robot_eye_grabber.h

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#include "pcl/pcl_config.h"

#ifndef PCL_IO_ROBOT_EYE_GRABBER_H_
#define PCL_IO_ROBOT_EYE_GRABBER_H_

#include <pcl/io/grabber.h>
#include <pcl/io/impl/synchronized_queue.hpp>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <boost/asio.hpp>
#include <boost/thread/thread.hpp>

namespace pcl
{

  class PCL_EXPORTS RobotEyeGrabber : public Grabber
  {
    public:

      typedef void (sig_cb_robot_eye_point_cloud_xyzi) (
          const boost::shared_ptr<const pcl::PointCloud<pcl::PointXYZI> >&);

      RobotEyeGrabber ();

      RobotEyeGrabber (const boost::asio::ip::address& ipAddress, unsigned short port=443);

      virtual ~RobotEyeGrabber () throw ();

      virtual void start ();

      virtual void stop ();

      virtual std::string getName () const;

      virtual bool isRunning () const;

      virtual float getFramesPerSecond () const;

      void setSensorAddress (const boost::asio::ip::address& ipAddress);
      const boost::asio::ip::address& getSensorAddress () const;

      void setDataPort (unsigned short port);
      unsigned short getDataPort () const;

      void setSignalPointCloudSize (std::size_t numerOfPoints);
      std::size_t getSignalPointCloudSize () const;

      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > getPointCloud() const;

    private:

      bool terminate_thread_;
      size_t signal_point_cloud_size_;
      unsigned short data_port_;
      unsigned char receive_buffer_[500];

      boost::asio::ip::address sensor_address_;
      boost::asio::ip::udp::endpoint sender_endpoint_;
      boost::asio::io_service io_service_;
      boost::shared_ptr<boost::asio::ip::udp::socket> socket_;
      boost::shared_ptr<boost::thread> socket_thread_;
      boost::shared_ptr<boost::thread> consumer_thread_;

      pcl::SynchronizedQueue<boost::shared_array<unsigned char> > packet_queue_;
      boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI> > point_cloud_xyzi_;
      boost::signals2::signal<sig_cb_robot_eye_point_cloud_xyzi>* point_cloud_signal_;

      void consumerThreadLoop ();
      void socketThreadLoop ();
      void asyncSocketReceive ();
      void resetPointCloud ();
      void socketCallback (const boost::system::error_code& error, std::size_t numberOfBytes);
      void convertPacketData (unsigned char *dataPacket, size_t length);
      void computeXYZI (pcl::PointXYZI& pointXYZI, unsigned char* pointData);
  };
}

#endif /* PCL_IO_ROBOT_EYE_GRABBER_H_ */