Merge pull request #291 from tier4/feature/rgl-hesai-xt32-raw-packets

Add raw packets support for Hesai Pandar XT32
tier4 · May 8, 2024 · f275dae · f275dae
2 parents b3f34da + 2112b69
commit f275dae
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Showing 4 changed files with 48 additions and 3 deletions.
diff --git a/Assets/RGLUnityPlugin/NebulaCalibrations/PandarXT32.csv b/Assets/RGLUnityPlugin/NebulaCalibrations/PandarXT32.csv
@@ -0,0 +1,33 @@
+Channel,Elevation,Azimuth
+1,15.0,0.0
+2,14.0,0.0
+3,13.0,0.0
+4,12.0,0.0
+5,11.0,0.0
+6,10.0,0.0
+7,9.0,0.0
+8,8.0,0.0
+9,7.0,0.0
+10,6.0,0.0
+11,5.0,0.0
+12,4.0,0.0
+13,3.0,0.0
+14,2.0,0.0
+15,1.0,0.0
+16,0.0,0.0
+17,-1.0,0.0
+18,-2.0,0.0
+19,-3.0,0.0
+20,-4.0,0.0
+21,-5.0,0.0
+22,-6.0,0.0
+23,-7.0,0.0
+24,-8.0,0.0
+25,-9.0,0.0
+26,-10.0,0.0
+27,-11.0,0.0
+28,-12.0,0.0
+29,-13.0,0.0
+30,-14.0,0.0
+31,-15.0,0.0
+32,-16.0,0.0
diff --git a/Assets/RGLUnityPlugin/NebulaCalibrations/PandarXT32.csv.meta b/Assets/RGLUnityPlugin/NebulaCalibrations/PandarXT32.csv.meta
diff --git a/Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs b/Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs
@@ -65,7 +65,8 @@ public class LidarUdpPublisher : MonoBehaviour
             { LidarModel.HesaiPandar40P, RGLLidarModel.RGL_HESAI_PANDAR_40P },
             { LidarModel.HesaiPandarQT, RGLLidarModel.RGL_HESAI_PANDAR_QT64 },
             { LidarModel.HesaiQT128C2X, RGLLidarModel.RGL_HESAI_QT128C2X },
-            { LidarModel.HesaiPandar128E4X, RGLLidarModel.RGL_HESAI_PANDAR_128E4X }
+            { LidarModel.HesaiPandar128E4X, RGLLidarModel.RGL_HESAI_PANDAR_128E4X },
+            { LidarModel.HesaiPandarXT32, RGLLidarModel.RGL_HESAI_PANDAR_XT32 }
         };
 
         // Note: When selecting dual return mode, there will be still single return data but packed in the dual return packet format
@@ -88,7 +89,9 @@ public class LidarUdpPublisher : MonoBehaviour
                   RGLReturnMode.DualReturnStrongestSecondStrongest, RGLReturnMode.DualReturnFirstSecond } },
             { LidarModel.HesaiPandar128E4X, new List<RGLReturnMode>()
                 { RGLReturnMode.SingleReturnFirst, RGLReturnMode.SingleReturnStrongest, RGLReturnMode.SingleReturnLast,
-                  RGLReturnMode.DualReturnLastStrongest, RGLReturnMode.DualReturnFirstLast, RGLReturnMode.DualReturnFirstStrongest } }
+                  RGLReturnMode.DualReturnLastStrongest, RGLReturnMode.DualReturnFirstLast, RGLReturnMode.DualReturnFirstStrongest } },
+            { LidarModel.HesaiPandarXT32, new List<RGLReturnMode>()
+                { RGLReturnMode.SingleReturnStrongest, RGLReturnMode.SingleReturnLast, RGLReturnMode.DualReturnLastStrongest } },
         };
 
         private bool IsVelodyne(LidarModel model)
@@ -102,6 +105,7 @@ private bool IsHesai(LidarModel model)
         {
             return model == LidarModel.HesaiPandar40P ||
                    model == LidarModel.HesaiPandarQT ||
+                   model == LidarModel.HesaiPandarXT32 ||
                    model == LidarModel.HesaiQT128C2X ||
                    model == LidarModel.HesaiPandar128E4X;
         }
@@ -276,7 +280,11 @@ private RGLUdpOptions GetUdpOptions(LidarModel currentLidarModel)
                 enableHesaiUdpSequence = false;
                 Debug.LogWarning($"{name}: enableHesaiUdpSequence option is not available for selected LiDAR model. Disabling option...");
             }
-            if ((currentLidarModel == LidarModel.HesaiQT128C2X || currentLidarModel == LidarModel.HesaiPandar128E4X) && !enableHesaiUdpSequence)
+            // LiDARs that need udp sequence flag to be set
+            if ((currentLidarModel == LidarModel.HesaiQT128C2X
+                 || currentLidarModel == LidarModel.HesaiPandar128E4X
+                 || currentLidarModel == LidarModel.HesaiPandarXT32)
+                && !enableHesaiUdpSequence)
             {
                 enableHesaiUdpSequence = true;
                 Debug.LogWarning($"{name}: enableHesaiUdpSequence option must be enabled for selected LiDAR model. Enabling option...");

diff --git a/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs b/Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs
@@ -93,6 +93,7 @@ public enum RGLLidarModel : Int32
 		RGL_HESAI_PANDAR_QT64 = 5,
 		RGL_HESAI_QT128C2X = 6,
 		RGL_HESAI_PANDAR_128E4X = 7,
+		RGL_HESAI_PANDAR_XT32 = 8,
 	};
 
 	// Items have been renamed to be displayed in Unity nicer.