livox_component.h

浏览该文件的文档.

/******************************************************************************
 * Copyright 2024 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <deque>
#include <memory>
 
#include <boost/format.hpp>
 
#include "livox_lidar_api.h"  //NOLINT
#include "livox_lidar_def.h"  //NOLINT
 
#include "modules/drivers/lidar/livox/proto/livox.pb.h"
 
#include "modules/drivers/lidar/common/lidar_component_base.h"
#include "modules/drivers/lidar/common/util.h"
#include "modules/drivers/lidar/livox/component/livox_obserable_binder.h"
#include "modules/drivers/lidar/livox/driver/livox_util.h"
 
namespace apollo {
namespace drivers {
namespace lidar {
 
class LivoxLidarComponent final : public LidarComponentBase<livox::LivoxScan> {
 public:
    void BinaryDataProcess(
            const unsigned char* data,
            int data_type,
            int point_size,
            uint64_t pkt_timestamp,
            uint32_t time_interval);
 
    void PointCloudCallback(
            uint32_t handle,
            const uint8_t dev_type,
            LivoxLidarEthernetPacket* data,
            void* client_data);
 
    size_t GetEthPacketByteSize(LivoxLidarEthernetPacket* data);
 
    void PreparePointsMsg(PointCloud& msg);
 
    bool Init() override;
 
    void ReadScanCallback(
            const std::shared_ptr<livox::LivoxScan>& scan_message) override;
 
    void CheckTimestampAndPublishPointCloud();
 
    livox::Config config_;
    std::deque<PointXYZIT> integral_queue_;
 
    uint64_t last_pointcloud_pub_timestamp_{0};
    double pointcloud_freq_ = {10.0};  // Hz
    double integral_time_ = {0.4};     // second
};
CYBER_REGISTER_COMPONENT(LivoxLidarComponent)
 
}  // namespace lidar
}  // namespace drivers
}  // namespace apollo