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/*
* Slamtec LIDAR SDK
*
* Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* Sample Data Unpacker System
* HQNode Sample Node Handler
*/
/*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
*
* 2. 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.
*
* 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 HOLDER 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.
*
*/
#include "../dataunnpacker_commondef.h"
#include "../dataunpacker.h"
#include "../dataunnpacker_internal.h"
#ifdef CONF_NO_BOOST_CRC_SUPPORT
#include "sl_crc.h"
#endif
#include "handler_hqnode.h"
BEGIN_DATAUNPACKER_NS()
namespace unpacker{
static _u64 _getSampleDelayOffsetInHQMode(const SlamtecLidarTimingDesc& timing)
{
// FIXME: to eval
//
// guess channel baudrate by LIDAR model ....
const _u64 channelBaudRate = timing.native_baudrate? timing.native_baudrate:1000000;
_u64 tranmissionDelay = 1000000ULL * sizeof(rplidar_response_measurement_node_hq_t) * 10 / channelBaudRate;
if (timing.native_interface_type == LIDARInterfaceType::LIDAR_INTERFACE_ETHERNET)
{
tranmissionDelay = 100; //dummy value
}
// center of the sample duration
const _u64 sampleDelay = (timing.sample_duration_uS >> 1);
const _u64 sampleFilterDelay = timing.sample_duration_uS;
return sampleFilterDelay + sampleDelay + tranmissionDelay + timing.linkage_delay_uS;
}
UnpackerHandler_HQNode::UnpackerHandler_HQNode()
: _cached_scan_node_buf_pos(0)
{
_cached_scan_node_buf.resize(sizeof(rplidar_response_hq_capsule_measurement_nodes_t));
memset(&_cachedTimingDesc, 0, sizeof(_cachedTimingDesc));
}
UnpackerHandler_HQNode::~UnpackerHandler_HQNode()
{
}
_u8 UnpackerHandler_HQNode::getSampleAnswerType() const
{
return RPLIDAR_ANS_TYPE_MEASUREMENT_HQ;
}
void UnpackerHandler_HQNode::onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t cnt)
{
for (size_t pos = 0; pos < cnt; ++pos)
{
_u8 current_data = data[pos];
switch (_cached_scan_node_buf_pos)
{
case 0: // expect the sync byte
{
if (current_data == RPLIDAR_RESP_MEASUREMENT_HQ_SYNC) {
// pass
}
else {
continue;
}
}
break;
case sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 1 - 4: // get bytes to calculate crc ready
{
}
break;
case sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 1: // new data ready
{
_cached_scan_node_buf[sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 1] = current_data;
_cached_scan_node_buf_pos = 0;
rplidar_response_hq_capsule_measurement_nodes_t* nodesData = reinterpret_cast<rplidar_response_hq_capsule_measurement_nodes_t*>(&_cached_scan_node_buf[0]);
#ifdef CONF_NO_BOOST_CRC_SUPPORT
_u32 crcCalc = crc32::getResult(&_cached_scan_node_buf[0], sizeof(sl_lidar_response_hq_capsule_measurement_nodes_t) - 4);
#else
// calculate crc with boost crc method
boost::crc_optimal<32, 0x04C11DB7, 0xFFFFFFFF, 0xFFFFFFFF, true, true> mycrc;
std::vector<_u8> crcInputData;
crcInputData.resize(sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 4);
memcpy(&crcInputData[0], nodesData, sizeof(rplidar_response_hq_capsule_measurement_nodes_t) - 4);
//supplement crcInputData to mutiples of 4
int leftBytes = 4 - (crcInputData.size() & 3);
for (int i = 0; i < leftBytes; i++)
crcInputData.push_back(0);
mycrc.process_bytes(&crcInputData[0], crcInputData.size());
_u32 crcCalc = mycrc.checksum();
#endif
_u32 recvCRC = nodesData->crc32;
#ifdef _CPU_ENDIAN_BIG
recvCRC = le32_to_cpu(recvCRC);
nodesData->time_stamp = le64_to_cpu(nodesData->time_stamp);
#endif
if (recvCRC == crcCalc)
{
for (size_t pos = 0; pos < _countof(nodesData->node_hq); ++pos)
{
rplidar_response_measurement_node_hq_t hqNode = nodesData->node_hq[pos];
#ifdef _CPU_ENDIAN_BIG
hqNode.angle_z_q14 = le16_to_cpu(hqNode.angle_z_q14);
hqNode.dist_mm_q2 = le32_to_cpu(hqNode.dist_mm_q2);
#endif
engine->publishHQNode(engine->getCurrentTimestamp_uS() - _getSampleDelayOffsetInHQMode(_cachedTimingDesc), &hqNode);
}
}
else //crc check not passed
{
engine->publishDecodingErrorMsg(LIDARSampleDataUnpacker::ERR_EVENT_ON_EXP_CHECKSUM_ERR
, RPLIDAR_ANS_TYPE_MEASUREMENT_HQ, nodesData, sizeof(*nodesData));
}
continue;
}
break;
}
_cached_scan_node_buf[_cached_scan_node_buf_pos++] = current_data;
}
}
void UnpackerHandler_HQNode::onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size)
{
if (type == LIDARSampleDataUnpacker::UNPACKER_CONTEXT_TYPE_LIDAR_TIMING) {
assert(size == sizeof(_cachedTimingDesc));
_cachedTimingDesc = *reinterpret_cast<const SlamtecLidarTimingDesc*>(data);
}
}
void UnpackerHandler_HQNode::reset()
{
_cached_scan_node_buf_pos = 0;
}
}
END_DATAUNPACKER_NS()
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