CscLidarEngine.h

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//
//  CscLidarEngine.hpp
//  ConscienceRobotManager
//
//  Created by Iliès Zaoui on 14/07/2019.
//  Copyright © 2020 Conscience Robotics. All rights reserved.
//
 
#ifndef CscLidarEngine_h
#define CscLidarEngine_h
 
#include <mutex>
 
#include "CscCommon.h"
#include "Axiomes/Csc3dTypes.h"
 
using namespace conscience_core::axiomes;
using std::mutex;
 
namespace conscience_core::lidar {
 
struct OdometryData {
    double deltaPositionX;
    double deltaPositionY;
    double deltaPositionZ;
    double deltaYaw;
    string toString() const;
};
 
struct LidarValues {
    map<double, double> lidarValues;
    unsigned long long timestamp;
    optional<OdometryData> odometry = {};
};
 
typedef uint64_t CscLidarMode;
enum CscLidarModeList : CscLidarMode {
    cscLidarModePaused = 1ULL << 0,
    cscLocalisation = 1ULL << 2,
 
    cscSlam = 1ULL << 4,
};
 
class CscLidarEngine {
public:
    static bool isSlamAutoEnabled();
 
    CscLidarEngine();
    virtual void startEngine();
    virtual void stopEngine();
    const LidarValues &getCurrentValues();
    LidarValues getCurrentValuesCopy();
 
    void integrateValuesAtTime(const map<double, double> &newValues, unsigned long long timestamp, optional<OdometryData> odometry = {});
 
    virtual ~CscLidarEngine();
    void activateLidarMode(CscLidarMode newLidarMode);
    void addLidarMode(CscLidarMode newLidarMode);
    void removeLidarMode(CscLidarMode lidarModeToRemove);
    bool isLidarModeRunning(CscLidarMode lidarModeSearched);
    bool isLidarModeActive(CscLidarMode lidarModeSearched);
    bool isLidarEngineActivated();
    void stopLidarEngine();
 
    unsigned long long getLastLidarValuesTime() const;
    unsigned long long getLidarValuesTimeToRetrieve() const;
    unsigned long long getLidarValuesTimeBetweenUpdate() const;
 
    void setOnNewValuesListener(const optional<function<void(const LidarValues &)>> &onNewValues = {});
    optional<function<void()>> getOnActivatedListener() const;
    void setOnActivatedListener(const optional<function<void()>> &onActivated = {});
 
    static vector<CscPoint3d *> toWorldPoints(const LidarValues &lidarValues, const CscQuaternion &entityOrientation, const CscPoint3d &entityPosition, double y = 0);
 
private:
    mutex cartographyMutex;
    mutex lidarReadingsMutex;
 
    CscLidarMode lidarMode = cscLidarModePaused;
 
    unsigned long long lidarValuesTimeToRetrieveInMillis = 0;
    unsigned long long lidarValuesTimeBetweenUpdateInMillis = 0;
 
protected:
    mutex lidarValuesMutex;
    LidarValues values;
    optional<function<void(const LidarValues &)>> onNewValues = {};
    optional<function<void()>> onActivated = {};
 
    std::unique_ptr<CscLogger> logger;
};
 
}
 
#endif /* CscLidarEngine */