rawdata.h

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// Copyright (C) 2007, 2009, 2010, 2012, 2019 Yaxin Liu, Patrick Beeson, Jack O'Quin, Joshua Whitley
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#ifndef VELODYNE_POINTCLOUD_RAWDATA_H
#define VELODYNE_POINTCLOUD_RAWDATA_H

#include <errno.h>
#include <stdint.h>
#include <string>
#include <boost/format.hpp>
#include <math.h>
#include <vector>

#include <ros/ros.h>
#include <velodyne_msgs/VelodyneScan.h>
#include <velodyne_pointcloud/calibration.h>
#include <velodyne_pointcloud/datacontainerbase.h>

namespace velodyne_rawdata
{
static const int SIZE_BLOCK = 100;
static const int RAW_SCAN_SIZE = 3;
static const int SCANS_PER_BLOCK = 32;
static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);

static const float ROTATION_RESOLUTION = 0.01f;     // [deg]
static const uint16_t ROTATION_MAX_UNITS = 36000u;  // [deg/100]

static const uint16_t UPPER_BANK = 0xeeff;
static const uint16_t LOWER_BANK = 0xddff;

static const int VLP16_FIRINGS_PER_BLOCK = 2;
static const int VLP16_SCANS_PER_FIRING = 16;
static const float VLP16_BLOCK_TDURATION = 110.592f;  // [µs]
static const float VLP16_DSR_TOFFSET = 2.304f;        // [µs]
static const float VLP16_FIRING_TOFFSET = 55.296f;    // [µs]

typedef struct raw_block
{
  uint16_t header;    
  uint16_t rotation;  
  uint8_t data[BLOCK_DATA_SIZE];
}
raw_block_t;

union two_bytes
{
  uint16_t uint;
  uint8_t bytes[2];
};

static const int PACKET_SIZE = 1206;
static const int BLOCKS_PER_PACKET = 12;
static const int PACKET_STATUS_SIZE = 4;
static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);

typedef struct raw_packet
{
  raw_block_t blocks[BLOCKS_PER_PACKET];
  uint16_t revolution;
  uint8_t status[PACKET_STATUS_SIZE];
}
raw_packet_t;

class RawData
{
public:
  RawData();
  ~RawData()
  {
  }

  boost::optional<velodyne_pointcloud::Calibration> setup(ros::NodeHandle private_nh);


  int setupOffline(std::string calibration_file, double max_range_, double min_range_);

  void unpack(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data,
              const ros::Time& scan_start_time);

  void setParameters(double min_range, double max_range, double view_direction, double view_width);

  int scansPerPacket() const;

private:
  typedef struct
  {
    std::string model;
    std::string calibrationFile;  
    double max_range;             
    double min_range;             
    int min_angle;                
    int max_angle;                

    double tmp_min_angle;
    double tmp_max_angle;
  }
  Config;
  Config config_;

  velodyne_pointcloud::Calibration calibration_;
  float sin_rot_table_[ROTATION_MAX_UNITS];
  float cos_rot_table_[ROTATION_MAX_UNITS];

  // timing offset lookup table
  std::vector< std::vector<float> > timing_offsets;

  bool buildTimings();

  void unpack_vlp16(const velodyne_msgs::VelodynePacket& pkt, DataContainerBase& data,
                    const ros::Time& scan_start_time);
};

}  // namespace velodyne_rawdata

#endif  // VELODYNE_POINTCLOUD_RAWDATA_H