = static_cast(ReturnType::STRONGEST); + return RSEchoMode::ECHO_SINGLE; + case 0x05: // last return + return_type_ = static_cast(ReturnType::LAST); + return RSEchoMode::ECHO_SINGLE; + case 0x06: // nearest return + return_type_ = static_cast(ReturnType::FIRST); + return RSEchoMode::ECHO_SINGLE; + default: + return_type_ = static_cast(ReturnType::STRONGEST); + return RSEchoMode::ECHO_SINGLE; + } +} + +inline RobosenseHelios16PDecoder::RobosenseHelios16PDecoder(const RSDecoderParam & param) +: DecoderMech(getConstParam(), param) +{ + this->packet_duration_ = + this->mech_const_param_.BLOCK_DURATION * this->const_param_.BLOCKS_PER_PKT * 2; + + calcParam(); + this->current_point_cloud_.reset(new NebulaPointCloud); + this->next_point_cloud_.reset(new NebulaPointCloud); +} + +inline void RobosenseHelios16PDecoder::decodeDifopPkt(const uint8_t * packet) +{ + const robosense_helios::RSHELIOSDifopPkt & pkt = + *(const robosense_helios::RSHELIOSDifopPkt *)(packet); + this->template decodeDifopCommon(pkt); + + RSEchoMode echo_mode = getEchoMode(pkt.return_mode); + if (this->echo_mode_ != echo_mode) { + this->echo_mode_ = echo_mode; + this->split_blks_per_frame_ = (this->echo_mode_ == RSEchoMode::ECHO_DUAL) + ? this->blks_per_frame_ + : (this->blks_per_frame_ >> 1); + calcParam(); + } + + this->device_info_.rpm = ntohs(pkt.diagno.real_rpm); + this->device_info_.bot_fpga_temperature = ntohs(pkt.diagno.bot_fpga_temperature); + this->device_info_.recv_A_temperature = ntohs(pkt.diagno.recv_A_temperature); + this->device_info_.recv_B_temperature = ntohs(pkt.diagno.recv_B_temperature); + this->device_info_.main_fpga_temperature = ntohs(pkt.diagno.main_fpga_temperature); + this->device_info_.main_fpga_core_temperature = ntohs(pkt.diagno.main_fpga_core_temperature); + this->device_info_.lane_up = pkt.diagno.lane_up; + this->device_info_.lane_up_cnt = ntohs(pkt.diagno.lane_up_cnt); + this->device_info_.main_status = ntohs(pkt.diagno.main_status); + this->device_info_.gps_status = pkt.diagno.gps_status; +} +std::tuple RobosenseHelios16PDecoder::get_pointcloud() +{ + return std::make_tuple(this->current_point_cloud_, this->cloudTs()); +} +inline bool RobosenseHelios16PDecoder::decodeMsopPkt(const uint8_t * pkt) +{ + if (this->echo_mode_ == RSEchoMode::ECHO_SINGLE) { + return internDecodeMsopPkt>(pkt); + } else { + return internDecodeMsopPkt>(pkt); + } +} + +template +inline bool RobosenseHelios16PDecoder::internDecodeMsopPkt(const uint8_t * packet) +{ + if (isSpliteFrame_) { + this->current_point_cloud_ = this->next_point_cloud_; + this->next_point_cloud_.reset(new NebulaPointCloud); + isSpliteFrame_ = false; + } + const robosense_helios::RSHELIOSMsopPkt & pkt = + *(const robosense_helios::RSHELIOSMsopPkt *)(packet); + + this->temperature_ = parseTempInLe(&(pkt.header.temp)) * this->const_param_.TEMPERATURE_RES; + + double pkt_ts = 0; + if (this->param_.use_lidar_clock) { + pkt_ts = parseTimeUTCWithUs(&pkt.header.timestamp) * 1e-6; + } else { + uint64_t ts = getTimeHost(); + + // roll back to first block to approach lidar ts as near as possible. + pkt_ts = ts * 1e-6 - this->getPacketDuration(); + + if (this->write_pkt_ts_) { + createTimeUTCWithUs(ts, (RSTimestampUTC *)&pkt.header.timestamp); + } + } + T_BlockIterator iter( + pkt, this->const_param_.BLOCKS_PER_PKT, this->mech_const_param_.BLOCK_DURATION, + this->block_az_diff_, this->fov_blind_ts_diff_); + + for (uint16_t blk = 0; blk < this->const_param_.BLOCKS_PER_PKT; blk++) { + const robosense_helios::RSHELIOSMsopBlock & block = pkt.blocks[blk]; + if (memcmp(this->const_param_.BLOCK_ID, block.id, 2) != 0) { + std::cout << "ERRCODE_WRONGMSOPBLKID" << std::endl; + break; + } + int32_t block_az_diff; + double block_ts_off; + iter.get(blk, block_az_diff, block_ts_off); + + double block_ts = pkt_ts + block_ts_off; + int32_t block_az = ntohs(block.azimuth); + if (this->split_strategy_->newBlock(block_az)) { + this->first_point_ts_ = block_ts; + isSpliteFrame_ = true; + } + NebulaPointCloudPtr block_pc(new NebulaPointCloud); + for (uint16_t chan = 0; chan < this->const_param_.CHANNELS_PER_BLOCK; chan++) { + const RSChannel & channel = block.channels[chan]; + double chan_ts = block_ts + this->mech_const_param_.CHAN_TSS[chan]; + int32_t angle_horiz = + block_az + (int32_t)((float)block_az_diff * this->mech_const_param_.CHAN_AZIS[chan]); + uint16_t laser = chan % 16; + int32_t angle_vert = this->chan_angles_.vertAdjust(laser); + int32_t angle_horiz_final = this->chan_angles_.horizAdjust(laser, angle_horiz); + float distance = ntohs(channel.distance) * this->const_param_.DISTANCE_RES; + + if (this->distance_section_.in(distance) && this->scan_section_.in(angle_horiz_final)) { + float x = distance * COS(angle_vert) * COS(angle_horiz_final) + + this->mech_const_param_.RX * COS(angle_horiz); + float y = -distance * COS(angle_vert) * SIN(angle_horiz_final) - + this->mech_const_param_.RX * SIN(angle_horiz); + float z = distance * SIN(angle_vert) + this->mech_const_param_.RZ; + NebulaPoint point{}; + point.x = x; + point.y = y; + point.z = z; + point.intensity = channel.intensity; + point.channel = this->chan_angles_.toUserChan(laser); + point.azimuth = angle_horiz_final; + point.distance = distance; + point.elevation = angle_vert; + if (this->echo_mode_ == RSEchoMode::ECHO_SINGLE) { + point.return_type = this->return_type_; + } else { + if (chan < 16) { + point.return_type = this->first_return_type_; + } else { + point.return_type = this->second_return_type_; + } + } + + point.time_stamp = chan_ts; + + block_pc->points.emplace_back(point); + } else if (!this->param_.dense_points) { + NebulaPoint point{}; + block_pc->points.emplace_back(point); + } + this->prev_point_ts_ = chan_ts; + } + if (!isSpliteFrame_) { + *this->current_point_cloud_ += *block_pc; + } else { + *this->next_point_cloud_ += *block_pc; + } + } + this->prev_pkt_ts_ = pkt_ts; + return isSpliteFrame_; +} +} // namespace robosense_helios16P +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios_decoder.hpp new file mode 100644 index 000000000..5b5665336 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios_decoder.hpp @@ -0,0 +1,341 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once +#include "robosense_mech_decoder.hpp" + +namespace nebula +{ +namespace drivers +{ +namespace robosense_helios +{ +#pragma pack(push, 1) + +typedef struct +{ + uint8_t id[2]; + uint16_t azimuth; + RSChannel channels[32]; +} RSHELIOSMsopBlock; + +typedef struct +{ + uint8_t id[4]; + uint16_t protocol_version; + uint8_t reserved1[14]; + RSTimestampUTC timestamp; + uint8_t lidar_type; + uint8_t reserved2[7]; + RSTemperature temp; + uint8_t reserved3[2]; +} RSHELIOSMsopHeader; + +typedef struct +{ + RSHELIOSMsopHeader header; + RSHELIOSMsopBlock blocks[12]; + unsigned int index; + uint16_t tail; +} RSHELIOSMsopPkt; + +typedef struct +{ + uint8_t id[8]; + uint16_t rpm; + RSEthNetV2 eth; + RSFOV fov; + uint8_t reserved1[2]; + uint16_t phase_lock_angle; + RSVersionV2 version; + uint8_t reserved2[229]; + RSSN sn; + uint16_t zero_cali; + uint8_t return_mode; + RSTimeInfo time_info; + RSStatusV2 status; + uint8_t reserved3[5]; + RSDiagnoV2 diagno; + uint8_t gprmc[86]; + RSCalibrationAngle vert_angle_cali[32]; + RSCalibrationAngle horiz_angle_cali[32]; + uint8_t reserved4[586]; + uint16_t tail; +} RSHELIOSDifopPkt; + +#pragma pack(pop) + +class RobosenseHeliosDecoder : public DecoderMech +{ +public: + virtual void decodeDifopPkt(const uint8_t * pkt); + virtual bool decodeMsopPkt(const uint8_t * pkt); + virtual ~RobosenseHeliosDecoder() = default; + + explicit RobosenseHeliosDecoder(const RSDecoderParam & param); + std::tuple get_pointcloud() override; + +#ifndef UNIT_TEST +protected: +#endif + + static RSDecoderMechConstParam & getConstParam(); + RSEchoMode getEchoMode(uint8_t mode); + + template + bool internDecodeMsopPkt(const uint8_t * pkt); +}; + +inline RSDecoderMechConstParam & RobosenseHeliosDecoder::getConstParam() +{ + static RSDecoderMechConstParam param = { + 1248 // msop len + , + 1248 // difop len + , + 4 // msop id len + , + 8 // difop id len + , + {0x55, 0xAA, 0x05, 0x5A} // msop id + , + {0xA5, 0xFF, 0x00, 0x5A, 0x11, 0x11, 0x55, 0x55} // difop id + , + {0xFF, 0xEE} // block id + , + 32 // laser number + , + 12 // blocks per packet + , + 32 // channels per block + , + 0.1f // distance min + , + 180.0f // distance max + , + 0.0025f // distance resolution + , + 0.0625f // temperature resolution + + // lens center + , + 0.03498f // RX + , + -0.015f // RY + , + 0.0f // RZ + , + 0.0f // BLOCK_DURATION + , + {0.0f} // CHAN_TSS + , + {0.0f} // CHAN_AZIS; + }; + + INIT_ONLY_ONCE(); + + float blk_ts = 55.56f; + float firing_tss[] = {0.00f, 1.57f, 3.15f, 4.72f, 6.30f, 7.87f, 9.45f, 11.36f, + 13.26f, 15.17f, 17.08f, 18.99f, 20.56f, 22.14f, 23.71f, 25.29f, + 26.53f, 29.01f, 27.77f, 30.25f, 31.49f, 33.98f, 32.73f, 35.22f, + 36.46f, 37.70f, 38.94f, 40.18f, 41.42f, 42.67f, 43.91f, 45.15f}; + + param.BLOCK_DURATION = blk_ts / 1000000; + for (uint16_t i = 0; i < sizeof(firing_tss) / sizeof(firing_tss[0]); i++) { + param.CHAN_TSS[i] = (double)firing_tss[i] / 1000000; + param.CHAN_AZIS[i] = firing_tss[i] / blk_ts; + } + + return param; +} + +inline RSEchoMode RobosenseHeliosDecoder::getEchoMode(uint8_t mode) +{ + switch (mode) { + case 0x00: // dual return + first_return_type_ = static_cast(ReturnType::STRONGEST); + second_return_type_ = static_cast(ReturnType::SECOND_STRONGEST); + return RSEchoMode::ECHO_DUAL; + case 0x04: // strongest return + return_type_ = static_cast(ReturnType::STRONGEST); + return RSEchoMode::ECHO_SINGLE; + case 0x05: // last return + return_type_ = static_cast(ReturnType::LAST); + return RSEchoMode::ECHO_SINGLE; + case 0x06: // nearest return + return_type_ = static_cast(ReturnType::FIRST); + return RSEchoMode::ECHO_SINGLE; + default: + return_type_ = static_cast(ReturnType::STRONGEST); + return RSEchoMode::ECHO_SINGLE; + } +} + +inline RobosenseHeliosDecoder::RobosenseHeliosDecoder(const RSDecoderParam & param) +: DecoderMech(getConstParam(), param) +{ + this->current_point_cloud_.reset(new NebulaPointCloud); + this->next_point_cloud_.reset(new NebulaPointCloud); +} + +inline void RobosenseHeliosDecoder::decodeDifopPkt(const uint8_t * packet) +{ + const RSHELIOSDifopPkt & pkt = *(const RSHELIOSDifopPkt *)(packet); + this->template decodeDifopCommon(pkt); + + this->echo_mode_ = getEchoMode(pkt.return_mode); + this->split_blks_per_frame_ = (this->echo_mode_ == RSEchoMode::ECHO_DUAL) + ? (this->blks_per_frame_ << 1) + : this->blks_per_frame_; + + this->device_info_.rpm = ntohs(pkt.diagno.real_rpm); + this->device_info_.bot_fpga_temperature = ntohs(pkt.diagno.bot_fpga_temperature); + this->device_info_.recv_A_temperature = ntohs(pkt.diagno.recv_A_temperature); + this->device_info_.recv_B_temperature = ntohs(pkt.diagno.recv_B_temperature); + this->device_info_.main_fpga_temperature = ntohs(pkt.diagno.main_fpga_temperature); + this->device_info_.main_fpga_core_temperature = ntohs(pkt.diagno.main_fpga_core_temperature); + this->device_info_.lane_up = pkt.diagno.lane_up; + this->device_info_.lane_up_cnt = ntohs(pkt.diagno.lane_up_cnt); + this->device_info_.main_status = ntohs(pkt.diagno.main_status); + this->device_info_.gps_status = pkt.diagno.gps_status; +} +std::tuple RobosenseHeliosDecoder::get_pointcloud() +{ + return std::make_tuple(this->current_point_cloud_, this->cloudTs()); +} +inline bool RobosenseHeliosDecoder::decodeMsopPkt(const uint8_t * pkt) +{ + if (this->echo_mode_ == RSEchoMode::ECHO_SINGLE) { + return internDecodeMsopPkt>(pkt); + } else { + return internDecodeMsopPkt>(pkt); + } +} + +template +inline bool RobosenseHeliosDecoder::internDecodeMsopPkt(const uint8_t * packet) +{ + if (isSpliteFrame_) { + this->current_point_cloud_ = this->next_point_cloud_; + this->next_point_cloud_.reset(new NebulaPointCloud); + isSpliteFrame_ = false; + } + const RSHELIOSMsopPkt & pkt = *(const RSHELIOSMsopPkt *)(packet); + this->temperature_ = parseTempInLe(&(pkt.header.temp)) * this->const_param_.TEMPERATURE_RES; + + double pkt_ts = 0; + if (this->param_.use_lidar_clock) { + pkt_ts = parseTimeUTCWithUs(&pkt.header.timestamp) * 1e-6; + } else { + uint64_t ts = getTimeHost(); + + // roll back to first block to approach lidar ts as near as possible. + pkt_ts = ts * 1e-6 - this->getPacketDuration(); + + if (this->write_pkt_ts_) { + createTimeUTCWithUs(ts, (RSTimestampUTC *)&pkt.header.timestamp); + } + } + T_BlockIterator iter( + pkt, this->const_param_.BLOCKS_PER_PKT, this->mech_const_param_.BLOCK_DURATION, + this->block_az_diff_, this->fov_blind_ts_diff_); + + for (uint16_t blk = 0; blk < this->const_param_.BLOCKS_PER_PKT; blk++) { + const RSHELIOSMsopBlock & block = pkt.blocks[blk]; + + if (memcmp(this->const_param_.BLOCK_ID, block.id, 2) != 0) { + std::cout << "ERRCODE_WRONGMSOPBLKID" << std::endl; + break; + } + int32_t block_az_diff; + double block_ts_off; + iter.get(blk, block_az_diff, block_ts_off); + + double block_ts = pkt_ts + block_ts_off; + int32_t block_az = ntohs(block.azimuth); + if (this->split_strategy_->newBlock(block_az)) { + this->first_point_ts_ = block_ts; + isSpliteFrame_ = true; + } + NebulaPointCloudPtr block_pc(new NebulaPointCloud); + uint8_t return_type = this->return_type_; + if (this->echo_mode_ == RSEchoMode::ECHO_DUAL) { + return_type = blk % 2 == 0 ? first_return_type_ : this->second_return_type_; + } + for (uint16_t chan = 0; chan < this->const_param_.CHANNELS_PER_BLOCK; chan++) { + const RSChannel & channel = block.channels[chan]; + double chan_ts = block_ts + this->mech_const_param_.CHAN_TSS[chan]; + int32_t angle_horiz = + block_az + (int32_t)((float)block_az_diff * this->mech_const_param_.CHAN_AZIS[chan]); + int32_t angle_vert = this->chan_angles_.vertAdjust(chan); + int32_t angle_horiz_final = this->chan_angles_.horizAdjust(chan, angle_horiz); + float distance = ntohs(channel.distance) * this->const_param_.DISTANCE_RES; + + if (this->distance_section_.in(distance) && this->scan_section_.in(angle_horiz_final)) { + float x = distance * COS(angle_vert) * COS(angle_horiz_final) + + this->mech_const_param_.RX * COS(angle_horiz); + float y = -distance * COS(angle_vert) * SIN(angle_horiz_final) - + this->mech_const_param_.RX * SIN(angle_horiz); + float z = distance * SIN(angle_vert) + this->mech_const_param_.RZ; + NebulaPoint point{}; + point.x = x; + point.y = y; + point.z = z; + point.intensity = channel.intensity; + point.channel = this->chan_angles_.toUserChan(chan); + point.azimuth = angle_horiz_final; + point.distance = distance; + point.elevation = angle_vert; + point.return_type = return_type; + point.time_stamp = chan_ts; + block_pc->points.emplace_back(point); + } else if (!this->param_.dense_points) { + NebulaPoint point{}; + block_pc->points.emplace_back(point); + } + this->prev_point_ts_ = chan_ts; + } + if (!isSpliteFrame_) { + *this->current_point_cloud_ += *block_pc; + } else { + *this->next_point_cloud_ += *block_pc; + } + } + this->prev_pkt_ts_ = pkt_ts; + return isSpliteFrame_; +} +} // namespace robosense_helios +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_mech_decoder.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_mech_decoder.hpp new file mode 100644 index 000000000..e83f1e309 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/robosense_mech_decoder.hpp @@ -0,0 +1,211 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include "block_iterator.hpp" +#include "chan_angles.hpp" +#include "decoder.hpp" +#include "split_strategy.hpp" + +namespace nebula +{ +namespace drivers +{ + +struct RSDecoderMechConstParam +{ + RSDecoderConstParam base; + + // lens center + float RX; + float RY; + float RZ; + + // firing_ts/chan_ts + double BLOCK_DURATION; + double CHAN_TSS[128]; + float CHAN_AZIS[128]; +}; + +typedef struct +{ + uint16_t rpm; + RSEthNetV1 eth; + RSFOV fov; + RSVersionV1 version; + RSSN sn; + uint8_t return_mode; + RSStatusV1 status; + RSCalibrationAngle vert_angle_cali[32]; + RSCalibrationAngle horiz_angle_cali[32]; +} AdapterDifopPkt; + +class DecoderMech : public Decoder +{ +public: + constexpr static int32_t RS_ONE_ROUND = 36000; + + virtual ~DecoderMech() = default; + + explicit DecoderMech(const RSDecoderMechConstParam & const_param, const RSDecoderParam & param); + + void print(); + +#ifndef UNIT_TEST +protected: +#endif + + template + void decodeDifopCommon(const T_Difop & pkt); + + RSDecoderMechConstParam mech_const_param_; // const param + ChanAngles chan_angles_; // vert_angles/horiz_angles adjustment + AzimuthSection scan_section_; // valid azimuth section + std::shared_ptr split_strategy_; // split strategy + + uint16_t rps_; // rounds per second + uint16_t blks_per_frame_; // blocks per frame/round + uint16_t split_blks_per_frame_; // blocks in msop pkt per frame/round. + uint16_t block_az_diff_; // azimuth difference between adjacent blocks. + double fov_blind_ts_diff_; // timestamp difference across blind section(defined by fov) +}; + +inline DecoderMech::DecoderMech( + const RSDecoderMechConstParam & const_param, const RSDecoderParam & param) +: Decoder(const_param.base, param), + mech_const_param_(const_param), + chan_angles_(this->const_param_.LASER_NUM), + scan_section_((int32_t)(this->param_.start_angle * 100), (int32_t)(this->param_.end_angle * 100)), + rps_(10), + blks_per_frame_((uint16_t)(1 / (10 * this->mech_const_param_.BLOCK_DURATION))), + split_blks_per_frame_(blks_per_frame_), + block_az_diff_(20), + fov_blind_ts_diff_(0.0) +{ + this->packet_duration_ = + this->mech_const_param_.BLOCK_DURATION * this->const_param_.BLOCKS_PER_PKT; + switch (this->param_.split_frame_mode) { + case SplitFrameMode::SPLIT_BY_FIXED_BLKS: + split_strategy_ = std::make_shared(&this->split_blks_per_frame_); + break; + + case SplitFrameMode::SPLIT_BY_CUSTOM_BLKS: + split_strategy_ = std::make_shared(&this->param_.num_blks_split); + break; + + case SplitFrameMode::SPLIT_BY_ANGLE: + default: + uint16_t angle = (uint16_t)(this->param_.split_angle * 100); + split_strategy_ = std::make_shared(angle); + break; + } + if (this->param_.config_from_file) { + int ret = chan_angles_.loadFromFile(this->param_.angle_path); + this->angles_ready_ = (ret == 0); + RS_INFO << "Corrrect angle loaded from file" << RS_REND; + this->chan_angles_.print(); + if (this->param_.wait_for_difop) { + this->param_.wait_for_difop = false; + std::cout << "wait_for_difop cannot be true when config_from_file is true." + << " reset it to be false." << std::endl; + } + } +} + +inline void DecoderMech::print() +{ + std::cout << "-----------------------------------------" << std::endl + << "rps:\t\t\t" << this->rps_ << std::endl + << "echo_mode:\t\t" << this->echo_mode_ << std::endl + << "blks_per_frame:\t\t" << this->blks_per_frame_ << std::endl + << "split_blks_per_frame:\t" << this->split_blks_per_frame_ << std::endl + << "block_az_diff:\t\t" << this->block_az_diff_ << std::endl + << "fov_blind_ts_diff:\t" << this->fov_blind_ts_diff_ << std::endl + << "angle_from_file:\t" << this->param_.config_from_file << std::endl + << "angles_ready:\t\t" << this->angles_ready_ << std::endl; + + this->chan_angles_.print(); +} + +template +inline void DecoderMech::decodeDifopCommon(const T_Difop & pkt) +{ + // rounds per second + this->rps_ = ntohs(pkt.rpm) / 60; + if (this->rps_ == 0) { + RS_WARNING << "LiDAR RPM is 0. Use default value 600." << RS_REND; + this->rps_ = 10; + } + + // blocks per frame + this->blks_per_frame_ = (uint16_t)(1 / (this->rps_ * this->mech_const_param_.BLOCK_DURATION)); + + // block diff of azimuth + this->block_az_diff_ = + (uint16_t)std::round(RS_ONE_ROUND * this->rps_ * this->mech_const_param_.BLOCK_DURATION); + + // fov related + uint16_t fov_start_angle = ntohs(pkt.fov.start_angle); + uint16_t fov_end_angle = ntohs(pkt.fov.end_angle); + uint16_t fov_range = (fov_start_angle < fov_end_angle) + ? (fov_end_angle - fov_start_angle) + : (fov_end_angle + RS_ONE_ROUND - fov_start_angle); + uint16_t fov_blind_range = RS_ONE_ROUND - fov_range; + + // fov blind diff of timestamp + this->fov_blind_ts_diff_ = (double)fov_blind_range / ((double)RS_ONE_ROUND * (double)this->rps_); + + // load angles + if (!this->param_.config_from_file && !this->angles_ready_) { + int ret = this->chan_angles_.loadFromDifop(pkt.vert_angle_cali, pkt.horiz_angle_cali); + this->angles_ready_ = (ret == 0); + RS_INFO << " Correct angle load from difop " << RS_REND; + this->chan_angles_.print(); + } + + // #ifdef ENABLE_DIFOP_PARSE + // device info + memcpy(this->device_info_.sn, pkt.sn.num, 6); + memcpy(this->device_info_.mac, pkt.eth.mac_addr, 6); + memcpy(this->device_info_.top_ver, pkt.version.top_ver, 5); + memcpy(this->device_info_.bottom_ver, pkt.version.bottom_ver, 5); + // device status + this->device_status_.voltage = ntohs(pkt.status.vol_12v); + // #endif +} + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/section.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/section.hpp new file mode 100644 index 000000000..894872138 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/section.hpp @@ -0,0 +1,99 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not +agree to this license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted +provided that the following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions +and the following disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions +and the following disclaimer in the documentation and/or other materials provided with the +distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other +contributors may be used to endorse or promote products derived from this software without specific +prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR +IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND +FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR +CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER +IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF +THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +namespace nebula +{ +namespace drivers +{ + +class AzimuthSection +{ +public: + AzimuthSection(int32_t start, int32_t end) + { + full_round_ = (start == 0) && (end == 36000); + + start_ = start % 36000; + end_ = end % 36000; + cross_zero_ = (start_ > end_); + } + + bool in(int32_t angle) + { + if (full_round_) return true; + if (cross_zero_) { + return (angle >= start_) || (angle < end_); + } else { + return (angle >= start_) && (angle < end_); + } + } + +#ifndef UNIT_TEST +private: +#endif + bool full_round_; + int32_t start_; + int32_t end_; + bool cross_zero_; +}; + +class DistanceSection +{ +public: + DistanceSection(float min, float max, float usr_min, float usr_max) : min_(min), max_(max) + { + if (usr_min < 0) usr_min = 0; + if (usr_max < 0) usr_max = 0; + + if ((usr_min != 0) || (usr_max != 0)) { + min_ = usr_min; + max_ = usr_max; + } + } + + bool in(float distance) { return ((min_ <= distance) && (distance <= max_)); } + +#ifndef UNIT_TEST +private: +#endif + + float min_; + float max_; +}; + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/split_strategy.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/split_strategy.hpp new file mode 100644 index 000000000..2a34f941d --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/split_strategy.hpp @@ -0,0 +1,172 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not agree to this +license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following +disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other contributors may be used +to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, +INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +namespace nebula +{ +namespace drivers +{ + +class SplitStrategy +{ +public: + virtual bool newBlock(int32_t angle) = 0; + virtual ~SplitStrategy() = default; +}; + +class SplitStrategyByAngle : public SplitStrategy +{ +public: + SplitStrategyByAngle (int32_t split_angle) + : split_angle_(split_angle), prev_angle_(split_angle) + { + } + + virtual ~SplitStrategyByAngle() = default; + + virtual bool newBlock(int32_t angle) + { + if (angle < prev_angle_) + { + prev_angle_ -= 36000; + } + + bool v = ((prev_angle_ < split_angle_) && (split_angle_ <= angle)); +#if 0 + if (v) + { + std::cout << prev_angle_ << "\t" << angle << std::endl; + } +#endif + prev_angle_ = angle; + return v; + } + + const int32_t split_angle_; + int32_t prev_angle_; +}; + +class SplitStrategyByNum : public SplitStrategy +{ +public: + SplitStrategyByNum (uint16_t* max_blks) + : max_blks_(max_blks), blks_(0) + { + } + + virtual ~SplitStrategyByNum() = default; + + virtual bool newBlock(int32_t) + { + blks_++; + if (blks_ >= *max_blks_) + { + blks_ = 0; + return true; + } + + return false; + } + + uint16_t* max_blks_; + uint16_t blks_; +}; + +class SplitStrategyBySeq +{ +public: + + SplitStrategyBySeq() + : prev_seq_(0), max_seq_(0), looped_(false) + { + setSafeRange(); + } + + bool newPacket(uint16_t seq) + { + bool split = false; + + if (seq > max_seq_) + { + max_seq_ = seq; + } + + if (seq < safe_seq_min_) // rewind + { + prev_seq_ = seq; + split = true; + looped_ = true; + } + else if (seq < prev_seq_) + { + // do nothing. + } + else if (seq <= safe_seq_max_) + { + prev_seq_ = seq; + } + else + { + if (prev_seq_ == 0) + prev_seq_ = seq; + + //do nothing. + } + + setSafeRange(); + return split; + } + + uint16_t maxSeq() + { + return (looped_ ? max_seq_ : 0); + } + + + constexpr static uint16_t RANGE = 10; + + void setSafeRange() + { + safe_seq_min_ = (prev_seq_ > RANGE) ? (prev_seq_ - RANGE) : 0; + safe_seq_max_ = prev_seq_ + RANGE; + } + + uint16_t prev_seq_; + uint16_t safe_seq_min_; + uint16_t safe_seq_max_; + uint16_t max_seq_; + bool looped_; +}; + +} // namespace lidar +} // namespace robosense diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/trigon.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/trigon.hpp new file mode 100644 index 000000000..86057c9fc --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/decoders/trigon.hpp @@ -0,0 +1,133 @@ +/********************************************************************************************************************* +Copyright (c) 2020 RoboSense +All rights reserved + +By downloading, copying, installing or using the software you agree to this license. If you do not agree to this +license, do not download, install, copy or use the software. + +License Agreement +For RoboSense LiDAR SDK Library +(3-clause BSD License) + +Redistribution and use in source and binary forms, with or without modification, are permitted provided that the +following conditions are met: + +1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following +disclaimer. + +2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following +disclaimer in the documentation and/or other materials provided with the distribution. + +3. Neither the names of the RoboSense, nor Suteng Innovation Technology, nor the names of other contributors may be used +to endorse or promote products derived from this software without specific prior written permission. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, +INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR +SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, +WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF +THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +*********************************************************************************************************************/ + +#pragma once + +#include + +#include + +namespace nebula +{ +namespace drivers +{ + +//#define DBG + +class Trigon +{ +public: + + constexpr static int32_t ANGLE_MIN = -9000; + constexpr static int32_t ANGLE_MAX = 45000; + + Trigon() + { + int32_t range = ANGLE_MAX - ANGLE_MIN; +#ifdef DBG + o_angles_ = (int32_t*)malloc(range * sizeof(int32_t)); +#endif + o_sins_ = (float*)malloc(range * sizeof(float)); + o_coss_ = (float*)malloc(range * sizeof(float)); + + for (int32_t i = ANGLE_MIN, j = 0; i < ANGLE_MAX; i++, j++) + { + double rad = DEGREE_TO_RADIAN(static_cast(i) * 0.01); + +#ifdef DBG + o_angles_[j] = i; +#endif + o_sins_[j] = (float)std::sin(rad); + o_coss_[j] = (float)std::cos(rad); + } + +#ifdef DBG + angles_ = o_angles_ - ANGLE_MIN; +#endif + sins_ = o_sins_ - ANGLE_MIN; + coss_ = o_coss_ - ANGLE_MIN; + } + + ~Trigon() + { + free(o_coss_); + free(o_sins_); +#ifdef DBG + free(o_angles_); +#endif + } + + float sin(int32_t angle) + { + if (angle < ANGLE_MIN || angle >= ANGLE_MAX) + { + angle = 0; + } + + return sins_[angle]; + } + + float cos(int32_t angle) + { + if (angle < ANGLE_MIN || angle >= ANGLE_MAX) + { + angle = 0; + } + + return coss_[angle]; + } + + void print() + { + for (int32_t i = -10; i < 10; i++) + { + std::cout << +#ifdef DBG + angles_[i] << "\t" << +#endif + sins_[i] << "\t" << coss_[i] << std::endl; + } + } + +private: +#ifdef DBG + int32_t* o_angles_; + int32_t* angles_; +#endif + float* o_sins_; + float* o_coss_; + float* sins_; + float* coss_; +}; + +} // namespace drivers +} // namespace nebula diff --git a/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp new file mode 100644 index 000000000..1fa56afc5 --- /dev/null +++ b/nebula_decoders/include/nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp @@ -0,0 +1,77 @@ +#ifndef NEBULA_ROBOSENSE_DRIVER_H +#define NEBULA_ROBOSENSE_DRIVER_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#include "nebula_common/point_types.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_decoders/nebula_decoders_common/nebula_driver_base.hpp" +#include "nebula_decoders/nebula_decoders_robosense/decoders/decoder.hpp" + +#include "pandar_msgs/msg/pandar_jumbo_packet.hpp" +#include "pandar_msgs/msg/pandar_packet.hpp" +#include "pandar_msgs/msg/pandar_scan.hpp" +#include "robosense_msgs/msg/robosense_packet.hpp" +#include "robosense_msgs/msg/robosense_scan.hpp" + +#include + +#include +#include +#include +#include + +namespace nebula +{ +namespace drivers +{ +/// @brief Robosense driver +class RobosenseDriver : NebulaDriverBase +{ +private: + /// @brief Current driver status + Status driver_status_; + /// @brief Decoder according to the model + std::shared_ptr scan_decoder_; + +public: + RobosenseDriver() = delete; + + // /// @brief Constructor + // /// @param type SensorType for this driver + // /// @param param DecoderParam for this driver + // RobosenseDriver( + // const SensorModel type, const RSDecoderParam& param); + + /// @brief Constructor + /// @param sensor_configuration SensorConfiguration for this driver + /// @param calibration_configuration CalibrationConfiguration for this driver + + explicit RobosenseDriver( + const std::shared_ptr & sensor_configuration, + const std::shared_ptr & calibration_configuration); + + /// @brief Setting CalibrationConfiguration (not used) + /// @param calibration_configuration + /// @return Resulting status + Status SetCalibrationConfiguration( + const CalibrationConfigurationBase & calibration_configuration) override; + + /// @brief Get current status of this driver + /// @return Current status + Status GetStatus(); + + /// @brief Convert RobosenseScan message to point cloud + /// @param robosense_scan Message + /// @return tuple of Point cloud and timestamp + std::tuple ConvertScanToPointcloud( + const std::shared_ptr & robosense_scan); + + std::function difop_callback_; + void registDifopCallback(const std::function & callback); +}; + +} // namespace drivers +} // namespace nebula + +#endif // NEBULA_ROBOSENSE_DRIVER_H diff --git a/nebula_decoders/package.xml b/nebula_decoders/package.xml index c026bd0a7..cac32c92b 100644 --- a/nebula_decoders/package.xml +++ b/nebula_decoders/package.xml @@ -18,6 +18,7 @@ pcl_conversions sensor_msgs velodyne_msgs + robosense_msgs yaml-cpp ament_cmake_gtest diff --git a/nebula_decoders/src/nebula_decoders_robosense/robosense_driver.cpp b/nebula_decoders/src/nebula_decoders_robosense/robosense_driver.cpp new file mode 100644 index 000000000..ea40f4c46 --- /dev/null +++ b/nebula_decoders/src/nebula_decoders_robosense/robosense_driver.cpp @@ -0,0 +1,97 @@ +#include "nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp" + +#include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios16P_decoder.hpp" +#include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_helios_decoder.hpp" +#include "nebula_decoders/nebula_decoders_robosense/decoders/robosense_mech_decoder.hpp" + +namespace nebula +{ +namespace drivers +{ + +RobosenseDriver::RobosenseDriver( + const std::shared_ptr & sensor_configuration, + const std::shared_ptr & calibration_configuration) +{ + // initialize proper parser from cloud config's model and echo mode + RSDecoderParam param; + // param.wait_for_difop = false; + param.start_angle = sensor_configuration->cloud_min_angle; + param.end_angle = sensor_configuration->cloud_max_angle; + if (sensor_configuration->difop_port > 0) { + param.wait_for_difop = true; + } else { + param.config_from_file = true; + param.angle_path = calibration_configuration->calibration_file; + } + param.min_distance = 0.2; + param.max_distance = 200; + param.use_lidar_clock = true; + param.dense_points = true; + param.print(); + + driver_status_ = nebula::Status::OK; + switch (sensor_configuration->sensor_model) { + case SensorModel::UNKNOWN: + driver_status_ = nebula::Status::INVALID_SENSOR_MODEL; + break; + case SensorModel::ROBOSENSE_HELIOS: + scan_decoder_.reset(new drivers::robosense_helios::RobosenseHeliosDecoder(param)); + break; + case SensorModel::ROBOSENSE_HELIOS16P: + scan_decoder_.reset(new drivers::robosense_helios16P::RobosenseHelios16PDecoder(param)); + break; + default: + driver_status_ = nebula::Status::NOT_INITIALIZED; + throw std::runtime_error("Driver not Implemented for selected sensor."); + break; + } +} +std::tuple RobosenseDriver::ConvertScanToPointcloud( + const std::shared_ptr & robosense_scan) +{ + std::tuple pointcloud; + static const uint8_t msop_id[] = {0x55, 0xAA}; + static const uint8_t difop_id[] = {0xA5, 0xFF}; + if (driver_status_ == nebula::Status::OK) { + for (auto & packet : robosense_scan->packets) { + uint8_t * id = &packet.data[0]; + if (memcmp(id, msop_id, sizeof(msop_id)) == 0) { + scan_decoder_->processMsopPkt(&packet.data[0], packet.size); + } else if (memcmp(id, difop_id, sizeof(difop_id)) == 0) { + scan_decoder_->processDifopPkt(&packet.data[0], packet.size); + if (difop_callback_) { + DeviceInfo device_info; + if (scan_decoder_->getDeviceInfo(device_info)) { + difop_callback_(device_info); + } + } + } + if (scan_decoder_->isSpliteFrame()) { + pointcloud = scan_decoder_->get_pointcloud(); + } + } + } + return pointcloud; +} + +Status RobosenseDriver::SetCalibrationConfiguration( + const CalibrationConfigurationBase & calibration_configuration) +{ + throw std::runtime_error( + "SetCalibrationConfiguration. Not yet implemented (" + + calibration_configuration.calibration_file + ")"); +} + +Status RobosenseDriver::GetStatus() +{ + return driver_status_; +} + +void RobosenseDriver::registDifopCallback(const std::function & callback) +{ + difop_callback_ = callback; +} + +} // namespace drivers +} // namespace nebula diff --git a/nebula_examples/CMakeLists.txt b/nebula_examples/CMakeLists.txt index aee322eaa..d83047a29 100644 --- a/nebula_examples/CMakeLists.txt +++ b/nebula_examples/CMakeLists.txt @@ -45,6 +45,24 @@ ament_auto_add_executable(hesai_ros_offline_extract_bag_pcd_node ${CMAKE_CURRENT_SOURCE_DIR}/src/hesai/hesai_ros_offline_extract_bag_pcd_main.cpp ) +## Robosense +# Offline Lib +ament_auto_add_library(robosense_ros_offline_extract_pcd SHARED +${CMAKE_CURRENT_SOURCE_DIR}/src/robosense/robosense_ros_offline_extract_pcd.cpp +) +target_link_libraries(robosense_ros_offline_extract_pcd ${PCL_LIBRARIES}) +ament_auto_add_executable(robosense_ros_offline_extract_pcd_node +${CMAKE_CURRENT_SOURCE_DIR}/src/robosense/robosense_ros_offline_extract_pcd_main.cpp +) +# Extraction for TEST Lib +ament_auto_add_library(robosense_ros_offline_extract_bag_pcd SHARED +${CMAKE_CURRENT_SOURCE_DIR}/src/robosense/robosense_ros_offline_extract_bag_pcd.cpp +) +target_link_libraries(robosense_ros_offline_extract_bag_pcd ${PCL_LIBRARIES}) +ament_auto_add_executable(robosense_ros_offline_extract_bag_pcd_node +${CMAKE_CURRENT_SOURCE_DIR}/src/robosense/robosense_ros_offline_extract_bag_pcd_main.cpp +) + ## Velodyne # Extraction for TEST Lib ament_auto_add_library(velodyne_ros_offline_extract_bag_pcd SHARED diff --git a/nebula_examples/include/robosense/robosense_ros_offline_extract_bag_pcd.hpp b/nebula_examples/include/robosense/robosense_ros_offline_extract_bag_pcd.hpp new file mode 100644 index 000000000..1856b1e6a --- /dev/null +++ b/nebula_examples/include/robosense/robosense_ros_offline_extract_bag_pcd.hpp @@ -0,0 +1,62 @@ +#ifndef NEBULA_RobosenseRosOfflineExtractBag_H +#define NEBULA_RobosenseRosOfflineExtractBag_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp" +#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp" + +#include +#include +#include + +namespace nebula +{ +namespace ros +{ +class RobosenseRosOfflineExtractBag final : public rclcpp::Node, NebulaDriverRosWrapperBase +{ + std::shared_ptr driver_ptr_; + Status wrapper_status_; + + std::shared_ptr calibration_cfg_ptr_; + std::shared_ptr sensor_cfg_ptr_; + + Status InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) override; + + Status GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration); + + static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds) + { + return std::chrono::duration_cast( + std::chrono::duration(seconds)); + } + +public: + explicit RobosenseRosOfflineExtractBag( + const rclcpp::NodeOptions & options, const std::string & node_name); + + Status GetStatus(); + Status ReadBag(); + +private: + std::string bag_path; + std::string storage_id; + std::string out_path; + std::string format; + std::string target_topic; + std::string correction_file_path; + int out_num; + int skip_num; + bool only_xyz; +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseRosOfflineExtractBag_H diff --git a/nebula_examples/include/robosense/robosense_ros_offline_extract_pcd.hpp b/nebula_examples/include/robosense/robosense_ros_offline_extract_pcd.hpp new file mode 100644 index 000000000..d3a119764 --- /dev/null +++ b/nebula_examples/include/robosense/robosense_ros_offline_extract_pcd.hpp @@ -0,0 +1,75 @@ +#ifndef NEBULA_RobosenseRosOfflineExtractSample_H +#define NEBULA_RobosenseRosOfflineExtractSample_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp" +#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp" + +#include +#include +#include + +namespace nebula +{ +namespace ros +{ +/// @brief Offline robosense driver usage example (Output PCD data) +class RobosenseRosOfflineExtractSample final : public rclcpp::Node, NebulaDriverRosWrapperBase +{ + std::shared_ptr driver_ptr_; + Status wrapper_status_; + + std::shared_ptr calibration_cfg_ptr_; + std::shared_ptr sensor_cfg_ptr_; + + /// @brief Initializing ros wrapper + /// @param sensor_configuration SensorConfiguration for this driver + /// @param calibration_configuration CalibrationConfiguration for this driver + /// @return Resulting status + Status InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) override; + + /// @brief Get configurations from ros parameters + /// @param sensor_configuration Output of SensorConfiguration + /// @param calibration_configuration Output of CalibrationConfiguration + /// @return Resulting status + Status GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration); + + /// @brief Convert seconds to chrono::nanoseconds + /// @param seconds + /// @return chrono::nanoseconds + static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds) + { + return std::chrono::duration_cast( + std::chrono::duration(seconds)); + } + +public: + explicit RobosenseRosOfflineExtractSample( + const rclcpp::NodeOptions & options, const std::string & node_name); + + /// @brief Get current status of this driver + /// @return Current status + Status GetStatus(); + + /// @brief Read the specified bag file and output point clouds to PCD files + Status ReadBag(); + +private: + std::string bag_path; + std::string storage_id; + std::string out_path; + std::string format; + std::string target_topic; + std::string correction_file_path; +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseRosOfflineExtractSample_H diff --git a/nebula_examples/launch/robosense_offline.xml b/nebula_examples/launch/robosense_offline.xml new file mode 100644 index 000000000..ee4ce069f --- /dev/null +++ b/nebula_examples/launch/robosense_offline.xml @@ -0,0 +1,30 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/nebula_examples/launch/robosense_offline_bag_pcd.xml b/nebula_examples/launch/robosense_offline_bag_pcd.xml new file mode 100644 index 000000000..15cc6f5c0 --- /dev/null +++ b/nebula_examples/launch/robosense_offline_bag_pcd.xml @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd.cpp b/nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd.cpp new file mode 100644 index 000000000..0a1539384 --- /dev/null +++ b/nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd.cpp @@ -0,0 +1,313 @@ +#include "robosense/robosense_ros_offline_extract_bag_pcd.hpp" + +#include "rclcpp/serialization.hpp" +#include "rclcpp/serialized_message.hpp" +#include "rcpputils/filesystem_helper.hpp" +#include "rcutils/time.h" +#include "rosbag2_cpp/reader.hpp" +#include "rosbag2_cpp/readers/sequential_reader.hpp" +#include "rosbag2_cpp/writer.hpp" +#include "rosbag2_cpp/writers/sequential_writer.hpp" +#include "rosbag2_storage/storage_options.hpp" + +#include + +namespace nebula +{ +namespace ros +{ +RobosenseRosOfflineExtractBag::RobosenseRosOfflineExtractBag( + const rclcpp::NodeOptions & options, const std::string & node_name) +: rclcpp::Node(node_name, options) +{ + drivers::RobosenseCalibrationConfiguration calibration_configuration; + drivers::RobosenseSensorConfiguration sensor_configuration; + + wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration); + if (Status::OK != wrapper_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_); + return; + } + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting..."); + + calibration_cfg_ptr_ = + std::make_shared(calibration_configuration); + + sensor_cfg_ptr_ = std::make_shared(sensor_configuration); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver "); + + wrapper_status_ = InitializeDriver( + std::const_pointer_cast(sensor_cfg_ptr_), + std::static_pointer_cast(calibration_cfg_ptr_)); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_); +} + +Status RobosenseRosOfflineExtractBag::InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) +{ + // driver should be initialized here with proper decoder + driver_ptr_ = std::make_shared( + std::static_pointer_cast(sensor_configuration), + std::static_pointer_cast( + calibration_configuration)); + return driver_ptr_->GetStatus(); +} + +Status RobosenseRosOfflineExtractBag::GetStatus() +{ + return wrapper_status_; +} + +Status RobosenseRosOfflineExtractBag::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration) +{ + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", ""); + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 3; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("calibration_file", "", descriptor); + calibration_configuration.calibration_file = + this->get_parameter("calibration_file").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("bag_path", "", descriptor); + bag_path = this->get_parameter("bag_path").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("storage_id", "sqlite3", descriptor); + storage_id = this->get_parameter("storage_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("out_path", "", descriptor); + out_path = this->get_parameter("out_path").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("format", "cdr", descriptor); + format = this->get_parameter("format").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 2; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("out_num", 3, descriptor); + out_num = this->get_parameter("out_num").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 2; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("skip_num", 3, descriptor); + skip_num = this->get_parameter("skip_num").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 1; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("only_xyz", false, descriptor); + only_xyz = this->get_parameter("only_xyz").as_bool(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("target_topic", "", descriptor); + target_topic = this->get_parameter("target_topic").as_string(); + } + + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { + return Status::SENSOR_CONFIG_ERROR; + } + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} + +Status RobosenseRosOfflineExtractBag::ReadBag() +{ + rosbag2_storage::StorageOptions storage_options; + rosbag2_cpp::ConverterOptions converter_options; + + std::cout << bag_path << std::endl; + std::cout << storage_id << std::endl; + std::cout << out_path << std::endl; + std::cout << format << std::endl; + std::cout << target_topic << std::endl; + std::cout << out_num << std::endl; + std::cout << skip_num << std::endl; + std::cout << only_xyz << std::endl; + + rcpputils::fs::path o_dir(out_path); + auto target_topic_name = target_topic; + if (target_topic_name.substr(0, 1) == "/") { + target_topic_name = target_topic_name.substr(1); + } + target_topic_name = std::regex_replace(target_topic_name, std::regex("/"), "_"); + o_dir = o_dir / rcpputils::fs::path(target_topic_name); + if (rcpputils::fs::create_directories(o_dir)) { + std::cout << "created: " << o_dir << std::endl; + } + // return Status::OK; + + pcl::PCDWriter writer; + + std::unique_ptr writer_; + bool needs_open = true; + storage_options.uri = bag_path; + storage_options.storage_id = storage_id; + converter_options.output_serialization_format = format; //"cdr"; + { + rosbag2_cpp::Reader reader(std::make_unique()); + // reader.open(rosbag_directory.string()); + reader.open(storage_options, converter_options); + int cnt = 0; + int out_cnt = 0; + while (reader.has_next()) { + auto bag_message = reader.read_next(); + + std::cout << "Found topic name " << bag_message->topic_name << std::endl; + + if (bag_message->topic_name == target_topic) { + std::cout << (cnt + 1) << ", " << (out_cnt + 1) << "/" << out_num << std::endl; + robosense_msgs::msg::RobosenseScan extracted_msg; + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message(&extracted_serialized_msg, &extracted_msg); + + // std::cout<<"Found data in topic " << bag_message->topic_name << ": " << + // extracted_test_msg.data << std::endl; + std::cout << "Found data in topic " << bag_message->topic_name << ": " + << bag_message->time_stamp << std::endl; + + auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud( + std::make_shared(extracted_msg)); + auto pointcloud = std::get<0>(pointcloud_ts); + if (pointcloud == nullptr) { + std::cout << "Cloud Empty-----------------\n"; + continue; + }; + auto fn = std::to_string(bag_message->time_stamp) + ".pcd"; + // pcl::io::savePCDFileBinary((o_dir / fn).string(), *pointcloud); + + if (needs_open) { + const rosbag2_storage::StorageOptions storage_options_w( + {(o_dir / std::to_string(bag_message->time_stamp)).string(), "sqlite3"}); + const rosbag2_cpp::ConverterOptions converter_options_w( + {rmw_get_serialization_format(), rmw_get_serialization_format()}); + writer_ = std::make_unique(); + writer_->open(storage_options_w, converter_options_w); + writer_->create_topic( + {bag_message->topic_name, "robosense_msgs/msg/RobosenseScan", + rmw_get_serialization_format(), ""}); + needs_open = false; + } + writer_->write(bag_message); + cnt++; + if (skip_num < cnt) { + out_cnt++; + if (only_xyz) { + pcl::PointCloud cloud_xyz; + pcl::copyPointCloud(*pointcloud, cloud_xyz); + writer.writeBinary((o_dir / fn).string(), cloud_xyz); + std::cout << "writer.writeBinary((o_dir / fn).string(), cloud_xyz);" << std::endl; + } else { + writer.writeBinary((o_dir / fn).string(), *pointcloud); + } + // writer.writeASCII((o_dir / fn).string(), *pointcloud); + } + if (out_num <= out_cnt) { + break; + } + } + } + // close on scope exit + } + return Status::OK; +} + +} // namespace ros +} // namespace nebula diff --git a/nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd_main.cpp b/nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd_main.cpp new file mode 100644 index 000000000..289680863 --- /dev/null +++ b/nebula_examples/src/robosense/robosense_ros_offline_extract_bag_pcd_main.cpp @@ -0,0 +1,35 @@ +#include "robosense/robosense_ros_offline_extract_bag_pcd.hpp" + +#include + +#include + +int main(int argc, char * argv[]) +{ + setvbuf(stdout, NULL, _IONBF, BUFSIZ); + + std::string node_name = "nebula_robosense_offline_extraction_with_bag"; + + rclcpp::init(argc, argv); + rclcpp::executors::SingleThreadedExecutor exec; + rclcpp::NodeOptions options; + + auto robosense_driver = + std::make_shared(options, node_name); + exec.add_node(robosense_driver->get_node_base_interface()); + + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Get Status"); + nebula::Status driver_status = robosense_driver->GetStatus(); + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "before Reading Started"); + if (driver_status == nebula::Status::OK) { + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Reading Started"); + driver_status = robosense_driver->ReadBag(); + // exec.spin(); + } else { + RCLCPP_ERROR_STREAM(rclcpp::get_logger(node_name), driver_status); + } + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Ending"); + rclcpp::shutdown(); + + return 0; +} diff --git a/nebula_examples/src/robosense/robosense_ros_offline_extract_pcd.cpp b/nebula_examples/src/robosense/robosense_ros_offline_extract_pcd.cpp new file mode 100644 index 000000000..ab7e28dd6 --- /dev/null +++ b/nebula_examples/src/robosense/robosense_ros_offline_extract_pcd.cpp @@ -0,0 +1,260 @@ +#include "robosense/robosense_ros_offline_extract_pcd.hpp" + +#include "rclcpp/serialization.hpp" +#include "rclcpp/serialized_message.hpp" +#include "rcpputils/filesystem_helper.hpp" +#include "rcutils/time.h" +#include "rosbag2_cpp/reader.hpp" +#include "rosbag2_cpp/readers/sequential_reader.hpp" +#include "rosbag2_cpp/writer.hpp" +#include "rosbag2_cpp/writers/sequential_writer.hpp" +#include "rosbag2_storage/storage_options.hpp" +// #include +// #include +#include "rcpputils/filesystem_helper.hpp" + +#include +#include + +namespace nebula +{ +namespace ros +{ +RobosenseRosOfflineExtractSample::RobosenseRosOfflineExtractSample( + const rclcpp::NodeOptions & options, const std::string & node_name) +: rclcpp::Node(node_name, options) +{ + drivers::RobosenseCalibrationConfiguration calibration_configuration; + drivers::RobosenseSensorConfiguration sensor_configuration; + + wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration); + if (Status::OK != wrapper_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_); + return; + } + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting..."); + + calibration_cfg_ptr_ = + std::make_shared(calibration_configuration); + + sensor_cfg_ptr_ = std::make_shared(sensor_configuration); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver "); + wrapper_status_ = InitializeDriver( + std::const_pointer_cast(sensor_cfg_ptr_), + std::static_pointer_cast(calibration_cfg_ptr_)); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_); +} + +Status RobosenseRosOfflineExtractSample::InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) +{ + // driver should be initialized here with proper decoder + driver_ptr_ = std::make_shared( + std::static_pointer_cast(sensor_configuration), + std::static_pointer_cast( + calibration_configuration)); + return driver_ptr_->GetStatus(); +} + +Status RobosenseRosOfflineExtractSample::GetStatus() +{ + return wrapper_status_; +} + +Status RobosenseRosOfflineExtractSample::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration) +{ + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", ""); + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 3; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("calibration_file", "", descriptor); + calibration_configuration.calibration_file = + this->get_parameter("calibration_file").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("bag_path", "", descriptor); + bag_path = this->get_parameter("bag_path").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("storage_id", "sqlite3", descriptor); + storage_id = this->get_parameter("storage_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("out_path", "", descriptor); + out_path = this->get_parameter("out_path").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("format", "cdr", descriptor); + format = this->get_parameter("format").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("target_topic", "", descriptor); + target_topic = this->get_parameter("target_topic").as_string(); + } + + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { + return Status::SENSOR_CONFIG_ERROR; + } + + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} + +Status RobosenseRosOfflineExtractSample::ReadBag() +{ + rosbag2_storage::StorageOptions storage_options; + rosbag2_cpp::ConverterOptions converter_options; + + std::cout << bag_path << std::endl; + std::cout << storage_id << std::endl; + std::cout << out_path << std::endl; + std::cout << format << std::endl; + std::cout << target_topic << std::endl; + + rcpputils::fs::path o_dir(out_path); + auto target_topic_name = target_topic; + if (target_topic_name.substr(0, 1) == "/") { + target_topic_name = target_topic_name.substr(1); + } + target_topic_name = std::regex_replace(target_topic_name, std::regex("/"), "_"); + o_dir = o_dir / rcpputils::fs::path(target_topic_name); + rcpputils::fs::path bag_dir(o_dir); + if (rcpputils::fs::create_directories(o_dir)) { + std::cout << "created: " << o_dir << std::endl; + } + // return Status::OK; + + pcl::PCDWriter writer; + pcl::PCDReader pcd_reader; + + storage_options.uri = bag_path; + storage_options.storage_id = storage_id; + converter_options.output_serialization_format = format; //"cdr"; + nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud); + { + int pcd_num = 1; + rosbag2_cpp::Reader reader(std::make_unique()); + // reader.open(rosbag_directory.string()); + reader.open(storage_options, converter_options); + while (reader.has_next()) { + auto bag_message = reader.read_next(); + + std::cout << "Found topic name " << bag_message->topic_name << std::endl; + + if (bag_message->topic_name == target_topic) { + robosense_msgs::msg::RobosenseScan extracted_msg; + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message(&extracted_serialized_msg, &extracted_msg); + + std::cout << "Found data in topic " << bag_message->topic_name << ": " + << bag_message->time_stamp << std::endl; + + auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud( + std::make_shared(extracted_msg)); + auto pointcloud = std::get<0>(pointcloud_ts); + if (pointcloud == nullptr) { + std::cout << "Cloud Empty-----------------\n"; + continue; + }; + auto fn = std::to_string(bag_message->time_stamp) + ".pcd"; + + // pcl::io::savePCDFileASCII((o_dir / fn).string(), *pointcloud); + + pcd_num++; + writer.writeASCII((o_dir / fn).string(), *pointcloud); + std::cout << "save + " + (o_dir / fn).string() + "finish" << std::endl; + } + } + // close on scope exit + } + return Status::OK; +} + +} // namespace ros +} // namespace nebula diff --git a/nebula_examples/src/robosense/robosense_ros_offline_extract_pcd_main.cpp b/nebula_examples/src/robosense/robosense_ros_offline_extract_pcd_main.cpp new file mode 100644 index 000000000..3ba340154 --- /dev/null +++ b/nebula_examples/src/robosense/robosense_ros_offline_extract_pcd_main.cpp @@ -0,0 +1,34 @@ +#include "robosense/robosense_ros_offline_extract_pcd.hpp" + +#include + +#include + +int main(int argc, char * argv[]) +{ + setvbuf(stdout, NULL, _IONBF, BUFSIZ); + + std::string node_name = "nebula_robosense_offline_extraction"; + + rclcpp::init(argc, argv); + rclcpp::executors::SingleThreadedExecutor exec; + rclcpp::NodeOptions options; + + auto robosense_driver = + std::make_shared(options, node_name); + exec.add_node(robosense_driver->get_node_base_interface()); + + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Get Status"); + nebula::Status driver_status = robosense_driver->GetStatus(); + if (driver_status == nebula::Status::OK) { + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Reading Started"); + driver_status = robosense_driver->ReadBag(); + // exec.spin(); + } else { + RCLCPP_ERROR_STREAM(rclcpp::get_logger(node_name), driver_status); + } + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Ending"); + rclcpp::shutdown(); + + return 0; +} diff --git a/nebula_hw_interfaces/CMakeLists.txt b/nebula_hw_interfaces/CMakeLists.txt index c1e34ab62..a9f9162c2 100644 --- a/nebula_hw_interfaces/CMakeLists.txt +++ b/nebula_hw_interfaces/CMakeLists.txt @@ -31,7 +31,9 @@ ament_auto_add_library(nebula_hw_interfaces_hesai SHARED ament_auto_add_library(nebula_hw_interfaces_velodyne SHARED src/nebula_velodyne_hw_interfaces/velodyne_hw_interface.cpp ) - +ament_auto_add_library(nebula_hw_interfaces_robosense SHARED + src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp + ) if(BUILD_TESTING) find_package(ament_lint_auto REQUIRED) ament_lint_auto_find_test_dependencies() diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_cmd_response.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_cmd_response.hpp new file mode 100644 index 000000000..937e6fc77 --- /dev/null +++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_cmd_response.hpp @@ -0,0 +1,116 @@ +#ifndef ROBOSENSE_CMD_RESPONSE_HPP +#define ROBOSENSE_CMD_RESPONSE_HPP + +#include +#include + +#include +const unsigned int g_frame_flag = 0x55AA2552; +#define NET_CMD_READ_CONFIG 0x009 +#define NET_CMD_WRITE_CONFIG 0x00A +namespace nebula +{ +/// @brief struct of lidar param +struct RobosenseLidarParam +{ + uint16_t motorSpeed; + uint16_t motorPhaseLock; + uint16_t timeSyncMode; + uint16_t startFov; + uint16_t endFov; + uint16_t waveMode; + uint16_t topVersion[2]; + uint16_t botVersion[2]; + + uint16_t appVersion[2]; + uint16_t motorVersion[2]; + uint16_t imageVersion[2]; + uint16_t webVersiom[2]; + uint16_t hardwareVersion[2]; + + uint16_t pulseChannelEnble; + uint16_t pulseStartAngle0; + uint16_t pulseStartAngle1; + uint16_t pulseStartAngle2; + uint16_t pulseWidth0[2]; + uint16_t pulseWidth1[2]; + uint16_t pulseWidth2[2]; + + uint16_t pulseStep0; + uint16_t pulseStep1; + uint16_t pulseStep2; + uint16_t pulseStartWidthEnable; + uint16_t sensorTemper; + uint16_t motorRealTimeSpeed; + uint16_t motorRealTimePhase; + uint16_t statusOfPhaseLock; + uint16_t statusOfCodeWheelCali; + uint16_t res0; +}; + +struct RobosenseNetFrameHead +{ + uint32_t frameFlag; + uint32_t length; + uint32_t cmd; + uint32_t checkSum; +}; + +union UnionParam { + RobosenseLidarParam ldPara; + uint16_t res[128]; +}; + +struct RobosenseNetWorkParam +{ + uint8_t sn[6]; + uint8_t mac[6]; + + uint8_t ipLocal[4]; + uint8_t ipRemote[4]; + + uint16_t msopPort{0}; + uint16_t difopPort{0}; + + UnionParam param; + + uint8_t netmaskLocal[4]; + uint8_t gatewayLocal[4]; +}; + +uint16_t CheckSum(RobosenseNetFrameHead frameHead) +{ + uint32_t sum = 0; + + sum += frameHead.frameFlag & 0xFFFF; + sum += (frameHead.frameFlag >> 16) & 0xFFFF; + + sum += frameHead.length & 0xFFFF; + sum += (frameHead.length >> 16) & 0xFFFF; + + sum += frameHead.cmd & 0xFFFF; + sum += (frameHead.cmd >> 16) & 0xFFFF; + + sum = (sum >> 16) + (sum & 0xFFFF); + + return static_cast(~sum); +} + +std::vector FrameHeadPack(uint32_t cmd, uint32_t length) +{ + unsigned char frameHeadBytes[16]; + RobosenseNetFrameHead frameHead; + frameHead.frameFlag = g_frame_flag; + frameHead.cmd = cmd; + frameHead.length = length; + frameHead.checkSum = CheckSum(frameHead); + + memcpy(frameHeadBytes, reinterpret_cast(&frameHead), sizeof(frameHead)); + std::vector vec_buffer; + for (unsigned int i = 0; i < sizeof(frameHead); ++i) { + vec_buffer.push_back(frameHeadBytes[i]); + } + return vec_buffer; +} +} // namespace nebula +#endif // ROBOSENSE_CMD_RESPONSE_HPP \ No newline at end of file diff --git a/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp new file mode 100644 index 000000000..a2fedce03 --- /dev/null +++ b/nebula_hw_interfaces/include/nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp @@ -0,0 +1,180 @@ +#ifndef NEBULA_ROBOSENSE_HW_INTERFACE_H +#define NEBULA_ROBOSENSE_HW_INTERFACE_H +// 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 +#if (BOOST_VERSION / 100 >= 1073 && BOOST_VERSION / 100 <= 1076) // Boost 1.73 - 1.76 +#define BOOST_BIND_GLOBAL_PLACEHOLDERS +#endif +#if (BOOST_VERSION / 100 == 1074) // Boost 1.74 +#define BOOST_ALLOW_DEPRECATED_HEADERS +#endif +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_common/robosense/robosense_status.hpp" +#include "nebula_hw_interfaces/nebula_hw_interfaces_common/nebula_hw_interface_base.hpp" +#include "nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_cmd_response.hpp" +#include "boost_tcp_driver/http_client_driver.hpp" +#include "boost_tcp_driver/tcp_driver.hpp" +#include "boost_udp_driver/udp_driver.hpp" + +#include + +#include "robosense_msgs/msg/robosense_packet.hpp" +#include "robosense_msgs/msg/robosense_scan.hpp" + +#include +#include +#include + +#include +#include + +namespace nebula +{ +namespace drivers +{ +const int RobosenseTcpHostPort = 24568; +const uint16_t HELIOS_PACKET_SIZE = 1248; +const uint16_t MTU_SIZE = 1500; + +/// @brief Hardware interface of robosense driver +class RobosenseHwInterface : NebulaHwInterfaceBase +{ +private: + std::unique_ptr<::drivers::common::IoContext> msop_io_context_; + std::unique_ptr<::drivers::common::IoContext> difop_io_context_; + std::shared_ptr m_owned_ctx; + std::unique_ptr<::drivers::udp_driver::UdpDriver> msop_udp_driver_; + std::unique_ptr<::drivers::udp_driver::UdpDriver> difop_udp_driver_; + std::shared_ptr<::drivers::tcp_driver::TcpDriver> tcp_driver_; + std::shared_ptr sensor_configuration_; + size_t azimuth_index_{0}; + std::unique_ptr scan_cloud_ptr_; + std::function + is_valid_packet_; /*Lambda Function Array to verify proper packet size*/ + std::function buffer)> + scan_reception_callback_; /**This function pointer is called when the scan is complete*/ + int prev_phase_{}; + std::mutex scan_cloud_ptr_mtx_; + RobosenseNetWorkParam configParameter_; + bool is_tcp_driver_init_{false}; + std::shared_ptr 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 & bytes); + +public: + /// @brief Constructor + RobosenseHwInterface(); + /// @brief A callback that receives a string (just prints) + /// @param str Received string + void str_cb(const std::string & str); + + /// @brief Callback function to receive the Cloud Packet data from the UDP Driver + /// @param buffer Buffer containing the data received from the UDP socket + void ReceiveCloudPacketCallback(const std::vector & buffer) final; + /// @brief Callback function to receive the Difop Packet data from the UDP Driver + /// @param buffer Buffer containing the data received from the UDP socket + void ReceiveDifopPacketCallback(const std::vector & buffer); + /// @brief Callback function to receive the Lidar config Packet data from the TCP Driver + /// @param buffer Buffer containing the data received from the TCP socket + void ReceiveTcpPacketCallback(const std::vector & buffer); + /// @brief Starting the interface that handles UDP streams + /// @return Resulting status + Status CloudInterfaceStart() final; + /// @brief Function for stopping the interface that handles UDP streams + /// @return Resulting status + Status CloudInterfaceStop() final; + /// @brief Printing sensor configuration + /// @param sensor_configuration SensorConfiguration for this interface + /// @return Resulting status + Status GetSensorConfiguration(SensorConfigurationBase & sensor_configuration) final; + /// @brief Printing calibration configuration + /// @param calibration_configuration CalibrationConfiguration for the checking + /// @return Resulting status + Status GetCalibrationConfiguration(CalibrationConfigurationBase & calibration_configuration); + /// @brief Setting sensor configuration + /// @param sensor_configuration SensorConfiguration for this interface + /// @return Resulting status + Status SetSensorConfiguration( + std::shared_ptr sensor_configuration) final; + /// @brief Registering callback for RobosenseScan + /// @param scan_callback Callback function + /// @return Resulting status + Status RegisterScanCallback( + std::function)> scan_callback); + + /// @brief Sending command and Getting data with PTC_COMMAND_GET_CONFIG_INFO + /// @param Send buffer + /// @param with_run Automatically executes run() of TcpDriver + /// @return Resulting status + Status SendAndGetConfig(std::vector buf_tcp_send_vec_, bool with_run = true); + /// @brief Call run() of IO Context + void IOContextRun(); + /// @brief GetIO Context + /// @return IO Context + std::shared_ptr GetIOContext(); + + /// @brief Setting rclcpp::Logger + /// @param node Logger + void SetLogger(std::shared_ptr node); + + /// @brief Getting Lidar Info + Status GetLidarInfo(); + /// @brief Setting Lidar IP + /// @param Lidar IP + /// @return Resulting status + Status SetLidarIp(const uint8_t lidar_ip[4]); + /// @brief Setting Remote IP + /// @param Remote IP + /// @return Resulting status + Status SetRemoteIp(const uint8_t remote_ip[4]); + /// @brief Setting Netmask + /// @param Netmask + /// @return Resulting status + Status SetNetMask(const uint8_t mask[4]); + /// @brief Setting Gateway + /// @param Gateway + /// @return Resulting status + Status SetNetGateWay(const uint8_t gateway[4]); + /// @brief Setting Lidar Msop Port + /// @param Msop Port + /// @return Resulting status + Status SetLidarMsopPort(const uint16_t & msop_port); + /// @brief Setting Lidar Difop Port + /// @param Difop Port + /// @return Resulting status + Status SetLidarDifopPort(const uint16_t & difop_port); + /// @brief Setting Lidar Difop Port + /// @param wave_mode{0:dual 1:strongest 2:last 3:first} + /// @return Resulting status + Status SetReturnMode(const uint16_t & wave_mode); + /// @brief Setting Lidar Horizontal FOV Range + /// @param fov_start(accurate to one hundredth) + /// @param fov_end(accurate to one hundredth) + /// @return Resulting status + Status SetFovRange(const float & fov_start, const float & fov_end); + /// @brief Setting Motor RPM + /// @param rpm the RPM of the motor + /// @return Resulting status + Status SetRpmAsync(uint16_t rpm); + /// @brief Setting Time Sync Mode + /// @param time_sync_mode (0:SYNC_MODE_GPS 1:SYNC_MODE_PTP_E2E 2:SYNC_MODE_PTP_P2P + /// 3:SYNC_MODE_PTP_GPTP 4:SYNC_MODE_PTP_E2E_L2) + /// @return Resulting status + Status SetTimeSyncMode(const uint16_t & time_sync_mode); +}; +} // namespace drivers +} // namespace nebula + +#endif // NEBULA_ROBOSENSE_HW_INTERFACE_H diff --git a/nebula_hw_interfaces/package.xml b/nebula_hw_interfaces/package.xml index aa169d320..f16c3e7e0 100644 --- a/nebula_hw_interfaces/package.xml +++ b/nebula_hw_interfaces/package.xml @@ -14,6 +14,7 @@ libpcl-all-dev nebula_common pandar_msgs + robosense_msgs rclcpp sensor_msgs boost_tcp_driver diff --git a/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp b/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp new file mode 100644 index 000000000..1c816f1be --- /dev/null +++ b/nebula_hw_interfaces/src/nebula_robosense_hw_interfaces/robosense_hw_interface.cpp @@ -0,0 +1,518 @@ +#include "nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp" + +namespace nebula +{ +namespace drivers +{ +RobosenseHwInterface::RobosenseHwInterface() +: msop_io_context_{new ::drivers::common::IoContext(1)}, + difop_io_context_{new ::drivers::common::IoContext(1)}, + m_owned_ctx{new boost::asio::io_context(1)}, + msop_udp_driver_{new ::drivers::udp_driver::UdpDriver(*msop_io_context_)}, + difop_udp_driver_{new ::drivers::udp_driver::UdpDriver(*difop_io_context_)}, + tcp_driver_{new ::drivers::tcp_driver::TcpDriver(m_owned_ctx)}, + scan_cloud_ptr_{std::make_unique()} +{ +} + +Status RobosenseHwInterface::SetSensorConfiguration( + std::shared_ptr sensor_configuration) +{ + RobosenseStatus status = Status::OK; + try { + sensor_configuration_ = + std::static_pointer_cast(sensor_configuration); + if (sensor_configuration_ != nullptr) { + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + is_valid_packet_ = [](size_t packet_size) { return (packet_size == HELIOS_PACKET_SIZE); }; + azimuth_index_ = 44; + } + } else { + status = Status::SENSOR_CONFIG_ERROR; + std::cerr << status << std::endl; + return status; + } + } catch (const std::exception & ex) { + status = Status::SENSOR_CONFIG_ERROR; + std::cerr << status << std::endl; + return status; + } + return Status::OK; +} + +Status RobosenseHwInterface::CloudInterfaceStart() +{ + try { + msop_udp_driver_->init_receiver( + sensor_configuration_->host_ip, sensor_configuration_->data_port); + msop_udp_driver_->receiver()->open(); + msop_udp_driver_->receiver()->bind(); + + msop_udp_driver_->receiver()->asyncReceive( + std::bind(&RobosenseHwInterface::ReceiveCloudPacketCallback, this, std::placeholders::_1)); + + difop_udp_driver_->init_receiver( + sensor_configuration_->host_ip, sensor_configuration_->difop_port); + difop_udp_driver_->receiver()->open(); + difop_udp_driver_->receiver()->bind(); + difop_udp_driver_->receiver()->asyncReceive( + std::bind(&RobosenseHwInterface::ReceiveDifopPacketCallback, this, std::placeholders::_1)); + } catch (const std::exception & ex) { + Status status = Status::UDP_CONNECTION_ERROR; + return status; + } + + // fov + // SetFovRange(0, 360); + return Status::OK; +} + +Status RobosenseHwInterface::RegisterScanCallback( + std::function)> scan_callback) +{ + scan_reception_callback_ = std::move(scan_callback); + return Status::OK; +} + +void RobosenseHwInterface::ReceiveCloudPacketCallback(const std::vector & buffer) +{ + std::lock_guard lg(scan_cloud_ptr_mtx_); + if (!is_valid_packet_(buffer.size())) { + PrintDebug("Invalid Packet: " + std::to_string(buffer.size())); + return; + } + + uint32_t buffer_size = buffer.size(); + std::array packet_data{}; + std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, packet_data.begin()); + robosense_msgs::msg::RobosensePacket robosense_packet; + robosense_packet.is_difop = 0; + robosense_packet.data = packet_data; + robosense_packet.size = buffer_size; + auto now = std::chrono::system_clock::now(); + auto now_secs = std::chrono::duration_cast(now.time_since_epoch()).count(); + auto now_nanosecs = + std::chrono::duration_cast(now.time_since_epoch()).count(); + robosense_packet.stamp.sec = static_cast(now_secs); + robosense_packet.stamp.nanosec = + static_cast((now_nanosecs / 1000000000. - static_cast(now_secs)) * 1000000000); + scan_cloud_ptr_->packets.emplace_back(robosense_packet); + + int current_phase = 0; + bool comp_flg = false; + const auto & data = scan_cloud_ptr_->packets.back().data; + current_phase = (data[azimuth_index_ + 1] & 0xff) + ((data[azimuth_index_] & 0xff) << 8); + + current_phase = (static_cast(current_phase) + 36000) % 36000; + if (current_phase >= prev_phase_ || scan_cloud_ptr_->packets.size() < 3) { + prev_phase_ = current_phase; + } else { + comp_flg = true; + } + + if (comp_flg) { // Scan complete + if (scan_reception_callback_) { + scan_cloud_ptr_->header.stamp = scan_cloud_ptr_->packets.front().stamp; + // Callback + scan_reception_callback_(std::move(scan_cloud_ptr_)); + scan_cloud_ptr_ = std::make_unique(); + } + } +} + +void RobosenseHwInterface::ReceiveDifopPacketCallback(const std::vector & buffer) +{ + std::lock_guard lg(scan_cloud_ptr_mtx_); + if (!is_valid_packet_(buffer.size())) { + PrintDebug("Invalid Packet: " + std::to_string(buffer.size())); + return; + } + uint32_t buffer_size = buffer.size(); + std::array packet_data{}; + std::copy_n(std::make_move_iterator(buffer.begin()), buffer_size, packet_data.begin()); + robosense_msgs::msg::RobosensePacket robosense_packet; + robosense_packet.is_difop = 1; + robosense_packet.data = packet_data; + robosense_packet.size = buffer_size; + auto now = std::chrono::system_clock::now(); + auto now_secs = std::chrono::duration_cast(now.time_since_epoch()).count(); + auto now_nanosecs = + std::chrono::duration_cast(now.time_since_epoch()).count(); + robosense_packet.stamp.sec = static_cast(now_secs); + robosense_packet.stamp.nanosec = + static_cast((now_nanosecs / 1000000000. - static_cast(now_secs)) * 1000000000); + if (scan_cloud_ptr_ != nullptr) { + scan_cloud_ptr_->packets.emplace_back(robosense_packet); + } +} + +void RobosenseHwInterface::ReceiveTcpPacketCallback(const std::vector & buffer) +{ + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if ( + buffer.size() == 304 && buffer[0] == 0x52 && buffer[1] == 0x25 && buffer[2] == 0xaa && + buffer[3] == 0x55) { + RobosenseNetFrameHead frameHead; + unsigned char * buffer_ptr = const_cast(buffer.data()); + memcpy(&configParameter_, buffer_ptr + sizeof(frameHead), sizeof(configParameter_)); + } + } +} + +Status RobosenseHwInterface::GetLidarInfo() +{ + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_READ_CONFIG, 0); + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetLidarIp(const uint8_t lidar_ip[4]) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + memcpy(configParameter_.ipLocal, lidar_ip, 4); + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetRemoteIp(const uint8_t remote_ip[4]) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + memcpy(configParameter_.ipRemote, remote_ip, 4); + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetNetMask(const uint8_t mask[4]) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + memcpy(configParameter_.netmaskLocal, mask, 4); + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetNetGateWay(const uint8_t gateway[4]) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + memcpy(configParameter_.gatewayLocal, gateway, 4); + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetLidarMsopPort(const uint16_t & msop_port) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + configParameter_.msopPort = msop_port; + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetLidarDifopPort(const uint16_t & difop_port) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + configParameter_.difopPort = difop_port; + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetReturnMode(const uint16_t & wave_mode) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + if (wave_mode > 3) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + configParameter_.param.ldPara.waveMode = wave_mode; + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetFovRange(const float & fov_start, const float & fov_end) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + if (fov_start > fov_end || fov_end > 360 || fov_start < 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + configParameter_.param.ldPara.startFov = fov_start * 100; + configParameter_.param.ldPara.endFov = fov_end * 100; + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetRpmAsync(uint16_t rpm) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + if (rpm < 300 || 1200 < rpm || rpm % 60 != 0) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + configParameter_.param.ldPara.motorSpeed = rpm; + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::SetTimeSyncMode(const uint16_t & time_sync_mode) +{ + GetLidarInfo(); + std::this_thread::sleep_for(std::chrono::milliseconds(50)); + std::vector buf_tcp_send_vec_; + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + if (configParameter_.msopPort == 0 || configParameter_.difopPort == 0) { + return Status::SENSOR_CONFIG_ERROR; + } + if (time_sync_mode > 4) { + return Status::SENSOR_CONFIG_ERROR; + } + buf_tcp_send_vec_ = FrameHeadPack(NET_CMD_WRITE_CONFIG, sizeof(configParameter_)); + configParameter_.param.ldPara.timeSyncMode = time_sync_mode; + unsigned char * m = reinterpret_cast(&configParameter_); + for (unsigned int i = 0; i < sizeof(configParameter_); ++i) { + buf_tcp_send_vec_.push_back(m[i]); + } + SendAndGetConfig(buf_tcp_send_vec_); + } + return Status::OK; +} + +Status RobosenseHwInterface::CloudInterfaceStop() +{ + return Status::ERROR_1; +} + +Status RobosenseHwInterface::GetSensorConfiguration(SensorConfigurationBase & sensor_configuration) +{ + std::stringstream ss; + ss << sensor_configuration; + PrintDebug(ss.str()); + return Status::ERROR_1; +} + +Status RobosenseHwInterface::GetCalibrationConfiguration( + CalibrationConfigurationBase & calibration_configuration) +{ + PrintDebug(calibration_configuration.calibration_file); + return Status::ERROR_1; +} + +Status RobosenseHwInterface::SendAndGetConfig( + std::vector buf_tcp_send_vec_, bool with_run) +{ + if (with_run) { + if (tcp_driver_->GetIOContext()->stopped()) { + tcp_driver_->GetIOContext()->restart(); + } + } + if (!is_tcp_driver_init_) { + if ( + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_->sensor_model == SensorModel::ROBOSENSE_HELIOS16P) { + tcp_driver_->init_socket( + sensor_configuration_->sensor_ip, sensor_configuration_->data_port, + sensor_configuration_->host_ip, RobosenseTcpHostPort); + } + is_tcp_driver_init_ = true; + } + tcp_driver_->asyncSendReceive( + buf_tcp_send_vec_, + std::bind(&RobosenseHwInterface::ReceiveTcpPacketCallback, this, std::placeholders::_1)); + if (with_run) { + boost::system::error_code ec = tcp_driver_->run(); + if (ec) { + PrintError("RobosenseHwInterface::SendAndGetConfig: " + ec.message()); + } + } + return Status::OK; +} + +void RobosenseHwInterface::IOContextRun() +{ + m_owned_ctx->run(); +} + +std::shared_ptr RobosenseHwInterface::GetIOContext() +{ + return m_owned_ctx; +} + +void RobosenseHwInterface::str_cb(const std::string & str) +{ + PrintInfo(str); +} + +void RobosenseHwInterface::SetLogger(std::shared_ptr logger) +{ + parent_node_logger = logger; +} + +void RobosenseHwInterface::PrintInfo(std::string info) +{ + if (parent_node_logger) { + RCLCPP_INFO_STREAM((*parent_node_logger), info); + } else { + std::cout << info << std::endl; + } +} + +void RobosenseHwInterface::PrintError(std::string error) +{ + if (parent_node_logger) { + RCLCPP_ERROR_STREAM((*parent_node_logger), error); + } else { + std::cerr << error << std::endl; + } +} + +void RobosenseHwInterface::PrintDebug(std::string debug) +{ + if (parent_node_logger) { + RCLCPP_DEBUG_STREAM((*parent_node_logger), debug); + } else { + std::cout << debug << std::endl; + } +} + +void RobosenseHwInterface::PrintDebug(const std::vector & bytes) +{ + std::stringstream ss; + for (const auto & b : bytes) { + ss << static_cast(b) << ", "; + } + ss << std::endl; + PrintDebug(ss.str()); +} +} // namespace drivers +} // namespace nebula diff --git a/nebula_messages/robosense_msgs/CMakeLists.txt b/nebula_messages/robosense_msgs/CMakeLists.txt new file mode 100644 index 000000000..1a058524a --- /dev/null +++ b/nebula_messages/robosense_msgs/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.5) +project(robosense_msgs) + +if (NOT CMAKE_CXX_STANDARD) + set(CMAKE_CXX_STANDARD 14) + set(CMAKE_CXX_STANDARD_REQUIRED ON) + set(CMAKE_CXX_EXTENSIONS OFF) +endif () + +if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") + add_compile_options(-Wall -Wextra -Wpedantic) +endif () + +find_package(ament_cmake_auto REQUIRED) +ament_auto_find_build_dependencies() + +rosidl_generate_interfaces(${PROJECT_NAME} + "msg/RobosensePacket.msg" + "msg/RobosenseScan.msg" + "msg/RobosenseMonitorInfo.msg" + DEPENDENCIES + std_msgs + ) + +ament_package() diff --git a/nebula_messages/robosense_msgs/msg/RobosenseMonitorInfo.msg b/nebula_messages/robosense_msgs/msg/RobosenseMonitorInfo.msg new file mode 100644 index 000000000..e1364f766 --- /dev/null +++ b/nebula_messages/robosense_msgs/msg/RobosenseMonitorInfo.msg @@ -0,0 +1,11 @@ +uint8[6] device_sn +uint16 motor_rmp +uint16 bot_fpga_temperature +uint16 recv_a_temperature +uint16 recv_b_temperature +uint16 main_fpga_temperature +uint16 main_fpga_core_temperature +uint8 lane_up +uint16 lane_up_cnt +uint16 main_status +uint8 gps_status \ No newline at end of file diff --git a/nebula_messages/robosense_msgs/msg/RobosensePacket.msg b/nebula_messages/robosense_msgs/msg/RobosensePacket.msg new file mode 100644 index 000000000..c30ac9917 --- /dev/null +++ b/nebula_messages/robosense_msgs/msg/RobosensePacket.msg @@ -0,0 +1,4 @@ +builtin_interfaces/Time stamp +uint8 is_difop +uint8[1500] data +uint32 size diff --git a/nebula_messages/robosense_msgs/msg/RobosenseScan.msg b/nebula_messages/robosense_msgs/msg/RobosenseScan.msg new file mode 100644 index 000000000..6edf6d43a --- /dev/null +++ b/nebula_messages/robosense_msgs/msg/RobosenseScan.msg @@ -0,0 +1,2 @@ +std_msgs/Header header +RobosensePacket[] packets diff --git a/nebula_messages/robosense_msgs/package.xml b/nebula_messages/robosense_msgs/package.xml new file mode 100644 index 000000000..35fa09bac --- /dev/null +++ b/nebula_messages/robosense_msgs/package.xml @@ -0,0 +1,25 @@ + + + robosense_msgs + 0.0.0 + + ROS message definition for the Robosense RS_Helios/.. LiDAR + sensor. + + hirakawa + Apache 2 + + ament_cmake + rosidl_default_generators + + builtin_interfaces + std_msgs + + rosidl_default_runtime + + rosidl_interface_packages + + + ament_cmake + + diff --git a/nebula_ros/CMakeLists.txt b/nebula_ros/CMakeLists.txt index 6848b9dec..56a0dcf96 100644 --- a/nebula_ros/CMakeLists.txt +++ b/nebula_ros/CMakeLists.txt @@ -30,6 +30,37 @@ include_directories( ${PCL_COMMON_INCLUDE_DIRS} ) link_libraries(${YAML_CPP_LIBRARIES} ${PCL_LIBRARIES}) +#Robosense +# Hw Interface +ament_auto_add_library(robosense_hw_ros_wrapper SHARED + src/robosense/robosense_hw_interface_ros_wrapper.cpp + ) + +rclcpp_components_register_node(robosense_hw_ros_wrapper + PLUGIN "RobosenseHwInterfaceRosWrapper" + EXECUTABLE robosense_hw_interface_ros_wrapper_node + ) + +# Monitor +ament_auto_add_library(robosense_hw_monitor_ros_wrapper SHARED + src/robosense/robosense_hw_monitor_ros_wrapper.cpp + ) + +rclcpp_components_register_node(robosense_hw_monitor_ros_wrapper + PLUGIN "RobosenseHwMonitorRosWrapper" + EXECUTABLE robosense_hw_monitor_ros_wrapper_node + ) + +# DriverDecoder +ament_auto_add_library(robosense_driver_ros_wrapper SHARED + src/robosense/robosense_decoder_ros_wrapper.cpp + ) + +rclcpp_components_register_node(robosense_driver_ros_wrapper + PLUGIN "RobosenseDriverRosWrapper" + EXECUTABLE robosense_driver_ros_wrapper_node + ) + ## Hesai # Hw Interface ament_auto_add_library(hesai_hw_ros_wrapper SHARED diff --git a/nebula_ros/config/robosense/RobosenseHelios.yaml b/nebula_ros/config/robosense/RobosenseHelios.yaml new file mode 100644 index 000000000..06656f312 --- /dev/null +++ b/nebula_ros/config/robosense/RobosenseHelios.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + sensor_model: "RobosenseHelios" # See readme for supported models + frame_id: "robosense" + return_mode: "Dual" + lidar_ip: "192.168.1.200" # Lidar Sensor IP + host_ip: "192.168.1.103" + data_port: 6699 # Lidar Data Port + difop_port: 7788 #Lidar Info Output Protocol Port + packet_mtu_size: 1500 # Packet MTU size + rotation_speed: 600 # Motor RPM, the sensor's internal spin rate. + cloud_min_angle: 0 # Field of View, start degrees. + cloud_max_angle: 360 # Field of View, end degrees. + calibration_file: "./install/nebula_decoders/share/nebula_decoders/calibration/robosense/RobosenseHelios.csv" + setup_sensor: True + online: True \ No newline at end of file diff --git a/nebula_ros/config/robosense/RobosenseHelios16P.yaml b/nebula_ros/config/robosense/RobosenseHelios16P.yaml new file mode 100644 index 000000000..029a5c1d3 --- /dev/null +++ b/nebula_ros/config/robosense/RobosenseHelios16P.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + sensor_model: "RobosenseHelios16P" + frame_id: "robosense" + return_mode: "Dual" + lidar_ip: "192.168.1.200" + host_ip: "192.168.1.102" + data_port: 6699 + difop_port: 7788 + packet_mtu_size: 1500 + rotation_speed: 600 + cloud_min_angle: 0 + cloud_max_angle: 360 + calibration_file: "./install/nebula_decoders/share/nebula_decoders/calibration/robosense/RobosenseHelios16P.csv" + setup_sensor: True + online: True \ No newline at end of file diff --git a/nebula_ros/include/nebula_ros/robosense/robosense_decoder_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/robosense/robosense_decoder_ros_wrapper.hpp new file mode 100644 index 000000000..e8b47977d --- /dev/null +++ b/nebula_ros/include/nebula_ros/robosense/robosense_decoder_ros_wrapper.hpp @@ -0,0 +1,97 @@ +#ifndef NEBULA_RobosenseDriverRosWrapper_H +#define NEBULA_RobosenseDriverRosWrapper_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp" +#include "nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp" +#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp" +#include "time.h" + +#include +#include +#include +#include + +#include "robosense_msgs/msg/robosense_monitor_info.hpp" +#include "robosense_msgs/msg/robosense_packet.hpp" +#include "robosense_msgs/msg/robosense_scan.hpp" +namespace nebula +{ +namespace ros +{ +/// @brief Ros wrapper of robosense driver +class RobosenseDriverRosWrapper final : public rclcpp::Node, NebulaDriverRosWrapperBase +{ + std::shared_ptr driver_ptr_; + Status wrapper_status_; + rclcpp::Subscription::SharedPtr robosense_scan_sub_; + rclcpp::Publisher::SharedPtr nebula_points_pub_; + rclcpp::Publisher::SharedPtr aw_points_ex_pub_; + rclcpp::Publisher::SharedPtr aw_points_base_pub_; + + std::shared_ptr calibration_cfg_ptr_; + std::shared_ptr sensor_cfg_ptr_; + + drivers::RobosenseHwInterface hw_interface_; + + /// @brief Initializing ros wrapper + /// @param sensor_configuration SensorConfiguration for this driver + /// @param calibration_configuration CalibrationConfiguration for this driver + /// @return Resulting status + Status InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) override; + + /// @brief Get configurations from ros parameters + /// @param sensor_configuration Output of SensorConfiguration + /// @param calibration_configuration Output of CalibrationConfiguration + /// @return Resulting status + Status GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration); + + /// @brief Convert seconds to chrono::nanoseconds + /// @param seconds + /// @return chrono::nanoseconds + static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds) + { + return std::chrono::duration_cast( + std::chrono::duration(seconds)); + } + + /*** + * Publishes a sensor_msgs::msg::PointCloud2 to the specified publisher + * @param pointcloud unique pointer containing the point cloud to publish + * @param publisher + */ + void PublishCloud( + std::unique_ptr pointcloud, + const rclcpp::Publisher::SharedPtr & publisher); + +public: + explicit RobosenseDriverRosWrapper(const rclcpp::NodeOptions & options); + + /// @brief Callback for RobosenseScan subscriber + /// @param scan_msg Received RobosenseScan + void ReceiveScanMsgCallback(const robosense_msgs::msg::RobosenseScan::SharedPtr scan_msg); + + /// @brief Get current status of this driver + /// @return Current status + Status GetStatus(); + +private: + /// @brief File path of Correction data (Only required only for AT) + std::string correction_file_path; + /// @brief Received Robosense message publisher + rclcpp::Publisher::SharedPtr + robosense_monitor_info_pub_; + + std::function difop_callback_; +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseDriverRosWrapper_H diff --git a/nebula_ros/include/nebula_ros/robosense/robosense_hw_interface_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/robosense/robosense_hw_interface_ros_wrapper.hpp new file mode 100644 index 000000000..95b00d255 --- /dev/null +++ b/nebula_ros/include/nebula_ros/robosense/robosense_hw_interface_ros_wrapper.hpp @@ -0,0 +1,97 @@ +#ifndef NEBULA_RobosenseHwInterfaceRosWrapper_H +#define NEBULA_RobosenseHwInterfaceRosWrapper_H + +#include "boost_tcp_driver/tcp_driver.hpp" +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp" +#include "nebula_ros/common/nebula_hw_interface_ros_wrapper_base.hpp" + +#include +#include +#include + +#include "robosense_msgs/msg/robosense_packet.hpp" +#include "robosense_msgs/msg/robosense_scan.hpp" + +#include + +#include +#include + +namespace nebula +{ +namespace ros +{ +/// @brief Get parametor from rclcpp::Parameter +/// @tparam T +/// @param p Parameter from rclcpp parameter callback +/// @param name Target parametor name +/// @param value Corresponding value +/// @return Whether the target name existed +template +bool get_param(const std::vector & p, const std::string & name, T & value) +{ + auto it = std::find_if(p.cbegin(), p.cend(), [&name](const rclcpp::Parameter & parameter) { + return parameter.get_name() == name; + }); + if (it != p.cend()) { + value = it->template get_value(); + return true; + } + return false; +} + +/// @brief Hardware interface ros wrapper of robosense driver +class RobosenseHwInterfaceRosWrapper final : public rclcpp::Node, NebulaHwInterfaceWrapperBase +{ + drivers::RobosenseHwInterface hw_interface_; + Status interface_status_; + + drivers::RobosenseSensorConfiguration sensor_configuration_; + + /// @brief Received Robosense message publisher + rclcpp::Publisher::SharedPtr robosense_scan_pub_; + + /// @brief Initializing hardware interface ros wrapper + /// @param sensor_configuration SensorConfiguration for this driver + /// @return Resulting status + Status InitializeHwInterface( + const drivers::SensorConfigurationBase & sensor_configuration) override; + /// @brief Callback for receiving RobosenseScan + /// @param scan_buffer Received RobosenseScan + void ReceiveScanDataCallback(std::unique_ptr scan_buffer); + +public: + explicit RobosenseHwInterfaceRosWrapper(const rclcpp::NodeOptions & options); + /// @brief Start point cloud streaming (Call CloudInterfaceStart of HwInterface) + /// @return Resulting status + Status StreamStart() override; + /// @brief Stop point cloud streaming (not used) + /// @return Resulting status + Status StreamStop() override; + /// @brief Shutdown (not used) + /// @return Resulting status + Status Shutdown() override; + /// @brief Get configurations from ros parameters + /// @param sensor_configuration Output of SensorConfiguration + /// @return Resulting status + Status GetParameters(drivers::RobosenseSensorConfiguration & sensor_configuration); + +private: + std::mutex mtx_config_; + OnSetParametersCallbackHandle::SharedPtr set_param_res_; + /// @brief rclcpp parameter callback + /// @param parameters Received parameters + /// @return SetParametersResult + rcl_interfaces::msg::SetParametersResult paramCallback( + const std::vector & parameters); + /// @brief Updating rclcpp parameter + /// @return SetParametersResult + std::vector updateParameters(); +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseHwInterfaceRosWrapper_H diff --git a/nebula_ros/include/nebula_ros/robosense/robosense_hw_monitor_ros_wrapper.hpp b/nebula_ros/include/nebula_ros/robosense/robosense_hw_monitor_ros_wrapper.hpp new file mode 100644 index 000000000..81b2ba8de --- /dev/null +++ b/nebula_ros/include/nebula_ros/robosense/robosense_hw_monitor_ros_wrapper.hpp @@ -0,0 +1,159 @@ +#ifndef NEBULA_RobosenseHwMonitorRosWrapper_H +#define NEBULA_RobosenseHwMonitorRosWrapper_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_hw_interfaces/nebula_hw_interfaces_robosense/robosense_hw_interface.hpp" +#include "nebula_ros/common/nebula_hw_monitor_ros_wrapper_base.hpp" + +#include +#include +#include +#include + +#include "robosense_msgs/msg/robosense_monitor_info.hpp" + +#include + +namespace nebula +{ +namespace ros +{ +//@brief uint8_t to string in hex +std::string to_hex(const uint8_t * values, size_t val_len) +{ + std::string code_str; + for (unsigned int i = 0; i < val_len; i++) { + char s1 = char(values[i] >> 4); + char s2 = char(values[i] & 0xf); + s1 > 9 ? s1 += 87 : s1 += 48; + s2 > 9 ? s2 += 87 : s2 += 48; + code_str.append(1, s1); + code_str.append(1, s2); + } + return code_str; +} +/// @brief Hardware monitor ros wrapper of robosense driver +class RobosenseHwMonitorRosWrapper final : public rclcpp::Node, NebulaHwMonitorWrapperBase +{ + drivers::RobosenseHwInterface hw_interface_; + Status interface_status_; + + drivers::RobosenseSensorConfiguration sensor_configuration_; + + /// @brief Initializing hardware monitor ros wrapper + /// @param sensor_configuration SensorConfiguration for this driver + /// @return Resulting status + Status InitializeHwMonitor( + const drivers::SensorConfigurationBase & sensor_configuration) override; + +public: + explicit RobosenseHwMonitorRosWrapper(const rclcpp::NodeOptions & options); + + /// @brief Not used + /// @return Current status + Status MonitorStart() override; + /// @brief Not used + /// @return Status::OK + Status MonitorStop() override; + /// @brief Not used + /// @return Status::OK + Status Shutdown() override; + /// @brief Get configurations from ros parameters + /// @param sensor_configuration Output of SensorConfiguration + /// @return Resulting status + Status GetParameters(drivers::RobosenseSensorConfiguration & sensor_configuration); + +private: // ROS Diagnostics + diagnostic_updater::Updater diagnostics_updater_; + /// @brief Initializing diagnostics + void InitializeRobosenseDiagnostics(); + + /// @brief Getting motor:rpm from the current property_tree + /// @return tuple + std::tuple RobosenseGetMotorRpm(); + /// @brief Getting bot_fpga_temperature from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetBotFpgaTemperature(); + /// @brief Getting recv_A_temperature from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetRecvATemperature(); + /// @brief Getting recv_B_temperature from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetRecvBTemperature(); + /// @brief Getting main_fpga_temperature from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetMainFpgaTemperature(); + /// @brief Getting main_fpga_core_temperature from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetMainCoreFpgaTemperature(); + /// @brief Getting lane up from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetLaneUp(); + /// @brief Getting lane up cnt from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetLaneUpCnt(); + /// @brief Getting lane up cnt from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseCheckMainStatus(); + /// @brief Getting gps status from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetMainStatus(); + /// @brief Getting gps status from the current RobosenseMonitorInfo msg + /// @return tuple + std::tuple RobosenseGetGpsStatus(); + + /// @brief Get SensorModel description + /// @param sensor_model SensorModel + std::string GetInfoModel(nebula::drivers::SensorModel sensor_model); + /// @brief Check the current rpm for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckRpm(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current bot_fpga_temperature for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckBotFpgaTemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current recv_A_temperature for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckRecvATemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current recv_B_temperature for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckRecvBTemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current main_fpga_temperature for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckMainFpgaTemperature(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current main_fpga_core_temperature for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckMainFpgaCoreTemperature( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current lane_up for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckLaneUp(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current lane_up for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckLaneUpCnt(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current lane_up for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckMainStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + /// @brief Check the current lane_up for diagnostic_updater + /// @param diagnostics DiagnosticStatusWrapper + void RobosenseCheckGpsStatus(diagnostic_updater::DiagnosticStatusWrapper & diagnostics); + + rclcpp::Subscription::SharedPtr + robosense_monitor_info_sub_; + uint8_t current_diag_status; + + std::mutex mtx_config_; + + std::string info_model; + std::string info_serial; + bool is_get_info_serial_{false}; + void ReceiveMonitorInfoCallback( + const robosense_msgs::msg::RobosenseMonitorInfo::SharedPtr monitor_info); + + drivers::DeviceCalculateParamsInfo device_info_; +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseHwMonitorRosWrapper_H diff --git a/nebula_ros/launch/nebula_launch.py b/nebula_ros/launch/nebula_launch.py index f9c30f47d..0a77940ab 100644 --- a/nebula_ros/launch/nebula_launch.py +++ b/nebula_ros/launch/nebula_launch.py @@ -12,6 +12,7 @@ from launch_ros.actions import ComposableNodeContainer from launch_ros.actions import LoadComposableNodes from launch_ros.descriptions import ComposableNode +from launch_ros.actions import Node import yaml @@ -20,6 +21,8 @@ def get_lidar_make(sensor_name): return "Hesai", ".csv" elif sensor_name[:3].lower() in ["hdl", "vlp", "vls"]: return "Velodyne", ".yaml" + elif sensor_name[:9].lower() in ["robosense"]: + return "Robosense", ".csv" return "unrecognized_sensor_model" diff --git a/nebula_ros/launch/robosense_launch_all_hw.xml b/nebula_ros/launch/robosense_launch_all_hw.xml new file mode 100644 index 000000000..70861eea1 --- /dev/null +++ b/nebula_ros/launch/robosense_launch_all_hw.xml @@ -0,0 +1,62 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/nebula_ros/src/robosense/robosense_decoder_ros_wrapper.cpp b/nebula_ros/src/robosense/robosense_decoder_ros_wrapper.cpp new file mode 100644 index 000000000..a634e2173 --- /dev/null +++ b/nebula_ros/src/robosense/robosense_decoder_ros_wrapper.cpp @@ -0,0 +1,313 @@ +#include "nebula_ros/robosense/robosense_decoder_ros_wrapper.hpp" + +namespace nebula +{ +namespace ros +{ +RobosenseDriverRosWrapper::RobosenseDriverRosWrapper(const rclcpp::NodeOptions & options) +: rclcpp::Node("robosense_driver_ros_wrapper", options), hw_interface_() +{ + drivers::RobosenseCalibrationConfiguration calibration_configuration; + drivers::RobosenseSensorConfiguration sensor_configuration; + setvbuf(stdout, NULL, _IONBF, BUFSIZ); + + hw_interface_.SetLogger(std::make_shared(this->get_logger())); + + wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration); + + if (Status::OK != wrapper_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_); + return; + } + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting..."); + calibration_cfg_ptr_ = + std::make_shared(calibration_configuration); + + sensor_cfg_ptr_ = std::make_shared(sensor_configuration); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver "); + + wrapper_status_ = InitializeDriver( + std::const_pointer_cast(sensor_cfg_ptr_), + std::static_pointer_cast(calibration_cfg_ptr_)); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_); + robosense_scan_sub_ = create_subscription( + "robosense_packets", rclcpp::SensorDataQoS(), + std::bind(&RobosenseDriverRosWrapper::ReceiveScanMsgCallback, this, std::placeholders::_1)); + + nebula_points_pub_ = this->create_publisher( + "robosense_points", rclcpp::SensorDataQoS()); + + aw_points_base_pub_ = + this->create_publisher("aw_points", rclcpp::SensorDataQoS()); + + aw_points_ex_pub_ = + this->create_publisher("aw_points_ex", rclcpp::SensorDataQoS()); + + robosense_monitor_info_pub_ = this->create_publisher( + "robosense_monitor_info", rclcpp::SensorDataQoS()); + difop_callback_ = [this](const drivers::DeviceInfo & device_info) { + robosense_msgs::msg::RobosenseMonitorInfo monitor_info_buffer; + for (int i = 0; i < 6; ++i) { + monitor_info_buffer.device_sn[i] = device_info.sn[i]; + } + monitor_info_buffer.motor_rmp = device_info.rpm; + monitor_info_buffer.bot_fpga_temperature = device_info.bot_fpga_temperature; + monitor_info_buffer.recv_a_temperature = device_info.recv_A_temperature; + monitor_info_buffer.recv_b_temperature = device_info.recv_B_temperature; + monitor_info_buffer.main_fpga_temperature = device_info.main_fpga_temperature; + monitor_info_buffer.main_fpga_core_temperature = device_info.main_fpga_core_temperature; + monitor_info_buffer.lane_up = device_info.lane_up; + monitor_info_buffer.lane_up_cnt = device_info.lane_up_cnt; + monitor_info_buffer.main_status = device_info.main_status; + monitor_info_buffer.gps_status = device_info.gps_status; + robosense_monitor_info_pub_->publish(monitor_info_buffer); + }; + driver_ptr_->registDifopCallback(difop_callback_); +} + +void RobosenseDriverRosWrapper::ReceiveScanMsgCallback( + const robosense_msgs::msg::RobosenseScan::SharedPtr scan_msg) +{ + // take packets out of scan msg + std::vector pkt_msgs = scan_msg->packets; + std::tuple pointcloud_ts = + driver_ptr_->ConvertScanToPointcloud(scan_msg); + nebula::drivers::NebulaPointCloudPtr pointcloud = std::get<0>(pointcloud_ts); + + if (pointcloud == nullptr) { + RCLCPP_WARN_STREAM(get_logger(), "Empty cloud parsed."); + return; + }; + + if ( + nebula_points_pub_->get_subscription_count() > 0 || + nebula_points_pub_->get_intra_process_subscription_count() > 0) { + auto ros_pc_msg_ptr = std::make_unique(); + pcl::toROSMsg(*pointcloud, *ros_pc_msg_ptr); + ros_pc_msg_ptr->header.stamp = + rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count()); + PublishCloud(std::move(ros_pc_msg_ptr), nebula_points_pub_); + } + if ( + aw_points_base_pub_->get_subscription_count() > 0 || + aw_points_base_pub_->get_intra_process_subscription_count() > 0) { + const auto autoware_cloud_xyzi = + nebula::drivers::convertPointXYZIRCAEDTToPointXYZIR(pointcloud); + auto ros_pc_msg_ptr = std::make_unique(); + pcl::toROSMsg(*autoware_cloud_xyzi, *ros_pc_msg_ptr); + ros_pc_msg_ptr->header.stamp = + rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count()); + PublishCloud(std::move(ros_pc_msg_ptr), aw_points_base_pub_); + } + if ( + aw_points_ex_pub_->get_subscription_count() > 0 || + aw_points_ex_pub_->get_intra_process_subscription_count() > 0) { + const auto autoware_ex_cloud = nebula::drivers::convertPointXYZIRCAEDTToPointXYZIRADT( + pointcloud, std::get<1>(pointcloud_ts)); + auto ros_pc_msg_ptr = std::make_unique(); + pcl::toROSMsg(*autoware_ex_cloud, *ros_pc_msg_ptr); + ros_pc_msg_ptr->header.stamp = + rclcpp::Time(SecondsToChronoNanoSeconds(std::get<1>(pointcloud_ts)).count()); + PublishCloud(std::move(ros_pc_msg_ptr), aw_points_ex_pub_); + } +} + +void RobosenseDriverRosWrapper::PublishCloud( + std::unique_ptr pointcloud, + const rclcpp::Publisher::SharedPtr & publisher) +{ + if (pointcloud->header.stamp.sec < 0) { + RCLCPP_WARN_STREAM(this->get_logger(), "Timestamp error, verify clock source."); + } + pointcloud->header.frame_id = sensor_cfg_ptr_->frame_id; + publisher->publish(std::move(pointcloud)); +} + +Status RobosenseDriverRosWrapper::InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) +{ + driver_ptr_ = std::make_shared( + std::static_pointer_cast(sensor_configuration), + std::static_pointer_cast( + calibration_configuration)); + return driver_ptr_->GetStatus(); +} + +Status RobosenseDriverRosWrapper::GetStatus() +{ + return wrapper_status_; +} + +Status RobosenseDriverRosWrapper::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration) +{ + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("host_ip", "255.255.255.255", descriptor); + sensor_configuration.host_ip = this->get_parameter("host_ip").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("lidar_ip", "192.168.1.201", descriptor); + sensor_configuration.sensor_ip = this->get_parameter("lidar_ip").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("data_port", 2368, descriptor); + sensor_configuration.data_port = this->get_parameter("data_port").as_int(); + } + + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("difop_port", 7788, descriptor); + sensor_configuration.difop_port = this->get_parameter("difop_port").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", ""); + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("return_mode", "", descriptor); + sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringRobosense( + this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("packet_mtu_size", 1500, descriptor); + sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + rcl_interfaces::msg::IntegerRange range; + if ( + sensor_configuration.sensor_model == nebula::drivers::SensorModel::ROBOSENSE_HELIOS || + sensor_configuration.sensor_model == nebula::drivers::SensorModel::ROBOSENSE_HELIOS16P) { + descriptor.additional_constraints = "300, 600, 1200"; + range.set__from_value(300).set__to_value(1200).set__step(300); + descriptor.integer_range = {range}; + this->declare_parameter("rotation_speed", 600, descriptor); + } + sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("calibration_file", "", descriptor); + calibration_configuration.calibration_file = + this->get_parameter("calibration_file").as_string(); + std::cout << "calibration_file:" << calibration_configuration.calibration_file << std::endl; + } + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0.01).set__to_value(0.5).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("dual_return_distance_threshold", 0.1, descriptor); + sensor_configuration.dual_return_distance_threshold = + this->get_parameter("dual_return_distance_threshold").as_double(); + + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) { + return Status::INVALID_ECHO_MODE; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { + return Status::SENSOR_CONFIG_ERROR; + } + + std::shared_ptr sensor_cfg_ptr = + std::make_shared(sensor_configuration); + + hw_interface_.SetSensorConfiguration( + std::static_pointer_cast(sensor_cfg_ptr)); + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} + +RCLCPP_COMPONENTS_REGISTER_NODE(RobosenseDriverRosWrapper) +} // namespace ros +} // namespace nebula diff --git a/nebula_ros/src/robosense/robosense_hw_interface_ros_wrapper.cpp b/nebula_ros/src/robosense/robosense_hw_interface_ros_wrapper.cpp new file mode 100644 index 000000000..5017a0936 --- /dev/null +++ b/nebula_ros/src/robosense/robosense_hw_interface_ros_wrapper.cpp @@ -0,0 +1,320 @@ +#include "nebula_ros/robosense/robosense_hw_interface_ros_wrapper.hpp" + +namespace nebula +{ +namespace ros +{ +RobosenseHwInterfaceRosWrapper::RobosenseHwInterfaceRosWrapper(const rclcpp::NodeOptions & options) +: rclcpp::Node("robosense_hw_interface_ros_wrapper", options), hw_interface_() +{ + if (mtx_config_.try_lock()) { + interface_status_ = GetParameters(sensor_configuration_); + mtx_config_.unlock(); + } + if (Status::OK != interface_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_); + return; + } + hw_interface_.SetLogger(std::make_shared(this->get_logger())); + std::shared_ptr sensor_cfg_ptr = + std::make_shared(sensor_configuration_); + if (this->setup_sensor) { + if (sensor_cfg_ptr != nullptr) { + hw_interface_.SetSensorConfiguration(sensor_cfg_ptr); + } + } + + hw_interface_.RegisterScanCallback(std::bind( + &RobosenseHwInterfaceRosWrapper::ReceiveScanDataCallback, this, std::placeholders::_1)); + robosense_scan_pub_ = this->create_publisher( + "robosense_packets", rclcpp::SensorDataQoS()); +#if not defined(TEST_PCAP) + if (this->setup_sensor) { + set_param_res_ = this->add_on_set_parameters_callback( + std::bind(&RobosenseHwInterfaceRosWrapper::paramCallback, this, std::placeholders::_1)); + } +#endif + StreamStart(); +} + +Status RobosenseHwInterfaceRosWrapper::StreamStart() +{ + if (Status::OK == interface_status_) { + hw_interface_.CloudInterfaceStart(); + } + return interface_status_; +} + +Status RobosenseHwInterfaceRosWrapper::StreamStop() +{ + return Status::OK; +} +Status RobosenseHwInterfaceRosWrapper::Shutdown() +{ + return Status::OK; +} + +Status RobosenseHwInterfaceRosWrapper::InitializeHwInterface( // todo: don't think this is needed + const drivers::SensorConfigurationBase & sensor_configuration) +{ + std::stringstream ss; + ss << sensor_configuration; + RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str()); + return Status::OK; +} + +Status RobosenseHwInterfaceRosWrapper::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration) +{ + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", ""); + + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("return_mode", "", descriptor); + sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringRobosense( + this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("host_ip", "255.255.255.255", descriptor); + sensor_configuration.host_ip = this->get_parameter("host_ip").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("lidar_ip", "192.168.1.201", descriptor); + sensor_configuration.sensor_ip = this->get_parameter("lidar_ip").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("data_port", 6699, descriptor); + sensor_configuration.data_port = this->get_parameter("data_port").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("difop_port", 7788, descriptor); + sensor_configuration.difop_port = this->get_parameter("difop_port").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("packet_mtu_size", 1500, descriptor); + sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + rcl_interfaces::msg::IntegerRange range; + if ( + sensor_configuration.sensor_model == nebula::drivers::SensorModel::ROBOSENSE_HELIOS || + sensor_configuration.sensor_model == nebula::drivers::SensorModel::ROBOSENSE_HELIOS16P) { + descriptor.additional_constraints = "300, 600, 1200"; + range.set__from_value(300).set__to_value(1200).set__step(300); + descriptor.integer_range = {range}; + this->declare_parameter("rotation_speed", 600, descriptor); + } + sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + rcl_interfaces::msg::IntegerRange range; + range.set__from_value(0).set__to_value(360).set__step(1); + descriptor.integer_range = {range}; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + rcl_interfaces::msg::IntegerRange range; + range.set__from_value(0).set__to_value(360).set__step(1); + descriptor.integer_range = {range}; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0.01).set__to_value(0.5).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("dual_return_distance_threshold", 0.1, descriptor); + sensor_configuration.dual_return_distance_threshold = + this->get_parameter("dual_return_distance_threshold").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_BOOL; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("setup_sensor", true, descriptor); + this->setup_sensor = this->get_parameter("setup_sensor").as_bool(); + } + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) { + return Status::INVALID_ECHO_MODE; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { // || + return Status::SENSOR_CONFIG_ERROR; + } + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} + +void RobosenseHwInterfaceRosWrapper::ReceiveScanDataCallback( + std::unique_ptr scan_buffer) +{ + // Publish + scan_buffer->header.frame_id = sensor_configuration_.frame_id; + scan_buffer->header.stamp = scan_buffer->packets.front().stamp; + robosense_scan_pub_->publish(*scan_buffer); +} + +rcl_interfaces::msg::SetParametersResult RobosenseHwInterfaceRosWrapper::paramCallback( + const std::vector & p) +{ + std::scoped_lock lock(mtx_config_); + RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback"); + RCLCPP_DEBUG_STREAM(this->get_logger(), p); + RCLCPP_DEBUG_STREAM(this->get_logger(), sensor_configuration_); + RCLCPP_INFO_STREAM(this->get_logger(), p); + + drivers::RobosenseSensorConfiguration new_param{sensor_configuration_}; + RCLCPP_INFO_STREAM(this->get_logger(), new_param); + std::string sensor_model_str; + std::string return_mode_str; + if ( + get_param(p, "sensor_model", sensor_model_str) || + get_param(p, "return_mode", return_mode_str) || get_param(p, "host_ip", new_param.host_ip) || + get_param(p, "lidar_ip", new_param.sensor_ip) || get_param(p, "frame_id", new_param.frame_id) || + get_param(p, "data_port", new_param.data_port) || + get_param(p, "difop_port", new_param.difop_port) || + get_param(p, "scan_phase", new_param.scan_phase) || + get_param(p, "packet_mtu_size", new_param.packet_mtu_size) || + get_param(p, "rotation_speed", new_param.rotation_speed) || + get_param(p, "cloud_min_angle", new_param.cloud_min_angle) || + get_param(p, "cloud_max_angle", new_param.cloud_max_angle) || + get_param(p, "dual_return_distance_threshold", new_param.dual_return_distance_threshold)) { + if (0 < sensor_model_str.length()) + new_param.sensor_model = nebula::drivers::SensorModelFromString(sensor_model_str); + if (0 < return_mode_str.length()) + new_param.return_mode = nebula::drivers::ReturnModeFromString(return_mode_str); + + sensor_configuration_ = new_param; + RCLCPP_INFO_STREAM(this->get_logger(), "Update sensor_configuration"); + std::shared_ptr sensor_cfg_ptr = + std::make_shared(sensor_configuration_); + RCLCPP_DEBUG_STREAM(this->get_logger(), "hw_interface_.SetSensorConfiguration"); + hw_interface_.SetSensorConfiguration( + std::static_pointer_cast(sensor_cfg_ptr)); + // hw_interface_.CheckAndSetConfig(); + } + + auto result = std::make_shared(); + result->successful = true; + result->reason = "success"; + + RCLCPP_DEBUG_STREAM(this->get_logger(), "add_on_set_parameters_callback success"); + + return *result; +} + +std::vector +RobosenseHwInterfaceRosWrapper::updateParameters() +{ + std::scoped_lock lock(mtx_config_); + RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters start"); + std::ostringstream os_sensor_model; + os_sensor_model << sensor_configuration_.sensor_model; + std::ostringstream os_return_mode; + os_return_mode << sensor_configuration_.return_mode; + RCLCPP_INFO_STREAM(this->get_logger(), "set_parameters"); + auto results = set_parameters( + {rclcpp::Parameter("sensor_model", os_sensor_model.str()), + rclcpp::Parameter("return_mode", os_return_mode.str()), + rclcpp::Parameter("host_ip", sensor_configuration_.host_ip), + rclcpp::Parameter("lidar_ip", sensor_configuration_.sensor_ip), + rclcpp::Parameter("frame_id", sensor_configuration_.frame_id), + rclcpp::Parameter("data_port", sensor_configuration_.data_port), + rclcpp::Parameter("difop_port", sensor_configuration_.difop_port), + rclcpp::Parameter("scan_phase", sensor_configuration_.scan_phase), + rclcpp::Parameter("packet_mtu_size", sensor_configuration_.packet_mtu_size), + rclcpp::Parameter("rotation_speed", sensor_configuration_.rotation_speed), + rclcpp::Parameter("cloud_min_angle", sensor_configuration_.cloud_min_angle), + rclcpp::Parameter("cloud_max_angle", sensor_configuration_.cloud_max_angle), + rclcpp::Parameter( + "dual_return_distance_threshold", sensor_configuration_.dual_return_distance_threshold)}); + RCLCPP_DEBUG_STREAM(this->get_logger(), "updateParameters end"); + return results; +} + +RCLCPP_COMPONENTS_REGISTER_NODE(RobosenseHwInterfaceRosWrapper) +} // namespace ros +} // namespace nebula diff --git a/nebula_ros/src/robosense/robosense_hw_monitor_ros_wrapper.cpp b/nebula_ros/src/robosense/robosense_hw_monitor_ros_wrapper.cpp new file mode 100644 index 000000000..f7b351108 --- /dev/null +++ b/nebula_ros/src/robosense/robosense_hw_monitor_ros_wrapper.cpp @@ -0,0 +1,571 @@ +#include "nebula_ros/robosense/robosense_hw_monitor_ros_wrapper.hpp" + +#include +#include + +#include +#include + +#include + +namespace nebula +{ +namespace ros +{ +RobosenseHwMonitorRosWrapper::RobosenseHwMonitorRosWrapper(const rclcpp::NodeOptions & options) +: rclcpp::Node("robosense_hw_monitor_ros_wrapper", options), + hw_interface_(), + diagnostics_updater_(this) +{ + if (mtx_config_.try_lock()) { + interface_status_ = GetParameters(sensor_configuration_); + mtx_config_.unlock(); + } + if (Status::OK != interface_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << interface_status_); + return; + } + + hw_interface_.SetLogger(std::make_shared(this->get_logger())); + // Initialize sensor_configuration + RCLCPP_INFO_STREAM(this->get_logger(), "Initialize sensor_configuration"); + std::shared_ptr sensor_cfg_ptr = + std::make_shared(sensor_configuration_); + RCLCPP_INFO_STREAM(this->get_logger(), "hw_interface_.InitializeSensorConfiguration"); + // hw_interface_.InitializeSensorConfiguration( + // std::static_pointer_cast(sensor_cfg_ptr)); + + // key_status_motor_rpm = "motor.rpm"; + + info_model = GetInfoModel(sensor_cfg_ptr->sensor_model); + robosense_monitor_info_sub_ = create_subscription( + "robosense_monitor_info", rclcpp::SensorDataQoS(), + std::bind( + &RobosenseHwMonitorRosWrapper::ReceiveMonitorInfoCallback, this, std::placeholders::_1)); +} + +void RobosenseHwMonitorRosWrapper::ReceiveMonitorInfoCallback( + const robosense_msgs::msg::RobosenseMonitorInfo::SharedPtr monitor_info) +{ + if ( + sensor_configuration_.sensor_model == drivers::SensorModel::ROBOSENSE_HELIOS || + sensor_configuration_.sensor_model == drivers::SensorModel::ROBOSENSE_HELIOS16P) { + device_info_.rpm = monitor_info->motor_rmp; + device_info_.bot_fpga_temperature_val = 0.123041 * monitor_info->bot_fpga_temperature - 273.15; + device_info_.recv_A_temperature_val = 0.048828 * monitor_info->recv_a_temperature - 50; + device_info_.recv_B_temperature_val = 0.048828 * monitor_info->recv_b_temperature - 50; + device_info_.main_fpga_temperature_val = 0.048828 * monitor_info->main_fpga_temperature - 50; + device_info_.main_fpga_core_temperature_val = + 0.123041 * monitor_info->main_fpga_core_temperature - 273.15; + device_info_.lane_up = monitor_info->lane_up; + device_info_.lane_up_cnt = monitor_info->lane_up_cnt; + device_info_.main_status = monitor_info->main_status; + device_info_.gps_status = monitor_info->gps_status; + if (!is_get_info_serial_) { + for (int i = 0; i < 6; ++i) { + device_info_.sn[i] = monitor_info->device_sn[i]; + } + info_serial = to_hex(device_info_.sn, 6); + InitializeRobosenseDiagnostics(); + } + } + is_get_info_serial_ = true; + diagnostics_updater_.force_update(); +} + +Status RobosenseHwMonitorRosWrapper::MonitorStart() +{ + return interface_status_; +} + +Status RobosenseHwMonitorRosWrapper::MonitorStop() +{ + return Status::OK; +} +Status RobosenseHwMonitorRosWrapper::Shutdown() +{ + return Status::OK; +} + +Status RobosenseHwMonitorRosWrapper::InitializeHwMonitor( // todo: don't think this is needed + const drivers::SensorConfigurationBase & sensor_configuration) +{ + std::stringstream ss; + ss << sensor_configuration; + RCLCPP_DEBUG_STREAM(this->get_logger(), ss.str()); + return Status::OK; +} + +std::string RobosenseHwMonitorRosWrapper::GetInfoModel(nebula::drivers::SensorModel sensor_model) +{ + std::string str_info_model; + switch (sensor_model) { + case nebula::drivers::SensorModel::ROBOSENSE_HELIOS: + str_info_model = "RobosenseHelios"; + break; + case nebula::drivers::SensorModel::ROBOSENSE_HELIOS16P: + str_info_model = "RobosenseHelios16P"; + break; + default: + str_info_model = "Unkonw"; + } + return str_info_model; +} + +Status RobosenseHwMonitorRosWrapper::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration) +{ + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", ""); + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("return_mode", "", descriptor); + sensor_configuration.return_mode = nebula::drivers::ReturnModeFromStringRobosense( + this->get_parameter("return_mode").as_string(), sensor_configuration.sensor_model); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("host_ip", "255.255.255.255", descriptor); + sensor_configuration.host_ip = this->get_parameter("host_ip").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("lidar_ip", "192.168.1.201", descriptor); + sensor_configuration.sensor_ip = this->get_parameter("lidar_ip").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_STRING; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("data_port", 2368, descriptor); + sensor_configuration.data_port = this->get_parameter("data_port").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("difop_port", 2369, descriptor); + sensor_configuration.difop_port = this->get_parameter("difop_port").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("packet_mtu_size", 1500, descriptor); + sensor_configuration.packet_mtu_size = this->get_parameter("packet_mtu_size").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + rcl_interfaces::msg::IntegerRange range; + if ( + sensor_configuration.sensor_model == nebula::drivers::SensorModel::ROBOSENSE_HELIOS || + sensor_configuration.sensor_model == nebula::drivers::SensorModel::ROBOSENSE_HELIOS16P) { + descriptor.additional_constraints = "300, 600, 1200"; + range.set__from_value(300).set__to_value(1200).set__step(300); + descriptor.integer_range = {range}; + this->declare_parameter("rotation_speed", 600, descriptor); + } + sensor_configuration.rotation_speed = this->get_parameter("rotation_speed").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + rcl_interfaces::msg::IntegerRange range; + range.set__from_value(0).set__to_value(360).set__step(1); + descriptor.integer_range = {range}; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + rcl_interfaces::msg::IntegerRange range; + range.set__from_value(0).set__to_value(360).set__step(1); + descriptor.integer_range = {range}; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_DOUBLE; + descriptor.read_only = false; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Dual return distance threshold [0.01, 0.5]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0.01).set__to_value(0.5).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("dual_return_distance_threshold", 0.1, descriptor); + sensor_configuration.dual_return_distance_threshold = + this->get_parameter("dual_return_distance_threshold").as_double(); + } + + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.return_mode == nebula::drivers::ReturnMode::UNKNOWN) { + return Status::INVALID_ECHO_MODE; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { // || + return Status::SENSOR_CONFIG_ERROR; + } + + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} + +void RobosenseHwMonitorRosWrapper::InitializeRobosenseDiagnostics() +{ + RCLCPP_INFO_STREAM(get_logger(), " InitializeRobosenseDiagnostics"); + using std::chrono_literals::operator""s; + std::ostringstream os; + auto hardware_id = info_model + ": " + info_serial; + diagnostics_updater_.setHardwareID(hardware_id); + RCLCPP_INFO_STREAM(get_logger(), "hardware_id" << hardware_id); + diagnostics_updater_.add("robosense_rpm", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckRpm); + diagnostics_updater_.add( + "bot_fpga_temperature", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckBotFpgaTemperature); + diagnostics_updater_.add( + "recv_a_temperature", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckRecvATemperature); + diagnostics_updater_.add( + "recv_b_temperature", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckRecvBTemperature); + diagnostics_updater_.add( + "main_fpga_temperature", this, + &RobosenseHwMonitorRosWrapper::RobosenseCheckMainFpgaTemperature); + diagnostics_updater_.add( + "main_fpga_core_temperature", this, + &RobosenseHwMonitorRosWrapper::RobosenseCheckMainFpgaCoreTemperature); + diagnostics_updater_.add("lane_up", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckLaneUp); + diagnostics_updater_.add( + "lane_up_cnt", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckLaneUpCnt); + diagnostics_updater_.add( + "main_status", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckMainStatus); + diagnostics_updater_.add( + "gps_status", this, &RobosenseHwMonitorRosWrapper::RobosenseCheckGpsStatus); + current_diag_status = diagnostic_msgs::msg::DiagnosticStatus::STALE; +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetMotorRpm() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.rpm); + + std::string error_mes; + + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetBotFpgaTemperature() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.bot_fpga_temperature_val); + std::string error_mes; + + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetRecvATemperature() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.recv_A_temperature_val); + std::string error_mes; + + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetRecvBTemperature() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.recv_B_temperature_val); + std::string error_mes; + + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetMainFpgaTemperature() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.main_fpga_temperature_val); + std::string error_mes; + + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetMainCoreFpgaTemperature() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.main_fpga_core_temperature_val); + std::string error_mes; + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetLaneUp() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.lane_up); + std::string error_mes; + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetLaneUpCnt() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.lane_up_cnt); + std::string error_mes; + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetMainStatus() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.main_status); + std::string error_mes; + return std::make_tuple(not_ex, level, mes, error_mes); +} + +std::tuple +RobosenseHwMonitorRosWrapper::RobosenseGetGpsStatus() +{ + bool not_ex = true; + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::string mes = std::to_string(device_info_.gps_status); + std::string error_mes; + return std::make_tuple(not_ex, level, mes, error_mes); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckRpm( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetMotorRpm(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Motor RPM", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckBotFpgaTemperature( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetBotFpgaTemperature(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Bot_Fpga_Temperature", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckRecvATemperature( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetRecvATemperature(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Rec_A_Temperature", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckRecvBTemperature( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetRecvBTemperature(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Rec_B_Temperature", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckMainFpgaTemperature( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetMainFpgaTemperature(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Main_Fpga_Temperature", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckMainFpgaCoreTemperature( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetMainCoreFpgaTemperature(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Main_Fpga_Core_Temperature", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckLaneUp( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetLaneUp(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Lane_Up", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckLaneUpCnt( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetLaneUpCnt(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Lane_Up_Cnt", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckMainStatus( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetMainStatus(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Main_Status", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +void RobosenseHwMonitorRosWrapper::RobosenseCheckGpsStatus( + diagnostic_updater::DiagnosticStatusWrapper & diagnostics) +{ + uint8_t level = diagnostic_msgs::msg::DiagnosticStatus::OK; + std::vector msg; + auto tpl = RobosenseGetGpsStatus(); + if (std::get<0>(tpl)) { + level = std::max(level, std::get<1>(tpl)); + if (0 < std::get<3>(tpl).length()) { + msg.emplace_back(std::get<3>(tpl)); + } + } + diagnostics.add("Gps_Status", std::get<2>(tpl)); + diagnostics.summary(level, boost::algorithm::join(msg, ", ")); +} + +RCLCPP_COMPONENTS_REGISTER_NODE(RobosenseHwMonitorRosWrapper) +} // namespace ros +} // namespace nebula diff --git a/nebula_tests/CMakeLists.txt b/nebula_tests/CMakeLists.txt index bd58aa6fc..732b68284 100644 --- a/nebula_tests/CMakeLists.txt +++ b/nebula_tests/CMakeLists.txt @@ -50,11 +50,13 @@ if(BUILD_TESTING) rosbag2_cpp pandar_msgs velodyne_msgs + robosense_msgs ) add_subdirectory(hesai) add_subdirectory(velodyne) + add_subdirectory(robosense) endif() diff --git a/nebula_tests/data/robosense/helios/1691141763462381376.pcd b/nebula_tests/data/robosense/helios/1691141763462381376.pcd new file mode 100644 index 000000000..9b2cc3bd9 --- /dev/null +++ b/nebula_tests/data/robosense/helios/1691141763462381376.pcd @@ -0,0 +1,37519 @@ +# .PCD v0.7 - Point Cloud Data file format +VERSION 0.7 +FIELDS x y z intensity return_type channel azimuth elevation distance time_stamp +SIZE 4 4 4 1 1 2 4 4 4 4 +TYPE F F F U U U F F F U +COUNT 1 1 1 1 1 1 1 1 1 1 +WIDTH 37508 +HEIGHT 1 +VIEWPOINT 0 0 0 1 0 0 0 +POINTS 37508 +DATA ascii +0.23427171 -0.013176575 0.046219546 6 3 30 376 1303 0.205 1483229792 +0.27989042 0.016524967 0.047359549 6 3 29 -388 1092 0.25 1483229792 +0.31102711 -0.018130176 0.043270625 6 3 28 374 889 0.28 1483229792 +0.38904876 0.023673942 0.043320555 5 3 27 -384 696 0.35749999 1483229792 +0.46708897 -0.028262023 0.041390605 5 3 26 373 546 0.435 1483229792 +0.5550617 0.034628466 0.036265809 4 3 25 -382 398 0.52249998 1483229792 +0.55580103 -0.034148924 0.024339838 4 3 24 374 267 0.52249998 1483229792 +1.5237973 0.098783351 0.034642108 6 3 23 -380 133 1.4924999 1483229792 +1.2623464 -0.080555744 0 6 3 22 375 0 1.23 1483229792 +6.3245687 0.41543293 -0.14634405 35 3 21 -378 -133 6.3049998 1483229792 +4.9196424 -0.3228485 -0.4394787 53 3 18 378 -513 4.915 1483229792 +0.86275792 0.054562539 -0.094959065 3 3 17 -378 -653 0.83499998 1483229792 +0.82808757 -0.052951511 -0.11043798 3 3 16 381 -791 0.80250001 1483229792 +0.63460052 0.039587338 -0.10477187 4 3 15 -379 -989 0.61000001 1483229792 +5.4759903 -0.37011725 -1.5606976 12 3 13 389 -1597 5.6724997 1483229792 +0.61610556 0.038667772 -0.13339195 3 3 14 -382 -1290 0.59749997 1483229792 +5.4492426 -0.37209603 -1.8771545 27 3 12 393 -1908 5.7424998 1483229792 +0.9343971 0.06195819 -0.36461964 30 3 11 -395 -2202 0.97249997 1483229792 +0.87918854 0.059182443 -0.39751291 39 3 10 -402 -2516 0.935 1483229792 +4.7996197 -0.3517181 -2.8877175 15 3 8 422 -3115 5.5825 1483229792 +0.83400905 0.059359632 -0.54227841 36 3 7 -426 -3409 0.96749997 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robosense_msgs/msg/RobosenseScan + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 23 + compression_format: "" + compression_mode: "" + relative_file_paths: + - rosbag2_2023_08_04-17_36_03_0.db3 + files: + - path: rosbag2_2023_08_04-17_36_03_0.db3 + starting_time: + nanoseconds_since_epoch: 1691141763362983548 + duration: + nanoseconds: 2200257612 + message_count: 23 \ No newline at end of file diff --git a/nebula_tests/data/robosense/helios/rosbag2_2023_08_04-17_36_03/rosbag2_2023_08_04-17_36_03_0.db3 b/nebula_tests/data/robosense/helios/rosbag2_2023_08_04-17_36_03/rosbag2_2023_08_04-17_36_03_0.db3 new file mode 100644 index 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a/nebula_tests/data/robosense/helios16P/rosbag2_2023_08_03-11_02_46/metadata.yaml b/nebula_tests/data/robosense/helios16P/rosbag2_2023_08_03-11_02_46/metadata.yaml new file mode 100644 index 000000000..35b81fa57 --- /dev/null +++ b/nebula_tests/data/robosense/helios16P/rosbag2_2023_08_03-11_02_46/metadata.yaml @@ -0,0 +1,26 @@ +rosbag2_bagfile_information: + version: 5 + storage_identifier: sqlite3 + duration: + nanoseconds: 399698928 + starting_time: + nanoseconds_since_epoch: 1691031766781547066 + message_count: 5 + topics_with_message_count: + - topic_metadata: + name: /robosense_packets + type: robosense_msgs/msg/RobosenseScan + serialization_format: cdr + offered_qos_profiles: "- history: 3\n depth: 0\n reliability: 2\n durability: 2\n deadline:\n sec: 9223372036\n nsec: 854775807\n lifespan:\n sec: 9223372036\n nsec: 854775807\n liveliness: 1\n liveliness_lease_duration:\n sec: 9223372036\n nsec: 854775807\n avoid_ros_namespace_conventions: false" + message_count: 5 + 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z#+P2|JjiAcOko)9V2`PlmAx7`9^@AKiubGyEOh78_kQ88n+`NTkGlyp5F?5VeU-oNRZU`LC=cq^m3{d#3iJB`Y}qYj%x_?Yu5jR1#)_md1UX3C!O xEjHQSpZ)qW9^{rb;o*Y?xWVG~D>APrj@)|;!)8aTd~m&@R?iOTRXLvj{U5>3Rc8PI literal 0 HcmV?d00001 diff --git a/nebula_tests/robosense/CMakeLists.txt b/nebula_tests/robosense/CMakeLists.txt new file mode 100644 index 000000000..51108efff --- /dev/null +++ b/nebula_tests/robosense/CMakeLists.txt @@ -0,0 +1,43 @@ +# Robosense Helios16P +ament_auto_add_library(robosense_ros_decoder_test_helios16P SHARED +robosense_ros_decoder_test_helios16P.cpp + ) +target_link_libraries(robosense_ros_decoder_test_helios16P ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES}) + +ament_add_gtest(robosense_ros_decoder_test_main_helios16P +robosense_ros_decoder_test_main_helios16P.cpp + ) +ament_target_dependencies(robosense_ros_decoder_test_main_helios16P + ${NEBULA_TEST_DEPENDENCIES} + ) +target_include_directories(robosense_ros_decoder_test_main_helios16P PUBLIC + ${PROJECT_SOURCE_DIR}/src/robosense + include + ) +target_link_libraries(robosense_ros_decoder_test_main_helios16P + ${PCL_LIBRARIES} + robosense_ros_decoder_test_helios16P + ) + +# Robosense Helios +ament_auto_add_library(robosense_ros_decoder_test_helios SHARED +robosense_ros_decoder_test_helios.cpp + ) +target_link_libraries(robosense_ros_decoder_test_helios ${PCL_LIBRARIES} ${NEBULA_TEST_LIBRARIES}) + +ament_add_gtest(robosense_ros_decoder_test_main_helios +robosense_ros_decoder_test_main_helios.cpp + ) +ament_target_dependencies(robosense_ros_decoder_test_main_helios + ${NEBULA_TEST_DEPENDENCIES} + ) +target_include_directories(robosense_ros_decoder_test_main_helios PUBLIC + ${PROJECT_SOURCE_DIR}/src/robosense + include + ) +target_link_libraries(robosense_ros_decoder_test_main_helios + ${PCL_LIBRARIES} + robosense_ros_decoder_test_helios + ) + + diff --git a/nebula_tests/robosense/robosense_ros_decoder_test_helios.cpp b/nebula_tests/robosense/robosense_ros_decoder_test_helios.cpp new file mode 100644 index 000000000..72b38058b --- /dev/null +++ b/nebula_tests/robosense/robosense_ros_decoder_test_helios.cpp @@ -0,0 +1,316 @@ +#include "robosense_ros_decoder_test_helios.hpp" + +#include "rclcpp/serialization.hpp" +#include "rclcpp/serialized_message.hpp" +#include "rcpputils/filesystem_helper.hpp" +#include "rcutils/time.h" +#include "rosbag2_cpp/reader.hpp" +#include "rosbag2_cpp/readers/sequential_reader.hpp" +#include "rosbag2_cpp/writer.hpp" +#include "rosbag2_cpp/writers/sequential_writer.hpp" +#include "rosbag2_storage/storage_options.hpp" + +#include + +#include +#include + +namespace nebula +{ +namespace ros +{ +RobosenseRosDecoderTest::RobosenseRosDecoderTest( + const rclcpp::NodeOptions & options, const std::string & node_name) +: rclcpp::Node(node_name, options) +{ + drivers::RobosenseCalibrationConfiguration calibration_configuration; + drivers::RobosenseSensorConfiguration sensor_configuration; + + wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration); + if (Status::OK != wrapper_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_); + return; + } + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting..."); + + calibration_cfg_ptr_ = + std::make_shared(calibration_configuration); + + sensor_cfg_ptr_ = std::make_shared(sensor_configuration); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver "); + wrapper_status_ = InitializeDriver( + std::const_pointer_cast(sensor_cfg_ptr_), + std::static_pointer_cast(calibration_cfg_ptr_)); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_); +} + +Status RobosenseRosDecoderTest::InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) +{ + // driver should be initialized here with proper decoder + driver_ptr_ = std::make_shared( + std::static_pointer_cast(sensor_configuration), + std::static_pointer_cast( + calibration_configuration)); + return driver_ptr_->GetStatus(); +} + +Status RobosenseRosDecoderTest::GetStatus() +{ + return wrapper_status_; +} + +Status RobosenseRosDecoderTest::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration) +{ + std::filesystem::path calib_dir = + _SRC_CALIBRATION_DIR_PATH; // variable defined in CMakeLists.txt; + calib_dir /= "robosense"; + std::cout << "*****************calib_dir:" << calib_dir << std::endl; + std::filesystem::path bag_root_dir = + _SRC_RESOURCES_DIR_PATH; // variable defined in CMakeLists.txt; + bag_root_dir /= "robosense"; + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", "RobosenseHelios"); + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("return_mode", "Dual", descriptor); + sensor_configuration.return_mode = + nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 3; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter( + "calibration_file", (calib_dir / "RobosenseHelios.csv").string(), descriptor); + calibration_configuration.calibration_file = + this->get_parameter("calibration_file").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter( + "bag_path", (bag_root_dir / "helios" / "rosbag2_2023_08_04-17_36_03").string(), descriptor); + bag_path = this->get_parameter("bag_path").as_string(); + std::cout << "bag_path:" << bag_path << std::endl; + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("storage_id", "sqlite3", descriptor); + storage_id = this->get_parameter("storage_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("format", "cdr", descriptor); + format = this->get_parameter("format").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("target_topic", "/robosense_packets", descriptor); + target_topic = this->get_parameter("target_topic").as_string(); + } + + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { + return Status::SENSOR_CONFIG_ERROR; + } + + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} +void printPCD(nebula::drivers::NebulaPointCloudPtr pp) +{ + for (auto p : pp->points) { + std::cout << "(" << p.x << ", " << p.y << ", " << p.z << "): " << (int)p.intensity << "," + << (int)p.return_type << "," << p.channel << ", " << p.azimuth << ", " << p.elevation + << ", " << p.distance << ", " << p.time_stamp << std::endl; + } +} + +void checkPCDs(nebula::drivers::NebulaPointCloudPtr pp1, nebula::drivers::NebulaPointCloudPtr pp2) +{ + EXPECT_EQ(pp1->points.size(), pp2->points.size()); + std::cout << "pp1->points.size():" << pp1->points.size() + << " pp2->points.size():" << pp2->points.size() << std::endl; + for (uint32_t i = 0; i < pp1->points.size(); i++) { + auto p1 = pp1->points[i]; + auto p2 = pp2->points[i]; + EXPECT_FLOAT_EQ(p1.x, p2.x); + EXPECT_FLOAT_EQ(p1.y, p2.y); + EXPECT_FLOAT_EQ(p1.z, p2.z); + EXPECT_EQ(p1.intensity, p2.intensity); + EXPECT_EQ(p1.return_type, p2.return_type); + EXPECT_EQ(p1.channel, p2.channel); + EXPECT_FLOAT_EQ(p1.azimuth, p2.azimuth); + EXPECT_FLOAT_EQ(p1.elevation, p2.elevation); + EXPECT_FLOAT_EQ(p1.distance, p2.distance); + EXPECT_EQ(p1.time_stamp, p2.time_stamp); + } +} + +void checkPCDs(nebula::drivers::NebulaPointCloudPtr pp1, pcl::PointCloud::Ptr pp2) +{ + EXPECT_EQ(pp1->points.size(), pp2->points.size()); + for (uint32_t i = 0; i < pp1->points.size(); i++) { + auto p1 = pp1->points[i]; + auto p2 = pp2->points[i]; + EXPECT_FLOAT_EQ(p1.x, p2.x); + EXPECT_FLOAT_EQ(p1.y, p2.y); + EXPECT_FLOAT_EQ(p1.z, p2.z); + } +} + +void RobosenseRosDecoderTest::ReadBag() +{ + rosbag2_storage::StorageOptions storage_options; + rosbag2_cpp::ConverterOptions converter_options; + + std::cout << bag_path << std::endl; + std::cout << storage_id << std::endl; + std::cout << format << std::endl; + std::cout << target_topic << std::endl; + + auto target_topic_name = target_topic; + if (target_topic_name.substr(0, 1) == "/") { + target_topic_name = target_topic_name.substr(1); + } + target_topic_name = std::regex_replace(target_topic_name, std::regex("/"), "_"); + + pcl::PCDReader pcd_reader; + + rcpputils::fs::path bag_dir(bag_path); + rcpputils::fs::path pcd_dir = bag_dir.parent_path(); + int check_cnt = 0; + static int num = 0; + storage_options.uri = bag_path; + storage_options.storage_id = storage_id; + converter_options.output_serialization_format = format; //"cdr"; + rclcpp::Serialization serialization; + nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud); + nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud); + // pcl::PointCloud::Ptr ref_pointcloud(new pcl::PointCloud); + { + rosbag2_cpp::Reader bag_reader(std::make_unique()); + bag_reader.open(storage_options, converter_options); + while (bag_reader.has_next()) { + auto bag_message = bag_reader.read_next(); + + std::cout << "Found topic name " << bag_message->topic_name << std::endl; + + if (bag_message->topic_name == target_topic) { + num++; + robosense_msgs::msg::RobosenseScan extracted_msg; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message(&extracted_serialized_msg, &extracted_msg); + + std::cout << "Found data in topic " << bag_message->topic_name << ": " + << bag_message->time_stamp << std::endl; + + auto extracted_msg_ptr = + std::make_shared(extracted_msg); + auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr); + pointcloud = std::get<0>(pointcloud_ts); + + // There are very rare cases where has_scanned_ does not become true, but it is not known + // whether it is because of decoder or deserialize_message. + if (!pointcloud) continue; + + auto fn = std::to_string(bag_message->time_stamp) + ".pcd"; + + auto target_pcd_path = (pcd_dir / fn); + // std::cout << target_pcd_path << std::endl; + if (target_pcd_path.exists()) { + std::cout << "exists: " << target_pcd_path << std::endl; + auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud); + std::cout << rt << " loaded: " << target_pcd_path << "num:" << num << std::endl; + checkPCDs(pointcloud, ref_pointcloud); + check_cnt++; + ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud); + // ref_pointcloud.reset(new pcl::PointCloud); + } + + pointcloud.reset(new nebula::drivers::NebulaPointCloud); + } + } + EXPECT_GT(check_cnt, 0); + // close on scope exit + } +} + +} // namespace ros +} // namespace nebula diff --git a/nebula_tests/robosense/robosense_ros_decoder_test_helios.hpp b/nebula_tests/robosense/robosense_ros_decoder_test_helios.hpp new file mode 100644 index 000000000..2e0b2ce9b --- /dev/null +++ b/nebula_tests/robosense/robosense_ros_decoder_test_helios.hpp @@ -0,0 +1,82 @@ +#ifndef NEBULA_RobosenseRosDecoderTestVlp16_H +#define NEBULA_RobosenseRosDecoderTestVlp16_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp" +#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp" + +#include +#include +#include + +#include "robosense_msgs/msg/robosense_packet.hpp" +#include "robosense_msgs/msg/robosense_scan.hpp" + +#include + +namespace nebula +{ +namespace ros +{ +/// @brief Testing decoder of VLP16 (Keeps RobosenseDriverRosWrapper structure as much as possible) +class RobosenseRosDecoderTest final : public rclcpp::Node, + NebulaDriverRosWrapperBase //, testing::Test +{ + std::shared_ptr driver_ptr_; + Status wrapper_status_; + + std::shared_ptr calibration_cfg_ptr_; + std::shared_ptr sensor_cfg_ptr_; + + /// @brief Initializing ros wrapper + /// @param sensor_configuration SensorConfiguration for this driver + /// @param calibration_configuration CalibrationConfiguration for this driver + /// @return Resulting status + Status InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) override; + + /// @brief Get configurations (Magic numbers for VLP16 is described, each function can be + /// integrated if the ros parameter can be passed to Google Test) + /// @param sensor_configuration Output of SensorConfiguration + /// @param calibration_configuration Output of CalibrationConfiguration + /// @return Resulting status + Status GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration); + + /// @brief Convert seconds to chrono::nanoseconds + /// @param seconds + /// @return chrono::nanoseconds + static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds) + { + return std::chrono::duration_cast( + std::chrono::duration(seconds)); + } + +public: + explicit RobosenseRosDecoderTest( + const rclcpp::NodeOptions & options, const std::string & node_name); + + /// @brief Get current status of this driver + /// @return Current status + Status GetStatus(); + + /// @brief Read the specified bag file and compare the constructed point clouds with the + /// corresponding PCD files + void ReadBag(); + +private: + std::string bag_path; + std::string storage_id; + std::string format; + std::string target_topic; + std::string correction_file_path; +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseRosDecoderTestVlp16_H diff --git a/nebula_tests/robosense/robosense_ros_decoder_test_helios16P.cpp b/nebula_tests/robosense/robosense_ros_decoder_test_helios16P.cpp new file mode 100644 index 000000000..334625f56 --- /dev/null +++ b/nebula_tests/robosense/robosense_ros_decoder_test_helios16P.cpp @@ -0,0 +1,317 @@ +#include "robosense_ros_decoder_test_helios16P.hpp" + +#include "rclcpp/serialization.hpp" +#include "rclcpp/serialized_message.hpp" +#include "rcpputils/filesystem_helper.hpp" +#include "rcutils/time.h" +#include "rosbag2_cpp/reader.hpp" +#include "rosbag2_cpp/readers/sequential_reader.hpp" +#include "rosbag2_cpp/writer.hpp" +#include "rosbag2_cpp/writers/sequential_writer.hpp" +#include "rosbag2_storage/storage_options.hpp" + +#include + +#include +#include + +namespace nebula +{ +namespace ros +{ +RobosenseRosDecoderTest::RobosenseRosDecoderTest( + const rclcpp::NodeOptions & options, const std::string & node_name) +: rclcpp::Node(node_name, options) +{ + drivers::RobosenseCalibrationConfiguration calibration_configuration; + drivers::RobosenseSensorConfiguration sensor_configuration; + + wrapper_status_ = GetParameters(sensor_configuration, calibration_configuration); + if (Status::OK != wrapper_status_) { + RCLCPP_ERROR_STREAM(this->get_logger(), this->get_name() << " Error:" << wrapper_status_); + return; + } + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Starting..."); + + calibration_cfg_ptr_ = + std::make_shared(calibration_configuration); + + sensor_cfg_ptr_ = std::make_shared(sensor_configuration); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << ". Driver "); + wrapper_status_ = InitializeDriver( + std::const_pointer_cast(sensor_cfg_ptr_), + std::static_pointer_cast(calibration_cfg_ptr_)); + + RCLCPP_INFO_STREAM(this->get_logger(), this->get_name() << "Wrapper=" << wrapper_status_); +} + +Status RobosenseRosDecoderTest::InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) +{ + // driver should be initialized here with proper decoder + driver_ptr_ = std::make_shared( + std::static_pointer_cast(sensor_configuration), + std::static_pointer_cast( + calibration_configuration)); + return driver_ptr_->GetStatus(); +} + +Status RobosenseRosDecoderTest::GetStatus() +{ + return wrapper_status_; +} + +Status RobosenseRosDecoderTest::GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration) +{ + std::filesystem::path calib_dir = + _SRC_CALIBRATION_DIR_PATH; // variable defined in CMakeLists.txt; + calib_dir /= "robosense"; + std::cout << "*****************calib_dir:" << calib_dir << std::endl; + std::filesystem::path bag_root_dir = + _SRC_RESOURCES_DIR_PATH; // variable defined in CMakeLists.txt; + bag_root_dir /= "robosense"; + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("sensor_model", "RobosenseHelios16P"); + sensor_configuration.sensor_model = + nebula::drivers::SensorModelFromString(this->get_parameter("sensor_model").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("return_mode", "Dual", descriptor); + sensor_configuration.return_mode = + nebula::drivers::ReturnModeFromString(this->get_parameter("return_mode").as_string()); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("frame_id", "robosense", descriptor); + sensor_configuration.frame_id = this->get_parameter("frame_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 3; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = "Angle where scans begin (degrees, [0.,360.]"; + rcl_interfaces::msg::FloatingPointRange range; + range.set__from_value(0).set__to_value(360).set__step(0.01); + descriptor.floating_point_range = {range}; + this->declare_parameter("scan_phase", 0., descriptor); + sensor_configuration.scan_phase = this->get_parameter("scan_phase").as_double(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter( + "calibration_file", (calib_dir / "RobosenseHelios16P.csv").string(), descriptor); + calibration_configuration.calibration_file = + this->get_parameter("calibration_file").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_min_angle", 0, descriptor); + sensor_configuration.cloud_min_angle = this->get_parameter("cloud_min_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = rcl_interfaces::msg::ParameterType::PARAMETER_INTEGER; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("cloud_max_angle", 360, descriptor); + sensor_configuration.cloud_max_angle = this->get_parameter("cloud_max_angle").as_int(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter( + "bag_path", (bag_root_dir / "helios16P" / "rosbag2_2023_08_03-11_02_46").string(), + descriptor); + bag_path = this->get_parameter("bag_path").as_string(); + std::cout << "bag_path:" << bag_path << std::endl; + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("storage_id", "sqlite3", descriptor); + storage_id = this->get_parameter("storage_id").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("format", "cdr", descriptor); + format = this->get_parameter("format").as_string(); + } + { + rcl_interfaces::msg::ParameterDescriptor descriptor; + descriptor.type = 4; + descriptor.read_only = true; + descriptor.dynamic_typing = false; + descriptor.additional_constraints = ""; + this->declare_parameter("target_topic", "/robosense_packets", descriptor); + target_topic = this->get_parameter("target_topic").as_string(); + } + + if (sensor_configuration.sensor_model == nebula::drivers::SensorModel::UNKNOWN) { + return Status::INVALID_SENSOR_MODEL; + } + if (sensor_configuration.frame_id.empty() || sensor_configuration.scan_phase > 360) { + return Status::SENSOR_CONFIG_ERROR; + } + + RCLCPP_INFO_STREAM(this->get_logger(), "SensorConfig:" << sensor_configuration); + return Status::OK; +} +void printPCD(nebula::drivers::NebulaPointCloudPtr pp) +{ + for (auto p : pp->points) { + std::cout << "(" << p.x << ", " << p.y << ", " << p.z << "): " << (int)p.intensity << "," + << (int)p.return_type << "," << p.channel << ", " << p.azimuth << ", " << p.elevation + << ", " << p.distance << ", " << p.time_stamp << std::endl; + } +} + +void checkPCDs(nebula::drivers::NebulaPointCloudPtr pp1, nebula::drivers::NebulaPointCloudPtr pp2) +{ + EXPECT_EQ(pp1->points.size(), pp2->points.size()); + std::cout << "pp1->points.size():" << pp1->points.size() + << " pp2->points.size():" << pp2->points.size() << std::endl; + for (uint32_t i = 0; i < pp1->points.size(); i++) { + auto p1 = pp1->points[i]; + auto p2 = pp2->points[i]; + EXPECT_FLOAT_EQ(p1.x, p2.x); + EXPECT_FLOAT_EQ(p1.y, p2.y); + EXPECT_FLOAT_EQ(p1.z, p2.z); + EXPECT_EQ(p1.intensity, p2.intensity); + EXPECT_EQ(p1.return_type, p2.return_type); + EXPECT_EQ(p1.channel, p2.channel); + EXPECT_FLOAT_EQ(p1.azimuth, p2.azimuth); + EXPECT_FLOAT_EQ(p1.elevation, p2.elevation); + EXPECT_FLOAT_EQ(p1.distance, p2.distance); + EXPECT_EQ(p1.time_stamp, p2.time_stamp); + } +} + +void checkPCDs(nebula::drivers::NebulaPointCloudPtr pp1, pcl::PointCloud::Ptr pp2) +{ + EXPECT_EQ(pp1->points.size(), pp2->points.size()); + for (uint32_t i = 0; i < pp1->points.size(); i++) { + auto p1 = pp1->points[i]; + auto p2 = pp2->points[i]; + EXPECT_FLOAT_EQ(p1.x, p2.x); + EXPECT_FLOAT_EQ(p1.y, p2.y); + EXPECT_FLOAT_EQ(p1.z, p2.z); + } +} + +void RobosenseRosDecoderTest::ReadBag() +{ + rosbag2_storage::StorageOptions storage_options; + rosbag2_cpp::ConverterOptions converter_options; + + std::cout << bag_path << std::endl; + std::cout << storage_id << std::endl; + std::cout << format << std::endl; + std::cout << target_topic << std::endl; + + auto target_topic_name = target_topic; + if (target_topic_name.substr(0, 1) == "/") { + target_topic_name = target_topic_name.substr(1); + } + target_topic_name = std::regex_replace(target_topic_name, std::regex("/"), "_"); + + pcl::PCDReader pcd_reader; + + rcpputils::fs::path bag_dir(bag_path); + rcpputils::fs::path pcd_dir = bag_dir.parent_path(); + int check_cnt = 0; + static int num = 0; + storage_options.uri = bag_path; + storage_options.storage_id = storage_id; + converter_options.output_serialization_format = format; //"cdr"; + rclcpp::Serialization serialization; + nebula::drivers::NebulaPointCloudPtr pointcloud(new nebula::drivers::NebulaPointCloud); + nebula::drivers::NebulaPointCloudPtr ref_pointcloud(new nebula::drivers::NebulaPointCloud); + // pcl::PointCloud::Ptr ref_pointcloud(new pcl::PointCloud); + { + rosbag2_cpp::Reader bag_reader(std::make_unique()); + bag_reader.open(storage_options, converter_options); + while (bag_reader.has_next()) { + auto bag_message = bag_reader.read_next(); + + std::cout << "Found topic name " << bag_message->topic_name << std::endl; + + if (bag_message->topic_name == target_topic) { + num++; + robosense_msgs::msg::RobosenseScan extracted_msg; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message(&extracted_serialized_msg, &extracted_msg); + + std::cout << "Found data in topic " << bag_message->topic_name << ": " + << bag_message->time_stamp << std::endl; + + auto extracted_msg_ptr = + std::make_shared(extracted_msg); + auto pointcloud_ts = driver_ptr_->ConvertScanToPointcloud(extracted_msg_ptr); + pointcloud = std::get<0>(pointcloud_ts); + + // There are very rare cases where has_scanned_ does not become true, but it is not known + // whether it is because of decoder or deserialize_message. + if (!pointcloud) continue; + + auto fn = std::to_string(bag_message->time_stamp) + ".pcd"; + + auto target_pcd_path = (pcd_dir / fn); + // std::cout << target_pcd_path << std::endl; + if (target_pcd_path.exists()) { + std::cout << "exists: " << target_pcd_path << std::endl; + auto rt = pcd_reader.read(target_pcd_path.string(), *ref_pointcloud); + std::cout << rt << " loaded: " << target_pcd_path << "num:" << num << std::endl; + checkPCDs(pointcloud, ref_pointcloud); + check_cnt++; + ref_pointcloud.reset(new nebula::drivers::NebulaPointCloud); + // ref_pointcloud.reset(new pcl::PointCloud); + } + + pointcloud.reset(new nebula::drivers::NebulaPointCloud); + } + } + EXPECT_GT(check_cnt, 0); + // close on scope exit + } +} + +} // namespace ros +} // namespace nebula diff --git a/nebula_tests/robosense/robosense_ros_decoder_test_helios16P.hpp b/nebula_tests/robosense/robosense_ros_decoder_test_helios16P.hpp new file mode 100644 index 000000000..2e0b2ce9b --- /dev/null +++ b/nebula_tests/robosense/robosense_ros_decoder_test_helios16P.hpp @@ -0,0 +1,82 @@ +#ifndef NEBULA_RobosenseRosDecoderTestVlp16_H +#define NEBULA_RobosenseRosDecoderTestVlp16_H + +#include "nebula_common/nebula_common.hpp" +#include "nebula_common/nebula_status.hpp" +#include "nebula_common/robosense/robosense_common.hpp" +#include "nebula_decoders/nebula_decoders_robosense/robosense_driver.hpp" +#include "nebula_ros/common/nebula_driver_ros_wrapper_base.hpp" + +#include +#include +#include + +#include "robosense_msgs/msg/robosense_packet.hpp" +#include "robosense_msgs/msg/robosense_scan.hpp" + +#include + +namespace nebula +{ +namespace ros +{ +/// @brief Testing decoder of VLP16 (Keeps RobosenseDriverRosWrapper structure as much as possible) +class RobosenseRosDecoderTest final : public rclcpp::Node, + NebulaDriverRosWrapperBase //, testing::Test +{ + std::shared_ptr driver_ptr_; + Status wrapper_status_; + + std::shared_ptr calibration_cfg_ptr_; + std::shared_ptr sensor_cfg_ptr_; + + /// @brief Initializing ros wrapper + /// @param sensor_configuration SensorConfiguration for this driver + /// @param calibration_configuration CalibrationConfiguration for this driver + /// @return Resulting status + Status InitializeDriver( + std::shared_ptr sensor_configuration, + std::shared_ptr calibration_configuration) override; + + /// @brief Get configurations (Magic numbers for VLP16 is described, each function can be + /// integrated if the ros parameter can be passed to Google Test) + /// @param sensor_configuration Output of SensorConfiguration + /// @param calibration_configuration Output of CalibrationConfiguration + /// @return Resulting status + Status GetParameters( + drivers::RobosenseSensorConfiguration & sensor_configuration, + drivers::RobosenseCalibrationConfiguration & calibration_configuration); + + /// @brief Convert seconds to chrono::nanoseconds + /// @param seconds + /// @return chrono::nanoseconds + static inline std::chrono::nanoseconds SecondsToChronoNanoSeconds(const double seconds) + { + return std::chrono::duration_cast( + std::chrono::duration(seconds)); + } + +public: + explicit RobosenseRosDecoderTest( + const rclcpp::NodeOptions & options, const std::string & node_name); + + /// @brief Get current status of this driver + /// @return Current status + Status GetStatus(); + + /// @brief Read the specified bag file and compare the constructed point clouds with the + /// corresponding PCD files + void ReadBag(); + +private: + std::string bag_path; + std::string storage_id; + std::string format; + std::string target_topic; + std::string correction_file_path; +}; + +} // namespace ros +} // namespace nebula + +#endif // NEBULA_RobosenseRosDecoderTestVlp16_H diff --git a/nebula_tests/robosense/robosense_ros_decoder_test_main_helios.cpp b/nebula_tests/robosense/robosense_ros_decoder_test_main_helios.cpp new file mode 100644 index 000000000..30367473f --- /dev/null +++ b/nebula_tests/robosense/robosense_ros_decoder_test_main_helios.cpp @@ -0,0 +1,46 @@ +#include "robosense_ros_decoder_test_helios.hpp" + +#include + +#include + +#include + +std::shared_ptr robosense_driver; + +TEST(TestDecoder, TestPcd) +{ + std::cout << "TEST(TestDecoder, TestPcd)" << std::endl; + robosense_driver->ReadBag(); +} + +int main(int argc, char * argv[]) +{ + std::cout << "robosense_ros_decoder_test_main_helios.cpp" << std::endl; + setvbuf(stdout, NULL, _IONBF, BUFSIZ); + + std::string node_name = "nebula_robosense_decoder_test"; + + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + rclcpp::executors::SingleThreadedExecutor exec; + rclcpp::NodeOptions options; + + robosense_driver = std::make_shared(options, node_name); + exec.add_node(robosense_driver->get_node_base_interface()); + + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Get Status"); + nebula::Status driver_status = robosense_driver->GetStatus(); + int result = 0; + if (driver_status == nebula::Status::OK) { + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Reading Started"); + result = RUN_ALL_TESTS(); + } else { + RCLCPP_ERROR_STREAM(rclcpp::get_logger(node_name), driver_status); + } + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Ending"); + robosense_driver.reset(); + rclcpp::shutdown(); + + return result; +} diff --git a/nebula_tests/robosense/robosense_ros_decoder_test_main_helios16P.cpp b/nebula_tests/robosense/robosense_ros_decoder_test_main_helios16P.cpp new file mode 100644 index 000000000..fb241068b --- /dev/null +++ b/nebula_tests/robosense/robosense_ros_decoder_test_main_helios16P.cpp @@ -0,0 +1,46 @@ +#include "robosense_ros_decoder_test_helios16P.hpp" + +#include + +#include + +#include + +std::shared_ptr robosense_driver; + +TEST(TestDecoder, TestPcd) +{ + std::cout << "TEST(TestDecoder, TestPcd)" << std::endl; + robosense_driver->ReadBag(); +} + +int main(int argc, char * argv[]) +{ + std::cout << "robosense_ros_decoder_test_main_helios16.cpp" << std::endl; + setvbuf(stdout, NULL, _IONBF, BUFSIZ); + + std::string node_name = "nebula_robosense_decoder_test"; + + rclcpp::init(argc, argv); + ::testing::InitGoogleTest(&argc, argv); + rclcpp::executors::SingleThreadedExecutor exec; + rclcpp::NodeOptions options; + + robosense_driver = std::make_shared(options, node_name); + exec.add_node(robosense_driver->get_node_base_interface()); + + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Get Status"); + nebula::Status driver_status = robosense_driver->GetStatus(); + int result = 0; + if (driver_status == nebula::Status::OK) { + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Reading Started"); + result = RUN_ALL_TESTS(); + } else { + RCLCPP_ERROR_STREAM(rclcpp::get_logger(node_name), driver_status); + } + RCLCPP_INFO_STREAM(rclcpp::get_logger(node_name), "Ending"); + robosense_driver.reset(); + rclcpp::shutdown(); + + return result; +} diff --git a/transport_drivers b/transport_drivers new file mode 160000 index 000000000..fbe491cdb --- /dev/null +++ b/transport_drivers @@ -0,0 +1 @@ +Subproject commit fbe491cdbecb6edccb745422f945e168d9dec178

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