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// Copyright 2024 TIER IV, Inc.
//
// 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 NEBULA_HESAI_DRIVER_H
#define NEBULA_HESAI_DRIVER_H
#include "nebula_common/hesai/hesai_common.hpp"
#include "nebula_common/nebula_status.hpp"
#include "nebula_common/point_types.hpp"
#include "nebula_decoders/nebula_decoders_hesai/decoders/functional_safety.hpp"
#include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_packet.hpp"
#include "nebula_decoders/nebula_decoders_hesai/decoders/hesai_scan_decoder.hpp"
#include "nebula_decoders/nebula_decoders_hesai/decoders/packet_loss_detector.hpp"
#include <nebula_common/loggers/logger.hpp>
#include <pcl_conversions/pcl_conversions.h>
#include <memory>
#include <tuple>
#include <type_traits>
#include <utility>
#include <vector>
namespace nebula::drivers
{
class HesaiDriver
{
private:
Status driver_status_;
std::shared_ptr<loggers::Logger> logger_;
std::shared_ptr<HesaiScanDecoder> scan_decoder_;
template <typename SensorT>
std::shared_ptr<HesaiScanDecoder> initialize_decoder(
const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
calibration_configuration,
FunctionalSafetyDecoderBase::alive_cb_t alive_cb,
FunctionalSafetyDecoderBase::stuck_cb_t stuck_cb,
FunctionalSafetyDecoderBase::status_cb_t status_cb, PacketLossDetectorBase::lost_cb_t lost_cb);
template <typename SensorT>
std::enable_if_t<
hesai_packet::HasFunctionalSafety<typename SensorT::packet_t>::value,
std::shared_ptr<FunctionalSafetyDecoderTypedBase<typename SensorT::packet_t>>>
initialize_functional_safety_decoder(
FunctionalSafetyDecoderBase::alive_cb_t alive_cb,
FunctionalSafetyDecoderBase::stuck_cb_t stuck_cb,
FunctionalSafetyDecoderBase::status_cb_t status_cb)
{
auto functional_safety_decoder =
std::make_shared<FunctionalSafetyDecoder<typename SensorT::packet_t>>();
functional_safety_decoder->set_alive_callback(std::move(alive_cb));
functional_safety_decoder->set_stuck_callback(std::move(stuck_cb));
functional_safety_decoder->set_status_callback(std::move(status_cb));
return functional_safety_decoder;
}
template <typename SensorT>
std::enable_if_t<
!hesai_packet::HasFunctionalSafety<typename SensorT::packet_t>::value,
std::shared_ptr<FunctionalSafetyDecoderTypedBase<typename SensorT::packet_t>>>
initialize_functional_safety_decoder(
FunctionalSafetyDecoderBase::alive_cb_t /* alive_cb */,
FunctionalSafetyDecoderBase::stuck_cb_t /* stuck_cb */,
FunctionalSafetyDecoderBase::status_cb_t /* status_cb */)
{
return nullptr;
}
template <typename SensorT>
std::enable_if_t<
hesai_packet::HasPacketLossDetection<typename SensorT::packet_t>::value,
std::shared_ptr<PacketLossDetectorTypedBase<typename SensorT::packet_t>>>
initialize_packet_loss_detector(PacketLossDetectorBase::lost_cb_t lost_cb)
{
auto packet_loss_detector = std::make_shared<PacketLossDetector<typename SensorT::packet_t>>();
packet_loss_detector->set_lost_callback(std::move(lost_cb));
return packet_loss_detector;
}
template <typename SensorT>
std::enable_if_t<
!hesai_packet::HasPacketLossDetection<typename SensorT::packet_t>::value,
std::shared_ptr<PacketLossDetectorTypedBase<typename SensorT::packet_t>>>
initialize_packet_loss_detector(PacketLossDetectorBase::lost_cb_t /* lost_cb */)
{
return nullptr;
}
public:
HesaiDriver() = delete;
HesaiDriver(
const std::shared_ptr<const drivers::HesaiSensorConfiguration> & sensor_configuration,
const std::shared_ptr<const drivers::HesaiCalibrationConfigurationBase> &
calibration_configuration,
const std::shared_ptr<loggers::Logger> & logger,
HesaiScanDecoder::pointcloud_callback_t pointcloud_cb,
FunctionalSafetyDecoderBase::alive_cb_t alive_cb = nullptr,
FunctionalSafetyDecoderBase::stuck_cb_t stuck_cb = nullptr,
FunctionalSafetyDecoderBase::status_cb_t status_cb = nullptr,
PacketLossDetectorBase::lost_cb_t lost_cb = nullptr);
Status get_status();
Status set_calibration_configuration(
const HesaiCalibrationConfigurationBase & calibration_configuration);
void set_pointcloud_callback(HesaiScanDecoder::pointcloud_callback_t pointcloud_cb);
void parse_cloud_packet(const std::vector<uint8_t> & packet);
};
} // namespace nebula::drivers
#endif // NEBULA_HESAI_DRIVER_H