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rplidar.go
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rplidar.go
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// Package rplidar implements a general rplidar LIDAR as a camera.
package rplidar
import (
"context"
"fmt"
"sync"
"time"
"go.viam.com/rplidar/gen"
"go.viam.com/utils/usb"
goutils "go.viam.com/utils"
"github.com/edaniels/golog"
"github.com/edaniels/gostream"
"github.com/golang/geo/r3"
"github.com/pkg/errors"
"go.viam.com/rdk/components/camera"
"go.viam.com/rdk/pointcloud"
"go.viam.com/rdk/resource"
"go.viam.com/rdk/rimage/transform"
"go.viam.com/rdk/spatialmath"
"go.viam.com/rdk/utils"
)
const (
defaultTimeout = uint(1000)
)
// Model is the model of the rplidar
var Model = resource.NewModel("viam", "lidar", "rplidar")
// Rplidar controls an Rplidar device.
type Rplidar struct {
resource.Named
resource.AlwaysRebuild
mu sync.Mutex
device rplidarDevice
nodes gen.Rplidar_response_measurement_node_hq_t
nodeSize int
started bool
scannedOnce bool
defaultNumScans int
warmupNumDiscardedScans int
logger golog.Logger
}
// Config describes how to configure the RPlidar component.
type Config struct {
DevicePath string `json:"device_path"`
}
// Validate checks that the config attributes are valid for an RPlidar.
func (conf *Config) Validate(path string) ([]string, error) {
return nil, nil
}
func init() {
resource.RegisterComponent(camera.API, Model, resource.Registration[camera.Camera, *Config]{Constructor: newRplidar})
}
func newRplidar(ctx context.Context, _ resource.Dependencies, c resource.Config, logger golog.Logger) (camera.Camera, error) {
svcConf, err := resource.NativeConfig[*Config](c)
if err != nil {
return nil, err
}
devicePath := svcConf.DevicePath
if devicePath == "" {
var err error
if devicePath, err = searchForDevicePath(logger); err != nil {
return nil, errors.Wrap(err, "need to specify a devicePath (ex. /dev/ttyUSB0)")
}
}
logger.Info("connected to device at path " + devicePath)
rplidarDevice, err := getRplidarDevice(devicePath)
if err != nil {
return nil, err
}
rp := &Rplidar{
Named: c.ResourceName().AsNamed(),
device: rplidarDevice,
nodeSize: 8192,
logger: logger,
defaultNumScans: 1,
warmupNumDiscardedScans: 5,
}
rp.start()
return rp, nil
}
// NextPointCloud performs a scan on the rplidar and performs some filtering to clean up the data.
func (rp *Rplidar) NextPointCloud(ctx context.Context) (pointcloud.PointCloud, error) {
rp.mu.Lock()
defer rp.mu.Unlock()
pc, err := rp.getPointCloud(ctx)
if err != nil {
return nil, err
}
return pc, nil
}
// start requests that the rplidar starts up and starts spinning.
func (rp *Rplidar) start() {
rp.mu.Lock()
defer rp.mu.Unlock()
rp.started = true
rp.logger.Debug("starting motor")
rp.device.driver.StartMotor()
rp.device.driver.StartScan(false, true)
rp.nodes = gen.New_measurementNodeHqArray(rp.nodeSize)
}
// stop request that the rplidar stops spinning.
func (rp *Rplidar) stop() {
rp.mu.Lock()
defer rp.mu.Unlock()
if rp.nodes != nil {
defer func() {
gen.Delete_measurementNodeHqArray(rp.nodes)
rp.nodes = nil
}()
}
rp.logger.Debug("stopping motor")
rp.device.driver.Stop()
rp.device.driver.StopMotor()
rp.started = false
}
func (rp *Rplidar) scan(ctx context.Context, numScans int) (pointcloud.PointCloud, error) {
pc := pointcloud.New()
nodeCount := int64(rp.nodeSize)
var dropCount int
for i := 0; i < numScans; i++ {
nodeCount = int64(rp.nodeSize)
result := rp.device.driver.GrabScanDataHq(rp.nodes, &nodeCount, defaultTimeout)
if Result(result) != ResultOk {
return nil, fmt.Errorf("bad scan: %w", Result(result).Failed())
}
rp.device.driver.AscendScanData(rp.nodes, nodeCount)
for pos := 0; pos < int(nodeCount); pos++ {
node := gen.MeasurementNodeHqArray_getitem(rp.nodes, pos)
if node.GetDist_mm_q2() == 0 {
dropCount++
continue // TODO(erd): okay to skip?
}
nodeAngle := (float64(node.GetAngle_z_q14()) * 90 / (1 << 14))
nodeDistance := float64(node.GetDist_mm_q2()) / 4
err := pc.Set(pointFrom(utils.DegToRad(nodeAngle), utils.DegToRad(0), nodeDistance/1000, 255))
if err != nil {
return nil, err
}
}
}
if pc.Size() == 0 {
return nil, nil
}
return pc, nil
}
func (rp *Rplidar) getPointCloud(ctx context.Context) (pointcloud.PointCloud, error) {
if !rp.started {
rp.start()
}
// wait and then discard scans for warmup
if !rp.scannedOnce {
rp.scannedOnce = true
goutils.SelectContextOrWait(ctx, time.Duration(rp.warmupNumDiscardedScans)*time.Second)
if _, err := rp.scan(ctx, rp.warmupNumDiscardedScans); err != nil {
return nil, err
}
}
pc, err := rp.scan(ctx, rp.defaultNumScans)
if err != nil {
return nil, err
}
return pc, nil
}
// Properties is a part of the Camera interface but is not implemented for the rplidar.
func (rp *Rplidar) Properties(ctx context.Context) (camera.Properties, error) {
var props camera.Properties
return props, errors.New("properties unimplemented")
}
// Projector is a part of the Camera interface but is not implemented for the rplidar.
func (rp *Rplidar) Projector(ctx context.Context) (transform.Projector, error) {
var proj transform.Projector
return proj, errors.New("projector unimplemented")
}
// Stream is a part of the Camera interface but is not implemented for the rplidar.
func (rp *Rplidar) Stream(ctx context.Context, errHandlers ...gostream.ErrorHandler) (gostream.VideoStream, error) {
var stream gostream.VideoStream
return stream, errors.New("stream unimplemented")
}
// Close stops the rplidar and disposes of the driver.
func (rp *Rplidar) Close(ctx context.Context) error {
if rp.device.driver != nil {
rp.stop()
gen.RPlidarDriverDisposeDriver(rp.device.driver)
rp.device.driver = nil
}
return nil
}
func pointFrom(yaw, pitch, distance float64, reflectivity uint8) (r3.Vector, pointcloud.Data) {
ea := spatialmath.NewEulerAngles()
ea.Yaw = yaw
ea.Pitch = pitch
pose1 := spatialmath.NewPose(r3.Vector{X: 0, Y: 0, Z: 0}, ea)
pose2 := spatialmath.NewPoseFromPoint(r3.Vector{X: distance, Y: 0, Z: 0})
p := spatialmath.Compose(pose1, pose2).Point()
// Rotate the point 180 degrees on the y axis. Since lidar data is always 2D, we don't worry
// about the Z value.
p.X = -p.X
pos := pointcloud.NewVector(p.X*1000, p.Y*1000, p.Z*1000)
d := pointcloud.NewBasicData()
d.SetIntensity(uint16(reflectivity) * 255)
return pos, d
}
func searchForDevicePath(logger golog.Logger) (string, error) {
var usbInfo = &usb.Identifier{
Vendor: 0x10c4,
Product: 0xea60,
}
usbDevices := usb.Search(
usb.SearchFilter{},
func(vendorID, productID int) bool {
return vendorID == usbInfo.Vendor && productID == usbInfo.Product
})
if len(usbDevices) == 0 {
return "", errors.New("no usb devices found")
}
logger.Debugf("detected %d lidar devices", len(usbDevices))
for _, comp := range usbDevices {
logger.Debug(comp)
}
return usbDevices[0].Path, nil
}