vanjeelidar_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 <memory>
 
#include <vanjee_driver/api/lidar_driver.hpp>
#include <vanjee_driver/driver/driver_param.hpp>
#include <vanjee_driver/msg/packet.hpp>
#include <vanjee_driver/msg/point_cloud_msg.hpp>
 
#include "modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.pb.h"
#include "modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.pb.h"
 
#include "modules/drivers/lidar/common/lidar_component_base.h"
#include "modules/drivers/lidar/common/sync_buffering.h"
#include "modules/drivers/lidar/common/util.h"
 
namespace apollo {
namespace drivers {
namespace lidar {
 
typedef ::vanjee::lidar::PointXYZIRT PointT;
typedef ::vanjee::lidar::PointCloudT<PointT> PointCloudMsg;
 
using ::vanjee::lidar::InputType;
 
class VanjeelidarComponent
    : public LidarComponentBase<vanjee::VanjeeScanPacket> {
 public:
  bool Init() override;
 
  void ReadScanCallback(
      const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) override;
 
  void VanjeePacketCallback(const ::vanjee::lidar::Packet& lidar_packet);
 
  std::shared_ptr<PointCloudMsg> VanjeeCloudAllocateCallback();
 
  void VanjeeCloudPutCallback(std::shared_ptr<PointCloudMsg> vanjee_cloud);
 
  void PreparePointsMsg(PointCloud& msg);
 
  void ProcessCloud();
 
 private:
  std::shared_ptr<::vanjee::lidar::LidarDriver<PointCloudMsg>> driver_ptr_;
  apollo::drivers::vanjee::Config conf_;
 
  ::vanjee::lidar::SyncQueue<std::shared_ptr<PointCloudMsg>> cloud_queue_;
  std::shared_ptr<SyncBuffering<PointCloudMsg>> cloud_buffer_;
 
  std::thread cloud_handle_thread_;
 
  int seq_ = 0;
};
CYBER_REGISTER_COMPONENT(VanjeelidarComponent)
 
}  // namespace lidar
}  // namespace drivers
}  // namespace apollo