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License Agreement
For RoboSense LiDAR SDK Library
(3-clause BSD License)

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#include <rs_driver/api/lidar_driver.hpp>

#ifdef ENABLE_PCL_POINTCLOUD
#include <rs_driver/msg/pcl_point_cloud_msg.hpp>
#else
#include <rs_driver/msg/point_cloud_msg.hpp>
#endif

//#define ORDERLY_EXIT

// Define the macro: 1 to enable IMU parsing, 0 to disable IMU parsing
#define ENABLE_IMU_PARSE 1 

typedef PointXYZI PointT;
typedef PointCloudT<PointT> PointCloudMsg;

using namespace robosense::lidar;

SyncQueue<std::shared_ptr<PointCloudMsg>> free_cloud_queue;
SyncQueue<std::shared_ptr<PointCloudMsg>> stuffed_cloud_queue;

SyncQueue<std::shared_ptr<ImuData>> free_imu_data_queue;
SyncQueue<std::shared_ptr<ImuData>> stuffed_imu_data_queue;

//
// @brief point cloud callback function. The caller should register it to the lidar driver.
//        Via this fucntion, the driver gets an free/unused point cloud message from the caller.
// @param msg  The free/unused point cloud message.
//
std::shared_ptr<PointCloudMsg> driverGetPointCloudFromCallerCallback(void)
{
  // Note: This callback function runs in the packet-parsing/point-cloud-constructing thread of the driver,
  //       so please DO NOT do time-consuming task here.
  std::shared_ptr<PointCloudMsg> msg = free_cloud_queue.pop();
  if (msg.get() != NULL)
  {
    return msg;
  }

  return std::make_shared<PointCloudMsg>();
}

//
// @brief point cloud callback function. The caller should register it to the lidar driver.
//        Via this function, the driver gets/returns a stuffed point cloud message to the caller.
// @param msg  The stuffed point cloud message.
//
void driverReturnPointCloudToCallerCallback(std::shared_ptr<PointCloudMsg> msg)
{
  // Note: This callback function runs in the packet-parsing/point-cloud-constructing thread of the driver,
  //       so please DO NOT do time-consuming task here. Instead, process it in caller's own thread. (see processCloud()
  //       below)
  stuffed_cloud_queue.push(msg);
}

//
// @brief IMU data callback function. The caller should register it to the lidar driver.
//        Via this function, the driver gets/returns a stuffed IMU data message to the caller. 
// @param msg  The stuffed IMU data message.
//
std::shared_ptr<ImuData> driverGetIMUDataFromCallerCallback(void)
{
   // Note: This callback function runs in the packet-parsing/imu-data-constructing thread of the driver, 
  //       so please DO NOT do time-consuming task here.
  std::shared_ptr<ImuData> msg = free_imu_data_queue.pop();
  if (msg.get() != NULL)
  {
    return msg;
  }

  return std::make_shared<ImuData>();
}

//
// @brief IMU data callback function. The caller should register it to the lidar driver.
//        Via this function, the driver gets/returns a stuffed IMU data message to the caller. 
// @param msg  The stuffed IMU data message.
//
void driverReturnImuDataToCallerCallback(const std::shared_ptr<ImuData>& msg)
{
  // Note: This callback function runs in the packet-parsing/imu-data-constructing thread of the driver, 
  //       so please DO NOT do time-consuming task here. Instead, process it in caller's own thread. (see processImuData() below)
  stuffed_imu_data_queue.push(msg);
}


bool to_exit_process = false;
void processImuData(void)
{
  uint32_t imu_cnt = 0;
  while (!to_exit_process)
  {
    std::shared_ptr<ImuData> msg = stuffed_imu_data_queue.popWait();
    if (msg.get() == NULL)
    {
      continue;
    }

    // Well, it is time to process the IMU data msg, even it is time-consuming.

    imu_cnt++;
#if 0
    RS_MSG << "msg: " << imu_cnt << " imu data ts: " <<std::dec<<std::to_string(msg->timestamp) << RS_REND;
    RS_DEBUG  <<"imu data: " << " , linear_a_x" << msg->linear_acceleration_x 
      << " , linear_a_y " << msg->linear_acceleration_y << "  , linear_a_z" << msg->linear_acceleration_z   
      << " , angular_v_x " << msg->angular_velocity_x << " , angular_v_y" << msg->angular_velocity_y 
      << " , angular_v_z" <<msg->angular_velocity_z << RS_REND;
#endif

    free_imu_data_queue.push(msg);
  }

}
//
// @brief exception callback function. The caller should register it to the lidar driver.
//        Via this function, the driver inform the caller that something happens.
// @param code The error code to represent the error/warning/information
//
void exceptionCallback(const Error& code)
{
  // Note: This callback function runs in the packet-receving and packet-parsing/point-cloud_constructing thread of the
  // driver,
  //       so please DO NOT do time-consuming task here.
  RS_WARNING << code.toString() << RS_REND;
}


void processCloud(void)
{
  while (!to_exit_process)
  {
    std::shared_ptr<PointCloudMsg> msg = stuffed_cloud_queue.popWait();
    if (msg.get() == NULL)
    {
      continue;
    }

    // Well, it is time to process the point cloud msg, even it is time-consuming.
    RS_MSG << "msg: " << msg->seq << " point cloud size: " << msg->points.size() << RS_REND;

#if 0
    for (auto it = msg->points.begin(); it != msg->points.end(); it++)
    {
      std::cout << std::fixed << std::setprecision(8) << "(" << it->x << ", " << it->y << ", " << it->z << ", "
                << (int)it->intensity << ", " << it->timestamp << ")" << std::endl;
    }
#endif

    free_cloud_queue.push(msg);


  }
}

int main(int argc, char* argv[])
{
  RS_TITLE << "------------------------------------------------------" << RS_REND;
  RS_TITLE << "            RS_Driver Core Version: v" << getDriverVersion() << RS_REND;
  RS_TITLE << "------------------------------------------------------" << RS_REND;

  RSDriverParam param;  ///< Create a parameter object
  param.input_type = InputType::ONLINE_LIDAR;
  param.input_param.msop_port = 6699;   ///< Set the lidar msop port number, the default is 6699
  param.input_param.difop_port = 7788;  ///< Set the lidar difop port number, the default is 7788
#if ENABLE_IMU_PARSE
  param.input_param.imu_port = 6688;   ///< Set the lidar imu port number, the default is 0
#endif
  param.lidar_type = LidarType::RSAIRY;   ///< Set the lidar type. Make sure this type is correct
  param.print();
   
  LidarDriver<PointCloudMsg> driver;               ///< Declare the driver object
  driver.regPointCloudCallback(driverGetPointCloudFromCallerCallback, driverReturnPointCloudToCallerCallback); ///< Register the point cloud callback functions
  driver.regExceptionCallback(exceptionCallback);  ///< Register the exception callback function
#if ENABLE_IMU_PARSE
  driver.regImuDataCallback(driverGetIMUDataFromCallerCallback, driverReturnImuDataToCallerCallback);
#endif

  if (!driver.init(param))                         ///< Call the init function
  {
    RS_ERROR << "Driver Initialize Error..." << RS_REND;
    return -1;
  }

  std::thread cloud_handle_thread = std::thread(processCloud);
#if ENABLE_IMU_PARSE
  std::thread imuData_handle_thread = std::thread(processImuData);
#endif
  driver.start();  ///< The driver thread will start
  RS_DEBUG << "RoboSense Lidar-Driver Linux online demo start......" << RS_REND;

#ifdef ORDERLY_EXIT
  std::this_thread::sleep_for(std::chrono::seconds(10));

  driver.stop();

  to_exit_process = true;
  cloud_handle_thread.join();
#else
  while (true)
  {
    std::this_thread::sleep_for(std::chrono::seconds(1));
  }
#endif

  return 0;
}