.. _program_listing_file_include_ros2_ouster_OS1_processors_scan_processor.hpp:

Program Listing for File scan_processor.hpp
===========================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_ros2_ouster_OS1_processors_scan_processor.hpp>` (``include/ros2_ouster/OS1/processors/scan_processor.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2020, Steve Macenski
   // 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.
   
   #ifndef ROS2_OUSTER__OS1__PROCESSORS__SCAN_PROCESSOR_HPP_
   #define ROS2_OUSTER__OS1__PROCESSORS__SCAN_PROCESSOR_HPP_
   
   #include <vector>
   #include <memory>
   #include <string>
   #include <utility>
   
   #include "rclcpp/qos.hpp"
   
   #include "ros2_ouster/conversions.hpp"
   
   #include "sensor_msgs/msg/laser_scan.hpp"
   
   #include "ros2_ouster/interfaces/data_processor_interface.hpp"
   #include "ros2_ouster/OS1/OS1.hpp"
   #include "ros2_ouster/OS1/OS1_util.hpp"
   
   namespace OS1
   {
   class ScanProcessor : public ros2_ouster::DataProcessorInterface
   {
   public:
     using OSScan = std::vector<scan_os::ScanOS>;
     using OSScanIt = OSScan::iterator;
   
     ScanProcessor(
       const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
       const ros2_ouster::Metadata & mdata,
       const std::string & frame,
       const rclcpp::QoS & qos)
     : DataProcessorInterface(), _node(node), _frame(frame)
     {
       _mdata = mdata;
       _pub = _node->create_publisher<sensor_msgs::msg::LaserScan>("scan", qos);
       _height = OS1::pixels_per_column;
       _width = OS1::n_cols_of_lidar_mode(
         OS1::lidar_mode_of_string(mdata.mode));
       _xyz_lut = OS1::make_xyz_lut(
         _width, _height, mdata.beam_azimuth_angles, mdata.beam_altitude_angles);
       _aggregated_scans.resize(_width * _height);
   
       double zero_angle = 9999.0;
       _ring = 0;
       for (uint i = 0; i != _mdata.beam_altitude_angles.size(); i++) {
         if (fabs(_mdata.beam_altitude_angles[i]) < zero_angle) {
           _ring = static_cast<uint8_t>(i);
           zero_angle = fabs(_mdata.beam_altitude_angles[i]);
         }
       }
   
       _batch_and_publish =
         OS1::batch_to_iter<OSScanIt>(
         _xyz_lut, _width, _height, {}, &scan_os::ScanOS::make,
         [&](uint64_t scan_ts) mutable
         {
           if (_pub->get_subscription_count() > 0 && _pub->is_activated()) {
             auto msg_ptr =
             std::make_unique<sensor_msgs::msg::LaserScan>(
               std::move(
                 ros2_ouster::toMsg(
                   _aggregated_scans, std::chrono::nanoseconds(scan_ts),
                   _frame, _mdata, _ring)));
             _pub->publish(std::move(msg_ptr));
           }
         });
     }
   
     ~ScanProcessor()
     {
       _pub.reset();
     }
   
     bool process(uint8_t * data, uint64_t override_ts) override
     {
       OSScanIt it = _aggregated_scans.begin();
       _batch_and_publish(data, it, override_ts);
       return true;
     }
   
     void onActivate() override
     {
       _pub->on_activate();
     }
   
     void onDeactivate() override
     {
       _pub->on_deactivate();
     }
   
   private:
     rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::LaserScan>::SharedPtr _pub;
     std::function<void(const uint8_t *, OSScanIt, uint64_t)> _batch_and_publish;
     std::shared_ptr<pcl::PointCloud<scan_os::ScanOS>> _cloud;
     rclcpp_lifecycle::LifecycleNode::SharedPtr _node;
     std::vector<double> _xyz_lut;
     ros2_ouster::Metadata _mdata;
     OSScan _aggregated_scans;
     std::string _frame;
     uint32_t _height;
     uint32_t _width;
     uint8_t _ring;
   };
   
   }  // namespace OS1
   
   #endif  // ROS2_OUSTER__OS1__PROCESSORS__SCAN_PROCESSOR_HPP_