vlp32c_data.hpp

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// Copyright 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__VLP32C_DATA_HPP_
#define VELODYNE_DRIVER__VLP32C_DATA_HPP_

#include <velodyne_driver/visibility_control.hpp>
#include <velodyne_driver/common.hpp>
#include <cmath>
#include <utility>

namespace autoware
{
namespace drivers
{
namespace velodyne_driver
{

class VELODYNE_DRIVER_PUBLIC VLP32CData
{
public:
  static constexpr float32_t FIRE_SEQ_OFFSET_US = 55.296F;
  static constexpr float32_t FIRE_DURATION_US = 2.304F;
  static constexpr uint16_t NUM_GROUPS_PER_SEQ{16U};
  static constexpr uint16_t NUM_LASERS{32U};
  static constexpr uint16_t GROUP_SIZE{2U};
  using BlockFlag = uint8_t[2U];

  static_assert(
    NUM_GROUPS_PER_SEQ * GROUP_SIZE == NUM_LASERS,
    "VLP32C driver has incorrect configuration. "
    "Check the manual for the group size and number of lasers.");

  static constexpr float32_t NUM_SEQUENCES_PER_BLOCK{float32_t(NUM_POINTS_PER_BLOCK) / NUM_LASERS};
  static constexpr float32_t DISTANCE_RESOLUTION{0.004f};

  explicit VLP32CData(const float32_t rpm);

  uint32_t azimuth_offset(uint16_t num_banked_pts, uint32_t block_id, uint32_t pt_id) const;

  uint32_t altitude(uint16_t num_banked_pts, uint32_t block_id, uint32_t pt_id) const;

  uint16_t seq_id(uint16_t num_blocks, uint32_t pt_id) const noexcept;

  uint16_t num_blocks_per_revolution() const noexcept;

  static constexpr float32_t distance_resolution() noexcept
  {
    return DISTANCE_RESOLUTION;
  }

  std::pair<bool8_t, uint16_t> check_flag(const BlockFlag & flag);

private:
  VELODYNE_DRIVER_LOCAL void init_azimuth_table(const float32_t rpm);

  VELODYNE_DRIVER_LOCAL void init_altitude_table();

  std::array<uint32_t, NUM_LASERS> m_azimuth_ind;
  std::array<uint32_t, NUM_LASERS> m_altitude_ind;

  uint16_t m_num_blocks_per_revolution;
};

}  // namespace velodyne_driver
}  // namespace drivers
}  // namespace autoware

#endif  // VELODYNE_DRIVER__VLP32C_DATA_HPP_