oculii_radar_udp_parser.h

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/******************************************************************************
 * Copyright 2023 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.
 *****************************************************************************/ 
 
#ifndef OCULII_RADAR_PARSER_H_
#define OCULII_RADAR_PARSER_H_
 
#include <atomic>
#include <future>
#include <utility>
#include <memory>
 
#include "cyber/base/bounded_queue.h"
#include "modules/common_msgs/sensor_msgs/oculii_radar.pb.h"
#include "modules/drivers/radar/oculii_radar/common/type_def.h"
 
namespace apollo {
namespace drivers {
namespace radar {
 
using apollo::cyber::base::BoundedQueue;
using apollo::drivers::OculiiTrackTarget;
 
class OculiiRadarUdpParser {
 public:
  OculiiRadarUdpParser();
 
  ~OculiiRadarUdpParser();
 
  bool Init(uint16_t port);
 
  int Parse(apollo::drivers::OculiiPointCloud& oculii_output);
 
 private:
  int socket_;
  int64_t frame_number_;
  std::future<void> async_result_;
  std::atomic<bool> running_ = {false};
  std::shared_ptr<uint8_t> raw_buffer_;
  std::shared_ptr<BoundedQueue<
    std::pair<int, std::shared_ptr<uint8_t>>>> queue_;
 
  void AsyncUdpInput();
  int ParseHeader(OculiiHeader& header, void* buffer);
  int ParseDection(OculiiDetection& dection, void* buffer);
  int ParseTrack(OculiiTrack& track, void* buffer);
  int ParseFooter(OculiiFooter& footer, void* buffer);
  bool IsMultiCastMode(float hr, float hd, float ha, float he,
                      float fr, float fd, float fa, float fe);
};
 
}  // namespace radar
}  // namespace drivers
}  // namespace apollo
 
#endif  // OCULII_RADAR_PARSER_H_