Lidar2DDeviceBase.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: BSD-3-Clause
 */
 
#include <vector>
 
#include <yarp/os/Stamp.h>
#include <yarp/os/Searchable.h>
#include <yarp/dev/IRangefinder2D.h>
#include <yarp/dev/api.h>
#include <mutex>
 
#ifndef YARP_DEV_2DLIDARDEVICETEMPLATE_H
#define YARP_DEV_2DLIDARDEVICETEMPLATE_H
 
namespace yarp::dev {
 
struct Range_t
{
    double min;
    double max;
};
 
class YARP_dev_API Lidar2DDeviceBase: public yarp::dev::IRangefinder2D
{
protected:
    //internal data
    yarp::sig::Vector     m_laser_data;
    yarp::os::Stamp       m_timestamp;
    yarp::dev::IRangefinder2D::Device_status m_device_status;
    std::mutex     m_mutex;
 
protected:
    //internal parameters
    std::string    m_info;
    double         m_scan_rate;
    size_t         m_sensorsNum;
    double         m_min_angle;
    double         m_max_angle;
    double         m_min_distance;
    double         m_max_distance;
    double         m_resolution;
    bool           m_clip_max_enable;
    bool           m_clip_min_enable;
    bool           m_do_not_clip_and_allow_infinity_enable;
    std::vector <Range_t> m_range_skip_vector;
 
public:
    // the main parse function
    bool parseConfiguration(yarp::os::Searchable& config);
 
public:
    //constructor
    Lidar2DDeviceBase();
 
protected:
    //This section contains utility methods called by laser devices
 
    virtual bool updateLidarData();
 
    virtual bool updateTimestamp();
 
    virtual bool applyLimitsOnLaserData();
 
    virtual bool acquireDataFromHW() = 0;
 
public:
    //IRangefinder2D interface
    yarp::dev::ReturnValue getRawData(yarp::sig::Vector& data, double* timestamp = nullptr) override;
    yarp::dev::ReturnValue getLaserMeasurement(std::vector<yarp::sig::LaserMeasurementData>& data, double* timestamp = nullptr) override;
    yarp::dev::ReturnValue getDeviceStatus(Device_status& status) override;
    yarp::dev::ReturnValue getDeviceInfo(std::string& device_info) override;
    yarp::dev::ReturnValue getDistanceRange(double& min, double& max) override;
    yarp::dev::ReturnValue getScanLimits(double& min, double& max) override;
    yarp::dev::ReturnValue getHorizontalResolution(double& step) override;
    yarp::dev::ReturnValue getScanRate(double& rate) override;
 
private:
    //utility methods called internally by Lidar2DDeviceBase
    virtual bool checkSkipAngle(const double& angle, double& distance);
};
 
} // namespace yarp::dev
 
#endif