velodyneDataDriver.hpp

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#ifndef _VELODYNE_DATA_DRIVER_HPP_
#define _VELODYNE_DATA_DRIVER_HPP_

#include <iodrivers_base/Driver.hpp>
#include <velodyne_lidar/velodyneProtocolTypes.hpp>
#include <base/samples/DepthMap.hpp>
#include "velodyneConstants.hpp"

namespace aggregator
{
    class TimestampEstimator;
}

namespace velodyne_lidar
{

class VelodyneDataDriver : public iodrivers_base::Driver 
{
    struct StampedDataPacket
    {
        base::Time time[VELODYNE_NUM_SHOTS];
        velodyne_data_packet packet;
    };

public:
    VelodyneDataDriver(SensorType sensor_type, double broadcast_frequency);
    virtual ~VelodyneDataDriver();

    bool readNewPacket();

    bool isScanComplete();

    virtual bool convertScanToSample(base::samples::DepthMap& sample, bool copy_remission = true) = 0;

    void clearCurrentScan();

    void setScanSize(double angular_size);

    double getScanSize();

    int64_t getPacketLostCount();

    int64_t getPacketReceivedCount();

    virtual double getBroadcastFrequency() = 0;

    void print_packet(velodyne_data_packet_t &);

protected:

    virtual int extractPacket(uint8_t const* buffer, size_t buffer_size) const;

    void addNewPacket(const StampedDataPacket& packet);

    SensorType sensor_type;
    uint64_t target_batch_size;
    uint64_t current_batch_size;
    uint16_t last_rotational_pos;
    uint32_t last_packet_internal_timestamp; // in microseconds
    int64_t packets_idx;
    int64_t packets_lost;
    int64_t expected_packet_period;
    aggregator::TimestampEstimator* timestamp_estimator;
    std::vector<StampedDataPacket> packets;
};

};

#endif