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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 config.h implements the configuration (yaml, commandline and default parameters) for project sick_scansegment_xd.
*
* 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_CONFIG_H
#define __SICK_SCANSEGMENT_XD_CONFIG_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"
namespace sick_scansegment_xd
{
/*
* @brief Container for filter settings for msgpack validator, returned from by queryMultiScanFiltersettings()
*/
class MsgpackValidatorFilterConfig
{
public:
std::vector<int> msgpack_validator_required_echos; // { 0, 1, 2 }
float msgpack_validator_azimuth_start; // default for full scan: -M_PI;
float msgpack_validator_azimuth_end; // default for full scan: +M_PI;
float msgpack_validator_elevation_start; // default for full scan: -M_PI/2.0;
float msgpack_validator_elevation_end; // default for full scan: +M_PI/2.0;
std::vector<int> msgpack_validator_layer_filter; // default for full scan: 16 layer active, i.e. { 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 }
};
/*
* @brief class sick_scansegment_xd::Config implements the configuration
* (yaml, commandline and default parameters) for project sick_scansegment_xd.
*/
class Config
{
public:
static bool SystemIsBigEndian(void);
/*
* @brief Default constructor, initializes the configuration with default values
*/
Config();
/*
* @brief Destructor
*/
~Config();
/*
* @brief Initializes sick_scansegment_xd configuration by commandline arguments and yaml-file.
*/
bool Init(int argc, char** argv);
/*
* @brief Initializes sick_scansegment_xd configuration
* @param[in] node ROS node handle (always 0 on non-ros-targets)
*/
bool Init(rosNodePtr node);
/*
* @brief Prints the commandline arguments.
*/
void PrintHelp(void);
/*
* @brief Prints the current settings.
*/
void PrintConfig(void);
/*
* sick_scansegment_xd configuration
*/
std::string scanner_type; // currently supported: "sick_multiscan" and "sick_picoscan"
std::string udp_sender; // = ""; // Use "" (default) to receive msgpacks from any udp sender, use "127.0.0.1" to restrict to localhost (loopback device), or use the ip-address of a Multiscan136 lidar or Multiscan136 emulator
int udp_port; // = 2115; // default udp port for multiScan136 resp. multiScan136 emulator is 2115
double all_segments_min_deg = -180; // -180 // angle range covering all segments: all segments pointcloud on topic publish_topic_all_segments is published,
double all_segments_max_deg = +180; // +180 // if received segments cover angle range from all_segments_min_deg to all_segments_max_deg. -180...+180 for MultiScan136 (360 deg fullscan)
std::string publish_frame_id; // = "world"; // frame id of ros Laserscan messages, default: "world"
std::string publish_laserscan_segment_topic; // topic of ros Laserscan segment messages
std::string publish_laserscan_fullframe_topic; //topic of ros Laserscan fullframe messages
int udp_input_fifolength; // = 20; // max. udp input 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
int msgpack_output_fifolength; // = 20; // max. msgpack 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
int verbose_level; // = 1; // verbose_level <= 0: quiet mode, verbose_level == 1: print statistics, verbose_level == 2: print details incl. msgpack data, default: 1
bool measure_timing; // = true; // measure_timing == true: duration and latency of msgpack conversion and export is measured, default: true
bool export_csv; // = false; // export msgpack data to csv file, default: false
bool export_udp_msg; // = false; // true : export binary udpand msgpack data to file(*.udp and* .msg), default: false
std::string logfolder; // = "./logfiles"; // output folder for logfiles, default: "."
std::string hostname; // IP address of multiScan136 to post start and stop commands
std::string udp_receiver_ip; // UDP destination IP address (ip address of udp receiver)
// int port; // IP port of multiScan136 to post start and stop commands
// bool send_udp_start; // Send udp start string to multiScan136, default: False (obsolete)
// std::string send_udp_start_string; // udp string to start multiScan136, default: "magicalActivate"
int udp_timeout_ms; // Timeout for udp messages in milliseconds, default: 60*1000
int scandataformat; // ScanDataFormat: 1 for msgpack or 2 for compact scandata, default: 1
int performanceprofilenumber; // Set performance profile by sending "sWN PerformanceProfileNumber" if performanceprofilenumber >= 0 (picoScan), default: -1
bool imu_enable; // IMU enabled or disabled
int imu_udp_port; // default udp port for multiScan imu data is 7503
int imu_latency_microsec; // imu latency in microseconds
// SOPAS settings
std::string sopas_tcp_port; // TCP port for SOPAS commands, default port: 2111
bool start_sopas_service; // True: sopas services for CoLa-commands are started (ROS only), default: true
bool send_sopas_start_stop_cmd; // True: multiScan136 start and stop command sequece ("sWN ScanDataEnable 0/1" etc.) are sent after driver start and stop, default: true
bool sopas_cola_binary; // False: SOPAS uses CoLa-A (ascii, default, recommended), CoLa-B (true, binary) currently experimental
int sopas_timeout_ms; // Timeout for SOPAS response in milliseconds, default: 5000
std::string client_authorization_pw = "F4724744"; // Default password for client authorization
// MSR100 filter settings
bool host_read_filtersettings; // True // Read multiScan136 settings for FREchoFilter, LFPangleRangeFilter and LFPlayerFilter at startup, default: true
int host_FREchoFilter; // 1 // Optionally set FREchoFilter with 0 for FIRST_ECHO (EchoCount=1), 1 for ALL_ECHOS (EchoCount=3), or 2 for LAST_ECHO (EchoCount=1)
bool host_set_FREchoFilter; // False // If true, FREchoFilter is set at startup (default: false)
std::string host_LFPangleRangeFilter; // "0 -180.0 +180.0 -90.0 +90.0 1" // Optionally set LFPangleRangeFilter to "<enabled> <azimuth_start> <azimuth_stop> <elevation_start> <elevation_stop> <beam_increment>" with azimuth and elevation given in degree
bool host_set_LFPangleRangeFilter; // False // If true, LFPangleRangeFilter is set at startup (default: false)
std::string host_LFPlayerFilter; // "0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1" (Multiscan136 only, not for picoscan) // Optionally set LFPlayerFilter to "<enabled> <layer0-enabled> <layer1-enabled> <layer2-enabled> ... <layer15-enabled>" with 1 for enabled and 0 for disabled
bool host_set_LFPlayerFilter; // False // If true (Multiscan136 only, always false for picoscan), LFPlayerFilter is set at startup (default: false)
// msgpack validation
bool msgpack_validator_enabled; // true: check msgpack data for out of bounds and missing scan data, false: no msgpack validation
int msgpack_validator_verbose; // 0: print error messages, 1: print error and informational messages, 2: print error and all messages
bool msgpack_validator_discard_msgpacks_out_of_bounds; // true: msgpacks are discarded if scan data out of bounds detected, false: error message if a msgpack is not validated
int 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.
MsgpackValidatorFilterConfig msgpack_validator_filter_settings; // required_echos, azimuth_start, azimuth_end. elevation_start, elevation_end, layer_filter
std::vector<int> msgpack_validator_valid_segments; // indices of valid segmentes, default for full scan: 12 segments, i.e. { 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11 }
// Apply an additional transform to the cartesian pointcloud, default: "0,0,0,0,0,0" (i.e. no transform)
sick_scan_xd::SickCloudTransform add_transform_xyz_rpy;
// Configuration of laserscan messages (ROS only), activate/deactivate laserscan messages for each layer
std::vector<int> laserscan_layer_filter; // Default: { 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 }, i.e. laserscan messages for layer 5 activated (elevation -0.07 degree, max number of scan points)
rosNodePtr node; // NodePtr node; // ROS node handle (always 0 on non-ros-targets)
}; // class Config
/*
* @brief Config utility functions
*/
namespace util
{
inline void parseVector(const std::string str, std::vector<std::string>& vec, char delim = ' ')
{
vec.clear();
std::istringstream in_stream(str);
std::string token;
while (std::getline(in_stream, token, delim))
{
vec.push_back(token);
}
}
inline void parseVector(const std::string str, std::vector<float>& vec, char delim = ' ')
{
vec.clear();
std::vector<std::string> token;
sick_scansegment_xd::util::parseVector(str, token, delim);
for(int n = 0; n < token.size(); n++)
vec.push_back(std::stof(token[n]));
}
inline void parseVector(const std::string str, std::vector<int>& vec, char delim = ' ')
{
vec.clear();
std::vector<std::string> token;
sick_scansegment_xd::util::parseVector(str, token, delim);
for(int n = 0; n < token.size(); n++)
vec.push_back(std::stoi(token[n]));
}
template <typename T> inline std::string printVector(const std::vector<T>& vec, const std::string& delim = " ")
{
std::stringstream s;
for(int n = 0; n < vec.size(); n++)
s << (n > 0 ? delim : "") << vec[n];
return s.str();
}
} // namespace util
} // namespace sick_scansegment_xd
#endif // __SICK_SCANSEGMENT_XD_COMMON_H