Program Listing for File source_packet_ros.hpp

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#pragma once

#include "source/source_driver.hpp"

#ifdef ROS_FOUND

#ifdef ENABLE_SOURCE_PACKET_LEGACY
#include "msg/ros_msg/rslidar_packet_legacy.hpp"
#include "msg/ros_msg/rslidar_scan_legacy.hpp"
#endif

#include "msg/ros_msg/rslidar_packet.hpp"
#include <ros/ros.h>

namespace robosense
{
namespace lidar
{

inline Packet toRsMsg(const rslidar_msg::RslidarPacket& ros_msg)
{
  Packet rs_msg;
  rs_msg.timestamp = ros_msg.header.stamp.toSec();
  rs_msg.seq = ros_msg.header.seq;
  rs_msg.is_difop = ros_msg.is_difop;
  rs_msg.is_frame_begin = ros_msg.is_frame_begin;

  for (size_t i = 0; i < ros_msg.data.size(); i++)
  {
    rs_msg.buf_.emplace_back(ros_msg.data[i]);
  }

  return rs_msg;
}

class SourcePacketRos : public SourceDriver
{
public:

  virtual void init(const YAML::Node& config);

  SourcePacketRos();

private:

#ifdef ENABLE_SOURCE_PACKET_LEGACY
  void putPacketLegacy(const rslidar_msgs::rslidarScan& msg);
  void putPacketDifopLegacy(const rslidar_msgs::rslidarPacket& msg);
  ros::Subscriber pkt_sub_legacy_;
  ros::Subscriber pkt_sub_difop_legacy_;
  LidarType lidar_type_;
#endif

  void putPacket(const rslidar_msg::RslidarPacket& msg);
  ros::Subscriber pkt_sub_;

  std::unique_ptr<ros::NodeHandle> nh_;
};

SourcePacketRos::SourcePacketRos()
  : SourceDriver(SourceType::MSG_FROM_ROS_PACKET)
{
}

void SourcePacketRos::init(const YAML::Node& config)
{
  SourceDriver::init(config);

  nh_ = std::unique_ptr<ros::NodeHandle>(new ros::NodeHandle());

#ifdef ENABLE_SOURCE_PACKET_LEGACY
  std::string lidar_type;
  yamlReadAbort<std::string>(config["driver"], "lidar_type", lidar_type);
  lidar_type_ = strToLidarType(lidar_type);

  std::string ros_recv_topic_legacy;
  yamlRead<std::string>(config["ros"], "ros_recv_packet_legacy_topic",
      ros_recv_topic_legacy, "rslidar_packets");

  pkt_sub_legacy_ = nh_->subscribe(ros_recv_topic_legacy, 1, &SourcePacketRos::putPacketLegacy, this);
  pkt_sub_difop_legacy_ = nh_->subscribe(ros_recv_topic_legacy + "_difop", 1, &SourcePacketRos::putPacketDifopLegacy, this);
#endif

  std::string ros_recv_topic;
  yamlRead<std::string>(config["ros"], "ros_recv_packet_topic",
      ros_recv_topic, "rslidar_packets");

  pkt_sub_ = nh_->subscribe(ros_recv_topic, 100, &SourcePacketRos::putPacket, this);

}

#ifdef ENABLE_SOURCE_PACKET_LEGACY
inline Packet toRsMsg(const rslidar_msgs::rslidarPacket& ros_msg, LidarType lidar_type, bool isDifop)
{
  size_t pkt_len = 1248;
  if (lidar_type == LidarType::RSM1)
  {
    pkt_len = isDifop ? 256 : 1210;
  }

  Packet rs_msg;
  for (size_t i = 0; i < pkt_len; i++)
  {
    rs_msg.buf_.emplace_back(ros_msg.data[i]);
  }

  return rs_msg;
}

void SourcePacketRos::putPacketLegacy(const rslidar_msgs::rslidarScan& msg)
{
  for (uint32_t i = 0; i < msg.packets.size(); i++)
  {
    const rslidar_msgs::rslidarPacket& packet = msg.packets[i];
    driver_ptr_->decodePacket(toRsMsg(packet, lidar_type_, false));
  }
}

void SourcePacketRos::putPacketDifopLegacy(const rslidar_msgs::rslidarPacket& msg)
{
  driver_ptr_->decodePacket(toRsMsg(msg, lidar_type_, true));
}
#endif

void SourcePacketRos::putPacket(const rslidar_msg::RslidarPacket& msg)
{
  driver_ptr_->decodePacket(toRsMsg(msg));
}

inline rslidar_msg::RslidarPacket toRosMsg(const Packet& rs_msg, const std::string& frame_id)
{
  rslidar_msg::RslidarPacket ros_msg;
  ros_msg.header.stamp = ros_msg.header.stamp.fromSec(rs_msg.timestamp);
  ros_msg.header.seq = rs_msg.seq;
  ros_msg.header.frame_id = frame_id;
  ros_msg.is_difop = rs_msg.is_difop;
  ros_msg.is_frame_begin = rs_msg.is_frame_begin;

  for (size_t i = 0; i < rs_msg.buf_.size(); i++)
  {
    ros_msg.data.emplace_back(rs_msg.buf_[i]);
  }

  return ros_msg;
}

class DestinationPacketRos : public DestinationPacket
{
public:

  virtual void init(const YAML::Node& config);
  virtual void sendPacket(const Packet& msg);
  virtual ~DestinationPacketRos() = default;

private:

  std::unique_ptr<ros::NodeHandle> nh_;
  ros::Publisher pkt_pub_;
  std::string frame_id_;
};

inline void DestinationPacketRos::init(const YAML::Node& config)
{
  yamlRead<std::string>(config["ros"],
      "ros_frame_id", frame_id_, "rslidar");

  std::string ros_send_topic;
  yamlRead<std::string>(config["ros"], "ros_send_packet_topic",
      ros_send_topic, "rslidar_packets");

  nh_ = std::unique_ptr<ros::NodeHandle>(new ros::NodeHandle());
  pkt_pub_ = nh_->advertise<rslidar_msg::RslidarPacket>(ros_send_topic, 100);
}

inline void DestinationPacketRos::sendPacket(const Packet& msg)
{
  pkt_pub_.publish(toRosMsg(msg, frame_id_));
}

}  // namespace lidar
}  // namespace robosense

#endif  // ROS_FOUND

#ifdef ROS2_FOUND
#include "rslidar_msg/msg/rslidar_packet.hpp"
#include <rclcpp/rclcpp.hpp>
#include <sstream>

namespace robosense
{
namespace lidar
{

inline Packet toRsMsg(const rslidar_msg::msg::RslidarPacket& ros_msg)
{
  Packet rs_msg;
  rs_msg.timestamp = ros_msg.header.stamp.sec + double(ros_msg.header.stamp.nanosec) / 1e9;
  //rs_msg.seq = ros_msg.header.seq;
  rs_msg.is_difop = ros_msg.is_difop;
  rs_msg.is_frame_begin = ros_msg.is_frame_begin;

  for (size_t i = 0; i < ros_msg.data.size(); i++)
  {
    rs_msg.buf_.emplace_back(ros_msg.data[i]);
  }

  return rs_msg;
}

class SourcePacketRos : public SourceDriver
{
public:

  virtual void init(const YAML::Node& config);

  SourcePacketRos();

private:
  void spin();
  void putPacket(const rslidar_msg::msg::RslidarPacket::SharedPtr msg) const;
  std::thread subscription_spin_thread_;
  std::shared_ptr<rclcpp::Node> node_ptr_;
  rclcpp::Subscription<rslidar_msg::msg::RslidarPacket>::SharedPtr pkt_sub_;
};

SourcePacketRos::SourcePacketRos()
  : SourceDriver(SourceType::MSG_FROM_ROS_PACKET)
{
}
void SourcePacketRos::spin(){rclcpp::spin(node_ptr_);}
void SourcePacketRos::init(const YAML::Node& config)
{
  SourceDriver::init(config);

  std::string ros_recv_topic;
  yamlRead<std::string>(config["ros"], "ros_recv_packet_topic",
      ros_recv_topic, "rslidar_packets");

  static int node_index = 0;
  std::stringstream node_name;
  node_name << "rslidar_packets_source_" << node_index++;

  node_ptr_.reset(new rclcpp::Node(node_name.str()));
  pkt_sub_ = node_ptr_->create_subscription<rslidar_msg::msg::RslidarPacket>(ros_recv_topic, 100,
      std::bind(&SourcePacketRos::putPacket, this, std::placeholders::_1));
  subscription_spin_thread_ = std::thread(std::bind(&SourcePacketRos::spin,this));
}

void SourcePacketRos::putPacket(const rslidar_msg::msg::RslidarPacket::SharedPtr msg) const
{
  driver_ptr_->decodePacket(toRsMsg(*msg));
}

inline rslidar_msg::msg::RslidarPacket toRosMsg(const Packet& rs_msg, const std::string& frame_id)
{
  rslidar_msg::msg::RslidarPacket ros_msg;
  ros_msg.header.stamp.sec = (uint32_t)floor(rs_msg.timestamp);
  ros_msg.header.stamp.nanosec = (uint32_t)round((rs_msg.timestamp - ros_msg.header.stamp.sec) * 1e9);
  //ros_msg.header.seq = rs_msg.seq;
  ros_msg.header.frame_id = frame_id;
  ros_msg.is_difop = rs_msg.is_difop;
  ros_msg.is_frame_begin = rs_msg.is_frame_begin;

  for (size_t i = 0; i < rs_msg.buf_.size(); i++)
  {
    ros_msg.data.emplace_back(rs_msg.buf_[i]);
  }

  return ros_msg;
}

class DestinationPacketRos : public DestinationPacket
{
public:

  virtual void init(const YAML::Node& config);
  virtual void sendPacket(const Packet& msg);
  virtual ~DestinationPacketRos() = default;

private:

  std::shared_ptr<rclcpp::Node> node_ptr_;
  rclcpp::Publisher<rslidar_msg::msg::RslidarPacket>::SharedPtr pkt_pub_;
  std::string frame_id_;
};

inline void DestinationPacketRos::init(const YAML::Node& config)
{
  yamlRead<std::string>(config["ros"],
      "ros_frame_id", frame_id_, "rslidar");

  std::string ros_send_topic;
  yamlRead<std::string>(config["ros"], "ros_send_packet_topic",
      ros_send_topic, "rslidar_packets");

  size_t ros_queue_length;
  yamlRead<size_t>(config["ros"], "ros_queue_length", ros_queue_length, 100);

  static int node_index = 0;
  std::stringstream node_name;
  node_name << "rslidar_packets_destination_" << node_index++;

  node_ptr_.reset(new rclcpp::Node(node_name.str()));
  pkt_pub_ = node_ptr_->create_publisher<rslidar_msg::msg::RslidarPacket>(ros_send_topic, ros_queue_length);
}

inline void DestinationPacketRos::sendPacket(const Packet& msg)
{
  pkt_pub_->publish(toRosMsg(msg, frame_id_));
}

}  // namespace lidar
}  // namespace robosense

#endif  // ROS2_FOUND