225 lines
9.1 KiB
C++
225 lines
9.1 KiB
C++
#ifndef CRSLIDARDEVICE_H
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#define CRSLIDARDEVICE_H
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#include "IRsLidarDevice.h"
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// SDK 内部以 uint8_t* 调用 recvfrom()，但 C++ 中 char*/unsigned char*/signed char*
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// 是三种独立类型，MSVC 拒绝 uint8_t*(=unsigned char*) → char* 的隐式转换。
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// 此重载在 SDK 头文件之前定义，利用重载决议的精确匹配规则拦截调用并内部转型。
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#ifdef _WIN32
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#include <winsock2.h>
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#pragma comment(lib, "ws2_32.lib")
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inline int recvfrom(SOCKET s, unsigned char* buf, int len, int flags, sockaddr* from, int* fromlen)
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{
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return ::recvfrom(s, reinterpret_cast<char*>(buf), len, flags, from, fromlen);
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}
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#endif
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// SDK 依赖 std::array / int16_t / uint16_t，但其内部缺少对应的 #include，
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// 在 Linux 上通过 libstdc++ 间接包含可用，MSVC STL 不会间接拉入，需在此处显式引入。
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#include <array>
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#include <cstdint>
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// SDK 头文件全部放在私有层，不污染公共接口
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#include <rs_driver/api/lidar_driver.hpp>
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#include <rs_driver/msg/point_cloud_msg.hpp>
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#include <rs_driver/msg/packet.hpp>
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#include <rs_driver/driver/driver_param.hpp>
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#include <rs_driver/common/error_code.hpp>
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#include <rs_driver/utility/sync_queue.hpp>
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#include <thread>
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#include <atomic>
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#include <mutex>
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#include <array>
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#include <chrono>
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#include <cstddef>
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using namespace robosense::lidar;
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struct RsSdkDiscardPoint
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{
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};
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// 交付帧：封装一次完整扫描的数据 + 连续点池（p3DPoint 指向此处）
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// SDK packet callback 填充 → deliveryThread 消费（调用回调）→ 归还 m_frameFreeQueue
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struct DeliveryFrame
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{
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std::vector<SVzNLPointXYZI> pointPool;
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RsCloudData cloudData;
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RsFrameInfo info;
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void reserveLines(size_t lines, size_t pointsPerLine)
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{
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pointPool.resize(lines * pointsPerLine);
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cloudData.reserve(lines);
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}
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};
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using DeliveryFramePtr = std::shared_ptr<DeliveryFrame>;
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class CRsLidarDevice : public IRsLidarDevice
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{
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public:
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CRsLidarDevice();
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~CRsLidarDevice();
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static void* operator new(std::size_t size);
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static void operator delete(void* ptr) noexcept;
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static void operator delete(void* ptr, std::size_t) noexcept;
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int InitDevice() override;
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int OpenDevice(const RsLidarConfig& config) override;
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int CloseDevice() override;
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bool IsOpened() const override;
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int Start() override;
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int Stop() override;
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bool IsRunning() const override;
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int SetPointCloudCallback(PointCloudCallback callback) override;
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int SetPacketCallback(PacketCallback callback) override;
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int SetExceptionCallback(ExceptionCallback callback) override;
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std::string GetVersion() override;
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uint64_t GetDroppedFrameCount() const override;
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size_t GetStuffedQueueDepth() const override;
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uint64_t GetExceptionCount(int errCode) const override;
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RsCallbackStats GetCallbackLatencyStats() const override;
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size_t GetStuffedQueuePeak() const override;
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private:
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// SDK 内部类型别名
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using SdkCloudMsg = PointCloudT<RsSdkDiscardPoint>;
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using SdkCloudPtr = std::shared_ptr<SdkCloudMsg>;
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/// 交付线程：从交付队列取帧 → 调用用户回调（PushFrame memcpy在此发生）→ 归还交付帧
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void deliveryThread();
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/// 输出 5s 窗口诊断日志并重置窗口字段；仅当距 lastLogTime ≥5s 时实际输出
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void emitDiagnosticLogIfDue(std::chrono::steady_clock::time_point& lastLogTime);
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SdkCloudPtr getFreeCloud();
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void putStuffedCloud(SdkCloudPtr msg);
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/// 将 SDK Packet 转为 RsPacketInfo 后转发给用户
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void onPacket(const Packet& pkt);
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void resetPacketFrameBuilder();
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void initializeRsem4DefaultAngles();
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void updateRsem4PitchTrig();
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bool processRsem4Packet(const Packet& pkt);
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void processRsem4Difop(const uint8_t* data, size_t size);
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bool processRsem4Msop(const uint8_t* data, size_t size);
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bool processRsem4CompleteMsop(const uint8_t* data, size_t size);
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bool processRsem4CompressedMsop(const uint8_t* data, size_t size);
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DeliveryFramePtr acquireFrameForBuild();
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void resetDeliveryFrame(const DeliveryFramePtr& frame);
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void submitActiveFrame();
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void resetActiveFrameTracking();
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bool beginActiveFrame(bool startedAtBoundary);
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bool prepareRsem4FrameForColumn(uint32_t column);
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void markRsem4ColumnSegment(uint32_t column, uint8_t segmentMask, uint8_t completeMask);
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void fillRsem4Point(uint32_t column, uint32_t ring, float distance,
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uint8_t intensity, uint8_t surfaceIndex,
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float cosYaw, float sinYaw);
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/// 将 SDK Error 转为 RsExceptionInfo 后转发给用户
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void onException(const Error& code);
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/// RsLidarConfig → RSDriverParam
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static RSDriverParam toDriverParam(const RsLidarConfig& config);
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bool m_bOpened = false;
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std::atomic<bool> m_bRunning{false};
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std::atomic<bool> m_bStopProcess{false};
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std::atomic<bool> m_bStopDelivery{false};
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PointCloudCallback m_pointCloudCallback;
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PacketCallback m_packetCallback;
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ExceptionCallback m_exceptionCallback;
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std::atomic<bool> m_hasPacketCallback{false};
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std::mutex m_callbackMutex;
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std::unique_ptr<LidarDriver<SdkCloudMsg>> m_pDriver;
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std::thread m_deliveryThread;
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SyncQueue<SdkCloudPtr, 4096> m_freeQueue;
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// 交付帧流水线：SDK packet callback 填充 → deliveryThread 消费
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SyncQueue<DeliveryFramePtr, 16> m_deliveryQueue;
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SyncQueue<DeliveryFramePtr, 16> m_frameFreeQueue;
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RSDriverParam m_param;
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DeliveryFramePtr m_activeFrame;
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bool m_activeFrameHasData = false;
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bool m_activeFrameAllValid = true;
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bool m_activeFrameStartedAtBoundary = false;
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bool m_activeFramePacketLoss = false;
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uint32_t m_activeCompleteColumns = 0;
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uint8_t m_activeColumnCompleteMask = 0;
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std::array<uint8_t, 1200> m_activeColumnMask{};
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bool m_hasRsem4PrevColumn = false;
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uint32_t m_prevRsem4Column = 0;
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bool m_rsem4FrameSynced = false;
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bool m_hasRsem4PrevSeq = false;
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uint16_t m_prevRsem4Seq = 0;
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std::chrono::steady_clock::time_point m_activeFrameStartTime{};
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std::chrono::steady_clock::time_point m_diagLastLogTime{};
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std::array<int8_t, 26> m_rsem4YawOffset{};
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std::array<int16_t, 520> m_rsem4PitchAngle{};
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std::array<std::array<float, 520>, 4> m_rsem4PitchSin{};
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std::array<std::array<float, 520>, 4> m_rsem4PitchCos{};
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std::array<int16_t, 4> m_rsem4SurfacePitchOffset{};
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bool m_rsem4AnglesReady = false;
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bool m_rsem4HasPartialPacket = false;
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uint16_t m_rsem4PartialSeq = 0;
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size_t m_rsem4PartialLen = 0;
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std::array<uint8_t, 3000> m_rsem4PartialPacket{};
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uint32_t m_diagPacketTick = 0;
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float m_rsem4MinDistance = 0.5f;
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float m_rsem4MaxDistance = 350.0f;
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// 丢帧监控
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std::atomic<uint64_t> m_droppedFrameCount{0};
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std::atomic<uint64_t> m_totalPushCount{0};
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std::atomic<uint64_t> m_parseAccumUs{0};
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std::atomic<uint64_t> m_parseMaxUs{0};
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std::atomic<uint64_t> m_parseCount{0};
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std::atomic<uint64_t> m_frameWaitAccumUs{0};
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std::atomic<uint64_t> m_frameWaitMaxUs{0};
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std::atomic<uint64_t> m_frameWaitCount{0};
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std::atomic<uint64_t> m_frameWaitTimeoutCount{0};
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std::atomic<uint64_t> m_deliveryDropCount{0};
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std::atomic<uint64_t> m_deliveredFrameCount{0};
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std::atomic<size_t> m_deliveryQueuePeak{0};
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// 诊断统计（每 5s 滚动窗口）
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// bucket: 0=MSOPTIMEOUT(0x40) 1=PKTBUFOVERFLOW(0x48) 2=CLOUDOVERFLOW(0x49) 3=WRONGMSOPLEN(0x42) 4=other
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static constexpr size_t EXC_BUCKET_COUNT = 5;
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std::array<std::atomic<uint64_t>, EXC_BUCKET_COUNT> m_exceptionCounts{};
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std::atomic<uint64_t> m_cbMaxUs{0};
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std::atomic<uint64_t> m_cbAccumUs{0};
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std::atomic<uint64_t> m_cbCount{0};
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uint64_t m_diagLastPushCount = 0;
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uint64_t m_diagLastQueueDropCount = 0;
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uint64_t m_diagLastParseCount = 0;
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uint64_t m_diagLastParseAccumUs = 0;
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uint64_t m_diagLastFrameWaitCount = 0;
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uint64_t m_diagLastFrameWaitAccumUs = 0;
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uint64_t m_diagLastFrameWaitTimeoutCount = 0;
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uint64_t m_diagLastDeliveryDropCount = 0;
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uint64_t m_diagLastDeliveredFrameCount = 0;
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uint64_t m_diagLastCbCount = 0;
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uint64_t m_diagLastCbAccumUs = 0;
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std::array<uint64_t, EXC_BUCKET_COUNT> m_diagLastExceptionCounts{};
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/// 将 SDK ErrCode 映射到统计桶下标，未知返回 4 (other)
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static size_t errCodeToBucket(int errCode);
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};
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#endif // CRSLIDARDEVICE_H
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