Program Listing for File msgpack_converter.h
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#include "sick_scan/sick_scan_base.h" /* Base definitions included in all header files, added by add_sick_scan_base_header.py. Do not edit this line. */
/*
* @brief msgpack_converter runs a background thread to unpack and parses msgpack data for the sick 3D lidar multiScan136.
* msgpack_converter pops binary msgpack data from an input fifo, converts the data to scanlines using MsgPackParser::Parse()
* and pushes the ScanSegmentParserOutput to an output fifo.
*
* Usage example:
*
* sick_scansegment_xd::UdpReceiver udp_receiver;
* udp_receiver.Init("127.0.0.1", 2115, -1, true);
* sick_scansegment_xd::MsgPackConverter msgpack_converter(udp_receiver.Fifo(), -1, true);
* msgpack_converter.Start()
* udp_receiver.Start();
*
* Copyright (C) 2020 Ing.-Buero Dr. Michael Lehning, Hildesheim
* Copyright (C) 2020 SICK AG, Waldkirch
*
* 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.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * 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.
* * Neither the name of SICK AG nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission
* * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its
* 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.
*
* Authors:
* Michael Lehning <michael.lehning@lehning.de>
*
* Copyright 2020 SICK AG
* Copyright 2020 Ing.-Buero Dr. Michael Lehning
*
*/
#ifndef __SICK_SCANSEGMENT_XD_MSGPACK_CONVERTER_H
#define __SICK_SCANSEGMENT_XD_MSGPACK_CONVERTER_H
#include "sick_scan/sick_ros_wrapper.h"
#include <sick_scan/sick_cloud_transform.h>
#include "sick_scan/sick_range_filter.h"
#include "sick_scansegment_xd/common.h"
#include "sick_scansegment_xd/fifo.h"
#include "sick_scansegment_xd/msgpack_parser.h"
#include "sick_scansegment_xd/msgpack_validator.h"
namespace sick_scansegment_xd
{
/*
* @brief class MsgPackConverter runs a background thread to unpack and parses msgpack data for the sick 3D lidar multiScan136.
* msgpack_converter pops binary msgpack data from an input fifo, converts the data to scanlines using MsgPackParser::Parse()
* and pushes the ScanSegmentParserOutput to an output fifo.
*/
class MsgPackConverter
{
public:
/*
* @brief Default constructor.
*/
MsgPackConverter();
/*
* @brief Initializing constructor
* @param[in] parser_config configuration and settings for multiScan and picoScan parser
* @param[in] add_transform_xyz_rpy Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform)
* @param[in] input_fifo input fifo buffering udp packages
* @param[in] scandataformat ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 2
* @param[in] msgpack_output_fifolength max. output fifo length (-1: unlimited, default: 20 for buffering 1 second at 20 Hz), elements will be removed from front if number of elements exceeds the fifo_length
* @param[in] verbose true: enable debug output, false: quiet mode (default)
*/
MsgPackConverter(const ScanSegmentParserConfig& parser_config, const sick_scan_xd::SickCloudTransform& add_transform_xyz_rpy, sick_scansegment_xd::PayloadFifo* input_fifo, int scandataformat = 2, int msgpack_output_fifolength = 20, bool verbose = false);
/*
* @brief Default destructor.
*/
~MsgPackConverter();
/*
* @brief Starts a background thread, pops msgpack data packages from input fifo, converts them
* and pushes ScanSegmentParserOutput data to the output fifo.
*/
bool Start(void);
/*
* @brief Stops the converter thread
*/
void Close(void);
/*
* @brief Configures msgpack validation, see MsgPackValidator for details
* @param[in] msgpack_validator the msgpack validator
* @param[in] msgpack_validator_enabled true: check msgpack data for out of bounds and missing scan data, false: no msgpack validation
* @param[in] discard_msgpacks_not_validated true: msgpacks are discarded if scan data out of bounds detected, false: error message if a msgpack is not validated
* @param[in] msgpack_validator_check_missing_scandata_interval check msgpack for missing scandata after collecting N msgpacks, default: N = 12 segments. Increase this value to tolerate udp packet drops. Use 12 to check each full scan.
*/
void SetValidator(sick_scansegment_xd::MsgPackValidator& msgpack_validator, bool msgpack_validator_enabled, bool discard_msgpacks_not_validated, int msgpack_validator_check_missing_scandata_interval);
/*
* @brief Returns the output fifo storing the multiScan136 scanlines.
*/
sick_scansegment_xd::Fifo<ScanSegmentParserOutput>* Fifo(void) { return m_output_fifo; }
protected:
/*
* @brief Thread callback, runs the converter. Pops msgpack data from the input fifo, converts them und pushes ScanSegmentParserOutput data to the output fifo.
*/
bool Run(void);
/*
* Configuration and parameter
*/
bool m_verbose; // true: enable debug output, false: quiet mode (default)
ScanSegmentParserConfig m_parser_config; // configuration and settings for multiScan and picoScan parser
/*
* Member data to run the converter
*/
PayloadFifo* m_input_fifo; // input fifo for msgpack data
int m_scandataformat; // ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 1
sick_scansegment_xd::Fifo<ScanSegmentParserOutput>* m_output_fifo; // output fifo for ScanSegmentParserOutput data converted from msgpack data
std::thread* m_converter_thread; // background thread to convert msgpack to ScanSegmentParserOutput data
bool m_run_converter_thread; // flag to start and stop the udp converter thread
bool m_msgpack_validator_enabled; // true: check msgpack data for out of bounds and missing scan data, false: no msgpack validation
sick_scansegment_xd::MsgPackValidator m_msgpack_validator; // msgpack validation, see MsgPackValidator for details
bool m_discard_msgpacks_not_validated; // true: msgpacks are discarded if scan data out of bounds detected, false: error message if a msgpack is not validated
int m_msgpack_validator_check_missing_scandata_interval; // check msgpack for missing scandata after collecting N msgpacks, default: N = 12 segments. Increase this value to tolerate udp packet drops. Use 12 to check each full scan.
sick_scan_xd::SickCloudTransform m_add_transform_xyz_rpy; // Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform)
}; // class MsgPackConverter
} // namespace sick_scansegment_xd
#endif // __SICK_SCANSEGMENT_XD_MSGPACK_CONVERTER_H