QUYVN
59880871b0
parse_family_b() dùng sai hệ số góc 0.25°/LSB; theo spec Olei chính hãng (Olei.LidarSensor/LidarDataBlock.GetAngleDegrees) AngleRaw là 0.01°/LSB. Sai 25× khiến điểm bị gán nhầm góc → một phòng bị bôi thành vòng tròn trên RViz. Đã verify với thiết bị thật OLELR-1FMI: sau khi sửa ra 2400 điểm/vòng, 0–359.9°, đúng hình học môi trường. - Đổi hệ số góc 0.25° → 0.01° trong parse_family_b(). - Bỏ qua block invalid (AngleRaw >= 0xFF00) theo spec. - Dò ranh giới vòng quay PER-POINT thay vì per-packet (một gói có thể chứa >1 vòng), tránh gộp nhiều vòng vào một scan. - Thêm model LR-1FMI (360°, 0.01°/LSB, ~2400 pts/rev) vào bảng model + kModelTable, đặt "1FMI" trước "1F" để khớp đúng chuỗi tên. Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
489 lines
22 KiB
C++
489 lines
22 KiB
C++
#include "lidarlib/lidar.hpp"
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#include <cstring>
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#include <cmath>
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#include <stdexcept>
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#include <sys/socket.h>
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#include <arpa/inet.h>
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#include <unistd.h>
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#include <sys/select.h>
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namespace lidarlib {
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namespace {
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constexpr float kDeg2Rad = 3.14159265358979323846f / 180.f;
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}
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// ── Little-endian helpers ────────────────────────────────────────────────────
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static inline uint16_t le16(const uint8_t* p) {
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return static_cast<uint16_t>(p[0]) | (static_cast<uint16_t>(p[1]) << 8);
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}
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static inline uint32_t le32(const uint8_t* p) {
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return static_cast<uint32_t>(p[0])
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| (static_cast<uint32_t>(p[1]) << 8)
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| (static_cast<uint32_t>(p[2]) << 16)
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| (static_cast<uint32_t>(p[3]) << 24);
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}
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// Normalize any angle into the SIGNED system (-180, 180]: 0 = straight ahead,
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// + = left, - = right. This lets a model's FOV (e.g. VB -135…135) correctly
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// filter lidars that report angles in 0–360 too.
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static inline float to_signed_deg(float deg) {
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deg = std::fmod(deg, 360.f);
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if (deg < 0.f) deg += 360.f; // → [0,360)
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if (deg > 180.f) deg -= 360.f; // → (-180,180]
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return deg;
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}
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// Mirror the angle when the unit is mounted upside-down (flipped 180° about
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// its forward axis), so output angle stays correct relative to the vehicle
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// frame regardless of physical mounting. Must run AFTER to_signed_deg() and
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// BEFORE the FOV filter, since the FOV window is defined in vehicle frame.
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static inline float maybe_invert(float signed_deg, bool inverted) {
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return inverted ? to_signed_deg(-signed_deg) : signed_deg;
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}
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// ── CRC32 (poly 0x04C11DB7, MSB-first) ──────────────────────────────────────
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static uint32_t crc32_olei(const uint8_t* data, size_t len) {
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uint32_t crc = 0xFFFFFFFF;
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for (size_t i = 0; i < len; ++i) {
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crc ^= static_cast<uint32_t>(data[i]) << 24;
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for (int b = 0; b < 8; ++b)
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crc = (crc & 0x80000000u) ? (crc << 1) ^ 0x04C11DB7u : (crc << 1);
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}
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return crc;
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}
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// ── Frame IDs ────────────────────────────────────────────────────────────────
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static constexpr uint16_t FRAME_ID_A = 0xFAF0; // 2D Ethernet (VB, VF, LR-1F)
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static constexpr uint16_t FRAME_ID_B = 0xFEF0; // LR-1BS5 / LR-1BS2 Ethernet variant
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static constexpr uint16_t FRAME_ID_C = 0xFEAC; // Protocol V3 (GS1-5)
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// ─── Constructor / Destructor ────────────────────────────────────────────────
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Driver::Driver(const ModelConfig& cfg, const std::string& ip, uint16_t port, bool inverted)
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: cfg_(cfg), ip_(ip), port_(port), inverted_(inverted)
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{
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auto_detect_ = (std::strcmp(cfg.name, "AUTO") == 0);
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}
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Driver::~Driver() { close(); }
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// ─── open() ─────────────────────────────────────────────────────────────────
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bool Driver::open() {
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sock_fd_ = ::socket(AF_INET, SOCK_DGRAM, 0);
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if (sock_fd_ < 0) return false;
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// Allow multiple sockets to bind the same port (run alongside another
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// app / debugging). SO_REUSEPORT lets several listeners receive the same
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// UDP stream — only works if EVERY socket on that port sets this flag.
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int reuse = 1;
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::setsockopt(sock_fd_, SOL_SOCKET, SO_REUSEADDR, &reuse, sizeof(reuse));
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#ifdef SO_REUSEPORT
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::setsockopt(sock_fd_, SOL_SOCKET, SO_REUSEPORT, &reuse, sizeof(reuse));
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#endif
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sockaddr_in addr{};
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addr.sin_family = AF_INET;
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addr.sin_port = htons(port_);
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addr.sin_addr.s_addr = inet_addr(ip_.c_str());
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if (::bind(sock_fd_, reinterpret_cast<sockaddr*>(&addr), sizeof(addr)) < 0) {
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::close(sock_fd_);
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sock_fd_ = -1;
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return false;
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}
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pending_angle_deg_.reserve(2048);
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pending_dist_m_.reserve(2048);
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pending_intensity_.reserve(2048);
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return true;
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}
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// ─── close() ────────────────────────────────────────────────────────────────
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void Driver::close() {
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if (sock_fd_ >= 0) {
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::close(sock_fd_);
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sock_fd_ = -1;
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}
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}
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// ─── recv_scan() — blocks until one full revolution is available ──────────
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bool Driver::recv_scan(ScanResult& out, int timeout_ms) {
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scan_ready_ = false;
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while (!scan_ready_) {
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if (timeout_ms > 0) {
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fd_set fds; FD_ZERO(&fds); FD_SET(sock_fd_, &fds);
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timeval tv{ timeout_ms / 1000, (timeout_ms % 1000) * 1000 };
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int r = ::select(sock_fd_ + 1, &fds, nullptr, nullptr, &tv);
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if (r <= 0) return false; // timeout or error
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}
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if (!spin_once()) return false;
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}
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out = std::move(ready_result_);
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return true;
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}
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// ─── spin_once() ────────────────────────────────────────────────────────────
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bool Driver::spin_once() {
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// buf is the recv_buf_ member, NOT static → each Driver has its own
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// memory, safe when 2 lidars receive concurrently on 2 threads.
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uint8_t* buf = recv_buf_;
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sockaddr_in from{};
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socklen_t fromlen = sizeof(from);
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ssize_t n = ::recvfrom(sock_fd_, buf, sizeof(recv_buf_), 0,
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reinterpret_cast<sockaddr*>(&from), &fromlen);
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if (n < 0) return false;
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// Distinguish protocol family by Frame ID (little-endian)
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// Family A / C: Frame ID / magic sits right at bytes [0-1]
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// Family B: has a 0x010F preamble at bytes [0-1], real Frame ID at bytes [2-3]
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if (n < 4) return true; // too short, skip
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uint16_t id_at_0 = le16(buf); // Family A (0xFAF0) or Family C (0xFEAC)
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uint16_t frame_id_b = le16(buf + 2); // Family B: preamble 0x010F + real id at [2-3]
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if (id_at_0 == FRAME_ID_A) parse_family_a(buf, static_cast<int>(n));
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else if (id_at_0 == FRAME_ID_C) parse_family_c(buf, static_cast<int>(n));
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else if (frame_id_b == FRAME_ID_B) parse_family_b(buf, static_cast<int>(n));
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// else: unknown family (3D LR-16F uses a different format, extend later)
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return true;
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}
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// ─── push_point() — append with angle-unwrapping ───────────────────────────
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// `signed_angle_deg` is already signed+inverted+FOV-filtered by the caller.
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// Unwrapping against the previous point (rather than re-deriving from device
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// raw angle) keeps this identical for all 3 families and survives the ±180°
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// seam: a 360° device's points cross from +179.x to -179.x mid-revolution in
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// the signed system, which push_point() turns back into a continuous ramp so
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// LaserScan::angle_min/angle_max/ranges stay meaningful (monotonic, ROS-style).
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void Driver::push_point(float signed_angle_deg, float dist_m, uint8_t intensity) {
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float angle = signed_angle_deg;
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if (!pending_angle_deg_.empty()) {
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float prev = pending_angle_deg_.back();
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while (angle - prev > 180.f) angle -= 360.f;
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while (angle - prev < -180.f) angle += 360.f;
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}
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pending_angle_deg_.push_back(angle);
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pending_dist_m_.push_back(dist_m);
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pending_intensity_.push_back(intensity);
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}
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// ─── flush_scan() — a revolution is complete ───────────────────────────────
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void Driver::flush_scan() {
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if (pending_angle_deg_.empty()) return;
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const size_t n = pending_angle_deg_.size();
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LaserScan& scan = ready_result_.scan;
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scan.timestamp_ms = pending_ts_;
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scan.angle_min = pending_angle_deg_.front() * kDeg2Rad;
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scan.angle_max = pending_angle_deg_.back() * kDeg2Rad;
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scan.angle_increment = (n > 1)
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? (scan.angle_max - scan.angle_min) / static_cast<float>(n - 1) : 0.f;
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scan.time_increment = 0.f; // device doesn't expose per-point timing
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scan.scan_time = 0.f; // device doesn't expose per-scan timing
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scan.range_min = cfg_.range_min_m;
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scan.range_max = cfg_.range_max_m;
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scan.ranges.assign(pending_dist_m_.begin(), pending_dist_m_.end());
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scan.intensities.assign(pending_intensity_.begin(), pending_intensity_.end());
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ExtraInfo& info = ready_result_.info;
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info = pending_info_;
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info.detected_model = detected_model_name_;
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info.error_status = pending_err_;
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pending_angle_deg_.clear();
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pending_dist_m_.clear();
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pending_intensity_.clear();
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pending_info_ = ExtraInfo{}; // reset per-revolution optional fields
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scan_ready_ = true;
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if (cb_) cb_(ready_result_);
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}
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// ─── parse_family_a() ───────────────────────────────────────────────────────
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// 20-byte header:
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// [0-1] Frame ID = 0xFAF0
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// [2-3] Protocol = 0x0200
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// [4] Distance scale (mm/count)
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// [5] Error status
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// [6] Start angle (deg, uint8)
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// [7] End angle (deg, uint8, exclusive)
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// [8-9] Num points (uint16 LE)
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// [10-11] Rotation info — raw, undecoded (exposed as ExtraInfo::rotation_raw)
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// [12-15] Timestamp (uint32 LE, ms)
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// [16-19] CRC32 of the block data
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// 3-byte block × N:
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// [0-1] Distance readout (uint16 LE)
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// [2] Intensity (uint8)
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bool Driver::parse_family_a(const uint8_t* buf, int len) {
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static constexpr int HEADER_LEN = 20;
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static constexpr int BLOCK_LEN = 3;
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if (len < HEADER_LEN) return false;
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// ── read header ──
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// uint16_t protocol = le16(buf + 2); // 0x0200
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uint8_t dist_scale = buf[4]; // mm per count
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uint8_t err_status = buf[5];
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float ang_start = static_cast<float>(buf[6]);
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// float ang_end = static_cast<float>(buf[7]); // exclusive
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uint16_t num_pts = le16(buf + 8);
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uint16_t rotation_raw = le16(buf + 10);
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uint32_t timestamp = le32(buf + 12);
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uint32_t crc_packet = le32(buf + 16);
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// ── verify CRC (optional but recommended) ──
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int block_bytes = len - HEADER_LEN;
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if (block_bytes < num_pts * BLOCK_LEN) return false; // truncated packet
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uint32_t crc_calc = crc32_olei(buf + HEADER_LEN, static_cast<size_t>(num_pts * BLOCK_LEN));
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if (crc_calc != crc_packet) return false; // CRC mismatch
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// ── detect wrap-around → flush the previous revolution ──
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if (last_angle_ >= 0.f && ang_start < last_angle_ - 90.f) {
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flush_scan();
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}
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// ── decode points ──
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pending_ts_ = timestamp;
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pending_err_ = err_status;
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pending_info_.distance_scale_mm = dist_scale;
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pending_info_.rotation_raw = rotation_raw;
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// scale=0 means the firmware didn't report it → default to 1 mm/count to avoid dist=0.
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const float scale_mm = (dist_scale ? static_cast<float>(dist_scale) : 1.f);
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const float ang_end = static_cast<float>(buf[7]);
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const uint8_t* blk = buf + HEADER_LEN;
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for (uint16_t i = 0; i < num_pts; ++i, blk += BLOCK_LEN) {
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uint16_t dist_raw = le16(blk);
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uint8_t intensity = blk[2];
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// Compute angle: linear interpolation within the packet's range (device-space)
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float frac = (num_pts > 1) ? static_cast<float>(i) / (num_pts - 1) : 0.f;
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float angle = to_signed_deg(ang_start + frac * (ang_end - ang_start));
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angle = maybe_invert(angle, inverted_);
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// Filter out anything outside the model's FOV (already in the signed -180…180 system)
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if (angle < cfg_.scan_angle_min || angle > cfg_.scan_angle_max) continue;
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push_point(angle, dist_raw * scale_mm * 0.001f /* mm → m */, intensity);
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}
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last_angle_ = ang_start;
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return true;
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}
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// ─── parse_family_b() ───────────────────────────────────────────────────────
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// 40-byte header:
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// [0-1] 0x010F
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// [2-3] 0xFEF0 (Frame ID)
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// [4-5] 0x0200 (Protocol)
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// [6] Distance scale
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// [7-16] Model identifier string (e.g. "OLELR-1BS5")
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// [17-39] Reserved
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// 8-byte block × N:
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// [0-1] AngleRaw (uint16 LE, × 0.01° → deg, 0–359.99); >= 0xFF00 = invalid point
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// [2-3] Distance readout (uint16 LE); meters = value × DistanceScale / 1000
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// [4-5] Signal strength (uint16 LE)
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// [6-7] Reserved
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// NOTE: this header carries no timestamp/error field, so ScanResult::scan's
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// timestamp_ms and info.error_status stay at their defaults (0) for Family B.
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bool Driver::parse_family_b(const uint8_t* buf, int len) {
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static constexpr int HEADER_LEN = 40;
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static constexpr int BLOCK_LEN = 8;
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if (len < HEADER_LEN) return false;
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uint8_t dist_scale = buf[6];
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// scale=0 → default to 1 mm/count so distances don't collapse to zero.
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const float scale_mm = (dist_scale ? static_cast<float>(dist_scale) : 1.f);
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pending_info_.distance_scale_mm = dist_scale;
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if (auto_detect_ && !model_locked_) {
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std::string raw(reinterpret_cast<const char*>(buf + 7), 10);
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size_t z = raw.find('\0');
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if (z != std::string::npos) raw.resize(z);
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if (!raw.empty()) {
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detected_model_name_ = raw;
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model_locked_ = true;
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static constexpr struct { const char* key; const ModelConfig* cfg; } kModelTable[] = {
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{ "1BS5", &MODEL_LR1BS5 },
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{ "16F", &MODEL_LR16F },
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{ "1FMI", &MODEL_LR1FMI }, // must precede "1F": "OLELR-1FMI" also contains "1F"
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{ "1F", &MODEL_LR1F },
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{ "VF", &MODEL_VF },
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{ "VB", &MODEL_VB },
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};
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for (const auto& entry : kModelTable) {
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if (raw.find(entry.key) != std::string::npos) {
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cfg_.scan_angle_min = entry.cfg->scan_angle_min;
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cfg_.scan_angle_max = entry.cfg->scan_angle_max;
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cfg_.range_min_m = entry.cfg->range_min_m;
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cfg_.range_max_m = entry.cfg->range_max_m;
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break;
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}
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}
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}
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}
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int num_pts = (len - HEADER_LEN) / BLOCK_LEN;
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if (num_pts <= 0) return false;
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const uint8_t* blk = buf + HEADER_LEN;
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// AngleRaw is 0.01°/LSB (0–359.99°), per the official Olei block spec —
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// verified against real OLELR-1FMI geometry (a 0.25° scale smears a room
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// into a circle). AngleRaw >= 0xFF00 marks an invalid point → skip it.
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// The counter resets to 0 each revolution, but one packet is only a ~22°
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// arc and the device can pack >1 revolution across packets, so the
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// revolution boundary is detected PER POINT: a >90° drop between
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// consecutive [0,360) angles ends the current revolution.
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static constexpr uint16_t INVALID_ANGLE = 0xFF00;
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for (int i = 0; i < num_pts; ++i, blk += BLOCK_LEN) {
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uint16_t angle_raw = le16(blk);
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if (angle_raw >= INVALID_ANGLE) continue; // invalid point
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float dev_deg = std::fmod(angle_raw * 0.01f, 360.f); // [0,360)
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if (last_angle_ >= 0.f && dev_deg < last_angle_ - 90.f) {
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flush_scan(); // revolution complete
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}
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last_angle_ = dev_deg;
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float angle = maybe_invert(to_signed_deg(angle_raw * 0.01f), inverted_); // -180…180
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float dist_m = le16(blk + 2) * scale_mm * 0.001f; // readout × scale → m
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uint8_t intensity = static_cast<uint8_t>(le16(blk + 4) >> 2); // 10-bit → 8-bit
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if (angle < cfg_.scan_angle_min || angle > cfg_.scan_angle_max) continue;
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push_point(angle, dist_m, intensity);
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}
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return true;
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}
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// ─── parse_family_c() ───────────────────────────────────────────────────────
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// Protocol V3 (Olei GS1-5, magic 0xFEAC) — ported from the existing C#
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// production driver OleiGS15Driver.cs (RobotNet10.RobotApp); NOT independently
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// sniffed/verified against real GS1-5 hardware (no device was available to
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// test this while writing the code).
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// 48-byte header:
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// [0-1] Magic = 0xFEAC
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// [2-3] Version
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// [4-7] PacketSize (uint32 LE)
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// [8-9] HeaderSize (uint16 LE, usually = 48)
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// [10] Distance ratio — read by the original C# driver but NOT applied
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// (distance is always raw mm / 1000); same behavior kept here.
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// Exposed raw as ExtraInfo::distance_ratio_raw.
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// [11] Types: 0x00=2B/point (range only), 0x01=4B/point (range+intensity),
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// 0x10=4B/point (first 2 bytes unused, range at [+2,+4))
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// [12-13] Scan number [14-15] Packet number
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// [16-19] Timestamp decimal [20-23] Timestamp integer
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// [24-25] Scan frequency raw [26-27] NumPointsScan (total points per revolution)
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// [28-29] Input status [30-31] Output status
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// [32-35] Field status
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// [36-37] StartIndex [38-39] EndIndex
|
||
// [40-41] FirstIndex — index of this packet's first point within the full revolution
|
||
// [42-43] NumPointsPacket — number of points in this packet
|
||
// [44-47] Status flags
|
||
// All of [10], [24-25], [28-35], [44-47] are read and passed through raw in
|
||
// ExtraInfo — none of these are cross-verified against real hardware, same
|
||
// caveat as the rest of this family.
|
||
// Angle: angle = (FirstIndex + i) * (360 / NumPointsScan) - 180 → already in
|
||
// the signed system (-180..180); no fmod needed like Family B since the
|
||
// index always stays within [0, NumPointsScan).
|
||
bool Driver::parse_family_c(const uint8_t* buf, int len) {
|
||
static constexpr int HEADER_LEN = 48;
|
||
if (len < HEADER_LEN) return false;
|
||
|
||
uint16_t header_size_field = le16(buf + 8);
|
||
uint8_t distance_ratio_raw = buf[10];
|
||
uint8_t types = buf[11];
|
||
uint16_t scan_frequency_raw = le16(buf + 24);
|
||
uint16_t num_pts_scan = le16(buf + 26);
|
||
uint16_t input_status = le16(buf + 28);
|
||
uint16_t output_status = le16(buf + 30);
|
||
uint32_t field_status = le32(buf + 32);
|
||
uint16_t first_index = le16(buf + 40);
|
||
uint16_t num_pts_packet = le16(buf + 42);
|
||
uint32_t status_flags = le32(buf + 44);
|
||
|
||
if (num_pts_scan == 0) return false; // avoid divide-by-zero
|
||
|
||
int header_size = (header_size_field == 0) ? HEADER_LEN : header_size_field;
|
||
if (header_size < HEADER_LEN || header_size > len) return false;
|
||
|
||
int bytes_per_point = (types == 0x00) ? 2 : (types == 0x01 || types == 0x10) ? 4 : 0;
|
||
if (bytes_per_point == 0) return false; // unknown Types, layout unclear
|
||
|
||
int payload_bytes = len - header_size;
|
||
int num_pts = num_pts_packet;
|
||
if (num_pts == 0 || num_pts * bytes_per_point > payload_bytes) {
|
||
num_pts = payload_bytes / bytes_per_point;
|
||
}
|
||
if (num_pts <= 0) return false;
|
||
|
||
pending_info_.distance_ratio_raw = distance_ratio_raw;
|
||
pending_info_.scan_frequency_raw = scan_frequency_raw;
|
||
pending_info_.input_status = input_status;
|
||
pending_info_.output_status = output_status;
|
||
pending_info_.field_status = field_status;
|
||
pending_info_.status_flags = status_flags;
|
||
|
||
// Magic 0xFEAC corresponds to exactly one model (GS1-5) — no model name
|
||
// string in the header like Family B, but recognizing this family is
|
||
// already enough to know the model, so auto-detect resolves immediately
|
||
// without reading any extra field.
|
||
if (auto_detect_ && !model_locked_) {
|
||
cfg_.scan_angle_min = MODEL_GS15.scan_angle_min;
|
||
cfg_.scan_angle_max = MODEL_GS15.scan_angle_max;
|
||
cfg_.range_min_m = MODEL_GS15.range_min_m;
|
||
cfg_.range_max_m = MODEL_GS15.range_max_m;
|
||
detected_model_name_ = MODEL_GS15.name;
|
||
model_locked_ = true;
|
||
}
|
||
|
||
const float angle_inc = 360.f / static_cast<float>(num_pts_scan);
|
||
// raw_angle is used for wrap-around detection: it does NOT have the -180
|
||
// offset that the externally-exposed angle gets, and stays in [0,360),
|
||
// monotonically increasing — matching the same convention used by
|
||
// Family A/B (last_angle_ >= 0 means "we already have a previous value");
|
||
// subtracting 180 here could go negative and break that sentinel check.
|
||
float raw_first_angle = static_cast<float>(first_index) * angle_inc;
|
||
|
||
if (last_angle_ >= 0.f && raw_first_angle < last_angle_ - 90.f) {
|
||
flush_scan();
|
||
}
|
||
|
||
const uint8_t* blk = buf + header_size;
|
||
for (int i = 0; i < num_pts; ++i, blk += bytes_per_point) {
|
||
uint16_t range_mm;
|
||
uint16_t inten_raw = 0;
|
||
bool has_inten = false;
|
||
|
||
if (types == 0x00) {
|
||
range_mm = le16(blk);
|
||
} else if (types == 0x01) {
|
||
range_mm = le16(blk);
|
||
inten_raw = le16(blk + 2);
|
||
has_inten = true;
|
||
} else { // 0x10
|
||
range_mm = le16(blk + 2);
|
||
}
|
||
|
||
float angle = to_signed_deg(static_cast<float>(first_index + i) * angle_inc - 180.f);
|
||
angle = maybe_invert(angle, inverted_);
|
||
if (angle < cfg_.scan_angle_min || angle > cfg_.scan_angle_max) continue;
|
||
|
||
push_point(angle, range_mm * 0.001f /* mm → m */,
|
||
has_inten ? static_cast<uint8_t>(inten_raw > 255 ? 255 : inten_raw) : uint8_t{0});
|
||
}
|
||
|
||
last_angle_ = raw_first_angle;
|
||
return true;
|
||
}
|
||
|
||
} // namespace lidarlib
|