Add lslidar driver for Apollo platform,230714

ApolloAuto · Jul 14, 2023 · cf81fa2 · cf81fa2
1 parent c70f99a
commit cf81fa2
Show file tree

Hide file tree

Showing 27 changed files with 2,921 additions and 2,829 deletions.
diff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt
@@ -1,7 +1,7 @@
 model: LSLIDAR16P
-device_ip: "192.168.1.200"
-msop_port: 2368
-difop_port: 2369
+device_ip: "192.168.1.201"
+msop_port: 2370
+difop_port: 2371
 return_mode: 1
 degree_mode: 2        #2: 均匀2度校准两列  1://均匀1.33度校准两列
 distance_unit: 0.25

diff --git a/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt
@@ -9,7 +9,7 @@ packet_size: 1206
 time_synchronization: false
 add_multicast: false
 group_ip: "224.1.1.2"
-rpm: 600                   #雷达转速     10hz:600rpm, 20hz:1200rpm, 5hz:300rpm
+rpm: 300                   #雷达转速     10hz:600rpm, 20hz:1200rpm, 5hz:300rpm
 convert_channel_name: "/apollo/sensor/lslidar32/PointCloud2"
 frame_id: "lslidar32"
 scan_channel: "/apollo/sensor/lslidar32/Scan"

diff --git a/modules/drivers/lidar/lslidar/driver/driver.cc b/modules/drivers/lidar/lslidar/driver/driver.cc
diff --git a/modules/drivers/lidar/lslidar/driver/driver.h b/modules/drivers/lidar/lslidar/driver/driver.h
@@ -16,81 +16,82 @@
 
 #pragma once
 
+#include <atomic>
+#include <cmath>
+#include <ctime>
 #include <memory>
-#include <string>
 #include <mutex>
-#include <atomic>
-#include "modules/drivers/lidar/lslidar/driver/input.h"
+#include <string>
+
 #include "modules/drivers/lidar/lslidar/proto/config.pb.h"
 #include "modules/drivers/lidar/lslidar/proto/lslidar.pb.h"
 
-namespace apollo
-{
-  namespace drivers
-  {
-    namespace lslidar
-    {
-
-      constexpr int BLOCKS_PER_PACKET = 12;
-      constexpr int BLOCK_SIZE = 100;
-
-      static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;
-      static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;
-      static const int POINTS_PER_PACKET = 171 * 7;                // ch系列
-      static const int LS_POINTS_PER_PACKET_SINGLE_ECHO = 149 * 8; // LS 1550nm系列 单回波
-      static const int LS_POINTS_PER_PACKET_DOUBLE_ECHO = 99 * 12; // LS 1550nm系列 单回波
-
-      class LslidarDriver
-      {
-      public:
-        explicit LslidarDriver(const Config &config) : config_(config)
-        {
-          //    scan_start = new LslidarPacket();
-        }
-        ~LslidarDriver();
-
-        bool Poll(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan);
-        void Init();
-        void difopPoll();
-        void SetPacketRate(const double packet_rate) { packet_rate_ = packet_rate; }
-        int npackets;
-        struct tm current_time;
-
-      protected:
-        Config config_;
-        std::unique_ptr<Input> input_ = nullptr;
-        std::unique_ptr<Input> positioning_input_ = nullptr;
-        std::string topic_;
-        double packet_rate_ = 0.0;
-        bool scan_fill = false;
-        uint64_t gps_time = 0;
-        uint64_t last_gps_time = 0;
-
-        uint64_t basetime_ = 0;
-        uint64_t packet_time_ns_ = 0;
-
-        uint32_t last_gps_time_ = 0;
-        uint64_t last_count_ = 0;
-        static uint64_t sync_counter;
-
-        std::thread difop_thread_;
-        int PollStandard(std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan);
-        LslidarPacket scan_start;
-        LslidarPacket last_scan_start;
-
-        LslidarPacket scan_start1;
-        LslidarPacket scan_start2;
-        std::mutex mutex_;
-        uint8_t bytes[FIRING_DATA_PACKET_SIZE] = {0x00};
-        std::string time_service_mode = {"gps"};
-      };
-
-      class LslidarDriverFactory
-      {
-      public:
-        static LslidarDriver *CreateDriver(const Config &config);
-      };
-
-    } // namespace lslidar
-  }   // namespace drivers
-} // namespace apollo
+#include "cyber/cyber.h"
+#include "modules/drivers/lidar/lslidar/driver/input.h"
+
+namespace apollo {
+namespace drivers {
+namespace lslidar {
+
+constexpr int BLOCKS_PER_PACKET = 12;
+constexpr int BLOCK_SIZE = 100;
+
+static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;
+static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;
+static const int POINTS_PER_PACKET = 171 * 7;  // ch系列
+static const int LS_POINTS_PER_PACKET_SINGLE_ECHO =
+    149 * 8;  // LS 1550nm系列 单回波
+static const int LS_POINTS_PER_PACKET_DOUBLE_ECHO =
+    99 * 12;  // LS 1550nm系列 单回波
+
+class LslidarDriver {
+ public:
+  explicit LslidarDriver(const Config &config) : config_(config) {
+    //    scan_start = new LslidarPacket();
+  }
+  ~LslidarDriver();
+
+  bool Poll(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan);
+  void Init();
+  void difopPoll();
+  void SetPacketRate(const double packet_rate) { packet_rate_ = packet_rate; }
+  int npackets;
+  struct tm current_time;
+
+ protected:
+  Config config_;
+  std::unique_ptr<Input> input_ = nullptr;
+  std::unique_ptr<Input> positioning_input_ = nullptr;
+  std::string topic_;
+  double packet_rate_ = 0.0;
+  bool scan_fill = false;
+  uint64_t gps_time = 0;
+  uint64_t last_gps_time = 0;
+
+  uint64_t basetime_ = 0;
+  uint64_t packet_time_ns_ = 0;
+
+  uint32_t last_gps_time_ = 0;
+  uint64_t last_count_ = 0;
+  static uint64_t sync_counter;
+
+  std::thread difop_thread_;
+  int PollStandard(std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan);
+  LslidarPacket scan_start;
+  LslidarPacket last_scan_start;
+
+  LslidarPacket scan_start1;
+  LslidarPacket scan_start2;
+  std::mutex mutex_;
+  uint8_t bytes[FIRING_DATA_PACKET_SIZE] = {0x00};
+  std::string time_service_mode = {"gps"};
+};
+
+class LslidarDriverFactory {
+ public:
+  static LslidarDriver *CreateDriver(const Config &config);
+};
+
+}  // namespace lslidar
+}  // namespace drivers
+}  // namespace apollo