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/*
* Slamtec LIDAR SDK
*
* Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* Sample Data Unpacker System
* Normal 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"
#include "handler_normalnode.h"
BEGIN_DATAUNPACKER_NS()
namespace unpacker{
static _u64 _getSampleDelayOffsetInLegacyMode(const SlamtecLidarTimingDesc& timing)
{
// guess channel baudrate by LIDAR model ....
const _u64 channelBaudRate = timing.native_baudrate? timing.native_baudrate:115200;
_u64 tranmissionDelay = 1000000ULL * sizeof(rplidar_response_measurement_node_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_NormalNode::UnpackerHandler_NormalNode()
: _cached_scan_node_buf_pos(0)
{
_cached_scan_node_buf.resize(sizeof(rplidar_response_measurement_node_t));
memset(&_cachedTimingDesc, 0, sizeof(_cachedTimingDesc));
;}
UnpackerHandler_NormalNode::~UnpackerHandler_NormalNode()
{
}
_u8 UnpackerHandler_NormalNode::getSampleAnswerType() const
{
return RPLIDAR_ANS_TYPE_MEASUREMENT;
}
void UnpackerHandler_NormalNode::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 bit and its reverse in this byte
{
_u8 tmp = (current_data >> 1);
if ((tmp ^ current_data) & 0x1) {
// pass
}
else {
continue;
}
}
break;
case 1: // expect the highest bit to be 1
{
if (current_data & RPLIDAR_RESP_MEASUREMENT_CHECKBIT) {
// pass
}
else {
_cached_scan_node_buf_pos = 0;
continue;
}
}
break;
case sizeof(rplidar_response_measurement_node_t) - 1: // new data ready
{
_cached_scan_node_buf[sizeof(rplidar_response_measurement_node_t) - 1] = current_data;
_cached_scan_node_buf_pos = 0;
rplidar_response_measurement_node_t* node = reinterpret_cast<rplidar_response_measurement_node_t*>(&_cached_scan_node_buf[0]);
#ifdef _CPU_ENDIAN_BIG
node->angle_q6_checkbit = le16_to_cpu(node->angle_q6_checkbit);
node->distance_q2 = le16_to_cpu(node->distance_q2);
#endif
//cast node to rplidar_response_measurement_node_hq_t
rplidar_response_measurement_node_hq_t hqNode;
hqNode.angle_z_q14 = (((node->angle_q6_checkbit) >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) << 8) / 90; //transfer to q14 Z-angle
hqNode.dist_mm_q2 = node->distance_q2;
hqNode.flag = (node->sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT); // trasfer syncbit to HQ flag field
hqNode.quality = (node->sync_quality >> RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT) << RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT; //remove the last two bits and then make quality from 0-63 to 0-255
engine->publishHQNode(engine->getCurrentTimestamp_uS() - _getSampleDelayOffsetInLegacyMode(_cachedTimingDesc), &hqNode);
continue;
}
break;
}
_cached_scan_node_buf[_cached_scan_node_buf_pos++] = current_data;
}
}
void UnpackerHandler_NormalNode::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_NormalNode::reset()
{
_cached_scan_node_buf_pos = 0;
}
}
END_DATAUNPACKER_NS()
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