Lidar abstraction [Ouster, Sick]

.clang-format

@@ -1,129 +1,61 @@
-# Checkout config tool: https://zed0.co.uk/clang-format-configurator/
-# Or http://cf.monofraps.net/
-# https://clang.llvm.org/docs/ClangFormatStyleOptions.html
-# https://github.com/01org/parameter-framework/blob/master/.clang-format
-
-# Tested on: clang-format version 6.0.1
-
-
-# Common settings
-BasedOnStyle:  WebKit
-TabWidth:        4
-IndentWidth:     4
-UseTab:          Always
-ColumnLimit: 150
-
-# Other languages JavaScript, Proto
-
----
 Language: Cpp
 
-# http://releases.llvm.org/6.0.1/tools/clang/docs/ClangFormatStyleOptions.html#disabling-formatting-on-a-piece-of-code
-# int formatted_code;
-# // clang-format off
-#     void    unformatted_code  ;
-# // clang-format on
-# void formatted_code_again;
-
-DisableFormat:   false
-Standard: Cpp11
-
 AccessModifierOffset: -4
-AlignAfterOpenBracket: true
+AlignAfterOpenBracket: AlwaysBreak
 AlignConsecutiveAssignments: false
 AlignConsecutiveDeclarations: false
-AlignEscapedNewlinesLeft: false
-AlignOperands:   true
+AlignEscapedNewlines: Right
+AlignOperands: false
 AlignTrailingComments: false
+AllowAllArgumentsOnNextLine: true
 AllowAllParametersOfDeclarationOnNextLine: true
-AllowShortBlocksOnASingleLine: false
-AllowShortCaseLabelsOnASingleLine: false
-AllowShortFunctionsOnASingleLine: Empty
-AllowShortIfStatementsOnASingleLine: false
-AllowShortLoopsOnASingleLine: false
-AlwaysBreakAfterDefinitionReturnType: false
+AllowShortFunctionsOnASingleLine: None
+AllowShortLambdasOnASingleLine: None
 AlwaysBreakAfterReturnType: None
-AlwaysBreakBeforeMultilineStrings: false
 AlwaysBreakTemplateDeclarations: true
 BinPackArguments: false
 BinPackParameters: false
-
-# Configure each individual brace in BraceWrapping
 BreakBeforeBraces: Custom
-# Control of individual brace wrapping cases
-BraceWrapping: {
-    AfterClass: 'true'
-    AfterControlStatement: 'true'
-    AfterEnum : 'true'
-    AfterFunction : 'true'
-    AfterNamespace : 'true'
-    AfterStruct : 'true'
-    AfterUnion : 'true'
-    BeforeCatch : 'true'
-    BeforeElse : 'true'
-    IndentBraces : 'false'
-    AfterExternBlock : 'true'
-    SplitEmptyFunction : 'false'
-    SplitEmptyRecord : 'false'
-    SplitEmptyNamespace : 'true'
-}
-
-BreakAfterJavaFieldAnnotations: true
-BreakBeforeInheritanceComma: false
-BreakBeforeBinaryOperators: None
+BraceWrapping:
+    AfterClass: true
+    AfterControlStatement: true
+    AfterEnum: true
+    AfterFunction: true
+    AfterNamespace: true
+    BeforeLambdaBody: true
+    AfterStruct: true
+    BeforeElse: true
+    SplitEmptyFunction: true
 BreakBeforeTernaryOperators: true
-BreakConstructorInitializersBeforeComma: true
-BreakStringLiterals: true
-
-CommentPragmas:  '^ IWYU pragma:'
-CompactNamespaces: false
-ConstructorInitializerAllOnOneLineOrOnePerLine: false
+BreakConstructorInitializers: BeforeComma
+BreakInheritanceList: BeforeComma
+ColumnLimit: 140
 ConstructorInitializerIndentWidth: 4
 ContinuationIndentWidth: 4
-Cpp11BracedListStyle: true
-SpaceBeforeCpp11BracedList: false
-DerivePointerAlignment: false
-ExperimentalAutoDetectBinPacking: false
-ForEachMacros:   [ foreach, Q_FOREACH, BOOST_FOREACH ]
-IndentCaseLabels: false
+Cpp11BracedListStyle: false
 FixNamespaceComments: true
-IndentWrappedFunctionNames: false
-KeepEmptyLinesAtTheStartOfBlocks: true
-MacroBlockBegin: ''
-MacroBlockEnd:   ''
-JavaScriptQuotes: Double
+IncludeBlocks: Preserve
+IndentCaseBlocks: true
+IndentCaseLabels: false
+IndentPPDirectives: None
+IndentWidth: 4
+KeepEmptyLinesAtTheStartOfBlocks: false
 MaxEmptyLinesToKeep: 1
-NamespaceIndentation: None
-ObjCBlockIndentWidth: 4
-ObjCSpaceAfterProperty: true
-ObjCSpaceBeforeProtocolList: true
-PenaltyBreakBeforeFirstCallParameter: 19
-PenaltyBreakComment: 300
-PenaltyBreakFirstLessLess: 120
-PenaltyBreakString: 1000
-
-PenaltyExcessCharacter: 1000000
-PenaltyReturnTypeOnItsOwnLine: 60
+NamespaceIndentation: All
+PenaltyReturnTypeOnItsOwnLine: 1000
 PointerAlignment: Left
-SpaceAfterCStyleCast: false
+SortIncludes: true
+SpaceAfterLogicalNot: false
+SpaceAfterTemplateKeyword: false
 SpaceBeforeAssignmentOperators: true
-SpaceBeforeParens: Never
+SpaceBeforeCpp11BracedList: false
+SpaceBeforeCtorInitializerColon: true
+SpaceBeforeInheritanceColon: true
+SpaceBeforeParens: ControlStatements
+SpaceBeforeRangeBasedForLoopColon: true
 SpaceInEmptyParentheses: false
-SpacesBeforeTrailingComments: 1
-SpacesInAngles:  false
-SpacesInContainerLiterals: true
+SpacesInAngles: false
 SpacesInCStyleCastParentheses: false
 SpacesInParentheses: false
-SpacesInSquareBrackets: false
-SpaceAfterTemplateKeyword: true
-SpaceBeforeInheritanceColon: true
-
-SortUsingDeclarations: true
-SortIncludes: true
-
-# Comments are for developers, they should arrange them
-ReflowComments: false
-
-IncludeBlocks: Preserve
-IndentPPDirectives: AfterHash
----
+Standard: c++17
+UseTab: Never

.gitmodules

@@ -12,4 +12,7 @@
 	url = https://github.com/crayzeewulf/libserial.git
 [submodule "3rd/minmea"]
     path = 3rd/minmea
-    url = https://github.com/kosma/minmea.git
+    url = https://github.com/kosma/minmea.git
+[submodule "3rd/ouster-sdk"]
+	path = 3rd/ouster-sdk
+	url = https://github.com/ouster-lidar/ouster-sdk.git

CMakeLists.txt

@@ -6,12 +6,13 @@ project (mandeye_multisensor)
 set(MANDEYE_HARDWARE_HEADER CACHE STRING "Mandeye hardware setting. Choose one header from 'code/hardware/mandeye-*.h")
 #add_compile_definitions(MANDEYE_HARDWARE_HEADER="${MANDEYE_HARDWARE_HEADER}")
 message(STATUS "Mandeye hardware version is : ${MANDEYE_HARDWARE_HEADER}")
-set (MANDEYE_VERSION "0.6-dev")
+set (MANDEYE_VERSION "0.7-dev")
 message(STATUS "Mandeye version is : ${MANDEYE_VERSION}")
 
 set(SYSTEM_ARCH "${CMAKE_SYSTEM_PROCESSOR}")
 message("pistache")
 #pistache
+set(PISTACHE_BUILD_TESTS OFF CACHE BOOL "Disable Pistache tests")
 add_subdirectory(3rd/pistache)
 
 
@@ -28,15 +29,18 @@ message("JSON")
 #JSON
 include_directories(3rd/json)
 
-message("Livox SDK2")
-# Livox SDK2
-add_subdirectory(3rd/Livox-SDK2)
+
 
 # extras
 add_subdirectory(extras)
 
 include_directories(code/)
 
+set(MANDEYE_USE_OUSTER_SDK ON CACHE BOOL  "Use Ouster SDK ")
+set(MANDEYE_USE_LIVOX_SDK2 ON CACHE BOOL "Use Livox SDK (HAP/Mid360)")
+set(MANDEYE_USE_SICK ON CACHE BOOL "Use SICK SCAN XD SDK (Multiscan MRS1000), requires SICK SDK to be installed")
+
+
 # NMEA and libserial
 find_path(LIBSERIAL_INCLUDE_DIR SerialPort.h
         PATH_SUFFIXES include
@@ -73,12 +77,82 @@ configure_file(
 # Include the generated file in the project
 include_directories(${CMAKE_BINARY_DIR})
 #executable
-add_executable(control_program code/main.cpp code/gnss.cpp code/web_page.h code/LivoxClient.cpp code/gpios.cpp code/FileSystemClient.cpp code/save_laz.cpp ${PISTACHE_SRC}
+set(LIDAR_SOURCES
+    code/lidars/dummy/ButterLidar.cpp
+    code/lidars/LidarImplementation.cpp
+)
+set(LIDAR_LIBRARIES )
+
+if (${MANDEYE_USE_OUSTER_SDK})
+    # We need to separate the Ouster SDK from the main project to avoid conflicts with SPDLOG in LIVOX SDK2
+    message("Ouster SDK")
+    add_subdirectory(3rd/ouster-sdk)
+    add_executable(ouster_client_example code/lidars/ouster/ouster_client_example.cpp)
+    target_link_libraries(ouster_client_example PRIVATE OusterSDK::ouster_client)
+
+    # Create isolated static library for Ouster integration
+    add_library(ouster_lib
+        code/lidars/ouster/OusterClient.cpp
+    )
+    target_link_libraries(ouster_lib PRIVATE OusterSDK::ouster_client)
+    target_include_directories(ouster_lib PRIVATE 3rd/ouster-sdk/ouster_client/include)
+
+    list(APPEND LIDAR_LIBRARIES ouster_lib)
+    install(TARGETS ouster_lib LIBRARY DESTINATION /opt/mandeye/)
+    add_compile_definitions(MANDEYE_USE_OUSTER_SDK)
+endif ()
+
+if (${MANDEYE_USE_LIVOX_SDK2})
+    message("Livox SDK2")
+    # Livox SDK2
+
+    add_subdirectory(3rd/Livox-SDK2)
+    add_library(livox2_lib 
+            code/lidars/livoxsdk2/LivoxClient.cpp
+    )
+    target_link_libraries(livox2_lib PRIVATE livox_lidar_sdk_static)
+    target_include_directories(livox2_lib PRIVATE 3rd/Livox-SDK2/include)
+    install(TARGETS livox2_lib LIBRARY DESTINATION /opt/mandeye/)
+    list(APPEND LIDAR_LIBRARIES livox2_lib)
+    # add defines
+    add_compile_definitions(MANDEYE_USE_LIVOX_SDK2)
+endif()
+
+if (${MANDEYE_USE_SICK})
+    message("SICK SDK")
+    # SICK SDK
+    find_package(sick_scan_xd REQUIRED)
+    if (TARGET sick_scan_xd::sick_scan_xd_shared_lib)
+        add_executable(sick_client_example code/lidars/sick/sick_client_example.cpp)
+        target_link_libraries(sick_client_example PRIVATE sick_scan_xd::sick_scan_xd_shared_lib )
+
+        add_library(sick_lib
+            code/lidars/sick/SickClient.cpp
+        )
+        target_link_libraries(sick_lib PRIVATE sick_scan_xd::sick_scan_xd_shared_lib)
+        install(TARGETS sick_lib LIBRARY DESTINATION /opt/mandeye/)
+        list(APPEND LIDAR_LIBRARIES sick_lib)
+        add_compile_definitions(MANDEYE_USE_SICK)
+    else()
+        message(FATAL_ERROR "SICK SDK not found. Install SICK SDK to use this feature.")
+    endif()
+endif()
+
+add_executable(control_program code/main.cpp code/gnss.cpp code/web_page.h
+        ${LIDAR_SOURCES}
+        ${LIDAR_SOURCES}
+        code/gpios.cpp code/FileSystemClient.cpp code/save_laz.cpp
         code/utils/TimeStampReceiver.cpp code/publisher.cpp)
-set(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} -latomic")
 
-target_link_libraries(control_program pthread livox_lidar_sdk_static pistache atomic laszip ${LIBSERIAL_LIBRARY} minea gpiod zmq)
+set(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS} -latomic " )
+
 
+target_link_libraries(control_program pthread ${LIDAR_LIBRARIES} pistache_static atomic laszip ${LIBSERIAL_LIBRARY} minea gpiod zmq)
+
+set_target_properties(control_program PROPERTIES
+        INSTALL_RPATH "/opt/mandeye/lib"
+        BUILD_WITH_INSTALL_RPATH TRUE
+)
 
 add_executable(led_demo code/led_demo.cpp code/gpios.cpp)
 set(CMAKE_CXX_LINK_FLAGS "${CMAKE_CXX_LINK_FLAGS}")

README.md

@@ -56,8 +56,8 @@ sudo apt-get install build-essential cmake git rapidjson-dev debhelper build-ess
 ```
 
 
-## Static IP for eth0
-
+## Static IP for eth0 
+### Systems without network manager [Raspbian Bullseye]
 ```bash
 sudo nano /etc/dhcpcd.conf
 ```
@@ -68,6 +68,24 @@ static ip_address=192.168.1.5/24
 static routers=0.0.0.0    
 ```
 
+### Systems with network manager [Raspbian Bookwork]
+
+```bash
+sudo nmcli connection add type ethernet ifname eth0 con-name static-eth0 \
+  ipv4.addresses 192.168.1.5/24 \
+  ipv4.gateway 0.0.0.0 \
+  ipv4.method manual 
+```
+
+verify with :
+```bash
+nmcli device show eth0
+```
+
+eventually you can use
+```bash
+nmtui
+```
 ## Clone and build app
 
 Note that, target hardware is defined during compilation time using `-MANDEYE_HARDWARE_HEADER=mandeye-standard-rpi4.h` parameter.
@@ -204,6 +222,25 @@ make package
 
 The package will be available in the build directory.
 
+# Choosing Lidar SDK
+The software supports different SDKs for the Lidar:
+
+| SDK | Variable | Description                                                                      |                                                               
+|-----|----------|----------------------------------------------------------------------------------|
+| Livox SDK | `LIVOX_SDK2` | Livox SDK version 2 tested with Mid360 and HAP                                   |
+| Ouster SDK | `OUSTER` | Ouster SDK tested with OS-0-64 (ousteros-image-prod-aries-v2.5.3+20240111055903) |
+| Butter Lidar | `BUTTER_LIDAR` | Dummy SDK for documentation and testing purposes                                 |
+
+Those are shared libraries that are loaded at runtime.
+You can set the SDK to use in two ways:
+1. By setting the `MANDEYE_LIDAR_SDK` environment variable to `LIVOX_SDK2` or `OUSTER`.
+2. By putting the config in location '/media/usb/mandeye_config.json' with the following content:
+```json
+{
+  "lidar_sdk": "LIVOX_SDK2"
+}
+```
+
 # Installation and usage of the package
 To install the package, you need to copy it to the target device and install it with `dpkg`:
 ```bash