Program Listing for File msgpack_exporter.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_exporter runs a background thread to consume and export msgpack data from the sick 3D lidar multiScan136
* to optionally csv file or plotted diagram
*
* 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_EXPORTER_H
#define __SICK_SCANSEGMENT_XD_MSGPACK_EXPORTER_H
#include "sick_scan/sick_ros_wrapper.h"
#include "sick_scansegment_xd/common.h"
#include "sick_scansegment_xd/fifo.h"
#include "sick_scansegment_xd/msgpack_parser.h"
namespace sick_scansegment_xd
{
/*
* @brief class MsgPackExportListenerIF is an interface to listen to exported msgpack data.
* Instances implementing the interface MsgPackExportListenerIF can be added to a MsgPackExporter
* and will be notified whenever msgpack data have been received, successfully converted and
* are ready to publish (or any other possible action with msgpack data)
*/
class MsgPackExportListenerIF
{
public:
/*
* Callback function of MsgPackExportListenerIF. HandleMsgPackData() will be called in MsgPackExporter
* for each registered listener after msgpack data have been received and converted.
*/
virtual void HandleMsgPackData(const sick_scansegment_xd::ScanSegmentParserOutput& msgpack_data) = 0;
};
/*
* @brief class MsgPackExporter runs a background thread to consume and export msgpack data from the sick 3D lidar multiScan136
* to optionally csv file or plotted diagram
*/
class MsgPackExporter
{
public:
/*
* @brief Default constructor.
*/
MsgPackExporter();
/*
* @brief Initializing constructor
* @param[in] udp_fifo fifo buffering udp packages (for informational messages only)
* @param[in] msgpack_fifo fifo buffering ScanSegmentParserOutput data from multiScan136 (for csv export and visualization)
* @param[in] logfolder output folder for optional csv-files
* @param[in] export_csv true: export ScanSegmentParserOutput data to csv files
* @param[in] verbose true: enable debug output, false: quiet mode (default)
* @param[in] measure_timing true: duration and latency of msgpack conversion and export is measured, default: false
*/
MsgPackExporter(sick_scansegment_xd::PayloadFifo* udp_fifo, sick_scansegment_xd::Fifo<ScanSegmentParserOutput>* msgpack_fifo, const std::string& logfolder, bool export_csv, bool verbose = false, bool measure_timing = false);
/*
* @brief Default destructor.
*/
~MsgPackExporter();
/*
* @brief Starts a background thread to pops msgpack data packages from the input fifo and optionally export them to csv and/or plot the lidar points.
*/
bool Start(void);
/*
* @brief Stops the background thread
*/
void Stop(void);
/*
* @brief Stops, joins and deletes the background thread
*/
void Close(void);
/*
* @brief Registers a listener to msgpack export data. MsgPackExporter will notify registered listeners
* whenever msgpack data have been received and successfully converted by calling listener->HandleMsgPackData().
*/
void AddExportListener(sick_scansegment_xd::MsgPackExportListenerIF* listener);
/*
* @brief Removes a registered listener.
*/
void RemoveExportListener(sick_scansegment_xd::MsgPackExportListenerIF* listener);
protected:
/*
* @brief Plots lidar points (x, y, z) and intensity i using matplotlib via Python-API
*/
static void PlotXYZI(const std::vector<float>& x, const std::vector<float>& y, const std::vector<float>& z, const std::vector<int>& i);
/*
* @brief Thread callback, runs the exporter. Pops msgpack data packages from the input fifo and optionally export them to csv and/or plot the lidar points.
*/
bool RunCb(void);
/*
* @brief Returns the list of registered listeners
*/
std::list<sick_scansegment_xd::MsgPackExportListenerIF*> GetExportListener();
/*
* Configuration and parameter
*/
std::string m_logfolder; // output folder for optional csv-files
bool m_export_csv; // true: export ScanSegmentParserOutput data to csv files
bool m_verbose; // true: enable debug output, false: quiet mode (default)
bool m_measure_timing; // true: duration and latency of msgpack conversion and export is measured, default: false
/*
* Member data to run the exporter
*/
sick_scansegment_xd::PayloadFifo* m_udp_fifo; // fifo buffering udp packages (for informational messages only)
sick_scansegment_xd::Fifo<ScanSegmentParserOutput>* m_msgpack_fifo; // input fifo buffering ScanSegmentParserOutput data from multiScan136 (for csv export and visualization)
std::thread* m_exporter_thread; // background thread to export ScanSegmentParserOutput data
bool m_run_exporter_thread; // flag to start and stop the exporter thread
std::list< sick_scansegment_xd::MsgPackExportListenerIF*> m_listener; // list of export listener, which will be notified calling listener->HandleMsgPackData() after successful conversion of received msgpack data
std::mutex m_listener_mutex; // mutex to protect m_listener access
}; // class MsgPackExporter
} // namespace sick_scansegment_xd
#endif // __SICK_SCANSEGMENT_XD_MSGPACK_EXPORTER_H