CarlaSemanticLidarPublisher.cpp

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#define _GLIBCXX_USE_CXX11_ABI 0

#include "CarlaSemanticLidarPublisher.h"

#include <string>

#include "carla/ros2/types/PointCloud2PubSubTypes.h"
#include "carla/ros2/listeners/CarlaListener.h"

#include <fastdds/dds/domain/DomainParticipant.hpp>
#include <fastdds/dds/publisher/Publisher.hpp>
#include <fastdds/dds/topic/Topic.hpp>
#include <fastdds/dds/publisher/DataWriter.hpp>
#include <fastdds/dds/topic/TypeSupport.hpp>

#include <fastdds/dds/domain/qos/DomainParticipantQos.hpp>
#include <fastdds/dds/domain/DomainParticipantFactory.hpp>
#include <fastdds/dds/publisher/qos/PublisherQos.hpp>
#include <fastdds/dds/topic/qos/TopicQos.hpp>

#include <fastrtps/attributes/ParticipantAttributes.h>
#include <fastrtps/qos/QosPolicies.h>
#include <fastdds/dds/publisher/qos/DataWriterQos.hpp>
#include <fastdds/dds/publisher/DataWriterListener.hpp>


namespace carla {
namespace ros2 {

  namespace efd = eprosima::fastdds::dds;
  using erc = eprosima::fastrtps::types::ReturnCode_t;

  struct CarlaSemanticLidarPublisherImpl {
    efd::DomainParticipant* _participant { nullptr };
    efd::Publisher* _publisher { nullptr };
    efd::Topic* _topic { nullptr };
    efd::DataWriter* _datawriter { nullptr };
    efd::TypeSupport _type { new sensor_msgs::msg::PointCloud2PubSubType() };
    CarlaListener _listener {};
    sensor_msgs::msg::PointCloud2 _lidar {};
  };

  bool CarlaSemanticLidarPublisher::Init() {
    if (_impl->_type == nullptr) {
        std::cerr << "Invalid TypeSupport" << std::endl;
        return false;
    }
    efd::DomainParticipantQos pqos = efd::PARTICIPANT_QOS_DEFAULT;
    pqos.name(_name);
    auto factory = efd::DomainParticipantFactory::get_instance();
    _impl->_participant = factory->create_participant(0, pqos);
    if (_impl->_participant == nullptr) {
        std::cerr << "Failed to create DomainParticipant" << std::endl;
        return false;
    }
    _impl->_type.register_type(_impl->_participant);

    efd::PublisherQos pubqos = efd::PUBLISHER_QOS_DEFAULT;
    _impl->_publisher = _impl->_participant->create_publisher(pubqos, nullptr);
    if (_impl->_publisher == nullptr) {
      std::cerr << "Failed to create Publisher" << std::endl;
      return false;
    }

    efd::TopicQos tqos = efd::TOPIC_QOS_DEFAULT;
    const std::string base { "rt/carla/" };
    std::string topic_name = base;
    if (!_parent.empty())
      topic_name += _parent + "/";
    topic_name += _name;
    _impl->_topic = _impl->_participant->create_topic(topic_name, _impl->_type->getName(), tqos);
    if (_impl->_topic == nullptr) {
        std::cerr << "Failed to create Topic" << std::endl;
        return false;
    }

    efd::DataWriterQos wqos = efd::DATAWRITER_QOS_DEFAULT;
    wqos.endpoint().history_memory_policy = eprosima::fastrtps::rtps::PREALLOCATED_WITH_REALLOC_MEMORY_MODE;
    efd::DataWriterListener* listener = (efd::DataWriterListener*)_impl->_listener._impl.get();
    _impl->_datawriter = _impl->_publisher->create_datawriter(_impl->_topic, wqos, listener);
    if (_impl->_datawriter == nullptr) {
        std::cerr << "Failed to create DataWriter" << std::endl;
        return false;
    }
    _frame_id = _name;
    return true;
  }

  bool CarlaSemanticLidarPublisher::Publish() {
    eprosima::fastrtps::rtps::InstanceHandle_t instance_handle;
    eprosima::fastrtps::types::ReturnCode_t rcode = _impl->_datawriter->write(&_impl->_lidar, instance_handle);
    if (rcode == erc::ReturnCodeValue::RETCODE_OK) {
        return true;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_ERROR) {
        std::cerr << "RETCODE_ERROR" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_UNSUPPORTED) {
        std::cerr << "RETCODE_UNSUPPORTED" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_BAD_PARAMETER) {
        std::cerr << "RETCODE_BAD_PARAMETER" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_PRECONDITION_NOT_MET) {
        std::cerr << "RETCODE_PRECONDITION_NOT_MET" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_OUT_OF_RESOURCES) {
        std::cerr << "RETCODE_OUT_OF_RESOURCES" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_NOT_ENABLED) {
        std::cerr << "RETCODE_NOT_ENABLED" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_IMMUTABLE_POLICY) {
        std::cerr << "RETCODE_IMMUTABLE_POLICY" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_INCONSISTENT_POLICY) {
        std::cerr << "RETCODE_INCONSISTENT_POLICY" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_ALREADY_DELETED) {
        std::cerr << "RETCODE_ALREADY_DELETED" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_TIMEOUT) {
        std::cerr << "RETCODE_TIMEOUT" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_NO_DATA) {
        std::cerr << "RETCODE_NO_DATA" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_ILLEGAL_OPERATION) {
        std::cerr << "RETCODE_ILLEGAL_OPERATION" << std::endl;
        return false;
    }
    if (rcode == erc::ReturnCodeValue::RETCODE_NOT_ALLOWED_BY_SECURITY) {
        std::cerr << "RETCODE_NOT_ALLOWED_BY_SECURITY" << std::endl;
        return false;
    }
    std::cerr << "UNKNOWN" << std::endl;
    return false;
  }

void CarlaSemanticLidarPublisher::SetData(int32_t seconds, uint32_t nanoseconds, size_t elements, size_t height, size_t width, float* data) {
    float* it = data;
    float* end = &data[height * width * elements];
    for (++it; it < end; it += elements) {
        *it *= -1.0f;
    }

    std::vector<uint8_t> vector_data;
    const size_t size = height * width * sizeof(float) * elements;
    vector_data.resize(size);
    std::memcpy(&vector_data[0], &data[0], size);
    SetData(seconds, nanoseconds, height, width, std::move(vector_data));
}

void CarlaSemanticLidarPublisher::SetData(int32_t seconds, uint32_t nanoseconds, size_t height, size_t width, std::vector<uint8_t>&& data) {
    builtin_interfaces::msg::Time time;
    time.sec(seconds);
    time.nanosec(nanoseconds);

    std_msgs::msg::Header header;
    header.stamp(std::move(time));
    header.frame_id(_frame_id);

    sensor_msgs::msg::PointField descriptor1;
    descriptor1.name("x");
    descriptor1.offset(0);
    descriptor1.datatype(sensor_msgs::msg::PointField__FLOAT32);
    descriptor1.count(1);
    sensor_msgs::msg::PointField descriptor2;
    descriptor2.name("y");
    descriptor2.offset(4);
    descriptor2.datatype(sensor_msgs::msg::PointField__FLOAT32);
    descriptor2.count(1);
    sensor_msgs::msg::PointField descriptor3;
    descriptor3.name("z");
    descriptor3.offset(8);
    descriptor3.datatype(sensor_msgs::msg::PointField__FLOAT32);
    descriptor3.count(1);
    sensor_msgs::msg::PointField descriptor4;
    descriptor4.name("cos_inc_angle");
    descriptor4.offset(12);
    descriptor4.datatype(sensor_msgs::msg::PointField__FLOAT32);
    descriptor4.count(1);
    sensor_msgs::msg::PointField descriptor5;
    descriptor5.name("object_idx");
    descriptor5.offset(16);
    descriptor5.datatype(sensor_msgs::msg::PointField__UINT32);
    descriptor5.count(1);
    sensor_msgs::msg::PointField descriptor6;
    descriptor6.name("object_tag");
    descriptor6.offset(20);
    descriptor6.datatype(sensor_msgs::msg::PointField__UINT32);
    descriptor6.count(1);

    const size_t point_size = 6 * sizeof(float);
    _impl->_lidar.header(std::move(header));
    _impl->_lidar.width(width);
    _impl->_lidar.height(height);
    _impl->_lidar.is_bigendian(false);
    _impl->_lidar.fields({descriptor1, descriptor2, descriptor3, descriptor4, descriptor5, descriptor6});
    _impl->_lidar.point_step(point_size);
    _impl->_lidar.row_step(width * point_size);
    _impl->_lidar.is_dense(false); //True if there are not invalid points
    _impl->_lidar.data(std::move(data));
  }

  CarlaSemanticLidarPublisher::CarlaSemanticLidarPublisher(const char* ros_name, const char* parent) :
  _impl(std::make_shared<CarlaSemanticLidarPublisherImpl>()) {
    _name = ros_name;
    _parent = parent;
  }

  CarlaSemanticLidarPublisher::~CarlaSemanticLidarPublisher() {
      if (!_impl)
          return;

      if (_impl->_datawriter)
          _impl->_publisher->delete_datawriter(_impl->_datawriter);

      if (_impl->_publisher)
          _impl->_participant->delete_publisher(_impl->_publisher);

      if (_impl->_topic)
          _impl->_participant->delete_topic(_impl->_topic);

      if (_impl->_participant)
          efd::DomainParticipantFactory::get_instance()->delete_participant(_impl->_participant);
  }

  CarlaSemanticLidarPublisher::CarlaSemanticLidarPublisher(const CarlaSemanticLidarPublisher& other) {
    _frame_id = other._frame_id;
    _name = other._name;
    _parent = other._parent;
    _impl = other._impl;
  }

  CarlaSemanticLidarPublisher& CarlaSemanticLidarPublisher::operator=(const CarlaSemanticLidarPublisher& other) {
    _frame_id = other._frame_id;
    _name = other._name;
    _parent = other._parent;
    _impl = other._impl;

    return *this;
  }

  CarlaSemanticLidarPublisher::CarlaSemanticLidarPublisher(CarlaSemanticLidarPublisher&& other) {
    _frame_id = std::move(other._frame_id);
    _name = std::move(other._name);
    _parent = std::move(other._parent);
    _impl = std::move(other._impl);
  }

  CarlaSemanticLidarPublisher& CarlaSemanticLidarPublisher::operator=(CarlaSemanticLidarPublisher&& other) {
    _frame_id = std::move(other._frame_id);
    _name = std::move(other._name);
    _parent = std::move(other._parent);
    _impl = std::move(other._impl);

    return *this;
  }
}
}