common.hpp

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// Copyright 2018-2020 the Autoware Foundation
//
// 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.
//
// Co-developed by Tier IV, Inc. and Apex.AI, Inc.


#ifndef VELODYNE_DRIVER__COMMON_HPP_
#define VELODYNE_DRIVER__COMMON_HPP_

#include <velodyne_driver/visibility_control.hpp>
#include <geometry_msgs/msg/point32.hpp>
#include <common/types.hpp>

namespace autoware
{
namespace drivers
{
namespace velodyne_driver
{
using autoware::common::types::bool8_t;
using autoware::common::types::float32_t;

// These constants seem to be shared among velodyne drivers. If a model with different specs is
// to be supported, they should be refactored.

static constexpr uint32_t AZIMUTH_ROTATION_RESOLUTION = 36000U;
static constexpr float32_t DEG2IDX = static_cast<float32_t>(AZIMUTH_ROTATION_RESOLUTION) / 360.0F;
static constexpr uint32_t NUM_INTENSITY_VALUES = 256U;

static constexpr uint16_t NUM_BLOCKS_PER_PACKET = 12U;
static constexpr uint16_t NUM_POINTS_PER_BLOCK = 32U;

inline uint32_t to_uint32(const uint8_t first, const uint8_t second)
{
  // probably ok since uint8_t<<8 =>uint32_t, this is to get around
  // warning due to implicit promotion to int
  const uint32_t ret = static_cast<uint32_t>(first) << 8U;
  return ret + static_cast<uint32_t>(second);
}

using autoware::common::types::PointXYZIF;
}  // namespace velodyne_driver
}  // namespace drivers
}  // namespace autoware

#endif  // VELODYNE_DRIVER__COMMON_HPP_