Measure/include/defines.hpp

#pragma once

#include <glog/logging.h>
#include <iostream>
#include <memory>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include "error_code/error_code.hpp"
#include "tool/pathcreator.h"

namespace ZX {
/************************************ 定义 **********************************/
    const size_t PACKET_HEAD_SIZE = 12;
    const size_t PACKET_END_SIZE = 4;

/************************************ 枚举 **********************************/
    enum LidarMessageType {
        UNKNOW_TYPE = 0,            // 未知类型
        PointXYZ_TYPE,              // 三维点：x、y、z点
        PointXYZI_TYPE,             // 三维点（含置信度i）：x、y、z、i
        PointXYZPYR_TYPE,           // 三维点（含三个角度）：x、y、z、pitch、yaw、roll
        PointRYR_TYPE,              // 三维极坐标：roll、yaw、r
        LIDAR_RS_HELIOS_16P,        // 速腾聚创雷达，基于PointRYR，但r的精度是0.25cm
        PointTYPE_MAX               // 最后一个，检测用
    };

    static void shut_down_logging(const char *data, size_t size) {
        time_t tt;
        time(&tt);
        tt = tt + 8 * 3600;  // transform the time zone
        tm *t = gmtime(&tt);
        char buf[255] = {0};
        sprintf(buf, "./%d%02d%02d-%02d%02d%02d-dump.txt",
                t->tm_year + 1900,
                t->tm_mon + 1,
                t->tm_mday,
                t->tm_hour,
                t->tm_min,
                t->tm_sec);

        FILE *tp_file = fopen(buf, "w");
        fprintf(tp_file, data, strlen(data));
        fclose(tp_file);
    }

    // 例子： ZX::InitGlog("MeasureNode", ETC_PATH"MeasureNode/MeasureNodeLog/");
    static void InitGlog(const char * project_name, const char *logPath) {
        PathCreator pc;
        pc.Mkdir(logPath);
        google::InitGoogleLogging(project_name);
        google::SetStderrLogging(google::INFO);
        google::SetLogDestination(google::INFO, logPath);
        google::SetLogFilenameExtension(".txt");
        google::InstallFailureSignalHandler();
        google::InstallFailureWriter(&ZX::shut_down_logging);
        FLAGS_colorlogtostderr = true;        // Set log color
        FLAGS_logbufsecs = 0;                // Set log output speed(s)
        FLAGS_max_log_size = 24;            // Set max log file size(GB)
        FLAGS_stop_logging_if_full_disk = true;
    }
}

// pcl 拓展点云类型
namespace pcl {
/************************************ 结构体 **********************************/
    struct EIGEN_ALIGN16 PointALL    // 强制SSE填充以获得正确的内存对齐
    {
        PCL_ADD_POINT4D;                  // 添加XYZ+填充类型的首选方式
        float intensity;
        float pitch;
        float roll;
        float yaw;
        float r;
        PCL_MAKE_ALIGNED_OPERATOR_NEW     // 确保新的分配器内存是对齐的
    };

    struct EIGEN_ALIGN16 PointRPRY    // 强制SSE填充以获得正确的内存对齐
    {
        float r;
        float pitch;
        float roll;
        float yaw;
        PCL_MAKE_ALIGNED_OPERATOR_NEW     // 确保新的分配器内存是对齐的
    };

    struct EIGEN_ALIGN16 PointRYR    // 强制SSE填充以获得正确的内存对齐
    {
        float r;
        float yaw;
        float roll;
        PCL_MAKE_ALIGNED_OPERATOR_NEW     // 确保新的分配器内存是对齐的
    };
}