Feature/issue update 2405xx

SICKAG · Jul 16, 2024 · d1f282e · d1f282e
1 parent e69f94f
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diff --git a/.gitignore b/.gitignore
@@ -130,9 +130,16 @@ tools/python_installer/python-3.9.13-amd64.exe
 *.bak
 
 test/scripts/run_win64_picoscan_emulator.cmd
+test/scripts/bloom_release.cmd
 
 test/emulator/scandata/20230719_mrs1104_infringement/
 
 doc/20230919_sick_scan_xd_timeout_settings.pptx
 
 test/docker/archive/
+
+test/docker/python/__pycache__/
+
+tools/pandoc/
+
+test/docker/images/
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,11 +4,19 @@ Possible types are **Added** for new features. **Changed** for changes to the ex
 features that will be removed in future versions **Removed** for deprecated features that were removed in this release.
 **Fixed** for all bug fixes. **Security** to prompt users to update in case of closed vulnerabilities.
 
-## Released ##
+## Unreleased ##
+
+### 3.5.0
+  - **add** Optional switch between "system timestamps" (default) and "tick timestamps"
+  - **add** Extract sick_scan_xd version from package.xml
+  - **add** Add git info to sick_scan_xd version
+  - **fix** #316 (blocking API-close in case of wrong ip-address)
+  - **add** #321, #310 (optional cmake-flag to set a calling convention for API calls)
 
-### Release 3.4.0
+## Released ##
 
-  - **add** azimut angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
+### Release v3.4.0
+  - **add** azimuth angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
   - **add** dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
   - **add** API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. "sRN SCdevicestate" or "sRN ContaminationResult")
   - **add** generation of TF messages
@@ -18,7 +26,7 @@ features that will be removed in future versions **Removed** for deprecated feat
 
 ### Release v3.3.0
 
-  - **add** Option for MRS1xxx azimuth correction table
+  - **add** Option for MRS1xxx azimuth correction table 
   - **add** Support for picoScan100 (single echo w/o addons)
   - **add** API logging functions and verbosity (#270)
   - **add** API documentation (multiple lidars not supported, #281)
@@ -43,7 +51,7 @@ features that will be removed in future versions **Removed** for deprecated feat
 
   - **add** IMU support for multiScan
   - **add** LaserScan output for picoScan
-  - **fix** API reinit
+  - **fix** API reinit 
   - **fix** multiScan data output with range filter activated
   - **fix** adapt multiScan startup and shutdown sequence
   - **fix** adaptations for MRS-1000 v2 firmware
@@ -54,11 +62,11 @@ This release has a new major version as it breaks with the previously used ROS m
 For consistency, the ROS module name has been changed to "sick_scan_xd" to match the name used everywhere else.
 
   - **add** New topics for additional data and properties
-  - **add** Official ARM64 support
+  - **add** Official ARM64 support 
   - **add** Service for requesting contamination detection information
   - **change** Improvements from customer tickets and documentation enhancements
   - **fix** ROS module name consistency
-
+           
 ### Release v2.10.3
   - **fix** avoid problems with min/max definition in the STL and preprocessor definitions
 
@@ -67,7 +75,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
 
 ### Release v2.10.1
   - **update** make Compact format the default for picoScan and multiScan
-
+  
 ### Release v2.10.0
   - **add** picoScan support
   - **add** Compact format support
@@ -93,7 +101,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **Update** Win64 build instructions
   - **Update** API documentation, driver states diagrams and typos
   - **Added**  LRS-36xx configuration for upside-down mounting
-  - **Removed** Obsolete service commands and RMS3xx support
+  - **Removed** Obsolete service commands and RMS3xx support     
   - **Fix** LRS-36xx angle configuration
   - **Fix** catkin_lint warnings
   - **Fix** ROS-2 Humble build
@@ -143,7 +151,7 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **Update** README.md restructured
   - **Update** Collected update including previous v2.8.x changes
 
-### v2.8.2 - development branch
+### v2.8.2 - development branch 
   - **Fixed** Update build instructions in README.md, visualization in python API-example with low frequency to reduce cpu usage.
 
 ### v2.8.1 - development branch
@@ -156,68 +164,68 @@ For consistency, the ROS module name has been changed to "sick_scan_xd" to match
   - **Changed** Changed to namespace roswrap in ros wrapper classes
   - **Fixed** Library linker flag #91
 
-### v2.7.5 -
+### v2.7.5 - 
   - **Fixed** MRS6124 pointcloud error #88
 
-### v2.7.4 -
+### v2.7.4 - 
   - **Fixed** ROS2 compilation error #83
 
-### v2.7.3 -
+### v2.7.3 - 
   - **Added** Supported for LFPmeanfilter and LFPmedianfilter (MRS1xxx, LMS1xxx, LMS4xxx, LRS4xxx)
   - **Added** Supported for LMDscandatascalefactor (LRS4xxx)
 
-### v2.7.0 -
+### v2.7.0 - 
   - **Added** V2.7.0: Support for multiScan136 (sick_scansegment_xd)
   - **Fixed** Timestamp LaserScan-message corrected (identical timestamps in LaserScan- and PointCloud2-messages, both by Software-PLL)
 
-### v2.6.8 -
+### v2.6.8 - 
   - **Fixed** Merge pull request #76
 
-### v2.6.7 -
+### v2.6.7 - 
   - **Update** LMS511 configuration #67
 
-### v2.6.6 -
+### v2.6.6 - 
   - **Update** NAV310 + LRS4xxx update, issues #58, #59, #60, #61
 
-### v2.6.5 -
+### v2.6.5 - 
   - **Fixed** LRS4xxx scan configuration #52
 
-### v2.6.4 -
+### v2.6.4 - 
   - **Fixed** LMS5xx echo filter settings corrected
 
-### v2.6.3 -
+### v2.6.3 - 
   - **Fixed** Timestamp Laserscan message corrected
 
-### v2.6.2 -
+### v2.6.2 - 
   - **Fixed** LDMRS spinning problem corrected
 
-### v2.6.1 -
+### v2.6.1 - 
   - **Added** V2.6.1: Support for RMS-1xxx binary protocol
 
-### v2.6.0 -
+### v2.6.0 - 
   - **Changed** V2.6.0: RMS configuration update, issue #7
 
-### v2.5.2 -
+### v2.5.2 - 
   - **Fixed**  Fix LSR-4xxx laserscan angles #28
   - **Fixed**  Fix duplicated laserscan messages #28
 
-### v2.5.1 -
+### v2.5.1 - 
   - **Fixed**  Error after SOPAS command SetAccessMode #27
 
-### v2.5.0 -
+### v2.5.0 - 
   - **Fixed** Issue #24 (stop scanner at exit)
   - **Added** new ros service SickScanExit to stop scanner and exit
 
-### v2.4.6 -
+### v2.4.6 - 
   - **Fixed** Corrected angle shift parameter for LMS-4xxx
   - **Changed** Typo corrected
 
-### v2.4.5 -
+### v2.4.5 - 
   - **Changed** bugfix #158 (driver terminates), modified SOPAS-startup sequence.
 
 ### v2.4.4 - 2022-01-25
   - **Added** Support min and max angle configuration for LRS-3601
-  - **Changed** Mirroring for NAV-3xx
+  - **Changed** Mirroring for NAV-3xx  
 
 ### v2.4.3 - 2022-01-18
   - **Changed** Rename class sick_lidar::Util to namespace sick_lidar::util

diff --git a/CHANGELOG.rst b/CHANGELOG.rst
@@ -2,9 +2,18 @@
 Changelog for package sick_scan_xd
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
-3.4.0 (2024-05-03)
+Forthcoming
 -----------
-* Release 3.4.0
+* Release 3.5.0
+  * add: Optional switch between "system timestamps" (default) and "tick timestamps"
+  * add: Extract sick_scan_xd version from package.xml
+  * add: Add git info to sick_scan_xd version
+  * fix: #316 (blocking API-close in case of wrong ip-address)
+  * add: #321, #310 (optional cmake-flag to set a calling convention for API calls)
+
+3.4.0 (2024-04-18)
+------------------
+* Release v3.4.0
   * add: azimut angle table for MRS-1xxx and LMS-1xxx with firmware 2.2.0 oder newer
   * add: dockertests for MRS-1xxx, multiScan and picoScan with ROS-2
   * add: API-funktion SickScanApiSendSOPAS to send SOPAS commands (e.g. "sRN SCdevicestate" or "sRN ContaminationResult")
@@ -16,7 +25,7 @@ Changelog for package sick_scan_xd
 3.3.0 (2024-03-04)
 ------------------
 * Release v3.3.0
-  * add: Option for MRS1xxx azimuth correction table
+  * add: Option for MRS1xxx azimuth correction table 
   * add: Support for picoScan100 (single echo w/o addons)
   * add: API logging functions and verbosity (#270)
   * add: API documentation (multiple lidars not supported, #281)

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -61,7 +61,6 @@ if (POLICY CMP0048)
     cmake_policy(SET CMP0048 NEW)
 endif()
 
-
 # Default to C++14
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -94,12 +93,17 @@ elseif(DEFINED SICK_TARGET_ENDIANESS)
     add_compile_options(-DSICK_TARGET_ENDIANESS=${SICK_TARGET_ENDIANESS})
 endif()
 
+# Optional calling convention of sick_scan_xd API (using default is recommended, but can be overwritten by cmake flag if required)
+if(DEFINED SICK_SCAN_XD_API_CALLING_CONVENTION)
+    add_compile_options(-DSICK_SCAN_XD_API_CALLING_CONVENTION=${SICK_SCAN_XD_API_CALLING_CONVENTION})
+endif()
+
 # ROS Version
 message(STATUS "ROS_VERSION precheck: ENV{ROS_VERSION}=$ENV{ROS_VERSION} ENV{ROS_DISTRO}=$ENV{ROS_DISTRO} ROS_VERSION=${ROS_VERSION} CMAKE_PREFIX_PATH=${CMAKE_PREFIX_PATH}")
-if(DEFINED CMAKE_PREFIX_PATH AND "${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/humble")
-    set(ROS_VERSION 2)  # required for ROS2 humble bloom releases with jenkins buildfarm
-elseif(NOT DEFINED ROS_VERSION AND EXISTS "/opt/ros/humble/setup.sh")
-    set(ROS_VERSION 2)  # required for ROS2 humble bloom releases with jenkins buildfarm
+if(DEFINED CMAKE_PREFIX_PATH AND ("${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/humble" OR "${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/iron" OR "${CMAKE_PREFIX_PATH}" STREQUAL "/opt/ros/jazzy"))
+    set(ROS_VERSION 2)  # required for ROS2 humble/iron/jazzy bloom releases with jenkins buildfarm
+elseif(NOT DEFINED ROS_VERSION AND (EXISTS "/opt/ros/humble/setup.sh" OR EXISTS "/opt/ros/iron/setup.sh" OR EXISTS "/opt/ros/jazzy/setup.sh"))
+    set(ROS_VERSION 2)  # required for ROS2 humble/iron/jazzy bloom releases with jenkins buildfarm
 endif()
 if(NOT DEFINED ROS_VERSION AND DEFINED ENV{ROS_VERSION})
     set(ROS_VERSION $ENV{ROS_VERSION})
@@ -127,6 +131,48 @@ else()
     add_compile_options(-DRASPBERRY=0)
 endif()
 
+# Get sick_scan_xd git version, see http://xit0.org/2013/04/cmake-use-git-branch-and-commit-details-in-project/
+option(QUERY_GIT_INFO "Get sick_scan_xd git version" ON)
+if(${QUERY_GIT_INFO} OR QUERY_GIT_INFO EQUAL ON)
+    if (NOT DEFINED ENV{GITHASH})
+        execute_process(
+            COMMAND git rev-parse HEAD
+            WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+            OUTPUT_VARIABLE GITHASH
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+            ERROR_QUIET
+        )
+    endif()
+    if (NOT DEFINED ENV{GITINFO})
+        execute_process(
+            COMMAND git log -1 --pretty=format:%ad%x09%an%x09%s --date=iso
+            COMMAND iconv -f utf8 -t ascii//TRANSLIT
+            WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+            OUTPUT_VARIABLE GITINFO
+            OUTPUT_STRIP_TRAILING_WHITESPACE
+            ERROR_QUIET
+        )
+    endif()
+    message(STATUS "GITHASH: ${GITHASH}")
+    message(STATUS "GITINFO: ${GITINFO}")
+    add_compile_options(-DGITHASH="\\"${GITHASH}\\"")
+    add_compile_options(-DGITINFO="\\"${GITINFO}\\"")
+endif()
+
+# Extract sick_scan_xd version from package.xml and update sick_scan_xd_version.h if required
+option(EXTRACT_PACKAGE_VERSION "Extract sick_scan_xd version from package.xml" ON)
+if(${EXTRACT_PACKAGE_VERSION} OR EXTRACT_PACKAGE_VERSION EQUAL ON)
+    if(WIN32)
+        set(PYTHON_PKG_VERSION_TOOL_CMD python python/tools/package_version_tool.py)
+    else()
+        set(PYTHON_PKG_VERSION_TOOL_CMD python3 python/tools/package_version_tool.py)
+    endif()
+    execute_process(
+        COMMAND ${PYTHON_PKG_VERSION_TOOL_CMD}
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        ERROR_QUIET
+    )
+endif()
 
 # Checks and prints a message, if a header file does not exist
 function(check_header_exists headerfilepath headerfilename packagename)
@@ -153,10 +199,11 @@ endfunction()
 if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
     # emulator requires jsoncpp for pcapng and other files
     find_package(jsoncpp REQUIRED) # install libjsoncpp by running "sudo apt-get install libjsoncpp-dev" (Linux) resp. "vcpkg install jsoncpp:x64-windows" (Windows) 
-    if(WIN32)
-      set(LIB_JSONCPP jsoncpp_lib)
-    else()
-      set(LIB_JSONCPP jsoncpp_lib)
+    set(LIB_JSONCPP jsoncpp_lib)
+else()
+    find_package(jsoncpp QUIET) # jsoncpp optional (only required for dockertests of C++ API)
+    if (${jsoncpp_FOUND})
+        set(LIB_JSONCPP jsoncpp_lib)
     endif()
 endif()
 
@@ -713,7 +760,7 @@ if(ROS_VERSION EQUAL 2)
         ${LDMRS_TARGET_DEPENDENCIES}
     )
 
-    if(WIN32 OR EXISTS "/opt/ros/eloquent" OR EXISTS "/opt/ros/foxy" OR EXISTS "/opt/ros/galactic") # rosidl_typesupport for ROS2 eloquent, foxy, galaxy
+    if(EXISTS "/opt/ros/eloquent" OR EXISTS "/opt/ros/foxy" OR EXISTS "/opt/ros/galactic") # rosidl_typesupport for ROS2 eloquent, foxy, galaxy
         rosidl_target_interfaces(${PROJECT_NAME}_lib ${PROJECT_NAME} "rosidl_typesupport_c")
         rosidl_target_interfaces(${PROJECT_NAME}_lib ${PROJECT_NAME} "rosidl_typesupport_cpp")
         rosidl_target_interfaces(${PROJECT_NAME}_shared_lib ${PROJECT_NAME} "rosidl_typesupport_c")
@@ -767,6 +814,24 @@ if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
             target_link_libraries(sick_scan_xd_api_test "pthread") # pthread required for std::thread
         endif()
     endif()
+    add_executable(sick_scan_xd_api_dockertest
+        driver/src/sick_scan_xd_api/sick_scan_api_converter.cpp
+        test/src/sick_scan_xd_api/sick_scan_xd_api_dockertest.cpp
+        test/src/sick_scan_xd_api/sick_scan_xd_api_wrapper.c
+    )
+    target_link_libraries(sick_scan_xd_api_dockertest ${LIB_JSONCPP})
+    if(NOT WIN32)
+        target_link_libraries(sick_scan_xd_api_dockertest "dl") # link with dl for dynamic library loading
+        if(ROS_VERSION EQUAL 0)
+            target_link_libraries(sick_scan_xd_api_dockertest "pthread") # pthread required for std::thread
+            target_link_options(sick_scan_xd_api_dockertest PUBLIC "LINKER:--no-as-needed") # fixes exception "Enable multithreading to use std::thread: Operation not permitted" 
+        elseif(ROS_VERSION EQUAL 1)
+            target_link_libraries(sick_scan_xd_api_dockertest ${catkin_LIBRARIES})
+            add_dependencies(sick_scan_xd_api_dockertest ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+        elseif(ROS_VERSION EQUAL 2)
+            target_link_libraries(sick_scan_xd_api_dockertest "pthread") # pthread required for std::thread
+        endif()
+    endif()
 endif()
 
 # install sick_scan_xd_shared_lib incl. API headerfiles
@@ -796,7 +861,7 @@ if(ROS_VERSION EQUAL 1)
         RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 
     if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
-        install(TARGETS sick_scan_xd_api_test
+        install(TARGETS sick_scan_xd_api_test sick_scan_xd_api_dockertest
             RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
     endif()
 
@@ -822,7 +887,7 @@ endif()
 if(ROS_VERSION EQUAL 2)
 
     if(BUILD_SICK_SCAN_XD_API_TEST EQUAL 1)
-        install(TARGETS sick_scan_xd_api_test DESTINATION lib/${PROJECT_NAME})
+        install(TARGETS sick_scan_xd_api_test sick_scan_xd_api_dockertest DESTINATION lib/${PROJECT_NAME})
     endif()
     install(TARGETS sick_generic_caller DESTINATION lib/${PROJECT_NAME})
     install(TARGETS ${PROJECT_NAME}_lib ${PROJECT_NAME}_shared_lib DESTINATION lib)
@@ -913,3 +978,15 @@ if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
         tools/test_server/launch
         DESTINATION share/${PROJECT_NAME})
 endif()
+
+#
+# rtabmap support utilities
+#
+
+if(${ENABLE_EMULATOR} OR ENABLE_EMULATOR EQUAL ON)
+    if(NOT WIN32 AND ROS_VERSION EQUAL 1)
+        add_executable(pose2d_to_odom_converter test/src/pose2d_to_odom_converter.cpp)
+        target_link_libraries(pose2d_to_odom_converter ${PROJECT_NAME}_lib ${SICK_LDMRS_LIBRARIES} ${catkin_LIBRARIES})
+        install(TARGETS pose2d_to_odom_converter DESTINATION lib/${PROJECT_NAME})
+    endif()    
+endif()