modularization/src1/driver/interface/ivdriver_lidar.h

#ifndef IVDRIVER_LIDAR_H
#define IVDRIVER_LIDAR_H

#include <QUdpSocket>
#include <QNetworkDatagram>
#include <vector>
#include <QMutex>

#include <pcl/point_cloud.h>
#include <pcl/point_types.h>

#include "ivdriver.h"

#include "modulecomm.h"

namespace  iv {


class ivdriver_lidar : public ivdriver
{
public:
    ivdriver_lidar();

    void RegisterPointMsg(const char * strmemname,iv::modulecomm::ModuleComm_TYPE xtype);
    void SharePointCloud(pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud);
    virtual void modulerun();
    virtual int processudpData(QByteArray ba,pcl::PointCloud<pcl::PointXYZI>::Ptr point_cloud) = 0;

private:
    void * mpa;
    pcl::PointCloud<pcl::PointXYZI>::Ptr mpoint_cloud;
    qint64 m_seq = 0;
public:
    char mstr_memname[256];
    double mfrollang = 0;
    double  mfinclinationang_yaxis = 0;  //from y axis
    double mfinclinationang_xaxis = 0;  //from x axis
    char mstr_hostip[256];
    char mstr_port[256];
    double mfoffset_x = 0;
    double mfoffset_y = 0;
    double mfoffset_z = 0;

    bool mbinclix = false;
    bool mbincliy = false;
 //   if(finclinationang_xaxis != 0.0)binclix = true;
 //   if(finclinationang_yaxis != 0.0)bincliy = true;

    double mcos_finclinationang_xaxis;// = cos(mfinclinationang_xaxis);
    double msin_finclinationang_xaxis;// = sin(mfinclinationang_xaxis);
    double mcos_finclinationang_yaxis;// = cos(mfinclinationang_yaxis);
    double msin_finclinationang_yaxis;// = sin(mfinclinationang_yaxis);

private:
    void threadudp();
    bool mbrunudpthread = false;
    std::vector<QByteArray> mvectorba;
    QMutex mMutexba;

};

}

#endif // IVDRIVER_LIDAR_H