Program Listing for File metadata.hpp

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// Copyright 2021, Steve Macenski
// 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.

#ifndef ROS2_OUSTER__INTERFACES__METADATA_HPP_
#define ROS2_OUSTER__INTERFACES__METADATA_HPP_

#include <vector>
#include <string>
#include <iostream>
#include "ros2_ouster/client/types.h"
#include "ros2_ouster/client/version.h"
#include "ros2_ouster/client/client.h"

namespace ros2_ouster
{
struct Metadata : ouster::sensor::sensor_info
{
  Metadata()
  {
    name = "UNKNOWN";
    sn = "UNKNOWN";
    fw_rev = "UNKNOWN";
    mode = ouster::sensor::lidar_mode::MODE_UNSPEC;
    prod_line = "UNKNOWN";
    format = {};
    beam_azimuth_angles = {};
    beam_altitude_angles = {};
    lidar_origin_to_beam_origin_mm = 0.;
    imu_to_sensor_transform = {};
    lidar_to_sensor_transform = {};
    extrinsic = {};
    timestamp_mode = "UNKNOWN";
    imu_port = 0;
    lidar_port = 0;
  }
  Metadata(
    const ouster::sensor::sensor_info & info, int _imu_port,
    int _lidar_port, const std::string & _timestamp_mode)
  : imu_port(_imu_port),
    lidar_port(_lidar_port),
    timestamp_mode(_timestamp_mode)
  {
    name = info.name;
    sn = info.sn;
    fw_rev = info.fw_rev;
    mode = info.mode;
    prod_line = info.prod_line;
    format = info.format;
    beam_azimuth_angles = info.beam_azimuth_angles;
    beam_altitude_angles = info.beam_altitude_angles;
    lidar_origin_to_beam_origin_mm = info.lidar_origin_to_beam_origin_mm;
    imu_to_sensor_transform = info.imu_to_sensor_transform;
    lidar_to_sensor_transform = info.lidar_to_sensor_transform;
    extrinsic = info.extrinsic;
  }
  std::string timestamp_mode;
  int imu_port;
  int lidar_port;
};


inline void populate_missing_metadata_defaults(ouster::sensor::sensor_info & info)
{
  if (info.name.empty()) {
    info.name = "UNKNOWN";
  }

  if (info.sn.empty()) {
    info.sn = "UNKNOWN";
  }

  if (!info.mode) {
    info.mode = ouster::sensor::MODE_UNSPEC;
  }

  if (info.prod_line.empty()) {
    info.prod_line = "UNKNOWN";
  }

  if (info.beam_azimuth_angles.empty() || info.beam_altitude_angles.empty()) {
    info.beam_azimuth_angles = ouster::sensor::gen1_azimuth_angles;
    info.beam_altitude_angles = ouster::sensor::gen1_altitude_angles;
  }
}

}  // namespace ros2_ouster

#endif  // ROS2_OUSTER__INTERFACES__METADATA_HPP_