LidarMeasure/wj_lidar/wj_716_lidar_protocol.h

#ifndef WJ_716_LIDAR_PROTOCOL_H
#define WJ_716_LIDAR_PROTOCOL_H
#include <iostream>
#include "string.h"
#include <boost/shared_ptr.hpp>
#include <boost/asio.hpp>
#include <boost/asio/placeholders.hpp>
#include <boost/system/error_code.hpp>
#include <boost/bind/bind.hpp>
#include <mutex>
#include <chrono>

#include <pcl/point_types.h>
#include <pcl/PCLPointCloud2.h>
#include <pcl/conversions.h>
#include <pcl/common/common.h>

#include <google/protobuf/io/coded_stream.h>
#include <google/protobuf/io/zero_copy_stream_impl.h>
#include <google/protobuf/text_format.h>
using google::protobuf::Message;
using google::protobuf::io::CodedInputStream;
using google::protobuf::io::CodedOutputStream;
using google::protobuf::io::FileInputStream;
using google::protobuf::io::FileOutputStream;
using google::protobuf::io::ZeroCopyInputStream;
using google::protobuf::io::ZeroCopyOutputStream;

#include "glog/logging.h"

#include "wj_lidar_conf.pb.h"

#include "../error_code/error_code.h"

// using namespace std ;
namespace wj_lidar
{
  
#define MAX_LENGTH_DATA_PROCESS 200000

typedef struct tag_data_cache
{
  char m_acdata[MAX_LENGTH_DATA_PROCESS];
  unsigned int m_u32in;
  unsigned int m_u32out;
} data_cache;

class Wj_716_lidar_protocol
{
public:
  // 构造
  Wj_716_lidar_protocol();
  // 析构
  ~Wj_716_lidar_protocol();
  // 初始化
  Error_manager initialize(wj::wjLidarParams params);
  // 数据处理
  Error_manager data_process(const char *data, const int reclen);
  // 万集通信协议
  Error_manager protocol(const char *data, const int len);
  // 接收消息
  Error_manager on_recv_process(char *data, int len);
  // 消息完整性检查
  Error_manager check_xor(char *recvbuf, int recvlen);
  // 获取初始化状态
  bool get_initialize_status();
  // 获取扫描点云
  Error_manager get_scan_points(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_out);
  Error_manager get_two_echo_points(pcl::PointCloud<pcl::PointXYZ>::Ptr &cloud_out);
  // 获取扫描点云更新时间点
  std::chrono::steady_clock::time_point get_scan_time();
  std::chrono::steady_clock::time_point get_two_echo_time();

private:
  // 设置参数
  void set_config(wj::wjLidarParams &params);

private:
  bool mb_initialized; // 初始化状态flag
  // 万集雷达参数
  wj::wjLidarParams m_lidar_params;
  data_cache m_sdata;
  // 扫描获取点云
  pcl::PointCloud<pcl::PointXYZ>::Ptr mp_scan_points;
  pcl::PointCloud<pcl::PointXYZ>::Ptr mp_two_echo_points;
  // 点云获取互斥锁
  std::mutex m_scan_mutex;
  std::mutex m_two_echo_mutex;

  unsigned int m_g_u32PreFrameNo;
  float m_scandata[811];
  float m_scandata_te[811];
  float scaninden[811];

  // 当前扫描下标
  int s_n32ScanIndex;

  // 扫描点云更新时间点
  std::chrono::steady_clock::time_point m_scan_cloud_time;
  std::chrono::steady_clock::time_point m_two_echo_cloud_time;
};

} // namespace wj_lidar
#endif // WJ_716_LIDAR_PROTOCOL_H