CVelodyneScanner.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#ifndef CVelodyneScanner_H
#define CVelodyneScanner_H
 
#include <mrpt/hwdrivers/CGenericSensor.h>
#include <mrpt/obs/CObservationVelodyneScan.h>
#include <mrpt/obs/CObservationGPS.h>
#include <mrpt/utils/CConfigFileBase.h>
#include <mrpt/utils/TEnumType.h>
 
namespace mrpt
{
namespace hwdrivers
{
/** A C++ interface to Velodyne laser scanners (HDL-64, HDL-32, VLP-16), working
 * on Linux and Windows.
  * (Using this class requires WinPCap as a run-time dependency in Windows).
  * It can receive data from real devices via an Ethernet connection or parse a
 * WireShark PCAP file for offline processing.
  * The choice of online vs. offline operation is taken upon calling \a
 * initialize(): if a PCAP input file has been defined,
  * offline operation takes place and network is not listened for incomming
 * packets.
  *
  * Parsing dual return scans requires a VLP-16 with firmware version 3.0.23 or
 * newer. While converting the scan into a
  * point cloud in mrpt::obs::CObservationVelodyneScan you can select whether to
 * keep the strongest, the last or both laser returns.
  *
  * XML calibration files are not mandatory for VLP-16 and HDL-32, but they are
 * for HDL-64.
  *
  * <h2>Grabbing live data (as a user)</h2> <hr>
  *  - Use the application
 * [velodyne-view](http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/)
 * to visualize the LIDAR output in real-time (optionally saving to a PCAP file)
 * or to playback a PCAP file.
  *  - Use
 * [rawlog-grabber](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/)
 * to record a dataset in MRPT's format together with any other set of sensors.
 * See example config file:
 * [MRPT\share\mrpt\config_files\rawlog-grabber\velodyne.ini](https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/rawlog-grabber/velodyne.ini)
  *
  * <h2>Grabbing live data (programmatically)</h2> <hr>
  *  - See CGenericSensor for a general overview of the sequence of methods to
 * be called: loadConfig(), initialize(), doProcess().
  *  - Or use this class inside the application
 * [rawlog-grabber](http://www.mrpt.org/list-of-mrpt-apps/application-rawlog-grabber/).
 * See example config files:
 * [MRPT\share\mrpt\config_files\rawlog-grabber\velodyne.ini](https://github.com/MRPT/mrpt/blob/master/share/mrpt/config_files/rawlog-grabber/velodyne.ini)
  *
  * See the source code of the example application `[MRPT]/apps/velodyne-view`
 * ([velodyne-view web
 * page](http://www.mrpt.org/list-of-mrpt-apps/application-velodyne-view/)) for
 * more details.
  *
  * <h2>Playing back a PCAP file:</h2><hr>
  *  It is common to save Velodyne datasets as Wireshark's PCAP files.
  *  These files can be played back with tools like
 * [bittwist](http://bittwist.sourceforge.net/), which emit all UDP packets in
 * the PCAP log.
  *  Then, use this class to receive the packets as if they come from the real
 * sensor.
  *
  *  Alternatively, if MRPT is linked against libpcap, this class can directly
 * parse a PCAP file to simulate reading from a device offline.
  *  See method setPCAPInputFile() and config file parameter ``
  *
  *  To compile with PCAP support: In Debian/Ubuntu, install libpcap-dev. In
 * Windows, install WinPCap developer packages + the regular WinPCap driver.
  *
  *  <h2>Configuration and usage:</h2> <hr>
  * Data is returned as observations of type:
  *  - mrpt::obs::CObservationVelodyneScan for one or more "data packets" (refer
 * to Velodyne usage manual)
  *  - mrpt::obs::CObservationGPS for GPS (GPRMC) packets, if available via the
 * synchronization interface of the device.
  *  See those classes for documentation on their fields.
  *
  * Configuration includes setting the device IP (optional) and sensor model
 * (mandatory only if a calibration file is not provided).
  * These parameters can be set programmatically (see methods of this class), or
 * via a configuration file with CGenericSensor::loadConfig() (see example
 * config file section below).
  *
  * <h2>About timestamps:</h2><hr>
  *  Each gathered observation of type mrpt::obs::CObservationVelodyneScan is
 * populated with two timestamps, one for the local PC timestamp and,
  *  if available, another one for the GPS-stamped timestamp. Refer to the
 * observation docs for details.
  *
  * <h2>Format of parameters for loading from a .ini file</h2><hr>
  *  \code
  *  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
  * -------------------------------------------------------
  *   [supplied_section_name]
  *   # ---- Sensor description ----
  *   #calibration_file         = PUT_HERE_FULL_PATH_TO_CALIB_FILE.xml      //
 * Optional but recommended: put here your vendor-provided calibration file
  *   model                    = VLP16      // Can be any of: `VLP16`, `HDL32`,
 * `HDL64`  (It is used to load default calibration file. Parameter not required
 * if `calibration_file` is provided.
  *   #pos_packets_min_period  = 0.5        // (Default=0.5 seconds) Minimum
 * period to leave between reporting position packets. Used to decimate the
 * large number of packets of this type.
  *   # How long to wait, after loss of GPS signal, to report timestamps as "not
 * based on satellite time". 30 secs, with typical velodyne clock drifts, means
 * a ~1.7 ms typical drift.
  *   #pos_packets_timing_timeout = 30      // (Default=30 seconds)
  *   # ---- Online operation ----
  *
  *   # IP address of the device. UDP packets from other IPs will be ignored.
 * Leave commented or blank
  *   # if only one scanner is present (no IP filtering)
  *   #device_ip       = XXX.XXX.XXX.XXX
  *
  *   #rpm             = 600        // Sensor RPM (Default: unchanged). Requires
 * setting `device_ip`
  *   #return_type     = STRONGEST  // Any of: 'STRONGEST', 'LAST', 'DUAL'
 * (Default: unchanged). Requires setting `device_ip`
  *
  *   # ---- Offline operation ----
  *   # If uncommented, this class will read from the PCAP instead of connecting
 * and listeling
  *   # for online network packets.
  *   # pcap_input     = PUT_FULL_PATH_TO_PCAP_LOG_FILE.pcap
  *   # pcap_read_once = false   // Do not loop
  *   # pcap_read_fast = false    // fast forward skipping non-velodyne packets
  *   # pcap_read_full_scan_delay_ms = 100 // Used to simulate a reasonable
 * number of full scans / second
  *   # pcap_repeat_delay = 0.0   // seconds
  *
  *   # ---- Save to PCAP file ----
  *   # If uncommented, a PCAP file named
 * `[pcap_output_prefix]_[DATE_TIME].pcap` will be
  *   # written simultaneously to the normal operation of this class.
  *   # pcap_output     = velodyne_log
  *
  *   # 3D position of the sensor on the vehicle:
  *   pose_x     = 0    // 3D position (meters)
  *   pose_y     = 0
  *   pose_z     = 0
  *   pose_yaw   = 0    // 3D orientation (degrees)
  *   pose_pitch = 0
  *   pose_roll  = 0
  *
  *  \endcode
  *
  *
  * <h2>Copyright notice</h2><hr>
  * Portions of this class are based on code from velodyne ROS node in
 * https://github.com/ros-drivers/velodyne
  *  Copyright (C) 2007 Austin Robot Technology, Patrick Beeson
  *  Copyright (C) 2009, 2010 Austin Robot Technology, Jack O'Quin
  *  License: Modified BSD Software License Agreement
  *
  * \note New in MRPT 1.4.0
  * \ingroup mrpt_hwdrivers_grp
  */
class CVelodyneScanner : public mrpt::hwdrivers::CGenericSensor
{
        DEFINE_GENERIC_SENSOR(CVelodyneScanner)
   public:
        /** Default: 2368. Change it if required. */
        static short int VELODYNE_DATA_UDP_PORT;
        /** Default: 8308. Change it if required. */
        static short int VELODYNE_POSITION_UDP_PORT;
 
        /** LIDAR model types */
        enum model_t
        {
                VLP16 = 1,
                HDL32 = 2,
                HDL64 = 3
        };
 
        /** LIDAR return type */
        enum return_type_t
        {
                UNCHANGED = 0,
                STRONGEST,
                LAST,
                DUAL
        };
 
        /** Hard-wired properties of LIDARs depending on the model */
        struct TModelProperties
        {
                double maxRange;
        };
        typedef std::map<model_t, TModelProperties> model_properties_list_t;
        /** Access to default sets of parameters for Velodyne LIDARs */
        struct TModelPropertiesFactory
        {
                /** Singleton access */
                static const model_properties_list_t& get();
                /** Return human-readable string: "`VLP16`,`XXX`,..." */
                static std::string getListKnownModels();
        };
 
   protected:
        bool m_initialized;
        /** Default: "VLP16" */
        model_t m_model;
        /** Default: 0.5 seconds */
        double m_pos_packets_min_period;
        /** Default: 30 seconds */
        double m_pos_packets_timing_timeout;
        /** Default: "" (no IP-based filtering) */
        std::string m_device_ip;
        /** Default: true Output PCAP Info msgs */
        bool m_pcap_verbose;
        /** Default: "" (do not operate from an offline file) */
        std::string m_pcap_input_file;
        /** Default: "" (do not dump to an offline file) */
        std::string m_pcap_output_file;
        mrpt::poses::CPose3D m_sensorPose;
        /** Device calibration file (supplied by vendor in an XML file) */
        mrpt::obs::VelodyneCalibration m_velodyne_calib;
        mrpt::system::TTimeStamp m_last_pos_packet_timestamp;
 
        // offline operation:
        /** opaque ptr: "pcap_t*" */
        void* m_pcap;
        /** opaque ptr: "pcap_t*" */
        void* m_pcap_out;
        /** opaque ptr: "pcap_dumper_t *" */
        void* m_pcap_dumper;
        /** opaque ptr: bpf_program* */
        void* m_pcap_bpf_program;
        bool m_pcap_file_empty;
        /** number of pkts read from the file so far (for debugging) */
        unsigned int m_pcap_read_count;
        /** Default: false */
        bool m_pcap_read_once;
        /** (Default: false) If false, will use m_pcap_read_full_scan_delay_ms */
        bool m_pcap_read_fast;
        /** (Default:100 ms) delay after each full scan read from a PCAP log */
        double m_pcap_read_full_scan_delay_ms;
        /** Default: 0 (in seconds) */
        double m_pcap_repeat_delay;
 
        /** See the class documentation at the top for expected parameters */
        void loadConfig_sensorSpecific(
                const mrpt::utils::CConfigFileBase& configSource,
                const std::string& section);
 
   public:
        CVelodyneScanner();
        virtual ~CVelodyneScanner();
 
        /** @name Change configuration parameters; to be called BEFORE initialize();
         * see above for the list of parameters and their meaning
          * @{ */
        /** See supported model names in the general discussion docs for
         * mrpt::hwdrivers::CVelodyneScanner */
        void setModelName(const model_t model) { m_model = model; }
        model_t getModelName() const { return m_model; }
        /** Set the minimum period between the generation of
         * mrpt::obs::CObservationGPS observations from Velodyne Position RMC GPS
         * packets */
        void setPosPacketsMinPeriod(double period_seconds)
        {
                m_pos_packets_min_period = period_seconds;
        }
        double getPosPacketsMinPeriod() const { return m_pos_packets_min_period; }
        /** Set how long to wait, after loss of GPS signal, to report timestamps as
         * "not based on satellite time". 30 secs, with typical velodyne clock
         * drifts, means a ~1.7 ms typical drift. */
        void setPosPacketsTimingTimeout(double timeout)
        {
                m_pos_packets_timing_timeout = timeout;
        }
        double getPosPacketsTimingTimeout() const
        {
                return m_pos_packets_timing_timeout;
        }
 
        /** UDP packets from other IPs will be ignored. Default: empty string, means
         * do not filter by IP */
        void setDeviceIP(const std::string& ip) { m_device_ip = ip; }
        const std::string& getDeviceIP() const { return m_device_ip; }
        /** Enables/disables PCAP info messages to console (default: true) */
        void setPCAPVerbosity(const bool verbose) { m_pcap_verbose = verbose; }
        /** Enables reading from a PCAP file instead of live UDP packet listening */
        void setPCAPInputFile(const std::string& pcap_file)
        {
                m_pcap_input_file = pcap_file;
        }
        const std::string& getPCAPInputFile() const { return m_pcap_input_file; }
        /** Enables dumping to a PCAP file in parallel to returning regular MRPT
         * objects. Default="": no pcap log. */
        void setPCAPOutputFile(const std::string& out_pcap_file)
        {
                m_pcap_output_file = out_pcap_file;
        }
        const std::string& getPCAPOutputFile() const { return m_pcap_output_file; }
        void setPCAPInputFileReadOnce(bool read_once)
        {
                m_pcap_read_once = read_once;
        }
        bool getPCAPInputFileReadOnce() const { return m_pcap_read_once; }
        const mrpt::obs::VelodyneCalibration& getCalibration() const
        {
                return m_velodyne_calib;
        }
        void setCalibration(const mrpt::obs::VelodyneCalibration& calib)
        {
                m_velodyne_calib = calib;
        }
        /** Returns false on error. \sa
         * mrpt::obs::VelodyneCalibration::loadFromXMLFile() */
        bool loadCalibrationFile(const std::string& velodyne_xml_calib_file_path);
 
        /** Changes among STRONGEST, LAST, DUAL return types (via HTTP post
         * interface).
          * Can be called at any instant, before or after initialize().
          * Requires setting a device IP address.
          * \return false on error */
        bool setLidarReturnType(return_type_t ret_type);
 
        /** Changes Lidar RPM (valid range: 300-600) (via HTTP post interface).
          * Can be called at any instant, before or after initialize().
          * Requires setting a device IP address.
          * \return false on error*/
        bool setLidarRPM(int rpm);
 
        /** Switches the LASER on/off (saves energy when not measuring) (via HTTP
        * post interface).
        * Can be called at any instant, before or after initialize().
        * Requires setting a device IP address.
        * \return false on error*/
        bool setLidarOnOff(bool on);
 
        /** @} */
 
        /** Polls the UDP port for incoming data packets. The user *must* call this
         * method in a timely fashion to grab data as it it generated by the device.
          *  The minimum call rate should be the expected number of data
         * packets/second (!=scans/second). Checkout Velodyne user manual if in
         * doubt.
          *
          * \param[out] outScan Upon return, an empty smart pointer will be found
         * here if no new data was available. Otherwise, a valid scan.
          * \param[out] outGPS  Upon return, an empty smart pointer will be found
         * here if no new GPS data was available. Otherwise, a valid GPS reading.
          * \return true if no error ocurred (even if there was no new observation).
         * false if any communication error occurred.
          */
        bool getNextObservation(
                mrpt::obs::CObservationVelodyneScan::Ptr& outScan,
                mrpt::obs::CObservationGPS::Ptr& outGPS);
 
        // See docs in parent class
        void doProcess();
 
        /** Tries to initialize the sensor driver, after setting all the parameters
         * with a call to loadConfig.
          * Velodyne specifics: this method sets up the UDP listening sockets, so
         * all relevant params MUST BE SET BEFORE calling this.
          *  \exception This method must throw an exception with a descriptive
         * message if some critical error is found.
          */
        virtual void initialize();
 
        /** Close the UDP sockets set-up in \a initialize(). This is called
         * automatically upon destruction */
        void close();
 
        /** Users normally would prefer calling \a getNextObservation() instead.
          * This method polls the UDP data port and returns one Velodyne DATA packet
         * (1206 bytes) and/or one POSITION packet. Refer to Velodyne users manual.
          * Approximate timestamps (based on this computer clock) are returned for
         * each kind of packets, or INVALID_TIMESTAMP if timeout ocurred waiting for
         * a packet.
          * \return true on all ok. false only for pcap reading EOF
          */
        bool receivePackets(
                mrpt::system::TTimeStamp& data_pkt_timestamp,
                mrpt::obs::CObservationVelodyneScan::TVelodyneRawPacket& out_data_pkt,
                mrpt::system::TTimeStamp& pos_pkt_timestamp,
                mrpt::obs::CObservationVelodyneScan::TVelodynePositionPacket&
                        out_pos_pkt);
 
   private:
        /** Handles for the UDP sockets, or INVALID_SOCKET (-1) */
        typedef
#ifdef MRPT_OS_WINDOWS
#if MRPT_WORD_SIZE == 64
                uint64_t
#else
                uint32_t
#endif
#else
                int
#endif
                        platform_socket_t;
 
        platform_socket_t m_hDataSock, m_hPositionSock;
 
        static mrpt::system::TTimeStamp internal_receive_UDP_packet(
                platform_socket_t hSocket, uint8_t* out_buffer,
                const size_t expected_packet_size,
                const std::string& filter_only_from_IP);
 
        bool internal_read_PCAP_packet(
                mrpt::system::TTimeStamp& data_pkt_time, uint8_t* out_data_buffer,
                mrpt::system::TTimeStamp& pos_pkt_time, uint8_t* out_pos_buffer);
 
        /** In progress RX scan */
        mrpt::obs::CObservationVelodyneScan::Ptr m_rx_scan;
 
        mrpt::obs::gnss::Message_NMEA_RMC m_last_gps_rmc;
        mrpt::system::TTimeStamp m_last_gps_rmc_age;
        int m_lidar_rpm;
        return_type_t m_lidar_return;
 
        bool internal_send_http_post(const std::string& post_data);
 
};  // end of class
}  // end of namespace
 
namespace utils  // Specializations MUST occur at the same namespace:
{
template <>
struct TEnumTypeFiller<hwdrivers::CVelodyneScanner::model_t>
{
        typedef hwdrivers::CVelodyneScanner::model_t enum_t;
        static void fill(bimap<enum_t, std::string>& m_map)
        {
                m_map.insert(hwdrivers::CVelodyneScanner::VLP16, "VLP16");
                m_map.insert(hwdrivers::CVelodyneScanner::HDL32, "HDL32");
                m_map.insert(hwdrivers::CVelodyneScanner::HDL64, "HDL64");
        }
};
 
template <>
struct TEnumTypeFiller<hwdrivers::CVelodyneScanner::return_type_t>
{
        typedef hwdrivers::CVelodyneScanner::return_type_t enum_t;
        static void fill(bimap<enum_t, std::string>& m_map)
        {
                m_map.insert(hwdrivers::CVelodyneScanner::UNCHANGED, "UNCHANGED");
                m_map.insert(hwdrivers::CVelodyneScanner::STRONGEST, "STRONGEST");
                m_map.insert(hwdrivers::CVelodyneScanner::LAST, "LAST");
                m_map.insert(hwdrivers::CVelodyneScanner::DUAL, "DUAL");
        }
};
}  // End of namespace
}  // end of namespace
 
#endif