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0!==t.name&&\\\"geocent\\\"===t.name?\\\"number\\\"==typeof i.z?[i.x,i.y,i.z].concat(n.splice(3)):[i.x,i.y,n[2]].concat(n.splice(3)):[i.x,i.y].concat(n.splice(2)):[i.x,i.y]):(r=ne(e,t,n),2===(o=Object.keys(n)).length||o.forEach((function(i){if(void 0!==e.name&&\\\"geocent\\\"===e.name||void 0!==t.name&&\\\"geocent\\\"===t.name){if(\\\"x\\\"===i||\\\"y\\\"===i||\\\"z\\\"===i)return}else if(\\\"x\\\"===i||\\\"y\\\"===i)return;r[i]=n[i]})),r)}function oe(e){return e instanceof X?e:e.oProj?e.oProj:X(e)}var ae=function(e,t,n){e=oe(e);var i,r=!1;return void 0===t?(t=e,e=ie,r=!0):(void 0!==t.x||Array.isArray(t))&&(n=t,t=e,e=ie,r=!0),t=oe(t),n?re(e,t,n):(i={forward:function(n){return re(e,t,n)},inverse:function(n){return re(t,e,n)}},r&&(i.oProj=t),i)},se=73,le=79,ue={forward:ce,inverse:function(e){var t=fe(ve(e.toUpperCase()));if(t.lat&&t.lon)return[t.lon,t.lat,t.lon,t.lat];return[t.left,t.bottom,t.right,t.top]},toPoint:de};function ce(e,t){return t=t||5,function(e,t){var n=\\\"00000\\\"+e.easting,i=\\\"00000\\\"+e.northing;return e.zoneNumber+e.zoneLetter+(p=e.easting,f=e.northing,m=e.zoneNumber,g=ge(m),v=Math.floor(p/1e5),y=Math.floor(f/1e5)%20,r=v,o=y,a=g,s=a-1,l=\\\"AJSAJS\\\".charCodeAt(s),u=\\\"AFAFAF\\\".charCodeAt(s),c=l+r-1,d=u+o,h=!1,c>90&&(c=c-90+65-1,h=!0),(c===se||l<se&&c>se||(c>se||l<se)&&h)&&c++,(c===le||l<le&&c>le||(c>le||l<le)&&h)&&++c===se&&c++,c>90&&(c=c-90+65-1),d>86?(d=d-86+65-1,h=!0):h=!1,(d===se||u<se&&d>se||(d>se||u<se)&&h)&&d++,(d===le||u<le&&d>le||(d>le||u<le)&&h)&&++d===se&&d++,d>86&&(d=d-86+65-1),String.fromCharCode(c)+String.fromCharCode(d))+n.substr(n.length-5,t)+i.substr(i.length-5,t);var r,o,a,s,l,u,c,d,h;var p,f,m,g,v,y}(function(e){var t,n,i,r,o,a,s,l=e.lat,u=e.lon,c=6378137,d=he(l),h=he(u);s=Math.floor((u+180)/6)+1,180===u&&(s=60);l>=56&&l<64&&u>=3&&u<12&&(s=32);l>=72&&l<84&&(u>=0&&u<9?s=31:u>=9&&u<21?s=33:u>=21&&u<33?s=35:u>=33&&u<42&&(s=37));a=he(6*(s-1)-180+3),.006739496752268451,t=c/Math.sqrt(1-.00669438*Math.sin(d)*Math.sin(d)),n=Math.tan(d)*Math.tan(d),i=.006739496752268451*Math.cos(d)*Math.cos(d),r=Math.cos(d)*(h-a),o=c*(.9983242984503243*d-.002514607064228144*Math.sin(2*d)+2639046602129982e-21*Math.sin(4*d)-3.418046101696858e-9*Math.sin(6*d));var p=.9996*t*(r+(1-n+i)*r*r*r/6+(5-18*n+n*n+72*i-.39089081163157013)*r*r*r*r*r/120)+5e5,f=.9996*(o+t*Math.tan(d)*(r*r/2+(5-n+9*i+4*i*i)*r*r*r*r/24+(61-58*n+n*n+600*i-2.2240339282485886)*r*r*r*r*r*r/720));l<0&&(f+=1e7);return{northing:Math.round(f),easting:Math.round(p),zoneNumber:s,zoneLetter:me(l)}}({lat:e[1],lon:e[0]}),t)}function de(e){var t=fe(ve(e.toUpperCase()));return t.lat&&t.lon?[t.lon,t.lat]:[(t.left+t.right)/2,(t.top+t.bottom)/2]}function he(e){return e*(Math.PI/180)}function pe(e){return e/Math.PI*180}function fe(e){var t=e.northing,n=e.easting,i=e.zoneLetter,r=e.zoneNumber;if(r<0||r>60)return null;var o,a,s,l,u,c,d,h,p=6378137,f=(1-Math.sqrt(.99330562))/(1+Math.sqrt(.99330562)),m=n-5e5,g=t;i<\\\"N\\\"&&(g-=1e7),c=6*(r-1)-180+3,h=(d=g/.9996/6367449.145945056)+(3*f/2-27*f*f*f/32)*Math.sin(2*d)+(21*f*f/16-55*f*f*f*f/32)*Math.sin(4*d)+151*f*f*f/96*Math.sin(6*d),o=p/Math.sqrt(1-.00669438*Math.sin(h)*Math.sin(h)),a=Math.tan(h)*Math.tan(h),s=.006739496752268451*Math.cos(h)*Math.cos(h),l=.99330562*p/Math.pow(1-.00669438*Math.sin(h)*Math.sin(h),1.5),u=m/(.9996*o);var v=h-o*Math.tan(h)/l*(u*u/2-(5+3*a+10*s-4*s*s-.06065547077041606)*u*u*u*u/24+(61+90*a+298*s+45*a*a-1.6983531815716497-3*s*s)*u*u*u*u*u*u/720);v=pe(v);var y,b=(u-(1+2*a+s)*u*u*u/6+(5-2*s+28*a-3*s*s+.05391597401814761+24*a*a)*u*u*u*u*u/120)/Math.cos(h);if(b=c+pe(b),e.accuracy){var x=fe({northing:e.northing+e.accuracy,easting:e.easting+e.accuracy,zoneLetter:e.zoneLetter,zoneNumber:e.zoneNumber});y={top:x.lat,right:x.lon,bottom:v,left:b}}else y={lat:v,lon:b};return y}function me(e){var t=\\\"Z\\\";return 84>=e&&e>=72?t=\\\"X\\\":72>e&&e>=64?t=\\\"W\\\":64>e&&e>=56?t=\\\"V\\\":56>e&&e>=48?t=\\\"U\\\":48>e&&e>=40?t=\\\"T\\\":40>e&&e>=32?t=\\\"S\\\":32>e&&e>=24?t=\\\"R\\\":24>e&&e>=16?t=\\\"Q\\\":16>e&&e>=8?t=\\\"P\\\":8>e&&e>=0?t=\\\"N\\\":0>e&&e>=-8?t=\\\"M\\\":-8>e&&e>=-16?t=\\\"L\\\":-16>e&&e>=-24?t=\\\"K\\\":-24>e&&e>=-32?t=\\\"J\\\":-32>e&&e>=-40?t=\\\"H\\\":-40>e&&e>=-48?t=\\\"G\\\":-48>e&&e>=-56?t=\\\"F\\\":-56>e&&e>=-64?t=\\\"E\\\":-64>e&&e>=-72?t=\\\"D\\\":-72>e&&e>=-80&&(t=\\\"C\\\"),t}function ge(e){var t=e%6;return 0===t&&(t=6),t}function ve(e){if(e&&0===e.length)throw\\\"MGRSPoint coverting from nothing\\\";for(var t,n=e.length,i=null,r=\\\"\\\",o=0;!/[A-Z]/.test(t=e.charAt(o));){if(o>=2)throw\\\"MGRSPoint bad conversion from: \\\"+e;r+=t,o++}var a=parseInt(r,10);if(0===o||o+3>n)throw\\\"MGRSPoint bad conversion from: \\\"+e;var s=e.charAt(o++);if(s<=\\\"A\\\"||\\\"B\\\"===s||\\\"Y\\\"===s||s>=\\\"Z\\\"||\\\"I\\\"===s||\\\"O\\\"===s)throw\\\"MGRSPoint zone letter \\\"+s+\\\" not handled: \\\"+e;i=e.substring(o,o+=2);for(var l=ge(a),u=function(e,t){var n=\\\"AJSAJS\\\".charCodeAt(t-1),i=1e5,r=!1;for(;n!==e.charCodeAt(0);){if(++n===se&&n++,n===le&&n++,n>90){if(r)throw\\\"Bad character: \\\"+e;n=65,r=!0}i+=1e5}return i}(i.charAt(0),l),c=function(e,t){if(e>\\\"V\\\")throw\\\"MGRSPoint given invalid Northing \\\"+e;var n=\\\"AFAFAF\\\".charCodeAt(t-1),i=0,r=!1;for(;n!==e.charCodeAt(0);){if(++n===se&&n++,n===le&&n++,n>86){if(r)throw\\\"Bad character: \\\"+e;n=65,r=!0}i+=1e5}return i}(i.charAt(1),l);c<ye(s);)c+=2e6;var d=n-o;if(d%2!=0)throw\\\"MGRSPoint has to have an even number \\\\nof digits after the zone letter and two 100km letters - front \\\\nhalf for easting meters, second half for \\\\nnorthing meters\\\"+e;var h,p,f,m=d/2,g=0,v=0;return m>0&&(h=1e5/Math.pow(10,m),p=e.substring(o,o+m),g=parseFloat(p)*h,f=e.substring(o+m),v=parseFloat(f)*h),{easting:g+u,northing:v+c,zoneLetter:s,zoneNumber:a,accuracy:h}}function ye(e){var t;switch(e){case\\\"C\\\":t=11e5;break;case\\\"D\\\":t=2e6;break;case\\\"E\\\":t=28e5;break;case\\\"F\\\":t=37e5;break;case\\\"G\\\":t=46e5;break;case\\\"H\\\":t=55e5;break;case\\\"J\\\":t=64e5;break;case\\\"K\\\":t=73e5;break;case\\\"L\\\":t=82e5;break;case\\\"M\\\":t=91e5;break;case\\\"N\\\":t=0;break;case\\\"P\\\":t=8e5;break;case\\\"Q\\\":t=17e5;break;case\\\"R\\\":t=26e5;break;case\\\"S\\\":t=35e5;break;case\\\"T\\\":t=44e5;break;case\\\"U\\\":t=53e5;break;case\\\"V\\\":t=62e5;break;case\\\"W\\\":t=7e6;break;case\\\"X\\\":t=79e5;break;default:t=-1}if(t>=0)return t;throw\\\"Invalid zone letter: \\\"+e}function be(e,t,n){if(!(this instanceof be))return new be(e,t,n);if(Array.isArray(e))this.x=e[0],this.y=e[1],this.z=e[2]||0;else if(\\\"object\\\"==typeof e)this.x=e.x,this.y=e.y,this.z=e.z||0;else if(\\\"string\\\"==typeof e&&void 0===t){var i=e.split(\\\",\\\");this.x=parseFloat(i[0],10),this.y=parseFloat(i[1],10),this.z=parseFloat(i[2],10)||0}else this.x=e,this.y=t,this.z=n||0;console.warn(\\\"proj4.Point will be removed in version 3, use proj4.toPoint\\\")}be.fromMGRS=function(e){return new be(de(e))},be.prototype.toMGRS=function(e){return ce([this.x,this.y],e)};var xe=be,_e=.01068115234375,we=function(e){var t=[];t[0]=1-e*(.25+e*(.046875+e*(.01953125+e*_e))),t[1]=e*(.75-e*(.046875+e*(.01953125+e*_e)));var n=e*e;return t[2]=n*(.46875-e*(.013020833333333334+.007120768229166667*e)),n*=e,t[3]=n*(.3645833333333333-.005696614583333333*e),t[4]=n*e*.3076171875,t},Me=function(e,t,n,i){return n*=t,t*=t,i[0]*e-n*(i[1]+t*(i[2]+t*(i[3]+t*i[4])))},Se=function(e,t,n){for(var i=1/(1-t),r=e,o=20;o;--o){var a=Math.sin(r),s=1-t*a*a;if(r-=s=(Me(r,a,Math.cos(r),n)-e)*(s*Math.sqrt(s))*i,Math.abs(s)<1e-10)return r}return r};var Ee={init:function(){this.x0=void 0!==this.x0?this.x0:0,this.y0=void 0!==this.y0?this.y0:0,this.long0=void 0!==this.long0?this.long0:0,this.lat0=void 0!==this.lat0?this.lat0:0,this.es&&(this.en=we(this.es),this.ml0=Me(this.lat0,Math.sin(this.lat0),Math.cos(this.lat0),this.en))},forward:function(e){var t,n,i,r=e.x,o=e.y,a=I(r-this.long0),s=Math.sin(o),l=Math.cos(o);if(this.es){var u=l*a,c=Math.pow(u,2),d=this.ep2*Math.pow(l,2),h=Math.pow(d,2),p=Math.abs(l)>1e-10?Math.tan(o):0,f=Math.pow(p,2),m=Math.pow(f,2);t=1-this.es*Math.pow(s,2),u/=Math.sqrt(t);var g=Me(o,s,l,this.en);n=this.a*(this.k0*u*(1+c/6*(1-f+d+c/20*(5-18*f+m+14*d-58*f*d+c/42*(61+179*m-m*f-479*f)))))+this.x0,i=this.a*(this.k0*(g-this.ml0+s*a*u/2*(1+c/12*(5-f+9*d+4*h+c/30*(61+m-58*f+270*d-330*f*d+c/56*(1385+543*m-m*f-3111*f))))))+this.y0}else{var v=l*Math.sin(a);if(Math.abs(Math.abs(v)-1)<1e-10)return 93;if(n=.5*this.a*this.k0*Math.log((1+v)/(1-v))+this.x0,i=l*Math.cos(a)/Math.sqrt(1-Math.pow(v,2)),(v=Math.abs(i))>=1){if(v-1>1e-10)return 93;i=0}else i=Math.acos(i);o<0&&(i=-i),i=this.a*this.k0*(i-this.lat0)+this.y0}return e.x=n,e.y=i,e},inverse:function(e){var t,n,i,o,a=(e.x-this.x0)*(1/this.a),s=(e.y-this.y0)*(1/this.a);if(this.es)if(t=this.ml0+s/this.k0,n=Se(t,this.es,this.en),Math.abs(n)<r){var l=Math.sin(n),u=Math.cos(n),c=Math.abs(u)>1e-10?Math.tan(n):0,d=this.ep2*Math.pow(u,2),h=Math.pow(d,2),p=Math.pow(c,2),f=Math.pow(p,2);t=1-this.es*Math.pow(l,2);var m=a*Math.sqrt(t)/this.k0,g=Math.pow(m,2);i=n-(t*=c)*g/(1-this.es)*.5*(1-g/12*(5+3*p-9*d*p+d-4*h-g/30*(61+90*p-252*d*p+45*f+46*d-g/56*(1385+3633*p+4095*f+1574*f*p)))),o=I(this.long0+m*(1-g/6*(1+2*p+d-g/20*(5+28*p+24*f+8*d*p+6*d-g/42*(61+662*p+1320*f+720*f*p))))/u)}else i=r*L(s),o=0;else{var v=Math.exp(a/this.k0),y=.5*(v-1/v),b=this.lat0+s/this.k0,x=Math.cos(b);t=Math.sqrt((1-Math.pow(x,2))/(1+Math.pow(y,2))),i=Math.asin(t),s<0&&(i=-i),o=0===y&&0===x?0:I(Math.atan2(y,x)+this.long0)}return e.x=o,e.y=i,e},names:[\\\"Transverse_Mercator\\\",\\\"Transverse Mercator\\\",\\\"tmerc\\\"]},Te=function(e){var t=Math.exp(e);return t=(t-1/t)/2},Ce=function(e,t){e=Math.abs(e),t=Math.abs(t);var n=Math.max(e,t),i=Math.min(e,t)/(n||1);return n*Math.sqrt(1+Math.pow(i,2))},Oe=function(e){var t=Math.abs(e);return t=function(e){var t=1+e,n=t-1;return 0===n?e:e*Math.log(t)/n}(t*(1+t/(Ce(1,t)+1))),e<0?-t:t},Pe=function(e,t){for(var n,i=2*Math.cos(2*t),r=e.length-1,o=e[r],a=0;--r>=0;)n=i*o-a+e[r],a=o,o=n;return t+n*Math.sin(2*t)},ke=function(e,t,n){for(var i,r,o=Math.sin(t),a=Math.cos(t),s=Te(n),l=function(e){var t=Math.exp(e);return t=(t+1/t)/2}(n),u=2*a*l,c=-2*o*s,d=e.length-1,h=e[d],p=0,f=0,m=0;--d>=0;)i=f,r=p,h=u*(f=h)-i-c*(p=m)+e[d],m=c*f-r+u*p;return[(u=o*l)*h-(c=a*s)*m,u*m+c*h]};var Ae={init:function(){if(void 0===this.es||this.es<=0)throw new Error(\\\"incorrect elliptical usage\\\");this.x0=void 0!==this.x0?this.x0:0,this.y0=void 0!==this.y0?this.y0:0,this.long0=void 0!==this.long0?this.long0:0,this.lat0=void 0!==this.lat0?this.lat0:0,this.cgb=[],this.cbg=[],this.utg=[],this.gtu=[];var e=this.es/(1+Math.sqrt(1-this.es)),t=e/(2-e),n=t;this.cgb[0]=t*(2+t*(-2/3+t*(t*(116/45+t*(26/45+t*(-2854/675)))-2))),this.cbg[0]=t*(t*(2/3+t*(4/3+t*(-82/45+t*(32/45+t*(4642/4725)))))-2),n*=t,this.cgb[1]=n*(7/3+t*(t*(-227/45+t*(2704/315+t*(2323/945)))-1.6)),this.cbg[1]=n*(5/3+t*(-16/15+t*(-13/9+t*(904/315+t*(-1522/945))))),n*=t,this.cgb[2]=n*(56/15+t*(-136/35+t*(-1262/105+t*(73814/2835)))),this.cbg[2]=n*(-26/15+t*(34/21+t*(1.6+t*(-12686/2835)))),n*=t,this.cgb[3]=n*(4279/630+t*(-332/35+t*(-399572/14175))),this.cbg[3]=n*(1237/630+t*(t*(-24832/14175)-2.4)),n*=t,this.cgb[4]=n*(4174/315+t*(-144838/6237)),this.cbg[4]=n*(-734/315+t*(109598/31185)),n*=t,this.cgb[5]=n*(601676/22275),this.cbg[5]=n*(444337/155925),n=Math.pow(t,2),this.Qn=this.k0/(1+t)*(1+n*(1/4+n*(1/64+n/256))),this.utg[0]=t*(t*(2/3+t*(-37/96+t*(1/360+t*(81/512+t*(-96199/604800)))))-.5),this.gtu[0]=t*(.5+t*(-2/3+t*(5/16+t*(41/180+t*(-127/288+t*(7891/37800)))))),this.utg[1]=n*(-1/48+t*(-1/15+t*(437/1440+t*(-46/105+t*(1118711/3870720))))),this.gtu[1]=n*(13/48+t*(t*(557/1440+t*(281/630+t*(-1983433/1935360)))-.6)),n*=t,this.utg[2]=n*(-17/480+t*(37/840+t*(209/4480+t*(-5569/90720)))),this.gtu[2]=n*(61/240+t*(-103/140+t*(15061/26880+t*(167603/181440)))),n*=t,this.utg[3]=n*(-4397/161280+t*(11/504+t*(830251/7257600))),this.gtu[3]=n*(49561/161280+t*(-179/168+t*(6601661/7257600))),n*=t,this.utg[4]=n*(-4583/161280+t*(108847/3991680)),this.gtu[4]=n*(34729/80640+t*(-3418889/1995840)),n*=t,this.utg[5]=n*(-20648693/638668800),this.gtu[5]=.6650675310896665*n;var i=Pe(this.cbg,this.lat0);this.Zb=-this.Qn*(i+function(e,t){for(var n,i=2*Math.cos(t),r=e.length-1,o=e[r],a=0;--r>=0;)n=i*o-a+e[r],a=o,o=n;return Math.sin(t)*n}(this.gtu,2*i))},forward:function(e){var t=I(e.x-this.long0),n=e.y;n=Pe(this.cbg,n);var i=Math.sin(n),r=Math.cos(n),o=Math.sin(t),a=Math.cos(t);n=Math.atan2(i,a*r),t=Math.atan2(o*r,Ce(i,r*a)),t=Oe(Math.tan(t));var s,l,u=ke(this.gtu,2*n,2*t);return n+=u[0],t+=u[1],Math.abs(t)<=2.623395162778?(s=this.a*(this.Qn*t)+this.x0,l=this.a*(this.Qn*n+this.Zb)+this.y0):(s=1/0,l=1/0),e.x=s,e.y=l,e},inverse:function(e){var t,n,i=(e.x-this.x0)*(1/this.a),r=(e.y-this.y0)*(1/this.a);if(r=(r-this.Zb)/this.Qn,i/=this.Qn,Math.abs(i)<=2.623395162778){var o=ke(this.utg,2*r,2*i);r+=o[0],i+=o[1],i=Math.atan(Te(i));var a=Math.sin(r),s=Math.cos(r),l=Math.sin(i),u=Math.cos(i);r=Math.atan2(a*u,Ce(l,u*s)),i=Math.atan2(l,u*s),t=I(i+this.long0),n=Pe(this.cgb,r)}else t=1/0,n=1/0;return e.x=t,e.y=n,e},names:[\\\"Extended_Transverse_Mercator\\\",\\\"Extended Transverse Mercator\\\",\\\"etmerc\\\"]};var Re={init:function(){var e=function(e,t){if(void 0===e){if((e=Math.floor(30*(I(t)+Math.PI)/Math.PI)+1)<0)return 0;if(e>60)return 60}return e}(this.zone,this.long0);if(void 0===e)throw new Error(\\\"unknown utm zone\\\");this.lat0=0,this.long0=(6*Math.abs(e)-183)*o,this.x0=5e5,this.y0=this.utmSouth?1e7:0,this.k0=.9996,Ae.init.apply(this),this.forward=Ae.forward,this.inverse=Ae.inverse},names:[\\\"Universal Transverse Mercator System\\\",\\\"utm\\\"],dependsOn:\\\"etmerc\\\"},Le=function(e,t){return Math.pow((1-e)/(1+e),t)};var Ie={init:function(){var e=Math.sin(this.lat0),t=Math.cos(this.lat0);t*=t,this.rc=Math.sqrt(1-this.es)/(1-this.es*e*e),this.C=Math.sqrt(1+this.es*t*t/(1-this.es)),this.phic0=Math.asin(e/this.C),this.ratexp=.5*this.C*this.e,this.K=Math.tan(.5*this.phic0+s)/(Math.pow(Math.tan(.5*this.lat0+s),this.C)*Le(this.e*e,this.ratexp))},forward:function(e){var t=e.x,n=e.y;return e.y=2*Math.atan(this.K*Math.pow(Math.tan(.5*n+s),this.C)*Le(this.e*Math.sin(n),this.ratexp))-r,e.x=this.C*t,e},inverse:function(e){for(var t=e.x/this.C,n=e.y,i=Math.pow(Math.tan(.5*n+s)/this.K,1/this.C),o=20;o>0&&(n=2*Math.atan(i*Le(this.e*Math.sin(e.y),-.5*this.e))-r,!(Math.abs(n-e.y)<1e-14));--o)e.y=n;return o?(e.x=t,e.y=n,e):null},names:[\\\"gauss\\\"]};var De={init:function(){Ie.init.apply(this),this.rc&&(this.sinc0=Math.sin(this.phic0),this.cosc0=Math.cos(this.phic0),this.R2=2*this.rc,this.title||(this.title=\\\"Oblique Stereographic Alternative\\\"))},forward:function(e){var t,n,i,r;return e.x=I(e.x-this.long0),Ie.forward.apply(this,[e]),t=Math.sin(e.y),n=Math.cos(e.y),i=Math.cos(e.x),r=this.k0*this.R2/(1+this.sinc0*t+this.cosc0*n*i),e.x=r*n*Math.sin(e.x),e.y=r*(this.cosc0*t-this.sinc0*n*i),e.x=this.a*e.x+this.x0,e.y=this.a*e.y+this.y0,e},inverse:function(e){var t,n,i,r,o;if(e.x=(e.x-this.x0)/this.a,e.y=(e.y-this.y0)/this.a,e.x/=this.k0,e.y/=this.k0,o=Math.sqrt(e.x*e.x+e.y*e.y)){var a=2*Math.atan2(o,this.R2);t=Math.sin(a),n=Math.cos(a),r=Math.asin(n*this.sinc0+e.y*t*this.cosc0/o),i=Math.atan2(e.x*t,o*this.cosc0*n-e.y*this.sinc0*t)}else r=this.phic0,i=0;return e.x=i,e.y=r,Ie.inverse.apply(this,[e]),e.x=I(e.x+this.long0),e},names:[\\\"Stereographic_North_Pole\\\",\\\"Oblique_Stereographic\\\",\\\"Polar_Stereographic\\\",\\\"sterea\\\",\\\"Oblique Stereographic Alternative\\\",\\\"Double_Stereographic\\\"]};var Ne={init:function(){this.coslat0=Math.cos(this.lat0),this.sinlat0=Math.sin(this.lat0),this.sphere?1===this.k0&&!isNaN(this.lat_ts)&&Math.abs(this.coslat0)<=1e-10&&(this.k0=.5*(1+L(this.lat0)*Math.sin(this.lat_ts))):(Math.abs(this.coslat0)<=1e-10&&(this.lat0>0?this.con=1:this.con=-1),this.cons=Math.sqrt(Math.pow(1+this.e,1+this.e)*Math.pow(1-this.e,1-this.e)),1===this.k0&&!isNaN(this.lat_ts)&&Math.abs(this.coslat0)<=1e-10&&(this.k0=.5*this.cons*R(this.e,Math.sin(this.lat_ts),Math.cos(this.lat_ts))/D(this.e,this.con*this.lat_ts,this.con*Math.sin(this.lat_ts))),this.ms1=R(this.e,this.sinlat0,this.coslat0),this.X0=2*Math.atan(this.ssfn_(this.lat0,this.sinlat0,this.e))-r,this.cosX0=Math.cos(this.X0),this.sinX0=Math.sin(this.X0))},forward:function(e){var t,n,i,o,a,s,l=e.x,u=e.y,c=Math.sin(u),d=Math.cos(u),h=I(l-this.long0);return Math.abs(Math.abs(l-this.long0)-Math.PI)<=1e-10&&Math.abs(u+this.lat0)<=1e-10?(e.x=NaN,e.y=NaN,e):this.sphere?(t=2*this.k0/(1+this.sinlat0*c+this.coslat0*d*Math.cos(h)),e.x=this.a*t*d*Math.sin(h)+this.x0,e.y=this.a*t*(this.coslat0*c-this.sinlat0*d*Math.cos(h))+this.y0,e):(n=2*Math.atan(this.ssfn_(u,c,this.e))-r,o=Math.cos(n),i=Math.sin(n),Math.abs(this.coslat0)<=1e-10?(a=D(this.e,u*this.con,this.con*c),s=2*this.a*this.k0*a/this.cons,e.x=this.x0+s*Math.sin(l-this.long0),e.y=this.y0-this.con*s*Math.cos(l-this.long0),e):(Math.abs(this.sinlat0)<1e-10?(t=2*this.a*this.k0/(1+o*Math.cos(h)),e.y=t*i):(t=2*this.a*this.k0*this.ms1/(this.cosX0*(1+this.sinX0*i+this.cosX0*o*Math.cos(h))),e.y=t*(this.cosX0*i-this.sinX0*o*Math.cos(h))+this.y0),e.x=t*o*Math.sin(h)+this.x0,e))},inverse:function(e){var t,n,i,o,a;e.x-=this.x0,e.y-=this.y0;var s=Math.sqrt(e.x*e.x+e.y*e.y);if(this.sphere){var l=2*Math.atan(s/(2*this.a*this.k0));return t=this.long0,n=this.lat0,s<=1e-10?(e.x=t,e.y=n,e):(n=Math.asin(Math.cos(l)*this.sinlat0+e.y*Math.sin(l)*this.coslat0/s),t=Math.abs(this.coslat0)<1e-10?this.lat0>0?I(this.long0+Math.atan2(e.x,-1*e.y)):I(this.long0+Math.atan2(e.x,e.y)):I(this.long0+Math.atan2(e.x*Math.sin(l),s*this.coslat0*Math.cos(l)-e.y*this.sinlat0*Math.sin(l))),e.x=t,e.y=n,e)}if(Math.abs(this.coslat0)<=1e-10){if(s<=1e-10)return n=this.lat0,t=this.long0,e.x=t,e.y=n,e;e.x*=this.con,e.y*=this.con,i=s*this.cons/(2*this.a*this.k0),n=this.con*N(this.e,i),t=this.con*I(this.con*this.long0+Math.atan2(e.x,-1*e.y))}else o=2*Math.atan(s*this.cosX0/(2*this.a*this.k0*this.ms1)),t=this.long0,s<=1e-10?a=this.X0:(a=Math.asin(Math.cos(o)*this.sinX0+e.y*Math.sin(o)*this.cosX0/s),t=I(this.long0+Math.atan2(e.x*Math.sin(o),s*this.cosX0*Math.cos(o)-e.y*this.sinX0*Math.sin(o)))),n=-1*N(this.e,Math.tan(.5*(r+a)));return e.x=t,e.y=n,e},names:[\\\"stere\\\",\\\"Stereographic_South_Pole\\\",\\\"Polar Stereographic (variant B)\\\"],ssfn_:function(e,t,n){return t*=n,Math.tan(.5*(r+e))*Math.pow((1-t)/(1+t),.5*n)}};var Fe={init:function(){var e=this.lat0;this.lambda0=this.long0;var t=Math.sin(e),n=this.a,i=1/this.rf,r=2*i-Math.pow(i,2),o=this.e=Math.sqrt(r);this.R=this.k0*n*Math.sqrt(1-r)/(1-r*Math.pow(t,2)),this.alpha=Math.sqrt(1+r/(1-r)*Math.pow(Math.cos(e),4)),this.b0=Math.asin(t/this.alpha);var a=Math.log(Math.tan(Math.PI/4+this.b0/2)),s=Math.log(Math.tan(Math.PI/4+e/2)),l=Math.log((1+o*t)/(1-o*t));this.K=a-this.alpha*s+this.alpha*o/2*l},forward:function(e){var t=Math.log(Math.tan(Math.PI/4-e.y/2)),n=this.e/2*Math.log((1+this.e*Math.sin(e.y))/(1-this.e*Math.sin(e.y))),i=-this.alpha*(t+n)+this.K,r=2*(Math.atan(Math.exp(i))-Math.PI/4),o=this.alpha*(e.x-this.lambda0),a=Math.atan(Math.sin(o)/(Math.sin(this.b0)*Math.tan(r)+Math.cos(this.b0)*Math.cos(o))),s=Math.asin(Math.cos(this.b0)*Math.sin(r)-Math.sin(this.b0)*Math.cos(r)*Math.cos(o));return e.y=this.R/2*Math.log((1+Math.sin(s))/(1-Math.sin(s)))+this.y0,e.x=this.R*a+this.x0,e},inverse:function(e){for(var t=e.x-this.x0,n=e.y-this.y0,i=t/this.R,r=2*(Math.atan(Math.exp(n/this.R))-Math.PI/4),o=Math.asin(Math.cos(this.b0)*Math.sin(r)+Math.sin(this.b0)*Math.cos(r)*Math.cos(i)),a=Math.atan(Math.sin(i)/(Math.cos(this.b0)*Math.cos(i)-Math.sin(this.b0)*Math.tan(r))),s=this.lambda0+a/this.alpha,l=0,u=o,c=-1e3,d=0;Math.abs(u-c)>1e-7;){if(++d>20)return;l=1/this.alpha*(Math.log(Math.tan(Math.PI/4+o/2))-this.K)+this.e*Math.log(Math.tan(Math.PI/4+Math.asin(this.e*Math.sin(u))/2)),c=u,u=2*Math.atan(Math.exp(l))-Math.PI/2}return e.x=s,e.y=u,e},names:[\\\"somerc\\\"]};var ze={init:function(){this.no_off=this.no_off||!1,this.no_rot=this.no_rot||!1,isNaN(this.k0)&&(this.k0=1);var e=Math.sin(this.lat0),t=Math.cos(this.lat0),n=this.e*e;this.bl=Math.sqrt(1+this.es/(1-this.es)*Math.pow(t,4)),this.al=this.a*this.bl*this.k0*Math.sqrt(1-this.es)/(1-n*n);var i,r,o=D(this.e,this.lat0,e),a=this.bl/t*Math.sqrt((1-this.es)/(1-n*n));if(a*a<1&&(a=1),isNaN(this.longc)){var s=D(this.e,this.lat1,Math.sin(this.lat1)),l=D(this.e,this.lat2,Math.sin(this.lat2));this.lat0>=0?this.el=(a+Math.sqrt(a*a-1))*Math.pow(o,this.bl):this.el=(a-Math.sqrt(a*a-1))*Math.pow(o,this.bl);var u=Math.pow(s,this.bl),c=Math.pow(l,this.bl);r=.5*((i=this.el/u)-1/i);var d=(this.el*this.el-c*u)/(this.el*this.el+c*u),h=(c-u)/(c+u),p=I(this.long1-this.long2);this.long0=.5*(this.long1+this.long2)-Math.atan(d*Math.tan(.5*this.bl*p)/h)/this.bl,this.long0=I(this.long0);var f=I(this.long1-this.long0);this.gamma0=Math.atan(Math.sin(this.bl*f)/r),this.alpha=Math.asin(a*Math.sin(this.gamma0))}else i=this.lat0>=0?a+Math.sqrt(a*a-1):a-Math.sqrt(a*a-1),this.el=i*Math.pow(o,this.bl),r=.5*(i-1/i),this.gamma0=Math.asin(Math.sin(this.alpha)/a),this.long0=this.longc-Math.asin(r*Math.tan(this.gamma0))/this.bl;this.no_off?this.uc=0:this.lat0>=0?this.uc=this.al/this.bl*Math.atan2(Math.sqrt(a*a-1),Math.cos(this.alpha)):this.uc=-1*this.al/this.bl*Math.atan2(Math.sqrt(a*a-1),Math.cos(this.alpha))},forward:function(e){var t,n,i,o=e.x,a=e.y,l=I(o-this.long0);if(Math.abs(Math.abs(a)-r)<=1e-10)i=a>0?-1:1,n=this.al/this.bl*Math.log(Math.tan(s+i*this.gamma0*.5)),t=-1*i*r*this.al/this.bl;else{var u=D(this.e,a,Math.sin(a)),c=this.el/Math.pow(u,this.bl),d=.5*(c-1/c),h=.5*(c+1/c),p=Math.sin(this.bl*l),f=(d*Math.sin(this.gamma0)-p*Math.cos(this.gamma0))/h;n=Math.abs(Math.abs(f)-1)<=1e-10?Number.POSITIVE_INFINITY:.5*this.al*Math.log((1-f)/(1+f))/this.bl,t=Math.abs(Math.cos(this.bl*l))<=1e-10?this.al*this.bl*l:this.al*Math.atan2(d*Math.cos(this.gamma0)+p*Math.sin(this.gamma0),Math.cos(this.bl*l))/this.bl}return this.no_rot?(e.x=this.x0+t,e.y=this.y0+n):(t-=this.uc,e.x=this.x0+n*Math.cos(this.alpha)+t*Math.sin(this.alpha),e.y=this.y0+t*Math.cos(this.alpha)-n*Math.sin(this.alpha)),e},inverse:function(e){var t,n;this.no_rot?(n=e.y-this.y0,t=e.x-this.x0):(n=(e.x-this.x0)*Math.cos(this.alpha)-(e.y-this.y0)*Math.sin(this.alpha),t=(e.y-this.y0)*Math.cos(this.alpha)+(e.x-this.x0)*Math.sin(this.alpha),t+=this.uc);var i=Math.exp(-1*this.bl*n/this.al),o=.5*(i-1/i),a=.5*(i+1/i),s=Math.sin(this.bl*t/this.al),l=(s*Math.cos(this.gamma0)+o*Math.sin(this.gamma0))/a,u=Math.pow(this.el/Math.sqrt((1+l)/(1-l)),1/this.bl);return Math.abs(l-1)<1e-10?(e.x=this.long0,e.y=r):Math.abs(l+1)<1e-10?(e.x=this.long0,e.y=-1*r):(e.y=N(this.e,u),e.x=I(this.long0-Math.atan2(o*Math.cos(this.gamma0)-s*Math.sin(this.gamma0),Math.cos(this.bl*t/this.al))/this.bl)),e},names:[\\\"Hotine_Oblique_Mercator\\\",\\\"Hotine Oblique Mercator\\\",\\\"Hotine_Oblique_Mercator_Azimuth_Natural_Origin\\\",\\\"Hotine_Oblique_Mercator_Azimuth_Center\\\",\\\"omerc\\\"]};var Be={init:function(){if(this.lat2||(this.lat2=this.lat1),this.k0||(this.k0=1),this.x0=this.x0||0,this.y0=this.y0||0,!(Math.abs(this.lat1+this.lat2)<1e-10)){var e=this.b/this.a;this.e=Math.sqrt(1-e*e);var t=Math.sin(this.lat1),n=Math.cos(this.lat1),i=R(this.e,t,n),r=D(this.e,this.lat1,t),o=Math.sin(this.lat2),a=Math.cos(this.lat2),s=R(this.e,o,a),l=D(this.e,this.lat2,o),u=D(this.e,this.lat0,Math.sin(this.lat0));Math.abs(this.lat1-this.lat2)>1e-10?this.ns=Math.log(i/s)/Math.log(r/l):this.ns=t,isNaN(this.ns)&&(this.ns=t),this.f0=i/(this.ns*Math.pow(r,this.ns)),this.rh=this.a*this.f0*Math.pow(u,this.ns),this.title||(this.title=\\\"Lambert Conformal Conic\\\")}},forward:function(e){var t=e.x,n=e.y;Math.abs(2*Math.abs(n)-Math.PI)<=1e-10&&(n=L(n)*(r-2e-10));var i,o,a=Math.abs(Math.abs(n)-r);if(a>1e-10)i=D(this.e,n,Math.sin(n)),o=this.a*this.f0*Math.pow(i,this.ns);else{if((a=n*this.ns)<=0)return null;o=0}var s=this.ns*I(t-this.long0);return e.x=this.k0*(o*Math.sin(s))+this.x0,e.y=this.k0*(this.rh-o*Math.cos(s))+this.y0,e},inverse:function(e){var t,n,i,o,a,s=(e.x-this.x0)/this.k0,l=this.rh-(e.y-this.y0)/this.k0;this.ns>0?(t=Math.sqrt(s*s+l*l),n=1):(t=-Math.sqrt(s*s+l*l),n=-1);var u=0;if(0!==t&&(u=Math.atan2(n*s,n*l)),0!==t||this.ns>0){if(n=1/this.ns,i=Math.pow(t/(this.a*this.f0),n),-9999===(o=N(this.e,i)))return null}else o=-r;return a=I(u/this.ns+this.long0),e.x=a,e.y=o,e},names:[\\\"Lambert Tangential Conformal Conic Projection\\\",\\\"Lambert_Conformal_Conic\\\",\\\"Lambert_Conformal_Conic_2SP\\\",\\\"lcc\\\"]};var je={init:function(){this.a=6377397.155,this.es=.006674372230614,this.e=Math.sqrt(this.es),this.lat0||(this.lat0=.863937979737193),this.long0||(this.long0=.4334234309119251),this.k0||(this.k0=.9999),this.s45=.785398163397448,this.s90=2*this.s45,this.fi0=this.lat0,this.e2=this.es,this.e=Math.sqrt(this.e2),this.alfa=Math.sqrt(1+this.e2*Math.pow(Math.cos(this.fi0),4)/(1-this.e2)),this.uq=1.04216856380474,this.u0=Math.asin(Math.sin(this.fi0)/this.alfa),this.g=Math.pow((1+this.e*Math.sin(this.fi0))/(1-this.e*Math.sin(this.fi0)),this.alfa*this.e/2),this.k=Math.tan(this.u0/2+this.s45)/Math.pow(Math.tan(this.fi0/2+this.s45),this.alfa)*this.g,this.k1=this.k0,this.n0=this.a*Math.sqrt(1-this.e2)/(1-this.e2*Math.pow(Math.sin(this.fi0),2)),this.s0=1.37008346281555,this.n=Math.sin(this.s0),this.ro0=this.k1*this.n0/Math.tan(this.s0),this.ad=this.s90-this.uq},forward:function(e){var t,n,i,r,o,a,s,l=e.x,u=e.y,c=I(l-this.long0);return t=Math.pow((1+this.e*Math.sin(u))/(1-this.e*Math.sin(u)),this.alfa*this.e/2),n=2*(Math.atan(this.k*Math.pow(Math.tan(u/2+this.s45),this.alfa)/t)-this.s45),i=-c*this.alfa,r=Math.asin(Math.cos(this.ad)*Math.sin(n)+Math.sin(this.ad)*Math.cos(n)*Math.cos(i)),o=Math.asin(Math.cos(n)*Math.sin(i)/Math.cos(r)),a=this.n*o,s=this.ro0*Math.pow(Math.tan(this.s0/2+this.s45),this.n)/Math.pow(Math.tan(r/2+this.s45),this.n),e.y=s*Math.cos(a)/1,e.x=s*Math.sin(a)/1,this.czech||(e.y*=-1,e.x*=-1),e},inverse:function(e){var t,n,i,r,o,a,s,l=e.x;e.x=e.y,e.y=l,this.czech||(e.y*=-1,e.x*=-1),o=Math.sqrt(e.x*e.x+e.y*e.y),r=Math.atan2(e.y,e.x)/Math.sin(this.s0),i=2*(Math.atan(Math.pow(this.ro0/o,1/this.n)*Math.tan(this.s0/2+this.s45))-this.s45),t=Math.asin(Math.cos(this.ad)*Math.sin(i)-Math.sin(this.ad)*Math.cos(i)*Math.cos(r)),n=Math.asin(Math.cos(i)*Math.sin(r)/Math.cos(t)),e.x=this.long0-n/this.alfa,a=t,s=0;var u=0;do{e.y=2*(Math.atan(Math.pow(this.k,-1/this.alfa)*Math.pow(Math.tan(t/2+this.s45),1/this.alfa)*Math.pow((1+this.e*Math.sin(a))/(1-this.e*Math.sin(a)),this.e/2))-this.s45),Math.abs(a-e.y)<1e-10&&(s=1),a=e.y,u+=1}while(0===s&&u<15);return u>=15?null:e},names:[\\\"Krovak\\\",\\\"krovak\\\"]},Ue=function(e,t,n,i,r){return e*r-t*Math.sin(2*r)+n*Math.sin(4*r)-i*Math.sin(6*r)},We=function(e){return 1-.25*e*(1+e/16*(3+1.25*e))},Ge=function(e){return.375*e*(1+.25*e*(1+.46875*e))},Ve=function(e){return.05859375*e*e*(1+.75*e)},He=function(e){return e*e*e*(35/3072)},Ye=function(e,t,n){var i=t*n;return e/Math.sqrt(1-i*i)},qe=function(e){return Math.abs(e)<r?e:e-L(e)*Math.PI},Xe=function(e,t,n,i,r){var o,a;o=e/t;for(var s=0;s<15;s++)if(o+=a=(e-(t*o-n*Math.sin(2*o)+i*Math.sin(4*o)-r*Math.sin(6*o)))/(t-2*n*Math.cos(2*o)+4*i*Math.cos(4*o)-6*r*Math.cos(6*o)),Math.abs(a)<=1e-10)return o;return NaN};var Ke={init:function(){this.sphere||(this.e0=We(this.es),this.e1=Ge(this.es),this.e2=Ve(this.es),this.e3=He(this.es),this.ml0=this.a*Ue(this.e0,this.e1,this.e2,this.e3,this.lat0))},forward:function(e){var t,n,i=e.x,r=e.y;if(i=I(i-this.long0),this.sphere)t=this.a*Math.asin(Math.cos(r)*Math.sin(i)),n=this.a*(Math.atan2(Math.tan(r),Math.cos(i))-this.lat0);else{var o=Math.sin(r),a=Math.cos(r),s=Ye(this.a,this.e,o),l=Math.tan(r)*Math.tan(r),u=i*Math.cos(r),c=u*u,d=this.es*a*a/(1-this.es);t=s*u*(1-c*l*(1/6-(8-l+8*d)*c/120)),n=this.a*Ue(this.e0,this.e1,this.e2,this.e3,r)-this.ml0+s*o/a*c*(.5+(5-l+6*d)*c/24)}return e.x=t+this.x0,e.y=n+this.y0,e},inverse:function(e){e.x-=this.x0,e.y-=this.y0;var t,n,i=e.x/this.a,o=e.y/this.a;if(this.sphere){var a=o+this.lat0;t=Math.asin(Math.sin(a)*Math.cos(i)),n=Math.atan2(Math.tan(i),Math.cos(a))}else{var s=this.ml0/this.a+o,l=Xe(s,this.e0,this.e1,this.e2,this.e3);if(Math.abs(Math.abs(l)-r)<=1e-10)return e.x=this.long0,e.y=r,o<0&&(e.y*=-1),e;var u=Ye(this.a,this.e,Math.sin(l)),c=u*u*u/this.a/this.a*(1-this.es),d=Math.pow(Math.tan(l),2),h=i*this.a/u,p=h*h;t=l-u*Math.tan(l)/c*h*h*(.5-(1+3*d)*h*h/24),n=h*(1-p*(d/3+(1+3*d)*d*p/15))/Math.cos(l)}return e.x=I(n+this.long0),e.y=qe(t),e},names:[\\\"Cassini\\\",\\\"Cassini_Soldner\\\",\\\"cass\\\"]},Je=function(e,t){var n;return e>1e-7?(1-e*e)*(t/(1-(n=e*t)*n)-.5/e*Math.log((1-n)/(1+n))):2*t};var Ze={init:function(){var e,t=Math.abs(this.lat0);if(Math.abs(t-r)<1e-10?this.mode=this.lat0<0?this.S_POLE:this.N_POLE:Math.abs(t)<1e-10?this.mode=this.EQUIT:this.mode=this.OBLIQ,this.es>0)switch(this.qp=Je(this.e,1),this.mmf=.5/(1-this.es),this.apa=function(e){var t,n=[];return n[0]=.3333333333333333*e,t=e*e,n[0]+=.17222222222222222*t,n[1]=.06388888888888888*t,t*=e,n[0]+=.10257936507936508*t,n[1]+=.0664021164021164*t,n[2]=.016415012942191543*t,n}(this.es),this.mode){case this.N_POLE:case this.S_POLE:this.dd=1;break;case this.EQUIT:this.rq=Math.sqrt(.5*this.qp),this.dd=1/this.rq,this.xmf=1,this.ymf=.5*this.qp;break;case this.OBLIQ:this.rq=Math.sqrt(.5*this.qp),e=Math.sin(this.lat0),this.sinb1=Je(this.e,e)/this.qp,this.cosb1=Math.sqrt(1-this.sinb1*this.sinb1),this.dd=Math.cos(this.lat0)/(Math.sqrt(1-this.es*e*e)*this.rq*this.cosb1),this.ymf=(this.xmf=this.rq)/this.dd,this.xmf*=this.dd}else this.mode===this.OBLIQ&&(this.sinph0=Math.sin(this.lat0),this.cosph0=Math.cos(this.lat0))},forward:function(e){var t,n,i,o,a,l,u,c,d,h,p=e.x,f=e.y;if(p=I(p-this.long0),this.sphere){if(a=Math.sin(f),h=Math.cos(f),i=Math.cos(p),this.mode===this.OBLIQ||this.mode===this.EQUIT){if((n=this.mode===this.EQUIT?1+h*i:1+this.sinph0*a+this.cosph0*h*i)<=1e-10)return null;t=(n=Math.sqrt(2/n))*h*Math.sin(p),n*=this.mode===this.EQUIT?a:this.cosph0*a-this.sinph0*h*i}else if(this.mode===this.N_POLE||this.mode===this.S_POLE){if(this.mode===this.N_POLE&&(i=-i),Math.abs(f+this.lat0)<1e-10)return null;n=s-.5*f,t=(n=2*(this.mode===this.S_POLE?Math.cos(n):Math.sin(n)))*Math.sin(p),n*=i}}else{switch(u=0,c=0,d=0,i=Math.cos(p),o=Math.sin(p),a=Math.sin(f),l=Je(this.e,a),this.mode!==this.OBLIQ&&this.mode!==this.EQUIT||(u=l/this.qp,c=Math.sqrt(1-u*u)),this.mode){case this.OBLIQ:d=1+this.sinb1*u+this.cosb1*c*i;break;case this.EQUIT:d=1+c*i;break;case this.N_POLE:d=r+f,l=this.qp-l;break;case this.S_POLE:d=f-r,l=this.qp+l}if(Math.abs(d)<1e-10)return null;switch(this.mode){case this.OBLIQ:case this.EQUIT:d=Math.sqrt(2/d),n=this.mode===this.OBLIQ?this.ymf*d*(this.cosb1*u-this.sinb1*c*i):(d=Math.sqrt(2/(1+c*i)))*u*this.ymf,t=this.xmf*d*c*o;break;case this.N_POLE:case this.S_POLE:l>=0?(t=(d=Math.sqrt(l))*o,n=i*(this.mode===this.S_POLE?d:-d)):t=n=0}}return e.x=this.a*t+this.x0,e.y=this.a*n+this.y0,e},inverse:function(e){e.x-=this.x0,e.y-=this.y0;var t,n,i,o,a,s,l,u,c,d,h=e.x/this.a,p=e.y/this.a;if(this.sphere){var f,m=0,g=0;if((n=.5*(f=Math.sqrt(h*h+p*p)))>1)return null;switch(n=2*Math.asin(n),this.mode!==this.OBLIQ&&this.mode!==this.EQUIT||(g=Math.sin(n),m=Math.cos(n)),this.mode){case this.EQUIT:n=Math.abs(f)<=1e-10?0:Math.asin(p*g/f),h*=g,p=m*f;break;case this.OBLIQ:n=Math.abs(f)<=1e-10?this.lat0:Math.asin(m*this.sinph0+p*g*this.cosph0/f),h*=g*this.cosph0,p=(m-Math.sin(n)*this.sinph0)*f;break;case this.N_POLE:p=-p,n=r-n;break;case this.S_POLE:n-=r}t=0!==p||this.mode!==this.EQUIT&&this.mode!==this.OBLIQ?Math.atan2(h,p):0}else{if(l=0,this.mode===this.OBLIQ||this.mode===this.EQUIT){if(h/=this.dd,p*=this.dd,(s=Math.sqrt(h*h+p*p))<1e-10)return e.x=this.long0,e.y=this.lat0,e;o=2*Math.asin(.5*s/this.rq),i=Math.cos(o),h*=o=Math.sin(o),this.mode===this.OBLIQ?(l=i*this.sinb1+p*o*this.cosb1/s,a=this.qp*l,p=s*this.cosb1*i-p*this.sinb1*o):(l=p*o/s,a=this.qp*l,p=s*i)}else if(this.mode===this.N_POLE||this.mode===this.S_POLE){if(this.mode===this.N_POLE&&(p=-p),!(a=h*h+p*p))return e.x=this.long0,e.y=this.lat0,e;l=1-a/this.qp,this.mode===this.S_POLE&&(l=-l)}t=Math.atan2(h,p),u=Math.asin(l),c=this.apa,d=u+u,n=u+c[0]*Math.sin(d)+c[1]*Math.sin(d+d)+c[2]*Math.sin(d+d+d)}return e.x=I(this.long0+t),e.y=n,e},names:[\\\"Lambert Azimuthal Equal Area\\\",\\\"Lambert_Azimuthal_Equal_Area\\\",\\\"laea\\\"],S_POLE:1,N_POLE:2,EQUIT:3,OBLIQ:4},$e=function(e){return Math.abs(e)>1&&(e=e>1?1:-1),Math.asin(e)};var Qe={init:function(){Math.abs(this.lat1+this.lat2)<1e-10||(this.temp=this.b/this.a,this.es=1-Math.pow(this.temp,2),this.e3=Math.sqrt(this.es),this.sin_po=Math.sin(this.lat1),this.cos_po=Math.cos(this.lat1),this.t1=this.sin_po,this.con=this.sin_po,this.ms1=R(this.e3,this.sin_po,this.cos_po),this.qs1=Je(this.e3,this.sin_po,this.cos_po),this.sin_po=Math.sin(this.lat2),this.cos_po=Math.cos(this.lat2),this.t2=this.sin_po,this.ms2=R(this.e3,this.sin_po,this.cos_po),this.qs2=Je(this.e3,this.sin_po,this.cos_po),this.sin_po=Math.sin(this.lat0),this.cos_po=Math.cos(this.lat0),this.t3=this.sin_po,this.qs0=Je(this.e3,this.sin_po,this.cos_po),Math.abs(this.lat1-this.lat2)>1e-10?this.ns0=(this.ms1*this.ms1-this.ms2*this.ms2)/(this.qs2-this.qs1):this.ns0=this.con,this.c=this.ms1*this.ms1+this.ns0*this.qs1,this.rh=this.a*Math.sqrt(this.c-this.ns0*this.qs0)/this.ns0)},forward:function(e){var t=e.x,n=e.y;this.sin_phi=Math.sin(n),this.cos_phi=Math.cos(n);var i=Je(this.e3,this.sin_phi,this.cos_phi),r=this.a*Math.sqrt(this.c-this.ns0*i)/this.ns0,o=this.ns0*I(t-this.long0),a=r*Math.sin(o)+this.x0,s=this.rh-r*Math.cos(o)+this.y0;return e.x=a,e.y=s,e},inverse:function(e){var t,n,i,r,o,a;return e.x-=this.x0,e.y=this.rh-e.y+this.y0,this.ns0>=0?(t=Math.sqrt(e.x*e.x+e.y*e.y),i=1):(t=-Math.sqrt(e.x*e.x+e.y*e.y),i=-1),r=0,0!==t&&(r=Math.atan2(i*e.x,i*e.y)),i=t*this.ns0/this.a,this.sphere?a=Math.asin((this.c-i*i)/(2*this.ns0)):(n=(this.c-i*i)/this.ns0,a=this.phi1z(this.e3,n)),o=I(r/this.ns0+this.long0),e.x=o,e.y=a,e},names:[\\\"Albers_Conic_Equal_Area\\\",\\\"Albers\\\",\\\"aea\\\"],phi1z:function(e,t){var n,i,r,o,a=$e(.5*t);if(e<1e-10)return a;for(var s=e*e,l=1;l<=25;l++)if(a+=o=.5*(r=1-(i=e*(n=Math.sin(a)))*i)*r/Math.cos(a)*(t/(1-s)-n/r+.5/e*Math.log((1-i)/(1+i))),Math.abs(o)<=1e-7)return a;return null}};var et={init:function(){this.sin_p14=Math.sin(this.lat0),this.cos_p14=Math.cos(this.lat0),this.infinity_dist=1e3*this.a,this.rc=1},forward:function(e){var t,n,i,r,o,a,s,l=e.x,u=e.y;return i=I(l-this.long0),t=Math.sin(u),n=Math.cos(u),r=Math.cos(i),1,(o=this.sin_p14*t+this.cos_p14*n*r)>0||Math.abs(o)<=1e-10?(a=this.x0+1*this.a*n*Math.sin(i)/o,s=this.y0+1*this.a*(this.cos_p14*t-this.sin_p14*n*r)/o):(a=this.x0+this.infinity_dist*n*Math.sin(i),s=this.y0+this.infinity_dist*(this.cos_p14*t-this.sin_p14*n*r)),e.x=a,e.y=s,e},inverse:function(e){var t,n,i,r,o,a;return e.x=(e.x-this.x0)/this.a,e.y=(e.y-this.y0)/this.a,e.x/=this.k0,e.y/=this.k0,(t=Math.sqrt(e.x*e.x+e.y*e.y))?(r=Math.atan2(t,this.rc),n=Math.sin(r),i=Math.cos(r),a=$e(i*this.sin_p14+e.y*n*this.cos_p14/t),o=Math.atan2(e.x*n,t*this.cos_p14*i-e.y*this.sin_p14*n),o=I(this.long0+o)):(a=this.phic0,o=0),e.x=o,e.y=a,e},names:[\\\"gnom\\\"]};var tt={init:function(){this.sphere||(this.k0=R(this.e,Math.sin(this.lat_ts),Math.cos(this.lat_ts)))},forward:function(e){var t,n,i=e.x,r=e.y,o=I(i-this.long0);if(this.sphere)t=this.x0+this.a*o*Math.cos(this.lat_ts),n=this.y0+this.a*Math.sin(r)/Math.cos(this.lat_ts);else{var a=Je(this.e,Math.sin(r));t=this.x0+this.a*this.k0*o,n=this.y0+this.a*a*.5/this.k0}return e.x=t,e.y=n,e},inverse:function(e){var t,n;return e.x-=this.x0,e.y-=this.y0,this.sphere?(t=I(this.long0+e.x/this.a/Math.cos(this.lat_ts)),n=Math.asin(e.y/this.a*Math.cos(this.lat_ts))):(n=function(e,t){var n=1-(1-e*e)/(2*e)*Math.log((1-e)/(1+e));if(Math.abs(Math.abs(t)-n)<1e-6)return t<0?-1*r:r;for(var i,o,a,s,l=Math.asin(.5*t),u=0;u<30;u++)if(o=Math.sin(l),a=Math.cos(l),s=e*o,l+=i=Math.pow(1-s*s,2)/(2*a)*(t/(1-e*e)-o/(1-s*s)+.5/e*Math.log((1-s)/(1+s))),Math.abs(i)<=1e-10)return l;return NaN}(this.e,2*e.y*this.k0/this.a),t=I(this.long0+e.x/(this.a*this.k0))),e.x=t,e.y=n,e},names:[\\\"cea\\\"]};var nt={init:function(){this.x0=this.x0||0,this.y0=this.y0||0,this.lat0=this.lat0||0,this.long0=this.long0||0,this.lat_ts=this.lat_ts||0,this.title=this.title||\\\"Equidistant Cylindrical (Plate Carre)\\\",this.rc=Math.cos(this.lat_ts)},forward:function(e){var t=e.x,n=e.y,i=I(t-this.long0),r=qe(n-this.lat0);return e.x=this.x0+this.a*i*this.rc,e.y=this.y0+this.a*r,e},inverse:function(e){var t=e.x,n=e.y;return e.x=I(this.long0+(t-this.x0)/(this.a*this.rc)),e.y=qe(this.lat0+(n-this.y0)/this.a),e},names:[\\\"Equirectangular\\\",\\\"Equidistant_Cylindrical\\\",\\\"eqc\\\"]};var it={init:function(){this.temp=this.b/this.a,this.es=1-Math.pow(this.temp,2),this.e=Math.sqrt(this.es),this.e0=We(this.es),this.e1=Ge(this.es),this.e2=Ve(this.es),this.e3=He(this.es),this.ml0=this.a*Ue(this.e0,this.e1,this.e2,this.e3,this.lat0)},forward:function(e){var t,n,i,r=e.x,o=e.y,a=I(r-this.long0);if(i=a*Math.sin(o),this.sphere)Math.abs(o)<=1e-10?(t=this.a*a,n=-1*this.a*this.lat0):(t=this.a*Math.sin(i)/Math.tan(o),n=this.a*(qe(o-this.lat0)+(1-Math.cos(i))/Math.tan(o)));else if(Math.abs(o)<=1e-10)t=this.a*a,n=-1*this.ml0;else{var s=Ye(this.a,this.e,Math.sin(o))/Math.tan(o);t=s*Math.sin(i),n=this.a*Ue(this.e0,this.e1,this.e2,this.e3,o)-this.ml0+s*(1-Math.cos(i))}return e.x=t+this.x0,e.y=n+this.y0,e},inverse:function(e){var t,n,i,r,o,a,s,l,u;if(i=e.x-this.x0,r=e.y-this.y0,this.sphere)if(Math.abs(r+this.a*this.lat0)<=1e-10)t=I(i/this.a+this.long0),n=0;else{var c;for(a=this.lat0+r/this.a,s=i*i/this.a/this.a+a*a,l=a,o=20;o;--o)if(l+=u=-1*(a*(l*(c=Math.tan(l))+1)-l-.5*(l*l+s)*c)/((l-a)/c-1),Math.abs(u)<=1e-10){n=l;break}t=I(this.long0+Math.asin(i*Math.tan(l)/this.a)/Math.sin(n))}else if(Math.abs(r+this.ml0)<=1e-10)n=0,t=I(this.long0+i/this.a);else{var d,h,p,f,m;for(a=(this.ml0+r)/this.a,s=i*i/this.a/this.a+a*a,l=a,o=20;o;--o)if(m=this.e*Math.sin(l),d=Math.sqrt(1-m*m)*Math.tan(l),h=this.a*Ue(this.e0,this.e1,this.e2,this.e3,l),p=this.e0-2*this.e1*Math.cos(2*l)+4*this.e2*Math.cos(4*l)-6*this.e3*Math.cos(6*l),l-=u=(a*(d*(f=h/this.a)+1)-f-.5*d*(f*f+s))/(this.es*Math.sin(2*l)*(f*f+s-2*a*f)/(4*d)+(a-f)*(d*p-2/Math.sin(2*l))-p),Math.abs(u)<=1e-10){n=l;break}d=Math.sqrt(1-this.es*Math.pow(Math.sin(n),2))*Math.tan(n),t=I(this.long0+Math.asin(i*d/this.a)/Math.sin(n))}return e.x=t,e.y=n,e},names:[\\\"Polyconic\\\",\\\"poly\\\"]};var rt={init:function(){this.A=[],this.A[1]=.6399175073,this.A[2]=-.1358797613,this.A[3]=.063294409,this.A[4]=-.02526853,this.A[5]=.0117879,this.A[6]=-.0055161,this.A[7]=.0026906,this.A[8]=-.001333,this.A[9]=67e-5,this.A[10]=-34e-5,this.B_re=[],this.B_im=[],this.B_re[1]=.7557853228,this.B_im[1]=0,this.B_re[2]=.249204646,this.B_im[2]=.003371507,this.B_re[3]=-.001541739,this.B_im[3]=.04105856,this.B_re[4]=-.10162907,this.B_im[4]=.01727609,this.B_re[5]=-.26623489,this.B_im[5]=-.36249218,this.B_re[6]=-.6870983,this.B_im[6]=-1.1651967,this.C_re=[],this.C_im=[],this.C_re[1]=1.3231270439,this.C_im[1]=0,this.C_re[2]=-.577245789,this.C_im[2]=-.007809598,this.C_re[3]=.508307513,this.C_im[3]=-.112208952,this.C_re[4]=-.15094762,this.C_im[4]=.18200602,this.C_re[5]=1.01418179,this.C_im[5]=1.64497696,this.C_re[6]=1.9660549,this.C_im[6]=2.5127645,this.D=[],this.D[1]=1.5627014243,this.D[2]=.5185406398,this.D[3]=-.03333098,this.D[4]=-.1052906,this.D[5]=-.0368594,this.D[6]=.007317,this.D[7]=.0122,this.D[8]=.00394,this.D[9]=-.0013},forward:function(e){var t,n=e.x,r=e.y-this.lat0,o=n-this.long0,a=r/i*1e-5,s=o,l=1,u=0;for(t=1;t<=10;t++)l*=a,u+=this.A[t]*l;var c,d=u,h=s,p=1,f=0,m=0,g=0;for(t=1;t<=6;t++)c=f*d+p*h,p=p*d-f*h,f=c,m=m+this.B_re[t]*p-this.B_im[t]*f,g=g+this.B_im[t]*p+this.B_re[t]*f;return e.x=g*this.a+this.x0,e.y=m*this.a+this.y0,e},inverse:function(e){var t,n,r=e.x,o=e.y,a=r-this.x0,s=(o-this.y0)/this.a,l=a/this.a,u=1,c=0,d=0,h=0;for(t=1;t<=6;t++)n=c*s+u*l,u=u*s-c*l,c=n,d=d+this.C_re[t]*u-this.C_im[t]*c,h=h+this.C_im[t]*u+this.C_re[t]*c;for(var p=0;p<this.iterations;p++){var f,m=d,g=h,v=s,y=l;for(t=2;t<=6;t++)f=g*d+m*h,m=m*d-g*h,g=f,v+=(t-1)*(this.B_re[t]*m-this.B_im[t]*g),y+=(t-1)*(this.B_im[t]*m+this.B_re[t]*g);m=1,g=0;var b=this.B_re[1],x=this.B_im[1];for(t=2;t<=6;t++)f=g*d+m*h,m=m*d-g*h,g=f,b+=t*(this.B_re[t]*m-this.B_im[t]*g),x+=t*(this.B_im[t]*m+this.B_re[t]*g);var _=b*b+x*x;d=(v*b+y*x)/_,h=(y*b-v*x)/_}var w=d,M=h,S=1,E=0;for(t=1;t<=9;t++)S*=w,E+=this.D[t]*S;var T=this.lat0+E*i*1e5,C=this.long0+M;return e.x=C,e.y=T,e},names:[\\\"New_Zealand_Map_Grid\\\",\\\"nzmg\\\"]};var ot={init:function(){},forward:function(e){var t=e.x,n=e.y,i=I(t-this.long0),r=this.x0+this.a*i,o=this.y0+this.a*Math.log(Math.tan(Math.PI/4+n/2.5))*1.25;return e.x=r,e.y=o,e},inverse:function(e){e.x-=this.x0,e.y-=this.y0;var t=I(this.long0+e.x/this.a),n=2.5*(Math.atan(Math.exp(.8*e.y/this.a))-Math.PI/4);return e.x=t,e.y=n,e},names:[\\\"Miller_Cylindrical\\\",\\\"mill\\\"]};var at={init:function(){this.sphere?(this.n=1,this.m=0,this.es=0,this.C_y=Math.sqrt((this.m+1)/this.n),this.C_x=this.C_y/(this.m+1)):this.en=we(this.es)},forward:function(e){var t,n,i=e.x,r=e.y;if(i=I(i-this.long0),this.sphere){if(this.m)for(var o=this.n*Math.sin(r),a=20;a;--a){var s=(this.m*r+Math.sin(r)-o)/(this.m+Math.cos(r));if(r-=s,Math.abs(s)<1e-10)break}else r=1!==this.n?Math.asin(this.n*Math.sin(r)):r;t=this.a*this.C_x*i*(this.m+Math.cos(r)),n=this.a*this.C_y*r}else{var l=Math.sin(r),u=Math.cos(r);n=this.a*Me(r,l,u,this.en),t=this.a*i*u/Math.sqrt(1-this.es*l*l)}return e.x=t,e.y=n,e},inverse:function(e){var t,n,i,o;return e.x-=this.x0,i=e.x/this.a,e.y-=this.y0,t=e.y/this.a,this.sphere?(t/=this.C_y,i/=this.C_x*(this.m+Math.cos(t)),this.m?t=$e((this.m*t+Math.sin(t))/this.n):1!==this.n&&(t=$e(Math.sin(t)/this.n)),i=I(i+this.long0),t=qe(t)):(t=Se(e.y/this.a,this.es,this.en),(o=Math.abs(t))<r?(o=Math.sin(t),n=this.long0+e.x*Math.sqrt(1-this.es*o*o)/(this.a*Math.cos(t)),i=I(n)):o-1e-10<r&&(i=this.long0)),e.x=i,e.y=t,e},names:[\\\"Sinusoidal\\\",\\\"sinu\\\"]};var st={init:function(){},forward:function(e){for(var t=e.x,n=e.y,i=I(t-this.long0),r=n,o=Math.PI*Math.sin(n);;){var a=-(r+Math.sin(r)-o)/(1+Math.cos(r));if(r+=a,Math.abs(a)<1e-10)break}r/=2,Math.PI/2-Math.abs(n)<1e-10&&(i=0);var s=.900316316158*this.a*i*Math.cos(r)+this.x0,l=1.4142135623731*this.a*Math.sin(r)+this.y0;return e.x=s,e.y=l,e},inverse:function(e){var t,n;e.x-=this.x0,e.y-=this.y0,n=e.y/(1.4142135623731*this.a),Math.abs(n)>.999999999999&&(n=.999999999999),t=Math.asin(n);var i=I(this.long0+e.x/(.900316316158*this.a*Math.cos(t)));i<-Math.PI&&(i=-Math.PI),i>Math.PI&&(i=Math.PI),n=(2*t+Math.sin(2*t))/Math.PI,Math.abs(n)>1&&(n=1);var r=Math.asin(n);return e.x=i,e.y=r,e},names:[\\\"Mollweide\\\",\\\"moll\\\"]};var lt={init:function(){Math.abs(this.lat1+this.lat2)<1e-10||(this.lat2=this.lat2||this.lat1,this.temp=this.b/this.a,this.es=1-Math.pow(this.temp,2),this.e=Math.sqrt(this.es),this.e0=We(this.es),this.e1=Ge(this.es),this.e2=Ve(this.es),this.e3=He(this.es),this.sinphi=Math.sin(this.lat1),this.cosphi=Math.cos(this.lat1),this.ms1=R(this.e,this.sinphi,this.cosphi),this.ml1=Ue(this.e0,this.e1,this.e2,this.e3,this.lat1),Math.abs(this.lat1-this.lat2)<1e-10?this.ns=this.sinphi:(this.sinphi=Math.sin(this.lat2),this.cosphi=Math.cos(this.lat2),this.ms2=R(this.e,this.sinphi,this.cosphi),this.ml2=Ue(this.e0,this.e1,this.e2,this.e3,this.lat2),this.ns=(this.ms1-this.ms2)/(this.ml2-this.ml1)),this.g=this.ml1+this.ms1/this.ns,this.ml0=Ue(this.e0,this.e1,this.e2,this.e3,this.lat0),this.rh=this.a*(this.g-this.ml0))},forward:function(e){var t,n=e.x,i=e.y;if(this.sphere)t=this.a*(this.g-i);else{var r=Ue(this.e0,this.e1,this.e2,this.e3,i);t=this.a*(this.g-r)}var o=this.ns*I(n-this.long0),a=this.x0+t*Math.sin(o),s=this.y0+this.rh-t*Math.cos(o);return e.x=a,e.y=s,e},inverse:function(e){var t,n,i,r;e.x-=this.x0,e.y=this.rh-e.y+this.y0,this.ns>=0?(n=Math.sqrt(e.x*e.x+e.y*e.y),t=1):(n=-Math.sqrt(e.x*e.x+e.y*e.y),t=-1);var o=0;if(0!==n&&(o=Math.atan2(t*e.x,t*e.y)),this.sphere)return r=I(this.long0+o/this.ns),i=qe(this.g-n/this.a),e.x=r,e.y=i,e;var a=this.g-n/this.a;return i=Xe(a,this.e0,this.e1,this.e2,this.e3),r=I(this.long0+o/this.ns),e.x=r,e.y=i,e},names:[\\\"Equidistant_Conic\\\",\\\"eqdc\\\"]};var ut={init:function(){this.R=this.a},forward:function(e){var t,n,i=e.x,o=e.y,a=I(i-this.long0);Math.abs(o)<=1e-10&&(t=this.x0+this.R*a,n=this.y0);var s=$e(2*Math.abs(o/Math.PI));(Math.abs(a)<=1e-10||Math.abs(Math.abs(o)-r)<=1e-10)&&(t=this.x0,n=o>=0?this.y0+Math.PI*this.R*Math.tan(.5*s):this.y0+Math.PI*this.R*-Math.tan(.5*s));var l=.5*Math.abs(Math.PI/a-a/Math.PI),u=l*l,c=Math.sin(s),d=Math.cos(s),h=d/(c+d-1),p=h*h,f=h*(2/c-1),m=f*f,g=Math.PI*this.R*(l*(h-m)+Math.sqrt(u*(h-m)*(h-m)-(m+u)*(p-m)))/(m+u);a<0&&(g=-g),t=this.x0+g;var v=u+h;return g=Math.PI*this.R*(f*v-l*Math.sqrt((m+u)*(u+1)-v*v))/(m+u),n=o>=0?this.y0+g:this.y0-g,e.x=t,e.y=n,e},inverse:function(e){var t,n,i,r,o,a,s,l,u,c,d,h;return e.x-=this.x0,e.y-=this.y0,d=Math.PI*this.R,o=(i=e.x/d)*i+(r=e.y/d)*r,d=3*(r*r/(l=-2*(a=-Math.abs(r)*(1+o))+1+2*r*r+o*o)+(2*(s=a-2*r*r+i*i)*s*s/l/l/l-9*a*s/l/l)/27)/(u=(a-s*s/3/l)/l)/(c=2*Math.sqrt(-u/3)),Math.abs(d)>1&&(d=d>=0?1:-1),h=Math.acos(d)/3,n=e.y>=0?(-c*Math.cos(h+Math.PI/3)-s/3/l)*Math.PI:-(-c*Math.cos(h+Math.PI/3)-s/3/l)*Math.PI,t=Math.abs(i)<1e-10?this.long0:I(this.long0+Math.PI*(o-1+Math.sqrt(1+2*(i*i-r*r)+o*o))/2/i),e.x=t,e.y=n,e},names:[\\\"Van_der_Grinten_I\\\",\\\"VanDerGrinten\\\",\\\"vandg\\\"]};var ct={init:function(){this.sin_p12=Math.sin(this.lat0),this.cos_p12=Math.cos(this.lat0)},forward:function(e){var t,n,i,o,a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w,M,S=e.x,E=e.y,T=Math.sin(e.y),C=Math.cos(e.y),O=I(S-this.long0);return this.sphere?Math.abs(this.sin_p12-1)<=1e-10?(e.x=this.x0+this.a*(r-E)*Math.sin(O),e.y=this.y0-this.a*(r-E)*Math.cos(O),e):Math.abs(this.sin_p12+1)<=1e-10?(e.x=this.x0+this.a*(r+E)*Math.sin(O),e.y=this.y0+this.a*(r+E)*Math.cos(O),e):(b=this.sin_p12*T+this.cos_p12*C*Math.cos(O),y=(v=Math.acos(b))?v/Math.sin(v):1,e.x=this.x0+this.a*y*C*Math.sin(O),e.y=this.y0+this.a*y*(this.cos_p12*T-this.sin_p12*C*Math.cos(O)),e):(t=We(this.es),n=Ge(this.es),i=Ve(this.es),o=He(this.es),Math.abs(this.sin_p12-1)<=1e-10?(a=this.a*Ue(t,n,i,o,r),s=this.a*Ue(t,n,i,o,E),e.x=this.x0+(a-s)*Math.sin(O),e.y=this.y0-(a-s)*Math.cos(O),e):Math.abs(this.sin_p12+1)<=1e-10?(a=this.a*Ue(t,n,i,o,r),s=this.a*Ue(t,n,i,o,E),e.x=this.x0+(a+s)*Math.sin(O),e.y=this.y0+(a+s)*Math.cos(O),e):(l=T/C,u=Ye(this.a,this.e,this.sin_p12),c=Ye(this.a,this.e,T),d=Math.atan((1-this.es)*l+this.es*u*this.sin_p12/(c*C)),x=0===(h=Math.atan2(Math.sin(O),this.cos_p12*Math.tan(d)-this.sin_p12*Math.cos(O)))?Math.asin(this.cos_p12*Math.sin(d)-this.sin_p12*Math.cos(d)):Math.abs(Math.abs(h)-Math.PI)<=1e-10?-Math.asin(this.cos_p12*Math.sin(d)-this.sin_p12*Math.cos(d)):Math.asin(Math.sin(O)*Math.cos(d)/Math.sin(h)),p=this.e*this.sin_p12/Math.sqrt(1-this.es),v=u*x*(1-(_=x*x)*(g=(f=this.e*this.cos_p12*Math.cos(h)/Math.sqrt(1-this.es))*f)*(1-g)/6+(w=_*x)/8*(m=p*f)*(1-2*g)+(M=w*x)/120*(g*(4-7*g)-3*p*p*(1-7*g))-M*x/48*m),e.x=this.x0+v*Math.sin(h),e.y=this.y0+v*Math.cos(h),e))},inverse:function(e){var t,n,i,o,a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w,M,S;if(e.x-=this.x0,e.y-=this.y0,this.sphere){if((t=Math.sqrt(e.x*e.x+e.y*e.y))>2*r*this.a)return;return n=t/this.a,i=Math.sin(n),o=Math.cos(n),a=this.long0,Math.abs(t)<=1e-10?s=this.lat0:(s=$e(o*this.sin_p12+e.y*i*this.cos_p12/t),l=Math.abs(this.lat0)-r,a=Math.abs(l)<=1e-10?this.lat0>=0?I(this.long0+Math.atan2(e.x,-e.y)):I(this.long0-Math.atan2(-e.x,e.y)):I(this.long0+Math.atan2(e.x*i,t*this.cos_p12*o-e.y*this.sin_p12*i))),e.x=a,e.y=s,e}return u=We(this.es),c=Ge(this.es),d=Ve(this.es),h=He(this.es),Math.abs(this.sin_p12-1)<=1e-10?(p=this.a*Ue(u,c,d,h,r),t=Math.sqrt(e.x*e.x+e.y*e.y),s=Xe((p-t)/this.a,u,c,d,h),a=I(this.long0+Math.atan2(e.x,-1*e.y)),e.x=a,e.y=s,e):Math.abs(this.sin_p12+1)<=1e-10?(p=this.a*Ue(u,c,d,h,r),t=Math.sqrt(e.x*e.x+e.y*e.y),s=Xe((t-p)/this.a,u,c,d,h),a=I(this.long0+Math.atan2(e.x,e.y)),e.x=a,e.y=s,e):(t=Math.sqrt(e.x*e.x+e.y*e.y),g=Math.atan2(e.x,e.y),f=Ye(this.a,this.e,this.sin_p12),v=Math.cos(g),b=-(y=this.e*this.cos_p12*v)*y/(1-this.es),x=3*this.es*(1-b)*this.sin_p12*this.cos_p12*v/(1-this.es),M=1-b*(w=(_=t/f)-b*(1+b)*Math.pow(_,3)/6-x*(1+3*b)*Math.pow(_,4)/24)*w/2-_*w*w*w/6,m=Math.asin(this.sin_p12*Math.cos(w)+this.cos_p12*Math.sin(w)*v),a=I(this.long0+Math.asin(Math.sin(g)*Math.sin(w)/Math.cos(m))),S=Math.sin(m),s=Math.atan2((S-this.es*M*this.sin_p12)*Math.tan(m),S*(1-this.es)),e.x=a,e.y=s,e)},names:[\\\"Azimuthal_Equidistant\\\",\\\"aeqd\\\"]};var dt={init:function(){this.sin_p14=Math.sin(this.lat0),this.cos_p14=Math.cos(this.lat0)},forward:function(e){var t,n,i,r,o,a,s,l=e.x,u=e.y;return i=I(l-this.long0),t=Math.sin(u),n=Math.cos(u),r=Math.cos(i),1,((o=this.sin_p14*t+this.cos_p14*n*r)>0||Math.abs(o)<=1e-10)&&(a=1*this.a*n*Math.sin(i),s=this.y0+1*this.a*(this.cos_p14*t-this.sin_p14*n*r)),e.x=a,e.y=s,e},inverse:function(e){var t,n,i,o,a,s,l;return e.x-=this.x0,e.y-=this.y0,t=Math.sqrt(e.x*e.x+e.y*e.y),n=$e(t/this.a),i=Math.sin(n),o=Math.cos(n),s=this.long0,Math.abs(t)<=1e-10?(l=this.lat0,e.x=s,e.y=l,e):(l=$e(o*this.sin_p14+e.y*i*this.cos_p14/t),a=Math.abs(this.lat0)-r,Math.abs(a)<=1e-10?(s=this.lat0>=0?I(this.long0+Math.atan2(e.x,-e.y)):I(this.long0-Math.atan2(-e.x,e.y)),e.x=s,e.y=l,e):(s=I(this.long0+Math.atan2(e.x*i,t*this.cos_p14*o-e.y*this.sin_p14*i)),e.x=s,e.y=l,e))},names:[\\\"ortho\\\"]},ht=1,pt=2,ft=3,mt=4,gt=5,vt=6,yt=1,bt=2,xt=3,_t=4;function wt(e,t,n,i){var o;return e<1e-10?(i.value=yt,o=0):(o=Math.atan2(t,n),Math.abs(o)<=s?i.value=yt:o>s&&o<=r+s?(i.value=bt,o-=r):o>r+s||o<=-(r+s)?(i.value=xt,o=o>=0?o-u:o+u):(i.value=_t,o+=r)),o}function Mt(e,t){var n=e+t;return n<-u?n+=l:n>+u&&(n-=l),n}var St={init:function(){this.x0=this.x0||0,this.y0=this.y0||0,this.lat0=this.lat0||0,this.long0=this.long0||0,this.lat_ts=this.lat_ts||0,this.title=this.title||\\\"Quadrilateralized Spherical Cube\\\",this.lat0>=r-s/2?this.face=gt:this.lat0<=-(r-s/2)?this.face=vt:Math.abs(this.long0)<=s?this.face=ht:Math.abs(this.long0)<=r+s?this.face=this.long0>0?pt:mt:this.face=ft,0!==this.es&&(this.one_minus_f=1-(this.a-this.b)/this.a,this.one_minus_f_squared=this.one_minus_f*this.one_minus_f)},forward:function(e){var t,n,i,o,a,l,c={x:0,y:0},d={value:0};if(e.x-=this.long0,t=0!==this.es?Math.atan(this.one_minus_f_squared*Math.tan(e.y)):e.y,n=e.x,this.face===gt)o=r-t,n>=s&&n<=r+s?(d.value=yt,i=n-r):n>r+s||n<=-(r+s)?(d.value=bt,i=n>0?n-u:n+u):n>-(r+s)&&n<=-s?(d.value=xt,i=n+r):(d.value=_t,i=n);else if(this.face===vt)o=r+t,n>=s&&n<=r+s?(d.value=yt,i=-n+r):n<s&&n>=-s?(d.value=bt,i=-n):n<-s&&n>=-(r+s)?(d.value=xt,i=-n-r):(d.value=_t,i=n>0?-n+u:-n-u);else{var h,p,f,m,g,v;this.face===pt?n=Mt(n,+r):this.face===ft?n=Mt(n,+u):this.face===mt&&(n=Mt(n,-r)),m=Math.sin(t),g=Math.cos(t),v=Math.sin(n),h=g*Math.cos(n),p=g*v,f=m,this.face===ht?i=wt(o=Math.acos(h),f,p,d):this.face===pt?i=wt(o=Math.acos(p),f,-h,d):this.face===ft?i=wt(o=Math.acos(-h),f,-p,d):this.face===mt?i=wt(o=Math.acos(-p),f,h,d):(o=i=0,d.value=yt)}return l=Math.atan(12/u*(i+Math.acos(Math.sin(i)*Math.cos(s))-r)),a=Math.sqrt((1-Math.cos(o))/(Math.cos(l)*Math.cos(l))/(1-Math.cos(Math.atan(1/Math.cos(i))))),d.value===bt?l+=r:d.value===xt?l+=u:d.value===_t&&(l+=1.5*u),c.x=a*Math.cos(l),c.y=a*Math.sin(l),c.x=c.x*this.a+this.x0,c.y=c.y*this.a+this.y0,e.x=c.x,e.y=c.y,e},inverse:function(e){var t,n,i,o,a,s,l,c,d,h,p,f,m={lam:0,phi:0},g={value:0};if(e.x=(e.x-this.x0)/this.a,e.y=(e.y-this.y0)/this.a,n=Math.atan(Math.sqrt(e.x*e.x+e.y*e.y)),t=Math.atan2(e.y,e.x),e.x>=0&&e.x>=Math.abs(e.y)?g.value=yt:e.y>=0&&e.y>=Math.abs(e.x)?(g.value=bt,t-=r):e.x<0&&-e.x>=Math.abs(e.y)?(g.value=xt,t=t<0?t+u:t-u):(g.value=_t,t+=r),d=u/12*Math.tan(t),a=Math.sin(d)/(Math.cos(d)-1/Math.sqrt(2)),s=Math.atan(a),(l=1-(i=Math.cos(t))*i*(o=Math.tan(n))*o*(1-Math.cos(Math.atan(1/Math.cos(s)))))<-1?l=-1:l>1&&(l=1),this.face===gt)c=Math.acos(l),m.phi=r-c,g.value===yt?m.lam=s+r:g.value===bt?m.lam=s<0?s+u:s-u:g.value===xt?m.lam=s-r:m.lam=s;else if(this.face===vt)c=Math.acos(l),m.phi=c-r,g.value===yt?m.lam=-s+r:g.value===bt?m.lam=-s:g.value===xt?m.lam=-s-r:m.lam=s<0?-s-u:-s+u;else{var v,y,b;d=(v=l)*v,y=(d+=(b=d>=1?0:Math.sqrt(1-d)*Math.sin(s))*b)>=1?0:Math.sqrt(1-d),g.value===bt?(d=y,y=-b,b=d):g.value===xt?(y=-y,b=-b):g.value===_t&&(d=y,y=b,b=-d),this.face===pt?(d=v,v=-y,y=d):this.face===ft?(v=-v,y=-y):this.face===mt&&(d=v,v=y,y=-d),m.phi=Math.acos(-b)-r,m.lam=Math.atan2(y,v),this.face===pt?m.lam=Mt(m.lam,-r):this.face===ft?m.lam=Mt(m.lam,-u):this.face===mt&&(m.lam=Mt(m.lam,+r))}return 0!==this.es&&(h=m.phi<0?1:0,p=Math.tan(m.phi),f=this.b/Math.sqrt(p*p+this.one_minus_f_squared),m.phi=Math.atan(Math.sqrt(this.a*this.a-f*f)/(this.one_minus_f*f)),h&&(m.phi=-m.phi)),m.lam+=this.long0,e.x=m.lam,e.y=m.phi,e},names:[\\\"Quadrilateralized Spherical 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e[0]+t*(e[1]+t*(e[2]+t*e[3]))};var Pt={init:function(){this.x0=this.x0||0,this.y0=this.y0||0,this.long0=this.long0||0,this.es=0,this.title=this.title||\\\"Robinson\\\"},forward:function(e){var t=I(e.x-this.long0),n=Math.abs(e.y),i=Math.floor(n*Ct);i<0?i=0:i>=18&&(i=17);var r={x:Ot(Et[i],n=a*(n-.08726646259971647*i))*t,y:Ot(Tt[i],n)};return e.y<0&&(r.y=-r.y),r.x=r.x*this.a*.8487+this.x0,r.y=r.y*this.a*1.3523+this.y0,r},inverse:function(e){var t={x:(e.x-this.x0)/(.8487*this.a),y:Math.abs(e.y-this.y0)/(1.3523*this.a)};if(t.y>=1)t.x/=Et[18][0],t.y=e.y<0?-r:r;else{var n=Math.floor(18*t.y);for(n<0?n=0:n>=18&&(n=17);;)if(Tt[n][0]>t.y)--n;else{if(!(Tt[n+1][0]<=t.y))break;++n}var i=Tt[n],a=5*(t.y-i[0])/(Tt[n+1][0]-i[0]);a=function(e,t,n,i){for(var r=t;i;--i){var o=e(r);if(r-=o,Math.abs(o)<n)break}return r}((function(e){return(Ot(i,e)-t.y)/function(e,t){return e[1]+t*(2*e[2]+3*t*e[3])}(i,e)}),a,1e-10,100),t.x/=Ot(Et[n],a),t.y=(5*n+a)*o,e.y<0&&(t.y=-t.y)}return t.x=I(t.x+this.long0),t},names:[\\\"Robinson\\\",\\\"robin\\\"]};var kt,At={init:function(){this.name=\\\"geocent\\\"},forward:function(e){return K(e,this.es,this.a)},inverse:function(e){return J(e,this.es,this.a,this.b)},names:[\\\"Geocentric\\\",\\\"geocentric\\\",\\\"geocent\\\",\\\"Geocent\\\"]};ae.defaultDatum=\\\"WGS84\\\",ae.Proj=X,ae.WGS84=new ae.Proj(\\\"WGS84\\\"),ae.Point=xe,ae.toPoint=ee,ae.defs=C,ae.transform=ne,ae.mgrs=ue,ae.version=\\\"__VERSION__\\\",(kt=ae).Proj.projections.add(Ee),kt.Proj.projections.add(Ae),kt.Proj.projections.add(Re),kt.Proj.projections.add(De),kt.Proj.projections.add(Ne),kt.Proj.projections.add(Fe),kt.Proj.projections.add(ze),kt.Proj.projections.add(Be),kt.Proj.projections.add(je),kt.Proj.projections.add(Ke),kt.Proj.projections.add(Ze),kt.Proj.projections.add(Qe),kt.Proj.projections.add(et),kt.Proj.projections.add(tt),kt.Proj.projections.add(nt),kt.Proj.projections.add(it),kt.Proj.projections.add(rt),kt.Proj.projections.add(ot),kt.Proj.projections.add(at),kt.Proj.projections.add(st),kt.Proj.projections.add(lt),kt.Proj.projections.add(ut),kt.Proj.projections.add(ct),kt.Proj.projections.add(dt),kt.Proj.projections.add(St),kt.Proj.projections.add(Pt),kt.Proj.projections.add(At);t.default=ae},function(e,t,n){\\\"use strict\\\";n.r(t);var i=n(0),r=n.n(i),o=n(3),a=n.n(o),s=n(36),l=n.n(s);function 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i=Object.getOwnPropertySymbols(e);t&&(i=i.filter((function(t){return Object.getOwnPropertyDescriptor(e,t).enumerable}))),n.push.apply(n,i)}return n}function v(e){for(var t=1;t<arguments.length;t++){var n=null!=arguments[t]?arguments[t]:{};t%2?g(Object(n),!0).forEach((function(t){m(e,t,n[t])})):Object.getOwnPropertyDescriptors?Object.defineProperties(e,Object.getOwnPropertyDescriptors(n)):g(Object(n)).forEach((function(t){Object.defineProperty(e,t,Object.getOwnPropertyDescriptor(n,t))}))}return e}function y(e,t){if(\\\"function\\\"!=typeof t&&null!==t)throw new TypeError(\\\"Super expression must either be null or a function\\\");e.prototype=Object.create(t&&t.prototype,{constructor:{value:e,writable:!0,configurable:!0}}),t&&x(e,t)}function b(e){return(b=Object.setPrototypeOf?Object.getPrototypeOf:function(e){return e.__proto__||Object.getPrototypeOf(e)})(e)}function x(e,t){return(x=Object.setPrototypeOf||function(e,t){return e.__proto__=t,e})(e,t)}function _(e){if(void 0===e)throw new 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If using computed as decorator, don't pass it arguments\\\",m012:\\\"computed takes one or two arguments if used as function\\\",m013:\\\"[mobx.expr] 'expr' should only be used inside other reactive functions.\\\",m014:\\\"extendObservable expected 2 or more arguments\\\",m015:\\\"extendObservable expects an object as first argument\\\",m016:\\\"extendObservable should not be used on maps, use map.merge instead\\\",m017:\\\"all arguments of extendObservable should be objects\\\",m018:\\\"extending an object with another observable (object) is not supported. Please construct an explicit propertymap, using `toJS` if need. See issue #540\\\",m019:\\\"[mobx.isObservable] isObservable(object, propertyName) is not supported for arrays and maps. Use map.has or array.length instead.\\\",m020:\\\"modifiers can only be used for individual object properties\\\",m021:\\\"observable expects zero or one arguments\\\",m022:\\\"@observable can not be used on getters, use @computed instead\\\",m024:\\\"whyRun() can only be used if a derivation is active, or by passing an computed value / reaction explicitly. If you invoked whyRun from inside a computation; the computation is currently suspended but re-evaluating because somebody requested its value.\\\",m025:\\\"whyRun can only be used on reactions and computed values\\\",m026:\\\"`action` can only be invoked on functions\\\",m028:\\\"It is not allowed to set `useStrict` when a derivation is running\\\",m029:\\\"INTERNAL ERROR only onBecomeUnobserved shouldn't be called twice in a row\\\",m030a:\\\"Since strict-mode is enabled, changing observed observable values outside actions is not allowed. Please wrap the code in an `action` if this change is intended. Tried to modify: \\\",m030b:\\\"Side effects like changing state are not allowed at this point. Are you trying to modify state from, for example, the render function of a React component? Tried to modify: \\\",m031:\\\"Computed values are not allowed to cause side effects by changing observables that are already being observed. Tried to modify: \\\",m032:\\\"* This computation is suspended (not in use by any reaction) and won't run automatically.\\\\n\\\\tDidn't expect this computation to be suspended at this point?\\\\n\\\\t 1. Make sure this computation is used by a reaction (reaction, autorun, observer).\\\\n\\\\t 2. Check whether you are using this computation synchronously (in the same stack as they reaction that needs it).\\\",m033:\\\"`observe` doesn't support the fire immediately property for observable maps.\\\",m034:\\\"`mobx.map` is deprecated, use `new ObservableMap` or `mobx.observable.map` instead\\\",m035:\\\"Cannot make the designated object observable; it is not extensible\\\",m036:\\\"It is not possible to get index atoms from arrays\\\",m037:'Hi there! I\\\\'m sorry you have just run into an exception.\\\\nIf your debugger ends up here, know that some reaction (like the render() of an observer component, autorun or reaction)\\\\nthrew an exception and that mobx caught it, to avoid that it brings the rest of your application down.\\\\nThe original cause of the exception (the code that caused this reaction to run (again)), is still in the stack.\\\\n\\\\nHowever, more interesting is the actual stack trace of the error itself.\\\\nHopefully the error is an instanceof Error, because in that case you can inspect the original stack of the error from where it was thrown.\\\\nSee `error.stack` property, or press the very subtle \\\"(...)\\\" link you see near the console.error message that probably brought you here.\\\\nThat stack is more interesting than the stack of this console.error itself.\\\\n\\\\nIf the exception you see is an exception you created yourself, make sure to use `throw new Error(\\\"Oops\\\")` instead of `throw \\\"Oops\\\"`,\\\\nbecause the javascript environment will only preserve the original stack trace in the first form.\\\\n\\\\nYou can also make sure the debugger pauses the next time this very same exception is thrown by enabling \\\"Pause on caught exception\\\".\\\\n(Note that it might pause on many other, unrelated exception as well).\\\\n\\\\nIf that all doesn\\\\'t help you out, feel free to open an issue https://github.com/mobxjs/mobx/issues!\\\\n',m038:\\\"Missing items in this list?\\\\n 1. Check whether all used values are properly marked as observable (use isObservable to verify)\\\\n 2. Make sure you didn't dereference values too early. MobX observes props, not primitives. 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e(e,t,n,i,r){this.derivation=e,this.scope=t,this.equals=n,this.dependenciesState=Mt.NOT_TRACKING,this.observing=[],this.newObserving=null,this.isPendingUnobservation=!1,this.observers=[],this.observersIndexes={},this.diffValue=0,this.runId=0,this.lastAccessedBy=0,this.lowestObserverState=Mt.UP_TO_DATE,this.unboundDepsCount=0,this.__mapid=\\\"#\\\"+et(),this.value=new Yt(null),this.isComputing=!1,this.isRunningSetter=!1,this.isTracing=St.NONE,this.name=i||\\\"ComputedValue@\\\"+et(),r&&(this.setter=j(i+\\\"-setter\\\",r))}return e.prototype.onBecomeStale=function(){!function(e){if(e.lowestObserverState!==Mt.UP_TO_DATE)return;e.lowestObserverState=Mt.POSSIBLY_STALE;var t=e.observers,n=t.length;for(;n--;){var i=t[n];i.dependenciesState===Mt.UP_TO_DATE&&(i.dependenciesState=Mt.POSSIBLY_STALE,i.isTracing!==St.NONE&&Ht(i,e),i.onBecomeStale())}}(this)},e.prototype.onBecomeUnobserved=function(){$t(this),this.value=void 0},e.prototype.get=function(){nt(!this.isComputing,\\\"Cycle detected in 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Use .addVectors( a, b ) instead.\\\"),this.addVectors(e,t)):(this.x+=e.x,this.y+=e.y,this)},addScalar:function(e){return this.x+=e,this.y+=e,this},addVectors:function(e,t){return this.x=e.x+t.x,this.y=e.y+t.y,this},addScaledVector:function(e,t){return this.x+=e.x*t,this.y+=e.y*t,this},sub:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Vector2: .sub() now only accepts one argument. Use .subVectors( a, b ) instead.\\\"),this.subVectors(e,t)):(this.x-=e.x,this.y-=e.y,this)},subScalar:function(e){return this.x-=e,this.y-=e,this},subVectors:function(e,t){return this.x=e.x-t.x,this.y=e.y-t.y,this},multiply:function(e){return this.x*=e.x,this.y*=e.y,this},multiplyScalar:function(e){return isFinite(e)?(this.x*=e,this.y*=e):(this.x=0,this.y=0),this},divide:function(e){return this.x/=e.x,this.y/=e.y,this},divideScalar:function(e){return this.multiplyScalar(1/e)},min:function(e){return this.x=Math.min(this.x,e.x),this.y=Math.min(this.y,e.y),this},max:function(e){return this.x=Math.max(this.x,e.x),this.y=Math.max(this.y,e.y),this},clamp:function(e,t){return this.x=Math.max(e.x,Math.min(t.x,this.x)),this.y=Math.max(e.y,Math.min(t.y,this.y)),this},clampScalar:function(e,t){return void 0===l&&(l=new Ot,u=new Ot),l.set(e,e),u.set(t,t),this.clamp(l,u)},clampLength:function(e,t){var n=this.length();return this.multiplyScalar(Math.max(e,Math.min(t,n))/n)},floor:function(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this},ceil:function(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this},round:function(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this},roundToZero:function(){return this.x=this.x<0?Math.ceil(this.x):Math.floor(this.x),this.y=this.y<0?Math.ceil(this.y):Math.floor(this.y),this},negate:function(){return this.x=-this.x,this.y=-this.y,this},dot:function(e){return this.x*e.x+this.y*e.y},lengthSq:function(){return this.x*this.x+this.y*this.y},length:function(){return Math.sqrt(this.x*this.x+this.y*this.y)},lengthManhattan:function(){return Math.abs(this.x)+Math.abs(this.y)},normalize:function(){return this.divideScalar(this.length())},angle:function(){var e=Math.atan2(this.y,this.x);return e<0&&(e+=2*Math.PI),e},distanceTo:function(e){return Math.sqrt(this.distanceToSquared(e))},distanceToSquared:function(e){var t=this.x-e.x,n=this.y-e.y;return t*t+n*n},distanceToManhattan:function(e){return Math.abs(this.x-e.x)+Math.abs(this.y-e.y)},setLength:function(e){return this.multiplyScalar(e/this.length())},lerp:function(e,t){return this.x+=(e.x-this.x)*t,this.y+=(e.y-this.y)*t,this},lerpVectors:function(e,t,n){return this.subVectors(t,e).multiplyScalar(n).add(e)},equals:function(e){return e.x===this.x&&e.y===this.y},fromArray:function(e,t){return void 0===t&&(t=0),this.x=e[t],this.y=e[t+1],this},toArray:function(e,t){return void 0===e&&(e=[]),void 0===t&&(t=0),e[t]=this.x,e[t+1]=this.y,e},fromBufferAttribute:function(e,t,n){return void 0!==n&&console.warn(\\\"THREE.Vector2: offset has been removed from .fromBufferAttribute().\\\"),this.x=e.getX(t),this.y=e.getY(t),this},rotateAround:function(e,t){var n=Math.cos(t),i=Math.sin(t),r=this.x-e.x,o=this.y-e.y;return this.x=r*n-o*i+e.x,this.y=r*i+o*n+e.y,this}};var Pt,kt,At,Rt,Lt,It,Dt=0;function Nt(e,t,n,i,r,o,a,s,l,u){Object.defineProperty(this,\\\"id\\\",{value:Dt++}),this.uuid=Ct.generateUUID(),this.name=\\\"\\\",this.image=void 0!==e?e:Nt.DEFAULT_IMAGE,this.mipmaps=[],this.mapping=void 0!==t?t:Nt.DEFAULT_MAPPING,this.wrapS=void 0!==n?n:we,this.wrapT=void 0!==i?i:we,this.magFilter=void 0!==r?r:Ce,this.minFilter=void 0!==o?o:Pe,this.anisotropy=void 0!==l?l:1,this.format=void 0!==a?a:Ve,this.type=void 0!==s?s:ke,this.offset=new Ot(0,0),this.repeat=new Ot(1,1),this.generateMipmaps=!0,this.premultiplyAlpha=!1,this.flipY=!0,this.unpackAlignment=4,this.encoding=void 0!==u?u:vt,this.version=0,this.onUpdate=null}function Ft(e,t,n,i){this.x=e||0,this.y=t||0,this.z=n||0,this.w=void 0!==i?i:1}function zt(e,t,n){this.uuid=Ct.generateUUID(),this.width=e,this.height=t,this.scissor=new Ft(0,0,e,t),this.scissorTest=!1,this.viewport=new Ft(0,0,e,t),void 0===(n=n||{}).minFilter&&(n.minFilter=Ce),this.texture=new Nt(void 0,void 0,n.wrapS,n.wrapT,n.magFilter,n.minFilter,n.format,n.type,n.anisotropy,n.encoding),this.depthBuffer=void 0===n.depthBuffer||n.depthBuffer,this.stencilBuffer=void 0===n.stencilBuffer||n.stencilBuffer,this.depthTexture=void 0!==n.depthTexture?n.depthTexture:null}function Bt(e,t,n){zt.call(this,e,t,n),this.activeCubeFace=0,this.activeMipMapLevel=0}function jt(e,t,n,i){this._x=e||0,this._y=t||0,this._z=n||0,this._w=void 0!==i?i:1}function Ut(e,t,n){this.x=e||0,this.y=t||0,this.z=n||0}function Wt(){this.elements=new Float32Array([1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1]),arguments.length>0&&console.error(\\\"THREE.Matrix4: the constructor no longer reads arguments. use .set() instead.\\\")}function Gt(e,t,n,i,r,o,a,s,l,u){e=void 0!==e?e:[],t=void 0!==t?t:fe,Nt.call(this,e,t,n,i,r,o,a,s,l,u),this.flipY=!1}Nt.DEFAULT_IMAGE=void 0,Nt.DEFAULT_MAPPING=pe,Nt.prototype={constructor:Nt,isTexture:!0,set needsUpdate(e){!0===e&&this.version++},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.image=e.image,this.mipmaps=e.mipmaps.slice(0),this.mapping=e.mapping,this.wrapS=e.wrapS,this.wrapT=e.wrapT,this.magFilter=e.magFilter,this.minFilter=e.minFilter,this.anisotropy=e.anisotropy,this.format=e.format,this.type=e.type,this.offset.copy(e.offset),this.repeat.copy(e.repeat),this.generateMipmaps=e.generateMipmaps,this.premultiplyAlpha=e.premultiplyAlpha,this.flipY=e.flipY,this.unpackAlignment=e.unpackAlignment,this.encoding=e.encoding,this},toJSON:function(e){if(void 0!==e.textures[this.uuid])return e.textures[this.uuid];var t={metadata:{version:4.4,type:\\\"Texture\\\",generator:\\\"Texture.toJSON\\\"},uuid:this.uuid,name:this.name,mapping:this.mapping,repeat:[this.repeat.x,this.repeat.y],offset:[this.offset.x,this.offset.y],wrap:[this.wrapS,this.wrapT],minFilter:this.minFilter,magFilter:this.magFilter,anisotropy:this.anisotropy,flipY:this.flipY};if(void 0!==this.image){var n=this.image;void 0===n.uuid&&(n.uuid=Ct.generateUUID()),void 0===e.images[n.uuid]&&(e.images[n.uuid]={uuid:n.uuid,url:function(e){var t;return void 0!==e.toDataURL?t=e:((t=document.createElementNS(\\\"http://www.w3.org/1999/xhtml\\\",\\\"canvas\\\")).width=e.width,t.height=e.height,t.getContext(\\\"2d\\\").drawImage(e,0,0,e.width,e.height)),t.width>2048||t.height>2048?t.toDataURL(\\\"image/jpeg\\\",.6):t.toDataURL(\\\"image/png\\\")}(n)}),t.image=n.uuid}return e.textures[this.uuid]=t,t},dispose:function(){this.dispatchEvent({type:\\\"dispose\\\"})},transformUv:function(e){if(this.mapping===pe){if(e.multiply(this.repeat),e.add(this.offset),e.x<0||e.x>1)switch(this.wrapS){case _e:e.x=e.x-Math.floor(e.x);break;case we:e.x=e.x<0?0:1;break;case Me:1===Math.abs(Math.floor(e.x)%2)?e.x=Math.ceil(e.x)-e.x:e.x=e.x-Math.floor(e.x)}if(e.y<0||e.y>1)switch(this.wrapT){case _e:e.y=e.y-Math.floor(e.y);break;case we:e.y=e.y<0?0:1;break;case Me:1===Math.abs(Math.floor(e.y)%2)?e.y=Math.ceil(e.y)-e.y:e.y=e.y-Math.floor(e.y)}this.flipY&&(e.y=1-e.y)}}},Object.assign(Nt.prototype,i.prototype),Ft.prototype={constructor:Ft,isVector4:!0,set:function(e,t,n,i){return this.x=e,this.y=t,this.z=n,this.w=i,this},setScalar:function(e){return this.x=e,this.y=e,this.z=e,this.w=e,this},setX:function(e){return this.x=e,this},setY:function(e){return this.y=e,this},setZ:function(e){return this.z=e,this},setW:function(e){return this.w=e,this},setComponent:function(e,t){switch(e){case 0:this.x=t;break;case 1:this.y=t;break;case 2:this.z=t;break;case 3:this.w=t;break;default:throw new Error(\\\"index is out of range: \\\"+e)}return this},getComponent:function(e){switch(e){case 0:return this.x;case 1:return this.y;case 2:return this.z;case 3:return this.w;default:throw new Error(\\\"index is out of range: \\\"+e)}},clone:function(){return new this.constructor(this.x,this.y,this.z,this.w)},copy:function(e){return this.x=e.x,this.y=e.y,this.z=e.z,this.w=void 0!==e.w?e.w:1,this},add:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Vector4: .add() now only accepts one argument. Use .addVectors( a, b ) instead.\\\"),this.addVectors(e,t)):(this.x+=e.x,this.y+=e.y,this.z+=e.z,this.w+=e.w,this)},addScalar:function(e){return this.x+=e,this.y+=e,this.z+=e,this.w+=e,this},addVectors:function(e,t){return this.x=e.x+t.x,this.y=e.y+t.y,this.z=e.z+t.z,this.w=e.w+t.w,this},addScaledVector:function(e,t){return this.x+=e.x*t,this.y+=e.y*t,this.z+=e.z*t,this.w+=e.w*t,this},sub:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Vector4: .sub() now only accepts one argument. Use .subVectors( a, b ) instead.\\\"),this.subVectors(e,t)):(this.x-=e.x,this.y-=e.y,this.z-=e.z,this.w-=e.w,this)},subScalar:function(e){return this.x-=e,this.y-=e,this.z-=e,this.w-=e,this},subVectors:function(e,t){return this.x=e.x-t.x,this.y=e.y-t.y,this.z=e.z-t.z,this.w=e.w-t.w,this},multiplyScalar:function(e){return isFinite(e)?(this.x*=e,this.y*=e,this.z*=e,this.w*=e):(this.x=0,this.y=0,this.z=0,this.w=0),this},applyMatrix4:function(e){var t=this.x,n=this.y,i=this.z,r=this.w,o=e.elements;return this.x=o[0]*t+o[4]*n+o[8]*i+o[12]*r,this.y=o[1]*t+o[5]*n+o[9]*i+o[13]*r,this.z=o[2]*t+o[6]*n+o[10]*i+o[14]*r,this.w=o[3]*t+o[7]*n+o[11]*i+o[15]*r,this},divideScalar:function(e){return this.multiplyScalar(1/e)},setAxisAngleFromQuaternion:function(e){this.w=2*Math.acos(e.w);var t=Math.sqrt(1-e.w*e.w);return t<1e-4?(this.x=1,this.y=0,this.z=0):(this.x=e.x/t,this.y=e.y/t,this.z=e.z/t),this},setAxisAngleFromRotationMatrix:function(e){var t,n,i,r,o=e.elements,a=o[0],s=o[4],l=o[8],u=o[1],c=o[5],d=o[9],h=o[2],p=o[6],f=o[10];if(Math.abs(s-u)<.01&&Math.abs(l-h)<.01&&Math.abs(d-p)<.01){if(Math.abs(s+u)<.1&&Math.abs(l+h)<.1&&Math.abs(d+p)<.1&&Math.abs(a+c+f-3)<.1)return this.set(1,0,0,0),this;t=Math.PI;var m=(a+1)/2,g=(c+1)/2,v=(f+1)/2,y=(s+u)/4,b=(l+h)/4,x=(d+p)/4;return m>g&&m>v?m<.01?(n=0,i=.707106781,r=.707106781):(i=y/(n=Math.sqrt(m)),r=b/n):g>v?g<.01?(n=.707106781,i=0,r=.707106781):(n=y/(i=Math.sqrt(g)),r=x/i):v<.01?(n=.707106781,i=.707106781,r=0):(n=b/(r=Math.sqrt(v)),i=x/r),this.set(n,i,r,t),this}var _=Math.sqrt((p-d)*(p-d)+(l-h)*(l-h)+(u-s)*(u-s));return Math.abs(_)<.001&&(_=1),this.x=(p-d)/_,this.y=(l-h)/_,this.z=(u-s)/_,this.w=Math.acos((a+c+f-1)/2),this},min:function(e){return this.x=Math.min(this.x,e.x),this.y=Math.min(this.y,e.y),this.z=Math.min(this.z,e.z),this.w=Math.min(this.w,e.w),this},max:function(e){return this.x=Math.max(this.x,e.x),this.y=Math.max(this.y,e.y),this.z=Math.max(this.z,e.z),this.w=Math.max(this.w,e.w),this},clamp:function(e,t){return this.x=Math.max(e.x,Math.min(t.x,this.x)),this.y=Math.max(e.y,Math.min(t.y,this.y)),this.z=Math.max(e.z,Math.min(t.z,this.z)),this.w=Math.max(e.w,Math.min(t.w,this.w)),this},clampScalar:function(){var e,t;return function(n,i){return void 0===e&&(e=new Ft,t=new Ft),e.set(n,n,n,n),t.set(i,i,i,i),this.clamp(e,t)}}(),floor:function(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this.w=Math.floor(this.w),this},ceil:function(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this.w=Math.ceil(this.w),this},round:function(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this.w=Math.round(this.w),this},roundToZero:function(){return this.x=this.x<0?Math.ceil(this.x):Math.floor(this.x),this.y=this.y<0?Math.ceil(this.y):Math.floor(this.y),this.z=this.z<0?Math.ceil(this.z):Math.floor(this.z),this.w=this.w<0?Math.ceil(this.w):Math.floor(this.w),this},negate:function(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this.w=-this.w,this},dot:function(e){return this.x*e.x+this.y*e.y+this.z*e.z+this.w*e.w},lengthSq:function(){return this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w},length:function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z+this.w*this.w)},lengthManhattan:function(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)+Math.abs(this.w)},normalize:function(){return this.divideScalar(this.length())},setLength:function(e){return this.multiplyScalar(e/this.length())},lerp:function(e,t){return this.x+=(e.x-this.x)*t,this.y+=(e.y-this.y)*t,this.z+=(e.z-this.z)*t,this.w+=(e.w-this.w)*t,this},lerpVectors:function(e,t,n){return this.subVectors(t,e).multiplyScalar(n).add(e)},equals:function(e){return e.x===this.x&&e.y===this.y&&e.z===this.z&&e.w===this.w},fromArray:function(e,t){return void 0===t&&(t=0),this.x=e[t],this.y=e[t+1],this.z=e[t+2],this.w=e[t+3],this},toArray:function(e,t){return void 0===e&&(e=[]),void 0===t&&(t=0),e[t]=this.x,e[t+1]=this.y,e[t+2]=this.z,e[t+3]=this.w,e},fromBufferAttribute:function(e,t,n){return void 0!==n&&console.warn(\\\"THREE.Vector4: offset has been removed from .fromBufferAttribute().\\\"),this.x=e.getX(t),this.y=e.getY(t),this.z=e.getZ(t),this.w=e.getW(t),this}},zt.prototype={constructor:zt,isWebGLRenderTarget:!0,setSize:function(e,t){this.width===e&&this.height===t||(this.width=e,this.height=t,this.dispose()),this.viewport.set(0,0,e,t),this.scissor.set(0,0,e,t)},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.width=e.width,this.height=e.height,this.viewport.copy(e.viewport),this.texture=e.texture.clone(),this.depthBuffer=e.depthBuffer,this.stencilBuffer=e.stencilBuffer,this.depthTexture=e.depthTexture,this},dispose:function(){this.dispatchEvent({type:\\\"dispose\\\"})}},Object.assign(zt.prototype,i.prototype),Bt.prototype=Object.create(zt.prototype),Bt.prototype.constructor=Bt,Bt.prototype.isWebGLRenderTargetCube=!0,jt.prototype={constructor:jt,get x(){return this._x},set x(e){this._x=e,this.onChangeCallback()},get y(){return this._y},set y(e){this._y=e,this.onChangeCallback()},get z(){return this._z},set z(e){this._z=e,this.onChangeCallback()},get w(){return this._w},set w(e){this._w=e,this.onChangeCallback()},set:function(e,t,n,i){return this._x=e,this._y=t,this._z=n,this._w=i,this.onChangeCallback(),this},clone:function(){return new this.constructor(this._x,this._y,this._z,this._w)},copy:function(e){return this._x=e.x,this._y=e.y,this._z=e.z,this._w=e.w,this.onChangeCallback(),this},setFromEuler:function(e,t){if(!1===(e&&e.isEuler))throw new Error(\\\"THREE.Quaternion: .setFromEuler() now expects an Euler rotation rather than a Vector3 and order.\\\");var n=Math.cos(e._x/2),i=Math.cos(e._y/2),r=Math.cos(e._z/2),o=Math.sin(e._x/2),a=Math.sin(e._y/2),s=Math.sin(e._z/2),l=e.order;return\\\"XYZ\\\"===l?(this._x=o*i*r+n*a*s,this._y=n*a*r-o*i*s,this._z=n*i*s+o*a*r,this._w=n*i*r-o*a*s):\\\"YXZ\\\"===l?(this._x=o*i*r+n*a*s,this._y=n*a*r-o*i*s,this._z=n*i*s-o*a*r,this._w=n*i*r+o*a*s):\\\"ZXY\\\"===l?(this._x=o*i*r-n*a*s,this._y=n*a*r+o*i*s,this._z=n*i*s+o*a*r,this._w=n*i*r-o*a*s):\\\"ZYX\\\"===l?(this._x=o*i*r-n*a*s,this._y=n*a*r+o*i*s,this._z=n*i*s-o*a*r,this._w=n*i*r+o*a*s):\\\"YZX\\\"===l?(this._x=o*i*r+n*a*s,this._y=n*a*r+o*i*s,this._z=n*i*s-o*a*r,this._w=n*i*r-o*a*s):\\\"XZY\\\"===l&&(this._x=o*i*r-n*a*s,this._y=n*a*r-o*i*s,this._z=n*i*s+o*a*r,this._w=n*i*r+o*a*s),!1!==t&&this.onChangeCallback(),this},setFromAxisAngle:function(e,t){var n=t/2,i=Math.sin(n);return this._x=e.x*i,this._y=e.y*i,this._z=e.z*i,this._w=Math.cos(n),this.onChangeCallback(),this},setFromRotationMatrix:function(e){var t,n=e.elements,i=n[0],r=n[4],o=n[8],a=n[1],s=n[5],l=n[9],u=n[2],c=n[6],d=n[10],h=i+s+d;return h>0?(t=.5/Math.sqrt(h+1),this._w=.25/t,this._x=(c-l)*t,this._y=(o-u)*t,this._z=(a-r)*t):i>s&&i>d?(t=2*Math.sqrt(1+i-s-d),this._w=(c-l)/t,this._x=.25*t,this._y=(r+a)/t,this._z=(o+u)/t):s>d?(t=2*Math.sqrt(1+s-i-d),this._w=(o-u)/t,this._x=(r+a)/t,this._y=.25*t,this._z=(l+c)/t):(t=2*Math.sqrt(1+d-i-s),this._w=(a-r)/t,this._x=(o+u)/t,this._y=(l+c)/t,this._z=.25*t),this.onChangeCallback(),this},setFromUnitVectors:function(){var e,t;return function(n,i){return void 0===e&&(e=new Ut),(t=n.dot(i)+1)<1e-6?(t=0,Math.abs(n.x)>Math.abs(n.z)?e.set(-n.y,n.x,0):e.set(0,-n.z,n.y)):e.crossVectors(n,i),this._x=e.x,this._y=e.y,this._z=e.z,this._w=t,this.normalize()}}(),inverse:function(){return this.conjugate().normalize()},conjugate:function(){return this._x*=-1,this._y*=-1,this._z*=-1,this.onChangeCallback(),this},dot:function(e){return this._x*e._x+this._y*e._y+this._z*e._z+this._w*e._w},lengthSq:function(){return this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w},length:function(){return Math.sqrt(this._x*this._x+this._y*this._y+this._z*this._z+this._w*this._w)},normalize:function(){var e=this.length();return 0===e?(this._x=0,this._y=0,this._z=0,this._w=1):(e=1/e,this._x=this._x*e,this._y=this._y*e,this._z=this._z*e,this._w=this._w*e),this.onChangeCallback(),this},multiply:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Quaternion: .multiply() now only accepts one argument. Use .multiplyQuaternions( a, b ) instead.\\\"),this.multiplyQuaternions(e,t)):this.multiplyQuaternions(this,e)},premultiply:function(e){return this.multiplyQuaternions(e,this)},multiplyQuaternions:function(e,t){var n=e._x,i=e._y,r=e._z,o=e._w,a=t._x,s=t._y,l=t._z,u=t._w;return this._x=n*u+o*a+i*l-r*s,this._y=i*u+o*s+r*a-n*l,this._z=r*u+o*l+n*s-i*a,this._w=o*u-n*a-i*s-r*l,this.onChangeCallback(),this},slerp:function(e,t){if(0===t)return this;if(1===t)return this.copy(e);var n=this._x,i=this._y,r=this._z,o=this._w,a=o*e._w+n*e._x+i*e._y+r*e._z;if(a<0?(this._w=-e._w,this._x=-e._x,this._y=-e._y,this._z=-e._z,a=-a):this.copy(e),a>=1)return this._w=o,this._x=n,this._y=i,this._z=r,this;var s=Math.sqrt(1-a*a);if(Math.abs(s)<.001)return this._w=.5*(o+this._w),this._x=.5*(n+this._x),this._y=.5*(i+this._y),this._z=.5*(r+this._z),this;var l=Math.atan2(s,a),u=Math.sin((1-t)*l)/s,c=Math.sin(t*l)/s;return this._w=o*u+this._w*c,this._x=n*u+this._x*c,this._y=i*u+this._y*c,this._z=r*u+this._z*c,this.onChangeCallback(),this},equals:function(e){return e._x===this._x&&e._y===this._y&&e._z===this._z&&e._w===this._w},fromArray:function(e,t){return void 0===t&&(t=0),this._x=e[t],this._y=e[t+1],this._z=e[t+2],this._w=e[t+3],this.onChangeCallback(),this},toArray:function(e,t){return void 0===e&&(e=[]),void 0===t&&(t=0),e[t]=this._x,e[t+1]=this._y,e[t+2]=this._z,e[t+3]=this._w,e},onChange:function(e){return this.onChangeCallback=e,this},onChangeCallback:function(){}},Object.assign(jt,{slerp:function(e,t,n,i){return n.copy(e).slerp(t,i)},slerpFlat:function(e,t,n,i,r,o,a){var s=n[i+0],l=n[i+1],u=n[i+2],c=n[i+3],d=r[o+0],h=r[o+1],p=r[o+2],f=r[o+3];if(c!==f||s!==d||l!==h||u!==p){var m=1-a,g=s*d+l*h+u*p+c*f,v=g>=0?1:-1,y=1-g*g;if(y>Number.EPSILON){var b=Math.sqrt(y),x=Math.atan2(b,g*v);m=Math.sin(m*x)/b,a=Math.sin(a*x)/b}var _=a*v;if(s=s*m+d*_,l=l*m+h*_,u=u*m+p*_,c=c*m+f*_,m===1-a){var w=1/Math.sqrt(s*s+l*l+u*u+c*c);s*=w,l*=w,u*=w,c*=w}}e[t]=s,e[t+1]=l,e[t+2]=u,e[t+3]=c}}),Ut.prototype={constructor:Ut,isVector3:!0,set:function(e,t,n){return this.x=e,this.y=t,this.z=n,this},setScalar:function(e){return this.x=e,this.y=e,this.z=e,this},setX:function(e){return this.x=e,this},setY:function(e){return this.y=e,this},setZ:function(e){return this.z=e,this},setComponent:function(e,t){switch(e){case 0:this.x=t;break;case 1:this.y=t;break;case 2:this.z=t;break;default:throw new Error(\\\"index is out of range: \\\"+e)}return this},getComponent:function(e){switch(e){case 0:return this.x;case 1:return this.y;case 2:return this.z;default:throw new Error(\\\"index is out of range: \\\"+e)}},clone:function(){return new this.constructor(this.x,this.y,this.z)},copy:function(e){return this.x=e.x,this.y=e.y,this.z=e.z,this},add:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Vector3: .add() now only accepts one argument. Use .addVectors( a, b ) instead.\\\"),this.addVectors(e,t)):(this.x+=e.x,this.y+=e.y,this.z+=e.z,this)},addScalar:function(e){return this.x+=e,this.y+=e,this.z+=e,this},addVectors:function(e,t){return this.x=e.x+t.x,this.y=e.y+t.y,this.z=e.z+t.z,this},addScaledVector:function(e,t){return this.x+=e.x*t,this.y+=e.y*t,this.z+=e.z*t,this},sub:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Vector3: .sub() now only accepts one argument. Use .subVectors( a, b ) instead.\\\"),this.subVectors(e,t)):(this.x-=e.x,this.y-=e.y,this.z-=e.z,this)},subScalar:function(e){return this.x-=e,this.y-=e,this.z-=e,this},subVectors:function(e,t){return this.x=e.x-t.x,this.y=e.y-t.y,this.z=e.z-t.z,this},multiply:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Vector3: .multiply() now only accepts one argument. Use .multiplyVectors( a, b ) instead.\\\"),this.multiplyVectors(e,t)):(this.x*=e.x,this.y*=e.y,this.z*=e.z,this)},multiplyScalar:function(e){return isFinite(e)?(this.x*=e,this.y*=e,this.z*=e):(this.x=0,this.y=0,this.z=0),this},multiplyVectors:function(e,t){return this.x=e.x*t.x,this.y=e.y*t.y,this.z=e.z*t.z,this},applyEuler:function(e){return!1===(e&&e.isEuler)&&console.error(\\\"THREE.Vector3: .applyEuler() now expects an Euler rotation rather than a Vector3 and order.\\\"),void 0===At&&(At=new jt),this.applyQuaternion(At.setFromEuler(e))},applyAxisAngle:function(){var e;return function(t,n){return void 0===e&&(e=new jt),this.applyQuaternion(e.setFromAxisAngle(t,n))}}(),applyMatrix3:function(e){var t=this.x,n=this.y,i=this.z,r=e.elements;return this.x=r[0]*t+r[3]*n+r[6]*i,this.y=r[1]*t+r[4]*n+r[7]*i,this.z=r[2]*t+r[5]*n+r[8]*i,this},applyMatrix4:function(e){var t=this.x,n=this.y,i=this.z,r=e.elements;this.x=r[0]*t+r[4]*n+r[8]*i+r[12],this.y=r[1]*t+r[5]*n+r[9]*i+r[13],this.z=r[2]*t+r[6]*n+r[10]*i+r[14];var o=r[3]*t+r[7]*n+r[11]*i+r[15];return this.divideScalar(o)},applyQuaternion:function(e){var t=this.x,n=this.y,i=this.z,r=e.x,o=e.y,a=e.z,s=e.w,l=s*t+o*i-a*n,u=s*n+a*t-r*i,c=s*i+r*n-o*t,d=-r*t-o*n-a*i;return this.x=l*s+d*-r+u*-a-c*-o,this.y=u*s+d*-o+c*-r-l*-a,this.z=c*s+d*-a+l*-o-u*-r,this},project:function(e){return void 0===kt&&(kt=new Wt),kt.multiplyMatrices(e.projectionMatrix,kt.getInverse(e.matrixWorld)),this.applyMatrix4(kt)},unproject:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.multiplyMatrices(t.matrixWorld,e.getInverse(t.projectionMatrix)),this.applyMatrix4(e)}}(),transformDirection:function(e){var t=this.x,n=this.y,i=this.z,r=e.elements;return this.x=r[0]*t+r[4]*n+r[8]*i,this.y=r[1]*t+r[5]*n+r[9]*i,this.z=r[2]*t+r[6]*n+r[10]*i,this.normalize()},divide:function(e){return this.x/=e.x,this.y/=e.y,this.z/=e.z,this},divideScalar:function(e){return this.multiplyScalar(1/e)},min:function(e){return this.x=Math.min(this.x,e.x),this.y=Math.min(this.y,e.y),this.z=Math.min(this.z,e.z),this},max:function(e){return this.x=Math.max(this.x,e.x),this.y=Math.max(this.y,e.y),this.z=Math.max(this.z,e.z),this},clamp:function(e,t){return this.x=Math.max(e.x,Math.min(t.x,this.x)),this.y=Math.max(e.y,Math.min(t.y,this.y)),this.z=Math.max(e.z,Math.min(t.z,this.z)),this},clampScalar:function(){var e,t;return function(n,i){return void 0===e&&(e=new Ut,t=new Ut),e.set(n,n,n),t.set(i,i,i),this.clamp(e,t)}}(),clampLength:function(e,t){var n=this.length();return this.multiplyScalar(Math.max(e,Math.min(t,n))/n)},floor:function(){return this.x=Math.floor(this.x),this.y=Math.floor(this.y),this.z=Math.floor(this.z),this},ceil:function(){return this.x=Math.ceil(this.x),this.y=Math.ceil(this.y),this.z=Math.ceil(this.z),this},round:function(){return this.x=Math.round(this.x),this.y=Math.round(this.y),this.z=Math.round(this.z),this},roundToZero:function(){return this.x=this.x<0?Math.ceil(this.x):Math.floor(this.x),this.y=this.y<0?Math.ceil(this.y):Math.floor(this.y),this.z=this.z<0?Math.ceil(this.z):Math.floor(this.z),this},negate:function(){return this.x=-this.x,this.y=-this.y,this.z=-this.z,this},dot:function(e){return this.x*e.x+this.y*e.y+this.z*e.z},lengthSq:function(){return this.x*this.x+this.y*this.y+this.z*this.z},length:function(){return Math.sqrt(this.x*this.x+this.y*this.y+this.z*this.z)},lengthManhattan:function(){return Math.abs(this.x)+Math.abs(this.y)+Math.abs(this.z)},normalize:function(){return this.divideScalar(this.length())},setLength:function(e){return this.multiplyScalar(e/this.length())},lerp:function(e,t){return this.x+=(e.x-this.x)*t,this.y+=(e.y-this.y)*t,this.z+=(e.z-this.z)*t,this},lerpVectors:function(e,t,n){return this.subVectors(t,e).multiplyScalar(n).add(e)},cross:function(e,t){if(void 0!==t)return console.warn(\\\"THREE.Vector3: .cross() now only accepts one argument. Use .crossVectors( a, b ) instead.\\\"),this.crossVectors(e,t);var n=this.x,i=this.y,r=this.z;return this.x=i*e.z-r*e.y,this.y=r*e.x-n*e.z,this.z=n*e.y-i*e.x,this},crossVectors:function(e,t){var n=e.x,i=e.y,r=e.z,o=t.x,a=t.y,s=t.z;return this.x=i*s-r*a,this.y=r*o-n*s,this.z=n*a-i*o,this},projectOnVector:function(e){var t=e.dot(this)/e.lengthSq();return this.copy(e).multiplyScalar(t)},projectOnPlane:function(e){return void 0===Pt&&(Pt=new Ut),Pt.copy(this).projectOnVector(e),this.sub(Pt)},reflect:function(){var e;return function(t){return void 0===e&&(e=new Ut),this.sub(e.copy(t).multiplyScalar(2*this.dot(t)))}}(),angleTo:function(e){var t=this.dot(e)/Math.sqrt(this.lengthSq()*e.lengthSq());return Math.acos(Ct.clamp(t,-1,1))},distanceTo:function(e){return Math.sqrt(this.distanceToSquared(e))},distanceToSquared:function(e){var t=this.x-e.x,n=this.y-e.y,i=this.z-e.z;return t*t+n*n+i*i},distanceToManhattan:function(e){return Math.abs(this.x-e.x)+Math.abs(this.y-e.y)+Math.abs(this.z-e.z)},setFromSpherical:function(e){var t=Math.sin(e.phi)*e.radius;return this.x=t*Math.sin(e.theta),this.y=Math.cos(e.phi)*e.radius,this.z=t*Math.cos(e.theta),this},setFromCylindrical:function(e){return this.x=e.radius*Math.sin(e.theta),this.y=e.y,this.z=e.radius*Math.cos(e.theta),this},setFromMatrixPosition:function(e){return this.setFromMatrixColumn(e,3)},setFromMatrixScale:function(e){var t=this.setFromMatrixColumn(e,0).length(),n=this.setFromMatrixColumn(e,1).length(),i=this.setFromMatrixColumn(e,2).length();return this.x=t,this.y=n,this.z=i,this},setFromMatrixColumn:function(e,t){if(\\\"number\\\"==typeof e){console.warn(\\\"THREE.Vector3: setFromMatrixColumn now expects ( matrix, index ).\\\");var n=e;e=t,t=n}return this.fromArray(e.elements,4*t)},equals:function(e){return e.x===this.x&&e.y===this.y&&e.z===this.z},fromArray:function(e,t){return void 0===t&&(t=0),this.x=e[t],this.y=e[t+1],this.z=e[t+2],this},toArray:function(e,t){return void 0===e&&(e=[]),void 0===t&&(t=0),e[t]=this.x,e[t+1]=this.y,e[t+2]=this.z,e},fromBufferAttribute:function(e,t,n){return void 0!==n&&console.warn(\\\"THREE.Vector3: offset has been removed from .fromBufferAttribute().\\\"),this.x=e.getX(t),this.y=e.getY(t),this.z=e.getZ(t),this}},Wt.prototype={constructor:Wt,isMatrix4:!0,set:function(e,t,n,i,r,o,a,s,l,u,c,d,h,p,f,m){var g=this.elements;return g[0]=e,g[4]=t,g[8]=n,g[12]=i,g[1]=r,g[5]=o,g[9]=a,g[13]=s,g[2]=l,g[6]=u,g[10]=c,g[14]=d,g[3]=h,g[7]=p,g[11]=f,g[15]=m,this},identity:function(){return this.set(1,0,0,0,0,1,0,0,0,0,1,0,0,0,0,1),this},clone:function(){return(new Wt).fromArray(this.elements)},copy:function(e){return this.elements.set(e.elements),this},copyPosition:function(e){var t=this.elements,n=e.elements;return t[12]=n[12],t[13]=n[13],t[14]=n[14],this},extractBasis:function(e,t,n){return e.setFromMatrixColumn(this,0),t.setFromMatrixColumn(this,1),n.setFromMatrixColumn(this,2),this},makeBasis:function(e,t,n){return this.set(e.x,t.x,n.x,0,e.y,t.y,n.y,0,e.z,t.z,n.z,0,0,0,0,1),this},extractRotation:function(){var e;return function(t){void 0===e&&(e=new Ut);var n=this.elements,i=t.elements,r=1/e.setFromMatrixColumn(t,0).length(),o=1/e.setFromMatrixColumn(t,1).length(),a=1/e.setFromMatrixColumn(t,2).length();return n[0]=i[0]*r,n[1]=i[1]*r,n[2]=i[2]*r,n[4]=i[4]*o,n[5]=i[5]*o,n[6]=i[6]*o,n[8]=i[8]*a,n[9]=i[9]*a,n[10]=i[10]*a,this}}(),makeRotationFromEuler:function(e){!1===(e&&e.isEuler)&&console.error(\\\"THREE.Matrix: .makeRotationFromEuler() now expects a Euler rotation rather than a Vector3 and order.\\\");var t=this.elements,n=e.x,i=e.y,r=e.z,o=Math.cos(n),a=Math.sin(n),s=Math.cos(i),l=Math.sin(i),u=Math.cos(r),c=Math.sin(r);if(\\\"XYZ\\\"===e.order){var d=o*u,h=o*c,p=a*u,f=a*c;t[0]=s*u,t[4]=-s*c,t[8]=l,t[1]=h+p*l,t[5]=d-f*l,t[9]=-a*s,t[2]=f-d*l,t[6]=p+h*l,t[10]=o*s}else if(\\\"YXZ\\\"===e.order){var m=s*u,g=s*c,v=l*u,y=l*c;t[0]=m+y*a,t[4]=v*a-g,t[8]=o*l,t[1]=o*c,t[5]=o*u,t[9]=-a,t[2]=g*a-v,t[6]=y+m*a,t[10]=o*s}else if(\\\"ZXY\\\"===e.order){m=s*u,g=s*c,v=l*u,y=l*c;t[0]=m-y*a,t[4]=-o*c,t[8]=v+g*a,t[1]=g+v*a,t[5]=o*u,t[9]=y-m*a,t[2]=-o*l,t[6]=a,t[10]=o*s}else if(\\\"ZYX\\\"===e.order){d=o*u,h=o*c,p=a*u,f=a*c;t[0]=s*u,t[4]=p*l-h,t[8]=d*l+f,t[1]=s*c,t[5]=f*l+d,t[9]=h*l-p,t[2]=-l,t[6]=a*s,t[10]=o*s}else if(\\\"YZX\\\"===e.order){var b=o*s,x=o*l,_=a*s,w=a*l;t[0]=s*u,t[4]=w-b*c,t[8]=_*c+x,t[1]=c,t[5]=o*u,t[9]=-a*u,t[2]=-l*u,t[6]=x*c+_,t[10]=b-w*c}else if(\\\"XZY\\\"===e.order){b=o*s,x=o*l,_=a*s,w=a*l;t[0]=s*u,t[4]=-c,t[8]=l*u,t[1]=b*c+w,t[5]=o*u,t[9]=x*c-_,t[2]=_*c-x,t[6]=a*u,t[10]=w*c+b}return t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this},makeRotationFromQuaternion:function(e){var t=this.elements,n=e.x,i=e.y,r=e.z,o=e.w,a=n+n,s=i+i,l=r+r,u=n*a,c=n*s,d=n*l,h=i*s,p=i*l,f=r*l,m=o*a,g=o*s,v=o*l;return t[0]=1-(h+f),t[4]=c-v,t[8]=d+g,t[1]=c+v,t[5]=1-(u+f),t[9]=p-m,t[2]=d-g,t[6]=p+m,t[10]=1-(u+h),t[3]=0,t[7]=0,t[11]=0,t[12]=0,t[13]=0,t[14]=0,t[15]=1,this},lookAt:function(e,t,n){void 0===Rt&&(Rt=new Ut,Lt=new Ut,It=new Ut);var i=this.elements;return It.subVectors(e,t).normalize(),0===It.lengthSq()&&(It.z=1),Rt.crossVectors(n,It).normalize(),0===Rt.lengthSq()&&(It.z+=1e-4,Rt.crossVectors(n,It).normalize()),Lt.crossVectors(It,Rt),i[0]=Rt.x,i[4]=Lt.x,i[8]=It.x,i[1]=Rt.y,i[5]=Lt.y,i[9]=It.y,i[2]=Rt.z,i[6]=Lt.z,i[10]=It.z,this},multiply:function(e,t){return void 0!==t?(console.warn(\\\"THREE.Matrix4: .multiply() now only accepts one argument. Use .multiplyMatrices( a, b ) instead.\\\"),this.multiplyMatrices(e,t)):this.multiplyMatrices(this,e)},premultiply:function(e){return this.multiplyMatrices(e,this)},multiplyMatrices:function(e,t){var n=e.elements,i=t.elements,r=this.elements,o=n[0],a=n[4],s=n[8],l=n[12],u=n[1],c=n[5],d=n[9],h=n[13],p=n[2],f=n[6],m=n[10],g=n[14],v=n[3],y=n[7],b=n[11],x=n[15],_=i[0],w=i[4],M=i[8],S=i[12],E=i[1],T=i[5],C=i[9],O=i[13],P=i[2],k=i[6],A=i[10],R=i[14],L=i[3],I=i[7],D=i[11],N=i[15];return r[0]=o*_+a*E+s*P+l*L,r[4]=o*w+a*T+s*k+l*I,r[8]=o*M+a*C+s*A+l*D,r[12]=o*S+a*O+s*R+l*N,r[1]=u*_+c*E+d*P+h*L,r[5]=u*w+c*T+d*k+h*I,r[9]=u*M+c*C+d*A+h*D,r[13]=u*S+c*O+d*R+h*N,r[2]=p*_+f*E+m*P+g*L,r[6]=p*w+f*T+m*k+g*I,r[10]=p*M+f*C+m*A+g*D,r[14]=p*S+f*O+m*R+g*N,r[3]=v*_+y*E+b*P+x*L,r[7]=v*w+y*T+b*k+x*I,r[11]=v*M+y*C+b*A+x*D,r[15]=v*S+y*O+b*R+x*N,this},multiplyToArray:function(e,t,n){var i=this.elements;return this.multiplyMatrices(e,t),n[0]=i[0],n[1]=i[1],n[2]=i[2],n[3]=i[3],n[4]=i[4],n[5]=i[5],n[6]=i[6],n[7]=i[7],n[8]=i[8],n[9]=i[9],n[10]=i[10],n[11]=i[11],n[12]=i[12],n[13]=i[13],n[14]=i[14],n[15]=i[15],this},multiplyScalar:function(e){var t=this.elements;return t[0]*=e,t[4]*=e,t[8]*=e,t[12]*=e,t[1]*=e,t[5]*=e,t[9]*=e,t[13]*=e,t[2]*=e,t[6]*=e,t[10]*=e,t[14]*=e,t[3]*=e,t[7]*=e,t[11]*=e,t[15]*=e,this},applyToBufferAttribute:function(){var e;return function(t){void 0===e&&(e=new Ut);for(var n=0,i=t.count;n<i;n++)e.x=t.getX(n),e.y=t.getY(n),e.z=t.getZ(n),e.applyMatrix4(this),t.setXYZ(n,e.x,e.y,e.z);return t}}(),determinant:function(){var e=this.elements,t=e[0],n=e[4],i=e[8],r=e[12],o=e[1],a=e[5],s=e[9],l=e[13],u=e[2],c=e[6],d=e[10],h=e[14];return e[3]*(+r*s*c-i*l*c-r*a*d+n*l*d+i*a*h-n*s*h)+e[7]*(+t*s*h-t*l*d+r*o*d-i*o*h+i*l*u-r*s*u)+e[11]*(+t*l*c-t*a*h-r*o*c+n*o*h+r*a*u-n*l*u)+e[15]*(-i*a*u-t*s*c+t*a*d+i*o*c-n*o*d+n*s*u)},transpose:function(){var e,t=this.elements;return e=t[1],t[1]=t[4],t[4]=e,e=t[2],t[2]=t[8],t[8]=e,e=t[6],t[6]=t[9],t[9]=e,e=t[3],t[3]=t[12],t[12]=e,e=t[7],t[7]=t[13],t[13]=e,e=t[11],t[11]=t[14],t[14]=e,this},setPosition:function(e){var t=this.elements;return t[12]=e.x,t[13]=e.y,t[14]=e.z,this},getInverse:function(e,t){var n=this.elements,i=e.elements,r=i[0],o=i[1],a=i[2],s=i[3],l=i[4],u=i[5],c=i[6],d=i[7],h=i[8],p=i[9],f=i[10],m=i[11],g=i[12],v=i[13],y=i[14],b=i[15],x=p*y*d-v*f*d+v*c*m-u*y*m-p*c*b+u*f*b,_=g*f*d-h*y*d-g*c*m+l*y*m+h*c*b-l*f*b,w=h*v*d-g*p*d+g*u*m-l*v*m-h*u*b+l*p*b,M=g*p*c-h*v*c-g*u*f+l*v*f+h*u*y-l*p*y,S=r*x+o*_+a*w+s*M;if(0===S){var E=\\\"THREE.Matrix4.getInverse(): can't invert matrix, determinant is 0\\\";if(!0===t)throw new Error(E);return console.warn(E),this.identity()}var T=1/S;return n[0]=x*T,n[1]=(v*f*s-p*y*s-v*a*m+o*y*m+p*a*b-o*f*b)*T,n[2]=(u*y*s-v*c*s+v*a*d-o*y*d-u*a*b+o*c*b)*T,n[3]=(p*c*s-u*f*s-p*a*d+o*f*d+u*a*m-o*c*m)*T,n[4]=_*T,n[5]=(h*y*s-g*f*s+g*a*m-r*y*m-h*a*b+r*f*b)*T,n[6]=(g*c*s-l*y*s-g*a*d+r*y*d+l*a*b-r*c*b)*T,n[7]=(l*f*s-h*c*s+h*a*d-r*f*d-l*a*m+r*c*m)*T,n[8]=w*T,n[9]=(g*p*s-h*v*s-g*o*m+r*v*m+h*o*b-r*p*b)*T,n[10]=(l*v*s-g*u*s+g*o*d-r*v*d-l*o*b+r*u*b)*T,n[11]=(h*u*s-l*p*s-h*o*d+r*p*d+l*o*m-r*u*m)*T,n[12]=M*T,n[13]=(h*v*a-g*p*a+g*o*f-r*v*f-h*o*y+r*p*y)*T,n[14]=(g*u*a-l*v*a-g*o*c+r*v*c+l*o*y-r*u*y)*T,n[15]=(l*p*a-h*u*a+h*o*c-r*p*c-l*o*f+r*u*f)*T,this},scale:function(e){var t=this.elements,n=e.x,i=e.y,r=e.z;return t[0]*=n,t[4]*=i,t[8]*=r,t[1]*=n,t[5]*=i,t[9]*=r,t[2]*=n,t[6]*=i,t[10]*=r,t[3]*=n,t[7]*=i,t[11]*=r,this},getMaxScaleOnAxis:function(){var e=this.elements,t=e[0]*e[0]+e[1]*e[1]+e[2]*e[2],n=e[4]*e[4]+e[5]*e[5]+e[6]*e[6],i=e[8]*e[8]+e[9]*e[9]+e[10]*e[10];return Math.sqrt(Math.max(t,n,i))},makeTranslation:function(e,t,n){return this.set(1,0,0,e,0,1,0,t,0,0,1,n,0,0,0,1),this},makeRotationX:function(e){var t=Math.cos(e),n=Math.sin(e);return this.set(1,0,0,0,0,t,-n,0,0,n,t,0,0,0,0,1),this},makeRotationY:function(e){var t=Math.cos(e),n=Math.sin(e);return this.set(t,0,n,0,0,1,0,0,-n,0,t,0,0,0,0,1),this},makeRotationZ:function(e){var t=Math.cos(e),n=Math.sin(e);return this.set(t,-n,0,0,n,t,0,0,0,0,1,0,0,0,0,1),this},makeRotationAxis:function(e,t){var n=Math.cos(t),i=Math.sin(t),r=1-n,o=e.x,a=e.y,s=e.z,l=r*o,u=r*a;return this.set(l*o+n,l*a-i*s,l*s+i*a,0,l*a+i*s,u*a+n,u*s-i*o,0,l*s-i*a,u*s+i*o,r*s*s+n,0,0,0,0,1),this},makeScale:function(e,t,n){return this.set(e,0,0,0,0,t,0,0,0,0,n,0,0,0,0,1),this},makeShear:function(e,t,n){return this.set(1,t,n,0,e,1,n,0,e,t,1,0,0,0,0,1),this},compose:function(e,t,n){return this.makeRotationFromQuaternion(t),this.scale(n),this.setPosition(e),this},decompose:function(){var e,t;return function(n,i,r){void 0===e&&(e=new Ut,t=new Wt);var o=this.elements,a=e.set(o[0],o[1],o[2]).length(),s=e.set(o[4],o[5],o[6]).length(),l=e.set(o[8],o[9],o[10]).length();this.determinant()<0&&(a=-a),n.x=o[12],n.y=o[13],n.z=o[14],t.elements.set(this.elements);var u=1/a,c=1/s,d=1/l;return t.elements[0]*=u,t.elements[1]*=u,t.elements[2]*=u,t.elements[4]*=c,t.elements[5]*=c,t.elements[6]*=c,t.elements[8]*=d,t.elements[9]*=d,t.elements[10]*=d,i.setFromRotationMatrix(t),r.x=a,r.y=s,r.z=l,this}}(),makePerspective:function(e,t,n,i,r,o){void 0===o&&console.warn(\\\"THREE.Matrix4: .makePerspective() has been redefined and has a new signature. Please check the docs.\\\");var a=this.elements,s=2*r/(t-e),l=2*r/(n-i),u=(t+e)/(t-e),c=(n+i)/(n-i),d=-(o+r)/(o-r),h=-2*o*r/(o-r);return a[0]=s,a[4]=0,a[8]=u,a[12]=0,a[1]=0,a[5]=l,a[9]=c,a[13]=0,a[2]=0,a[6]=0,a[10]=d,a[14]=h,a[3]=0,a[7]=0,a[11]=-1,a[15]=0,this},makeOrthographic:function(e,t,n,i,r,o){var a=this.elements,s=1/(t-e),l=1/(n-i),u=1/(o-r),c=(t+e)*s,d=(n+i)*l,h=(o+r)*u;return a[0]=2*s,a[4]=0,a[8]=0,a[12]=-c,a[1]=0,a[5]=2*l,a[9]=0,a[13]=-d,a[2]=0,a[6]=0,a[10]=-2*u,a[14]=-h,a[3]=0,a[7]=0,a[11]=0,a[15]=1,this},equals:function(e){for(var t=this.elements,n=e.elements,i=0;i<16;i++)if(t[i]!==n[i])return!1;return!0},fromArray:function(e,t){void 0===t&&(t=0);for(var n=0;n<16;n++)this.elements[n]=e[n+t];return this},toArray:function(e,t){void 0===e&&(e=[]),void 0===t&&(t=0);var n=this.elements;return e[t]=n[0],e[t+1]=n[1],e[t+2]=n[2],e[t+3]=n[3],e[t+4]=n[4],e[t+5]=n[5],e[t+6]=n[6],e[t+7]=n[7],e[t+8]=n[8],e[t+9]=n[9],e[t+10]=n[10],e[t+11]=n[11],e[t+12]=n[12],e[t+13]=n[13],e[t+14]=n[14],e[t+15]=n[15],e}},Gt.prototype=Object.create(Nt.prototype),Gt.prototype.constructor=Gt,Gt.prototype.isCubeTexture=!0,Object.defineProperty(Gt.prototype,\\\"images\\\",{get:function(){return this.image},set:function(e){this.image=e}});var Vt=new Nt,Ht=new Gt;function Yt(){this.seq=[],this.map={}}var qt=[],Xt=[];function Kt(e,t,n){var i=e[0];if(i<=0||i>0)return e;var r=t*n,o=qt[r];if(void 0===o&&(o=new Float32Array(r),qt[r]=o),0!==t){i.toArray(o,0);for(var a=1,s=0;a!==t;++a)s+=n,e[a].toArray(o,s)}return o}function Jt(e,t){var n=Xt[t];void 0===n&&(n=new Int32Array(t),Xt[t]=n);for(var i=0;i!==t;++i)n[i]=e.allocTextureUnit();return n}function Zt(e,t){e.uniform1f(this.addr,t)}function $t(e,t){e.uniform1i(this.addr,t)}function Qt(e,t){void 0===t.x?e.uniform2fv(this.addr,t):e.uniform2f(this.addr,t.x,t.y)}function en(e,t){void 0!==t.x?e.uniform3f(this.addr,t.x,t.y,t.z):void 0!==t.r?e.uniform3f(this.addr,t.r,t.g,t.b):e.uniform3fv(this.addr,t)}function tn(e,t){void 0===t.x?e.uniform4fv(this.addr,t):e.uniform4f(this.addr,t.x,t.y,t.z,t.w)}function nn(e,t){e.uniformMatrix2fv(this.addr,!1,t.elements||t)}function rn(e,t){e.uniformMatrix3fv(this.addr,!1,t.elements||t)}function on(e,t){e.uniformMatrix4fv(this.addr,!1,t.elements||t)}function an(e,t,n){var i=n.allocTextureUnit();e.uniform1i(this.addr,i),n.setTexture2D(t||Vt,i)}function sn(e,t,n){var i=n.allocTextureUnit();e.uniform1i(this.addr,i),n.setTextureCube(t||Ht,i)}function ln(e,t){e.uniform2iv(this.addr,t)}function un(e,t){e.uniform3iv(this.addr,t)}function cn(e,t){e.uniform4iv(this.addr,t)}function dn(e,t){e.uniform1fv(this.addr,t)}function hn(e,t){e.uniform1iv(this.addr,t)}function pn(e,t){e.uniform2fv(this.addr,Kt(t,this.size,2))}function fn(e,t){e.uniform3fv(this.addr,Kt(t,this.size,3))}function mn(e,t){e.uniform4fv(this.addr,Kt(t,this.size,4))}function gn(e,t){e.uniformMatrix2fv(this.addr,!1,Kt(t,this.size,4))}function vn(e,t){e.uniformMatrix3fv(this.addr,!1,Kt(t,this.size,9))}function yn(e,t){e.uniformMatrix4fv(this.addr,!1,Kt(t,this.size,16))}function bn(e,t,n){var i=t.length,r=Jt(n,i);e.uniform1iv(this.addr,r);for(var o=0;o!==i;++o)n.setTexture2D(t[o]||Vt,r[o])}function xn(e,t,n){var i=t.length,r=Jt(n,i);e.uniform1iv(this.addr,r);for(var o=0;o!==i;++o)n.setTextureCube(t[o]||Ht,r[o])}function _n(e,t,n){this.id=e,this.addr=n,this.setValue=function(e){switch(e){case 5126:return Zt;case 35664:return Qt;case 35665:return en;case 35666:return tn;case 35674:return nn;case 35675:return rn;case 35676:return on;case 35678:return an;case 35680:return sn;case 5124:case 35670:return $t;case 35667:case 35671:return ln;case 35668:case 35672:return un;case 35669:case 35673:return cn}}(t.type)}function 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i=e.getProgramParameter(t,e.ACTIVE_UNIFORMS),r=0;r<i;++r){var o=e.getActiveUniform(t,r),a=o.name;Tn(o,e.getUniformLocation(t,a),this)}}Cn.prototype.setValue=function(e,t,n){var i=this.map[t];void 0!==i&&i.setValue(e,n,this.renderer)},Cn.prototype.set=function(e,t,n){var i=this.map[n];void 0!==i&&i.setValue(e,t[n],this.renderer)},Cn.prototype.setOptional=function(e,t,n){var i=t[n];void 0!==i&&this.setValue(e,n,i)},Cn.upload=function(e,t,n,i){for(var r=0,o=t.length;r!==o;++r){var a=t[r],s=n[a.id];!1!==s.needsUpdate&&a.setValue(e,s.value,i)}},Cn.seqWithValue=function(e,t){for(var n=[],i=0,r=e.length;i!==r;++i){var o=e[i];o.id in t&&n.push(o)}return n};var On={merge:function(e){for(var t={},n=0;n<e.length;n++){var i=this.clone(e[n]);for(var r in i)t[r]=i[r]}return t},clone:function(e){var t={};for(var n in e)for(var i in t[n]={},e[n]){var r=e[n][i];r&&(r.isColor||r.isMatrix3||r.isMatrix4||r.isVector2||r.isVector3||r.isVector4||r.isTexture)?t[n][i]=r.clone():Array.isArray(r)?t[n][i]=r.slice():t[n][i]=r}return t}},Pn={alphamap_fragment:\\\"#ifdef USE_ALPHAMAP\\\\n\\\\tdiffuseColor.a *= texture2D( alphaMap, vUv ).g;\\\\n#endif\\\\n\\\",alphamap_pars_fragment:\\\"#ifdef USE_ALPHAMAP\\\\n\\\\tuniform sampler2D alphaMap;\\\\n#endif\\\\n\\\",alphatest_fragment:\\\"#ifdef ALPHATEST\\\\n\\\\tif ( diffuseColor.a < ALPHATEST ) discard;\\\\n#endif\\\\n\\\",aomap_fragment:\\\"#ifdef USE_AOMAP\\\\n\\\\tfloat ambientOcclusion = ( texture2D( aoMap, vUv2 ).r - 1.0 ) * aoMapIntensity + 1.0;\\\\n\\\\treflectedLight.indirectDiffuse *= ambientOcclusion;\\\\n\\\\t#if defined( USE_ENVMAP ) && defined( PHYSICAL )\\\\n\\\\t\\\\tfloat dotNV = saturate( dot( geometry.normal, geometry.viewDir ) );\\\\n\\\\t\\\\treflectedLight.indirectSpecular *= computeSpecularOcclusion( dotNV, ambientOcclusion, material.specularRoughness );\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",aomap_pars_fragment:\\\"#ifdef USE_AOMAP\\\\n\\\\tuniform sampler2D aoMap;\\\\n\\\\tuniform float aoMapIntensity;\\\\n#endif\\\",begin_vertex:\\\"\\\\nvec3 transformed = vec3( position );\\\\n\\\",beginnormal_vertex:\\\"\\\\nvec3 objectNormal = vec3( normal );\\\\n\\\",bsdfs:\\\"float punctualLightIntensityToIrradianceFactor( const in float lightDistance, const in float cutoffDistance, const in float decayExponent ) {\\\\n\\\\t\\\\tif( decayExponent > 0.0 ) {\\\\n#if defined ( PHYSICALLY_CORRECT_LIGHTS )\\\\n\\\\t\\\\t\\\\tfloat distanceFalloff = 1.0 / max( pow( lightDistance, decayExponent ), 0.01 );\\\\n\\\\t\\\\t\\\\tfloat maxDistanceCutoffFactor = pow2( saturate( 1.0 - pow4( lightDistance / cutoffDistance ) ) );\\\\n\\\\t\\\\t\\\\treturn distanceFalloff * maxDistanceCutoffFactor;\\\\n#else\\\\n\\\\t\\\\t\\\\treturn pow( saturate( -lightDistance / cutoffDistance + 1.0 ), decayExponent );\\\\n#endif\\\\n\\\\t\\\\t}\\\\n\\\\t\\\\treturn 1.0;\\\\n}\\\\nvec3 BRDF_Diffuse_Lambert( const in vec3 diffuseColor ) {\\\\n\\\\treturn RECIPROCAL_PI * diffuseColor;\\\\n}\\\\nvec3 F_Schlick( const in vec3 specularColor, const in float dotLH ) {\\\\n\\\\tfloat fresnel = exp2( ( -5.55473 * dotLH - 6.98316 ) * dotLH );\\\\n\\\\treturn ( 1.0 - specularColor ) * fresnel + specularColor;\\\\n}\\\\nfloat G_GGX_Smith( const in float alpha, const in float dotNL, const in float dotNV ) {\\\\n\\\\tfloat a2 = pow2( alpha );\\\\n\\\\tfloat gl = dotNL + sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNL ) );\\\\n\\\\tfloat gv = dotNV + sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNV ) );\\\\n\\\\treturn 1.0 / ( gl * gv );\\\\n}\\\\nfloat G_GGX_SmithCorrelated( const in float alpha, const in float dotNL, const in float dotNV ) {\\\\n\\\\tfloat a2 = pow2( alpha );\\\\n\\\\tfloat gv = dotNL * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNV ) );\\\\n\\\\tfloat gl = dotNV * sqrt( a2 + ( 1.0 - a2 ) * pow2( dotNL ) );\\\\n\\\\treturn 0.5 / max( gv + gl, EPSILON );\\\\n}\\\\nfloat D_GGX( const in float alpha, const in float dotNH ) {\\\\n\\\\tfloat a2 = pow2( alpha );\\\\n\\\\tfloat denom = pow2( dotNH ) * ( a2 - 1.0 ) + 1.0;\\\\n\\\\treturn RECIPROCAL_PI * a2 / pow2( denom );\\\\n}\\\\nvec3 BRDF_Specular_GGX( const in IncidentLight incidentLight, const in GeometricContext geometry, const in vec3 specularColor, const in float roughness ) {\\\\n\\\\tfloat alpha = pow2( roughness );\\\\n\\\\tvec3 halfDir = normalize( incidentLight.direction + geometry.viewDir );\\\\n\\\\tfloat dotNL = saturate( dot( geometry.normal, incidentLight.direction ) );\\\\n\\\\tfloat dotNV = saturate( dot( geometry.normal, geometry.viewDir ) );\\\\n\\\\tfloat dotNH = saturate( dot( geometry.normal, halfDir ) );\\\\n\\\\tfloat dotLH = saturate( dot( incidentLight.direction, halfDir ) );\\\\n\\\\tvec3 F = F_Schlick( specularColor, dotLH );\\\\n\\\\tfloat G = G_GGX_SmithCorrelated( alpha, dotNL, dotNV );\\\\n\\\\tfloat D = D_GGX( alpha, dotNH );\\\\n\\\\treturn F * ( G * D );\\\\n}\\\\nvec2 ltcTextureCoords( const in GeometricContext geometry, const in float roughness ) {\\\\n\\\\tconst float LUT_SIZE = 64.0;\\\\n\\\\tconst float LUT_SCALE = (LUT_SIZE - 1.0)/LUT_SIZE;\\\\n\\\\tconst float LUT_BIAS = 0.5/LUT_SIZE;\\\\n\\\\tvec3 N = geometry.normal;\\\\n\\\\tvec3 V = geometry.viewDir;\\\\n\\\\tvec3 P = geometry.position;\\\\n\\\\tfloat theta = acos( dot( N, V ) );\\\\n\\\\tvec2 uv = vec2(\\\\n\\\\t\\\\tsqrt( saturate( roughness ) ),\\\\n\\\\t\\\\tsaturate( theta / ( 0.5 * PI ) ) );\\\\n\\\\tuv = uv * LUT_SCALE + LUT_BIAS;\\\\n\\\\treturn uv;\\\\n}\\\\nvoid clipQuadToHorizon( inout vec3 L[5], out int n ) {\\\\n\\\\tint config = 0;\\\\n\\\\tif ( L[0].z > 0.0 ) config += 1;\\\\n\\\\tif ( L[1].z > 0.0 ) config += 2;\\\\n\\\\tif ( L[2].z > 0.0 ) config += 4;\\\\n\\\\tif ( L[3].z > 0.0 ) config += 8;\\\\n\\\\tn = 0;\\\\n\\\\tif ( config == 0 ) {\\\\n\\\\t} else if ( config == 1 ) {\\\\n\\\\t\\\\tn = 3;\\\\n\\\\t\\\\tL[1] = -L[1].z * L[0] + L[0].z * L[1];\\\\n\\\\t\\\\tL[2] = -L[3].z * L[0] + L[0].z * L[3];\\\\n\\\\t} else if ( config == 2 ) {\\\\n\\\\t\\\\tn = 3;\\\\n\\\\t\\\\tL[0] = -L[0].z * L[1] + L[1].z * L[0];\\\\n\\\\t\\\\tL[2] = -L[2].z * L[1] + L[1].z * L[2];\\\\n\\\\t} else if ( config == 3 ) {\\\\n\\\\t\\\\tn = 4;\\\\n\\\\t\\\\tL[2] = -L[2].z * L[1] + L[1].z * L[2];\\\\n\\\\t\\\\tL[3] = -L[3].z * L[0] + L[0].z * L[3];\\\\n\\\\t} else if ( config == 4 ) {\\\\n\\\\t\\\\tn = 3;\\\\n\\\\t\\\\tL[0] = -L[3].z * L[2] + L[2].z * L[3];\\\\n\\\\t\\\\tL[1] = -L[1].z * L[2] + L[2].z * L[1];\\\\n\\\\t} else if ( config == 5 ) {\\\\n\\\\t\\\\tn = 0;\\\\n\\\\t} else if ( config == 6 ) {\\\\n\\\\t\\\\tn = 4;\\\\n\\\\t\\\\tL[0] = -L[0].z * L[1] + L[1].z * L[0];\\\\n\\\\t\\\\tL[3] = -L[3].z * L[2] + L[2].z * L[3];\\\\n\\\\t} else if ( config == 7 ) {\\\\n\\\\t\\\\tn = 5;\\\\n\\\\t\\\\tL[4] = -L[3].z * L[0] + L[0].z * L[3];\\\\n\\\\t\\\\tL[3] = -L[3].z * L[2] + L[2].z * L[3];\\\\n\\\\t} else if ( config == 8 ) {\\\\n\\\\t\\\\tn = 3;\\\\n\\\\t\\\\tL[0] = -L[0].z * L[3] + L[3].z * L[0];\\\\n\\\\t\\\\tL[1] = -L[2].z * L[3] + L[3].z * L[2];\\\\n\\\\t\\\\tL[2] = L[3];\\\\n\\\\t} else if ( config == 9 ) {\\\\n\\\\t\\\\tn = 4;\\\\n\\\\t\\\\tL[1] = -L[1].z * L[0] + L[0].z * L[1];\\\\n\\\\t\\\\tL[2] = -L[2].z * L[3] + L[3].z * L[2];\\\\n\\\\t} else if ( config == 10 ) {\\\\n\\\\t\\\\tn = 0;\\\\n\\\\t} else if ( config == 11 ) {\\\\n\\\\t\\\\tn = 5;\\\\n\\\\t\\\\tL[4] = L[3];\\\\n\\\\t\\\\tL[3] = -L[2].z * L[3] + L[3].z * L[2];\\\\n\\\\t\\\\tL[2] = -L[2].z * L[1] + L[1].z * L[2];\\\\n\\\\t} else if ( config == 12 ) {\\\\n\\\\t\\\\tn = 4;\\\\n\\\\t\\\\tL[1] = -L[1].z * L[2] + L[2].z * L[1];\\\\n\\\\t\\\\tL[0] = -L[0].z * L[3] + L[3].z * L[0];\\\\n\\\\t} else if ( config == 13 ) {\\\\n\\\\t\\\\tn = 5;\\\\n\\\\t\\\\tL[4] = L[3];\\\\n\\\\t\\\\tL[3] = L[2];\\\\n\\\\t\\\\tL[2] = -L[1].z * L[2] + L[2].z * L[1];\\\\n\\\\t\\\\tL[1] = -L[1].z * L[0] + L[0].z * L[1];\\\\n\\\\t} else if ( config == 14 ) {\\\\n\\\\t\\\\tn = 5;\\\\n\\\\t\\\\tL[4] = -L[0].z * L[3] + L[3].z * L[0];\\\\n\\\\t\\\\tL[0] = -L[0].z * L[1] + L[1].z * L[0];\\\\n\\\\t} else if ( config == 15 ) {\\\\n\\\\t\\\\tn = 4;\\\\n\\\\t}\\\\n\\\\tif ( n == 3 )\\\\n\\\\t\\\\tL[3] = L[0];\\\\n\\\\tif ( n == 4 )\\\\n\\\\t\\\\tL[4] = L[0];\\\\n}\\\\nfloat integrateLtcBrdfOverRectEdge( vec3 v1, vec3 v2 ) {\\\\n\\\\tfloat cosTheta = dot( v1, v2 );\\\\n\\\\tfloat theta = acos( cosTheta );\\\\n\\\\tfloat res = cross( v1, v2 ).z * ( ( theta > 0.001 ) ? theta / sin( theta ) : 1.0 );\\\\n\\\\treturn res;\\\\n}\\\\nvoid initRectPoints( const in vec3 pos, const in vec3 halfWidth, const in vec3 halfHeight, out vec3 rectPoints[4] ) {\\\\n\\\\trectPoints[0] = pos - halfWidth - halfHeight;\\\\n\\\\trectPoints[1] = pos + halfWidth - halfHeight;\\\\n\\\\trectPoints[2] = pos + halfWidth + halfHeight;\\\\n\\\\trectPoints[3] = pos - halfWidth + halfHeight;\\\\n}\\\\nvec3 integrateLtcBrdfOverRect( const in GeometricContext geometry, const in mat3 brdfMat, const in vec3 rectPoints[4] ) {\\\\n\\\\tvec3 N = geometry.normal;\\\\n\\\\tvec3 V = geometry.viewDir;\\\\n\\\\tvec3 P = geometry.position;\\\\n\\\\tvec3 T1, T2;\\\\n\\\\tT1 = normalize(V - N * dot( V, N ));\\\\n\\\\tT2 = - cross( N, T1 );\\\\n\\\\tmat3 brdfWrtSurface = brdfMat * transpose( mat3( T1, T2, N ) );\\\\n\\\\tvec3 clippedRect[5];\\\\n\\\\tclippedRect[0] = brdfWrtSurface * ( rectPoints[0] - P );\\\\n\\\\tclippedRect[1] = brdfWrtSurface * ( rectPoints[1] - P );\\\\n\\\\tclippedRect[2] = brdfWrtSurface * ( rectPoints[2] - P );\\\\n\\\\tclippedRect[3] = brdfWrtSurface * ( rectPoints[3] - P );\\\\n\\\\tint n;\\\\n\\\\tclipQuadToHorizon(clippedRect, n);\\\\n\\\\tif ( n == 0 )\\\\n\\\\t\\\\treturn vec3( 0, 0, 0 );\\\\n\\\\tclippedRect[0] = normalize( clippedRect[0] );\\\\n\\\\tclippedRect[1] = normalize( clippedRect[1] );\\\\n\\\\tclippedRect[2] = normalize( clippedRect[2] );\\\\n\\\\tclippedRect[3] = normalize( clippedRect[3] );\\\\n\\\\tclippedRect[4] = normalize( clippedRect[4] );\\\\n\\\\tfloat sum = 0.0;\\\\n\\\\tsum += integrateLtcBrdfOverRectEdge( clippedRect[0], clippedRect[1] );\\\\n\\\\tsum += integrateLtcBrdfOverRectEdge( clippedRect[1], clippedRect[2] );\\\\n\\\\tsum += integrateLtcBrdfOverRectEdge( clippedRect[2], clippedRect[3] );\\\\n\\\\tif (n >= 4)\\\\n\\\\t\\\\tsum += integrateLtcBrdfOverRectEdge( clippedRect[3], clippedRect[4] );\\\\n\\\\tif (n == 5)\\\\n\\\\t\\\\tsum += integrateLtcBrdfOverRectEdge( clippedRect[4], clippedRect[0] );\\\\n\\\\tsum = max( 0.0, sum );\\\\n\\\\tvec3 Lo_i = vec3( sum, sum, sum );\\\\n\\\\treturn Lo_i;\\\\n}\\\\nvec3 Rect_Area_Light_Specular_Reflectance(\\\\n\\\\t\\\\tconst in GeometricContext geometry,\\\\n\\\\t\\\\tconst in vec3 lightPos, const in vec3 lightHalfWidth, const in vec3 lightHalfHeight,\\\\n\\\\t\\\\tconst in float roughness,\\\\n\\\\t\\\\tconst in sampler2D ltcMat, const in sampler2D ltcMag ) {\\\\n\\\\tvec3 rectPoints[4];\\\\n\\\\tinitRectPoints( lightPos, lightHalfWidth, lightHalfHeight, rectPoints );\\\\n\\\\tvec2 uv = ltcTextureCoords( geometry, roughness );\\\\n\\\\tvec4 brdfLtcApproxParams, t;\\\\n\\\\tbrdfLtcApproxParams = texture2D( ltcMat, uv );\\\\n\\\\tt = texture2D( ltcMat, uv );\\\\n\\\\tfloat brdfLtcScalar = texture2D( ltcMag, uv ).a;\\\\n\\\\tmat3 brdfLtcApproxMat = mat3(\\\\n\\\\t\\\\tvec3( 1, 0, t.y ),\\\\n\\\\t\\\\tvec3( 0, t.z, 0 ),\\\\n\\\\t\\\\tvec3( t.w, 0, t.x )\\\\n\\\\t);\\\\n\\\\tvec3 specularReflectance = integrateLtcBrdfOverRect( geometry, brdfLtcApproxMat, rectPoints );\\\\n\\\\tspecularReflectance *= brdfLtcScalar;\\\\n\\\\treturn specularReflectance;\\\\n}\\\\nvec3 Rect_Area_Light_Diffuse_Reflectance(\\\\n\\\\t\\\\tconst in GeometricContext geometry,\\\\n\\\\t\\\\tconst in vec3 lightPos, const in vec3 lightHalfWidth, const in vec3 lightHalfHeight ) {\\\\n\\\\tvec3 rectPoints[4];\\\\n\\\\tinitRectPoints( lightPos, lightHalfWidth, lightHalfHeight, rectPoints );\\\\n\\\\tmat3 diffuseBrdfMat = mat3(1);\\\\n\\\\tvec3 diffuseReflectance = integrateLtcBrdfOverRect( geometry, diffuseBrdfMat, rectPoints );\\\\n\\\\treturn diffuseReflectance;\\\\n}\\\\nvec3 BRDF_Specular_GGX_Environment( const in GeometricContext geometry, const in vec3 specularColor, const in float roughness ) {\\\\n\\\\tfloat dotNV = saturate( dot( geometry.normal, geometry.viewDir ) );\\\\n\\\\tconst vec4 c0 = vec4( - 1, - 0.0275, - 0.572, 0.022 );\\\\n\\\\tconst vec4 c1 = vec4( 1, 0.0425, 1.04, - 0.04 );\\\\n\\\\tvec4 r = roughness * c0 + c1;\\\\n\\\\tfloat a004 = min( r.x * r.x, exp2( - 9.28 * dotNV ) ) * r.x + r.y;\\\\n\\\\tvec2 AB = vec2( -1.04, 1.04 ) * a004 + r.zw;\\\\n\\\\treturn specularColor * AB.x + AB.y;\\\\n}\\\\nfloat G_BlinnPhong_Implicit( ) {\\\\n\\\\treturn 0.25;\\\\n}\\\\nfloat D_BlinnPhong( const in float shininess, const in float dotNH ) {\\\\n\\\\treturn RECIPROCAL_PI * ( shininess * 0.5 + 1.0 ) * pow( dotNH, shininess );\\\\n}\\\\nvec3 BRDF_Specular_BlinnPhong( const in IncidentLight incidentLight, const in GeometricContext geometry, const in vec3 specularColor, const in float shininess ) {\\\\n\\\\tvec3 halfDir = normalize( incidentLight.direction + geometry.viewDir );\\\\n\\\\tfloat dotNH = saturate( dot( geometry.normal, halfDir ) );\\\\n\\\\tfloat dotLH = saturate( dot( incidentLight.direction, halfDir ) );\\\\n\\\\tvec3 F = F_Schlick( specularColor, dotLH );\\\\n\\\\tfloat G = G_BlinnPhong_Implicit( );\\\\n\\\\tfloat D = D_BlinnPhong( shininess, dotNH );\\\\n\\\\treturn F * ( G * D );\\\\n}\\\\nfloat GGXRoughnessToBlinnExponent( const in float ggxRoughness ) {\\\\n\\\\treturn ( 2.0 / pow2( ggxRoughness + 0.0001 ) - 2.0 );\\\\n}\\\\nfloat BlinnExponentToGGXRoughness( const in float blinnExponent ) {\\\\n\\\\treturn sqrt( 2.0 / ( blinnExponent + 2.0 ) );\\\\n}\\\\n\\\",bumpmap_pars_fragment:\\\"#ifdef USE_BUMPMAP\\\\n\\\\tuniform sampler2D bumpMap;\\\\n\\\\tuniform float bumpScale;\\\\n\\\\tvec2 dHdxy_fwd() {\\\\n\\\\t\\\\tvec2 dSTdx = dFdx( vUv );\\\\n\\\\t\\\\tvec2 dSTdy = dFdy( vUv );\\\\n\\\\t\\\\tfloat Hll = bumpScale * texture2D( bumpMap, vUv ).x;\\\\n\\\\t\\\\tfloat dBx = bumpScale * texture2D( bumpMap, vUv + dSTdx ).x - Hll;\\\\n\\\\t\\\\tfloat dBy = bumpScale * texture2D( bumpMap, vUv + dSTdy ).x - Hll;\\\\n\\\\t\\\\treturn vec2( dBx, dBy );\\\\n\\\\t}\\\\n\\\\tvec3 perturbNormalArb( vec3 surf_pos, vec3 surf_norm, vec2 dHdxy ) {\\\\n\\\\t\\\\tvec3 vSigmaX = dFdx( surf_pos );\\\\n\\\\t\\\\tvec3 vSigmaY = dFdy( surf_pos );\\\\n\\\\t\\\\tvec3 vN = surf_norm;\\\\n\\\\t\\\\tvec3 R1 = cross( vSigmaY, vN );\\\\n\\\\t\\\\tvec3 R2 = cross( vN, vSigmaX );\\\\n\\\\t\\\\tfloat fDet = dot( vSigmaX, R1 );\\\\n\\\\t\\\\tvec3 vGrad = sign( fDet ) * ( dHdxy.x * R1 + dHdxy.y * R2 );\\\\n\\\\t\\\\treturn normalize( abs( fDet ) * surf_norm - vGrad );\\\\n\\\\t}\\\\n#endif\\\\n\\\",clipping_planes_fragment:\\\"#if NUM_CLIPPING_PLANES > 0\\\\n\\\\tfor ( int i = 0; i < UNION_CLIPPING_PLANES; ++ i ) {\\\\n\\\\t\\\\tvec4 plane = clippingPlanes[ i ];\\\\n\\\\t\\\\tif ( dot( vViewPosition, plane.xyz ) > plane.w ) discard;\\\\n\\\\t}\\\\n\\\\t\\\\t\\\\n\\\\t#if UNION_CLIPPING_PLANES < NUM_CLIPPING_PLANES\\\\n\\\\t\\\\tbool clipped = true;\\\\n\\\\t\\\\tfor ( int i = UNION_CLIPPING_PLANES; i < NUM_CLIPPING_PLANES; ++ i ) {\\\\n\\\\t\\\\t\\\\tvec4 plane = clippingPlanes[ i ];\\\\n\\\\t\\\\t\\\\tclipped = ( dot( vViewPosition, plane.xyz ) > plane.w ) && clipped;\\\\n\\\\t\\\\t}\\\\n\\\\t\\\\tif ( clipped ) discard;\\\\n\\\\t\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",clipping_planes_pars_fragment:\\\"#if NUM_CLIPPING_PLANES > 0\\\\n\\\\t#if ! defined( PHYSICAL ) && ! defined( PHONG )\\\\n\\\\t\\\\tvarying vec3 vViewPosition;\\\\n\\\\t#endif\\\\n\\\\tuniform vec4 clippingPlanes[ NUM_CLIPPING_PLANES ];\\\\n#endif\\\\n\\\",clipping_planes_pars_vertex:\\\"#if NUM_CLIPPING_PLANES > 0 && ! defined( PHYSICAL ) && ! defined( PHONG )\\\\n\\\\tvarying vec3 vViewPosition;\\\\n#endif\\\\n\\\",clipping_planes_vertex:\\\"#if NUM_CLIPPING_PLANES > 0 && ! defined( PHYSICAL ) && ! defined( PHONG )\\\\n\\\\tvViewPosition = - mvPosition.xyz;\\\\n#endif\\\\n\\\",color_fragment:\\\"#ifdef USE_COLOR\\\\n\\\\tdiffuseColor.rgb *= vColor;\\\\n#endif\\\",color_pars_fragment:\\\"#ifdef USE_COLOR\\\\n\\\\tvarying vec3 vColor;\\\\n#endif\\\\n\\\",color_pars_vertex:\\\"#ifdef USE_COLOR\\\\n\\\\tvarying vec3 vColor;\\\\n#endif\\\",color_vertex:\\\"#ifdef USE_COLOR\\\\n\\\\tvColor.xyz = color.xyz;\\\\n#endif\\\",common:\\\"#define PI 3.14159265359\\\\n#define PI2 6.28318530718\\\\n#define PI_HALF 1.5707963267949\\\\n#define RECIPROCAL_PI 0.31830988618\\\\n#define RECIPROCAL_PI2 0.15915494\\\\n#define LOG2 1.442695\\\\n#define EPSILON 1e-6\\\\n#define saturate(a) clamp( a, 0.0, 1.0 )\\\\n#define whiteCompliment(a) ( 1.0 - saturate( a ) )\\\\nfloat pow2( const in float x ) { return x*x; }\\\\nfloat pow3( const in float x ) { return x*x*x; }\\\\nfloat pow4( const in float x ) { float x2 = x*x; return x2*x2; }\\\\nfloat average( const in vec3 color ) { return dot( color, vec3( 0.3333 ) ); }\\\\nhighp float rand( const in vec2 uv ) {\\\\n\\\\tconst highp float a = 12.9898, b = 78.233, c = 43758.5453;\\\\n\\\\thighp float dt = dot( uv.xy, vec2( a,b ) ), sn = mod( dt, PI );\\\\n\\\\treturn fract(sin(sn) * c);\\\\n}\\\\nstruct IncidentLight {\\\\n\\\\tvec3 color;\\\\n\\\\tvec3 direction;\\\\n\\\\tbool visible;\\\\n};\\\\nstruct ReflectedLight {\\\\n\\\\tvec3 directDiffuse;\\\\n\\\\tvec3 directSpecular;\\\\n\\\\tvec3 indirectDiffuse;\\\\n\\\\tvec3 indirectSpecular;\\\\n};\\\\nstruct GeometricContext {\\\\n\\\\tvec3 position;\\\\n\\\\tvec3 normal;\\\\n\\\\tvec3 viewDir;\\\\n};\\\\nvec3 transformDirection( in vec3 dir, in mat4 matrix ) {\\\\n\\\\treturn normalize( ( matrix * vec4( dir, 0.0 ) ).xyz );\\\\n}\\\\nvec3 inverseTransformDirection( in vec3 dir, in mat4 matrix ) {\\\\n\\\\treturn normalize( ( vec4( dir, 0.0 ) * matrix ).xyz );\\\\n}\\\\nvec3 projectOnPlane(in vec3 point, in vec3 pointOnPlane, in vec3 planeNormal ) {\\\\n\\\\tfloat distance = dot( planeNormal, point - pointOnPlane );\\\\n\\\\treturn - distance * planeNormal + point;\\\\n}\\\\nfloat sideOfPlane( in vec3 point, in vec3 pointOnPlane, in vec3 planeNormal ) {\\\\n\\\\treturn sign( dot( point - pointOnPlane, planeNormal ) );\\\\n}\\\\nvec3 linePlaneIntersect( in vec3 pointOnLine, in vec3 lineDirection, in vec3 pointOnPlane, in vec3 planeNormal ) {\\\\n\\\\treturn lineDirection * ( dot( planeNormal, pointOnPlane - pointOnLine ) / dot( planeNormal, lineDirection ) ) + pointOnLine;\\\\n}\\\\nmat3 transpose( const in mat3 v ) {\\\\n\\\\tmat3 tmp;\\\\n\\\\ttmp[0] = vec3(v[0].x, v[1].x, v[2].x);\\\\n\\\\ttmp[1] = vec3(v[0].y, v[1].y, v[2].y);\\\\n\\\\ttmp[2] = vec3(v[0].z, v[1].z, v[2].z);\\\\n\\\\treturn tmp;\\\\n}\\\\n\\\",cube_uv_reflection_fragment:\\\"#ifdef ENVMAP_TYPE_CUBE_UV\\\\n#define cubeUV_textureSize (1024.0)\\\\nint getFaceFromDirection(vec3 direction) {\\\\n\\\\tvec3 absDirection = abs(direction);\\\\n\\\\tint face = -1;\\\\n\\\\tif( absDirection.x > absDirection.z ) {\\\\n\\\\t\\\\tif(absDirection.x > absDirection.y )\\\\n\\\\t\\\\t\\\\tface = direction.x > 0.0 ? 0 : 3;\\\\n\\\\t\\\\telse\\\\n\\\\t\\\\t\\\\tface = direction.y > 0.0 ? 1 : 4;\\\\n\\\\t}\\\\n\\\\telse {\\\\n\\\\t\\\\tif(absDirection.z > absDirection.y )\\\\n\\\\t\\\\t\\\\tface = direction.z > 0.0 ? 2 : 5;\\\\n\\\\t\\\\telse\\\\n\\\\t\\\\t\\\\tface = direction.y > 0.0 ? 1 : 4;\\\\n\\\\t}\\\\n\\\\treturn face;\\\\n}\\\\n#define cubeUV_maxLods1 (log2(cubeUV_textureSize*0.25) - 1.0)\\\\n#define cubeUV_rangeClamp (exp2((6.0 - 1.0) * 2.0))\\\\nvec2 MipLevelInfo( vec3 vec, float roughnessLevel, float roughness ) {\\\\n\\\\tfloat scale = exp2(cubeUV_maxLods1 - roughnessLevel);\\\\n\\\\tfloat dxRoughness = dFdx(roughness);\\\\n\\\\tfloat dyRoughness = dFdy(roughness);\\\\n\\\\tvec3 dx = dFdx( vec * scale * dxRoughness );\\\\n\\\\tvec3 dy = dFdy( vec * scale * dyRoughness );\\\\n\\\\tfloat d = max( dot( dx, dx ), dot( dy, dy ) );\\\\n\\\\td = clamp(d, 1.0, cubeUV_rangeClamp);\\\\n\\\\tfloat mipLevel = 0.5 * log2(d);\\\\n\\\\treturn vec2(floor(mipLevel), fract(mipLevel));\\\\n}\\\\n#define cubeUV_maxLods2 (log2(cubeUV_textureSize*0.25) - 2.0)\\\\n#define cubeUV_rcpTextureSize (1.0 / cubeUV_textureSize)\\\\nvec2 getCubeUV(vec3 direction, float roughnessLevel, float mipLevel) {\\\\n\\\\tmipLevel = roughnessLevel > cubeUV_maxLods2 - 3.0 ? 0.0 : mipLevel;\\\\n\\\\tfloat a = 16.0 * cubeUV_rcpTextureSize;\\\\n\\\\tvec2 exp2_packed = exp2( vec2( roughnessLevel, mipLevel ) );\\\\n\\\\tvec2 rcp_exp2_packed = vec2( 1.0 ) / exp2_packed;\\\\n\\\\tfloat powScale = exp2_packed.x * exp2_packed.y;\\\\n\\\\tfloat scale = rcp_exp2_packed.x * rcp_exp2_packed.y * 0.25;\\\\n\\\\tfloat mipOffset = 0.75*(1.0 - rcp_exp2_packed.y) * rcp_exp2_packed.x;\\\\n\\\\tbool bRes = mipLevel == 0.0;\\\\n\\\\tscale = bRes && (scale < a) ? a : scale;\\\\n\\\\tvec3 r;\\\\n\\\\tvec2 offset;\\\\n\\\\tint face = getFaceFromDirection(direction);\\\\n\\\\tfloat rcpPowScale = 1.0 / powScale;\\\\n\\\\tif( face == 0) {\\\\n\\\\t\\\\tr = vec3(direction.x, -direction.z, direction.y);\\\\n\\\\t\\\\toffset = vec2(0.0+mipOffset,0.75 * rcpPowScale);\\\\n\\\\t\\\\toffset.y = bRes && (offset.y < 2.0*a) ? a : offset.y;\\\\n\\\\t}\\\\n\\\\telse if( face == 1) {\\\\n\\\\t\\\\tr = vec3(direction.y, direction.x, direction.z);\\\\n\\\\t\\\\toffset = vec2(scale+mipOffset, 0.75 * rcpPowScale);\\\\n\\\\t\\\\toffset.y = bRes && (offset.y < 2.0*a) ? a : offset.y;\\\\n\\\\t}\\\\n\\\\telse if( face == 2) {\\\\n\\\\t\\\\tr = vec3(direction.z, direction.x, direction.y);\\\\n\\\\t\\\\toffset = vec2(2.0*scale+mipOffset, 0.75 * rcpPowScale);\\\\n\\\\t\\\\toffset.y = bRes && (offset.y < 2.0*a) ? a : offset.y;\\\\n\\\\t}\\\\n\\\\telse if( face == 3) {\\\\n\\\\t\\\\tr = vec3(direction.x, direction.z, direction.y);\\\\n\\\\t\\\\toffset = vec2(0.0+mipOffset,0.5 * rcpPowScale);\\\\n\\\\t\\\\toffset.y = bRes && (offset.y < 2.0*a) ? 0.0 : offset.y;\\\\n\\\\t}\\\\n\\\\telse if( face == 4) {\\\\n\\\\t\\\\tr = vec3(direction.y, direction.x, -direction.z);\\\\n\\\\t\\\\toffset = vec2(scale+mipOffset, 0.5 * rcpPowScale);\\\\n\\\\t\\\\toffset.y = bRes && (offset.y < 2.0*a) ? 0.0 : offset.y;\\\\n\\\\t}\\\\n\\\\telse {\\\\n\\\\t\\\\tr = vec3(direction.z, -direction.x, direction.y);\\\\n\\\\t\\\\toffset = vec2(2.0*scale+mipOffset, 0.5 * rcpPowScale);\\\\n\\\\t\\\\toffset.y = bRes && (offset.y < 2.0*a) ? 0.0 : offset.y;\\\\n\\\\t}\\\\n\\\\tr = normalize(r);\\\\n\\\\tfloat texelOffset = 0.5 * cubeUV_rcpTextureSize;\\\\n\\\\tvec2 s = ( r.yz / abs( r.x ) + vec2( 1.0 ) ) * 0.5;\\\\n\\\\tvec2 base = offset + vec2( texelOffset );\\\\n\\\\treturn base + s * ( scale - 2.0 * texelOffset );\\\\n}\\\\n#define cubeUV_maxLods3 (log2(cubeUV_textureSize*0.25) - 3.0)\\\\nvec4 textureCubeUV(vec3 reflectedDirection, float roughness ) {\\\\n\\\\tfloat roughnessVal = roughness* cubeUV_maxLods3;\\\\n\\\\tfloat r1 = floor(roughnessVal);\\\\n\\\\tfloat r2 = r1 + 1.0;\\\\n\\\\tfloat t = fract(roughnessVal);\\\\n\\\\tvec2 mipInfo = MipLevelInfo(reflectedDirection, r1, roughness);\\\\n\\\\tfloat s = mipInfo.y;\\\\n\\\\tfloat level0 = mipInfo.x;\\\\n\\\\tfloat level1 = level0 + 1.0;\\\\n\\\\tlevel1 = level1 > 5.0 ? 5.0 : level1;\\\\n\\\\tlevel0 += min( floor( s + 0.5 ), 5.0 );\\\\n\\\\tvec2 uv_10 = getCubeUV(reflectedDirection, r1, level0);\\\\n\\\\tvec4 color10 = envMapTexelToLinear(texture2D(envMap, uv_10));\\\\n\\\\tvec2 uv_20 = getCubeUV(reflectedDirection, r2, level0);\\\\n\\\\tvec4 color20 = envMapTexelToLinear(texture2D(envMap, uv_20));\\\\n\\\\tvec4 result = mix(color10, color20, t);\\\\n\\\\treturn vec4(result.rgb, 1.0);\\\\n}\\\\n#endif\\\\n\\\",defaultnormal_vertex:\\\"#ifdef FLIP_SIDED\\\\n\\\\tobjectNormal = -objectNormal;\\\\n#endif\\\\nvec3 transformedNormal = normalMatrix * objectNormal;\\\\n\\\",displacementmap_pars_vertex:\\\"#ifdef USE_DISPLACEMENTMAP\\\\n\\\\tuniform sampler2D displacementMap;\\\\n\\\\tuniform float displacementScale;\\\\n\\\\tuniform float displacementBias;\\\\n#endif\\\\n\\\",displacementmap_vertex:\\\"#ifdef USE_DISPLACEMENTMAP\\\\n\\\\ttransformed += normal * ( texture2D( displacementMap, uv ).x * displacementScale + displacementBias );\\\\n#endif\\\\n\\\",emissivemap_fragment:\\\"#ifdef USE_EMISSIVEMAP\\\\n\\\\tvec4 emissiveColor = texture2D( emissiveMap, vUv );\\\\n\\\\temissiveColor.rgb = emissiveMapTexelToLinear( emissiveColor ).rgb;\\\\n\\\\ttotalEmissiveRadiance *= emissiveColor.rgb;\\\\n#endif\\\\n\\\",emissivemap_pars_fragment:\\\"#ifdef USE_EMISSIVEMAP\\\\n\\\\tuniform sampler2D emissiveMap;\\\\n#endif\\\\n\\\",encodings_fragment:\\\" gl_FragColor = linearToOutputTexel( gl_FragColor );\\\\n\\\",encodings_pars_fragment:\\\"\\\\nvec4 LinearToLinear( in vec4 value ) {\\\\n\\\\treturn value;\\\\n}\\\\nvec4 GammaToLinear( in vec4 value, in float gammaFactor ) {\\\\n\\\\treturn vec4( pow( value.xyz, vec3( gammaFactor ) ), value.w );\\\\n}\\\\nvec4 LinearToGamma( in vec4 value, in float gammaFactor ) {\\\\n\\\\treturn vec4( pow( value.xyz, vec3( 1.0 / gammaFactor ) ), value.w );\\\\n}\\\\nvec4 sRGBToLinear( in vec4 value ) {\\\\n\\\\treturn vec4( mix( pow( value.rgb * 0.9478672986 + vec3( 0.0521327014 ), vec3( 2.4 ) ), value.rgb * 0.0773993808, vec3( lessThanEqual( value.rgb, vec3( 0.04045 ) ) ) ), value.w );\\\\n}\\\\nvec4 LinearTosRGB( in vec4 value ) {\\\\n\\\\treturn vec4( mix( pow( value.rgb, vec3( 0.41666 ) ) * 1.055 - vec3( 0.055 ), value.rgb * 12.92, vec3( lessThanEqual( value.rgb, vec3( 0.0031308 ) ) ) ), value.w );\\\\n}\\\\nvec4 RGBEToLinear( in vec4 value ) {\\\\n\\\\treturn vec4( value.rgb * exp2( value.a * 255.0 - 128.0 ), 1.0 );\\\\n}\\\\nvec4 LinearToRGBE( in vec4 value ) {\\\\n\\\\tfloat maxComponent = max( max( value.r, value.g ), value.b );\\\\n\\\\tfloat fExp = clamp( ceil( log2( maxComponent ) ), -128.0, 127.0 );\\\\n\\\\treturn vec4( value.rgb / exp2( fExp ), ( fExp + 128.0 ) / 255.0 );\\\\n}\\\\nvec4 RGBMToLinear( in vec4 value, in float maxRange ) {\\\\n\\\\treturn vec4( value.xyz * value.w * maxRange, 1.0 );\\\\n}\\\\nvec4 LinearToRGBM( in vec4 value, in float maxRange ) {\\\\n\\\\tfloat maxRGB = max( value.x, max( value.g, value.b ) );\\\\n\\\\tfloat M = clamp( maxRGB / maxRange, 0.0, 1.0 );\\\\n\\\\tM = ceil( M * 255.0 ) / 255.0;\\\\n\\\\treturn vec4( value.rgb / ( M * maxRange ), M );\\\\n}\\\\nvec4 RGBDToLinear( in vec4 value, in float maxRange ) {\\\\n\\\\treturn vec4( value.rgb * ( ( maxRange / 255.0 ) / value.a ), 1.0 );\\\\n}\\\\nvec4 LinearToRGBD( in vec4 value, in float maxRange ) {\\\\n\\\\tfloat maxRGB = max( value.x, max( value.g, value.b ) );\\\\n\\\\tfloat D = max( maxRange / maxRGB, 1.0 );\\\\n\\\\tD = min( floor( D ) / 255.0, 1.0 );\\\\n\\\\treturn vec4( value.rgb * ( D * ( 255.0 / maxRange ) ), D );\\\\n}\\\\nconst mat3 cLogLuvM = mat3( 0.2209, 0.3390, 0.4184, 0.1138, 0.6780, 0.7319, 0.0102, 0.1130, 0.2969 );\\\\nvec4 LinearToLogLuv( in vec4 value ) {\\\\n\\\\tvec3 Xp_Y_XYZp = value.rgb * cLogLuvM;\\\\n\\\\tXp_Y_XYZp = max(Xp_Y_XYZp, vec3(1e-6, 1e-6, 1e-6));\\\\n\\\\tvec4 vResult;\\\\n\\\\tvResult.xy = Xp_Y_XYZp.xy / Xp_Y_XYZp.z;\\\\n\\\\tfloat Le = 2.0 * log2(Xp_Y_XYZp.y) + 127.0;\\\\n\\\\tvResult.w = fract(Le);\\\\n\\\\tvResult.z = (Le - (floor(vResult.w*255.0))/255.0)/255.0;\\\\n\\\\treturn vResult;\\\\n}\\\\nconst mat3 cLogLuvInverseM = mat3( 6.0014, -2.7008, -1.7996, -1.3320, 3.1029, -5.7721, 0.3008, -1.0882, 5.6268 );\\\\nvec4 LogLuvToLinear( in vec4 value ) {\\\\n\\\\tfloat Le = value.z * 255.0 + value.w;\\\\n\\\\tvec3 Xp_Y_XYZp;\\\\n\\\\tXp_Y_XYZp.y = exp2((Le - 127.0) / 2.0);\\\\n\\\\tXp_Y_XYZp.z = Xp_Y_XYZp.y / value.y;\\\\n\\\\tXp_Y_XYZp.x = value.x * Xp_Y_XYZp.z;\\\\n\\\\tvec3 vRGB = Xp_Y_XYZp.rgb * cLogLuvInverseM;\\\\n\\\\treturn vec4( max(vRGB, 0.0), 1.0 );\\\\n}\\\\n\\\",envmap_fragment:\\\"#ifdef USE_ENVMAP\\\\n\\\\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG )\\\\n\\\\t\\\\tvec3 cameraToVertex = normalize( vWorldPosition - cameraPosition );\\\\n\\\\t\\\\tvec3 worldNormal = inverseTransformDirection( normal, viewMatrix );\\\\n\\\\t\\\\t#ifdef ENVMAP_MODE_REFLECTION\\\\n\\\\t\\\\t\\\\tvec3 reflectVec = reflect( cameraToVertex, worldNormal );\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\tvec3 reflectVec = refract( cameraToVertex, worldNormal, refractionRatio );\\\\n\\\\t\\\\t#endif\\\\n\\\\t#else\\\\n\\\\t\\\\tvec3 reflectVec = vReflect;\\\\n\\\\t#endif\\\\n\\\\t#ifdef ENVMAP_TYPE_CUBE\\\\n\\\\t\\\\tvec4 envColor = textureCube( envMap, flipNormal * vec3( flipEnvMap * reflectVec.x, reflectVec.yz ) );\\\\n\\\\t#elif defined( ENVMAP_TYPE_EQUIREC )\\\\n\\\\t\\\\tvec2 sampleUV;\\\\n\\\\t\\\\tsampleUV.y = saturate( flipNormal * reflectVec.y * 0.5 + 0.5 );\\\\n\\\\t\\\\tsampleUV.x = atan( flipNormal * reflectVec.z, flipNormal * reflectVec.x ) * RECIPROCAL_PI2 + 0.5;\\\\n\\\\t\\\\tvec4 envColor = texture2D( envMap, sampleUV );\\\\n\\\\t#elif defined( ENVMAP_TYPE_SPHERE )\\\\n\\\\t\\\\tvec3 reflectView = flipNormal * normalize( ( viewMatrix * vec4( reflectVec, 0.0 ) ).xyz + vec3( 0.0, 0.0, 1.0 ) );\\\\n\\\\t\\\\tvec4 envColor = texture2D( envMap, reflectView.xy * 0.5 + 0.5 );\\\\n\\\\t#else\\\\n\\\\t\\\\tvec4 envColor = vec4( 0.0 );\\\\n\\\\t#endif\\\\n\\\\tenvColor = envMapTexelToLinear( envColor );\\\\n\\\\t#ifdef ENVMAP_BLENDING_MULTIPLY\\\\n\\\\t\\\\toutgoingLight = mix( outgoingLight, outgoingLight * envColor.xyz, specularStrength * reflectivity );\\\\n\\\\t#elif defined( ENVMAP_BLENDING_MIX )\\\\n\\\\t\\\\toutgoingLight = mix( outgoingLight, envColor.xyz, specularStrength * reflectivity );\\\\n\\\\t#elif defined( ENVMAP_BLENDING_ADD )\\\\n\\\\t\\\\toutgoingLight += envColor.xyz * specularStrength * reflectivity;\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",envmap_pars_fragment:\\\"#if defined( USE_ENVMAP ) || defined( PHYSICAL )\\\\n\\\\tuniform float reflectivity;\\\\n\\\\tuniform float envMapIntensity;\\\\n#endif\\\\n#ifdef USE_ENVMAP\\\\n\\\\t#if ! defined( PHYSICAL ) && ( defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) )\\\\n\\\\t\\\\tvarying vec3 vWorldPosition;\\\\n\\\\t#endif\\\\n\\\\t#ifdef ENVMAP_TYPE_CUBE\\\\n\\\\t\\\\tuniform samplerCube envMap;\\\\n\\\\t#else\\\\n\\\\t\\\\tuniform sampler2D envMap;\\\\n\\\\t#endif\\\\n\\\\tuniform float flipEnvMap;\\\\n\\\\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG ) || defined( PHYSICAL )\\\\n\\\\t\\\\tuniform float refractionRatio;\\\\n\\\\t#else\\\\n\\\\t\\\\tvarying vec3 vReflect;\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",envmap_pars_vertex:\\\"#ifdef USE_ENVMAP\\\\n\\\\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG )\\\\n\\\\t\\\\tvarying vec3 vWorldPosition;\\\\n\\\\t#else\\\\n\\\\t\\\\tvarying vec3 vReflect;\\\\n\\\\t\\\\tuniform float refractionRatio;\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",envmap_vertex:\\\"#ifdef USE_ENVMAP\\\\n\\\\t#if defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( PHONG )\\\\n\\\\t\\\\tvWorldPosition = worldPosition.xyz;\\\\n\\\\t#else\\\\n\\\\t\\\\tvec3 cameraToVertex = normalize( worldPosition.xyz - cameraPosition );\\\\n\\\\t\\\\tvec3 worldNormal = inverseTransformDirection( transformedNormal, viewMatrix );\\\\n\\\\t\\\\t#ifdef ENVMAP_MODE_REFLECTION\\\\n\\\\t\\\\t\\\\tvReflect = reflect( cameraToVertex, worldNormal );\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\tvReflect = refract( cameraToVertex, worldNormal, refractionRatio );\\\\n\\\\t\\\\t#endif\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",fog_vertex:\\\"\\\\n#ifdef USE_FOG\\\\nfogDepth = -mvPosition.z;\\\\n#endif\\\",fog_pars_vertex:\\\"#ifdef USE_FOG\\\\n varying float fogDepth;\\\\n#endif\\\\n\\\",fog_fragment:\\\"#ifdef USE_FOG\\\\n\\\\t#ifdef FOG_EXP2\\\\n\\\\t\\\\tfloat fogFactor = whiteCompliment( exp2( - fogDensity * fogDensity * fogDepth * fogDepth * LOG2 ) );\\\\n\\\\t#else\\\\n\\\\t\\\\tfloat fogFactor = smoothstep( fogNear, fogFar, fogDepth );\\\\n\\\\t#endif\\\\n\\\\tgl_FragColor.rgb = mix( gl_FragColor.rgb, fogColor, fogFactor );\\\\n#endif\\\\n\\\",fog_pars_fragment:\\\"#ifdef USE_FOG\\\\n\\\\tuniform vec3 fogColor;\\\\n\\\\tvarying float fogDepth;\\\\n\\\\t#ifdef FOG_EXP2\\\\n\\\\t\\\\tuniform float fogDensity;\\\\n\\\\t#else\\\\n\\\\t\\\\tuniform float fogNear;\\\\n\\\\t\\\\tuniform float fogFar;\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",gradientmap_pars_fragment:\\\"#ifdef TOON\\\\n\\\\tuniform sampler2D gradientMap;\\\\n\\\\tvec3 getGradientIrradiance( vec3 normal, vec3 lightDirection ) {\\\\n\\\\t\\\\tfloat dotNL = dot( normal, lightDirection );\\\\n\\\\t\\\\tvec2 coord = vec2( dotNL * 0.5 + 0.5, 0.0 );\\\\n\\\\t\\\\t#ifdef USE_GRADIENTMAP\\\\n\\\\t\\\\t\\\\treturn texture2D( gradientMap, coord ).rgb;\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\treturn ( coord.x < 0.7 ) ? vec3( 0.7 ) : vec3( 1.0 );\\\\n\\\\t\\\\t#endif\\\\n\\\\t}\\\\n#endif\\\\n\\\",lightmap_fragment:\\\"#ifdef USE_LIGHTMAP\\\\n\\\\treflectedLight.indirectDiffuse += PI * texture2D( lightMap, vUv2 ).xyz * lightMapIntensity;\\\\n#endif\\\\n\\\",lightmap_pars_fragment:\\\"#ifdef USE_LIGHTMAP\\\\n\\\\tuniform sampler2D lightMap;\\\\n\\\\tuniform float lightMapIntensity;\\\\n#endif\\\",lights_lambert_vertex:\\\"vec3 diffuse = vec3( 1.0 );\\\\nGeometricContext geometry;\\\\ngeometry.position = mvPosition.xyz;\\\\ngeometry.normal = normalize( transformedNormal );\\\\ngeometry.viewDir = normalize( -mvPosition.xyz );\\\\nGeometricContext backGeometry;\\\\nbackGeometry.position = geometry.position;\\\\nbackGeometry.normal = -geometry.normal;\\\\nbackGeometry.viewDir = geometry.viewDir;\\\\nvLightFront = vec3( 0.0 );\\\\n#ifdef DOUBLE_SIDED\\\\n\\\\tvLightBack = vec3( 0.0 );\\\\n#endif\\\\nIncidentLight directLight;\\\\nfloat dotNL;\\\\nvec3 directLightColor_Diffuse;\\\\n#if NUM_POINT_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tgetPointDirectLightIrradiance( pointLights[ i ], geometry, directLight );\\\\n\\\\t\\\\tdotNL = dot( geometry.normal, directLight.direction );\\\\n\\\\t\\\\tdirectLightColor_Diffuse = PI * directLight.color;\\\\n\\\\t\\\\tvLightFront += saturate( dotNL ) * directLightColor_Diffuse;\\\\n\\\\t\\\\t#ifdef DOUBLE_SIDED\\\\n\\\\t\\\\t\\\\tvLightBack += saturate( -dotNL ) * directLightColor_Diffuse;\\\\n\\\\t\\\\t#endif\\\\n\\\\t}\\\\n#endif\\\\n#if NUM_SPOT_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tgetSpotDirectLightIrradiance( spotLights[ i ], geometry, directLight );\\\\n\\\\t\\\\tdotNL = dot( geometry.normal, directLight.direction );\\\\n\\\\t\\\\tdirectLightColor_Diffuse = PI * directLight.color;\\\\n\\\\t\\\\tvLightFront += saturate( dotNL ) * directLightColor_Diffuse;\\\\n\\\\t\\\\t#ifdef DOUBLE_SIDED\\\\n\\\\t\\\\t\\\\tvLightBack += saturate( -dotNL ) * directLightColor_Diffuse;\\\\n\\\\t\\\\t#endif\\\\n\\\\t}\\\\n#endif\\\\n#if NUM_DIR_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tgetDirectionalDirectLightIrradiance( directionalLights[ i ], geometry, directLight );\\\\n\\\\t\\\\tdotNL = dot( geometry.normal, directLight.direction );\\\\n\\\\t\\\\tdirectLightColor_Diffuse = PI * directLight.color;\\\\n\\\\t\\\\tvLightFront += saturate( dotNL ) * directLightColor_Diffuse;\\\\n\\\\t\\\\t#ifdef DOUBLE_SIDED\\\\n\\\\t\\\\t\\\\tvLightBack += saturate( -dotNL ) * directLightColor_Diffuse;\\\\n\\\\t\\\\t#endif\\\\n\\\\t}\\\\n#endif\\\\n#if NUM_HEMI_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_HEMI_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tvLightFront += getHemisphereLightIrradiance( hemisphereLights[ i ], geometry );\\\\n\\\\t\\\\t#ifdef DOUBLE_SIDED\\\\n\\\\t\\\\t\\\\tvLightBack += getHemisphereLightIrradiance( hemisphereLights[ i ], backGeometry );\\\\n\\\\t\\\\t#endif\\\\n\\\\t}\\\\n#endif\\\\n\\\",lights_pars:\\\"uniform vec3 ambientLightColor;\\\\nvec3 getAmbientLightIrradiance( const in vec3 ambientLightColor ) {\\\\n\\\\tvec3 irradiance = ambientLightColor;\\\\n\\\\t#ifndef PHYSICALLY_CORRECT_LIGHTS\\\\n\\\\t\\\\tirradiance *= PI;\\\\n\\\\t#endif\\\\n\\\\treturn irradiance;\\\\n}\\\\n#if NUM_DIR_LIGHTS > 0\\\\n\\\\tstruct DirectionalLight {\\\\n\\\\t\\\\tvec3 direction;\\\\n\\\\t\\\\tvec3 color;\\\\n\\\\t\\\\tint shadow;\\\\n\\\\t\\\\tfloat shadowBias;\\\\n\\\\t\\\\tfloat shadowRadius;\\\\n\\\\t\\\\tvec2 shadowMapSize;\\\\n\\\\t};\\\\n\\\\tuniform DirectionalLight directionalLights[ NUM_DIR_LIGHTS ];\\\\n\\\\tvoid getDirectionalDirectLightIrradiance( const in DirectionalLight directionalLight, const in GeometricContext geometry, out IncidentLight directLight ) {\\\\n\\\\t\\\\tdirectLight.color = directionalLight.color;\\\\n\\\\t\\\\tdirectLight.direction = directionalLight.direction;\\\\n\\\\t\\\\tdirectLight.visible = true;\\\\n\\\\t}\\\\n#endif\\\\n#if NUM_POINT_LIGHTS > 0\\\\n\\\\tstruct PointLight {\\\\n\\\\t\\\\tvec3 position;\\\\n\\\\t\\\\tvec3 color;\\\\n\\\\t\\\\tfloat distance;\\\\n\\\\t\\\\tfloat decay;\\\\n\\\\t\\\\tint shadow;\\\\n\\\\t\\\\tfloat shadowBias;\\\\n\\\\t\\\\tfloat shadowRadius;\\\\n\\\\t\\\\tvec2 shadowMapSize;\\\\n\\\\t};\\\\n\\\\tuniform PointLight pointLights[ NUM_POINT_LIGHTS ];\\\\n\\\\tvoid getPointDirectLightIrradiance( const in PointLight pointLight, const in GeometricContext geometry, out IncidentLight directLight ) {\\\\n\\\\t\\\\tvec3 lVector = pointLight.position - geometry.position;\\\\n\\\\t\\\\tdirectLight.direction = normalize( lVector );\\\\n\\\\t\\\\tfloat lightDistance = length( lVector );\\\\n\\\\t\\\\tdirectLight.color = pointLight.color;\\\\n\\\\t\\\\tdirectLight.color *= punctualLightIntensityToIrradianceFactor( lightDistance, pointLight.distance, pointLight.decay );\\\\n\\\\t\\\\tdirectLight.visible = ( directLight.color != vec3( 0.0 ) );\\\\n\\\\t}\\\\n#endif\\\\n#if NUM_SPOT_LIGHTS > 0\\\\n\\\\tstruct SpotLight {\\\\n\\\\t\\\\tvec3 position;\\\\n\\\\t\\\\tvec3 direction;\\\\n\\\\t\\\\tvec3 color;\\\\n\\\\t\\\\tfloat distance;\\\\n\\\\t\\\\tfloat decay;\\\\n\\\\t\\\\tfloat coneCos;\\\\n\\\\t\\\\tfloat penumbraCos;\\\\n\\\\t\\\\tint shadow;\\\\n\\\\t\\\\tfloat shadowBias;\\\\n\\\\t\\\\tfloat shadowRadius;\\\\n\\\\t\\\\tvec2 shadowMapSize;\\\\n\\\\t};\\\\n\\\\tuniform SpotLight spotLights[ NUM_SPOT_LIGHTS ];\\\\n\\\\tvoid getSpotDirectLightIrradiance( const in SpotLight spotLight, const in GeometricContext geometry, out IncidentLight directLight ) {\\\\n\\\\t\\\\tvec3 lVector = spotLight.position - geometry.position;\\\\n\\\\t\\\\tdirectLight.direction = normalize( lVector );\\\\n\\\\t\\\\tfloat lightDistance = length( lVector );\\\\n\\\\t\\\\tfloat angleCos = dot( directLight.direction, spotLight.direction );\\\\n\\\\t\\\\tif ( angleCos > spotLight.coneCos ) {\\\\n\\\\t\\\\t\\\\tfloat spotEffect = smoothstep( spotLight.coneCos, spotLight.penumbraCos, angleCos );\\\\n\\\\t\\\\t\\\\tdirectLight.color = spotLight.color;\\\\n\\\\t\\\\t\\\\tdirectLight.color *= spotEffect * punctualLightIntensityToIrradianceFactor( lightDistance, spotLight.distance, spotLight.decay );\\\\n\\\\t\\\\t\\\\tdirectLight.visible = true;\\\\n\\\\t\\\\t} else {\\\\n\\\\t\\\\t\\\\tdirectLight.color = vec3( 0.0 );\\\\n\\\\t\\\\t\\\\tdirectLight.visible = false;\\\\n\\\\t\\\\t}\\\\n\\\\t}\\\\n#endif\\\\n#if NUM_RECT_AREA_LIGHTS > 0\\\\n\\\\tstruct RectAreaLight {\\\\n\\\\t\\\\tvec3 color;\\\\n\\\\t\\\\tvec3 position;\\\\n\\\\t\\\\tvec3 halfWidth;\\\\n\\\\t\\\\tvec3 halfHeight;\\\\n\\\\t};\\\\n\\\\tuniform sampler2D ltcMat;\\\\tuniform sampler2D ltcMag;\\\\n\\\\tuniform RectAreaLight rectAreaLights[ NUM_RECT_AREA_LIGHTS ];\\\\n#endif\\\\n#if NUM_HEMI_LIGHTS > 0\\\\n\\\\tstruct HemisphereLight {\\\\n\\\\t\\\\tvec3 direction;\\\\n\\\\t\\\\tvec3 skyColor;\\\\n\\\\t\\\\tvec3 groundColor;\\\\n\\\\t};\\\\n\\\\tuniform HemisphereLight hemisphereLights[ NUM_HEMI_LIGHTS ];\\\\n\\\\tvec3 getHemisphereLightIrradiance( const in HemisphereLight hemiLight, const in GeometricContext geometry ) {\\\\n\\\\t\\\\tfloat dotNL = dot( geometry.normal, hemiLight.direction );\\\\n\\\\t\\\\tfloat hemiDiffuseWeight = 0.5 * dotNL + 0.5;\\\\n\\\\t\\\\tvec3 irradiance = mix( hemiLight.groundColor, hemiLight.skyColor, hemiDiffuseWeight );\\\\n\\\\t\\\\t#ifndef PHYSICALLY_CORRECT_LIGHTS\\\\n\\\\t\\\\t\\\\tirradiance *= PI;\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\treturn irradiance;\\\\n\\\\t}\\\\n#endif\\\\n#if defined( USE_ENVMAP ) && defined( PHYSICAL )\\\\n\\\\tvec3 getLightProbeIndirectIrradiance( const in GeometricContext geometry, const in int maxMIPLevel ) {\\\\n\\\\t\\\\tvec3 worldNormal = inverseTransformDirection( geometry.normal, viewMatrix );\\\\n\\\\t\\\\t#ifdef ENVMAP_TYPE_CUBE\\\\n\\\\t\\\\t\\\\tvec3 queryVec = vec3( flipEnvMap * worldNormal.x, worldNormal.yz );\\\\n\\\\t\\\\t\\\\t#ifdef TEXTURE_LOD_EXT\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = textureCubeLodEXT( envMap, queryVec, float( maxMIPLevel ) );\\\\n\\\\t\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = textureCube( envMap, queryVec, float( maxMIPLevel ) );\\\\n\\\\t\\\\t\\\\t#endif\\\\n\\\\t\\\\t\\\\tenvMapColor.rgb = envMapTexelToLinear( envMapColor ).rgb;\\\\n\\\\t\\\\t#elif defined( ENVMAP_TYPE_CUBE_UV )\\\\n\\\\t\\\\t\\\\tvec3 queryVec = vec3( flipEnvMap * worldNormal.x, worldNormal.yz );\\\\n\\\\t\\\\t\\\\tvec4 envMapColor = textureCubeUV( queryVec, 1.0 );\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\tvec4 envMapColor = vec4( 0.0 );\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\treturn PI * envMapColor.rgb * envMapIntensity;\\\\n\\\\t}\\\\n\\\\tfloat getSpecularMIPLevel( const in float blinnShininessExponent, const in int maxMIPLevel ) {\\\\n\\\\t\\\\tfloat maxMIPLevelScalar = float( maxMIPLevel );\\\\n\\\\t\\\\tfloat desiredMIPLevel = maxMIPLevelScalar - 0.79248 - 0.5 * log2( pow2( blinnShininessExponent ) + 1.0 );\\\\n\\\\t\\\\treturn clamp( desiredMIPLevel, 0.0, maxMIPLevelScalar );\\\\n\\\\t}\\\\n\\\\tvec3 getLightProbeIndirectRadiance( const in GeometricContext geometry, const in float blinnShininessExponent, const in int maxMIPLevel ) {\\\\n\\\\t\\\\t#ifdef ENVMAP_MODE_REFLECTION\\\\n\\\\t\\\\t\\\\tvec3 reflectVec = reflect( -geometry.viewDir, geometry.normal );\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\tvec3 reflectVec = refract( -geometry.viewDir, geometry.normal, refractionRatio );\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\treflectVec = inverseTransformDirection( reflectVec, viewMatrix );\\\\n\\\\t\\\\tfloat specularMIPLevel = getSpecularMIPLevel( blinnShininessExponent, maxMIPLevel );\\\\n\\\\t\\\\t#ifdef ENVMAP_TYPE_CUBE\\\\n\\\\t\\\\t\\\\tvec3 queryReflectVec = vec3( flipEnvMap * reflectVec.x, reflectVec.yz );\\\\n\\\\t\\\\t\\\\t#ifdef TEXTURE_LOD_EXT\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = textureCubeLodEXT( envMap, queryReflectVec, specularMIPLevel );\\\\n\\\\t\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = textureCube( envMap, queryReflectVec, specularMIPLevel );\\\\n\\\\t\\\\t\\\\t#endif\\\\n\\\\t\\\\t\\\\tenvMapColor.rgb = envMapTexelToLinear( envMapColor ).rgb;\\\\n\\\\t\\\\t#elif defined( ENVMAP_TYPE_CUBE_UV )\\\\n\\\\t\\\\t\\\\tvec3 queryReflectVec = vec3( flipEnvMap * reflectVec.x, reflectVec.yz );\\\\n\\\\t\\\\t\\\\tvec4 envMapColor = textureCubeUV(queryReflectVec, BlinnExponentToGGXRoughness(blinnShininessExponent));\\\\n\\\\t\\\\t#elif defined( ENVMAP_TYPE_EQUIREC )\\\\n\\\\t\\\\t\\\\tvec2 sampleUV;\\\\n\\\\t\\\\t\\\\tsampleUV.y = saturate( reflectVec.y * 0.5 + 0.5 );\\\\n\\\\t\\\\t\\\\tsampleUV.x = atan( reflectVec.z, reflectVec.x ) * RECIPROCAL_PI2 + 0.5;\\\\n\\\\t\\\\t\\\\t#ifdef TEXTURE_LOD_EXT\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = texture2DLodEXT( envMap, sampleUV, specularMIPLevel );\\\\n\\\\t\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = texture2D( envMap, sampleUV, specularMIPLevel );\\\\n\\\\t\\\\t\\\\t#endif\\\\n\\\\t\\\\t\\\\tenvMapColor.rgb = envMapTexelToLinear( envMapColor ).rgb;\\\\n\\\\t\\\\t#elif defined( ENVMAP_TYPE_SPHERE )\\\\n\\\\t\\\\t\\\\tvec3 reflectView = normalize( ( viewMatrix * vec4( reflectVec, 0.0 ) ).xyz + vec3( 0.0,0.0,1.0 ) );\\\\n\\\\t\\\\t\\\\t#ifdef TEXTURE_LOD_EXT\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = texture2DLodEXT( envMap, reflectView.xy * 0.5 + 0.5, specularMIPLevel );\\\\n\\\\t\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\t\\\\tvec4 envMapColor = texture2D( envMap, reflectView.xy * 0.5 + 0.5, specularMIPLevel );\\\\n\\\\t\\\\t\\\\t#endif\\\\n\\\\t\\\\t\\\\tenvMapColor.rgb = envMapTexelToLinear( envMapColor ).rgb;\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\treturn envMapColor.rgb * envMapIntensity;\\\\n\\\\t}\\\\n#endif\\\\n\\\",lights_phong_fragment:\\\"BlinnPhongMaterial material;\\\\nmaterial.diffuseColor = diffuseColor.rgb;\\\\nmaterial.specularColor = specular;\\\\nmaterial.specularShininess = shininess;\\\\nmaterial.specularStrength = specularStrength;\\\\n\\\",lights_phong_pars_fragment:\\\"varying vec3 vViewPosition;\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\nstruct BlinnPhongMaterial {\\\\n\\\\tvec3\\\\tdiffuseColor;\\\\n\\\\tvec3\\\\tspecularColor;\\\\n\\\\tfloat\\\\tspecularShininess;\\\\n\\\\tfloat\\\\tspecularStrength;\\\\n};\\\\n#if NUM_RECT_AREA_LIGHTS > 0\\\\n\\\\tvoid RE_Direct_RectArea_BlinnPhong( const in RectAreaLight rectAreaLight, const in GeometricContext geometry, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\t\\\\tvec3 matDiffColor = material.diffuseColor;\\\\n\\\\t\\\\tvec3 matSpecColor = material.specularColor;\\\\n\\\\t\\\\tvec3 lightColor = rectAreaLight.color;\\\\n\\\\t\\\\tfloat roughness = BlinnExponentToGGXRoughness( material.specularShininess );\\\\n\\\\t\\\\tvec3 spec = Rect_Area_Light_Specular_Reflectance(\\\\n\\\\t\\\\t\\\\t\\\\tgeometry,\\\\n\\\\t\\\\t\\\\t\\\\trectAreaLight.position, rectAreaLight.halfWidth, rectAreaLight.halfHeight,\\\\n\\\\t\\\\t\\\\t\\\\troughness,\\\\n\\\\t\\\\t\\\\t\\\\tltcMat, ltcMag );\\\\n\\\\t\\\\tvec3 diff = Rect_Area_Light_Diffuse_Reflectance(\\\\n\\\\t\\\\t\\\\t\\\\tgeometry,\\\\n\\\\t\\\\t\\\\t\\\\trectAreaLight.position, rectAreaLight.halfWidth, rectAreaLight.halfHeight );\\\\n\\\\t\\\\treflectedLight.directSpecular += lightColor * matSpecColor * spec / PI2;\\\\n\\\\t\\\\treflectedLight.directDiffuse += lightColor * matDiffColor * diff / PI2;\\\\n\\\\t}\\\\n#endif\\\\nvoid RE_Direct_BlinnPhong( const in IncidentLight directLight, const in GeometricContext geometry, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\t#ifdef TOON\\\\n\\\\t\\\\tvec3 irradiance = getGradientIrradiance( geometry.normal, directLight.direction ) * directLight.color;\\\\n\\\\t#else\\\\n\\\\t\\\\tfloat dotNL = saturate( dot( geometry.normal, directLight.direction ) );\\\\n\\\\t\\\\tvec3 irradiance = dotNL * directLight.color;\\\\n\\\\t#endif\\\\n\\\\t#ifndef PHYSICALLY_CORRECT_LIGHTS\\\\n\\\\t\\\\tirradiance *= PI;\\\\n\\\\t#endif\\\\n\\\\treflectedLight.directDiffuse += irradiance * BRDF_Diffuse_Lambert( material.diffuseColor );\\\\n\\\\treflectedLight.directSpecular += irradiance * BRDF_Specular_BlinnPhong( directLight, geometry, material.specularColor, material.specularShininess ) * material.specularStrength;\\\\n}\\\\nvoid RE_IndirectDiffuse_BlinnPhong( const in vec3 irradiance, const in GeometricContext geometry, const in BlinnPhongMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\treflectedLight.indirectDiffuse += irradiance * BRDF_Diffuse_Lambert( material.diffuseColor );\\\\n}\\\\n#define RE_Direct\\\\t\\\\t\\\\t\\\\tRE_Direct_BlinnPhong\\\\n#define RE_Direct_RectArea\\\\t\\\\tRE_Direct_RectArea_BlinnPhong\\\\n#define RE_IndirectDiffuse\\\\t\\\\tRE_IndirectDiffuse_BlinnPhong\\\\n#define Material_LightProbeLOD( material )\\\\t(0)\\\\n\\\",lights_physical_fragment:\\\"PhysicalMaterial material;\\\\nmaterial.diffuseColor = diffuseColor.rgb * ( 1.0 - metalnessFactor );\\\\nmaterial.specularRoughness = clamp( roughnessFactor, 0.04, 1.0 );\\\\n#ifdef STANDARD\\\\n\\\\tmaterial.specularColor = mix( vec3( DEFAULT_SPECULAR_COEFFICIENT ), diffuseColor.rgb, metalnessFactor );\\\\n#else\\\\n\\\\tmaterial.specularColor = mix( vec3( MAXIMUM_SPECULAR_COEFFICIENT * pow2( reflectivity ) ), diffuseColor.rgb, metalnessFactor );\\\\n\\\\tmaterial.clearCoat = saturate( clearCoat );\\\\tmaterial.clearCoatRoughness = clamp( clearCoatRoughness, 0.04, 1.0 );\\\\n#endif\\\\n\\\",lights_physical_pars_fragment:\\\"struct PhysicalMaterial {\\\\n\\\\tvec3\\\\tdiffuseColor;\\\\n\\\\tfloat\\\\tspecularRoughness;\\\\n\\\\tvec3\\\\tspecularColor;\\\\n\\\\t#ifndef STANDARD\\\\n\\\\t\\\\tfloat clearCoat;\\\\n\\\\t\\\\tfloat clearCoatRoughness;\\\\n\\\\t#endif\\\\n};\\\\n#define MAXIMUM_SPECULAR_COEFFICIENT 0.16\\\\n#define DEFAULT_SPECULAR_COEFFICIENT 0.04\\\\nfloat clearCoatDHRApprox( const in float roughness, const in float dotNL ) {\\\\n\\\\treturn DEFAULT_SPECULAR_COEFFICIENT + ( 1.0 - DEFAULT_SPECULAR_COEFFICIENT ) * ( pow( 1.0 - dotNL, 5.0 ) * pow( 1.0 - roughness, 2.0 ) );\\\\n}\\\\n#if NUM_RECT_AREA_LIGHTS > 0\\\\n\\\\tvoid RE_Direct_RectArea_Physical( const in RectAreaLight rectAreaLight, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\t\\\\tvec3 matDiffColor = material.diffuseColor;\\\\n\\\\t\\\\tvec3 matSpecColor = material.specularColor;\\\\n\\\\t\\\\tvec3 lightColor = rectAreaLight.color;\\\\n\\\\t\\\\tfloat roughness = material.specularRoughness;\\\\n\\\\t\\\\tvec3 spec = Rect_Area_Light_Specular_Reflectance(\\\\n\\\\t\\\\t\\\\t\\\\tgeometry,\\\\n\\\\t\\\\t\\\\t\\\\trectAreaLight.position, rectAreaLight.halfWidth, rectAreaLight.halfHeight,\\\\n\\\\t\\\\t\\\\t\\\\troughness,\\\\n\\\\t\\\\t\\\\t\\\\tltcMat, ltcMag );\\\\n\\\\t\\\\tvec3 diff = Rect_Area_Light_Diffuse_Reflectance(\\\\n\\\\t\\\\t\\\\t\\\\tgeometry,\\\\n\\\\t\\\\t\\\\t\\\\trectAreaLight.position, rectAreaLight.halfWidth, rectAreaLight.halfHeight );\\\\n\\\\t\\\\treflectedLight.directSpecular += lightColor * matSpecColor * spec;\\\\n\\\\t\\\\treflectedLight.directDiffuse += lightColor * matDiffColor * diff;\\\\n\\\\t}\\\\n#endif\\\\nvoid RE_Direct_Physical( const in IncidentLight directLight, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\tfloat dotNL = saturate( dot( geometry.normal, directLight.direction ) );\\\\n\\\\tvec3 irradiance = dotNL * directLight.color;\\\\n\\\\t#ifndef PHYSICALLY_CORRECT_LIGHTS\\\\n\\\\t\\\\tirradiance *= PI;\\\\n\\\\t#endif\\\\n\\\\t#ifndef STANDARD\\\\n\\\\t\\\\tfloat clearCoatDHR = material.clearCoat * clearCoatDHRApprox( material.clearCoatRoughness, dotNL );\\\\n\\\\t#else\\\\n\\\\t\\\\tfloat clearCoatDHR = 0.0;\\\\n\\\\t#endif\\\\n\\\\treflectedLight.directSpecular += ( 1.0 - clearCoatDHR ) * irradiance * BRDF_Specular_GGX( directLight, geometry, material.specularColor, material.specularRoughness );\\\\n\\\\treflectedLight.directDiffuse += ( 1.0 - clearCoatDHR ) * irradiance * BRDF_Diffuse_Lambert( material.diffuseColor );\\\\n\\\\t#ifndef STANDARD\\\\n\\\\t\\\\treflectedLight.directSpecular += irradiance * material.clearCoat * BRDF_Specular_GGX( directLight, geometry, vec3( DEFAULT_SPECULAR_COEFFICIENT ), material.clearCoatRoughness );\\\\n\\\\t#endif\\\\n}\\\\nvoid RE_IndirectDiffuse_Physical( const in vec3 irradiance, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\treflectedLight.indirectDiffuse += irradiance * BRDF_Diffuse_Lambert( material.diffuseColor );\\\\n}\\\\nvoid RE_IndirectSpecular_Physical( const in vec3 radiance, const in vec3 clearCoatRadiance, const in GeometricContext geometry, const in PhysicalMaterial material, inout ReflectedLight reflectedLight ) {\\\\n\\\\t#ifndef STANDARD\\\\n\\\\t\\\\tfloat dotNV = saturate( dot( geometry.normal, geometry.viewDir ) );\\\\n\\\\t\\\\tfloat dotNL = dotNV;\\\\n\\\\t\\\\tfloat clearCoatDHR = material.clearCoat * clearCoatDHRApprox( material.clearCoatRoughness, dotNL );\\\\n\\\\t#else\\\\n\\\\t\\\\tfloat clearCoatDHR = 0.0;\\\\n\\\\t#endif\\\\n\\\\treflectedLight.indirectSpecular += ( 1.0 - clearCoatDHR ) * radiance * BRDF_Specular_GGX_Environment( geometry, material.specularColor, material.specularRoughness );\\\\n\\\\t#ifndef STANDARD\\\\n\\\\t\\\\treflectedLight.indirectSpecular += clearCoatRadiance * material.clearCoat * BRDF_Specular_GGX_Environment( geometry, vec3( DEFAULT_SPECULAR_COEFFICIENT ), material.clearCoatRoughness );\\\\n\\\\t#endif\\\\n}\\\\n#define RE_Direct\\\\t\\\\t\\\\t\\\\tRE_Direct_Physical\\\\n#define RE_Direct_RectArea\\\\t\\\\tRE_Direct_RectArea_Physical\\\\n#define RE_IndirectDiffuse\\\\t\\\\tRE_IndirectDiffuse_Physical\\\\n#define RE_IndirectSpecular\\\\t\\\\tRE_IndirectSpecular_Physical\\\\n#define Material_BlinnShininessExponent( material ) GGXRoughnessToBlinnExponent( material.specularRoughness )\\\\n#define Material_ClearCoat_BlinnShininessExponent( material ) GGXRoughnessToBlinnExponent( material.clearCoatRoughness )\\\\nfloat computeSpecularOcclusion( const in float dotNV, const in float ambientOcclusion, const in float roughness ) {\\\\n\\\\treturn saturate( pow( dotNV + ambientOcclusion, exp2( - 16.0 * roughness - 1.0 ) ) - 1.0 + ambientOcclusion );\\\\n}\\\\n\\\",lights_template:\\\"\\\\nGeometricContext geometry;\\\\ngeometry.position = - vViewPosition;\\\\ngeometry.normal = normal;\\\\ngeometry.viewDir = normalize( vViewPosition );\\\\nIncidentLight directLight;\\\\n#if ( NUM_POINT_LIGHTS > 0 ) && defined( RE_Direct )\\\\n\\\\tPointLight pointLight;\\\\n\\\\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tpointLight = pointLights[ i ];\\\\n\\\\t\\\\tgetPointDirectLightIrradiance( pointLight, geometry, directLight );\\\\n\\\\t\\\\t#ifdef USE_SHADOWMAP\\\\n\\\\t\\\\tdirectLight.color *= all( bvec2( pointLight.shadow, directLight.visible ) ) ? getPointShadow( pointShadowMap[ i ], pointLight.shadowMapSize, pointLight.shadowBias, pointLight.shadowRadius, vPointShadowCoord[ i ] ) : 1.0;\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\tRE_Direct( directLight, geometry, material, reflectedLight );\\\\n\\\\t}\\\\n#endif\\\\n#if ( NUM_SPOT_LIGHTS > 0 ) && defined( RE_Direct )\\\\n\\\\tSpotLight spotLight;\\\\n\\\\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tspotLight = spotLights[ i ];\\\\n\\\\t\\\\tgetSpotDirectLightIrradiance( spotLight, geometry, directLight );\\\\n\\\\t\\\\t#ifdef USE_SHADOWMAP\\\\n\\\\t\\\\tdirectLight.color *= all( bvec2( spotLight.shadow, directLight.visible ) ) ? getShadow( spotShadowMap[ i ], spotLight.shadowMapSize, spotLight.shadowBias, spotLight.shadowRadius, vSpotShadowCoord[ i ] ) : 1.0;\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\tRE_Direct( directLight, geometry, material, reflectedLight );\\\\n\\\\t}\\\\n#endif\\\\n#if ( NUM_DIR_LIGHTS > 0 ) && defined( RE_Direct )\\\\n\\\\tDirectionalLight directionalLight;\\\\n\\\\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tdirectionalLight = directionalLights[ i ];\\\\n\\\\t\\\\tgetDirectionalDirectLightIrradiance( directionalLight, geometry, directLight );\\\\n\\\\t\\\\t#ifdef USE_SHADOWMAP\\\\n\\\\t\\\\tdirectLight.color *= all( bvec2( directionalLight.shadow, directLight.visible ) ) ? getShadow( directionalShadowMap[ i ], directionalLight.shadowMapSize, directionalLight.shadowBias, directionalLight.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\tRE_Direct( directLight, geometry, material, reflectedLight );\\\\n\\\\t}\\\\n#endif\\\\n#if ( NUM_RECT_AREA_LIGHTS > 0 ) && defined( RE_Direct_RectArea )\\\\n\\\\tRectAreaLight rectAreaLight;\\\\n\\\\tfor ( int i = 0; i < NUM_RECT_AREA_LIGHTS; i ++ ) {\\\\n\\\\t\\\\trectAreaLight = rectAreaLights[ i ];\\\\n\\\\t\\\\tRE_Direct_RectArea( rectAreaLight, geometry, material, reflectedLight );\\\\n\\\\t}\\\\n#endif\\\\n#if defined( RE_IndirectDiffuse )\\\\n\\\\tvec3 irradiance = getAmbientLightIrradiance( ambientLightColor );\\\\n\\\\t#ifdef USE_LIGHTMAP\\\\n\\\\t\\\\tvec3 lightMapIrradiance = texture2D( lightMap, vUv2 ).xyz * lightMapIntensity;\\\\n\\\\t\\\\t#ifndef PHYSICALLY_CORRECT_LIGHTS\\\\n\\\\t\\\\t\\\\tlightMapIrradiance *= PI;\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\tirradiance += lightMapIrradiance;\\\\n\\\\t#endif\\\\n\\\\t#if ( NUM_HEMI_LIGHTS > 0 )\\\\n\\\\t\\\\tfor ( int i = 0; i < NUM_HEMI_LIGHTS; i ++ ) {\\\\n\\\\t\\\\t\\\\tirradiance += getHemisphereLightIrradiance( hemisphereLights[ i ], geometry );\\\\n\\\\t\\\\t}\\\\n\\\\t#endif\\\\n\\\\t#if defined( USE_ENVMAP ) && defined( PHYSICAL ) && defined( ENVMAP_TYPE_CUBE_UV )\\\\n\\\\t\\\\tirradiance += getLightProbeIndirectIrradiance( geometry, 8 );\\\\n\\\\t#endif\\\\n\\\\tRE_IndirectDiffuse( irradiance, geometry, material, reflectedLight );\\\\n#endif\\\\n#if defined( USE_ENVMAP ) && defined( RE_IndirectSpecular )\\\\n\\\\tvec3 radiance = getLightProbeIndirectRadiance( geometry, Material_BlinnShininessExponent( material ), 8 );\\\\n\\\\t#ifndef STANDARD\\\\n\\\\t\\\\tvec3 clearCoatRadiance = getLightProbeIndirectRadiance( geometry, Material_ClearCoat_BlinnShininessExponent( material ), 8 );\\\\n\\\\t#else\\\\n\\\\t\\\\tvec3 clearCoatRadiance = vec3( 0.0 );\\\\n\\\\t#endif\\\\n\\\\tRE_IndirectSpecular( radiance, clearCoatRadiance, geometry, material, reflectedLight );\\\\n#endif\\\\n\\\",logdepthbuf_fragment:\\\"#if defined(USE_LOGDEPTHBUF) && defined(USE_LOGDEPTHBUF_EXT)\\\\n\\\\tgl_FragDepthEXT = log2(vFragDepth) * logDepthBufFC * 0.5;\\\\n#endif\\\",logdepthbuf_pars_fragment:\\\"#ifdef USE_LOGDEPTHBUF\\\\n\\\\tuniform float logDepthBufFC;\\\\n\\\\t#ifdef USE_LOGDEPTHBUF_EXT\\\\n\\\\t\\\\tvarying float vFragDepth;\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",logdepthbuf_pars_vertex:\\\"#ifdef USE_LOGDEPTHBUF\\\\n\\\\t#ifdef USE_LOGDEPTHBUF_EXT\\\\n\\\\t\\\\tvarying float vFragDepth;\\\\n\\\\t#endif\\\\n\\\\tuniform float logDepthBufFC;\\\\n#endif\\\",logdepthbuf_vertex:\\\"#ifdef USE_LOGDEPTHBUF\\\\n\\\\tgl_Position.z = log2(max( EPSILON, gl_Position.w + 1.0 )) * logDepthBufFC;\\\\n\\\\t#ifdef USE_LOGDEPTHBUF_EXT\\\\n\\\\t\\\\tvFragDepth = 1.0 + gl_Position.w;\\\\n\\\\t#else\\\\n\\\\t\\\\tgl_Position.z = (gl_Position.z - 1.0) * gl_Position.w;\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",map_fragment:\\\"#ifdef USE_MAP\\\\n\\\\tvec4 texelColor = texture2D( map, vUv );\\\\n\\\\ttexelColor = mapTexelToLinear( texelColor );\\\\n\\\\tdiffuseColor *= texelColor;\\\\n#endif\\\\n\\\",map_pars_fragment:\\\"#ifdef USE_MAP\\\\n\\\\tuniform sampler2D map;\\\\n#endif\\\\n\\\",map_particle_fragment:\\\"#ifdef USE_MAP\\\\n\\\\tvec4 mapTexel = texture2D( map, vec2( gl_PointCoord.x, 1.0 - gl_PointCoord.y ) * offsetRepeat.zw + offsetRepeat.xy );\\\\n\\\\tdiffuseColor *= mapTexelToLinear( mapTexel );\\\\n#endif\\\\n\\\",map_particle_pars_fragment:\\\"#ifdef USE_MAP\\\\n\\\\tuniform vec4 offsetRepeat;\\\\n\\\\tuniform sampler2D map;\\\\n#endif\\\\n\\\",metalnessmap_fragment:\\\"float metalnessFactor = metalness;\\\\n#ifdef USE_METALNESSMAP\\\\n\\\\tvec4 texelMetalness = texture2D( metalnessMap, vUv );\\\\n\\\\tmetalnessFactor *= texelMetalness.r;\\\\n#endif\\\\n\\\",metalnessmap_pars_fragment:\\\"#ifdef USE_METALNESSMAP\\\\n\\\\tuniform sampler2D metalnessMap;\\\\n#endif\\\",morphnormal_vertex:\\\"#ifdef USE_MORPHNORMALS\\\\n\\\\tobjectNormal += ( morphNormal0 - normal ) * morphTargetInfluences[ 0 ];\\\\n\\\\tobjectNormal += ( morphNormal1 - normal ) * morphTargetInfluences[ 1 ];\\\\n\\\\tobjectNormal += ( morphNormal2 - normal ) * morphTargetInfluences[ 2 ];\\\\n\\\\tobjectNormal += ( morphNormal3 - normal ) * morphTargetInfluences[ 3 ];\\\\n#endif\\\\n\\\",morphtarget_pars_vertex:\\\"#ifdef USE_MORPHTARGETS\\\\n\\\\t#ifndef USE_MORPHNORMALS\\\\n\\\\tuniform float morphTargetInfluences[ 8 ];\\\\n\\\\t#else\\\\n\\\\tuniform float morphTargetInfluences[ 4 ];\\\\n\\\\t#endif\\\\n#endif\\\",morphtarget_vertex:\\\"#ifdef USE_MORPHTARGETS\\\\n\\\\ttransformed += ( morphTarget0 - position ) * morphTargetInfluences[ 0 ];\\\\n\\\\ttransformed += ( morphTarget1 - position ) * morphTargetInfluences[ 1 ];\\\\n\\\\ttransformed += ( morphTarget2 - position ) * morphTargetInfluences[ 2 ];\\\\n\\\\ttransformed += ( morphTarget3 - position ) * morphTargetInfluences[ 3 ];\\\\n\\\\t#ifndef USE_MORPHNORMALS\\\\n\\\\ttransformed += ( morphTarget4 - position ) * morphTargetInfluences[ 4 ];\\\\n\\\\ttransformed += ( morphTarget5 - position ) * morphTargetInfluences[ 5 ];\\\\n\\\\ttransformed += ( morphTarget6 - position ) * morphTargetInfluences[ 6 ];\\\\n\\\\ttransformed += ( morphTarget7 - position ) * morphTargetInfluences[ 7 ];\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",normal_flip:\\\"#ifdef DOUBLE_SIDED\\\\n\\\\tfloat flipNormal = ( float( gl_FrontFacing ) * 2.0 - 1.0 );\\\\n#else\\\\n\\\\tfloat flipNormal = 1.0;\\\\n#endif\\\\n\\\",normal_fragment:\\\"#ifdef FLAT_SHADED\\\\n\\\\tvec3 fdx = vec3( dFdx( vViewPosition.x ), dFdx( vViewPosition.y ), dFdx( vViewPosition.z ) );\\\\n\\\\tvec3 fdy = vec3( dFdy( vViewPosition.x ), dFdy( vViewPosition.y ), dFdy( vViewPosition.z ) );\\\\n\\\\tvec3 normal = normalize( cross( fdx, fdy ) );\\\\n#else\\\\n\\\\tvec3 normal = normalize( vNormal ) * flipNormal;\\\\n#endif\\\\n#ifdef USE_NORMALMAP\\\\n\\\\tnormal = perturbNormal2Arb( -vViewPosition, normal );\\\\n#elif defined( USE_BUMPMAP )\\\\n\\\\tnormal = perturbNormalArb( -vViewPosition, normal, dHdxy_fwd() );\\\\n#endif\\\\n\\\",normalmap_pars_fragment:\\\"#ifdef USE_NORMALMAP\\\\n\\\\tuniform sampler2D normalMap;\\\\n\\\\tuniform vec2 normalScale;\\\\n\\\\tvec3 perturbNormal2Arb( vec3 eye_pos, vec3 surf_norm ) {\\\\n\\\\t\\\\tvec3 q0 = dFdx( eye_pos.xyz );\\\\n\\\\t\\\\tvec3 q1 = dFdy( eye_pos.xyz );\\\\n\\\\t\\\\tvec2 st0 = dFdx( vUv.st );\\\\n\\\\t\\\\tvec2 st1 = dFdy( vUv.st );\\\\n\\\\t\\\\tvec3 S = normalize( q0 * st1.t - q1 * st0.t );\\\\n\\\\t\\\\tvec3 T = normalize( -q0 * st1.s + q1 * st0.s );\\\\n\\\\t\\\\tvec3 N = normalize( surf_norm );\\\\n\\\\t\\\\tvec3 mapN = texture2D( normalMap, vUv ).xyz * 2.0 - 1.0;\\\\n\\\\t\\\\tmapN.xy = normalScale * mapN.xy;\\\\n\\\\t\\\\tmat3 tsn = mat3( S, T, N );\\\\n\\\\t\\\\treturn normalize( tsn * mapN );\\\\n\\\\t}\\\\n#endif\\\\n\\\",packing:\\\"vec3 packNormalToRGB( const in vec3 normal ) {\\\\n\\\\treturn normalize( normal ) * 0.5 + 0.5;\\\\n}\\\\nvec3 unpackRGBToNormal( const in vec3 rgb ) {\\\\n\\\\treturn 1.0 - 2.0 * rgb.xyz;\\\\n}\\\\nconst float PackUpscale = 256. / 255.;const float UnpackDownscale = 255. / 256.;\\\\nconst vec3 PackFactors = vec3( 256. * 256. * 256., 256. * 256., 256. );\\\\nconst vec4 UnpackFactors = UnpackDownscale / vec4( PackFactors, 1. );\\\\nconst float ShiftRight8 = 1. / 256.;\\\\nvec4 packDepthToRGBA( const in float v ) {\\\\n\\\\tvec4 r = vec4( fract( v * PackFactors ), v );\\\\n\\\\tr.yzw -= r.xyz * ShiftRight8;\\\\treturn r * PackUpscale;\\\\n}\\\\nfloat unpackRGBAToDepth( const in vec4 v ) {\\\\n\\\\treturn dot( v, UnpackFactors );\\\\n}\\\\nfloat viewZToOrthographicDepth( const in float viewZ, const in float near, const in float far ) {\\\\n\\\\treturn ( viewZ + near ) / ( near - far );\\\\n}\\\\nfloat orthographicDepthToViewZ( const in float linearClipZ, const in float near, const in float far ) {\\\\n\\\\treturn linearClipZ * ( near - far ) - near;\\\\n}\\\\nfloat viewZToPerspectiveDepth( const in float viewZ, const in float near, const in float far ) {\\\\n\\\\treturn (( near + viewZ ) * far ) / (( far - near ) * viewZ );\\\\n}\\\\nfloat perspectiveDepthToViewZ( const in float invClipZ, const in float near, const in float far ) {\\\\n\\\\treturn ( near * far ) / ( ( far - near ) * invClipZ - far );\\\\n}\\\\n\\\",premultiplied_alpha_fragment:\\\"#ifdef PREMULTIPLIED_ALPHA\\\\n\\\\tgl_FragColor.rgb *= gl_FragColor.a;\\\\n#endif\\\\n\\\",project_vertex:\\\"#ifdef USE_SKINNING\\\\n\\\\tvec4 mvPosition = modelViewMatrix * skinned;\\\\n#else\\\\n\\\\tvec4 mvPosition = modelViewMatrix * vec4( transformed, 1.0 );\\\\n#endif\\\\ngl_Position = projectionMatrix * mvPosition;\\\\n\\\",roughnessmap_fragment:\\\"float roughnessFactor = roughness;\\\\n#ifdef USE_ROUGHNESSMAP\\\\n\\\\tvec4 texelRoughness = texture2D( roughnessMap, vUv );\\\\n\\\\troughnessFactor *= texelRoughness.r;\\\\n#endif\\\\n\\\",roughnessmap_pars_fragment:\\\"#ifdef USE_ROUGHNESSMAP\\\\n\\\\tuniform sampler2D roughnessMap;\\\\n#endif\\\",shadowmap_pars_fragment:\\\"#ifdef USE_SHADOWMAP\\\\n\\\\t#if NUM_DIR_LIGHTS > 0\\\\n\\\\t\\\\tuniform sampler2D directionalShadowMap[ NUM_DIR_LIGHTS ];\\\\n\\\\t\\\\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHTS ];\\\\n\\\\t#endif\\\\n\\\\t#if NUM_SPOT_LIGHTS > 0\\\\n\\\\t\\\\tuniform sampler2D spotShadowMap[ NUM_SPOT_LIGHTS ];\\\\n\\\\t\\\\tvarying vec4 vSpotShadowCoord[ NUM_SPOT_LIGHTS ];\\\\n\\\\t#endif\\\\n\\\\t#if NUM_POINT_LIGHTS > 0\\\\n\\\\t\\\\tuniform sampler2D pointShadowMap[ NUM_POINT_LIGHTS ];\\\\n\\\\t\\\\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHTS ];\\\\n\\\\t#endif\\\\n\\\\tfloat texture2DCompare( sampler2D depths, vec2 uv, float compare ) {\\\\n\\\\t\\\\treturn step( compare, unpackRGBAToDepth( texture2D( depths, uv ) ) );\\\\n\\\\t}\\\\n\\\\tfloat texture2DShadowLerp( sampler2D depths, vec2 size, vec2 uv, float compare ) {\\\\n\\\\t\\\\tconst vec2 offset = vec2( 0.0, 1.0 );\\\\n\\\\t\\\\tvec2 texelSize = vec2( 1.0 ) / size;\\\\n\\\\t\\\\tvec2 centroidUV = floor( uv * size + 0.5 ) / size;\\\\n\\\\t\\\\tfloat lb = texture2DCompare( depths, centroidUV + texelSize * offset.xx, compare );\\\\n\\\\t\\\\tfloat lt = texture2DCompare( depths, centroidUV + texelSize * offset.xy, compare );\\\\n\\\\t\\\\tfloat rb = texture2DCompare( depths, centroidUV + texelSize * offset.yx, compare );\\\\n\\\\t\\\\tfloat rt = texture2DCompare( depths, centroidUV + texelSize * offset.yy, compare );\\\\n\\\\t\\\\tvec2 f = fract( uv * size + 0.5 );\\\\n\\\\t\\\\tfloat a = mix( lb, lt, f.y );\\\\n\\\\t\\\\tfloat b = mix( rb, rt, f.y );\\\\n\\\\t\\\\tfloat c = mix( a, b, f.x );\\\\n\\\\t\\\\treturn c;\\\\n\\\\t}\\\\n\\\\tfloat getShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\\\\n\\\\t\\\\tshadowCoord.xyz /= shadowCoord.w;\\\\n\\\\t\\\\tshadowCoord.z += shadowBias;\\\\n\\\\t\\\\tbvec4 inFrustumVec = bvec4 ( shadowCoord.x >= 0.0, shadowCoord.x <= 1.0, shadowCoord.y >= 0.0, shadowCoord.y <= 1.0 );\\\\n\\\\t\\\\tbool inFrustum = all( inFrustumVec );\\\\n\\\\t\\\\tbvec2 frustumTestVec = bvec2( inFrustum, shadowCoord.z <= 1.0 );\\\\n\\\\t\\\\tbool frustumTest = all( frustumTestVec );\\\\n\\\\t\\\\tif ( frustumTest ) {\\\\n\\\\t\\\\t#if defined( SHADOWMAP_TYPE_PCF )\\\\n\\\\t\\\\t\\\\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\\\\n\\\\t\\\\t\\\\tfloat dx0 = - texelSize.x * shadowRadius;\\\\n\\\\t\\\\t\\\\tfloat dy0 = - texelSize.y * shadowRadius;\\\\n\\\\t\\\\t\\\\tfloat dx1 = + texelSize.x * shadowRadius;\\\\n\\\\t\\\\t\\\\tfloat dy1 = + texelSize.y * shadowRadius;\\\\n\\\\t\\\\t\\\\treturn (\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, 0.0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, 0.0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx0, dy1 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( 0.0, dy1 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, shadowCoord.xy + vec2( dx1, dy1 ), shadowCoord.z )\\\\n\\\\t\\\\t\\\\t) * ( 1.0 / 9.0 );\\\\n\\\\t\\\\t#elif defined( SHADOWMAP_TYPE_PCF_SOFT )\\\\n\\\\t\\\\t\\\\tvec2 texelSize = vec2( 1.0 ) / shadowMapSize;\\\\n\\\\t\\\\t\\\\tfloat dx0 = - texelSize.x * shadowRadius;\\\\n\\\\t\\\\t\\\\tfloat dy0 = - texelSize.y * shadowRadius;\\\\n\\\\t\\\\t\\\\tfloat dx1 = + texelSize.x * shadowRadius;\\\\n\\\\t\\\\t\\\\tfloat dy1 = + texelSize.y * shadowRadius;\\\\n\\\\t\\\\t\\\\treturn (\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( dx0, dy0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( 0.0, dy0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( dx1, dy0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( dx0, 0.0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy, shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( dx1, 0.0 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( dx0, dy1 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( 0.0, dy1 ), shadowCoord.z ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DShadowLerp( shadowMap, shadowMapSize, shadowCoord.xy + vec2( dx1, dy1 ), shadowCoord.z )\\\\n\\\\t\\\\t\\\\t) * ( 1.0 / 9.0 );\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\treturn texture2DCompare( shadowMap, shadowCoord.xy, shadowCoord.z );\\\\n\\\\t\\\\t#endif\\\\n\\\\t\\\\t}\\\\n\\\\t\\\\treturn 1.0;\\\\n\\\\t}\\\\n\\\\tvec2 cubeToUV( vec3 v, float texelSizeY ) {\\\\n\\\\t\\\\tvec3 absV = abs( v );\\\\n\\\\t\\\\tfloat scaleToCube = 1.0 / max( absV.x, max( absV.y, absV.z ) );\\\\n\\\\t\\\\tabsV *= scaleToCube;\\\\n\\\\t\\\\tv *= scaleToCube * ( 1.0 - 2.0 * texelSizeY );\\\\n\\\\t\\\\tvec2 planar = v.xy;\\\\n\\\\t\\\\tfloat almostATexel = 1.5 * texelSizeY;\\\\n\\\\t\\\\tfloat almostOne = 1.0 - almostATexel;\\\\n\\\\t\\\\tif ( absV.z >= almostOne ) {\\\\n\\\\t\\\\t\\\\tif ( v.z > 0.0 )\\\\n\\\\t\\\\t\\\\t\\\\tplanar.x = 4.0 - v.x;\\\\n\\\\t\\\\t} else if ( absV.x >= almostOne ) {\\\\n\\\\t\\\\t\\\\tfloat signX = sign( v.x );\\\\n\\\\t\\\\t\\\\tplanar.x = v.z * signX + 2.0 * signX;\\\\n\\\\t\\\\t} else if ( absV.y >= almostOne ) {\\\\n\\\\t\\\\t\\\\tfloat signY = sign( v.y );\\\\n\\\\t\\\\t\\\\tplanar.x = v.x + 2.0 * signY + 2.0;\\\\n\\\\t\\\\t\\\\tplanar.y = v.z * signY - 2.0;\\\\n\\\\t\\\\t}\\\\n\\\\t\\\\treturn vec2( 0.125, 0.25 ) * planar + vec2( 0.375, 0.75 );\\\\n\\\\t}\\\\n\\\\tfloat getPointShadow( sampler2D shadowMap, vec2 shadowMapSize, float shadowBias, float shadowRadius, vec4 shadowCoord ) {\\\\n\\\\t\\\\tvec2 texelSize = vec2( 1.0 ) / ( shadowMapSize * vec2( 4.0, 2.0 ) );\\\\n\\\\t\\\\tvec3 lightToPosition = shadowCoord.xyz;\\\\n\\\\t\\\\tvec3 bd3D = normalize( lightToPosition );\\\\n\\\\t\\\\tfloat dp = ( length( lightToPosition ) - shadowBias ) / 1000.0;\\\\n\\\\t\\\\t#if defined( SHADOWMAP_TYPE_PCF ) || defined( SHADOWMAP_TYPE_PCF_SOFT )\\\\n\\\\t\\\\t\\\\tvec2 offset = vec2( - 1, 1 ) * shadowRadius * texelSize.y;\\\\n\\\\t\\\\t\\\\treturn (\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyy, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyy, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xyx, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yyx, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxy, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxy, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.xxx, texelSize.y ), dp ) +\\\\n\\\\t\\\\t\\\\t\\\\ttexture2DCompare( shadowMap, cubeToUV( bd3D + offset.yxx, texelSize.y ), dp )\\\\n\\\\t\\\\t\\\\t) * ( 1.0 / 9.0 );\\\\n\\\\t\\\\t#else\\\\n\\\\t\\\\t\\\\treturn texture2DCompare( shadowMap, cubeToUV( bd3D, texelSize.y ), dp );\\\\n\\\\t\\\\t#endif\\\\n\\\\t}\\\\n#endif\\\\n\\\",shadowmap_pars_vertex:\\\"#ifdef USE_SHADOWMAP\\\\n\\\\t#if NUM_DIR_LIGHTS > 0\\\\n\\\\t\\\\tuniform mat4 directionalShadowMatrix[ NUM_DIR_LIGHTS ];\\\\n\\\\t\\\\tvarying vec4 vDirectionalShadowCoord[ NUM_DIR_LIGHTS ];\\\\n\\\\t#endif\\\\n\\\\t#if NUM_SPOT_LIGHTS > 0\\\\n\\\\t\\\\tuniform mat4 spotShadowMatrix[ NUM_SPOT_LIGHTS ];\\\\n\\\\t\\\\tvarying vec4 vSpotShadowCoord[ NUM_SPOT_LIGHTS ];\\\\n\\\\t#endif\\\\n\\\\t#if NUM_POINT_LIGHTS > 0\\\\n\\\\t\\\\tuniform mat4 pointShadowMatrix[ NUM_POINT_LIGHTS ];\\\\n\\\\t\\\\tvarying vec4 vPointShadowCoord[ NUM_POINT_LIGHTS ];\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",shadowmap_vertex:\\\"#ifdef USE_SHADOWMAP\\\\n\\\\t#if NUM_DIR_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tvDirectionalShadowCoord[ i ] = directionalShadowMatrix[ i ] * worldPosition;\\\\n\\\\t}\\\\n\\\\t#endif\\\\n\\\\t#if NUM_SPOT_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tvSpotShadowCoord[ i ] = spotShadowMatrix[ i ] * worldPosition;\\\\n\\\\t}\\\\n\\\\t#endif\\\\n\\\\t#if NUM_POINT_LIGHTS > 0\\\\n\\\\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tvPointShadowCoord[ i ] = pointShadowMatrix[ i ] * worldPosition;\\\\n\\\\t}\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",shadowmask_pars_fragment:\\\"float getShadowMask() {\\\\n\\\\tfloat shadow = 1.0;\\\\n\\\\t#ifdef USE_SHADOWMAP\\\\n\\\\t#if NUM_DIR_LIGHTS > 0\\\\n\\\\tDirectionalLight directionalLight;\\\\n\\\\tfor ( int i = 0; i < NUM_DIR_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tdirectionalLight = directionalLights[ i ];\\\\n\\\\t\\\\tshadow *= bool( directionalLight.shadow ) ? getShadow( directionalShadowMap[ i ], directionalLight.shadowMapSize, directionalLight.shadowBias, directionalLight.shadowRadius, vDirectionalShadowCoord[ i ] ) : 1.0;\\\\n\\\\t}\\\\n\\\\t#endif\\\\n\\\\t#if NUM_SPOT_LIGHTS > 0\\\\n\\\\tSpotLight spotLight;\\\\n\\\\tfor ( int i = 0; i < NUM_SPOT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tspotLight = spotLights[ i ];\\\\n\\\\t\\\\tshadow *= bool( spotLight.shadow ) ? getShadow( spotShadowMap[ i ], spotLight.shadowMapSize, spotLight.shadowBias, spotLight.shadowRadius, vSpotShadowCoord[ i ] ) : 1.0;\\\\n\\\\t}\\\\n\\\\t#endif\\\\n\\\\t#if NUM_POINT_LIGHTS > 0\\\\n\\\\tPointLight pointLight;\\\\n\\\\tfor ( int i = 0; i < NUM_POINT_LIGHTS; i ++ ) {\\\\n\\\\t\\\\tpointLight = pointLights[ i ];\\\\n\\\\t\\\\tshadow *= bool( pointLight.shadow ) ? getPointShadow( pointShadowMap[ i ], pointLight.shadowMapSize, pointLight.shadowBias, pointLight.shadowRadius, vPointShadowCoord[ i ] ) : 1.0;\\\\n\\\\t}\\\\n\\\\t#endif\\\\n\\\\t#endif\\\\n\\\\treturn shadow;\\\\n}\\\\n\\\",skinbase_vertex:\\\"#ifdef USE_SKINNING\\\\n\\\\tmat4 boneMatX = getBoneMatrix( skinIndex.x );\\\\n\\\\tmat4 boneMatY = getBoneMatrix( skinIndex.y );\\\\n\\\\tmat4 boneMatZ = getBoneMatrix( skinIndex.z );\\\\n\\\\tmat4 boneMatW = getBoneMatrix( skinIndex.w );\\\\n#endif\\\",skinning_pars_vertex:\\\"#ifdef USE_SKINNING\\\\n\\\\tuniform mat4 bindMatrix;\\\\n\\\\tuniform mat4 bindMatrixInverse;\\\\n\\\\t#ifdef BONE_TEXTURE\\\\n\\\\t\\\\tuniform sampler2D boneTexture;\\\\n\\\\t\\\\tuniform int boneTextureWidth;\\\\n\\\\t\\\\tuniform int boneTextureHeight;\\\\n\\\\t\\\\tmat4 getBoneMatrix( const in float i ) {\\\\n\\\\t\\\\t\\\\tfloat j = i * 4.0;\\\\n\\\\t\\\\t\\\\tfloat x = mod( j, float( boneTextureWidth ) );\\\\n\\\\t\\\\t\\\\tfloat y = floor( j / float( boneTextureWidth ) );\\\\n\\\\t\\\\t\\\\tfloat dx = 1.0 / float( boneTextureWidth );\\\\n\\\\t\\\\t\\\\tfloat dy = 1.0 / float( boneTextureHeight );\\\\n\\\\t\\\\t\\\\ty = dy * ( y + 0.5 );\\\\n\\\\t\\\\t\\\\tvec4 v1 = texture2D( boneTexture, vec2( dx * ( x + 0.5 ), y ) );\\\\n\\\\t\\\\t\\\\tvec4 v2 = texture2D( boneTexture, vec2( dx * ( x + 1.5 ), y ) );\\\\n\\\\t\\\\t\\\\tvec4 v3 = texture2D( boneTexture, vec2( dx * ( x + 2.5 ), y ) );\\\\n\\\\t\\\\t\\\\tvec4 v4 = texture2D( boneTexture, vec2( dx * ( x + 3.5 ), y ) );\\\\n\\\\t\\\\t\\\\tmat4 bone = mat4( v1, v2, v3, v4 );\\\\n\\\\t\\\\t\\\\treturn bone;\\\\n\\\\t\\\\t}\\\\n\\\\t#else\\\\n\\\\t\\\\tuniform mat4 boneMatrices[ MAX_BONES ];\\\\n\\\\t\\\\tmat4 getBoneMatrix( const in float i ) {\\\\n\\\\t\\\\t\\\\tmat4 bone = boneMatrices[ int(i) ];\\\\n\\\\t\\\\t\\\\treturn bone;\\\\n\\\\t\\\\t}\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",skinning_vertex:\\\"#ifdef USE_SKINNING\\\\n\\\\tvec4 skinVertex = bindMatrix * vec4( transformed, 1.0 );\\\\n\\\\tvec4 skinned = vec4( 0.0 );\\\\n\\\\tskinned += boneMatX * skinVertex * skinWeight.x;\\\\n\\\\tskinned += boneMatY * skinVertex * skinWeight.y;\\\\n\\\\tskinned += boneMatZ * skinVertex * skinWeight.z;\\\\n\\\\tskinned += boneMatW * skinVertex * skinWeight.w;\\\\n\\\\tskinned = bindMatrixInverse * skinned;\\\\n#endif\\\\n\\\",skinnormal_vertex:\\\"#ifdef USE_SKINNING\\\\n\\\\tmat4 skinMatrix = mat4( 0.0 );\\\\n\\\\tskinMatrix += skinWeight.x * boneMatX;\\\\n\\\\tskinMatrix += skinWeight.y * boneMatY;\\\\n\\\\tskinMatrix += skinWeight.z * boneMatZ;\\\\n\\\\tskinMatrix += skinWeight.w * boneMatW;\\\\n\\\\tskinMatrix = bindMatrixInverse * skinMatrix * bindMatrix;\\\\n\\\\tobjectNormal = vec4( skinMatrix * vec4( objectNormal, 0.0 ) ).xyz;\\\\n#endif\\\\n\\\",specularmap_fragment:\\\"float specularStrength;\\\\n#ifdef USE_SPECULARMAP\\\\n\\\\tvec4 texelSpecular = texture2D( specularMap, vUv );\\\\n\\\\tspecularStrength = texelSpecular.r;\\\\n#else\\\\n\\\\tspecularStrength = 1.0;\\\\n#endif\\\",specularmap_pars_fragment:\\\"#ifdef USE_SPECULARMAP\\\\n\\\\tuniform sampler2D specularMap;\\\\n#endif\\\",tonemapping_fragment:\\\"#if defined( TONE_MAPPING )\\\\n gl_FragColor.rgb = toneMapping( gl_FragColor.rgb );\\\\n#endif\\\\n\\\",tonemapping_pars_fragment:\\\"#define saturate(a) clamp( a, 0.0, 1.0 )\\\\nuniform float toneMappingExposure;\\\\nuniform float toneMappingWhitePoint;\\\\nvec3 LinearToneMapping( vec3 color ) {\\\\n\\\\treturn toneMappingExposure * color;\\\\n}\\\\nvec3 ReinhardToneMapping( vec3 color ) {\\\\n\\\\tcolor *= toneMappingExposure;\\\\n\\\\treturn saturate( color / ( vec3( 1.0 ) + color ) );\\\\n}\\\\n#define Uncharted2Helper( x ) max( ( ( x * ( 0.15 * x + 0.10 * 0.50 ) + 0.20 * 0.02 ) / ( x * ( 0.15 * x + 0.50 ) + 0.20 * 0.30 ) ) - 0.02 / 0.30, vec3( 0.0 ) )\\\\nvec3 Uncharted2ToneMapping( vec3 color ) {\\\\n\\\\tcolor *= toneMappingExposure;\\\\n\\\\treturn saturate( Uncharted2Helper( color ) / Uncharted2Helper( vec3( toneMappingWhitePoint ) ) );\\\\n}\\\\nvec3 OptimizedCineonToneMapping( vec3 color ) {\\\\n\\\\tcolor *= toneMappingExposure;\\\\n\\\\tcolor = max( vec3( 0.0 ), color - 0.004 );\\\\n\\\\treturn pow( ( color * ( 6.2 * color + 0.5 ) ) / ( color * ( 6.2 * color + 1.7 ) + 0.06 ), vec3( 2.2 ) );\\\\n}\\\\n\\\",uv_pars_fragment:\\\"#if defined( USE_MAP ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( USE_SPECULARMAP ) || defined( USE_ALPHAMAP ) || defined( USE_EMISSIVEMAP ) || defined( USE_ROUGHNESSMAP ) || defined( USE_METALNESSMAP )\\\\n\\\\tvarying vec2 vUv;\\\\n#endif\\\",uv_pars_vertex:\\\"#if defined( USE_MAP ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( USE_SPECULARMAP ) || defined( USE_ALPHAMAP ) || defined( USE_EMISSIVEMAP ) || defined( USE_ROUGHNESSMAP ) || defined( USE_METALNESSMAP )\\\\n\\\\tvarying vec2 vUv;\\\\n\\\\tuniform vec4 offsetRepeat;\\\\n#endif\\\\n\\\",uv_vertex:\\\"#if defined( USE_MAP ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP ) || defined( USE_SPECULARMAP ) || defined( USE_ALPHAMAP ) || defined( USE_EMISSIVEMAP ) || defined( USE_ROUGHNESSMAP ) || defined( USE_METALNESSMAP )\\\\n\\\\tvUv = uv * offsetRepeat.zw + offsetRepeat.xy;\\\\n#endif\\\",uv2_pars_fragment:\\\"#if defined( USE_LIGHTMAP ) || defined( USE_AOMAP )\\\\n\\\\tvarying vec2 vUv2;\\\\n#endif\\\",uv2_pars_vertex:\\\"#if defined( USE_LIGHTMAP ) || defined( USE_AOMAP )\\\\n\\\\tattribute vec2 uv2;\\\\n\\\\tvarying vec2 vUv2;\\\\n#endif\\\",uv2_vertex:\\\"#if defined( USE_LIGHTMAP ) || defined( USE_AOMAP )\\\\n\\\\tvUv2 = uv2;\\\\n#endif\\\",worldpos_vertex:\\\"#if defined( USE_ENVMAP ) || defined( PHONG ) || defined( PHYSICAL ) || defined( LAMBERT ) || defined ( USE_SHADOWMAP )\\\\n\\\\t#ifdef USE_SKINNING\\\\n\\\\t\\\\tvec4 worldPosition = modelMatrix * skinned;\\\\n\\\\t#else\\\\n\\\\t\\\\tvec4 worldPosition = modelMatrix * vec4( transformed, 1.0 );\\\\n\\\\t#endif\\\\n#endif\\\\n\\\",cube_frag:\\\"uniform samplerCube tCube;\\\\nuniform float tFlip;\\\\nuniform float opacity;\\\\nvarying vec3 vWorldPosition;\\\\n#include <common>\\\\nvoid main() {\\\\n\\\\tgl_FragColor = textureCube( tCube, vec3( tFlip * vWorldPosition.x, vWorldPosition.yz ) );\\\\n\\\\tgl_FragColor.a *= opacity;\\\\n}\\\\n\\\",cube_vert:\\\"varying vec3 vWorldPosition;\\\\n#include <common>\\\\nvoid main() {\\\\n\\\\tvWorldPosition = transformDirection( position, modelMatrix );\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <project_vertex>\\\\n}\\\\n\\\",depth_frag:\\\"#if DEPTH_PACKING == 3200\\\\n\\\\tuniform float opacity;\\\\n#endif\\\\n#include <common>\\\\n#include <packing>\\\\n#include <uv_pars_fragment>\\\\n#include <map_pars_fragment>\\\\n#include <alphamap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tvec4 diffuseColor = vec4( 1.0 );\\\\n\\\\t#if DEPTH_PACKING == 3200\\\\n\\\\t\\\\tdiffuseColor.a = opacity;\\\\n\\\\t#endif\\\\n\\\\t#include <map_fragment>\\\\n\\\\t#include <alphamap_fragment>\\\\n\\\\t#include <alphatest_fragment>\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#if DEPTH_PACKING == 3200\\\\n\\\\t\\\\tgl_FragColor = vec4( vec3( gl_FragCoord.z ), opacity );\\\\n\\\\t#elif DEPTH_PACKING == 3201\\\\n\\\\t\\\\tgl_FragColor = packDepthToRGBA( gl_FragCoord.z );\\\\n\\\\t#endif\\\\n}\\\\n\\\",depth_vert:\\\"#include <common>\\\\n#include <uv_pars_vertex>\\\\n#include <displacementmap_pars_vertex>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <uv_vertex>\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <displacementmap_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n}\\\\n\\\",distanceRGBA_frag:\\\"uniform vec3 lightPos;\\\\nvarying vec4 vWorldPosition;\\\\n#include <common>\\\\n#include <packing>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main () {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tgl_FragColor = packDepthToRGBA( length( vWorldPosition.xyz - lightPos.xyz ) / 1000.0 );\\\\n}\\\\n\\\",distanceRGBA_vert:\\\"varying vec4 vWorldPosition;\\\\n#include <common>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\tvWorldPosition = worldPosition;\\\\n}\\\\n\\\",equirect_frag:\\\"uniform sampler2D tEquirect;\\\\nuniform float tFlip;\\\\nvarying vec3 vWorldPosition;\\\\n#include <common>\\\\nvoid main() {\\\\n\\\\tvec3 direction = normalize( vWorldPosition );\\\\n\\\\tvec2 sampleUV;\\\\n\\\\tsampleUV.y = saturate( tFlip * direction.y * -0.5 + 0.5 );\\\\n\\\\tsampleUV.x = atan( direction.z, direction.x ) * RECIPROCAL_PI2 + 0.5;\\\\n\\\\tgl_FragColor = texture2D( tEquirect, sampleUV );\\\\n}\\\\n\\\",equirect_vert:\\\"varying vec3 vWorldPosition;\\\\n#include <common>\\\\nvoid main() {\\\\n\\\\tvWorldPosition = transformDirection( position, modelMatrix );\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <project_vertex>\\\\n}\\\\n\\\",linedashed_frag:\\\"uniform vec3 diffuse;\\\\nuniform float opacity;\\\\nuniform float dashSize;\\\\nuniform float totalSize;\\\\nvarying float vLineDistance;\\\\n#include <common>\\\\n#include <color_pars_fragment>\\\\n#include <fog_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tif ( mod( vLineDistance, totalSize ) > dashSize ) {\\\\n\\\\t\\\\tdiscard;\\\\n\\\\t}\\\\n\\\\tvec3 outgoingLight = vec3( 0.0 );\\\\n\\\\tvec4 diffuseColor = vec4( diffuse, opacity );\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <color_fragment>\\\\n\\\\toutgoingLight = diffuseColor.rgb;\\\\n\\\\tgl_FragColor = vec4( outgoingLight, diffuseColor.a );\\\\n\\\\t#include <premultiplied_alpha_fragment>\\\\n\\\\t#include <tonemapping_fragment>\\\\n\\\\t#include <encodings_fragment>\\\\n\\\\t#include <fog_fragment>\\\\n}\\\\n\\\",linedashed_vert:\\\"uniform float scale;\\\\nattribute float lineDistance;\\\\nvarying float vLineDistance;\\\\n#include <common>\\\\n#include <color_pars_vertex>\\\\n#include <fog_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <color_vertex>\\\\n\\\\tvLineDistance = scale * lineDistance;\\\\n\\\\tvec4 mvPosition = modelViewMatrix * vec4( position, 1.0 );\\\\n\\\\tgl_Position = projectionMatrix * mvPosition;\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\t#include <fog_vertex>\\\\n}\\\\n\\\",meshbasic_frag:\\\"uniform vec3 diffuse;\\\\nuniform float opacity;\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\n#include <common>\\\\n#include <color_pars_fragment>\\\\n#include <uv_pars_fragment>\\\\n#include <uv2_pars_fragment>\\\\n#include <map_pars_fragment>\\\\n#include <alphamap_pars_fragment>\\\\n#include <aomap_pars_fragment>\\\\n#include <lightmap_pars_fragment>\\\\n#include <envmap_pars_fragment>\\\\n#include <fog_pars_fragment>\\\\n#include <specularmap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tvec4 diffuseColor = vec4( diffuse, opacity );\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <map_fragment>\\\\n\\\\t#include <color_fragment>\\\\n\\\\t#include <alphamap_fragment>\\\\n\\\\t#include <alphatest_fragment>\\\\n\\\\t#include <specularmap_fragment>\\\\n\\\\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\\\\n\\\\t#ifdef USE_LIGHTMAP\\\\n\\\\t\\\\treflectedLight.indirectDiffuse += texture2D( lightMap, vUv2 ).xyz * lightMapIntensity;\\\\n\\\\t#else\\\\n\\\\t\\\\treflectedLight.indirectDiffuse += vec3( 1.0 );\\\\n\\\\t#endif\\\\n\\\\t#include <aomap_fragment>\\\\n\\\\treflectedLight.indirectDiffuse *= diffuseColor.rgb;\\\\n\\\\tvec3 outgoingLight = reflectedLight.indirectDiffuse;\\\\n\\\\t#include <normal_flip>\\\\n\\\\t#include <envmap_fragment>\\\\n\\\\tgl_FragColor = vec4( outgoingLight, diffuseColor.a );\\\\n\\\\t#include <premultiplied_alpha_fragment>\\\\n\\\\t#include <tonemapping_fragment>\\\\n\\\\t#include <encodings_fragment>\\\\n\\\\t#include <fog_fragment>\\\\n}\\\\n\\\",meshbasic_vert:\\\"#include <common>\\\\n#include <uv_pars_vertex>\\\\n#include <uv2_pars_vertex>\\\\n#include <envmap_pars_vertex>\\\\n#include <color_pars_vertex>\\\\n#include <fog_pars_vertex>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <uv_vertex>\\\\n\\\\t#include <uv2_vertex>\\\\n\\\\t#include <color_vertex>\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#ifdef USE_ENVMAP\\\\n\\\\t#include <beginnormal_vertex>\\\\n\\\\t#include <morphnormal_vertex>\\\\n\\\\t#include <skinnormal_vertex>\\\\n\\\\t#include <defaultnormal_vertex>\\\\n\\\\t#endif\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\t#include <envmap_vertex>\\\\n\\\\t#include <fog_vertex>\\\\n}\\\\n\\\",meshlambert_frag:\\\"uniform vec3 diffuse;\\\\nuniform vec3 emissive;\\\\nuniform float opacity;\\\\nvarying vec3 vLightFront;\\\\n#ifdef DOUBLE_SIDED\\\\n\\\\tvarying vec3 vLightBack;\\\\n#endif\\\\n#include <common>\\\\n#include <packing>\\\\n#include <color_pars_fragment>\\\\n#include <uv_pars_fragment>\\\\n#include <uv2_pars_fragment>\\\\n#include <map_pars_fragment>\\\\n#include <alphamap_pars_fragment>\\\\n#include <aomap_pars_fragment>\\\\n#include <lightmap_pars_fragment>\\\\n#include <emissivemap_pars_fragment>\\\\n#include <envmap_pars_fragment>\\\\n#include <bsdfs>\\\\n#include <lights_pars>\\\\n#include <fog_pars_fragment>\\\\n#include <shadowmap_pars_fragment>\\\\n#include <shadowmask_pars_fragment>\\\\n#include <specularmap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tvec4 diffuseColor = vec4( diffuse, opacity );\\\\n\\\\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\\\\n\\\\tvec3 totalEmissiveRadiance = emissive;\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <map_fragment>\\\\n\\\\t#include <color_fragment>\\\\n\\\\t#include <alphamap_fragment>\\\\n\\\\t#include <alphatest_fragment>\\\\n\\\\t#include <specularmap_fragment>\\\\n\\\\t#include <emissivemap_fragment>\\\\n\\\\treflectedLight.indirectDiffuse = getAmbientLightIrradiance( ambientLightColor );\\\\n\\\\t#include <lightmap_fragment>\\\\n\\\\treflectedLight.indirectDiffuse *= BRDF_Diffuse_Lambert( diffuseColor.rgb );\\\\n\\\\t#ifdef DOUBLE_SIDED\\\\n\\\\t\\\\treflectedLight.directDiffuse = ( gl_FrontFacing ) ? vLightFront : vLightBack;\\\\n\\\\t#else\\\\n\\\\t\\\\treflectedLight.directDiffuse = vLightFront;\\\\n\\\\t#endif\\\\n\\\\treflectedLight.directDiffuse *= BRDF_Diffuse_Lambert( diffuseColor.rgb ) * getShadowMask();\\\\n\\\\t#include <aomap_fragment>\\\\n\\\\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + totalEmissiveRadiance;\\\\n\\\\t#include <normal_flip>\\\\n\\\\t#include <envmap_fragment>\\\\n\\\\tgl_FragColor = vec4( outgoingLight, diffuseColor.a );\\\\n\\\\t#include <premultiplied_alpha_fragment>\\\\n\\\\t#include <tonemapping_fragment>\\\\n\\\\t#include <encodings_fragment>\\\\n\\\\t#include <fog_fragment>\\\\n}\\\\n\\\",meshlambert_vert:\\\"#define LAMBERT\\\\nvarying vec3 vLightFront;\\\\n#ifdef DOUBLE_SIDED\\\\n\\\\tvarying vec3 vLightBack;\\\\n#endif\\\\n#include <common>\\\\n#include <uv_pars_vertex>\\\\n#include <uv2_pars_vertex>\\\\n#include <envmap_pars_vertex>\\\\n#include <bsdfs>\\\\n#include <lights_pars>\\\\n#include <color_pars_vertex>\\\\n#include <fog_pars_vertex>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <shadowmap_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <uv_vertex>\\\\n\\\\t#include <uv2_vertex>\\\\n\\\\t#include <color_vertex>\\\\n\\\\t#include <beginnormal_vertex>\\\\n\\\\t#include <morphnormal_vertex>\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#include <skinnormal_vertex>\\\\n\\\\t#include <defaultnormal_vertex>\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <envmap_vertex>\\\\n\\\\t#include <lights_lambert_vertex>\\\\n\\\\t#include <shadowmap_vertex>\\\\n\\\\t#include <fog_vertex>\\\\n}\\\\n\\\",meshphong_frag:\\\"#define PHONG\\\\nuniform vec3 diffuse;\\\\nuniform vec3 emissive;\\\\nuniform vec3 specular;\\\\nuniform float shininess;\\\\nuniform float opacity;\\\\n#include <common>\\\\n#include <packing>\\\\n#include <color_pars_fragment>\\\\n#include <uv_pars_fragment>\\\\n#include <uv2_pars_fragment>\\\\n#include <map_pars_fragment>\\\\n#include <alphamap_pars_fragment>\\\\n#include <aomap_pars_fragment>\\\\n#include <lightmap_pars_fragment>\\\\n#include <emissivemap_pars_fragment>\\\\n#include <envmap_pars_fragment>\\\\n#include <gradientmap_pars_fragment>\\\\n#include <fog_pars_fragment>\\\\n#include <bsdfs>\\\\n#include <lights_pars>\\\\n#include <lights_phong_pars_fragment>\\\\n#include <shadowmap_pars_fragment>\\\\n#include <bumpmap_pars_fragment>\\\\n#include <normalmap_pars_fragment>\\\\n#include <specularmap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tvec4 diffuseColor = vec4( diffuse, opacity );\\\\n\\\\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\\\\n\\\\tvec3 totalEmissiveRadiance = emissive;\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <map_fragment>\\\\n\\\\t#include <color_fragment>\\\\n\\\\t#include <alphamap_fragment>\\\\n\\\\t#include <alphatest_fragment>\\\\n\\\\t#include <specularmap_fragment>\\\\n\\\\t#include <normal_flip>\\\\n\\\\t#include <normal_fragment>\\\\n\\\\t#include <emissivemap_fragment>\\\\n\\\\t#include <lights_phong_fragment>\\\\n\\\\t#include <lights_template>\\\\n\\\\t#include <aomap_fragment>\\\\n\\\\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + reflectedLight.directSpecular + reflectedLight.indirectSpecular + totalEmissiveRadiance;\\\\n\\\\t#include <envmap_fragment>\\\\n\\\\tgl_FragColor = vec4( outgoingLight, diffuseColor.a );\\\\n\\\\t#include <premultiplied_alpha_fragment>\\\\n\\\\t#include <tonemapping_fragment>\\\\n\\\\t#include <encodings_fragment>\\\\n\\\\t#include <fog_fragment>\\\\n}\\\\n\\\",meshphong_vert:\\\"#define PHONG\\\\nvarying vec3 vViewPosition;\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\n#include <common>\\\\n#include <uv_pars_vertex>\\\\n#include <uv2_pars_vertex>\\\\n#include <displacementmap_pars_vertex>\\\\n#include <envmap_pars_vertex>\\\\n#include <color_pars_vertex>\\\\n#include <fog_pars_vertex>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <shadowmap_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <uv_vertex>\\\\n\\\\t#include <uv2_vertex>\\\\n\\\\t#include <color_vertex>\\\\n\\\\t#include <beginnormal_vertex>\\\\n\\\\t#include <morphnormal_vertex>\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#include <skinnormal_vertex>\\\\n\\\\t#include <defaultnormal_vertex>\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvNormal = normalize( transformedNormal );\\\\n#endif\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <displacementmap_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\tvViewPosition = - mvPosition.xyz;\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <envmap_vertex>\\\\n\\\\t#include <shadowmap_vertex>\\\\n\\\\t#include <fog_vertex>\\\\n}\\\\n\\\",meshphysical_frag:\\\"#define PHYSICAL\\\\nuniform vec3 diffuse;\\\\nuniform vec3 emissive;\\\\nuniform float roughness;\\\\nuniform float metalness;\\\\nuniform float opacity;\\\\n#ifndef STANDARD\\\\n\\\\tuniform float clearCoat;\\\\n\\\\tuniform float clearCoatRoughness;\\\\n#endif\\\\nvarying vec3 vViewPosition;\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\n#include <common>\\\\n#include <packing>\\\\n#include <color_pars_fragment>\\\\n#include <uv_pars_fragment>\\\\n#include <uv2_pars_fragment>\\\\n#include <map_pars_fragment>\\\\n#include <alphamap_pars_fragment>\\\\n#include <aomap_pars_fragment>\\\\n#include <lightmap_pars_fragment>\\\\n#include <emissivemap_pars_fragment>\\\\n#include <envmap_pars_fragment>\\\\n#include <fog_pars_fragment>\\\\n#include <bsdfs>\\\\n#include <cube_uv_reflection_fragment>\\\\n#include <lights_pars>\\\\n#include <lights_physical_pars_fragment>\\\\n#include <shadowmap_pars_fragment>\\\\n#include <bumpmap_pars_fragment>\\\\n#include <normalmap_pars_fragment>\\\\n#include <roughnessmap_pars_fragment>\\\\n#include <metalnessmap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tvec4 diffuseColor = vec4( diffuse, opacity );\\\\n\\\\tReflectedLight reflectedLight = ReflectedLight( vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ), vec3( 0.0 ) );\\\\n\\\\tvec3 totalEmissiveRadiance = emissive;\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <map_fragment>\\\\n\\\\t#include <color_fragment>\\\\n\\\\t#include <alphamap_fragment>\\\\n\\\\t#include <alphatest_fragment>\\\\n\\\\t#include <specularmap_fragment>\\\\n\\\\t#include <roughnessmap_fragment>\\\\n\\\\t#include <metalnessmap_fragment>\\\\n\\\\t#include <normal_flip>\\\\n\\\\t#include <normal_fragment>\\\\n\\\\t#include <emissivemap_fragment>\\\\n\\\\t#include <lights_physical_fragment>\\\\n\\\\t#include <lights_template>\\\\n\\\\t#include <aomap_fragment>\\\\n\\\\tvec3 outgoingLight = reflectedLight.directDiffuse + reflectedLight.indirectDiffuse + reflectedLight.directSpecular + reflectedLight.indirectSpecular + totalEmissiveRadiance;\\\\n\\\\tgl_FragColor = vec4( outgoingLight, diffuseColor.a );\\\\n\\\\t#include <premultiplied_alpha_fragment>\\\\n\\\\t#include <tonemapping_fragment>\\\\n\\\\t#include <encodings_fragment>\\\\n\\\\t#include <fog_fragment>\\\\n}\\\\n\\\",meshphysical_vert:\\\"#define PHYSICAL\\\\nvarying vec3 vViewPosition;\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\n#include <common>\\\\n#include <uv_pars_vertex>\\\\n#include <uv2_pars_vertex>\\\\n#include <displacementmap_pars_vertex>\\\\n#include <color_pars_vertex>\\\\n#include <fog_pars_vertex>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <shadowmap_pars_vertex>\\\\n#include <specularmap_pars_fragment>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <uv_vertex>\\\\n\\\\t#include <uv2_vertex>\\\\n\\\\t#include <color_vertex>\\\\n\\\\t#include <beginnormal_vertex>\\\\n\\\\t#include <morphnormal_vertex>\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#include <skinnormal_vertex>\\\\n\\\\t#include <defaultnormal_vertex>\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvNormal = normalize( transformedNormal );\\\\n#endif\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <displacementmap_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\tvViewPosition = - mvPosition.xyz;\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <shadowmap_vertex>\\\\n\\\\t#include <fog_vertex>\\\\n}\\\\n\\\",normal_frag:\\\"#define NORMAL\\\\nuniform float opacity;\\\\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP )\\\\n\\\\tvarying vec3 vViewPosition;\\\\n#endif\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\n#include <packing>\\\\n#include <uv_pars_fragment>\\\\n#include <bumpmap_pars_fragment>\\\\n#include <normalmap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <normal_flip>\\\\n\\\\t#include <normal_fragment>\\\\n\\\\tgl_FragColor = vec4( packNormalToRGB( normal ), opacity );\\\\n}\\\\n\\\",normal_vert:\\\"#define NORMAL\\\\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP )\\\\n\\\\tvarying vec3 vViewPosition;\\\\n#endif\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvarying vec3 vNormal;\\\\n#endif\\\\n#include <uv_pars_vertex>\\\\n#include <displacementmap_pars_vertex>\\\\n#include <morphtarget_pars_vertex>\\\\n#include <skinning_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <uv_vertex>\\\\n\\\\t#include <beginnormal_vertex>\\\\n\\\\t#include <morphnormal_vertex>\\\\n\\\\t#include <skinbase_vertex>\\\\n\\\\t#include <skinnormal_vertex>\\\\n\\\\t#include <defaultnormal_vertex>\\\\n#ifndef FLAT_SHADED\\\\n\\\\tvNormal = normalize( transformedNormal );\\\\n#endif\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <displacementmap_vertex>\\\\n\\\\t#include <morphtarget_vertex>\\\\n\\\\t#include <skinning_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n#if defined( FLAT_SHADED ) || defined( USE_BUMPMAP ) || defined( USE_NORMALMAP )\\\\n\\\\tvViewPosition = - mvPosition.xyz;\\\\n#endif\\\\n}\\\\n\\\",points_frag:\\\"uniform vec3 diffuse;\\\\nuniform float opacity;\\\\n#include <common>\\\\n#include <packing>\\\\n#include <color_pars_fragment>\\\\n#include <map_particle_pars_fragment>\\\\n#include <fog_pars_fragment>\\\\n#include <shadowmap_pars_fragment>\\\\n#include <logdepthbuf_pars_fragment>\\\\n#include <clipping_planes_pars_fragment>\\\\nvoid main() {\\\\n\\\\t#include <clipping_planes_fragment>\\\\n\\\\tvec3 outgoingLight = vec3( 0.0 );\\\\n\\\\tvec4 diffuseColor = vec4( diffuse, opacity );\\\\n\\\\t#include <logdepthbuf_fragment>\\\\n\\\\t#include <map_particle_fragment>\\\\n\\\\t#include <color_fragment>\\\\n\\\\t#include <alphatest_fragment>\\\\n\\\\toutgoingLight = diffuseColor.rgb;\\\\n\\\\tgl_FragColor = vec4( outgoingLight, diffuseColor.a );\\\\n\\\\t#include <premultiplied_alpha_fragment>\\\\n\\\\t#include <tonemapping_fragment>\\\\n\\\\t#include <encodings_fragment>\\\\n\\\\t#include <fog_fragment>\\\\n}\\\\n\\\",points_vert:\\\"uniform float size;\\\\nuniform float scale;\\\\n#include <common>\\\\n#include <color_pars_vertex>\\\\n#include <fog_pars_vertex>\\\\n#include <shadowmap_pars_vertex>\\\\n#include <logdepthbuf_pars_vertex>\\\\n#include <clipping_planes_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <color_vertex>\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#ifdef USE_SIZEATTENUATION\\\\n\\\\t\\\\tgl_PointSize = size * ( scale / - mvPosition.z );\\\\n\\\\t#else\\\\n\\\\t\\\\tgl_PointSize = size;\\\\n\\\\t#endif\\\\n\\\\t#include <logdepthbuf_vertex>\\\\n\\\\t#include <clipping_planes_vertex>\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <shadowmap_vertex>\\\\n\\\\t#include <fog_vertex>\\\\n}\\\\n\\\",shadow_frag:\\\"uniform float opacity;\\\\n#include <common>\\\\n#include <packing>\\\\n#include <bsdfs>\\\\n#include <lights_pars>\\\\n#include <shadowmap_pars_fragment>\\\\n#include <shadowmask_pars_fragment>\\\\nvoid main() {\\\\n\\\\tgl_FragColor = vec4( 0.0, 0.0, 0.0, opacity * ( 1.0 - getShadowMask() ) );\\\\n}\\\\n\\\",shadow_vert:\\\"#include <shadowmap_pars_vertex>\\\\nvoid main() {\\\\n\\\\t#include <begin_vertex>\\\\n\\\\t#include <project_vertex>\\\\n\\\\t#include <worldpos_vertex>\\\\n\\\\t#include <shadowmap_vertex>\\\\n}\\\\n\\\"};function kn(e,t,n){return void 0===t&&void 0===n?this.set(e):this.setRGB(e,t,n)}kn.prototype={constructor:kn,isColor:!0,r:1,g:1,b:1,set:function(e){return e&&e.isColor?this.copy(e):\\\"number\\\"==typeof e?this.setHex(e):\\\"string\\\"==typeof e&&this.setStyle(e),this},setScalar:function(e){return this.r=e,this.g=e,this.b=e,this},setHex:function(e){return e=Math.floor(e),this.r=(e>>16&255)/255,this.g=(e>>8&255)/255,this.b=(255&e)/255,this},setRGB:function(e,t,n){return this.r=e,this.g=t,this.b=n,this},setHSL:function(){function e(e,t,n){return n<0&&(n+=1),n>1&&(n-=1),n<1/6?e+6*(t-e)*n:n<.5?t:n<2/3?e+6*(t-e)*(2/3-n):e}return function(t,n,i){if(t=Ct.euclideanModulo(t,1),n=Ct.clamp(n,0,1),i=Ct.clamp(i,0,1),0===n)this.r=this.g=this.b=i;else{var r=i<=.5?i*(1+n):i+n-i*n,o=2*i-r;this.r=e(o,r,t+1/3),this.g=e(o,r,t),this.b=e(o,r,t-1/3)}return this}}(),setStyle:function(e){function t(t){void 0!==t&&parseFloat(t)<1&&console.warn(\\\"THREE.Color: Alpha component of \\\"+e+\\\" will be ignored.\\\")}var n;if(n=/^((?:rgb|hsl)a?)\\\\(\\\\s*([^\\\\)]*)\\\\)/.exec(e)){var i,r=n[1],o=n[2];switch(r){case\\\"rgb\\\":case\\\"rgba\\\":if(i=/^(\\\\d+)\\\\s*,\\\\s*(\\\\d+)\\\\s*,\\\\s*(\\\\d+)\\\\s*(,\\\\s*([0-9]*\\\\.?[0-9]+)\\\\s*)?$/.exec(o))return this.r=Math.min(255,parseInt(i[1],10))/255,this.g=Math.min(255,parseInt(i[2],10))/255,this.b=Math.min(255,parseInt(i[3],10))/255,t(i[5]),this;if(i=/^(\\\\d+)\\\\%\\\\s*,\\\\s*(\\\\d+)\\\\%\\\\s*,\\\\s*(\\\\d+)\\\\%\\\\s*(,\\\\s*([0-9]*\\\\.?[0-9]+)\\\\s*)?$/.exec(o))return this.r=Math.min(100,parseInt(i[1],10))/100,this.g=Math.min(100,parseInt(i[2],10))/100,this.b=Math.min(100,parseInt(i[3],10))/100,t(i[5]),this;break;case\\\"hsl\\\":case\\\"hsla\\\":if(i=/^([0-9]*\\\\.?[0-9]+)\\\\s*,\\\\s*(\\\\d+)\\\\%\\\\s*,\\\\s*(\\\\d+)\\\\%\\\\s*(,\\\\s*([0-9]*\\\\.?[0-9]+)\\\\s*)?$/.exec(o)){var a=parseFloat(i[1])/360,s=parseInt(i[2],10)/100,l=parseInt(i[3],10)/100;return t(i[5]),this.setHSL(a,s,l)}}}else if(n=/^\\\\#([A-Fa-f0-9]+)$/.exec(e)){var u,c=(u=n[1]).length;if(3===c)return this.r=parseInt(u.charAt(0)+u.charAt(0),16)/255,this.g=parseInt(u.charAt(1)+u.charAt(1),16)/255,this.b=parseInt(u.charAt(2)+u.charAt(2),16)/255,this;if(6===c)return this.r=parseInt(u.charAt(0)+u.charAt(1),16)/255,this.g=parseInt(u.charAt(2)+u.charAt(3),16)/255,this.b=parseInt(u.charAt(4)+u.charAt(5),16)/255,this}e&&e.length>0&&(void 0!==(u=An[e])?this.setHex(u):console.warn(\\\"THREE.Color: Unknown color \\\"+e));return this},clone:function(){return new 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Rn(e,t,n,i,r,o,a,s,l,u,c,d){Nt.call(this,null,o,a,s,l,u,i,r,c,d),this.image={data:e,width:t,height:n},this.magFilter=void 0!==l?l:Se,this.minFilter=void 0!==u?u:Se,this.generateMipmaps=!1,this.flipY=!1,this.unpackAlignment=1}Rn.prototype=Object.create(Nt.prototype),Rn.prototype.constructor=Rn,Rn.prototype.isDataTexture=!0;var Ln={common:{diffuse:{value:new kn(15658734)},opacity:{value:1},map:{value:null},offsetRepeat:{value:new Ft(0,0,1,1)},specularMap:{value:null},alphaMap:{value:null},envMap:{value:null},flipEnvMap:{value:-1},reflectivity:{value:1},refractionRatio:{value:.98}},aomap:{aoMap:{value:null},aoMapIntensity:{value:1}},lightmap:{lightMap:{value:null},lightMapIntensity:{value:1}},emissivemap:{emissiveMap:{value:null}},bumpmap:{bumpMap:{value:null},bumpScale:{value:1}},normalmap:{normalMap:{value:null},normalScale:{value:new 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Ut}},vertexShader:Pn.distanceRGBA_vert,fragmentShader:Pn.distanceRGBA_frag}};function Dn(e,t){this.min=void 0!==e?e:new Ot(1/0,1/0),this.max=void 0!==t?t:new Ot(-1/0,-1/0)}function Nn(e,t){var n,i,r,o,a,s,l,u,c=e.context,d=e.state;function h(){var t=new Float32Array([-1,-1,0,0,1,-1,1,0,1,1,1,1,-1,1,0,1]),h=new 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Ut,g=f.w/f.z,v=.5*f.z,y=.5*f.w,b=16/f.w,x=new Ot(b*g,b),_=new Ut(1,1,0),w=new Ot(1,1),M=new Dn;M.min.set(f.x,f.y),M.max.set(f.x+(f.z-16),f.y+(f.w-16)),void 0===o&&h(),c.useProgram(o),d.initAttributes(),d.enableAttribute(a.vertex),d.enableAttribute(a.uv),d.disableUnusedAttributes(),c.uniform1i(s.occlusionMap,0),c.uniform1i(s.map,1),c.bindBuffer(c.ARRAY_BUFFER,n),c.vertexAttribPointer(a.vertex,2,c.FLOAT,!1,16,0),c.vertexAttribPointer(a.uv,2,c.FLOAT,!1,16,8),c.bindBuffer(c.ELEMENT_ARRAY_BUFFER,i),d.disable(c.CULL_FACE),d.setDepthWrite(!1);for(var S=0,E=t.length;S<E;S++){b=16/f.w,x.set(b*g,b);var T=t[S];if(m.set(T.matrixWorld.elements[12],T.matrixWorld.elements[13],T.matrixWorld.elements[14]),m.applyMatrix4(p.matrixWorldInverse),m.applyMatrix4(p.projectionMatrix),_.copy(m),w.x=f.x+_.x*v+v-8,w.y=f.y+_.y*y+y-8,!0===M.containsPoint(w)){d.activeTexture(c.TEXTURE0),d.bindTexture(c.TEXTURE_2D,null),d.activeTexture(c.TEXTURE1),d.bindTexture(c.TEXTURE_2D,l),c.copyTexImage2D(c.TEXTURE_2D,0,c.RGB,w.x,w.y,16,16,0),c.uniform1i(s.renderType,0),c.uniform2f(s.scale,x.x,x.y),c.uniform3f(s.screenPosition,_.x,_.y,_.z),d.disable(c.BLEND),d.enable(c.DEPTH_TEST),c.drawElements(c.TRIANGLES,6,c.UNSIGNED_SHORT,0),d.activeTexture(c.TEXTURE0),d.bindTexture(c.TEXTURE_2D,u),c.copyTexImage2D(c.TEXTURE_2D,0,c.RGBA,w.x,w.y,16,16,0),c.uniform1i(s.renderType,1),d.disable(c.DEPTH_TEST),d.activeTexture(c.TEXTURE1),d.bindTexture(c.TEXTURE_2D,l),c.drawElements(c.TRIANGLES,6,c.UNSIGNED_SHORT,0),T.positionScreen.copy(_),T.customUpdateCallback?T.customUpdateCallback(T):T.updateLensFlares(),c.uniform1i(s.renderType,2),d.enable(c.BLEND);for(var C=0,O=T.lensFlares.length;C<O;C++){var P=T.lensFlares[C];P.opacity>.001&&P.scale>.001&&(_.x=P.x,_.y=P.y,_.z=P.z,b=P.size*P.scale/f.w,x.x=b*g,x.y=b,c.uniform3f(s.screenPosition,_.x,_.y,_.z),c.uniform2f(s.scale,x.x,x.y),c.uniform1f(s.rotation,P.rotation),c.uniform1f(s.opacity,P.opacity),c.uniform3f(s.color,P.color.r,P.color.g,P.color.b),d.setBlending(P.blending,P.blendEquation,P.blendSrc,P.blendDst),e.setTexture2D(P.texture,1),c.drawElements(c.TRIANGLES,6,c.UNSIGNED_SHORT,0))}}}d.enable(c.CULL_FACE),d.enable(c.DEPTH_TEST),d.setDepthWrite(!0),e.resetGLState()}}}function Fn(e,t){var n,i,r,o,a,s,l=e.context,u=e.state,c=new Ut,d=new jt,h=new Ut;function p(){var t=new Float32Array([-.5,-.5,0,0,.5,-.5,1,0,.5,.5,1,1,-.5,.5,0,1]),u=new Uint16Array([0,1,2,0,2,3]);n=l.createBuffer(),i=l.createBuffer(),l.bindBuffer(l.ARRAY_BUFFER,n),l.bufferData(l.ARRAY_BUFFER,t,l.STATIC_DRAW),l.bindBuffer(l.ELEMENT_ARRAY_BUFFER,i),l.bufferData(l.ELEMENT_ARRAY_BUFFER,u,l.STATIC_DRAW),r=function(){var t=l.createProgram(),n=l.createShader(l.VERTEX_SHADER),i=l.createShader(l.FRAGMENT_SHADER);return l.shaderSource(n,[\\\"precision \\\"+e.getPrecision()+\\\" float;\\\",\\\"uniform mat4 modelViewMatrix;\\\",\\\"uniform mat4 projectionMatrix;\\\",\\\"uniform float rotation;\\\",\\\"uniform vec2 scale;\\\",\\\"uniform vec2 uvOffset;\\\",\\\"uniform vec2 uvScale;\\\",\\\"attribute vec2 position;\\\",\\\"attribute vec2 uv;\\\",\\\"varying vec2 vUV;\\\",\\\"void main() {\\\",\\\"vUV = uvOffset + uv * uvScale;\\\",\\\"vec2 alignedPosition = position * scale;\\\",\\\"vec2 rotatedPosition;\\\",\\\"rotatedPosition.x = cos( rotation ) * alignedPosition.x - sin( rotation ) * alignedPosition.y;\\\",\\\"rotatedPosition.y = sin( rotation ) * alignedPosition.x + cos( rotation ) * alignedPosition.y;\\\",\\\"vec4 finalPosition;\\\",\\\"finalPosition = modelViewMatrix * vec4( 0.0, 0.0, 0.0, 1.0 );\\\",\\\"finalPosition.xy += rotatedPosition;\\\",\\\"finalPosition = projectionMatrix * finalPosition;\\\",\\\"gl_Position = finalPosition;\\\",\\\"}\\\"].join(\\\"\\\\n\\\")),l.shaderSource(i,[\\\"precision \\\"+e.getPrecision()+\\\" float;\\\",\\\"uniform vec3 color;\\\",\\\"uniform sampler2D map;\\\",\\\"uniform float opacity;\\\",\\\"uniform int fogType;\\\",\\\"uniform vec3 fogColor;\\\",\\\"uniform float fogDensity;\\\",\\\"uniform float fogNear;\\\",\\\"uniform float fogFar;\\\",\\\"uniform float alphaTest;\\\",\\\"varying vec2 vUV;\\\",\\\"void main() {\\\",\\\"vec4 texture = texture2D( map, vUV );\\\",\\\"if ( texture.a < alphaTest ) discard;\\\",\\\"gl_FragColor = vec4( color * texture.xyz, texture.a * opacity );\\\",\\\"if ( fogType > 0 ) {\\\",\\\"float depth = gl_FragCoord.z / gl_FragCoord.w;\\\",\\\"float fogFactor = 0.0;\\\",\\\"if ( fogType == 1 ) {\\\",\\\"fogFactor = smoothstep( fogNear, fogFar, depth );\\\",\\\"} else {\\\",\\\"const float LOG2 = 1.442695;\\\",\\\"fogFactor = exp2( - fogDensity * fogDensity * depth * depth * LOG2 );\\\",\\\"fogFactor = 1.0 - clamp( fogFactor, 0.0, 1.0 );\\\",\\\"}\\\",\\\"gl_FragColor = mix( gl_FragColor, vec4( fogColor, gl_FragColor.w ), fogFactor );\\\",\\\"}\\\",\\\"}\\\"].join(\\\"\\\\n\\\")),l.compileShader(n),l.compileShader(i),l.attachShader(t,n),l.attachShader(t,i),l.linkProgram(t),t}(),o={position:l.getAttribLocation(r,\\\"position\\\"),uv:l.getAttribLocation(r,\\\"uv\\\")},a={uvOffset:l.getUniformLocation(r,\\\"uvOffset\\\"),uvScale:l.getUniformLocation(r,\\\"uvScale\\\"),rotation:l.getUniformLocation(r,\\\"rotation\\\"),scale:l.getUniformLocation(r,\\\"scale\\\"),color:l.getUniformLocation(r,\\\"color\\\"),map:l.getUniformLocation(r,\\\"map\\\"),opacity:l.getUniformLocation(r,\\\"opacity\\\"),modelViewMatrix:l.getUniformLocation(r,\\\"modelViewMatrix\\\"),projectionMatrix:l.getUniformLocation(r,\\\"projectionMatrix\\\"),fogType:l.getUniformLocation(r,\\\"fogType\\\"),fogDensity:l.getUniformLocation(r,\\\"fogDensity\\\"),fogNear:l.getUniformLocation(r,\\\"fogNear\\\"),fogFar:l.getUniformLocation(r,\\\"fogFar\\\"),fogColor:l.getUniformLocation(r,\\\"fogColor\\\"),alphaTest:l.getUniformLocation(r,\\\"alphaTest\\\")};var c=document.createElementNS(\\\"http://www.w3.org/1999/xhtml\\\",\\\"canvas\\\");c.width=8,c.height=8;var d=c.getContext(\\\"2d\\\");d.fillStyle=\\\"white\\\",d.fillRect(0,0,8,8),(s=new Nt(c)).needsUpdate=!0}function f(e,t){return e.renderOrder!==t.renderOrder?e.renderOrder-t.renderOrder:e.z!==t.z?t.z-e.z:t.id-e.id}this.render=function(m,g){if(0!==t.length){void 0===r&&p(),l.useProgram(r),u.initAttributes(),u.enableAttribute(o.position),u.enableAttribute(o.uv),u.disableUnusedAttributes(),u.disable(l.CULL_FACE),u.enable(l.BLEND),l.bindBuffer(l.ARRAY_BUFFER,n),l.vertexAttribPointer(o.position,2,l.FLOAT,!1,16,0),l.vertexAttribPointer(o.uv,2,l.FLOAT,!1,16,8),l.bindBuffer(l.ELEMENT_ARRAY_BUFFER,i),l.uniformMatrix4fv(a.projectionMatrix,!1,g.projectionMatrix.elements),u.activeTexture(l.TEXTURE0),l.uniform1i(a.map,0);var v=0,y=0,b=m.fog;b?(l.uniform3f(a.fogColor,b.color.r,b.color.g,b.color.b),b.isFog?(l.uniform1f(a.fogNear,b.near),l.uniform1f(a.fogFar,b.far),l.uniform1i(a.fogType,1),v=1,y=1):b.isFogExp2&&(l.uniform1f(a.fogDensity,b.density),l.uniform1i(a.fogType,2),v=2,y=2)):(l.uniform1i(a.fogType,0),v=0,y=0);for(var x=0,_=t.length;x<_;x++){(M=t[x]).modelViewMatrix.multiplyMatrices(g.matrixWorldInverse,M.matrixWorld),M.z=-M.modelViewMatrix.elements[14]}t.sort(f);var w=[];for(x=0,_=t.length;x<_;x++){var M,S=(M=t[x]).material;if(!1!==S.visible){l.uniform1f(a.alphaTest,S.alphaTest),l.uniformMatrix4fv(a.modelViewMatrix,!1,M.modelViewMatrix.elements),M.matrixWorld.decompose(c,d,h),w[0]=h.x,w[1]=h.y;var E=0;m.fog&&S.fog&&(E=y),v!==E&&(l.uniform1i(a.fogType,E),v=E),null!==S.map?(l.uniform2f(a.uvOffset,S.map.offset.x,S.map.offset.y),l.uniform2f(a.uvScale,S.map.repeat.x,S.map.repeat.y)):(l.uniform2f(a.uvOffset,0,0),l.uniform2f(a.uvScale,1,1)),l.uniform1f(a.opacity,S.opacity),l.uniform3f(a.color,S.color.r,S.color.g,S.color.b),l.uniform1f(a.rotation,S.rotation),l.uniform2fv(a.scale,w),u.setBlending(S.blending,S.blendEquation,S.blendSrc,S.blendDst),u.setDepthTest(S.depthTest),u.setDepthWrite(S.depthWrite),S.map?e.setTexture2D(S.map,0):e.setTexture2D(s,0),l.drawElements(l.TRIANGLES,6,l.UNSIGNED_SHORT,0)}}u.enable(l.CULL_FACE),e.resetGLState()}}}In.physical={uniforms:On.merge([In.standard.uniforms,{clearCoat:{value:0},clearCoatRoughness:{value:0}}]),vertexShader:Pn.meshphysical_vert,fragmentShader:Pn.meshphysical_frag},Dn.prototype={constructor:Dn,set:function(e,t){return this.min.copy(e),this.max.copy(t),this},setFromPoints:function(e){this.makeEmpty();for(var t=0,n=e.length;t<n;t++)this.expandByPoint(e[t]);return this},setFromCenterAndSize:function(){var e=new Ot;return function(t,n){var i=e.copy(n).multiplyScalar(.5);return this.min.copy(t).sub(i),this.max.copy(t).add(i),this}}(),clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.min.copy(e.min),this.max.copy(e.max),this},makeEmpty:function(){return this.min.x=this.min.y=1/0,this.max.x=this.max.y=-1/0,this},isEmpty:function(){return this.max.x<this.min.x||this.max.y<this.min.y},getCenter:function(e){var t=e||new Ot;return this.isEmpty()?t.set(0,0):t.addVectors(this.min,this.max).multiplyScalar(.5)},getSize:function(e){var t=e||new Ot;return this.isEmpty()?t.set(0,0):t.subVectors(this.max,this.min)},expandByPoint:function(e){return this.min.min(e),this.max.max(e),this},expandByVector:function(e){return this.min.sub(e),this.max.add(e),this},expandByScalar:function(e){return this.min.addScalar(-e),this.max.addScalar(e),this},containsPoint:function(e){return!(e.x<this.min.x||e.x>this.max.x||e.y<this.min.y||e.y>this.max.y)},containsBox:function(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y},getParameter:function(e,t){return(t||new Ot).set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y))},intersectsBox:function(e){return!(e.max.x<this.min.x||e.min.x>this.max.x||e.max.y<this.min.y||e.min.y>this.max.y)},clampPoint:function(e,t){return(t||new Ot).copy(e).clamp(this.min,this.max)},distanceToPoint:function(){var e=new Ot;return function(t){return e.copy(t).clamp(this.min,this.max).sub(t).length()}}(),intersect:function(e){return this.min.max(e.min),this.max.min(e.max),this},union:function(e){return this.min.min(e.min),this.max.max(e.max),this},translate:function(e){return this.min.add(e),this.max.add(e),this},equals:function(e){return e.min.equals(this.min)&&e.max.equals(this.max)}};var zn,Bn,jn,Un,Wn,Gn,Vn,Hn,Yn,qn,Xn,Kn=0;function Jn(){Object.defineProperty(this,\\\"id\\\",{value:Kn++}),this.uuid=Ct.generateUUID(),this.name=\\\"\\\",this.type=\\\"Material\\\",this.fog=!0,this.lights=!0,this.blending=k,this.side=_,this.shading=E,this.vertexColors=T,this.opacity=1,this.transparent=!1,this.blendSrc=V,this.blendDst=H,this.blendEquation=D,this.blendSrcAlpha=null,this.blendDstAlpha=null,this.blendEquationAlpha=null,this.depthFunc=ee,this.depthTest=!0,this.depthWrite=!0,this.clippingPlanes=null,this.clipIntersection=!1,this.clipShadows=!1,this.colorWrite=!0,this.precision=null,this.polygonOffset=!1,this.polygonOffsetFactor=0,this.polygonOffsetUnits=0,this.alphaTest=0,this.premultipliedAlpha=!1,this.overdraw=0,this.visible=!0,this._needsUpdate=!0}function Zn(e){Jn.call(this),this.type=\\\"ShaderMaterial\\\",this.defines={},this.uniforms={},this.vertexShader=\\\"void main() {\\\\n\\\\tgl_Position = projectionMatrix * modelViewMatrix * vec4( position, 1.0 );\\\\n}\\\",this.fragmentShader=\\\"void main() {\\\\n\\\\tgl_FragColor = vec4( 1.0, 0.0, 0.0, 1.0 );\\\\n}\\\",this.linewidth=1,this.wireframe=!1,this.wireframeLinewidth=1,this.fog=!1,this.lights=!1,this.clipping=!1,this.skinning=!1,this.morphTargets=!1,this.morphNormals=!1,this.extensions={derivatives:!1,fragDepth:!1,drawBuffers:!1,shaderTextureLOD:!1},this.defaultAttributeValues={color:[1,1,1],uv:[0,0],uv2:[0,0]},this.index0AttributeName=void 0,void 0!==e&&(void 0!==e.attributes&&console.error(\\\"THREE.ShaderMaterial: attributes should now be defined in THREE.BufferGeometry instead.\\\"),this.setValues(e))}function $n(e){Jn.call(this),this.type=\\\"MeshDepthMaterial\\\",this.depthPacking=Et,this.skinning=!1,this.morphTargets=!1,this.map=null,this.alphaMap=null,this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.wireframe=!1,this.wireframeLinewidth=1,this.fog=!1,this.lights=!1,this.setValues(e)}function Qn(e,t){this.min=void 0!==e?e:new Ut(1/0,1/0,1/0),this.max=void 0!==t?t:new Ut(-1/0,-1/0,-1/0)}function ei(e,t){this.center=void 0!==e?e:new Ut,this.radius=void 0!==t?t:0}function ti(){this.elements=new Float32Array([1,0,0,0,1,0,0,0,1]),arguments.length>0&&console.error(\\\"THREE.Matrix3: the constructor no longer reads arguments. use .set() instead.\\\")}function ni(e,t){this.normal=void 0!==e?e:new Ut(1,0,0),this.constant=void 0!==t?t:0}function ii(e,t,n,i,r,o){this.planes=[void 0!==e?e:new ni,void 0!==t?t:new ni,void 0!==n?n:new ni,void 0!==i?i:new ni,void 0!==r?r:new ni,void 0!==o?o:new ni]}function ri(e,t,n,i){var r=e.context,o=e.state,a=new ii,s=new Wt,l=t.shadows,u=new Ot,c=new Ot(i.maxTextureSize,i.maxTextureSize),d=new Ut,h=new Ut,p=[],f=new Array(4),m=new Array(4),g={},v=[new Ut(1,0,0),new Ut(-1,0,0),new Ut(0,0,1),new Ut(0,0,-1),new Ut(0,1,0),new Ut(0,-1,0)],y=[new Ut(0,1,0),new Ut(0,1,0),new Ut(0,1,0),new Ut(0,1,0),new Ut(0,0,1),new Ut(0,0,-1)],x=[new Ft,new Ft,new Ft,new Ft,new Ft,new Ft],S=new $n;S.depthPacking=Tt,S.clipping=!0;for(var E=In.distanceRGBA,T=On.clone(E.uniforms),C=0;4!==C;++C){var O=0!=(1&C),P=0!=(2&C),k=S.clone();k.morphTargets=O,k.skinning=P,f[C]=k;var A=new Zn({defines:{USE_SHADOWMAP:\\\"\\\"},uniforms:T,vertexShader:E.vertexShader,fragmentShader:E.fragmentShader,morphTargets:O,skinning:P,clipping:!0});m[C]=A}var R=this;function L(t,n,i,r){var o=t.geometry,a=null,s=f,l=t.customDepthMaterial;if(i&&(s=m,l=t.customDistanceMaterial),l)a=l;else{var u=!1;n.morphTargets&&(o&&o.isBufferGeometry?u=o.morphAttributes&&o.morphAttributes.position&&o.morphAttributes.position.length>0:o&&o.isGeometry&&(u=o.morphTargets&&o.morphTargets.length>0));var c=0;u&&(c|=1),t.isSkinnedMesh&&n.skinning&&(c|=2),a=s[c]}if(e.localClippingEnabled&&!0===n.clipShadows&&0!==n.clippingPlanes.length){var d=a.uuid,h=n.uuid,p=g[d];void 0===p&&(p={},g[d]=p);var v=p[h];void 0===v&&(v=a.clone(),p[h]=v),a=v}a.visible=n.visible,a.wireframe=n.wireframe;var y=n.side;return R.renderSingleSided&&y==M&&(y=_),R.renderReverseSided&&(y===_?y=w:y===w&&(y=_)),a.side=y,a.clipShadows=n.clipShadows,a.clippingPlanes=n.clippingPlanes,a.wireframeLinewidth=n.wireframeLinewidth,a.linewidth=n.linewidth,i&&void 0!==a.uniforms.lightPos&&a.uniforms.lightPos.value.copy(r),a}function I(e,t,n){if(!1!==e.visible){if(0!=(e.layers.mask&t.layers.mask)&&(e.isMesh||e.isLine||e.isPoints))if(e.castShadow&&(!1===e.frustumCulled||!0===a.intersectsObject(e)))!0===e.material.visible&&(e.modelViewMatrix.multiplyMatrices(n.matrixWorldInverse,e.matrixWorld),p.push(e));for(var i=e.children,r=0,o=i.length;r<o;r++)I(i[r],t,n)}}this.enabled=!1,this.autoUpdate=!0,this.needsUpdate=!1,this.type=b,this.renderReverseSided=!0,this.renderSingleSided=!0,this.render=function(t,i){if(!1!==R.enabled&&(!1!==R.autoUpdate||!1!==R.needsUpdate)&&0!==l.length){var f,m;o.buffers.color.setClear(1,1,1,1),o.disable(r.BLEND),o.setDepthTest(!0),o.setScissorTest(!1);for(var g=0,b=l.length;g<b;g++){var _=l[g],w=_.shadow;if(void 0!==w){var M=w.camera;if(u.copy(w.mapSize),u.min(c),_&&_.isPointLight){f=6,m=!0;var S=u.x,E=u.y;x[0].set(2*S,E,S,E),x[1].set(0,E,S,E),x[2].set(3*S,E,S,E),x[3].set(S,E,S,E),x[4].set(3*S,0,S,E),x[5].set(S,0,S,E),u.x*=4,u.y*=2}else f=1,m=!1;if(null===w.map){var T={minFilter:Se,magFilter:Se,format:Ve};w.map=new zt(u.x,u.y,T),M.updateProjectionMatrix()}w.isSpotLightShadow&&w.update(_),w&&w.isRectAreaLightShadow&&w.update(_);var C=w.map,O=w.matrix;h.setFromMatrixPosition(_.matrixWorld),M.position.copy(h),e.setRenderTarget(C),e.clear();for(var P=0;P<f;P++){if(m){d.copy(M.position),d.add(v[P]),M.up.copy(y[P]),M.lookAt(d);var k=x[P];o.viewport(k)}else 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si(){this.mask=1}Jn.prototype={constructor:Jn,isMaterial:!0,get needsUpdate(){return this._needsUpdate},set needsUpdate(e){!0===e&&this.update(),this._needsUpdate=e},setValues:function(e){if(void 0!==e)for(var t in e){var n=e[t];if(void 0!==n){var i=this[t];void 0!==i?i&&i.isColor?i.set(n):i&&i.isVector3&&n&&n.isVector3?i.copy(n):this[t]=\\\"overdraw\\\"===t?Number(n):n:console.warn(\\\"THREE.\\\"+this.type+\\\": '\\\"+t+\\\"' is not a property of this material.\\\")}else console.warn(\\\"THREE.Material: '\\\"+t+\\\"' parameter is undefined.\\\")}},toJSON:function(e){var t=void 0===e;t&&(e={textures:{},images:{}});var n={metadata:{version:4.4,type:\\\"Material\\\",generator:\\\"Material.toJSON\\\"}};function i(e){var t=[];for(var n in e){var i=e[n];delete i.metadata,t.push(i)}return t}if(n.uuid=this.uuid,n.type=this.type,\\\"\\\"!==this.name&&(n.name=this.name),this.color&&this.color.isColor&&(n.color=this.color.getHex()),void 0!==this.roughness&&(n.roughness=this.roughness),void 0!==this.metalness&&(n.metalness=this.metalness),this.emissive&&this.emissive.isColor&&(n.emissive=this.emissive.getHex()),this.specular&&this.specular.isColor&&(n.specular=this.specular.getHex()),void 0!==this.shininess&&(n.shininess=this.shininess),void 0!==this.clearCoat&&(n.clearCoat=this.clearCoat),void 0!==this.clearCoatRoughness&&(n.clearCoatRoughness=this.clearCoatRoughness),this.map&&this.map.isTexture&&(n.map=this.map.toJSON(e).uuid),this.alphaMap&&this.alphaMap.isTexture&&(n.alphaMap=this.alphaMap.toJSON(e).uuid),this.lightMap&&this.lightMap.isTexture&&(n.lightMap=this.lightMap.toJSON(e).uuid),this.bumpMap&&this.bumpMap.isTexture&&(n.bumpMap=this.bumpMap.toJSON(e).uuid,n.bumpScale=this.bumpScale),this.normalMap&&this.normalMap.isTexture&&(n.normalMap=this.normalMap.toJSON(e).uuid,n.normalScale=this.normalScale.toArray()),this.displacementMap&&this.displacementMap.isTexture&&(n.displacementMap=this.displacementMap.toJSON(e).uuid,n.displacementScale=this.displacementScale,n.displacementBias=this.displacementBias),this.roughnessMap&&this.roughnessMap.isTexture&&(n.roughnessMap=this.roughnessMap.toJSON(e).uuid),this.metalnessMap&&this.metalnessMap.isTexture&&(n.metalnessMap=this.metalnessMap.toJSON(e).uuid),this.emissiveMap&&this.emissiveMap.isTexture&&(n.emissiveMap=this.emissiveMap.toJSON(e).uuid),this.specularMap&&this.specularMap.isTexture&&(n.specularMap=this.specularMap.toJSON(e).uuid),this.envMap&&this.envMap.isTexture&&(n.envMap=this.envMap.toJSON(e).uuid,n.reflectivity=this.reflectivity),this.gradientMap&&this.gradientMap.isTexture&&(n.gradientMap=this.gradientMap.toJSON(e).uuid),void 0!==this.size&&(n.size=this.size),void 0!==this.sizeAttenuation&&(n.sizeAttenuation=this.sizeAttenuation),this.blending!==k&&(n.blending=this.blending),this.shading!==E&&(n.shading=this.shading),this.side!==_&&(n.side=this.side),this.vertexColors!==T&&(n.vertexColors=this.vertexColors),this.opacity<1&&(n.opacity=this.opacity),!0===this.transparent&&(n.transparent=this.transparent),n.depthFunc=this.depthFunc,n.depthTest=this.depthTest,n.depthWrite=this.depthWrite,this.alphaTest>0&&(n.alphaTest=this.alphaTest),!0===this.premultipliedAlpha&&(n.premultipliedAlpha=this.premultipliedAlpha),!0===this.wireframe&&(n.wireframe=this.wireframe),this.wireframeLinewidth>1&&(n.wireframeLinewidth=this.wireframeLinewidth),\\\"round\\\"!==this.wireframeLinecap&&(n.wireframeLinecap=this.wireframeLinecap),\\\"round\\\"!==this.wireframeLinejoin&&(n.wireframeLinejoin=this.wireframeLinejoin),n.skinning=this.skinning,n.morphTargets=this.morphTargets,t){var r=i(e.textures),o=i(e.images);r.length>0&&(n.textures=r),o.length>0&&(n.images=o)}return n},clone:function(){return(new this.constructor).copy(this)},copy:function(e){this.name=e.name,this.fog=e.fog,this.lights=e.lights,this.blending=e.blending,this.side=e.side,this.shading=e.shading,this.vertexColors=e.vertexColors,this.opacity=e.opacity,this.transparent=e.transparent,this.blendSrc=e.blendSrc,this.blendDst=e.blendDst,this.blendEquation=e.blendEquation,this.blendSrcAlpha=e.blendSrcAlpha,this.blendDstAlpha=e.blendDstAlpha,this.blendEquationAlpha=e.blendEquationAlpha,this.depthFunc=e.depthFunc,this.depthTest=e.depthTest,this.depthWrite=e.depthWrite,this.colorWrite=e.colorWrite,this.precision=e.precision,this.polygonOffset=e.polygonOffset,this.polygonOffsetFactor=e.polygonOffsetFactor,this.polygonOffsetUnits=e.polygonOffsetUnits,this.alphaTest=e.alphaTest,this.premultipliedAlpha=e.premultipliedAlpha,this.overdraw=e.overdraw,this.visible=e.visible,this.clipShadows=e.clipShadows,this.clipIntersection=e.clipIntersection;var t=e.clippingPlanes,n=null;if(null!==t){var i=t.length;n=new Array(i);for(var r=0;r!==i;++r)n[r]=t[r].clone()}return this.clippingPlanes=n,this},update:function(){this.dispatchEvent({type:\\\"update\\\"})},dispose:function(){this.dispatchEvent({type:\\\"dispose\\\"})}},Object.assign(Jn.prototype,i.prototype),Zn.prototype=Object.create(Jn.prototype),Zn.prototype.constructor=Zn,Zn.prototype.isShaderMaterial=!0,Zn.prototype.copy=function(e){return Jn.prototype.copy.call(this,e),this.fragmentShader=e.fragmentShader,this.vertexShader=e.vertexShader,this.uniforms=On.clone(e.uniforms),this.defines=e.defines,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.lights=e.lights,this.clipping=e.clipping,this.skinning=e.skinning,this.morphTargets=e.morphTargets,this.morphNormals=e.morphNormals,this.extensions=e.extensions,this},Zn.prototype.toJSON=function(e){var t=Jn.prototype.toJSON.call(this,e);return t.uniforms=this.uniforms,t.vertexShader=this.vertexShader,t.fragmentShader=this.fragmentShader,t},$n.prototype=Object.create(Jn.prototype),$n.prototype.constructor=$n,$n.prototype.isMeshDepthMaterial=!0,$n.prototype.copy=function(e){return Jn.prototype.copy.call(this,e),this.depthPacking=e.depthPacking,this.skinning=e.skinning,this.morphTargets=e.morphTargets,this.map=e.map,this.alphaMap=e.alphaMap,this.displacementMap=e.displacementMap,this.displacementScale=e.displacementScale,this.displacementBias=e.displacementBias,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this},Qn.prototype={constructor:Qn,isBox3:!0,set:function(e,t){return this.min.copy(e),this.max.copy(t),this},setFromArray:function(e){for(var t=1/0,n=1/0,i=1/0,r=-1/0,o=-1/0,a=-1/0,s=0,l=e.length;s<l;s+=3){var u=e[s],c=e[s+1],d=e[s+2];u<t&&(t=u),c<n&&(n=c),d<i&&(i=d),u>r&&(r=u),c>o&&(o=c),d>a&&(a=d)}return this.min.set(t,n,i),this.max.set(r,o,a),this},setFromBufferAttribute:function(e){for(var t=1/0,n=1/0,i=1/0,r=-1/0,o=-1/0,a=-1/0,s=0,l=e.count;s<l;s++){var u=e.getX(s),c=e.getY(s),d=e.getZ(s);u<t&&(t=u),c<n&&(n=c),d<i&&(i=d),u>r&&(r=u),c>o&&(o=c),d>a&&(a=d)}return this.min.set(t,n,i),this.max.set(r,o,a),this},setFromPoints:function(e){this.makeEmpty();for(var t=0,n=e.length;t<n;t++)this.expandByPoint(e[t]);return this},setFromCenterAndSize:function(){var e=new Ut;return function(t,n){var i=e.copy(n).multiplyScalar(.5);return this.min.copy(t).sub(i),this.max.copy(t).add(i),this}}(),setFromObject:function(e){return this.makeEmpty(),this.expandByObject(e)},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.min.copy(e.min),this.max.copy(e.max),this},makeEmpty:function(){return this.min.x=this.min.y=this.min.z=1/0,this.max.x=this.max.y=this.max.z=-1/0,this},isEmpty:function(){return this.max.x<this.min.x||this.max.y<this.min.y||this.max.z<this.min.z},getCenter:function(e){var t=e||new Ut;return this.isEmpty()?t.set(0,0,0):t.addVectors(this.min,this.max).multiplyScalar(.5)},getSize:function(e){var t=e||new Ut;return this.isEmpty()?t.set(0,0,0):t.subVectors(this.max,this.min)},expandByPoint:function(e){return this.min.min(e),this.max.max(e),this},expandByVector:function(e){return this.min.sub(e),this.max.add(e),this},expandByScalar:function(e){return this.min.addScalar(-e),this.max.addScalar(e),this},expandByObject:function(){var e=new Ut;return function(t){var n=this;return t.updateMatrixWorld(!0),t.traverse((function(t){var i,r,o=t.geometry;if(void 0!==o)if(o.isGeometry){var a=o.vertices;for(i=0,r=a.length;i<r;i++)e.copy(a[i]),e.applyMatrix4(t.matrixWorld),n.expandByPoint(e)}else if(o.isBufferGeometry){var s=o.attributes.position;if(void 0!==s)for(i=0,r=s.count;i<r;i++)e.fromBufferAttribute(s,i).applyMatrix4(t.matrixWorld),n.expandByPoint(e)}})),this}}(),containsPoint:function(e){return!(e.x<this.min.x||e.x>this.max.x||e.y<this.min.y||e.y>this.max.y||e.z<this.min.z||e.z>this.max.z)},containsBox:function(e){return this.min.x<=e.min.x&&e.max.x<=this.max.x&&this.min.y<=e.min.y&&e.max.y<=this.max.y&&this.min.z<=e.min.z&&e.max.z<=this.max.z},getParameter:function(e,t){return(t||new Ut).set((e.x-this.min.x)/(this.max.x-this.min.x),(e.y-this.min.y)/(this.max.y-this.min.y),(e.z-this.min.z)/(this.max.z-this.min.z))},intersectsBox:function(e){return!(e.max.x<this.min.x||e.min.x>this.max.x||e.max.y<this.min.y||e.min.y>this.max.y||e.max.z<this.min.z||e.min.z>this.max.z)},intersectsSphere:function(e){return void 0===Bn&&(Bn=new Ut),this.clampPoint(e.center,Bn),Bn.distanceToSquared(e.center)<=e.radius*e.radius},intersectsPlane:function(e){var t,n;return e.normal.x>0?(t=e.normal.x*this.min.x,n=e.normal.x*this.max.x):(t=e.normal.x*this.max.x,n=e.normal.x*this.min.x),e.normal.y>0?(t+=e.normal.y*this.min.y,n+=e.normal.y*this.max.y):(t+=e.normal.y*this.max.y,n+=e.normal.y*this.min.y),e.normal.z>0?(t+=e.normal.z*this.min.z,n+=e.normal.z*this.max.z):(t+=e.normal.z*this.max.z,n+=e.normal.z*this.min.z),t<=e.constant&&n>=e.constant},clampPoint:function(e,t){return(t||new Ut).copy(e).clamp(this.min,this.max)},distanceToPoint:function(){var e=new Ut;return function(t){return e.copy(t).clamp(this.min,this.max).sub(t).length()}}(),getBoundingSphere:function(){var e=new Ut;return function(t){var n=t||new ei;return this.getCenter(n.center),n.radius=.5*this.getSize(e).length(),n}}(),intersect:function(e){return this.min.max(e.min),this.max.min(e.max),this.isEmpty()&&this.makeEmpty(),this},union:function(e){return this.min.min(e.min),this.max.max(e.max),this},applyMatrix4:(zn=[new Ut,new Ut,new Ut,new Ut,new Ut,new Ut,new Ut,new Ut],function(e){return this.isEmpty()||(zn[0].set(this.min.x,this.min.y,this.min.z).applyMatrix4(e),zn[1].set(this.min.x,this.min.y,this.max.z).applyMatrix4(e),zn[2].set(this.min.x,this.max.y,this.min.z).applyMatrix4(e),zn[3].set(this.min.x,this.max.y,this.max.z).applyMatrix4(e),zn[4].set(this.max.x,this.min.y,this.min.z).applyMatrix4(e),zn[5].set(this.max.x,this.min.y,this.max.z).applyMatrix4(e),zn[6].set(this.max.x,this.max.y,this.min.z).applyMatrix4(e),zn[7].set(this.max.x,this.max.y,this.max.z).applyMatrix4(e),this.setFromPoints(zn)),this}),translate:function(e){return this.min.add(e),this.max.add(e),this},equals:function(e){return e.min.equals(this.min)&&e.max.equals(this.max)}},ei.prototype={constructor:ei,set:function(e,t){return this.center.copy(e),this.radius=t,this},setFromPoints:function(e,t){void 0===jn&&(jn=new Qn);var n=this.center;void 0!==t?n.copy(t):jn.setFromPoints(e).getCenter(n);for(var i=0,r=0,o=e.length;r<o;r++)i=Math.max(i,n.distanceToSquared(e[r]));return this.radius=Math.sqrt(i),this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.center.copy(e.center),this.radius=e.radius,this},empty:function(){return this.radius<=0},containsPoint:function(e){return e.distanceToSquared(this.center)<=this.radius*this.radius},distanceToPoint:function(e){return e.distanceTo(this.center)-this.radius},intersectsSphere:function(e){var t=this.radius+e.radius;return e.center.distanceToSquared(this.center)<=t*t},intersectsBox:function(e){return e.intersectsSphere(this)},intersectsPlane:function(e){return Math.abs(this.center.dot(e.normal)-e.constant)<=this.radius},clampPoint:function(e,t){var n=this.center.distanceToSquared(e),i=t||new Ut;return i.copy(e),n>this.radius*this.radius&&(i.sub(this.center).normalize(),i.multiplyScalar(this.radius).add(this.center)),i},getBoundingBox:function(e){var t=e||new Qn;return t.set(this.center,this.center),t.expandByScalar(this.radius),t},applyMatrix4:function(e){return this.center.applyMatrix4(e),this.radius=this.radius*e.getMaxScaleOnAxis(),this},translate:function(e){return this.center.add(e),this},equals:function(e){return e.center.equals(this.center)&&e.radius===this.radius}},ti.prototype={constructor:ti,isMatrix3:!0,set:function(e,t,n,i,r,o,a,s,l){var u=this.elements;return u[0]=e,u[1]=i,u[2]=a,u[3]=t,u[4]=r,u[5]=s,u[6]=n,u[7]=o,u[8]=l,this},identity:function(){return this.set(1,0,0,0,1,0,0,0,1),this},clone:function(){return(new this.constructor).fromArray(this.elements)},copy:function(e){var t=e.elements;return this.set(t[0],t[3],t[6],t[1],t[4],t[7],t[2],t[5],t[8]),this},setFromMatrix4:function(e){var t=e.elements;return this.set(t[0],t[4],t[8],t[1],t[5],t[9],t[2],t[6],t[10]),this},applyToBufferAttribute:function(){var e;return function(t){void 0===e&&(e=new Ut);for(var n=0,i=t.count;n<i;n++)e.x=t.getX(n),e.y=t.getY(n),e.z=t.getZ(n),e.applyMatrix3(this),t.setXYZ(n,e.x,e.y,e.z);return t}}(),multiplyScalar:function(e){var t=this.elements;return t[0]*=e,t[3]*=e,t[6]*=e,t[1]*=e,t[4]*=e,t[7]*=e,t[2]*=e,t[5]*=e,t[8]*=e,this},determinant:function(){var e=this.elements,t=e[0],n=e[1],i=e[2],r=e[3],o=e[4],a=e[5],s=e[6],l=e[7],u=e[8];return t*o*u-t*a*l-n*r*u+n*a*s+i*r*l-i*o*s},getInverse:function(e,t){e&&e.isMatrix4&&console.error(\\\"THREE.Matrix3.getInverse no longer takes a Matrix4 argument.\\\");var n=e.elements,i=this.elements,r=n[0],o=n[1],a=n[2],s=n[3],l=n[4],u=n[5],c=n[6],d=n[7],h=n[8],p=h*l-u*d,f=u*c-h*s,m=d*s-l*c,g=r*p+o*f+a*m;if(0===g){var v=\\\"THREE.Matrix3.getInverse(): can't invert matrix, determinant is 0\\\";if(!0===t)throw new Error(v);return console.warn(v),this.identity()}var y=1/g;return i[0]=p*y,i[1]=(a*d-h*o)*y,i[2]=(u*o-a*l)*y,i[3]=f*y,i[4]=(h*r-a*c)*y,i[5]=(a*s-u*r)*y,i[6]=m*y,i[7]=(o*c-d*r)*y,i[8]=(l*r-o*s)*y,this},transpose:function(){var e,t=this.elements;return e=t[1],t[1]=t[3],t[3]=e,e=t[2],t[2]=t[6],t[6]=e,e=t[5],t[5]=t[7],t[7]=e,this},getNormalMatrix:function(e){return this.setFromMatrix4(e).getInverse(this).transpose()},transposeIntoArray:function(e){var t=this.elements;return e[0]=t[0],e[1]=t[3],e[2]=t[6],e[3]=t[1],e[4]=t[4],e[5]=t[7],e[6]=t[2],e[7]=t[5],e[8]=t[8],this},fromArray:function(e,t){void 0===t&&(t=0);for(var n=0;n<9;n++)this.elements[n]=e[n+t];return this},toArray:function(e,t){void 0===e&&(e=[]),void 0===t&&(t=0);var n=this.elements;return e[t]=n[0],e[t+1]=n[1],e[t+2]=n[2],e[t+3]=n[3],e[t+4]=n[4],e[t+5]=n[5],e[t+6]=n[6],e[t+7]=n[7],e[t+8]=n[8],e}},ni.prototype={constructor:ni,set:function(e,t){return this.normal.copy(e),this.constant=t,this},setComponents:function(e,t,n,i){return this.normal.set(e,t,n),this.constant=i,this},setFromNormalAndCoplanarPoint:function(e,t){return this.normal.copy(e),this.constant=-t.dot(this.normal),this},setFromCoplanarPoints:function(){var e=new Ut,t=new Ut;return function(n,i,r){var o=e.subVectors(r,i).cross(t.subVectors(n,i)).normalize();return this.setFromNormalAndCoplanarPoint(o,n),this}}(),clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.normal.copy(e.normal),this.constant=e.constant,this},normalize:function(){var e=1/this.normal.length();return this.normal.multiplyScalar(e),this.constant*=e,this},negate:function(){return this.constant*=-1,this.normal.negate(),this},distanceToPoint:function(e){return this.normal.dot(e)+this.constant},distanceToSphere:function(e){return this.distanceToPoint(e.center)-e.radius},projectPoint:function(e,t){return this.orthoPoint(e,t).sub(e).negate()},orthoPoint:function(e,t){var n=this.distanceToPoint(e);return(t||new Ut).copy(this.normal).multiplyScalar(n)},intersectLine:function(){var e=new Ut;return function(t,n){var i=n||new Ut,r=t.delta(e),o=this.normal.dot(r);if(0===o)return 0===this.distanceToPoint(t.start)?i.copy(t.start):void 0;var a=-(t.start.dot(this.normal)+this.constant)/o;return a<0||a>1?void 0:i.copy(r).multiplyScalar(a).add(t.start)}}(),intersectsLine:function(e){var t=this.distanceToPoint(e.start),n=this.distanceToPoint(e.end);return t<0&&n>0||n<0&&t>0},intersectsBox:function(e){return e.intersectsPlane(this)},intersectsSphere:function(e){return e.intersectsPlane(this)},coplanarPoint:function(e){return(e||new Ut).copy(this.normal).multiplyScalar(-this.constant)},applyMatrix4:function(){var e=new Ut,t=new ti;return function(n,i){var r=this.coplanarPoint(e).applyMatrix4(n),o=i||t.getNormalMatrix(n),a=this.normal.applyMatrix3(o).normalize();return this.constant=-r.dot(a),this}}(),translate:function(e){return this.constant=this.constant-e.dot(this.normal),this},equals:function(e){return e.normal.equals(this.normal)&&e.constant===this.constant}},ii.prototype={constructor:ii,set:function(e,t,n,i,r,o){var a=this.planes;return a[0].copy(e),a[1].copy(t),a[2].copy(n),a[3].copy(i),a[4].copy(r),a[5].copy(o),this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){for(var t=this.planes,n=0;n<6;n++)t[n].copy(e.planes[n]);return this},setFromMatrix:function(e){var t=this.planes,n=e.elements,i=n[0],r=n[1],o=n[2],a=n[3],s=n[4],l=n[5],u=n[6],c=n[7],d=n[8],h=n[9],p=n[10],f=n[11],m=n[12],g=n[13],v=n[14],y=n[15];return t[0].setComponents(a-i,c-s,f-d,y-m).normalize(),t[1].setComponents(a+i,c+s,f+d,y+m).normalize(),t[2].setComponents(a+r,c+l,f+h,y+g).normalize(),t[3].setComponents(a-r,c-l,f-h,y-g).normalize(),t[4].setComponents(a-o,c-u,f-p,y-v).normalize(),t[5].setComponents(a+o,c+u,f+p,y+v).normalize(),this},intersectsObject:(Gn=new ei,function(e){var t=e.geometry;return null===t.boundingSphere&&t.computeBoundingSphere(),Gn.copy(t.boundingSphere).applyMatrix4(e.matrixWorld),this.intersectsSphere(Gn)}),intersectsSprite:function(){var e=new ei;return function(t){return e.center.set(0,0,0),e.radius=.7071067811865476,e.applyMatrix4(t.matrixWorld),this.intersectsSphere(e)}}(),intersectsSphere:function(e){for(var t=this.planes,n=e.center,i=-e.radius,r=0;r<6;r++){if(t[r].distanceToPoint(n)<i)return!1}return!0},intersectsBox:(Un=new Ut,Wn=new Ut,function(e){for(var t=this.planes,n=0;n<6;n++){var i=t[n];Un.x=i.normal.x>0?e.min.x:e.max.x,Wn.x=i.normal.x>0?e.max.x:e.min.x,Un.y=i.normal.y>0?e.min.y:e.max.y,Wn.y=i.normal.y>0?e.max.y:e.min.y,Un.z=i.normal.z>0?e.min.z:e.max.z,Wn.z=i.normal.z>0?e.max.z:e.min.z;var r=i.distanceToPoint(Un),o=i.distanceToPoint(Wn);if(r<0&&o<0)return!1}return!0}),containsPoint:function(e){for(var t=this.planes,n=0;n<6;n++)if(t[n].distanceToPoint(e)<0)return!1;return!0}},oi.prototype={constructor:oi,set:function(e,t){return this.origin.copy(e),this.direction.copy(t),this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.origin.copy(e.origin),this.direction.copy(e.direction),this},at:function(e,t){return(t||new Ut).copy(this.direction).multiplyScalar(e).add(this.origin)},lookAt:function(e){return this.direction.copy(e).sub(this.origin).normalize(),this},recast:function(){var e=new Ut;return function(t){return this.origin.copy(this.at(t,e)),this}}(),closestPointToPoint:function(e,t){var n=t||new Ut;n.subVectors(e,this.origin);var i=n.dot(this.direction);return i<0?n.copy(this.origin):n.copy(this.direction).multiplyScalar(i).add(this.origin)},distanceToPoint:function(e){return Math.sqrt(this.distanceSqToPoint(e))},distanceSqToPoint:function(){var e=new Ut;return function(t){var n=e.subVectors(t,this.origin).dot(this.direction);return n<0?this.origin.distanceToSquared(t):(e.copy(this.direction).multiplyScalar(n).add(this.origin),e.distanceToSquared(t))}}(),distanceSqToSegment:(Hn=new Ut,Yn=new Ut,qn=new Ut,function(e,t,n,i){Hn.copy(e).add(t).multiplyScalar(.5),Yn.copy(t).sub(e).normalize(),qn.copy(this.origin).sub(Hn);var r,o,a,s,l=.5*e.distanceTo(t),u=-this.direction.dot(Yn),c=qn.dot(this.direction),d=-qn.dot(Yn),h=qn.lengthSq(),p=Math.abs(1-u*u);if(p>0)if(o=u*c-d,s=l*p,(r=u*d-c)>=0)if(o>=-s)if(o<=s){var f=1/p;a=(r*=f)*(r+u*(o*=f)+2*c)+o*(u*r+o+2*d)+h}else o=l,a=-(r=Math.max(0,-(u*o+c)))*r+o*(o+2*d)+h;else o=-l,a=-(r=Math.max(0,-(u*o+c)))*r+o*(o+2*d)+h;else o<=-s?a=-(r=Math.max(0,-(-u*l+c)))*r+(o=r>0?-l:Math.min(Math.max(-l,-d),l))*(o+2*d)+h:o<=s?(r=0,a=(o=Math.min(Math.max(-l,-d),l))*(o+2*d)+h):a=-(r=Math.max(0,-(u*l+c)))*r+(o=r>0?l:Math.min(Math.max(-l,-d),l))*(o+2*d)+h;else o=u>0?-l:l,a=-(r=Math.max(0,-(u*o+c)))*r+o*(o+2*d)+h;return n&&n.copy(this.direction).multiplyScalar(r).add(this.origin),i&&i.copy(Yn).multiplyScalar(o).add(Hn),a}),intersectSphere:function(){var e=new Ut;return function(t,n){e.subVectors(t.center,this.origin);var i=e.dot(this.direction),r=e.dot(e)-i*i,o=t.radius*t.radius;if(r>o)return null;var a=Math.sqrt(o-r),s=i-a,l=i+a;return s<0&&l<0?null:s<0?this.at(l,n):this.at(s,n)}}(),intersectsSphere:function(e){return this.distanceToPoint(e.center)<=e.radius},distanceToPlane:function(e){var t=e.normal.dot(this.direction);if(0===t)return 0===e.distanceToPoint(this.origin)?0:null;var n=-(this.origin.dot(e.normal)+e.constant)/t;return n>=0?n:null},intersectPlane:function(e,t){var n=this.distanceToPlane(e);return null===n?null:this.at(n,t)},intersectsPlane:function(e){var t=e.distanceToPoint(this.origin);return 0===t||e.normal.dot(this.direction)*t<0},intersectBox:function(e,t){var n,i,r,o,a,s,l=1/this.direction.x,u=1/this.direction.y,c=1/this.direction.z,d=this.origin;return l>=0?(n=(e.min.x-d.x)*l,i=(e.max.x-d.x)*l):(n=(e.max.x-d.x)*l,i=(e.min.x-d.x)*l),u>=0?(r=(e.min.y-d.y)*u,o=(e.max.y-d.y)*u):(r=(e.max.y-d.y)*u,o=(e.min.y-d.y)*u),n>o||r>i?null:((r>n||n!=n)&&(n=r),(o<i||i!=i)&&(i=o),c>=0?(a=(e.min.z-d.z)*c,s=(e.max.z-d.z)*c):(a=(e.max.z-d.z)*c,s=(e.min.z-d.z)*c),n>s||a>i?null:((a>n||n!=n)&&(n=a),(s<i||i!=i)&&(i=s),i<0?null:this.at(n>=0?n:i,t)))},intersectsBox:(Vn=new Ut,function(e){return null!==this.intersectBox(e,Vn)}),intersectTriangle:function(){var e=new Ut,t=new Ut,n=new Ut,i=new Ut;return function(r,o,a,s,l){t.subVectors(o,r),n.subVectors(a,r),i.crossVectors(t,n);var u,c=this.direction.dot(i);if(c>0){if(s)return null;u=1}else{if(!(c<0))return null;u=-1,c=-c}e.subVectors(this.origin,r);var d=u*this.direction.dot(n.crossVectors(e,n));if(d<0)return null;var h=u*this.direction.dot(t.cross(e));if(h<0)return null;if(d+h>c)return null;var p=-u*e.dot(i);return p<0?null:this.at(p/c,l)}}(),applyMatrix4:function(e){return this.direction.add(this.origin).applyMatrix4(e),this.origin.applyMatrix4(e),this.direction.sub(this.origin),this.direction.normalize(),this},equals:function(e){return e.origin.equals(this.origin)&&e.direction.equals(this.direction)}},ai.RotationOrders=[\\\"XYZ\\\",\\\"YZX\\\",\\\"ZXY\\\",\\\"XZY\\\",\\\"YXZ\\\",\\\"ZYX\\\"],ai.DefaultOrder=\\\"XYZ\\\",ai.prototype={constructor:ai,isEuler:!0,get x(){return this._x},set x(e){this._x=e,this.onChangeCallback()},get y(){return this._y},set y(e){this._y=e,this.onChangeCallback()},get z(){return this._z},set z(e){this._z=e,this.onChangeCallback()},get order(){return this._order},set order(e){this._order=e,this.onChangeCallback()},set:function(e,t,n,i){return this._x=e,this._y=t,this._z=n,this._order=i||this._order,this.onChangeCallback(),this},clone:function(){return new this.constructor(this._x,this._y,this._z,this._order)},copy:function(e){return this._x=e._x,this._y=e._y,this._z=e._z,this._order=e._order,this.onChangeCallback(),this},setFromRotationMatrix:function(e,t,n){var i=Ct.clamp,r=e.elements,o=r[0],a=r[4],s=r[8],l=r[1],u=r[5],c=r[9],d=r[2],h=r[6],p=r[10];return\\\"XYZ\\\"===(t=t||this._order)?(this._y=Math.asin(i(s,-1,1)),Math.abs(s)<.99999?(this._x=Math.atan2(-c,p),this._z=Math.atan2(-a,o)):(this._x=Math.atan2(h,u),this._z=0)):\\\"YXZ\\\"===t?(this._x=Math.asin(-i(c,-1,1)),Math.abs(c)<.99999?(this._y=Math.atan2(s,p),this._z=Math.atan2(l,u)):(this._y=Math.atan2(-d,o),this._z=0)):\\\"ZXY\\\"===t?(this._x=Math.asin(i(h,-1,1)),Math.abs(h)<.99999?(this._y=Math.atan2(-d,p),this._z=Math.atan2(-a,u)):(this._y=0,this._z=Math.atan2(l,o))):\\\"ZYX\\\"===t?(this._y=Math.asin(-i(d,-1,1)),Math.abs(d)<.99999?(this._x=Math.atan2(h,p),this._z=Math.atan2(l,o)):(this._x=0,this._z=Math.atan2(-a,u))):\\\"YZX\\\"===t?(this._z=Math.asin(i(l,-1,1)),Math.abs(l)<.99999?(this._x=Math.atan2(-c,u),this._y=Math.atan2(-d,o)):(this._x=0,this._y=Math.atan2(s,p))):\\\"XZY\\\"===t?(this._z=Math.asin(-i(a,-1,1)),Math.abs(a)<.99999?(this._x=Math.atan2(h,u),this._y=Math.atan2(s,o)):(this._x=Math.atan2(-c,p),this._y=0)):console.warn(\\\"THREE.Euler: .setFromRotationMatrix() given unsupported order: \\\"+t),this._order=t,!1!==n&&this.onChangeCallback(),this},setFromQuaternion:function(){var e;return function(t,n,i){return void 0===e&&(e=new Wt),e.makeRotationFromQuaternion(t),this.setFromRotationMatrix(e,n,i)}}(),setFromVector3:function(e,t){return this.set(e.x,e.y,e.z,t||this._order)},reorder:(Xn=new jt,function(e){return Xn.setFromEuler(this),this.setFromQuaternion(Xn,e)}),equals:function(e){return e._x===this._x&&e._y===this._y&&e._z===this._z&&e._order===this._order},fromArray:function(e){return this._x=e[0],this._y=e[1],this._z=e[2],void 0!==e[3]&&(this._order=e[3]),this.onChangeCallback(),this},toArray:function(e,t){return void 0===e&&(e=[]),void 0===t&&(t=0),e[t]=this._x,e[t+1]=this._y,e[t+2]=this._z,e[t+3]=this._order,e},toVector3:function(e){return e?e.set(this._x,this._y,this._z):new Ut(this._x,this._y,this._z)},onChange:function(e){return this.onChangeCallback=e,this},onChangeCallback:function(){}},si.prototype={constructor:si,set:function(e){this.mask=1<<e},enable:function(e){this.mask|=1<<e},toggle:function(e){this.mask^=1<<e},disable:function(e){this.mask&=~(1<<e)},test:function(e){return 0!=(this.mask&e.mask)}};var li,ui,ci,di,hi,pi,fi,mi=0;function gi(){Object.defineProperty(this,\\\"id\\\",{value:mi++}),this.uuid=Ct.generateUUID(),this.name=\\\"\\\",this.type=\\\"Object3D\\\",this.parent=null,this.children=[],this.up=gi.DefaultUp.clone();var e=new Ut,t=new ai,n=new jt,i=new Ut(1,1,1);t.onChange((function(){n.setFromEuler(t,!1)})),n.onChange((function(){t.setFromQuaternion(n,void 0,!1)})),Object.defineProperties(this,{position:{enumerable:!0,value:e},rotation:{enumerable:!0,value:t},quaternion:{enumerable:!0,value:n},scale:{enumerable:!0,value:i},modelViewMatrix:{value:new Wt},normalMatrix:{value:new ti}}),this.matrix=new Wt,this.matrixWorld=new Wt,this.matrixAutoUpdate=gi.DefaultMatrixAutoUpdate,this.matrixWorldNeedsUpdate=!1,this.layers=new si,this.visible=!0,this.castShadow=!1,this.receiveShadow=!1,this.frustumCulled=!0,this.renderOrder=0,this.userData={},this.onBeforeRender=function(){},this.onAfterRender=function(){}}function vi(e,t){this.start=void 0!==e?e:new Ut,this.end=void 0!==t?t:new Ut}function yi(e,t,n){this.a=void 0!==e?e:new Ut,this.b=void 0!==t?t:new Ut,this.c=void 0!==n?n:new Ut}function bi(e,t,n,i,r,o){this.a=e,this.b=t,this.c=n,this.normal=i&&i.isVector3?i:new Ut,this.vertexNormals=Array.isArray(i)?i:[],this.color=r&&r.isColor?r:new kn,this.vertexColors=Array.isArray(r)?r:[],this.materialIndex=void 0!==o?o:0}function xi(e){Jn.call(this),this.type=\\\"MeshBasicMaterial\\\",this.color=new kn(16777215),this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.combine=oe,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=\\\"round\\\",this.wireframeLinejoin=\\\"round\\\",this.skinning=!1,this.morphTargets=!1,this.lights=!1,this.setValues(e)}function _i(e,t,n){if(Array.isArray(e))throw new TypeError(\\\"THREE.BufferAttribute: array should be a Typed Array.\\\");this.uuid=Ct.generateUUID(),this.array=e,this.itemSize=t,this.count=void 0!==e?e.length/t:0,this.normalized=!0===n,this.dynamic=!1,this.updateRange={offset:0,count:-1},this.onUploadCallback=function(){},this.version=0}function wi(e,t){_i.call(this,new Int8Array(e),t)}function Mi(e,t){_i.call(this,new Uint8Array(e),t)}function Si(e,t){_i.call(this,new Uint8ClampedArray(e),t)}function Ei(e,t){_i.call(this,new Int16Array(e),t)}function Ti(e,t){_i.call(this,new Uint16Array(e),t)}function Ci(e,t){_i.call(this,new Int32Array(e),t)}function Oi(e,t){_i.call(this,new Uint32Array(e),t)}function Pi(e,t){_i.call(this,new Float32Array(e),t)}function ki(e,t){_i.call(this,new Float64Array(e),t)}function Ai(){this.indices=[],this.vertices=[],this.normals=[],this.colors=[],this.uvs=[],this.uvs2=[],this.groups=[],this.morphTargets={},this.skinWeights=[],this.skinIndices=[],this.boundingBox=null,this.boundingSphere=null,this.verticesNeedUpdate=!1,this.normalsNeedUpdate=!1,this.colorsNeedUpdate=!1,this.uvsNeedUpdate=!1,this.groupsNeedUpdate=!1}function Ri(e){for(var t=e.length,n=-1/0;t--;)e[t]>n&&(n=e[t]);return n}gi.DefaultUp=new Ut(0,1,0),gi.DefaultMatrixAutoUpdate=!0,gi.prototype={constructor:gi,isObject3D:!0,applyMatrix:function(e){this.matrix.multiplyMatrices(e,this.matrix),this.matrix.decompose(this.position,this.quaternion,this.scale)},setRotationFromAxisAngle:function(e,t){this.quaternion.setFromAxisAngle(e,t)},setRotationFromEuler:function(e){this.quaternion.setFromEuler(e,!0)},setRotationFromMatrix:function(e){this.quaternion.setFromRotationMatrix(e)},setRotationFromQuaternion:function(e){this.quaternion.copy(e)},rotateOnAxis:(di=new jt,function(e,t){return di.setFromAxisAngle(e,t),this.quaternion.multiply(di),this}),rotateX:function(){var e=new Ut(1,0,0);return function(t){return this.rotateOnAxis(e,t)}}(),rotateY:function(){var e=new Ut(0,1,0);return function(t){return this.rotateOnAxis(e,t)}}(),rotateZ:function(){var e=new Ut(0,0,1);return function(t){return this.rotateOnAxis(e,t)}}(),translateOnAxis:function(){var e=new Ut;return function(t,n){return e.copy(t).applyQuaternion(this.quaternion),this.position.add(e.multiplyScalar(n)),this}}(),translateX:function(){var e=new Ut(1,0,0);return function(t){return this.translateOnAxis(e,t)}}(),translateY:function(){var e=new Ut(0,1,0);return function(t){return this.translateOnAxis(e,t)}}(),translateZ:function(){var e=new Ut(0,0,1);return function(t){return this.translateOnAxis(e,t)}}(),localToWorld:function(e){return e.applyMatrix4(this.matrixWorld)},worldToLocal:(ci=new Wt,function(e){return e.applyMatrix4(ci.getInverse(this.matrixWorld))}),lookAt:function(){var e=new Wt;return function(t){e.lookAt(t,this.position,this.up),this.quaternion.setFromRotationMatrix(e)}}(),add:function(e){if(arguments.length>1){for(var t=0;t<arguments.length;t++)this.add(arguments[t]);return this}return e===this?(console.error(\\\"THREE.Object3D.add: object can't be added as a child of itself.\\\",e),this):(e&&e.isObject3D?(null!==e.parent&&e.parent.remove(e),e.parent=this,e.dispatchEvent({type:\\\"added\\\"}),this.children.push(e)):console.error(\\\"THREE.Object3D.add: object not an instance of THREE.Object3D.\\\",e),this)},remove:function(e){if(arguments.length>1)for(var t=0;t<arguments.length;t++)this.remove(arguments[t]);var n=this.children.indexOf(e);-1!==n&&(e.parent=null,e.dispatchEvent({type:\\\"removed\\\"}),this.children.splice(n,1))},getObjectById:function(e){return this.getObjectByProperty(\\\"id\\\",e)},getObjectByName:function(e){return this.getObjectByProperty(\\\"name\\\",e)},getObjectByProperty:function(e,t){if(this[e]===t)return this;for(var n=0,i=this.children.length;n<i;n++){var r=this.children[n].getObjectByProperty(e,t);if(void 0!==r)return r}},getWorldPosition:function(e){var t=e||new Ut;return this.updateMatrixWorld(!0),t.setFromMatrixPosition(this.matrixWorld)},getWorldQuaternion:(li=new Ut,ui=new Ut,function(e){var t=e||new jt;return this.updateMatrixWorld(!0),this.matrixWorld.decompose(li,t,ui),t}),getWorldRotation:function(){var e=new jt;return function(t){var n=t||new ai;return this.getWorldQuaternion(e),n.setFromQuaternion(e,this.rotation.order,!1)}}(),getWorldScale:function(){var e=new Ut,t=new jt;return function(n){var i=n||new Ut;return this.updateMatrixWorld(!0),this.matrixWorld.decompose(e,t,i),i}}(),getWorldDirection:function(){var e=new jt;return function(t){var n=t||new Ut;return this.getWorldQuaternion(e),n.set(0,0,1).applyQuaternion(e)}}(),raycast:function(){},traverse:function(e){e(this);for(var t=this.children,n=0,i=t.length;n<i;n++)t[n].traverse(e)},traverseVisible:function(e){if(!1!==this.visible){e(this);for(var t=this.children,n=0,i=t.length;n<i;n++)t[n].traverseVisible(e)}},traverseAncestors:function(e){var t=this.parent;null!==t&&(e(t),t.traverseAncestors(e))},updateMatrix:function(){this.matrix.compose(this.position,this.quaternion,this.scale),this.matrixWorldNeedsUpdate=!0},updateMatrixWorld:function(e){!0===this.matrixAutoUpdate&&this.updateMatrix(),!0!==this.matrixWorldNeedsUpdate&&!0!==e||(null===this.parent?this.matrixWorld.copy(this.matrix):this.matrixWorld.multiplyMatrices(this.parent.matrixWorld,this.matrix),this.matrixWorldNeedsUpdate=!1,e=!0);for(var t=this.children,n=0,i=t.length;n<i;n++)t[n].updateMatrixWorld(e)},toJSON:function(e){var t=void 0===e||\\\"\\\"===e,n={};t&&(e={geometries:{},materials:{},textures:{},images:{}},n.metadata={version:4.4,type:\\\"Object\\\",generator:\\\"Object3D.toJSON\\\"});var i={};if(i.uuid=this.uuid,i.type=this.type,\\\"\\\"!==this.name&&(i.name=this.name),\\\"{}\\\"!==JSON.stringify(this.userData)&&(i.userData=this.userData),!0===this.castShadow&&(i.castShadow=!0),!0===this.receiveShadow&&(i.receiveShadow=!0),!1===this.visible&&(i.visible=!1),i.matrix=this.matrix.toArray(),void 0!==this.geometry&&(void 0===e.geometries[this.geometry.uuid]&&(e.geometries[this.geometry.uuid]=this.geometry.toJSON(e)),i.geometry=this.geometry.uuid),void 0!==this.material&&(void 0===e.materials[this.material.uuid]&&(e.materials[this.material.uuid]=this.material.toJSON(e)),i.material=this.material.uuid),this.children.length>0){i.children=[];for(var r=0;r<this.children.length;r++)i.children.push(this.children[r].toJSON(e).object)}if(t){var o=u(e.geometries),a=u(e.materials),s=u(e.textures),l=u(e.images);o.length>0&&(n.geometries=o),a.length>0&&(n.materials=a),s.length>0&&(n.textures=s),l.length>0&&(n.images=l)}return n.object=i,n;function u(e){var t=[];for(var n in e){var i=e[n];delete i.metadata,t.push(i)}return t}},clone:function(e){return(new this.constructor).copy(this,e)},copy:function(e,t){if(void 0===t&&(t=!0),this.name=e.name,this.up.copy(e.up),this.position.copy(e.position),this.quaternion.copy(e.quaternion),this.scale.copy(e.scale),this.matrix.copy(e.matrix),this.matrixWorld.copy(e.matrixWorld),this.matrixAutoUpdate=e.matrixAutoUpdate,this.matrixWorldNeedsUpdate=e.matrixWorldNeedsUpdate,this.layers.mask=e.layers.mask,this.visible=e.visible,this.castShadow=e.castShadow,this.receiveShadow=e.receiveShadow,this.frustumCulled=e.frustumCulled,this.renderOrder=e.renderOrder,this.userData=JSON.parse(JSON.stringify(e.userData)),!0===t)for(var n=0;n<e.children.length;n++){var i=e.children[n];this.add(i.clone())}return this}},Object.assign(gi.prototype,i.prototype),vi.prototype={constructor:vi,set:function(e,t){return this.start.copy(e),this.end.copy(t),this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.start.copy(e.start),this.end.copy(e.end),this},getCenter:function(e){return(e||new Ut).addVectors(this.start,this.end).multiplyScalar(.5)},delta:function(e){return(e||new Ut).subVectors(this.end,this.start)},distanceSq:function(){return this.start.distanceToSquared(this.end)},distance:function(){return this.start.distanceTo(this.end)},at:function(e,t){var n=t||new Ut;return this.delta(n).multiplyScalar(e).add(this.start)},closestPointToPointParameter:(hi=new Ut,pi=new Ut,function(e,t){hi.subVectors(e,this.start),pi.subVectors(this.end,this.start);var n=pi.dot(pi),i=pi.dot(hi)/n;return t&&(i=Ct.clamp(i,0,1)),i}),closestPointToPoint:function(e,t,n){var i=this.closestPointToPointParameter(e,t),r=n||new Ut;return this.delta(r).multiplyScalar(i).add(this.start)},applyMatrix4:function(e){return this.start.applyMatrix4(e),this.end.applyMatrix4(e),this},equals:function(e){return e.start.equals(this.start)&&e.end.equals(this.end)}},yi.normal=(fi=new Ut,function(e,t,n,i){var r=i||new Ut;r.subVectors(n,t),fi.subVectors(e,t),r.cross(fi);var o=r.lengthSq();return o>0?r.multiplyScalar(1/Math.sqrt(o)):r.set(0,0,0)}),yi.barycoordFromPoint=function(){var e=new Ut,t=new Ut,n=new Ut;return function(i,r,o,a,s){e.subVectors(a,r),t.subVectors(o,r),n.subVectors(i,r);var l=e.dot(e),u=e.dot(t),c=e.dot(n),d=t.dot(t),h=t.dot(n),p=l*d-u*u,f=s||new Ut;if(0===p)return f.set(-2,-1,-1);var m=1/p,g=(d*c-u*h)*m,v=(l*h-u*c)*m;return f.set(1-g-v,v,g)}}(),yi.containsPoint=function(){var e=new Ut;return function(t,n,i,r){var o=yi.barycoordFromPoint(t,n,i,r,e);return o.x>=0&&o.y>=0&&o.x+o.y<=1}}(),yi.prototype={constructor:yi,set:function(e,t,n){return this.a.copy(e),this.b.copy(t),this.c.copy(n),this},setFromPointsAndIndices:function(e,t,n,i){return this.a.copy(e[t]),this.b.copy(e[n]),this.c.copy(e[i]),this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.a.copy(e.a),this.b.copy(e.b),this.c.copy(e.c),this},area:function(){var e=new Ut,t=new Ut;return function(){return e.subVectors(this.c,this.b),t.subVectors(this.a,this.b),.5*e.cross(t).length()}}(),midpoint:function(e){return(e||new Ut).addVectors(this.a,this.b).add(this.c).multiplyScalar(1/3)},normal:function(e){return yi.normal(this.a,this.b,this.c,e)},plane:function(e){return(e||new ni).setFromCoplanarPoints(this.a,this.b,this.c)},barycoordFromPoint:function(e,t){return yi.barycoordFromPoint(e,this.a,this.b,this.c,t)},containsPoint:function(e){return yi.containsPoint(e,this.a,this.b,this.c)},closestPointToPoint:function(){var e,t,n,i;return function(r,o){void 0===e&&(e=new ni,t=[new vi,new vi,new vi],n=new Ut,i=new Ut);var a=o||new Ut,s=1/0;if(e.setFromCoplanarPoints(this.a,this.b,this.c),e.projectPoint(r,n),!0===this.containsPoint(n))a.copy(n);else{t[0].set(this.a,this.b),t[1].set(this.b,this.c),t[2].set(this.c,this.a);for(var l=0;l<t.length;l++){t[l].closestPointToPoint(n,!0,i);var u=n.distanceToSquared(i);u<s&&(s=u,a.copy(i))}}return a}}(),equals:function(e){return e.a.equals(this.a)&&e.b.equals(this.b)&&e.c.equals(this.c)}},bi.prototype={constructor:bi,clone:function(){return(new this.constructor).copy(this)},copy:function(e){this.a=e.a,this.b=e.b,this.c=e.c,this.normal.copy(e.normal),this.color.copy(e.color),this.materialIndex=e.materialIndex;for(var t=0,n=e.vertexNormals.length;t<n;t++)this.vertexNormals[t]=e.vertexNormals[t].clone();for(t=0,n=e.vertexColors.length;t<n;t++)this.vertexColors[t]=e.vertexColors[t].clone();return this}},xi.prototype=Object.create(Jn.prototype),xi.prototype.constructor=xi,xi.prototype.isMeshBasicMaterial=!0,xi.prototype.copy=function(e){return Jn.prototype.copy.call(this,e),this.color.copy(e.color),this.map=e.map,this.lightMap=e.lightMap,this.lightMapIntensity=e.lightMapIntensity,this.aoMap=e.aoMap,this.aoMapIntensity=e.aoMapIntensity,this.specularMap=e.specularMap,this.alphaMap=e.alphaMap,this.envMap=e.envMap,this.combine=e.combine,this.reflectivity=e.reflectivity,this.refractionRatio=e.refractionRatio,this.wireframe=e.wireframe,this.wireframeLinewidth=e.wireframeLinewidth,this.wireframeLinecap=e.wireframeLinecap,this.wireframeLinejoin=e.wireframeLinejoin,this.skinning=e.skinning,this.morphTargets=e.morphTargets,this},_i.prototype={constructor:_i,isBufferAttribute:!0,set needsUpdate(e){!0===e&&this.version++},setArray:function(e){if(Array.isArray(e))throw new TypeError(\\\"THREE.BufferAttribute: array should be a Typed Array.\\\");this.count=void 0!==e?e.length/this.itemSize:0,this.array=e},setDynamic:function(e){return this.dynamic=e,this},copy:function(e){return this.array=new e.array.constructor(e.array),this.itemSize=e.itemSize,this.count=e.count,this.normalized=e.normalized,this.dynamic=e.dynamic,this},copyAt:function(e,t,n){e*=this.itemSize,n*=t.itemSize;for(var i=0,r=this.itemSize;i<r;i++)this.array[e+i]=t.array[n+i];return this},copyArray:function(e){return this.array.set(e),this},copyColorsArray:function(e){for(var t=this.array,n=0,i=0,r=e.length;i<r;i++){var o=e[i];void 0===o&&(console.warn(\\\"THREE.BufferAttribute.copyColorsArray(): color is undefined\\\",i),o=new kn),t[n++]=o.r,t[n++]=o.g,t[n++]=o.b}return this},copyIndicesArray:function(e){for(var t=this.array,n=0,i=0,r=e.length;i<r;i++){var o=e[i];t[n++]=o.a,t[n++]=o.b,t[n++]=o.c}return this},copyVector2sArray:function(e){for(var t=this.array,n=0,i=0,r=e.length;i<r;i++){var o=e[i];void 0===o&&(console.warn(\\\"THREE.BufferAttribute.copyVector2sArray(): vector is undefined\\\",i),o=new Ot),t[n++]=o.x,t[n++]=o.y}return this},copyVector3sArray:function(e){for(var t=this.array,n=0,i=0,r=e.length;i<r;i++){var o=e[i];void 0===o&&(console.warn(\\\"THREE.BufferAttribute.copyVector3sArray(): vector is undefined\\\",i),o=new Ut),t[n++]=o.x,t[n++]=o.y,t[n++]=o.z}return this},copyVector4sArray:function(e){for(var t=this.array,n=0,i=0,r=e.length;i<r;i++){var o=e[i];void 0===o&&(console.warn(\\\"THREE.BufferAttribute.copyVector4sArray(): vector is undefined\\\",i),o=new Ft),t[n++]=o.x,t[n++]=o.y,t[n++]=o.z,t[n++]=o.w}return this},set:function(e,t){return void 0===t&&(t=0),this.array.set(e,t),this},getX:function(e){return this.array[e*this.itemSize]},setX:function(e,t){return this.array[e*this.itemSize]=t,this},getY:function(e){return this.array[e*this.itemSize+1]},setY:function(e,t){return this.array[e*this.itemSize+1]=t,this},getZ:function(e){return this.array[e*this.itemSize+2]},setZ:function(e,t){return this.array[e*this.itemSize+2]=t,this},getW:function(e){return this.array[e*this.itemSize+3]},setW:function(e,t){return this.array[e*this.itemSize+3]=t,this},setXY:function(e,t,n){return e*=this.itemSize,this.array[e+0]=t,this.array[e+1]=n,this},setXYZ:function(e,t,n,i){return e*=this.itemSize,this.array[e+0]=t,this.array[e+1]=n,this.array[e+2]=i,this},setXYZW:function(e,t,n,i,r){return e*=this.itemSize,this.array[e+0]=t,this.array[e+1]=n,this.array[e+2]=i,this.array[e+3]=r,this},onUpload:function(e){return this.onUploadCallback=e,this},clone:function(){return new this.constructor(this.array,this.itemSize).copy(this)}},wi.prototype=Object.create(_i.prototype),wi.prototype.constructor=wi,Mi.prototype=Object.create(_i.prototype),Mi.prototype.constructor=Mi,Si.prototype=Object.create(_i.prototype),Si.prototype.constructor=Si,Ei.prototype=Object.create(_i.prototype),Ei.prototype.constructor=Ei,Ti.prototype=Object.create(_i.prototype),Ti.prototype.constructor=Ti,Ci.prototype=Object.create(_i.prototype),Ci.prototype.constructor=Ci,Oi.prototype=Object.create(_i.prototype),Oi.prototype.constructor=Oi,Pi.prototype=Object.create(_i.prototype),Pi.prototype.constructor=Pi,ki.prototype=Object.create(_i.prototype),ki.prototype.constructor=ki,Object.assign(Ai.prototype,{computeGroups:function(e){for(var t,n=[],i=void 0,r=e.faces,o=0;o<r.length;o++){var a=r[o];a.materialIndex!==i&&(i=a.materialIndex,void 0!==t&&(t.count=3*o-t.start,n.push(t)),t={start:3*o,materialIndex:i})}void 0!==t&&(t.count=3*o-t.start,n.push(t)),this.groups=n},fromGeometry:function(e){var t,n=e.faces,i=e.vertices,r=e.faceVertexUvs,o=r[0]&&r[0].length>0,a=r[1]&&r[1].length>0,s=e.morphTargets,l=s.length;if(l>0){t=[];for(var u=0;u<l;u++)t[u]=[];this.morphTargets.position=t}var c,d=e.morphNormals,h=d.length;if(h>0){c=[];for(u=0;u<h;u++)c[u]=[];this.morphTargets.normal=c}var p=e.skinIndices,f=e.skinWeights,m=p.length===i.length,g=f.length===i.length;for(u=0;u<n.length;u++){var v=n[u];this.vertices.push(i[v.a],i[v.b],i[v.c]);var y=v.vertexNormals;if(3===y.length)this.normals.push(y[0],y[1],y[2]);else{var b=v.normal;this.normals.push(b,b,b)}var x,_=v.vertexColors;if(3===_.length)this.colors.push(_[0],_[1],_[2]);else{var w=v.color;this.colors.push(w,w,w)}if(!0===o)void 0!==(x=r[0][u])?this.uvs.push(x[0],x[1],x[2]):(console.warn(\\\"THREE.DirectGeometry.fromGeometry(): Undefined vertexUv \\\",u),this.uvs.push(new Ot,new Ot,new Ot));if(!0===a)void 0!==(x=r[1][u])?this.uvs2.push(x[0],x[1],x[2]):(console.warn(\\\"THREE.DirectGeometry.fromGeometry(): Undefined vertexUv2 \\\",u),this.uvs2.push(new Ot,new Ot,new Ot));for(var M=0;M<l;M++){var S=s[M].vertices;t[M].push(S[v.a],S[v.b],S[v.c])}for(M=0;M<h;M++){var E=d[M].vertexNormals[u];c[M].push(E.a,E.b,E.c)}m&&this.skinIndices.push(p[v.a],p[v.b],p[v.c]),g&&this.skinWeights.push(f[v.a],f[v.b],f[v.c])}return this.computeGroups(e),this.verticesNeedUpdate=e.verticesNeedUpdate,this.normalsNeedUpdate=e.normalsNeedUpdate,this.colorsNeedUpdate=e.colorsNeedUpdate,this.uvsNeedUpdate=e.uvsNeedUpdate,this.groupsNeedUpdate=e.groupsNeedUpdate,this}});var Li,Ii=0;function Di(){return Ii++}function Ni(){Object.defineProperty(this,\\\"id\\\",{value:Di()}),this.uuid=Ct.generateUUID(),this.name=\\\"\\\",this.type=\\\"Geometry\\\",this.vertices=[],this.colors=[],this.faces=[],this.faceVertexUvs=[[]],this.morphTargets=[],this.morphNormals=[],this.skinWeights=[],this.skinIndices=[],this.lineDistances=[],this.boundingBox=null,this.boundingSphere=null,this.elementsNeedUpdate=!1,this.verticesNeedUpdate=!1,this.uvsNeedUpdate=!1,this.normalsNeedUpdate=!1,this.colorsNeedUpdate=!1,this.lineDistancesNeedUpdate=!1,this.groupsNeedUpdate=!1}function Fi(){Object.defineProperty(this,\\\"id\\\",{value:Di()}),this.uuid=Ct.generateUUID(),this.name=\\\"\\\",this.type=\\\"BufferGeometry\\\",this.index=null,this.attributes={},this.morphAttributes={},this.groups=[],this.boundingBox=null,this.boundingSphere=null,this.drawRange={start:0,count:1/0}}function zi(e,t){gi.call(this),this.type=\\\"Mesh\\\",this.geometry=void 0!==e?e:new Fi,this.material=void 0!==t?t:new xi({color:16777215*Math.random()}),this.drawMode=ft,this.updateMorphTargets()}function Bi(e,t,n,i,r,o){Ni.call(this),this.type=\\\"BoxGeometry\\\",this.parameters={width:e,height:t,depth:n,widthSegments:i,heightSegments:r,depthSegments:o},this.fromBufferGeometry(new ji(e,t,n,i,r,o)),this.mergeVertices()}function ji(e,t,n,i,r,o){Fi.call(this),this.type=\\\"BoxBufferGeometry\\\",this.parameters={width:e,height:t,depth:n,widthSegments:i,heightSegments:r,depthSegments:o};var a=this;i=Math.floor(i)||1,r=Math.floor(r)||1,o=Math.floor(o)||1;var s=[],l=[],u=[],c=[],d=0,h=0;function p(e,t,n,i,r,o,p,f,m,g,v){var y,b,x=o/m,_=p/g,w=o/2,M=p/2,S=f/2,E=m+1,T=g+1,C=0,O=0,P=new Ut;for(b=0;b<T;b++){var k=b*_-M;for(y=0;y<E;y++){var A=y*x-w;P[e]=A*i,P[t]=k*r,P[n]=S,l.push(P.x,P.y,P.z),P[e]=0,P[t]=0,P[n]=f>0?1:-1,u.push(P.x,P.y,P.z),c.push(y/m),c.push(1-b/g),C+=1}}for(b=0;b<g;b++)for(y=0;y<m;y++){var R=d+y+E*b,L=d+y+E*(b+1),I=d+(y+1)+E*(b+1),D=d+(y+1)+E*b;s.push(R,L,D),s.push(L,I,D),O+=6}a.addGroup(h,O,v),h+=O,d+=C}p(\\\"z\\\",\\\"y\\\",\\\"x\\\",-1,-1,n,t,e,o,r,0),p(\\\"z\\\",\\\"y\\\",\\\"x\\\",1,-1,n,t,-e,o,r,1),p(\\\"x\\\",\\\"z\\\",\\\"y\\\",1,1,e,n,t,i,o,2),p(\\\"x\\\",\\\"z\\\",\\\"y\\\",1,-1,e,n,-t,i,o,3),p(\\\"x\\\",\\\"y\\\",\\\"z\\\",1,-1,e,t,n,i,r,4),p(\\\"x\\\",\\\"y\\\",\\\"z\\\",-1,-1,e,t,-n,i,r,5),this.setIndex(s),this.addAttribute(\\\"position\\\",new Pi(l,3)),this.addAttribute(\\\"normal\\\",new Pi(u,3)),this.addAttribute(\\\"uv\\\",new Pi(c,2))}function Ui(e,t,n,i){Ni.call(this),this.type=\\\"PlaneGeometry\\\",this.parameters={width:e,height:t,widthSegments:n,heightSegments:i},this.fromBufferGeometry(new Wi(e,t,n,i))}function Wi(e,t,n,i){Fi.call(this),this.type=\\\"PlaneBufferGeometry\\\",this.parameters={width:e,height:t,widthSegments:n,heightSegments:i};var r,o,a=e/2,s=t/2,l=Math.floor(n)||1,u=Math.floor(i)||1,c=l+1,d=u+1,h=e/l,p=t/u,f=[],m=[],g=[],v=[];for(o=0;o<d;o++){var y=o*p-s;for(r=0;r<c;r++){var b=r*h-a;m.push(b,-y,0),g.push(0,0,1),v.push(r/l),v.push(1-o/u)}}for(o=0;o<u;o++)for(r=0;r<l;r++){var x=r+c*o,_=r+c*(o+1),w=r+1+c*(o+1),M=r+1+c*o;f.push(x,_,M),f.push(_,w,M)}this.setIndex(f),this.addAttribute(\\\"position\\\",new Pi(m,3)),this.addAttribute(\\\"normal\\\",new Pi(g,3)),this.addAttribute(\\\"uv\\\",new Pi(v,2))}function Gi(){gi.call(this),this.type=\\\"Camera\\\",this.matrixWorldInverse=new Wt,this.projectionMatrix=new Wt}function Vi(e,t,n,i){Gi.call(this),this.type=\\\"PerspectiveCamera\\\",this.fov=void 0!==e?e:50,this.zoom=1,this.near=void 0!==n?n:.1,this.far=void 0!==i?i:2e3,this.focus=10,this.aspect=void 0!==t?t:1,this.view=null,this.filmGauge=35,this.filmOffset=0,this.updateProjectionMatrix()}function Hi(e,t,n,i,r,o){Gi.call(this),this.type=\\\"OrthographicCamera\\\",this.zoom=1,this.view=null,this.left=e,this.right=t,this.top=n,this.bottom=i,this.near=void 0!==r?r:.1,this.far=void 0!==o?o:2e3,this.updateProjectionMatrix()}function Yi(e,t,n){var i,r,o;return{setMode:function(e){i=e},setIndex:function(n){n.array instanceof Uint32Array&&t.get(\\\"OES_element_index_uint\\\")?(r=e.UNSIGNED_INT,o=4):n.array instanceof Uint16Array?(r=e.UNSIGNED_SHORT,o=2):(r=e.UNSIGNED_BYTE,o=1)},render:function(t,a){e.drawElements(i,a,r,t*o),n.calls++,n.vertices+=a,i===e.TRIANGLES&&(n.faces+=a/3)},renderInstances:function(a,s,l){var u=t.get(\\\"ANGLE_instanced_arrays\\\");null!==u?(u.drawElementsInstancedANGLE(i,l,r,s*o,a.maxInstancedCount),n.calls++,n.vertices+=l*a.maxInstancedCount,i===e.TRIANGLES&&(n.faces+=a.maxInstancedCount*l/3)):console.error(\\\"THREE.WebGLBufferRenderer: using THREE.InstancedBufferGeometry but hardware does not support extension ANGLE_instanced_arrays.\\\")}}}function qi(e,t,n){var i;return{setMode:function(e){i=e},render:function(t,r){e.drawArrays(i,t,r),n.calls++,n.vertices+=r,i===e.TRIANGLES&&(n.faces+=r/3)},renderInstances:function(r){var o=t.get(\\\"ANGLE_instanced_arrays\\\");if(null!==o){var a=r.attributes.position,s=0;a.isInterleavedBufferAttribute?(s=a.data.count,o.drawArraysInstancedANGLE(i,0,s,r.maxInstancedCount)):(s=a.count,o.drawArraysInstancedANGLE(i,0,s,r.maxInstancedCount)),n.calls++,n.vertices+=s*r.maxInstancedCount,i===e.TRIANGLES&&(n.faces+=r.maxInstancedCount*s/3)}else console.error(\\\"THREE.WebGLBufferRenderer: using THREE.InstancedBufferGeometry but hardware does not support extension ANGLE_instanced_arrays.\\\")}}}function Xi(){var e={};return{get:function(t){if(void 0!==e[t.id])return e[t.id];var n;switch(t.type){case\\\"DirectionalLight\\\":n={direction:new Ut,color:new kn,shadow:!1,shadowBias:0,shadowRadius:1,shadowMapSize:new Ot};break;case\\\"SpotLight\\\":n={position:new Ut,direction:new Ut,color:new kn,distance:0,coneCos:0,penumbraCos:0,decay:0,shadow:!1,shadowBias:0,shadowRadius:1,shadowMapSize:new Ot};break;case\\\"PointLight\\\":n={position:new Ut,color:new kn,distance:0,decay:0,shadow:!1,shadowBias:0,shadowRadius:1,shadowMapSize:new Ot};break;case\\\"HemisphereLight\\\":n={direction:new Ut,skyColor:new kn,groundColor:new kn};break;case\\\"RectAreaLight\\\":n={color:new kn,position:new Ut,halfWidth:new Ut,halfHeight:new Ut}}return e[t.id]=n,n}}}function Ki(e,t,n){var i=e.createShader(t);return e.shaderSource(i,n),e.compileShader(i),!1===e.getShaderParameter(i,e.COMPILE_STATUS)&&console.error(\\\"THREE.WebGLShader: Shader couldn't compile.\\\"),\\\"\\\"!==e.getShaderInfoLog(i)&&console.warn(\\\"THREE.WebGLShader: gl.getShaderInfoLog()\\\",t===e.VERTEX_SHADER?\\\"vertex\\\":\\\"fragment\\\",e.getShaderInfoLog(i),function(e){for(var t=e.split(\\\"\\\\n\\\"),n=0;n<t.length;n++)t[n]=n+1+\\\": \\\"+t[n];return t.join(\\\"\\\\n\\\")}(n)),i}Ni.prototype={constructor:Ni,isGeometry:!0,applyMatrix:function(e){for(var t=(new ti).getNormalMatrix(e),n=0,i=this.vertices.length;n<i;n++){this.vertices[n].applyMatrix4(e)}for(n=0,i=this.faces.length;n<i;n++){var r=this.faces[n];r.normal.applyMatrix3(t).normalize();for(var o=0,a=r.vertexNormals.length;o<a;o++)r.vertexNormals[o].applyMatrix3(t).normalize()}return null!==this.boundingBox&&this.computeBoundingBox(),null!==this.boundingSphere&&this.computeBoundingSphere(),this.verticesNeedUpdate=!0,this.normalsNeedUpdate=!0,this},rotateX:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.makeRotationX(t),this.applyMatrix(e),this}}(),rotateY:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.makeRotationY(t),this.applyMatrix(e),this}}(),rotateZ:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.makeRotationZ(t),this.applyMatrix(e),this}}(),translate:function(){var e;return function(t,n,i){return void 0===e&&(e=new Wt),e.makeTranslation(t,n,i),this.applyMatrix(e),this}}(),scale:function(){var e;return function(t,n,i){return void 0===e&&(e=new Wt),e.makeScale(t,n,i),this.applyMatrix(e),this}}(),lookAt:function(e){void 0===Li&&(Li=new gi),Li.lookAt(e),Li.updateMatrix(),this.applyMatrix(Li.matrix)},fromBufferGeometry:function(e){var t=this,n=null!==e.index?e.index.array:void 0,i=e.attributes,r=i.position.array,o=void 0!==i.normal?i.normal.array:void 0,a=void 0!==i.color?i.color.array:void 0,s=void 0!==i.uv?i.uv.array:void 0,l=void 0!==i.uv2?i.uv2.array:void 0;void 0!==l&&(this.faceVertexUvs[1]=[]);for(var u=[],c=[],d=[],h=0,p=0;h<r.length;h+=3,p+=2)t.vertices.push(new Ut(r[h],r[h+1],r[h+2])),void 0!==o&&u.push(new Ut(o[h],o[h+1],o[h+2])),void 0!==a&&t.colors.push(new kn(a[h],a[h+1],a[h+2])),void 0!==s&&c.push(new Ot(s[p],s[p+1])),void 0!==l&&d.push(new Ot(l[p],l[p+1]));function f(e,n,i,r){var h=new bi(e,n,i,void 0!==o?[u[e].clone(),u[n].clone(),u[i].clone()]:[],void 0!==a?[t.colors[e].clone(),t.colors[n].clone(),t.colors[i].clone()]:[],r);t.faces.push(h),void 0!==s&&t.faceVertexUvs[0].push([c[e].clone(),c[n].clone(),c[i].clone()]),void 0!==l&&t.faceVertexUvs[1].push([d[e].clone(),d[n].clone(),d[i].clone()])}if(void 0!==n){var m=e.groups;if(m.length>0)for(h=0;h<m.length;h++)for(var g=m[h],v=g.start,y=(p=v,v+g.count);p<y;p+=3)f(n[p],n[p+1],n[p+2],g.materialIndex);else for(h=0;h<n.length;h+=3)f(n[h],n[h+1],n[h+2])}else for(h=0;h<r.length/3;h+=3)f(h,h+1,h+2);return this.computeFaceNormals(),null!==e.boundingBox&&(this.boundingBox=e.boundingBox.clone()),null!==e.boundingSphere&&(this.boundingSphere=e.boundingSphere.clone()),this},center:function(){this.computeBoundingBox();var e=this.boundingBox.getCenter().negate();return this.translate(e.x,e.y,e.z),e},normalize:function(){this.computeBoundingSphere();var e=this.boundingSphere.center,t=this.boundingSphere.radius,n=0===t?1:1/t,i=new Wt;return i.set(n,0,0,-n*e.x,0,n,0,-n*e.y,0,0,n,-n*e.z,0,0,0,1),this.applyMatrix(i),this},computeFaceNormals:function(){for(var e=new Ut,t=new Ut,n=0,i=this.faces.length;n<i;n++){var r=this.faces[n],o=this.vertices[r.a],a=this.vertices[r.b],s=this.vertices[r.c];e.subVectors(s,a),t.subVectors(o,a),e.cross(t),e.normalize(),r.normal.copy(e)}},computeVertexNormals:function(e){var t,n,i,r,o,a;for(void 0===e&&(e=!0),a=new Array(this.vertices.length),t=0,n=this.vertices.length;t<n;t++)a[t]=new Ut;if(e){var s,l,u,c=new Ut,d=new Ut;for(i=0,r=this.faces.length;i<r;i++)o=this.faces[i],s=this.vertices[o.a],l=this.vertices[o.b],u=this.vertices[o.c],c.subVectors(u,l),d.subVectors(s,l),c.cross(d),a[o.a].add(c),a[o.b].add(c),a[o.c].add(c)}else for(this.computeFaceNormals(),i=0,r=this.faces.length;i<r;i++)a[(o=this.faces[i]).a].add(o.normal),a[o.b].add(o.normal),a[o.c].add(o.normal);for(t=0,n=this.vertices.length;t<n;t++)a[t].normalize();for(i=0,r=this.faces.length;i<r;i++){var h=(o=this.faces[i]).vertexNormals;3===h.length?(h[0].copy(a[o.a]),h[1].copy(a[o.b]),h[2].copy(a[o.c])):(h[0]=a[o.a].clone(),h[1]=a[o.b].clone(),h[2]=a[o.c].clone())}this.faces.length>0&&(this.normalsNeedUpdate=!0)},computeFlatVertexNormals:function(){var e,t,n;for(this.computeFaceNormals(),e=0,t=this.faces.length;e<t;e++){var i=(n=this.faces[e]).vertexNormals;3===i.length?(i[0].copy(n.normal),i[1].copy(n.normal),i[2].copy(n.normal)):(i[0]=n.normal.clone(),i[1]=n.normal.clone(),i[2]=n.normal.clone())}this.faces.length>0&&(this.normalsNeedUpdate=!0)},computeMorphNormals:function(){var e,t,n,i,r;for(n=0,i=this.faces.length;n<i;n++)for((r=this.faces[n]).__originalFaceNormal?r.__originalFaceNormal.copy(r.normal):r.__originalFaceNormal=r.normal.clone(),r.__originalVertexNormals||(r.__originalVertexNormals=[]),e=0,t=r.vertexNormals.length;e<t;e++)r.__originalVertexNormals[e]?r.__originalVertexNormals[e].copy(r.vertexNormals[e]):r.__originalVertexNormals[e]=r.vertexNormals[e].clone();var o=new Ni;for(o.faces=this.faces,e=0,t=this.morphTargets.length;e<t;e++){if(!this.morphNormals[e]){this.morphNormals[e]={},this.morphNormals[e].faceNormals=[],this.morphNormals[e].vertexNormals=[];var a=this.morphNormals[e].faceNormals,s=this.morphNormals[e].vertexNormals;for(n=0,i=this.faces.length;n<i;n++)l=new Ut,u={a:new Ut,b:new Ut,c:new Ut},a.push(l),s.push(u)}var l,u,c=this.morphNormals[e];for(o.vertices=this.morphTargets[e].vertices,o.computeFaceNormals(),o.computeVertexNormals(),n=0,i=this.faces.length;n<i;n++)r=this.faces[n],l=c.faceNormals[n],u=c.vertexNormals[n],l.copy(r.normal),u.a.copy(r.vertexNormals[0]),u.b.copy(r.vertexNormals[1]),u.c.copy(r.vertexNormals[2])}for(n=0,i=this.faces.length;n<i;n++)(r=this.faces[n]).normal=r.__originalFaceNormal,r.vertexNormals=r.__originalVertexNormals},computeLineDistances:function(){for(var e=0,t=this.vertices,n=0,i=t.length;n<i;n++)n>0&&(e+=t[n].distanceTo(t[n-1])),this.lineDistances[n]=e},computeBoundingBox:function(){null===this.boundingBox&&(this.boundingBox=new Qn),this.boundingBox.setFromPoints(this.vertices)},computeBoundingSphere:function(){null===this.boundingSphere&&(this.boundingSphere=new ei),this.boundingSphere.setFromPoints(this.vertices)},merge:function(e,t,n){if(!1!==(e&&e.isGeometry)){var i,r=this.vertices.length,o=this.vertices,a=e.vertices,s=this.faces,l=e.faces,u=this.faceVertexUvs[0],c=e.faceVertexUvs[0],d=this.colors,h=e.colors;void 0===n&&(n=0),void 0!==t&&(i=(new ti).getNormalMatrix(t));for(var p=0,f=a.length;p<f;p++){var m=a[p].clone();void 0!==t&&m.applyMatrix4(t),o.push(m)}for(p=0,f=h.length;p<f;p++)d.push(h[p].clone());for(p=0,f=l.length;p<f;p++){var g,v,y,b=l[p],x=b.vertexNormals,_=b.vertexColors;(g=new bi(b.a+r,b.b+r,b.c+r)).normal.copy(b.normal),void 0!==i&&g.normal.applyMatrix3(i).normalize();for(var w=0,M=x.length;w<M;w++)v=x[w].clone(),void 0!==i&&v.applyMatrix3(i).normalize(),g.vertexNormals.push(v);g.color.copy(b.color);for(w=0,M=_.length;w<M;w++)y=_[w],g.vertexColors.push(y.clone());g.materialIndex=b.materialIndex+n,s.push(g)}for(p=0,f=c.length;p<f;p++){var S=c[p],E=[];if(void 0!==S){for(w=0,M=S.length;w<M;w++)E.push(S[w].clone());u.push(E)}}}else console.error(\\\"THREE.Geometry.merge(): geometry not an instance of THREE.Geometry.\\\",e)},mergeMesh:function(e){!1!==(e&&e.isMesh)?(e.matrixAutoUpdate&&e.updateMatrix(),this.merge(e.geometry,e.matrix)):console.error(\\\"THREE.Geometry.mergeMesh(): mesh not an instance of THREE.Mesh.\\\",e)},mergeVertices:function(){var e,t,n,i,r,o,a,s,l={},u=[],c=[],d=Math.pow(10,4);for(n=0,i=this.vertices.length;n<i;n++)e=this.vertices[n],void 0===l[t=Math.round(e.x*d)+\\\"_\\\"+Math.round(e.y*d)+\\\"_\\\"+Math.round(e.z*d)]?(l[t]=n,u.push(this.vertices[n]),c[n]=u.length-1):c[n]=c[l[t]];var h=[];for(n=0,i=this.faces.length;n<i;n++){(r=this.faces[n]).a=c[r.a],r.b=c[r.b],r.c=c[r.c],o=[r.a,r.b,r.c];for(var p=0;p<3;p++)if(o[p]===o[(p+1)%3]){h.push(n);break}}for(n=h.length-1;n>=0;n--){var f=h[n];for(this.faces.splice(f,1),a=0,s=this.faceVertexUvs.length;a<s;a++)this.faceVertexUvs[a].splice(f,1)}var m=this.vertices.length-u.length;return this.vertices=u,m},sortFacesByMaterialIndex:function(){for(var e=this.faces,t=e.length,n=0;n<t;n++)e[n]._id=n;e.sort((function(e,t){return e.materialIndex-t.materialIndex}));var i,r,o=this.faceVertexUvs[0],a=this.faceVertexUvs[1];o&&o.length===t&&(i=[]),a&&a.length===t&&(r=[]);for(n=0;n<t;n++){var s=e[n]._id;i&&i.push(o[s]),r&&r.push(a[s])}i&&(this.faceVertexUvs[0]=i),r&&(this.faceVertexUvs[1]=r)},toJSON:function(){var e={metadata:{version:4.4,type:\\\"Geometry\\\",generator:\\\"Geometry.toJSON\\\"}};if(e.uuid=this.uuid,e.type=this.type,\\\"\\\"!==this.name&&(e.name=this.name),void 0!==this.parameters){var t=this.parameters;for(var n in t)void 0!==t[n]&&(e[n]=t[n]);return e}for(var i=[],r=0;r<this.vertices.length;r++){var o=this.vertices[r];i.push(o.x,o.y,o.z)}var a=[],s=[],l={},u=[],c={},d=[],h={};for(r=0;r<this.faces.length;r++){var p=this.faces[r],f=void 0!==this.faceVertexUvs[0][r],m=p.normal.length()>0,g=p.vertexNormals.length>0,v=1!==p.color.r||1!==p.color.g||1!==p.color.b,y=p.vertexColors.length>0,b=0;if(b=M(b,0,0),b=M(b,1,!0),b=M(b,2,!1),b=M(b,3,f),b=M(b,4,m),b=M(b,5,g),b=M(b,6,v),b=M(b,7,y),a.push(b),a.push(p.a,p.b,p.c),a.push(p.materialIndex),f){var x=this.faceVertexUvs[0][r];a.push(T(x[0]),T(x[1]),T(x[2]))}if(m&&a.push(S(p.normal)),g){var _=p.vertexNormals;a.push(S(_[0]),S(_[1]),S(_[2]))}if(v&&a.push(E(p.color)),y){var w=p.vertexColors;a.push(E(w[0]),E(w[1]),E(w[2]))}}function M(e,t,n){return n?e|1<<t:e&~(1<<t)}function S(e){var t=e.x.toString()+e.y.toString()+e.z.toString();return void 0!==l[t]||(l[t]=s.length/3,s.push(e.x,e.y,e.z)),l[t]}function E(e){var t=e.r.toString()+e.g.toString()+e.b.toString();return void 0!==c[t]||(c[t]=u.length,u.push(e.getHex())),c[t]}function T(e){var t=e.x.toString()+e.y.toString();return void 0!==h[t]||(h[t]=d.length/2,d.push(e.x,e.y)),h[t]}return e.data={},e.data.vertices=i,e.data.normals=s,u.length>0&&(e.data.colors=u),d.length>0&&(e.data.uvs=[d]),e.data.faces=a,e},clone:function(){return(new Ni).copy(this)},copy:function(e){var t,n,i,r,o,a;this.vertices=[],this.colors=[],this.faces=[],this.faceVertexUvs=[[]],this.morphTargets=[],this.morphNormals=[],this.skinWeights=[],this.skinIndices=[],this.lineDistances=[],this.boundingBox=null,this.boundingSphere=null,this.name=e.name;var s=e.vertices;for(t=0,n=s.length;t<n;t++)this.vertices.push(s[t].clone());var l=e.colors;for(t=0,n=l.length;t<n;t++)this.colors.push(l[t].clone());var u=e.faces;for(t=0,n=u.length;t<n;t++)this.faces.push(u[t].clone());for(t=0,n=e.faceVertexUvs.length;t<n;t++){var c=e.faceVertexUvs[t];for(void 0===this.faceVertexUvs[t]&&(this.faceVertexUvs[t]=[]),i=0,r=c.length;i<r;i++){var d=c[i],h=[];for(o=0,a=d.length;o<a;o++){var p=d[o];h.push(p.clone())}this.faceVertexUvs[t].push(h)}}var f=e.morphTargets;for(t=0,n=f.length;t<n;t++){var m={};if(m.name=f[t].name,void 0!==f[t].vertices)for(m.vertices=[],i=0,r=f[t].vertices.length;i<r;i++)m.vertices.push(f[t].vertices[i].clone());if(void 0!==f[t].normals)for(m.normals=[],i=0,r=f[t].normals.length;i<r;i++)m.normals.push(f[t].normals[i].clone());this.morphTargets.push(m)}var g=e.morphNormals;for(t=0,n=g.length;t<n;t++){var v={};if(void 0!==g[t].vertexNormals)for(v.vertexNormals=[],i=0,r=g[t].vertexNormals.length;i<r;i++){var y=g[t].vertexNormals[i],b={};b.a=y.a.clone(),b.b=y.b.clone(),b.c=y.c.clone(),v.vertexNormals.push(b)}if(void 0!==g[t].faceNormals)for(v.faceNormals=[],i=0,r=g[t].faceNormals.length;i<r;i++)v.faceNormals.push(g[t].faceNormals[i].clone());this.morphNormals.push(v)}var x=e.skinWeights;for(t=0,n=x.length;t<n;t++)this.skinWeights.push(x[t].clone());var _=e.skinIndices;for(t=0,n=_.length;t<n;t++)this.skinIndices.push(_[t].clone());var w=e.lineDistances;for(t=0,n=w.length;t<n;t++)this.lineDistances.push(w[t]);var M=e.boundingBox;null!==M&&(this.boundingBox=M.clone());var S=e.boundingSphere;return null!==S&&(this.boundingSphere=S.clone()),this.elementsNeedUpdate=e.elementsNeedUpdate,this.verticesNeedUpdate=e.verticesNeedUpdate,this.uvsNeedUpdate=e.uvsNeedUpdate,this.normalsNeedUpdate=e.normalsNeedUpdate,this.colorsNeedUpdate=e.colorsNeedUpdate,this.lineDistancesNeedUpdate=e.lineDistancesNeedUpdate,this.groupsNeedUpdate=e.groupsNeedUpdate,this},dispose:function(){this.dispatchEvent({type:\\\"dispose\\\"})}},Object.assign(Ni.prototype,i.prototype),Fi.prototype={constructor:Fi,isBufferGeometry:!0,getIndex:function(){return this.index},setIndex:function(e){Array.isArray(e)?this.index=new(Ri(e)>65535?Oi:Ti)(e,1):this.index=e},addAttribute:function(e,t){return!1===(t&&t.isBufferAttribute)&&!1===(t&&t.isInterleavedBufferAttribute)?(console.warn(\\\"THREE.BufferGeometry: .addAttribute() now expects ( name, attribute ).\\\"),void this.addAttribute(e,new _i(arguments[1],arguments[2]))):\\\"index\\\"===e?(console.warn(\\\"THREE.BufferGeometry.addAttribute: Use .setIndex() for index attribute.\\\"),void this.setIndex(t)):(this.attributes[e]=t,this)},getAttribute:function(e){return this.attributes[e]},removeAttribute:function(e){return delete this.attributes[e],this},addGroup:function(e,t,n){this.groups.push({start:e,count:t,materialIndex:void 0!==n?n:0})},clearGroups:function(){this.groups=[]},setDrawRange:function(e,t){this.drawRange.start=e,this.drawRange.count=t},applyMatrix:function(e){var t=this.attributes.position;void 0!==t&&(e.applyToBufferAttribute(t),t.needsUpdate=!0);var n=this.attributes.normal;void 0!==n&&((new ti).getNormalMatrix(e).applyToBufferAttribute(n),n.needsUpdate=!0);return null!==this.boundingBox&&this.computeBoundingBox(),null!==this.boundingSphere&&this.computeBoundingSphere(),this},rotateX:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.makeRotationX(t),this.applyMatrix(e),this}}(),rotateY:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.makeRotationY(t),this.applyMatrix(e),this}}(),rotateZ:function(){var e;return function(t){return void 0===e&&(e=new Wt),e.makeRotationZ(t),this.applyMatrix(e),this}}(),translate:function(){var e;return function(t,n,i){return void 0===e&&(e=new Wt),e.makeTranslation(t,n,i),this.applyMatrix(e),this}}(),scale:function(){var e;return function(t,n,i){return void 0===e&&(e=new Wt),e.makeScale(t,n,i),this.applyMatrix(e),this}}(),lookAt:function(){var e;return function(t){void 0===e&&(e=new gi),e.lookAt(t),e.updateMatrix(),this.applyMatrix(e.matrix)}}(),center:function(){this.computeBoundingBox();var e=this.boundingBox.getCenter().negate();return this.translate(e.x,e.y,e.z),e},setFromObject:function(e){var t=e.geometry;if(e.isPoints||e.isLine){var n=new Pi(3*t.vertices.length,3),i=new Pi(3*t.colors.length,3);if(this.addAttribute(\\\"position\\\",n.copyVector3sArray(t.vertices)),this.addAttribute(\\\"color\\\",i.copyColorsArray(t.colors)),t.lineDistances&&t.lineDistances.length===t.vertices.length){var r=new Pi(t.lineDistances.length,1);this.addAttribute(\\\"lineDistance\\\",r.copyArray(t.lineDistances))}null!==t.boundingSphere&&(this.boundingSphere=t.boundingSphere.clone()),null!==t.boundingBox&&(this.boundingBox=t.boundingBox.clone())}else e.isMesh&&t&&t.isGeometry&&this.fromGeometry(t);return this},updateFromObject:function(e){var t,n=e.geometry;if(e.isMesh){var i=n.__directGeometry;if(!0===n.elementsNeedUpdate&&(i=void 0,n.elementsNeedUpdate=!1),void 0===i)return this.fromGeometry(n);i.verticesNeedUpdate=n.verticesNeedUpdate,i.normalsNeedUpdate=n.normalsNeedUpdate,i.colorsNeedUpdate=n.colorsNeedUpdate,i.uvsNeedUpdate=n.uvsNeedUpdate,i.groupsNeedUpdate=n.groupsNeedUpdate,n.verticesNeedUpdate=!1,n.normalsNeedUpdate=!1,n.colorsNeedUpdate=!1,n.uvsNeedUpdate=!1,n.groupsNeedUpdate=!1,n=i}return!0===n.verticesNeedUpdate&&(void 0!==(t=this.attributes.position)&&(t.copyVector3sArray(n.vertices),t.needsUpdate=!0),n.verticesNeedUpdate=!1),!0===n.normalsNeedUpdate&&(void 0!==(t=this.attributes.normal)&&(t.copyVector3sArray(n.normals),t.needsUpdate=!0),n.normalsNeedUpdate=!1),!0===n.colorsNeedUpdate&&(void 0!==(t=this.attributes.color)&&(t.copyColorsArray(n.colors),t.needsUpdate=!0),n.colorsNeedUpdate=!1),n.uvsNeedUpdate&&(void 0!==(t=this.attributes.uv)&&(t.copyVector2sArray(n.uvs),t.needsUpdate=!0),n.uvsNeedUpdate=!1),n.lineDistancesNeedUpdate&&(void 0!==(t=this.attributes.lineDistance)&&(t.copyArray(n.lineDistances),t.needsUpdate=!0),n.lineDistancesNeedUpdate=!1),n.groupsNeedUpdate&&(n.computeGroups(e.geometry),this.groups=n.groups,n.groupsNeedUpdate=!1),this},fromGeometry:function(e){return e.__directGeometry=(new Ai).fromGeometry(e),this.fromDirectGeometry(e.__directGeometry)},fromDirectGeometry:function(e){var t=new Float32Array(3*e.vertices.length);if(this.addAttribute(\\\"position\\\",new _i(t,3).copyVector3sArray(e.vertices)),e.normals.length>0){var n=new Float32Array(3*e.normals.length);this.addAttribute(\\\"normal\\\",new _i(n,3).copyVector3sArray(e.normals))}if(e.colors.length>0){var i=new Float32Array(3*e.colors.length);this.addAttribute(\\\"color\\\",new _i(i,3).copyColorsArray(e.colors))}if(e.uvs.length>0){var r=new Float32Array(2*e.uvs.length);this.addAttribute(\\\"uv\\\",new _i(r,2).copyVector2sArray(e.uvs))}if(e.uvs2.length>0){var o=new Float32Array(2*e.uvs2.length);this.addAttribute(\\\"uv2\\\",new _i(o,2).copyVector2sArray(e.uvs2))}if(e.indices.length>0){var a=new(Ri(e.indices)>65535?Uint32Array:Uint16Array)(3*e.indices.length);this.setIndex(new _i(a,1).copyIndicesArray(e.indices))}for(var s in this.groups=e.groups,e.morphTargets){for(var l=[],u=e.morphTargets[s],c=0,d=u.length;c<d;c++){var h=u[c],p=new Pi(3*h.length,3);l.push(p.copyVector3sArray(h))}this.morphAttributes[s]=l}if(e.skinIndices.length>0){var f=new Pi(4*e.skinIndices.length,4);this.addAttribute(\\\"skinIndex\\\",f.copyVector4sArray(e.skinIndices))}if(e.skinWeights.length>0){var m=new Pi(4*e.skinWeights.length,4);this.addAttribute(\\\"skinWeight\\\",m.copyVector4sArray(e.skinWeights))}return null!==e.boundingSphere&&(this.boundingSphere=e.boundingSphere.clone()),null!==e.boundingBox&&(this.boundingBox=e.boundingBox.clone()),this},computeBoundingBox:function(){null===this.boundingBox&&(this.boundingBox=new Qn);var e=this.attributes.position;void 0!==e?this.boundingBox.setFromBufferAttribute(e):this.boundingBox.makeEmpty(),(isNaN(this.boundingBox.min.x)||isNaN(this.boundingBox.min.y)||isNaN(this.boundingBox.min.z))&&console.error('THREE.BufferGeometry.computeBoundingBox: Computed min/max have NaN values. The \\\"position\\\" attribute is likely to have NaN values.',this)},computeBoundingSphere:function(){var e=new Qn,t=new Ut;return function(){null===this.boundingSphere&&(this.boundingSphere=new ei);var n=this.attributes.position;if(n){var i=this.boundingSphere.center;e.setFromBufferAttribute(n),e.getCenter(i);for(var r=0,o=0,a=n.count;o<a;o++)t.x=n.getX(o),t.y=n.getY(o),t.z=n.getZ(o),r=Math.max(r,i.distanceToSquared(t));this.boundingSphere.radius=Math.sqrt(r),isNaN(this.boundingSphere.radius)&&console.error('THREE.BufferGeometry.computeBoundingSphere(): Computed radius is NaN. The \\\"position\\\" attribute is likely to have NaN values.',this)}}}(),computeFaceNormals:function(){},computeVertexNormals:function(){var e=this.index,t=this.attributes,n=this.groups;if(t.position){var i=t.position.array;if(void 0===t.normal)this.addAttribute(\\\"normal\\\",new _i(new Float32Array(i.length),3));else for(var r=t.normal.array,o=0,a=r.length;o<a;o++)r[o]=0;var s,l,u,c=t.normal.array,d=new Ut,h=new Ut,p=new Ut,f=new Ut,m=new Ut;if(e){var g=e.array;0===n.length&&this.addGroup(0,g.length);for(var v=0,y=n.length;v<y;++v){var b=n[v],x=b.start;for(o=x,a=x+b.count;o<a;o+=3)s=3*g[o+0],l=3*g[o+1],u=3*g[o+2],d.fromArray(i,s),h.fromArray(i,l),p.fromArray(i,u),f.subVectors(p,h),m.subVectors(d,h),f.cross(m),c[s]+=f.x,c[s+1]+=f.y,c[s+2]+=f.z,c[l]+=f.x,c[l+1]+=f.y,c[l+2]+=f.z,c[u]+=f.x,c[u+1]+=f.y,c[u+2]+=f.z}}else for(o=0,a=i.length;o<a;o+=9)d.fromArray(i,o),h.fromArray(i,o+3),p.fromArray(i,o+6),f.subVectors(p,h),m.subVectors(d,h),f.cross(m),c[o]=f.x,c[o+1]=f.y,c[o+2]=f.z,c[o+3]=f.x,c[o+4]=f.y,c[o+5]=f.z,c[o+6]=f.x,c[o+7]=f.y,c[o+8]=f.z;this.normalizeNormals(),t.normal.needsUpdate=!0}},merge:function(e,t){if(!1!==(e&&e.isBufferGeometry)){void 0===t&&(t=0);var n=this.attributes;for(var i in n)if(void 0!==e.attributes[i])for(var r=n[i].array,o=e.attributes[i],a=o.array,s=0,l=o.itemSize*t;s<a.length;s++,l++)r[l]=a[s];return this}console.error(\\\"THREE.BufferGeometry.merge(): geometry not an instance of THREE.BufferGeometry.\\\",e)},normalizeNormals:function(){for(var e,t,n,i,r=this.attributes.normal.array,o=0,a=r.length;o<a;o+=3)e=r[o],t=r[o+1],n=r[o+2],i=1/Math.sqrt(e*e+t*t+n*n),r[o]*=i,r[o+1]*=i,r[o+2]*=i},toNonIndexed:function(){if(null===this.index)return console.warn(\\\"THREE.BufferGeometry.toNonIndexed(): Geometry is already non-indexed.\\\"),this;var e=new Fi,t=this.index.array,n=this.attributes;for(var i in n){for(var r=n[i],o=r.array,a=r.itemSize,s=new o.constructor(t.length*a),l=0,u=0,c=0,d=t.length;c<d;c++){l=t[c]*a;for(var h=0;h<a;h++)s[u++]=o[l++]}e.addAttribute(i,new _i(s,a))}return e},toJSON:function(){var e={metadata:{version:4.4,type:\\\"BufferGeometry\\\",generator:\\\"BufferGeometry.toJSON\\\"}};if(e.uuid=this.uuid,e.type=this.type,\\\"\\\"!==this.name&&(e.name=this.name),void 0!==this.parameters){var t=this.parameters;for(var n in t)void 0!==t[n]&&(e[n]=t[n]);return e}e.data={attributes:{}};var i=this.index;if(null!==i){var r=Array.prototype.slice.call(i.array);e.data.index={type:i.array.constructor.name,array:r}}var o=this.attributes;for(var n in o){var a=o[n];r=Array.prototype.slice.call(a.array);e.data.attributes[n]={itemSize:a.itemSize,type:a.array.constructor.name,array:r,normalized:a.normalized}}var s=this.groups;s.length>0&&(e.data.groups=JSON.parse(JSON.stringify(s)));var l=this.boundingSphere;return null!==l&&(e.data.boundingSphere={center:l.center.toArray(),radius:l.radius}),e},clone:function(){return(new Fi).copy(this)},copy:function(e){var t,n,i;this.index=null,this.attributes={},this.morphAttributes={},this.groups=[],this.boundingBox=null,this.boundingSphere=null,this.name=e.name;var r=e.index;null!==r&&this.setIndex(r.clone());var o=e.attributes;for(t in o){var a=o[t];this.addAttribute(t,a.clone())}var s=e.morphAttributes;for(t in s){var l=[],u=s[t];for(n=0,i=u.length;n<i;n++)l.push(u[n].clone());this.morphAttributes[t]=l}var c=e.groups;for(n=0,i=c.length;n<i;n++){var d=c[n];this.addGroup(d.start,d.count,d.materialIndex)}var h=e.boundingBox;null!==h&&(this.boundingBox=h.clone());var p=e.boundingSphere;return null!==p&&(this.boundingSphere=p.clone()),this.drawRange.start=e.drawRange.start,this.drawRange.count=e.drawRange.count,this},dispose:function(){this.dispatchEvent({type:\\\"dispose\\\"})}},Fi.MaxIndex=65535,Object.assign(Fi.prototype,i.prototype),zi.prototype=Object.assign(Object.create(gi.prototype),{constructor:zi,isMesh:!0,setDrawMode:function(e){this.drawMode=e},copy:function(e){return gi.prototype.copy.call(this,e),this.drawMode=e.drawMode,this},updateMorphTargets:function(){var e=this.geometry.morphTargets;if(void 0!==e&&e.length>0){this.morphTargetInfluences=[],this.morphTargetDictionary={};for(var t=0,n=e.length;t<n;t++)this.morphTargetInfluences.push(0),this.morphTargetDictionary[e[t].name]=t}},raycast:function(){var e=new Wt,t=new oi,n=new ei,i=new Ut,r=new Ut,o=new Ut,a=new Ut,s=new Ut,l=new Ut,u=new Ot,c=new Ot,d=new Ot,h=new Ut,p=new Ut,f=new Ut;function m(e,t,n,i,r,o,a){return yi.barycoordFromPoint(e,t,n,i,h),r.multiplyScalar(h.x),o.multiplyScalar(h.y),a.multiplyScalar(h.z),r.add(o).add(a),r.clone()}function g(e,t,n,i,r,o,a){var s=e.material;if(null===(s.side===w?n.intersectTriangle(o,r,i,!0,a):n.intersectTriangle(i,r,o,s.side!==M,a)))return null;f.copy(a),f.applyMatrix4(e.matrixWorld);var l=t.ray.origin.distanceTo(f);return l<t.near||l>t.far?null:{distance:l,point:f.clone(),object:e}}function v(e,t,n,a,s,l,h,f){i.fromBufferAttribute(a,l),r.fromBufferAttribute(a,h),o.fromBufferAttribute(a,f);var v=g(e,t,n,i,r,o,p);return v&&(s&&(u.fromBufferAttribute(s,l),c.fromBufferAttribute(s,h),d.fromBufferAttribute(s,f),v.uv=m(p,i,r,o,u,c,d)),v.face=new bi(l,h,f,yi.normal(i,r,o)),v.faceIndex=l),v}return function(h,f){var y,b=this.geometry,x=this.material,_=this.matrixWorld;if(void 0!==x&&(null===b.boundingSphere&&b.computeBoundingSphere(),n.copy(b.boundingSphere),n.applyMatrix4(_),!1!==h.ray.intersectsSphere(n)&&(e.getInverse(_),t.copy(h.ray).applyMatrix4(e),null===b.boundingBox||!1!==t.intersectsBox(b.boundingBox))))if(b.isBufferGeometry){var w,M,S,E,T,C=b.index,O=b.attributes.position,P=b.attributes.uv;if(null!==C)for(E=0,T=C.count;E<T;E+=3)w=C.getX(E),M=C.getX(E+1),S=C.getX(E+2),(y=v(this,h,t,O,P,w,M,S))&&(y.faceIndex=Math.floor(E/3),f.push(y));else for(E=0,T=O.count;E<T;E+=3)(y=v(this,h,t,O,P,w=E,M=E+1,S=E+2))&&(y.index=w,f.push(y))}else if(b.isGeometry){var k,A,R,L,I=x&&x.isMultiMaterial,D=!0===I?x.materials:null,N=b.vertices,F=b.faces,z=b.faceVertexUvs[0];z.length>0&&(L=z);for(var B=0,j=F.length;B<j;B++){var U=F[B],W=!0===I?D[U.materialIndex]:x;if(void 0!==W){if(k=N[U.a],A=N[U.b],R=N[U.c],!0===W.morphTargets){var G=b.morphTargets,V=this.morphTargetInfluences;i.set(0,0,0),r.set(0,0,0),o.set(0,0,0);for(var H=0,Y=G.length;H<Y;H++){var q=V[H];if(0!==q){var X=G[H].vertices;i.addScaledVector(a.subVectors(X[U.a],k),q),r.addScaledVector(s.subVectors(X[U.b],A),q),o.addScaledVector(l.subVectors(X[U.c],R),q)}}i.add(k),r.add(A),o.add(R),k=i,A=r,R=o}if(y=g(this,h,t,k,A,R,p)){if(L){var K=L[B];u.copy(K[0]),c.copy(K[1]),d.copy(K[2]),y.uv=m(p,k,A,R,u,c,d)}y.face=U,y.faceIndex=B,f.push(y)}}}}}}(),clone:function(){return new this.constructor(this.geometry,this.material).copy(this)}}),Bi.prototype=Object.create(Ni.prototype),Bi.prototype.constructor=Bi,ji.prototype=Object.create(Fi.prototype),ji.prototype.constructor=ji,Ui.prototype=Object.create(Ni.prototype),Ui.prototype.constructor=Ui,Wi.prototype=Object.create(Fi.prototype),Wi.prototype.constructor=Wi,Gi.prototype=Object.create(gi.prototype),Gi.prototype.constructor=Gi,Gi.prototype.isCamera=!0,Gi.prototype.getWorldDirection=function(){var e=new jt;return function(t){var n=t||new Ut;return this.getWorldQuaternion(e),n.set(0,0,-1).applyQuaternion(e)}}(),Gi.prototype.lookAt=function(){var e=new Wt;return function(t){e.lookAt(this.position,t,this.up),this.quaternion.setFromRotationMatrix(e)}}(),Gi.prototype.clone=function(){return(new this.constructor).copy(this)},Gi.prototype.copy=function(e){return gi.prototype.copy.call(this,e),this.matrixWorldInverse.copy(e.matrixWorldInverse),this.projectionMatrix.copy(e.projectionMatrix),this},Vi.prototype=Object.assign(Object.create(Gi.prototype),{constructor:Vi,isPerspectiveCamera:!0,copy:function(e){return Gi.prototype.copy.call(this,e),this.fov=e.fov,this.zoom=e.zoom,this.near=e.near,this.far=e.far,this.focus=e.focus,this.aspect=e.aspect,this.view=null===e.view?null:Object.assign({},e.view),this.filmGauge=e.filmGauge,this.filmOffset=e.filmOffset,this},setFocalLength:function(e){var t=.5*this.getFilmHeight()/e;this.fov=2*Ct.RAD2DEG*Math.atan(t),this.updateProjectionMatrix()},getFocalLength:function(){var e=Math.tan(.5*Ct.DEG2RAD*this.fov);return.5*this.getFilmHeight()/e},getEffectiveFOV:function(){return 2*Ct.RAD2DEG*Math.atan(Math.tan(.5*Ct.DEG2RAD*this.fov)/this.zoom)},getFilmWidth:function(){return this.filmGauge*Math.min(this.aspect,1)},getFilmHeight:function(){return this.filmGauge/Math.max(this.aspect,1)},setViewOffset:function(e,t,n,i,r,o){this.aspect=e/t,this.view={fullWidth:e,fullHeight:t,offsetX:n,offsetY:i,width:r,height:o},this.updateProjectionMatrix()},clearViewOffset:function(){this.view=null,this.updateProjectionMatrix()},updateProjectionMatrix:function(){var e=this.near,t=e*Math.tan(.5*Ct.DEG2RAD*this.fov)/this.zoom,n=2*t,i=this.aspect*n,r=-.5*i,o=this.view;if(null!==o){var a=o.fullWidth,s=o.fullHeight;r+=o.offsetX*i/a,t-=o.offsetY*n/s,i*=o.width/a,n*=o.height/s}var l=this.filmOffset;0!==l&&(r+=e*l/this.getFilmWidth()),this.projectionMatrix.makePerspective(r,r+i,t,t-n,e,this.far)},toJSON:function(e){var t=gi.prototype.toJSON.call(this,e);return t.object.fov=this.fov,t.object.zoom=this.zoom,t.object.near=this.near,t.object.far=this.far,t.object.focus=this.focus,t.object.aspect=this.aspect,null!==this.view&&(t.object.view=Object.assign({},this.view)),t.object.filmGauge=this.filmGauge,t.object.filmOffset=this.filmOffset,t}}),Hi.prototype=Object.assign(Object.create(Gi.prototype),{constructor:Hi,isOrthographicCamera:!0,copy:function(e){return Gi.prototype.copy.call(this,e),this.left=e.left,this.right=e.right,this.top=e.top,this.bottom=e.bottom,this.near=e.near,this.far=e.far,this.zoom=e.zoom,this.view=null===e.view?null:Object.assign({},e.view),this},setViewOffset:function(e,t,n,i,r,o){this.view={fullWidth:e,fullHeight:t,offsetX:n,offsetY:i,width:r,height:o},this.updateProjectionMatrix()},clearViewOffset:function(){this.view=null,this.updateProjectionMatrix()},updateProjectionMatrix:function(){var e=(this.right-this.left)/(2*this.zoom),t=(this.top-this.bottom)/(2*this.zoom),n=(this.right+this.left)/2,i=(this.top+this.bottom)/2,r=n-e,o=n+e,a=i+t,s=i-t;if(null!==this.view){var l=this.zoom/(this.view.width/this.view.fullWidth),u=this.zoom/(this.view.height/this.view.fullHeight),c=(this.right-this.left)/this.view.width,d=(this.top-this.bottom)/this.view.height;o=(r+=c*(this.view.offsetX/l))+c*(this.view.width/l),s=(a-=d*(this.view.offsetY/u))-d*(this.view.height/u)}this.projectionMatrix.makeOrthographic(r,o,a,s,this.near,this.far)},toJSON:function(e){var t=gi.prototype.toJSON.call(this,e);return t.object.zoom=this.zoom,t.object.left=this.left,t.object.right=this.right,t.object.top=this.top,t.object.bottom=this.bottom,t.object.near=this.near,t.object.far=this.far,null!==this.view&&(t.object.view=Object.assign({},this.view)),t}});var Ji,Zi,$i=0;function Qi(e){switch(e){case vt:return[\\\"Linear\\\",\\\"( value )\\\"];case yt:return[\\\"sRGB\\\",\\\"( value )\\\"];case xt:return[\\\"RGBE\\\",\\\"( value )\\\"];case wt:return[\\\"RGBM\\\",\\\"( value, 7.0 )\\\"];case Mt:return[\\\"RGBM\\\",\\\"( value, 16.0 )\\\"];case St:return[\\\"RGBD\\\",\\\"( value, 256.0 )\\\"];case bt:return[\\\"Gamma\\\",\\\"( value, float( GAMMA_FACTOR ) )\\\"];default:throw new Error(\\\"unsupported encoding: \\\"+e)}}function er(e,t){var n=Qi(t);return\\\"vec4 \\\"+e+\\\"( vec4 value ) { return \\\"+n[0]+\\\"ToLinear\\\"+n[1]+\\\"; }\\\"}function tr(e,t){var n;switch(t){case ue:n=\\\"Linear\\\";break;case ce:n=\\\"Reinhard\\\";break;case de:n=\\\"Uncharted2\\\";break;case he:n=\\\"OptimizedCineon\\\";break;default:throw new Error(\\\"unsupported toneMapping: \\\"+t)}return\\\"vec3 \\\"+e+\\\"( vec3 color ) { return \\\"+n+\\\"ToneMapping( color ); }\\\"}function nr(e){return\\\"\\\"!==e}function ir(e,t){return e.replace(/NUM_DIR_LIGHTS/g,t.numDirLights).replace(/NUM_SPOT_LIGHTS/g,t.numSpotLights).replace(/NUM_RECT_AREA_LIGHTS/g,t.numRectAreaLights).replace(/NUM_POINT_LIGHTS/g,t.numPointLights).replace(/NUM_HEMI_LIGHTS/g,t.numHemiLights)}function rr(e){return e.replace(/#include +<([\\\\w\\\\d.]+)>/g,(function(e,t){var n=Pn[t];if(void 0===n)throw new Error(\\\"Can not resolve #include <\\\"+t+\\\">\\\");return rr(n)}))}function or(e){return e.replace(/for \\\\( int i \\\\= (\\\\d+)\\\\; i < (\\\\d+)\\\\; i \\\\+\\\\+ \\\\) \\\\{([\\\\s\\\\S]+?)(?=\\\\})\\\\}/g,(function(e,t,n,i){for(var r=\\\"\\\",o=parseInt(t);o<parseInt(n);o++)r+=i.replace(/\\\\[ i \\\\]/g,\\\"[ \\\"+o+\\\" ]\\\");return r}))}function ar(e,t,n,i){var r=e.context,o=n.extensions,a=n.defines,s=n.__webglShader.vertexShader,l=n.__webglShader.fragmentShader,u=\\\"SHADOWMAP_TYPE_BASIC\\\";i.shadowMapType===b?u=\\\"SHADOWMAP_TYPE_PCF\\\":i.shadowMapType===x&&(u=\\\"SHADOWMAP_TYPE_PCF_SOFT\\\");var c=\\\"ENVMAP_TYPE_CUBE\\\",d=\\\"ENVMAP_MODE_REFLECTION\\\",h=\\\"ENVMAP_BLENDING_MULTIPLY\\\";if(i.envMap){switch(n.envMap.mapping){case fe:case me:c=\\\"ENVMAP_TYPE_CUBE\\\";break;case be:case xe:c=\\\"ENVMAP_TYPE_CUBE_UV\\\";break;case ge:case ve:c=\\\"ENVMAP_TYPE_EQUIREC\\\";break;case ye:c=\\\"ENVMAP_TYPE_SPHERE\\\"}switch(n.envMap.mapping){case me:case ve:d=\\\"ENVMAP_MODE_REFRACTION\\\"}switch(n.combine){case oe:h=\\\"ENVMAP_BLENDING_MULTIPLY\\\";break;case ae:h=\\\"ENVMAP_BLENDING_MIX\\\";break;case se:h=\\\"ENVMAP_BLENDING_ADD\\\"}}var p,f,m,g,v,y=e.gammaFactor>0?e.gammaFactor:1,_=function(e,t,n){return[(e=e||{}).derivatives||t.envMapCubeUV||t.bumpMap||t.normalMap||t.flatShading?\\\"#extension GL_OES_standard_derivatives : enable\\\":\\\"\\\",(e.fragDepth||t.logarithmicDepthBuffer)&&n.get(\\\"EXT_frag_depth\\\")?\\\"#extension GL_EXT_frag_depth : enable\\\":\\\"\\\",e.drawBuffers&&n.get(\\\"WEBGL_draw_buffers\\\")?\\\"#extension GL_EXT_draw_buffers : require\\\":\\\"\\\",(e.shaderTextureLOD||t.envMap)&&n.get(\\\"EXT_shader_texture_lod\\\")?\\\"#extension GL_EXT_shader_texture_lod : enable\\\":\\\"\\\"].filter(nr).join(\\\"\\\\n\\\")}(o,i,e.extensions),w=function(e){var t=[];for(var n in e){var i=e[n];!1!==i&&t.push(\\\"#define \\\"+n+\\\" \\\"+i)}return t.join(\\\"\\\\n\\\")}(a),M=r.createProgram();n.isRawShaderMaterial?(p=[w,\\\"\\\\n\\\"].filter(nr).join(\\\"\\\\n\\\"),f=[_,w,\\\"\\\\n\\\"].filter(nr).join(\\\"\\\\n\\\")):(p=[\\\"precision \\\"+i.precision+\\\" float;\\\",\\\"precision \\\"+i.precision+\\\" int;\\\",\\\"#define SHADER_NAME \\\"+n.__webglShader.name,w,i.supportsVertexTextures?\\\"#define VERTEX_TEXTURES\\\":\\\"\\\",\\\"#define GAMMA_FACTOR \\\"+y,\\\"#define MAX_BONES \\\"+i.maxBones,i.useFog&&i.fog?\\\"#define USE_FOG\\\":\\\"\\\",i.useFog&&i.fogExp?\\\"#define FOG_EXP2\\\":\\\"\\\",i.map?\\\"#define USE_MAP\\\":\\\"\\\",i.envMap?\\\"#define USE_ENVMAP\\\":\\\"\\\",i.envMap?\\\"#define 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FLIP_SIDED\\\":\\\"\\\",\\\"#define NUM_CLIPPING_PLANES \\\"+i.numClippingPlanes,i.shadowMapEnabled?\\\"#define USE_SHADOWMAP\\\":\\\"\\\",i.shadowMapEnabled?\\\"#define \\\"+u:\\\"\\\",i.sizeAttenuation?\\\"#define USE_SIZEATTENUATION\\\":\\\"\\\",i.logarithmicDepthBuffer?\\\"#define USE_LOGDEPTHBUF\\\":\\\"\\\",i.logarithmicDepthBuffer&&e.extensions.get(\\\"EXT_frag_depth\\\")?\\\"#define USE_LOGDEPTHBUF_EXT\\\":\\\"\\\",\\\"uniform mat4 modelMatrix;\\\",\\\"uniform mat4 modelViewMatrix;\\\",\\\"uniform mat4 projectionMatrix;\\\",\\\"uniform mat4 viewMatrix;\\\",\\\"uniform mat3 normalMatrix;\\\",\\\"uniform vec3 cameraPosition;\\\",\\\"attribute vec3 position;\\\",\\\"attribute vec3 normal;\\\",\\\"attribute vec2 uv;\\\",\\\"#ifdef USE_COLOR\\\",\\\"\\\\tattribute vec3 color;\\\",\\\"#endif\\\",\\\"#ifdef USE_MORPHTARGETS\\\",\\\"\\\\tattribute vec3 morphTarget0;\\\",\\\"\\\\tattribute vec3 morphTarget1;\\\",\\\"\\\\tattribute vec3 morphTarget2;\\\",\\\"\\\\tattribute vec3 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FOG_EXP2\\\":\\\"\\\",i.map?\\\"#define USE_MAP\\\":\\\"\\\",i.envMap?\\\"#define USE_ENVMAP\\\":\\\"\\\",i.envMap?\\\"#define \\\"+c:\\\"\\\",i.envMap?\\\"#define \\\"+d:\\\"\\\",i.envMap?\\\"#define \\\"+h:\\\"\\\",i.lightMap?\\\"#define USE_LIGHTMAP\\\":\\\"\\\",i.aoMap?\\\"#define USE_AOMAP\\\":\\\"\\\",i.emissiveMap?\\\"#define USE_EMISSIVEMAP\\\":\\\"\\\",i.bumpMap?\\\"#define USE_BUMPMAP\\\":\\\"\\\",i.normalMap?\\\"#define USE_NORMALMAP\\\":\\\"\\\",i.specularMap?\\\"#define USE_SPECULARMAP\\\":\\\"\\\",i.roughnessMap?\\\"#define USE_ROUGHNESSMAP\\\":\\\"\\\",i.metalnessMap?\\\"#define USE_METALNESSMAP\\\":\\\"\\\",i.alphaMap?\\\"#define USE_ALPHAMAP\\\":\\\"\\\",i.vertexColors?\\\"#define USE_COLOR\\\":\\\"\\\",i.gradientMap?\\\"#define USE_GRADIENTMAP\\\":\\\"\\\",i.flatShading?\\\"#define FLAT_SHADED\\\":\\\"\\\",i.doubleSided?\\\"#define DOUBLE_SIDED\\\":\\\"\\\",i.flipSided?\\\"#define FLIP_SIDED\\\":\\\"\\\",\\\"#define NUM_CLIPPING_PLANES \\\"+i.numClippingPlanes,\\\"#define UNION_CLIPPING_PLANES \\\"+(i.numClippingPlanes-i.numClipIntersection),i.shadowMapEnabled?\\\"#define USE_SHADOWMAP\\\":\\\"\\\",i.shadowMapEnabled?\\\"#define \\\"+u:\\\"\\\",i.premultipliedAlpha?\\\"#define PREMULTIPLIED_ALPHA\\\":\\\"\\\",i.physicallyCorrectLights?\\\"#define PHYSICALLY_CORRECT_LIGHTS\\\":\\\"\\\",i.logarithmicDepthBuffer?\\\"#define USE_LOGDEPTHBUF\\\":\\\"\\\",i.logarithmicDepthBuffer&&e.extensions.get(\\\"EXT_frag_depth\\\")?\\\"#define USE_LOGDEPTHBUF_EXT\\\":\\\"\\\",i.envMap&&e.extensions.get(\\\"EXT_shader_texture_lod\\\")?\\\"#define TEXTURE_LOD_EXT\\\":\\\"\\\",\\\"uniform mat4 viewMatrix;\\\",\\\"uniform vec3 cameraPosition;\\\",i.toneMapping!==le?\\\"#define TONE_MAPPING\\\":\\\"\\\",i.toneMapping!==le?Pn.tonemapping_pars_fragment:\\\"\\\",i.toneMapping!==le?tr(\\\"toneMapping\\\",i.toneMapping):\\\"\\\",i.outputEncoding||i.mapEncoding||i.envMapEncoding||i.emissiveMapEncoding?Pn.encodings_pars_fragment:\\\"\\\",i.mapEncoding?er(\\\"mapTexelToLinear\\\",i.mapEncoding):\\\"\\\",i.envMapEncoding?er(\\\"envMapTexelToLinear\\\",i.envMapEncoding):\\\"\\\",i.emissiveMapEncoding?er(\\\"emissiveMapTexelToLinear\\\",i.emissiveMapEncoding):\\\"\\\",i.outputEncoding?(m=\\\"linearToOutputTexel\\\",g=i.outputEncoding,v=Qi(g),\\\"vec4 \\\"+m+\\\"( vec4 value ) { return LinearTo\\\"+v[0]+v[1]+\\\"; }\\\"):\\\"\\\",i.depthPacking?\\\"#define DEPTH_PACKING \\\"+n.depthPacking:\\\"\\\",\\\"\\\\n\\\"].filter(nr).join(\\\"\\\\n\\\")),s=ir(s=rr(s),i),l=ir(l=rr(l),i),n.isShaderMaterial||(s=or(s),l=or(l));var S=p+s,E=f+l,T=Ki(r,r.VERTEX_SHADER,S),C=Ki(r,r.FRAGMENT_SHADER,E);r.attachShader(M,T),r.attachShader(M,C),void 0!==n.index0AttributeName?r.bindAttribLocation(M,0,n.index0AttributeName):!0===i.morphTargets&&r.bindAttribLocation(M,0,\\\"position\\\"),r.linkProgram(M);var O,P,k=r.getProgramInfoLog(M),A=r.getShaderInfoLog(T),R=r.getShaderInfoLog(C),L=!0,I=!0;return!1===r.getProgramParameter(M,r.LINK_STATUS)?(L=!1,console.error(\\\"THREE.WebGLProgram: shader error: \\\",r.getError(),\\\"gl.VALIDATE_STATUS\\\",r.getProgramParameter(M,r.VALIDATE_STATUS),\\\"gl.getProgramInfoLog\\\",k,A,R)):\\\"\\\"!==k?console.warn(\\\"THREE.WebGLProgram: gl.getProgramInfoLog()\\\",k):\\\"\\\"!==A&&\\\"\\\"!==R||(I=!1),I&&(this.diagnostics={runnable:L,material:n,programLog:k,vertexShader:{log:A,prefix:p},fragmentShader:{log:R,prefix:f}}),r.deleteShader(T),r.deleteShader(C),this.getUniforms=function(){return void 0===O&&(O=new Cn(r,M,e)),O},this.getAttributes=function(){return void 0===P&&(P=function(e,t,n){for(var i={},r=e.getProgramParameter(t,e.ACTIVE_ATTRIBUTES),o=0;o<r;o++){var a=e.getActiveAttrib(t,o).name;i[a]=e.getAttribLocation(t,a)}return i}(r,M)),P},this.destroy=function(){r.deleteProgram(M),this.program=void 0},Object.defineProperties(this,{uniforms:{get:function(){return console.warn(\\\"THREE.WebGLProgram: .uniforms is now .getUniforms().\\\"),this.getUniforms()}},attributes:{get:function(){return console.warn(\\\"THREE.WebGLProgram: .attributes is now .getAttributes().\\\"),this.getAttributes()}}}),this.id=$i++,this.code=t,this.usedTimes=1,this.program=M,this.vertexShader=T,this.fragmentShader=C,this}function sr(e,t){var n=[],i={MeshDepthMaterial:\\\"depth\\\",MeshNormalMaterial:\\\"normal\\\",MeshBasicMaterial:\\\"basic\\\",MeshLambertMaterial:\\\"lambert\\\",MeshPhongMaterial:\\\"phong\\\",MeshToonMaterial:\\\"phong\\\",MeshStandardMaterial:\\\"physical\\\",MeshPhysicalMaterial:\\\"physical\\\",LineBasicMaterial:\\\"basic\\\",LineDashedMaterial:\\\"dashed\\\",PointsMaterial:\\\"points\\\"},r=[\\\"precision\\\",\\\"supportsVertexTextures\\\",\\\"map\\\",\\\"mapEncoding\\\",\\\"envMap\\\",\\\"envMapMode\\\",\\\"envMapEncoding\\\",\\\"lightMap\\\",\\\"aoMap\\\",\\\"emissiveMap\\\",\\\"emissiveMapEncoding\\\",\\\"bumpMap\\\",\\\"normalMap\\\",\\\"displacementMap\\\",\\\"specularMap\\\",\\\"roughnessMap\\\",\\\"metalnessMap\\\",\\\"gradientMap\\\",\\\"alphaMap\\\",\\\"combine\\\",\\\"vertexColors\\\",\\\"fog\\\",\\\"useFog\\\",\\\"fogExp\\\",\\\"flatShading\\\",\\\"sizeAttenuation\\\",\\\"logarithmicDepthBuffer\\\",\\\"skinning\\\",\\\"maxBones\\\",\\\"useVertexTexture\\\",\\\"morphTargets\\\",\\\"morphNormals\\\",\\\"maxMorphTargets\\\",\\\"maxMorphNormals\\\",\\\"premultipliedAlpha\\\",\\\"numDirLights\\\",\\\"numPointLights\\\",\\\"numSpotLights\\\",\\\"numHemiLights\\\",\\\"numRectAreaLights\\\",\\\"shadowMapEnabled\\\",\\\"shadowMapType\\\",\\\"toneMapping\\\",\\\"physicallyCorrectLights\\\",\\\"alphaTest\\\",\\\"doubleSided\\\",\\\"flipSided\\\",\\\"numClippingPlanes\\\",\\\"numClipIntersection\\\",\\\"depthPacking\\\"];function o(e,t){var n;return e?e.isTexture?n=e.encoding:e.isWebGLRenderTarget&&(console.warn(\\\"THREE.WebGLPrograms.getTextureEncodingFromMap: don't use render targets as textures. Use their .texture property instead.\\\"),n=e.texture.encoding):n=vt,n===vt&&t&&(n=bt),n}this.getParameters=function(n,r,a,s,l,u){var c=i[n.type],d=function(e){if(t.floatVertexTextures&&e&&e.skeleton&&e.skeleton.useVertexTexture)return 1024;var n=t.maxVertexUniforms,i=Math.floor((n-20)/4);return void 0!==e&&e&&e.isSkinnedMesh&&(i=Math.min(e.skeleton.bones.length,i))<e.skeleton.bones.length&&console.warn(\\\"WebGLRenderer: too many bones - \\\"+e.skeleton.bones.length+\\\", this GPU supports just \\\"+i+\\\" (try OpenGL instead of ANGLE)\\\"),i}(u),h=e.getPrecision();null!==n.precision&&(h=t.getMaxPrecision(n.precision))!==n.precision&&console.warn(\\\"THREE.WebGLProgram.getParameters:\\\",n.precision,\\\"not supported, using\\\",h,\\\"instead.\\\");var p=e.getCurrentRenderTarget();return{shaderID:c,precision:h,supportsVertexTextures:t.vertexTextures,outputEncoding:o(p?p.texture:null,e.gammaOutput),map:!!n.map,mapEncoding:o(n.map,e.gammaInput),envMap:!!n.envMap,envMapMode:n.envMap&&n.envMap.mapping,envMapEncoding:o(n.envMap,e.gammaInput),envMapCubeUV:!!n.envMap&&(n.envMap.mapping===be||n.envMap.mapping===xe),lightMap:!!n.lightMap,aoMap:!!n.aoMap,emissiveMap:!!n.emissiveMap,emissiveMapEncoding:o(n.emissiveMap,e.gammaInput),bumpMap:!!n.bumpMap,normalMap:!!n.normalMap,displacementMap:!!n.displacementMap,roughnessMap:!!n.roughnessMap,metalnessMap:!!n.metalnessMap,specularMap:!!n.specularMap,alphaMap:!!n.alphaMap,gradientMap:!!n.gradientMap,combine:n.combine,vertexColors:n.vertexColors,fog:!!a,useFog:n.fog,fogExp:a&&a.isFogExp2,flatShading:n.shading===S,sizeAttenuation:n.sizeAttenuation,logarithmicDepthBuffer:t.logarithmicDepthBuffer,skinning:n.skinning,maxBones:d,useVertexTexture:t.floatVertexTextures&&u&&u.skeleton&&u.skeleton.useVertexTexture,morphTargets:n.morphTargets,morphNormals:n.morphNormals,maxMorphTargets:e.maxMorphTargets,maxMorphNormals:e.maxMorphNormals,numDirLights:r.directional.length,numPointLights:r.point.length,numSpotLights:r.spot.length,numRectAreaLights:r.rectArea.length,numHemiLights:r.hemi.length,numClippingPlanes:s,numClipIntersection:l,shadowMapEnabled:e.shadowMap.enabled&&u.receiveShadow&&r.shadows.length>0,shadowMapType:e.shadowMap.type,toneMapping:e.toneMapping,physicallyCorrectLights:e.physicallyCorrectLights,premultipliedAlpha:n.premultipliedAlpha,alphaTest:n.alphaTest,doubleSided:n.side===M,flipSided:n.side===w,depthPacking:void 0!==n.depthPacking&&n.depthPacking}},this.getProgramCode=function(e,t){var n=[];if(t.shaderID?n.push(t.shaderID):(n.push(e.fragmentShader),n.push(e.vertexShader)),void 0!==e.defines)for(var i in e.defines)n.push(i),n.push(e.defines[i]);for(var o=0;o<r.length;o++)n.push(t[r[o]]);return n.join()},this.acquireProgram=function(t,i,r){for(var o,a=0,s=n.length;a<s;a++){var l=n[a];if(l.code===r){++(o=l).usedTimes;break}}return void 0===o&&(o=new ar(e,r,t,i),n.push(o)),o},this.releaseProgram=function(e){if(0==--e.usedTimes){var t=n.indexOf(e);n[t]=n[n.length-1],n.pop(),e.destroy()}},this.programs=n}function lr(e,t,n){var i={};function r(e){var a=e.target,s=i[a.id];null!==s.index&&o(s.index),function(e){for(var t in e)o(e[t])}(s.attributes),a.removeEventListener(\\\"dispose\\\",r),delete i[a.id];var l=t.get(a);l.wireframe&&o(l.wireframe),t.delete(a);var u=t.get(s);u.wireframe&&o(u.wireframe),t.delete(s),n.memory.geometries--}function o(n){var i=function(e){return e.isInterleavedBufferAttribute?t.get(e.data).__webglBuffer:t.get(e).__webglBuffer}(n);void 0!==i&&(e.deleteBuffer(i),function(e){e.isInterleavedBufferAttribute?t.delete(e.data):t.delete(e)}(n))}return{get:function(e){var t,o=e.geometry;return void 0!==i[o.id]?i[o.id]:(o.addEventListener(\\\"dispose\\\",r),o.isBufferGeometry?t=o:o.isGeometry&&(void 0===o._bufferGeometry&&(o._bufferGeometry=(new Fi).setFromObject(e)),t=o._bufferGeometry),i[o.id]=t,n.memory.geometries++,t)}}}function ur(e,t,n){var i=new lr(e,t,n);function r(n,i){var r=n.isInterleavedBufferAttribute?n.data:n,o=t.get(r);void 0===o.__webglBuffer?function(t,n,i){t.__webglBuffer=e.createBuffer(),e.bindBuffer(i,t.__webglBuffer);var r=n.dynamic?e.DYNAMIC_DRAW:e.STATIC_DRAW;e.bufferData(i,n.array,r);var o=e.FLOAT,a=n.array;a instanceof Float32Array?o=e.FLOAT:a instanceof Float64Array?console.warn(\\\"Unsupported data buffer format: Float64Array\\\"):a instanceof Uint16Array?o=e.UNSIGNED_SHORT:a instanceof Int16Array?o=e.SHORT:a instanceof Uint32Array?o=e.UNSIGNED_INT:a instanceof Int32Array?o=e.INT:a instanceof Int8Array?o=e.BYTE:a instanceof Uint8Array&&(o=e.UNSIGNED_BYTE);t.bytesPerElement=a.BYTES_PER_ELEMENT,t.type=o,t.version=n.version,n.onUploadCallback()}(o,r,i):o.version!==r.version&&function(t,n,i){e.bindBuffer(i,t.__webglBuffer),!1===n.dynamic?e.bufferData(i,n.array,e.STATIC_DRAW):-1===n.updateRange.count?e.bufferSubData(i,0,n.array):0===n.updateRange.count?console.error(\\\"THREE.WebGLObjects.updateBuffer: dynamic THREE.BufferAttribute marked as needsUpdate but updateRange.count is 0, ensure you are using set methods or updating manually.\\\"):(e.bufferSubData(i,n.updateRange.offset*n.array.BYTES_PER_ELEMENT,n.array.subarray(n.updateRange.offset,n.updateRange.offset+n.updateRange.count)),n.updateRange.count=0);t.version=n.version}(o,r,i)}return{getAttributeBuffer:function(e){return e.isInterleavedBufferAttribute?t.get(e.data).__webglBuffer:t.get(e).__webglBuffer},getAttributeProperties:function(e){return e.isInterleavedBufferAttribute?t.get(e.data):t.get(e)},getWireframeAttribute:function(n){var i=t.get(n);if(void 0!==i.wireframe)return i.wireframe;var o,a=[],s=n.index,l=n.attributes;if(null!==s)for(var u=0,c=(o=s.array).length;u<c;u+=3){var d=o[u+0],h=o[u+1],p=o[u+2];a.push(d,h,h,p,p,d)}else for(u=0,c=(o=l.position.array).length/3-1;u<c;u+=3){d=u+0,h=u+1,p=u+2;a.push(d,h,h,p,p,d)}var f=new(Ri(a)>65535?Oi:Ti)(a,1);return r(f,e.ELEMENT_ARRAY_BUFFER),i.wireframe=f,f},update:function(t){var n=i.get(t);t.geometry.isGeometry&&n.updateFromObject(t);var o=n.index,a=n.attributes;for(var s in null!==o&&r(o,e.ELEMENT_ARRAY_BUFFER),a)r(a[s],e.ARRAY_BUFFER);var l=n.morphAttributes;for(var s in l)for(var u=l[s],c=0,d=u.length;c<d;c++)r(u[c],e.ARRAY_BUFFER);return n}}}function cr(e,t,n,i,r,o,a){var s=a.memory,l=\\\"undefined\\\"!=typeof WebGL2RenderingContext&&e instanceof WebGL2RenderingContext;function u(e,t){if(e.width>t||e.height>t){var n=t/Math.max(e.width,e.height),i=document.createElementNS(\\\"http://www.w3.org/1999/xhtml\\\",\\\"canvas\\\");return i.width=Math.floor(e.width*n),i.height=Math.floor(e.height*n),i.getContext(\\\"2d\\\").drawImage(e,0,0,e.width,e.height,0,0,i.width,i.height),console.warn(\\\"THREE.WebGLRenderer: image is too big (\\\"+e.width+\\\"x\\\"+e.height+\\\"). Resized to \\\"+i.width+\\\"x\\\"+i.height,e),i}return e}function c(e){return Ct.isPowerOfTwo(e.width)&&Ct.isPowerOfTwo(e.height)}function d(t){return t===Se||t===Ee||t===Te?e.NEAREST:e.LINEAR}function h(t){var n=t.target;n.removeEventListener(\\\"dispose\\\",h),function(t){var n=i.get(t);if(t.image&&n.__image__webglTextureCube)e.deleteTexture(n.__image__webglTextureCube);else{if(void 0===n.__webglInit)return;e.deleteTexture(n.__webglTexture)}i.delete(t)}(n),s.textures--}function p(t){var n=t.target;n.removeEventListener(\\\"dispose\\\",p),function(t){var n=i.get(t),r=i.get(t.texture);if(!t)return;void 0!==r.__webglTexture&&e.deleteTexture(r.__webglTexture);t.depthTexture&&t.depthTexture.dispose();if(t.isWebGLRenderTargetCube)for(var o=0;o<6;o++)e.deleteFramebuffer(n.__webglFramebuffer[o]),n.__webglDepthbuffer&&e.deleteRenderbuffer(n.__webglDepthbuffer[o]);else e.deleteFramebuffer(n.__webglFramebuffer),n.__webglDepthbuffer&&e.deleteRenderbuffer(n.__webglDepthbuffer);i.delete(t.texture),i.delete(t)}(n),s.textures--}function f(t,a){var d=i.get(t);if(t.version>0&&d.__version!==t.version){var p=t.image;if(void 0===p)console.warn(\\\"THREE.WebGLRenderer: Texture marked for update but image is undefined\\\",t);else{if(!1!==p.complete)return void function(t,i,a){void 0===t.__webglInit&&(t.__webglInit=!0,i.addEventListener(\\\"dispose\\\",h),t.__webglTexture=e.createTexture(),s.textures++);n.activeTexture(e.TEXTURE0+a),n.bindTexture(e.TEXTURE_2D,t.__webglTexture),e.pixelStorei(e.UNPACK_FLIP_Y_WEBGL,i.flipY),e.pixelStorei(e.UNPACK_PREMULTIPLY_ALPHA_WEBGL,i.premultiplyAlpha),e.pixelStorei(e.UNPACK_ALIGNMENT,i.unpackAlignment);var d=u(i.image,r.maxTextureSize);(function(e){return e.wrapS!==we||e.wrapT!==we||e.minFilter!==Se&&e.minFilter!==Ce})(i)&&!1===c(d)&&(d=function(e){if(e instanceof HTMLImageElement||e instanceof HTMLCanvasElement){var t=document.createElementNS(\\\"http://www.w3.org/1999/xhtml\\\",\\\"canvas\\\");return t.width=Ct.nearestPowerOfTwo(e.width),t.height=Ct.nearestPowerOfTwo(e.height),t.getContext(\\\"2d\\\").drawImage(e,0,0,t.width,t.height),console.warn(\\\"THREE.WebGLRenderer: image is not power of two (\\\"+e.width+\\\"x\\\"+e.height+\\\"). Resized to \\\"+t.width+\\\"x\\\"+t.height,e),t}return e}(d));var p=c(d),f=o(i.format),g=o(i.type);m(e.TEXTURE_2D,i,p);var v,y=i.mipmaps;if(i.isDepthTexture){var b=e.DEPTH_COMPONENT;if(i.type===Ne){if(!l)throw new Error(\\\"Float Depth Texture only supported in WebGL2.0\\\");b=e.DEPTH_COMPONENT32F}else l&&(b=e.DEPTH_COMPONENT16);i.format===Xe&&b===e.DEPTH_COMPONENT&&i.type!==Le&&i.type!==De&&(console.warn(\\\"THREE.WebGLRenderer: Use UnsignedShortType or UnsignedIntType for DepthFormat DepthTexture.\\\"),i.type=Le,g=o(i.type)),i.format===Ke&&(b=e.DEPTH_STENCIL,i.type!==Ue&&(console.warn(\\\"THREE.WebGLRenderer: Use UnsignedInt248Type for DepthStencilFormat DepthTexture.\\\"),i.type=Ue,g=o(i.type))),n.texImage2D(e.TEXTURE_2D,0,b,d.width,d.height,0,f,g,null)}else if(i.isDataTexture)if(y.length>0&&p){for(var x=0,_=y.length;x<_;x++)v=y[x],n.texImage2D(e.TEXTURE_2D,x,f,v.width,v.height,0,f,g,v.data);i.generateMipmaps=!1}else n.texImage2D(e.TEXTURE_2D,0,f,d.width,d.height,0,f,g,d.data);else if(i.isCompressedTexture)for(x=0,_=y.length;x<_;x++)v=y[x],i.format!==Ve&&i.format!==Ge?n.getCompressedTextureFormats().indexOf(f)>-1?n.compressedTexImage2D(e.TEXTURE_2D,x,f,v.width,v.height,0,v.data):console.warn(\\\"THREE.WebGLRenderer: Attempt to load unsupported compressed texture format in .uploadTexture()\\\"):n.texImage2D(e.TEXTURE_2D,x,f,v.width,v.height,0,f,g,v.data);else if(y.length>0&&p){for(x=0,_=y.length;x<_;x++)v=y[x],n.texImage2D(e.TEXTURE_2D,x,f,f,g,v);i.generateMipmaps=!1}else n.texImage2D(e.TEXTURE_2D,0,f,f,g,d);i.generateMipmaps&&p&&e.generateMipmap(e.TEXTURE_2D);t.__version=i.version,i.onUpdate&&i.onUpdate(i)}(d,t,a);console.warn(\\\"THREE.WebGLRenderer: Texture marked for update but image is incomplete\\\",t)}}n.activeTexture(e.TEXTURE0+a),n.bindTexture(e.TEXTURE_2D,d.__webglTexture)}function m(n,a,s){var l;if(s?(e.texParameteri(n,e.TEXTURE_WRAP_S,o(a.wrapS)),e.texParameteri(n,e.TEXTURE_WRAP_T,o(a.wrapT)),e.texParameteri(n,e.TEXTURE_MAG_FILTER,o(a.magFilter)),e.texParameteri(n,e.TEXTURE_MIN_FILTER,o(a.minFilter))):(e.texParameteri(n,e.TEXTURE_WRAP_S,e.CLAMP_TO_EDGE),e.texParameteri(n,e.TEXTURE_WRAP_T,e.CLAMP_TO_EDGE),a.wrapS===we&&a.wrapT===we||console.warn(\\\"THREE.WebGLRenderer: Texture is not power of two. Texture.wrapS and Texture.wrapT should be set to THREE.ClampToEdgeWrapping.\\\",a),e.texParameteri(n,e.TEXTURE_MAG_FILTER,d(a.magFilter)),e.texParameteri(n,e.TEXTURE_MIN_FILTER,d(a.minFilter)),a.minFilter!==Se&&a.minFilter!==Ce&&console.warn(\\\"THREE.WebGLRenderer: Texture is not power of two. 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i=ot.get(e),r=lt.getParameters(e,ge,t,se.numPlanes,se.numIntersection,n),o=lt.getProgramCode(e,r),a=i.program,s=!0;if(void 0===a)e.addEventListener(\\\"dispose\\\",Ct);else if(a.code!==o)Ot(e);else{if(void 0!==r.shaderID)return;s=!1}if(s){if(r.shaderID){var l=In[r.shaderID];i.__webglShader={name:e.type,uniforms:On.clone(l.uniforms),vertexShader:l.vertexShader,fragmentShader:l.fragmentShader}}else i.__webglShader={name:e.type,uniforms:e.uniforms,vertexShader:e.vertexShader,fragmentShader:e.fragmentShader};e.__webglShader=i.__webglShader,a=lt.acquireProgram(e,r,o),i.program=a,e.program=a}var u=a.getAttributes();if(e.morphTargets){e.numSupportedMorphTargets=0;for(var c=0;c<x.maxMorphTargets;c++)u[\\\"morphTarget\\\"+c]>=0&&e.numSupportedMorphTargets++}if(e.morphNormals){e.numSupportedMorphNormals=0;for(c=0;c<x.maxMorphNormals;c++)u[\\\"morphNormal\\\"+c]>=0&&e.numSupportedMorphNormals++}var 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u&&(n.lights&&(s=c,(a=p).ambientLightColor.needsUpdate=s,a.directionalLights.needsUpdate=s,a.pointLights.needsUpdate=s,a.spotLights.needsUpdate=s,a.rectAreaLights.needsUpdate=s,a.hemisphereLights.needsUpdate=s),t&&n.fog&&function(e,t){e.fogColor.value=t.color,t.isFog?(e.fogNear.value=t.near,e.fogFar.value=t.far):t.isFogExp2&&(e.fogDensity.value=t.density)}(p,t),(n.isMeshBasicMaterial||n.isMeshLambertMaterial||n.isMeshPhongMaterial||n.isMeshStandardMaterial||n.isMeshNormalMaterial||n.isMeshDepthMaterial)&&function(e,t){e.opacity.value=t.opacity,e.diffuse.value=t.color,t.emissive&&e.emissive.value.copy(t.emissive).multiplyScalar(t.emissiveIntensity);e.map.value=t.map,e.specularMap.value=t.specularMap,e.alphaMap.value=t.alphaMap,t.lightMap&&(e.lightMap.value=t.lightMap,e.lightMapIntensity.value=t.lightMapIntensity);t.aoMap&&(e.aoMap.value=t.aoMap,e.aoMapIntensity.value=t.aoMapIntensity);var n;t.map?n=t.map:t.specularMap?n=t.specularMap:t.displacementMap?n=t.displacementMap:t.normalMap?n=t.normalMap:t.bumpMap?n=t.bumpMap:t.roughnessMap?n=t.roughnessMap:t.metalnessMap?n=t.metalnessMap:t.alphaMap?n=t.alphaMap:t.emissiveMap&&(n=t.emissiveMap);if(void 0!==n){n.isWebGLRenderTarget&&(n=n.texture);var i=n.offset,r=n.repeat;e.offsetRepeat.value.set(i.x,i.y,r.x,r.y)}e.envMap.value=t.envMap,e.flipEnvMap.value=t.envMap&&t.envMap.isCubeTexture?-1:1,e.reflectivity.value=t.reflectivity,e.refractionRatio.value=t.refractionRatio}(p,n),n.isLineBasicMaterial?zt(p,n):n.isLineDashedMaterial?(zt(p,n),function(e,t){e.dashSize.value=t.dashSize,e.totalSize.value=t.dashSize+t.gapSize,e.scale.value=t.scale}(p,n)):n.isPointsMaterial?function(e,t){if(e.diffuse.value=t.color,e.opacity.value=t.opacity,e.size.value=t.size*ne,e.scale.value=.5*te,e.map.value=t.map,null!==t.map){var n=t.map.offset,i=t.map.repeat;e.offsetRepeat.value.set(n.x,n.y,i.x,i.y)}}(p,n):n.isMeshLambertMaterial?function(e,t){t.emissiveMap&&(e.emissiveMap.value=t.emissiveMap)}(p,n):n.isMeshToonMaterial?function(e,t){Bt(e,t),t.gradientMap&&(e.gradientMap.value=t.gradientMap)}(p,n):n.isMeshPhongMaterial?Bt(p,n):n.isMeshPhysicalMaterial?function(e,t){e.clearCoat.value=t.clearCoat,e.clearCoatRoughness.value=t.clearCoatRoughness,jt(e,t)}(p,n):n.isMeshStandardMaterial?jt(p,n):n.isMeshDepthMaterial?n.displacementMap&&(p.displacementMap.value=n.displacementMap,p.displacementScale.value=n.displacementScale,p.displacementBias.value=n.displacementBias):n.isMeshNormalMaterial&&function(e,t){t.bumpMap&&(e.bumpMap.value=t.bumpMap,e.bumpScale.value=t.bumpScale);t.normalMap&&(e.normalMap.value=t.normalMap,e.normalScale.value.copy(t.normalScale));t.displacementMap&&(e.displacementMap.value=t.displacementMap,e.displacementScale.value=t.displacementScale,e.displacementBias.value=t.displacementBias)}(p,n),void 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b},this.getContextAttributes=function(){return b.getContextAttributes()},this.forceContextLoss=function(){be.get(\\\"WEBGL_lose_context\\\").loseContext()},this.getMaxAnisotropy=function(){return xe.getMaxAnisotropy()},this.getPrecision=function(){return xe.precision},this.getPixelRatio=function(){return ne},this.setPixelRatio=function(e){void 0!==e&&(ne=e,this.setSize(oe.z,oe.w,!1))},this.getSize=function(){return{width:ee,height:te}},this.setSize=function(e,n,i){ee=e,te=n,t.width=e*ne,t.height=n*ne,!1!==i&&(t.style.width=e+\\\"px\\\",t.style.height=n+\\\"px\\\"),this.setViewport(0,0,e,n)},this.setViewport=function(e,t,n,i){qe.viewport(oe.set(e,t,n,i))},this.setScissor=function(e,t,n,i){qe.scissor(ie.set(e,t,n,i))},this.setScissorTest=function(e){qe.setScissorTest(re=e)},this.getClearColor=function(){return $},this.setClearColor=function(e,t){$.set(e),Q=void 0!==t?t:1,qe.buffers.color.setClear($.r,$.g,$.b,Q,s)},this.getClearAlpha=function(){return Q},this.setClearAlpha=function(e){Q=e,qe.buffers.color.setClear($.r,$.g,$.b,Q,s)},this.clear=function(e,t,n){var i=0;(void 0===e||e)&&(i|=b.COLOR_BUFFER_BIT),(void 0===t||t)&&(i|=b.DEPTH_BUFFER_BIT),(void 0===n||n)&&(i|=b.STENCIL_BUFFER_BIT),b.clear(i)},this.clearColor=function(){this.clear(!0,!1,!1)},this.clearDepth=function(){this.clear(!1,!0,!1)},this.clearStencil=function(){this.clear(!1,!1,!0)},this.clearTarget=function(e,t,n,i){this.setRenderTarget(e),this.clear(t,n,i)},this.resetGLState=_t,this.dispose=function(){p=[],f=-1,d=[],h=-1,t.removeEventListener(\\\"webglcontextlost\\\",Tt,!1)},this.renderBufferImmediate=function(e,t,n){qe.initAttributes();var i=ot.get(e);e.hasPositions&&!i.position&&(i.position=b.createBuffer()),e.hasNormals&&!i.normal&&(i.normal=b.createBuffer()),e.hasUvs&&!i.uv&&(i.uv=b.createBuffer()),e.hasColors&&!i.color&&(i.color=b.createBuffer());var r=t.getAttributes();if(e.hasPositions&&(b.bindBuffer(b.ARRAY_BUFFER,i.position),b.bufferData(b.ARRAY_BUFFER,e.positionArray,b.DYNAMIC_DRAW),qe.enableAttribute(r.position),b.vertexAttribPointer(r.position,3,b.FLOAT,!1,0,0)),e.hasNormals){if(b.bindBuffer(b.ARRAY_BUFFER,i.normal),!n.isMeshPhongMaterial&&!n.isMeshStandardMaterial&&!n.isMeshNormalMaterial&&n.shading===S)for(var o=0,a=3*e.count;o<a;o+=9){var s=e.normalArray,l=(s[o+0]+s[o+3]+s[o+6])/3,u=(s[o+1]+s[o+4]+s[o+7])/3,c=(s[o+2]+s[o+5]+s[o+8])/3;s[o+0]=l,s[o+1]=u,s[o+2]=c,s[o+3]=l,s[o+4]=u,s[o+5]=c,s[o+6]=l,s[o+7]=u,s[o+8]=c}b.bufferData(b.ARRAY_BUFFER,e.normalArray,b.DYNAMIC_DRAW),qe.enableAttribute(r.normal),b.vertexAttribPointer(r.normal,3,b.FLOAT,!1,0,0)}e.hasUvs&&n.map&&(b.bindBuffer(b.ARRAY_BUFFER,i.uv),b.bufferData(b.ARRAY_BUFFER,e.uvArray,b.DYNAMIC_DRAW),qe.enableAttribute(r.uv),b.vertexAttribPointer(r.uv,2,b.FLOAT,!1,0,0)),e.hasColors&&n.vertexColors!==T&&(b.bindBuffer(b.ARRAY_BUFFER,i.color),b.bufferData(b.ARRAY_BUFFER,e.colorArray,b.DYNAMIC_DRAW),qe.enableAttribute(r.color),b.vertexAttribPointer(r.color,3,b.FLOAT,!1,0,0)),qe.disableUnusedAttributes(),b.drawArrays(b.TRIANGLES,0,e.count),e.count=0},this.renderBufferDirect=function(e,t,n,i,r,o){Dt(i);var a=Nt(e,t,i,r),s=!1,l=n.id+\\\"_\\\"+a.id+\\\"_\\\"+i.wireframe;l!==k&&(k=l,s=!0);var u=r.morphTargetInfluences;if(void 0!==u){for(var c=[],d=0,h=u.length;d<h;d++){var p=u[d];c.push([p,d])}c.sort(Pt),c.length>8&&(c.length=8);var f=n.morphAttributes;for(d=0,h=c.length;d<h;d++){p=c[d];if(m[d]=p[0],0!==p[0]){var g=p[1];!0===i.morphTargets&&f.position&&n.addAttribute(\\\"morphTarget\\\"+d,f.position[g]),!0===i.morphNormals&&f.normal&&n.addAttribute(\\\"morphNormal\\\"+d,f.normal[g])}else!0===i.morphTargets&&n.removeAttribute(\\\"morphTarget\\\"+d),!0===i.morphNormals&&n.removeAttribute(\\\"morphNormal\\\"+d)}d=c.length;for(var v=m.length;d<v;d++)m[d]=0;a.getUniforms().setValue(b,\\\"morphTargetInfluences\\\",m),s=!0}g=n.index;var y,x=n.attributes.position,_=1;!0===i.wireframe&&(g=st.getWireframeAttribute(n),_=2),null!==g?(y=yt).setIndex(g):y=vt,s&&(!function(e,t,n,i){var r;if(n&&n.isInstancedBufferGeometry&&null===(r=be.get(\\\"ANGLE_instanced_arrays\\\")))return void console.error(\\\"THREE.WebGLRenderer.setupVertexAttributes: using THREE.InstancedBufferGeometry but hardware does not support extension ANGLE_instanced_arrays.\\\");void 0===i&&(i=0);qe.initAttributes();var o=n.attributes,a=t.getAttributes(),s=e.defaultAttributeValues;for(var l in a){var u=a[l];if(u>=0){var c=o[l];if(void 0!==c){var d=c.normalized,h=c.itemSize,p=st.getAttributeProperties(c),f=p.__webglBuffer,m=p.type,g=p.bytesPerElement;if(c.isInterleavedBufferAttribute){var v=c.data,y=v.stride,x=c.offset;v&&v.isInstancedInterleavedBuffer?(qe.enableAttributeAndDivisor(u,v.meshPerAttribute,r),void 0===n.maxInstancedCount&&(n.maxInstancedCount=v.meshPerAttribute*v.count)):qe.enableAttribute(u),b.bindBuffer(b.ARRAY_BUFFER,f),b.vertexAttribPointer(u,h,m,d,y*g,(i*y+x)*g)}else c.isInstancedBufferAttribute?(qe.enableAttributeAndDivisor(u,c.meshPerAttribute,r),void 0===n.maxInstancedCount&&(n.maxInstancedCount=c.meshPerAttribute*c.count)):qe.enableAttribute(u),b.bindBuffer(b.ARRAY_BUFFER,f),b.vertexAttribPointer(u,h,m,d,0,i*h*g)}else if(void 0!==s){var _=s[l];if(void 0!==_)switch(_.length){case 2:b.vertexAttrib2fv(u,_);break;case 3:b.vertexAttrib3fv(u,_);break;case 4:b.vertexAttrib4fv(u,_);break;default:b.vertexAttrib1fv(u,_)}}}}qe.disableUnusedAttributes()}(i,a,n),null!==g&&b.bindBuffer(b.ELEMENT_ARRAY_BUFFER,st.getAttributeBuffer(g)));var w=0;null!==g?w=g.count:void 0!==x&&(w=x.count);var M=n.drawRange.start*_,S=n.drawRange.count*_,E=null!==o?o.start*_:0,T=null!==o?o.count*_:1/0,C=Math.max(M,E),O=Math.min(w,M+S,E+T)-1,P=Math.max(0,O-C+1);if(0!==P){if(r.isMesh)if(!0===i.wireframe)qe.setLineWidth(i.wireframeLinewidth*bt()),y.setMode(b.LINES);else switch(r.drawMode){case ft:y.setMode(b.TRIANGLES);break;case mt:y.setMode(b.TRIANGLE_STRIP);break;case gt:y.setMode(b.TRIANGLE_FAN)}else if(r.isLine){var A=i.linewidth;void 0===A&&(A=1),qe.setLineWidth(A*bt()),r.isLineSegments?y.setMode(b.LINES):y.setMode(b.LINE_STRIP)}else r.isPoints&&y.setMode(b.POINTS);n&&n.isInstancedBufferGeometry?n.maxInstancedCount>0&&y.renderInstances(n,C,P):y.render(C,P)}},this.render=function(e,t,n,i){if(void 0===t||!0===t.isCamera){k=\\\"\\\",O=-1,A=null,!0===e.autoUpdate&&e.updateMatrixWorld(),null===t.parent&&t.updateMatrixWorld(),t.matrixWorldInverse.getInverse(t.matrixWorld),he.multiplyMatrices(t.projectionMatrix,t.matrixWorldInverse),ae.setFromMatrix(he),u.length=0,h=-1,f=-1,v.length=0,y.length=0,ce=this.localClippingEnabled,le=se.init(this.clippingPlanes,ce,t),function e(t,n){if(!1===t.visible)return;if(0!=(t.layers.mask&n.layers.mask))if(t.isLight)u.push(t);else if(t.isSprite)!1!==t.frustumCulled&&!0!==(h=t,de.center.set(0,0,0),de.radius=.7071067811865476,de.applyMatrix4(h.matrixWorld),Lt(de))||v.push(t);else if(t.isLensFlare)y.push(t);else if(t.isImmediateRenderObject)!0===x.sortObjects&&(pe.setFromMatrixPosition(t.matrixWorld),pe.applyMatrix4(he)),Rt(t,null,t.material,pe.z,null);else if((t.isMesh||t.isLine||t.isPoints)&&(t.isSkinnedMesh&&t.skeleton.update(),!1===t.frustumCulled||!0===function(e){var t=e.geometry;null===t.boundingSphere&&t.computeBoundingSphere();return de.copy(t.boundingSphere).applyMatrix4(e.matrixWorld),Lt(de)}(t))){var i=t.material;if(!0===i.visible){!0===x.sortObjects&&(pe.setFromMatrixPosition(t.matrixWorld),pe.applyMatrix4(he));var r=st.update(t);if(i.isMultiMaterial)for(var o=r.groups,a=i.materials,s=0,l=o.length;s<l;s++){var c=o[s],d=a[c.materialIndex];!0===d.visible&&Rt(t,r,d,pe.z,c)}else Rt(t,r,i,pe.z,null)}}var h;var p=t.children;for(s=0,l=p.length;s<l;s++)e(p[s],n)}(e,t),d.length=h+1,p.length=f+1,!0===x.sortObjects&&(d.sort(kt),p.sort(At)),le&&se.beginShadows(),function(e){for(var t=0,n=0,i=e.length;n<i;n++){var r=e[n];r.castShadow&&(ge.shadows[t++]=r)}ge.shadows.length=t}(u),wt.render(e,t),function(e,t){var n,i,r,o,a,s,l,u=0,c=0,d=0,h=t.matrixWorldInverse,p=0,f=0,m=0,g=0,v=0;for(n=0,i=e.length;n<i;n++)if(r=e[n],o=r.color,a=r.intensity,s=r.distance,l=r.shadow&&r.shadow.map?r.shadow.map.texture:null,r.isAmbientLight)u+=o.r*a,c+=o.g*a,d+=o.b*a;else if(r.isDirectionalLight){(y=ut.get(r)).color.copy(r.color).multiplyScalar(r.intensity),y.direction.setFromMatrixPosition(r.matrixWorld),pe.setFromMatrixPosition(r.target.matrixWorld),y.direction.sub(pe),y.direction.transformDirection(h),y.shadow=r.castShadow,r.castShadow&&(y.shadowBias=r.shadow.bias,y.shadowRadius=r.shadow.radius,y.shadowMapSize=r.shadow.mapSize),ge.directionalShadowMap[p]=l,ge.directionalShadowMatrix[p]=r.shadow.matrix,ge.directional[p++]=y}else if(r.isSpotLight){(y=ut.get(r)).position.setFromMatrixPosition(r.matrixWorld),y.position.applyMatrix4(h),y.color.copy(o).multiplyScalar(a),y.distance=s,y.direction.setFromMatrixPosition(r.matrixWorld),pe.setFromMatrixPosition(r.target.matrixWorld),y.direction.sub(pe),y.direction.transformDirection(h),y.coneCos=Math.cos(r.angle),y.penumbraCos=Math.cos(r.angle*(1-r.penumbra)),y.decay=0===r.distance?0:r.decay,y.shadow=r.castShadow,r.castShadow&&(y.shadowBias=r.shadow.bias,y.shadowRadius=r.shadow.radius,y.shadowMapSize=r.shadow.mapSize),ge.spotShadowMap[m]=l,ge.spotShadowMatrix[m]=r.shadow.matrix,ge.spot[m++]=y}else if(r.isRectAreaLight){(y=ut.get(r)).color.copy(o).multiplyScalar(a/(r.width*r.height)),y.position.setFromMatrixPosition(r.matrixWorld),y.position.applyMatrix4(h),me.identity(),fe.copy(r.matrixWorld),fe.premultiply(h),me.extractRotation(fe),y.halfWidth.set(.5*r.width,0,0),y.halfHeight.set(0,.5*r.height,0),y.halfWidth.applyMatrix4(me),y.halfHeight.applyMatrix4(me),ge.rectArea[g++]=y}else if(r.isPointLight){(y=ut.get(r)).position.setFromMatrixPosition(r.matrixWorld),y.position.applyMatrix4(h),y.color.copy(r.color).multiplyScalar(r.intensity),y.distance=r.distance,y.decay=0===r.distance?0:r.decay,y.shadow=r.castShadow,r.castShadow&&(y.shadowBias=r.shadow.bias,y.shadowRadius=r.shadow.radius,y.shadowMapSize=r.shadow.mapSize),ge.pointShadowMap[f]=l,void 0===ge.pointShadowMatrix[f]&&(ge.pointShadowMatrix[f]=new Wt),pe.setFromMatrixPosition(r.matrixWorld).negate(),ge.pointShadowMatrix[f].identity().setPosition(pe),ge.point[f++]=y}else if(r.isHemisphereLight){var y;(y=ut.get(r)).direction.setFromMatrixPosition(r.matrixWorld),y.direction.transformDirection(h),y.direction.normalize(),y.skyColor.copy(r.color).multiplyScalar(a),y.groundColor.copy(r.groundColor).multiplyScalar(a),ge.hemi[v++]=y}ge.ambient[0]=u,ge.ambient[1]=c,ge.ambient[2]=d,ge.directional.length=p,ge.spot.length=m,ge.rectArea.length=g,ge.point.length=f,ge.hemi.length=v,ge.hash=p+\\\",\\\"+f+\\\",\\\"+m+\\\",\\\"+g+\\\",\\\"+v+\\\",\\\"+ge.shadows.length}(u,t),le&&se.endShadows(),ve.calls=0,ve.vertices=0,ve.faces=0,ve.points=0,void 0===n&&(n=null),this.setRenderTarget(n);var r=e.background;if(null===r?qe.buffers.color.setClear($.r,$.g,$.b,Q,s):r&&r.isColor&&(qe.buffers.color.setClear(r.r,r.g,r.b,1,s),i=!0),(this.autoClear||i)&&this.clear(this.autoClearColor,this.autoClearDepth,this.autoClearStencil),r&&r.isCubeTexture?(void 0===ht&&(ht=new Vi,pt=new zi(new ji(5,5,5),new Zn({uniforms:In.cube.uniforms,vertexShader:In.cube.vertexShader,fragmentShader:In.cube.fragmentShader,side:w,depthTest:!1,depthWrite:!1,fog:!1}))),ht.projectionMatrix.copy(t.projectionMatrix),ht.matrixWorld.extractRotation(t.matrixWorld),ht.matrixWorldInverse.getInverse(ht.matrixWorld),pt.material.uniforms.tCube.value=r,pt.modelViewMatrix.multiplyMatrices(ht.matrixWorldInverse,pt.matrixWorld),st.update(pt),x.renderBufferDirect(ht,null,pt.geometry,pt.material,pt,null)):r&&r.isTexture&&(void 0===ct&&(ct=new Hi(-1,1,1,-1,0,1),dt=new zi(new Wi(2,2),new xi({depthTest:!1,depthWrite:!1,fog:!1}))),dt.material.map=r,st.update(dt),x.renderBufferDirect(ct,null,dt.geometry,dt.material,dt,null)),e.overrideMaterial){var o=e.overrideMaterial;It(d,e,t,o),It(p,e,t,o)}else qe.setBlending(P),It(d,e,t),It(p,e,t);St.render(e,t),Et.render(e,t,I),n&&at.updateRenderTargetMipmap(n),qe.setDepthTest(!0),qe.setDepthWrite(!0),qe.setColorWrite(!0)}else console.error(\\\"THREE.WebGLRenderer.render: camera is not an instance of THREE.Camera.\\\")},this.setFaceCulling=function(e,t){qe.setCullFace(e),qe.setFlipSided(t===g)},this.allocTextureUnit=function(){var e=Z;return e>=xe.maxTextures&&console.warn(\\\"WebGLRenderer: trying to use \\\"+e+\\\" texture units while this GPU supports only \\\"+xe.maxTextures),Z+=1,e},this.setTexture2D=(Mt=!1,function(e,t){e&&e.isWebGLRenderTarget&&(Mt||(console.warn(\\\"THREE.WebGLRenderer.setTexture2D: don't use render targets as textures. Use their .texture property instead.\\\"),Mt=!0),e=e.texture),at.setTexture2D(e,t)}),this.setTexture=function(){var e=!1;return function(t,n){e||(console.warn(\\\"THREE.WebGLRenderer: .setTexture is deprecated, use setTexture2D instead.\\\"),e=!0),at.setTexture2D(t,n)}}(),this.setTextureCube=function(){var e=!1;return function(t,n){t&&t.isWebGLRenderTargetCube&&(e||(console.warn(\\\"THREE.WebGLRenderer.setTextureCube: don't use cube render targets as textures. Use their .texture property instead.\\\"),e=!0),t=t.texture),t&&t.isCubeTexture||Array.isArray(t.image)&&6===t.image.length?at.setTextureCube(t,n):at.setTextureCubeDynamic(t,n)}}(),this.getCurrentRenderTarget=function(){return E},this.setRenderTarget=function(e){E=e,e&&void 0===ot.get(e).__webglFramebuffer&&at.setupRenderTarget(e);var t,n=e&&e.isWebGLRenderTargetCube;if(e){var i=ot.get(e);t=n?i.__webglFramebuffer[e.activeCubeFace]:i.__webglFramebuffer,R.copy(e.scissor),L=e.scissorTest,I.copy(e.viewport)}else t=null,R.copy(ie).multiplyScalar(ne),L=re,I.copy(oe).multiplyScalar(ne);if(C!==t&&(b.bindFramebuffer(b.FRAMEBUFFER,t),C=t),qe.scissor(R),qe.setScissorTest(L),qe.viewport(I),n){var r=ot.get(e.texture);b.framebufferTexture2D(b.FRAMEBUFFER,b.COLOR_ATTACHMENT0,b.TEXTURE_CUBE_MAP_POSITIVE_X+e.activeCubeFace,r.__webglTexture,e.activeMipMapLevel)}},this.readRenderTargetPixels=function(e,t,n,i,r,o){if(!1!==(e&&e.isWebGLRenderTarget)){var a=ot.get(e).__webglFramebuffer;if(a){var s=!1;a!==C&&(b.bindFramebuffer(b.FRAMEBUFFER,a),s=!0);try{var l=e.texture,u=l.format,c=l.type;if(u!==Ve&&Gt(u)!==b.getParameter(b.IMPLEMENTATION_COLOR_READ_FORMAT))return void console.error(\\\"THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in RGBA or implementation defined format.\\\");if(!(c===ke||Gt(c)===b.getParameter(b.IMPLEMENTATION_COLOR_READ_TYPE)||c===Ne&&(be.get(\\\"OES_texture_float\\\")||be.get(\\\"WEBGL_color_buffer_float\\\"))||c===Fe&&be.get(\\\"EXT_color_buffer_half_float\\\")))return void console.error(\\\"THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not in UnsignedByteType or implementation defined type.\\\");b.checkFramebufferStatus(b.FRAMEBUFFER)===b.FRAMEBUFFER_COMPLETE?t>=0&&t<=e.width-i&&n>=0&&n<=e.height-r&&b.readPixels(t,n,i,r,Gt(u),Gt(c),o):console.error(\\\"THREE.WebGLRenderer.readRenderTargetPixels: readPixels from renderTarget failed. Framebuffer not complete.\\\")}finally{s&&b.bindFramebuffer(b.FRAMEBUFFER,C)}}}else console.error(\\\"THREE.WebGLRenderer.readRenderTargetPixels: renderTarget is not THREE.WebGLRenderTarget.\\\")}}function vr(e,t){this.name=\\\"\\\",this.color=new kn(e),this.density=void 0!==t?t:25e-5}function yr(e,t,n){this.name=\\\"\\\",this.color=new kn(e),this.near=void 0!==t?t:1,this.far=void 0!==n?n:1e3}function br(){gi.call(this),this.type=\\\"Scene\\\",this.background=null,this.fog=null,this.overrideMaterial=null,this.autoUpdate=!0}function xr(e,t,n,i,r){gi.call(this),this.lensFlares=[],this.positionScreen=new Ut,this.customUpdateCallback=void 0,void 0!==e&&this.add(e,t,n,i,r)}function _r(e){Jn.call(this),this.type=\\\"SpriteMaterial\\\",this.color=new kn(16777215),this.map=null,this.rotation=0,this.fog=!1,this.lights=!1,this.setValues(e)}function wr(e){gi.call(this),this.type=\\\"Sprite\\\",this.material=void 0!==e?e:new _r}function Mr(){gi.call(this),this.type=\\\"LOD\\\",Object.defineProperties(this,{levels:{enumerable:!0,value:[]}})}function Sr(e,t,n){if(this.useVertexTexture=void 0===n||n,this.identityMatrix=new Wt,e=e||[],this.bones=e.slice(0),this.useVertexTexture){var i=Math.sqrt(4*this.bones.length);i=Ct.nextPowerOfTwo(Math.ceil(i)),i=Math.max(i,4),this.boneTextureWidth=i,this.boneTextureHeight=i,this.boneMatrices=new Float32Array(this.boneTextureWidth*this.boneTextureHeight*4),this.boneTexture=new Rn(this.boneMatrices,this.boneTextureWidth,this.boneTextureHeight,Ve,Ne)}else this.boneMatrices=new Float32Array(16*this.bones.length);if(void 0===t)this.calculateInverses();else if(this.bones.length===t.length)this.boneInverses=t.slice(0);else{console.warn(\\\"THREE.Skeleton bonInverses is the wrong length.\\\"),this.boneInverses=[];for(var r=0,o=this.bones.length;r<o;r++)this.boneInverses.push(new Wt)}}function Er(){gi.call(this),this.type=\\\"Bone\\\"}function Tr(e,t,n){zi.call(this,e,t),this.type=\\\"SkinnedMesh\\\",this.bindMode=\\\"attached\\\",this.bindMatrix=new Wt,this.bindMatrixInverse=new Wt;var i=[];if(this.geometry&&void 0!==this.geometry.bones){for(var r,o,a=0,s=this.geometry.bones.length;a<s;++a)o=this.geometry.bones[a],r=new Er,i.push(r),r.name=o.name,r.position.fromArray(o.pos),r.quaternion.fromArray(o.rotq),void 0!==o.scl&&r.scale.fromArray(o.scl);for(a=0,s=this.geometry.bones.length;a<s;++a)-1!==(o=this.geometry.bones[a]).parent&&null!==o.parent&&void 0!==i[o.parent]?i[o.parent].add(i[a]):this.add(i[a])}this.normalizeSkinWeights(),this.updateMatrixWorld(!0),this.bind(new Sr(i,void 0,n),this.matrixWorld)}function Cr(e){Jn.call(this),this.type=\\\"LineBasicMaterial\\\",this.color=new kn(16777215),this.linewidth=1,this.linecap=\\\"round\\\",this.linejoin=\\\"round\\\",this.lights=!1,this.setValues(e)}function Or(e,t,n){if(1===n)return console.warn(\\\"THREE.Line: parameter THREE.LinePieces no longer supported. Created THREE.LineSegments instead.\\\"),new Pr(e,t);gi.call(this),this.type=\\\"Line\\\",this.geometry=void 0!==e?e:new Fi,this.material=void 0!==t?t:new Cr({color:16777215*Math.random()})}function Pr(e,t){Or.call(this,e,t),this.type=\\\"LineSegments\\\"}function kr(e){Jn.call(this),this.type=\\\"PointsMaterial\\\",this.color=new kn(16777215),this.map=null,this.size=1,this.sizeAttenuation=!0,this.lights=!1,this.setValues(e)}function Ar(e,t){gi.call(this),this.type=\\\"Points\\\",this.geometry=void 0!==e?e:new Fi,this.material=void 0!==t?t:new kr({color:16777215*Math.random()})}function Rr(){gi.call(this),this.type=\\\"Group\\\"}function Lr(e,t,n,i,r,o,a,s,l){Nt.call(this,e,t,n,i,r,o,a,s,l),this.generateMipmaps=!1;var u=this;!function t(){requestAnimationFrame(t),e.readyState>=e.HAVE_CURRENT_DATA&&(u.needsUpdate=!0)}()}function Ir(e,t,n,i,r,o,a,s,l,u,c,d){Nt.call(this,null,o,a,s,l,u,i,r,c,d),this.image={width:t,height:n},this.mipmaps=e,this.flipY=!1,this.generateMipmaps=!1}function Dr(e,t,n,i,r,o,a,s,l){Nt.call(this,e,t,n,i,r,o,a,s,l),this.needsUpdate=!0}function Nr(e,t,n,i,r,o,a,s,l,u){if((u=void 0!==u?u:Xe)!==Xe&&u!==Ke)throw new Error(\\\"DepthTexture format must be either THREE.DepthFormat or THREE.DepthStencilFormat\\\");void 0===n&&u===Xe&&(n=Le),void 0===n&&u===Ke&&(n=Ue),Nt.call(this,null,i,r,o,a,s,u,n,l),this.image={width:e,height:t},this.magFilter=void 0!==a?a:Se,this.minFilter=void 0!==s?s:Se,this.flipY=!1,this.generateMipmaps=!1}function Fr(e){Fi.call(this),this.type=\\\"WireframeGeometry\\\";var t,n,i,r,o,a,s,l,u=[],c=[0,0],d={},h=[\\\"a\\\",\\\"b\\\",\\\"c\\\"];if(e&&e.isGeometry){var p=e.faces;for(t=0,i=p.length;t<i;t++){var f=p[t];for(n=0;n<3;n++)c[0]=f[h[n]],c[1]=f[h[(n+1)%3]],c.sort(w),void 0===d[s=c.toString()]&&(d[s]={index1:c[0],index2:c[1]})}for(s in d)a=d[s],l=e.vertices[a.index1],u.push(l.x,l.y,l.z),l=e.vertices[a.index2],u.push(l.x,l.y,l.z)}else if(e&&e.isBufferGeometry){var m,g,v,y,b,x,_;if(l=new Ut,null!==e.index){for(m=e.attributes.position,g=e.index,0===(v=e.groups).length&&e.addGroup(0,g.count),r=0,o=v.length;r<o;++r)for(t=b=(y=v[r]).start,i=b+y.count;t<i;t+=3)for(n=0;n<3;n++)c[0]=g.getX(t+n),c[1]=g.getX(t+(n+1)%3),c.sort(w),void 0===d[s=c.toString()]&&(d[s]={index1:c[0],index2:c[1]});for(s in d)a=d[s],l.fromBufferAttribute(m,a.index1),u.push(l.x,l.y,l.z),l.fromBufferAttribute(m,a.index2),u.push(l.x,l.y,l.z)}else for(t=0,i=(m=e.attributes.position).count/3;t<i;t++)for(n=0;n<3;n++)x=3*t+n,l.fromBufferAttribute(m,x),u.push(l.x,l.y,l.z),_=3*t+(n+1)%3,l.fromBufferAttribute(m,_),u.push(l.x,l.y,l.z)}function w(e,t){return e-t}this.addAttribute(\\\"position\\\",new Pi(u,3))}function zr(e,t,n){Ni.call(this),this.type=\\\"ParametricGeometry\\\",this.parameters={func:e,slices:t,stacks:n},this.fromBufferGeometry(new Br(e,t,n)),this.mergeVertices()}function Br(e,t,n){Fi.call(this),this.type=\\\"ParametricBufferGeometry\\\",this.parameters={func:e,slices:t,stacks:n};var i,r,o=[],a=[],s=[],l=t+1;for(i=0;i<=n;i++){var u=i/n;for(r=0;r<=t;r++){var c=r/t,d=e(c,u);a.push(d.x,d.y,d.z),s.push(c,u)}}for(i=0;i<n;i++)for(r=0;r<t;r++){var h=i*l+r,p=i*l+r+1,f=(i+1)*l+r+1,m=(i+1)*l+r;o.push(h,p,m),o.push(p,f,m)}this.setIndex(o),this.addAttribute(\\\"position\\\",new Pi(a,3)),this.addAttribute(\\\"uv\\\",new Pi(s,2)),this.computeVertexNormals()}function jr(e,t,n,i){Ni.call(this),this.type=\\\"PolyhedronGeometry\\\",this.parameters={vertices:e,indices:t,radius:n,detail:i},this.fromBufferGeometry(new Ur(e,t,n,i)),this.mergeVertices()}function Ur(e,t,n,i){Fi.call(this),this.type=\\\"PolyhedronBufferGeometry\\\",this.parameters={vertices:e,indices:t,radius:n,detail:i},n=n||1;var r=[],o=[];function a(e,t,n,i){var r,o,a=Math.pow(2,i),l=[];for(r=0;r<=a;r++){l[r]=[];var u=e.clone().lerp(n,r/a),c=t.clone().lerp(n,r/a),d=a-r;for(o=0;o<=d;o++)l[r][o]=0===o&&r===a?u:u.clone().lerp(c,o/d)}for(r=0;r<a;r++)for(o=0;o<2*(a-r)-1;o++){var h=Math.floor(o/2);o%2==0?(s(l[r][h+1]),s(l[r+1][h]),s(l[r][h])):(s(l[r][h+1]),s(l[r+1][h+1]),s(l[r+1][h]))}}function s(e){r.push(e.x,e.y,e.z)}function l(t,n){var i=3*t;n.x=e[i+0],n.y=e[i+1],n.z=e[i+2]}function u(e,t,n,i){i<0&&1===e.x&&(o[t]=e.x-1),0===n.x&&0===n.z&&(o[t]=i/2/Math.PI+.5)}function c(e){return Math.atan2(e.z,-e.x)}!function(e){for(var n=new Ut,i=new Ut,r=new Ut,o=0;o<t.length;o+=3)l(t[o+0],n),l(t[o+1],i),l(t[o+2],r),a(n,i,r,e)}(i=i||0),function(e){for(var t=new Ut,n=0;n<r.length;n+=3)t.x=r[n+0],t.y=r[n+1],t.z=r[n+2],t.normalize().multiplyScalar(e),r[n+0]=t.x,r[n+1]=t.y,r[n+2]=t.z}(n),function(){for(var e=new Ut,t=0;t<r.length;t+=3){e.x=r[t+0],e.y=r[t+1],e.z=r[t+2];var n=c(e)/2/Math.PI+.5,i=(a=e,Math.atan2(-a.y,Math.sqrt(a.x*a.x+a.z*a.z))/Math.PI+.5);o.push(n,1-i)}var a;(function(){for(var e=new Ut,t=new Ut,n=new Ut,i=new Ut,a=new Ot,s=new Ot,l=new Ot,d=0,h=0;d<r.length;d+=9,h+=6){e.set(r[d+0],r[d+1],r[d+2]),t.set(r[d+3],r[d+4],r[d+5]),n.set(r[d+6],r[d+7],r[d+8]),a.set(o[h+0],o[h+1]),s.set(o[h+2],o[h+3]),l.set(o[h+4],o[h+5]),i.copy(e).add(t).add(n).divideScalar(3);var p=c(i);u(a,h+0,e,p),u(s,h+2,t,p),u(l,h+4,n,p)}})(),function(){for(var e=0;e<o.length;e+=6){var t=o[e+0],n=o[e+2],i=o[e+4],r=Math.max(t,n,i),a=Math.min(t,n,i);r>.9&&a<.1&&(t<.2&&(o[e+0]+=1),n<.2&&(o[e+2]+=1),i<.2&&(o[e+4]+=1))}}()}(),this.addAttribute(\\\"position\\\",new Pi(r,3)),this.addAttribute(\\\"normal\\\",new Pi(r.slice(),3)),this.addAttribute(\\\"uv\\\",new Pi(o,2)),this.normalizeNormals()}function Wr(e,t){Ni.call(this),this.type=\\\"TetrahedronGeometry\\\",this.parameters={radius:e,detail:t},this.fromBufferGeometry(new Gr(e,t)),this.mergeVertices()}function Gr(e,t){Ur.call(this,[1,1,1,-1,-1,1,-1,1,-1,1,-1,-1],[2,1,0,0,3,2,1,3,0,2,3,1],e,t),this.type=\\\"TetrahedronBufferGeometry\\\",this.parameters={radius:e,detail:t}}function Vr(e,t){Ni.call(this),this.type=\\\"OctahedronGeometry\\\",this.parameters={radius:e,detail:t},this.fromBufferGeometry(new Hr(e,t)),this.mergeVertices()}function Hr(e,t){Ur.call(this,[1,0,0,-1,0,0,0,1,0,0,-1,0,0,0,1,0,0,-1],[0,2,4,0,4,3,0,3,5,0,5,2,1,2,5,1,5,3,1,3,4,1,4,2],e,t),this.type=\\\"OctahedronBufferGeometry\\\",this.parameters={radius:e,detail:t}}function Yr(e,t){Ni.call(this),this.type=\\\"IcosahedronGeometry\\\",this.parameters={radius:e,detail:t},this.fromBufferGeometry(new qr(e,t)),this.mergeVertices()}function qr(e,t){var n=(1+Math.sqrt(5))/2,i=[-1,n,0,1,n,0,-1,-n,0,1,-n,0,0,-1,n,0,1,n,0,-1,-n,0,1,-n,n,0,-1,n,0,1,-n,0,-1,-n,0,1];Ur.call(this,i,[0,11,5,0,5,1,0,1,7,0,7,10,0,10,11,1,5,9,5,11,4,11,10,2,10,7,6,7,1,8,3,9,4,3,4,2,3,2,6,3,6,8,3,8,9,4,9,5,2,4,11,6,2,10,8,6,7,9,8,1],e,t),this.type=\\\"IcosahedronBufferGeometry\\\",this.parameters={radius:e,detail:t}}function Xr(e,t){Ni.call(this),this.type=\\\"DodecahedronGeometry\\\",this.parameters={radius:e,detail:t},this.fromBufferGeometry(new Kr(e,t)),this.mergeVertices()}function Kr(e,t){var n=(1+Math.sqrt(5))/2,i=1/n,r=[-1,-1,-1,-1,-1,1,-1,1,-1,-1,1,1,1,-1,-1,1,-1,1,1,1,-1,1,1,1,0,-i,-n,0,-i,n,0,i,-n,0,i,n,-i,-n,0,-i,n,0,i,-n,0,i,n,0,-n,0,-i,n,0,-i,-n,0,i,n,0,i];Ur.call(this,r,[3,11,7,3,7,15,3,15,13,7,19,17,7,17,6,7,6,15,17,4,8,17,8,10,17,10,6,8,0,16,8,16,2,8,2,10,0,12,1,0,1,18,0,18,16,6,10,2,6,2,13,6,13,15,2,16,18,2,18,3,2,3,13,18,1,9,18,9,11,18,11,3,4,14,12,4,12,0,4,0,8,11,9,5,11,5,19,11,19,7,19,5,14,19,14,4,19,4,17,1,12,14,1,14,5,1,5,9],e,t),this.type=\\\"DodecahedronBufferGeometry\\\",this.parameters={radius:e,detail:t}}function Jr(e,t,n,i,r,o){Ni.call(this),this.type=\\\"TubeGeometry\\\",this.parameters={path:e,tubularSegments:t,radius:n,radialSegments:i,closed:r},void 0!==o&&console.warn(\\\"THREE.TubeGeometry: taper has been removed.\\\");var a=new Zr(e,t,n,i,r);this.tangents=a.tangents,this.normals=a.normals,this.binormals=a.binormals,this.fromBufferGeometry(a),this.mergeVertices()}function Zr(e,t,n,i,r){Fi.call(this),this.type=\\\"TubeBufferGeometry\\\",this.parameters={path:e,tubularSegments:t,radius:n,radialSegments:i,closed:r},t=t||64,n=n||1,i=i||8,r=r||!1;var o=e.computeFrenetFrames(t,r);this.tangents=o.tangents,this.normals=o.normals,this.binormals=o.binormals;var a,s,l=new Ut,u=new Ut,c=new Ot,d=[],h=[],p=[],f=[];function m(r){var a=e.getPointAt(r/t),c=o.normals[r],p=o.binormals[r];for(s=0;s<=i;s++){var f=s/i*Math.PI*2,m=Math.sin(f),g=-Math.cos(f);u.x=g*c.x+m*p.x,u.y=g*c.y+m*p.y,u.z=g*c.z+m*p.z,u.normalize(),h.push(u.x,u.y,u.z),l.x=a.x+n*u.x,l.y=a.y+n*u.y,l.z=a.z+n*u.z,d.push(l.x,l.y,l.z)}}!function(){for(a=0;a<t;a++)m(a);m(!1===r?t:0),function(){for(a=0;a<=t;a++)for(s=0;s<=i;s++)c.x=a/t,c.y=s/i,p.push(c.x,c.y)}(),function(){for(s=1;s<=t;s++)for(a=1;a<=i;a++){var e=(i+1)*(s-1)+(a-1),n=(i+1)*s+(a-1),r=(i+1)*s+a,o=(i+1)*(s-1)+a;f.push(e,n,o),f.push(n,r,o)}}()}(),this.setIndex(f),this.addAttribute(\\\"position\\\",new Pi(d,3)),this.addAttribute(\\\"normal\\\",new Pi(h,3)),this.addAttribute(\\\"uv\\\",new Pi(p,2))}function $r(e,t,n,i,r,o,a){Ni.call(this),this.type=\\\"TorusKnotGeometry\\\",this.parameters={radius:e,tube:t,tubularSegments:n,radialSegments:i,p:r,q:o},void 0!==a&&console.warn(\\\"THREE.TorusKnotGeometry: heightScale has been deprecated. Use .scale( x, y, z ) instead.\\\"),this.fromBufferGeometry(new Qr(e,t,n,i,r,o)),this.mergeVertices()}function Qr(e,t,n,i,r,o){Fi.call(this),this.type=\\\"TorusKnotBufferGeometry\\\",this.parameters={radius:e,tube:t,tubularSegments:n,radialSegments:i,p:r,q:o},e=e||100,t=t||40,n=Math.floor(n)||64,i=Math.floor(i)||8,r=r||2,o=o||3;var a,s,l=[],u=[],c=[],d=[],h=new Ut,p=new Ut,f=(new Ot,new Ut),m=new Ut,g=new Ut,v=new Ut,y=new Ut;for(a=0;a<=n;++a){var b=a/n*r*Math.PI*2;for(C(b,r,o,e,f),C(b+.01,r,o,e,m),v.subVectors(m,f),y.addVectors(m,f),g.crossVectors(v,y),y.crossVectors(g,v),g.normalize(),y.normalize(),s=0;s<=i;++s){var x=s/i*Math.PI*2,_=-t*Math.cos(x),w=t*Math.sin(x);h.x=f.x+(_*y.x+w*g.x),h.y=f.y+(_*y.y+w*g.y),h.z=f.z+(_*y.z+w*g.z),u.push(h.x,h.y,h.z),p.subVectors(h,f).normalize(),c.push(p.x,p.y,p.z),d.push(a/n),d.push(s/i)}}for(s=1;s<=n;s++)for(a=1;a<=i;a++){var M=(i+1)*(s-1)+(a-1),S=(i+1)*s+(a-1),E=(i+1)*s+a,T=(i+1)*(s-1)+a;l.push(M,S,T),l.push(S,E,T)}function C(e,t,n,i,r){var o=Math.cos(e),a=Math.sin(e),s=n/t*e,l=Math.cos(s);r.x=i*(2+l)*.5*o,r.y=i*(2+l)*a*.5,r.z=i*Math.sin(s)*.5}this.setIndex(l),this.addAttribute(\\\"position\\\",new Pi(u,3)),this.addAttribute(\\\"normal\\\",new Pi(c,3)),this.addAttribute(\\\"uv\\\",new Pi(d,2))}function eo(e,t,n,i,r){Ni.call(this),this.type=\\\"TorusGeometry\\\",this.parameters={radius:e,tube:t,radialSegments:n,tubularSegments:i,arc:r},this.fromBufferGeometry(new to(e,t,n,i,r))}function to(e,t,n,i,r){Fi.call(this),this.type=\\\"TorusBufferGeometry\\\",this.parameters={radius:e,tube:t,radialSegments:n,tubularSegments:i,arc:r},e=e||100,t=t||40,n=Math.floor(n)||8,i=Math.floor(i)||6,r=r||2*Math.PI;var o,a,s=[],l=[],u=[],c=[],d=new Ut,h=new Ut,p=new Ut;for(o=0;o<=n;o++)for(a=0;a<=i;a++){var f=a/i*r,m=o/n*Math.PI*2;h.x=(e+t*Math.cos(m))*Math.cos(f),h.y=(e+t*Math.cos(m))*Math.sin(f),h.z=t*Math.sin(m),l.push(h.x,h.y,h.z),d.x=e*Math.cos(f),d.y=e*Math.sin(f),p.subVectors(h,d).normalize(),u.push(p.x,p.y,p.z),c.push(a/i),c.push(o/n)}for(o=1;o<=n;o++)for(a=1;a<=i;a++){var g=(i+1)*o+a-1,v=(i+1)*(o-1)+a-1,y=(i+1)*(o-1)+a,b=(i+1)*o+a;s.push(g,v,b),s.push(v,y,b)}this.setIndex(s),this.addAttribute(\\\"position\\\",new Pi(l,3)),this.addAttribute(\\\"normal\\\",new Pi(u,3)),this.addAttribute(\\\"uv\\\",new Pi(c,2))}vr.prototype.isFogExp2=!0,vr.prototype.clone=function(){return new vr(this.color.getHex(),this.density)},vr.prototype.toJSON=function(e){return{type:\\\"FogExp2\\\",color:this.color.getHex(),density:this.density}},yr.prototype.isFog=!0,yr.prototype.clone=function(){return new yr(this.color.getHex(),this.near,this.far)},yr.prototype.toJSON=function(e){return{type:\\\"Fog\\\",color:this.color.getHex(),near:this.near,far:this.far}},br.prototype=Object.create(gi.prototype),br.prototype.constructor=br,br.prototype.copy=function(e,t){return gi.prototype.copy.call(this,e,t),null!==e.background&&(this.background=e.background.clone()),null!==e.fog&&(this.fog=e.fog.clone()),null!==e.overrideMaterial&&(this.overrideMaterial=e.overrideMaterial.clone()),this.autoUpdate=e.autoUpdate,this.matrixAutoUpdate=e.matrixAutoUpdate,this},br.prototype.toJSON=function(e){var t=gi.prototype.toJSON.call(this,e);return null!==this.background&&(t.object.background=this.background.toJSON(e)),null!==this.fog&&(t.object.fog=this.fog.toJSON()),t},xr.prototype=Object.assign(Object.create(gi.prototype),{constructor:xr,isLensFlare:!0,copy:function(e){gi.prototype.copy.call(this,e),this.positionScreen.copy(e.positionScreen),this.customUpdateCallback=e.customUpdateCallback;for(var t=0,n=e.lensFlares.length;t<n;t++)this.lensFlares.push(e.lensFlares[t]);return this},add:function(e,t,n,i,r,o){void 0===t&&(t=-1),void 0===n&&(n=0),void 0===o&&(o=1),void 0===r&&(r=new kn(16777215)),void 0===i&&(i=k),n=Math.min(n,Math.max(0,n)),this.lensFlares.push({texture:e,size:t,distance:n,x:0,y:0,z:0,scale:1,rotation:0,opacity:o,color:r,blending:i})},updateLensFlares:function(){var e,t,n=this.lensFlares.length,i=2*-this.positionScreen.x,r=2*-this.positionScreen.y;for(e=0;e<n;e++)(t=this.lensFlares[e]).x=this.positionScreen.x+i*t.distance,t.y=this.positionScreen.y+r*t.distance,t.wantedRotation=t.x*Math.PI*.25,t.rotation+=.25*(t.wantedRotation-t.rotation)}}),_r.prototype=Object.create(Jn.prototype),_r.prototype.constructor=_r,_r.prototype.copy=function(e){return Jn.prototype.copy.call(this,e),this.color.copy(e.color),this.map=e.map,this.rotation=e.rotation,this},wr.prototype=Object.assign(Object.create(gi.prototype),{constructor:wr,isSprite:!0,raycast:(Ji=new Ut,function(e,t){Ji.setFromMatrixPosition(this.matrixWorld);var n=e.ray.distanceSqToPoint(Ji);n>this.scale.x*this.scale.y/4||t.push({distance:Math.sqrt(n),point:this.position,face:null,object:this})}),clone:function(){return new this.constructor(this.material).copy(this)}}),Mr.prototype=Object.assign(Object.create(gi.prototype),{constructor:Mr,copy:function(e){gi.prototype.copy.call(this,e,!1);for(var t=e.levels,n=0,i=t.length;n<i;n++){var r=t[n];this.addLevel(r.object.clone(),r.distance)}return this},addLevel:function(e,t){void 0===t&&(t=0),t=Math.abs(t);for(var n=this.levels,i=0;i<n.length&&!(t<n[i].distance);i++);n.splice(i,0,{distance:t,object:e}),this.add(e)},getObjectForDistance:function(e){for(var t=this.levels,n=1,i=t.length;n<i&&!(e<t[n].distance);n++);return t[n-1].object},raycast:function(){var e=new Ut;return function(t,n){e.setFromMatrixPosition(this.matrixWorld);var i=t.ray.origin.distanceTo(e);this.getObjectForDistance(i).raycast(t,n)}}(),update:function(){var e=new Ut,t=new Ut;return function(n){var i=this.levels;if(i.length>1){e.setFromMatrixPosition(n.matrixWorld),t.setFromMatrixPosition(this.matrixWorld);var r=e.distanceTo(t);i[0].object.visible=!0;for(var o=1,a=i.length;o<a&&r>=i[o].distance;o++)i[o-1].object.visible=!1,i[o].object.visible=!0;for(;o<a;o++)i[o].object.visible=!1}}}(),toJSON:function(e){var t=gi.prototype.toJSON.call(this,e);t.object.levels=[];for(var n=this.levels,i=0,r=n.length;i<r;i++){var o=n[i];t.object.levels.push({object:o.object.uuid,distance:o.distance})}return t}}),Object.assign(Sr.prototype,{calculateInverses:function(){this.boneInverses=[];for(var e=0,t=this.bones.length;e<t;e++){var n=new Wt;this.bones[e]&&n.getInverse(this.bones[e].matrixWorld),this.boneInverses.push(n)}},pose:function(){for(var e,t=0,n=this.bones.length;t<n;t++)(e=this.bones[t])&&e.matrixWorld.getInverse(this.boneInverses[t]);for(t=0,n=this.bones.length;t<n;t++)(e=this.bones[t])&&(e.parent&&e.parent.isBone?(e.matrix.getInverse(e.parent.matrixWorld),e.matrix.multiply(e.matrixWorld)):e.matrix.copy(e.matrixWorld),e.matrix.decompose(e.position,e.quaternion,e.scale))},update:(Zi=new Wt,function(){for(var e=0,t=this.bones.length;e<t;e++){var n=this.bones[e]?this.bones[e].matrixWorld:this.identityMatrix;Zi.multiplyMatrices(n,this.boneInverses[e]),Zi.toArray(this.boneMatrices,16*e)}this.useVertexTexture&&(this.boneTexture.needsUpdate=!0)}),clone:function(){return new Sr(this.bones,this.boneInverses,this.useVertexTexture)}}),Er.prototype=Object.assign(Object.create(gi.prototype),{constructor:Er,isBone:!0}),Tr.prototype=Object.assign(Object.create(zi.prototype),{constructor:Tr,isSkinnedMesh:!0,bind:function(e,t){this.skeleton=e,void 0===t&&(this.updateMatrixWorld(!0),this.skeleton.calculateInverses(),t=this.matrixWorld),this.bindMatrix.copy(t),this.bindMatrixInverse.getInverse(t)},pose:function(){this.skeleton.pose()},normalizeSkinWeights:function(){if(this.geometry&&this.geometry.isGeometry)for(var e=0;e<this.geometry.skinWeights.length;e++){var t=this.geometry.skinWeights[e];(r=1/t.lengthManhattan())!==1/0?t.multiplyScalar(r):t.set(1,0,0,0)}else if(this.geometry&&this.geometry.isBufferGeometry){var n=new Ft,i=this.geometry.attributes.skinWeight;for(e=0;e<i.count;e++){var r;n.x=i.getX(e),n.y=i.getY(e),n.z=i.getZ(e),n.w=i.getW(e),(r=1/n.lengthManhattan())!==1/0?n.multiplyScalar(r):n.set(1,0,0,0),i.setXYZW(e,n.x,n.y,n.z,n.w)}}},updateMatrixWorld:function(e){zi.prototype.updateMatrixWorld.call(this,!0),\\\"attached\\\"===this.bindMode?this.bindMatrixInverse.getInverse(this.matrixWorld):\\\"detached\\\"===this.bindMode?this.bindMatrixInverse.getInverse(this.bindMatrix):console.warn(\\\"THREE.SkinnedMesh unrecognized bindMode: \\\"+this.bindMode)},clone:function(){return new this.constructor(this.geometry,this.material,this.skeleton.useVertexTexture).copy(this)}}),Cr.prototype=Object.create(Jn.prototype),Cr.prototype.constructor=Cr,Cr.prototype.isLineBasicMaterial=!0,Cr.prototype.copy=function(e){return Jn.prototype.copy.call(this,e),this.color.copy(e.color),this.linewidth=e.linewidth,this.linecap=e.linecap,this.linejoin=e.linejoin,this},Or.prototype=Object.assign(Object.create(gi.prototype),{constructor:Or,isLine:!0,raycast:function(){var e=new Wt,t=new oi,n=new ei;return function(i,r){var o=i.linePrecision,a=o*o,s=this.geometry,l=this.matrixWorld;if(null===s.boundingSphere&&s.computeBoundingSphere(),n.copy(s.boundingSphere),n.applyMatrix4(l),!1!==i.ray.intersectsSphere(n)){e.getInverse(l),t.copy(i.ray).applyMatrix4(e);var u=new Ut,c=new Ut,d=new Ut,h=new Ut,p=this&&this.isLineSegments?2:1;if(s.isBufferGeometry){var f=s.index,m=s.attributes.position.array;if(null!==f)for(var g=f.array,v=0,y=g.length-1;v<y;v+=p){var b=g[v],x=g[v+1];if(u.fromArray(m,3*b),c.fromArray(m,3*x),!(t.distanceSqToSegment(u,c,h,d)>a))h.applyMatrix4(this.matrixWorld),(M=i.ray.origin.distanceTo(h))<i.near||M>i.far||r.push({distance:M,point:d.clone().applyMatrix4(this.matrixWorld),index:v,face:null,faceIndex:null,object:this})}else for(v=0,y=m.length/3-1;v<y;v+=p){if(u.fromArray(m,3*v),c.fromArray(m,3*v+3),!(t.distanceSqToSegment(u,c,h,d)>a))h.applyMatrix4(this.matrixWorld),(M=i.ray.origin.distanceTo(h))<i.near||M>i.far||r.push({distance:M,point:d.clone().applyMatrix4(this.matrixWorld),index:v,face:null,faceIndex:null,object:this})}}else if(s.isGeometry){var _=s.vertices,w=_.length;for(v=0;v<w-1;v+=p){var M;if(!(t.distanceSqToSegment(_[v],_[v+1],h,d)>a))h.applyMatrix4(this.matrixWorld),(M=i.ray.origin.distanceTo(h))<i.near||M>i.far||r.push({distance:M,point:d.clone().applyMatrix4(this.matrixWorld),index:v,face:null,faceIndex:null,object:this})}}}}}(),clone:function(){return new this.constructor(this.geometry,this.material).copy(this)}}),Pr.prototype=Object.assign(Object.create(Or.prototype),{constructor:Pr,isLineSegments:!0}),kr.prototype=Object.create(Jn.prototype),kr.prototype.constructor=kr,kr.prototype.isPointsMaterial=!0,kr.prototype.copy=function(e){return Jn.prototype.copy.call(this,e),this.color.copy(e.color),this.map=e.map,this.size=e.size,this.sizeAttenuation=e.sizeAttenuation,this},Ar.prototype=Object.assign(Object.create(gi.prototype),{constructor:Ar,isPoints:!0,raycast:function(){var e=new Wt,t=new oi,n=new ei;return function(i,r){var o=this,a=this.geometry,s=this.matrixWorld,l=i.params.Points.threshold;if(null===a.boundingSphere&&a.computeBoundingSphere(),n.copy(a.boundingSphere),n.applyMatrix4(s),!1!==i.ray.intersectsSphere(n)){e.getInverse(s),t.copy(i.ray).applyMatrix4(e);var u=l/((this.scale.x+this.scale.y+this.scale.z)/3),c=u*u,d=new Ut;if(a.isBufferGeometry){var h=a.index,p=a.attributes.position.array;if(null!==h)for(var f=h.array,m=0,g=f.length;m<g;m++){var v=f[m];d.fromArray(p,3*v),x(d,v)}else{m=0;for(var y=p.length/3;m<y;m++)d.fromArray(p,3*m),x(d,m)}}else{var b=a.vertices;for(m=0,y=b.length;m<y;m++)x(b[m],m)}}function x(e,n){var a=t.distanceSqToPoint(e);if(a<c){var l=t.closestPointToPoint(e);l.applyMatrix4(s);var u=i.ray.origin.distanceTo(l);if(u<i.near||u>i.far)return;r.push({distance:u,distanceToRay:Math.sqrt(a),point:l.clone(),index:n,face:null,object:o})}}}}(),clone:function(){return new this.constructor(this.geometry,this.material).copy(this)}}),Rr.prototype=Object.assign(Object.create(gi.prototype),{constructor:Rr}),Lr.prototype=Object.create(Nt.prototype),Lr.prototype.constructor=Lr,Ir.prototype=Object.create(Nt.prototype),Ir.prototype.constructor=Ir,Ir.prototype.isCompressedTexture=!0,Dr.prototype=Object.create(Nt.prototype),Dr.prototype.constructor=Dr,Nr.prototype=Object.create(Nt.prototype),Nr.prototype.constructor=Nr,Nr.prototype.isDepthTexture=!0,Fr.prototype=Object.create(Fi.prototype),Fr.prototype.constructor=Fr,zr.prototype=Object.create(Ni.prototype),zr.prototype.constructor=zr,Br.prototype=Object.create(Fi.prototype),Br.prototype.constructor=Br,jr.prototype=Object.create(Ni.prototype),jr.prototype.constructor=jr,Ur.prototype=Object.create(Fi.prototype),Ur.prototype.constructor=Ur,Wr.prototype=Object.create(Ni.prototype),Wr.prototype.constructor=Wr,Gr.prototype=Object.create(Ur.prototype),Gr.prototype.constructor=Gr,Vr.prototype=Object.create(Ni.prototype),Vr.prototype.constructor=Vr,Hr.prototype=Object.create(Ur.prototype),Hr.prototype.constructor=Hr,Yr.prototype=Object.create(Ni.prototype),Yr.prototype.constructor=Yr,qr.prototype=Object.create(Ur.prototype),qr.prototype.constructor=qr,Xr.prototype=Object.create(Ni.prototype),Xr.prototype.constructor=Xr,Kr.prototype=Object.create(Ur.prototype),Kr.prototype.constructor=Kr,Jr.prototype=Object.create(Ni.prototype),Jr.prototype.constructor=Jr,Zr.prototype=Object.create(Fi.prototype),Zr.prototype.constructor=Zr,$r.prototype=Object.create(Ni.prototype),$r.prototype.constructor=$r,Qr.prototype=Object.create(Fi.prototype),Qr.prototype.constructor=Qr,eo.prototype=Object.create(Ni.prototype),eo.prototype.constructor=eo,to.prototype=Object.create(Fi.prototype),to.prototype.constructor=to;var no={area:function(e){for(var t=e.length,n=0,i=t-1,r=0;r<t;i=r++)n+=e[i].x*e[r].y-e[r].x*e[i].y;return.5*n},triangulate:function(){function e(e,t,n,i,r,o){var a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w;if(s=e[o[t]].x,l=e[o[t]].y,u=e[o[n]].x,c=e[o[n]].y,d=e[o[i]].x,(u-s)*((h=e[o[i]].y)-l)-(c-l)*(d-s)<=0)return!1;for(m=d-u,g=h-c,v=s-d,y=l-h,b=u-s,x=c-l,a=0;a<r;a++)if(p=e[o[a]].x,f=e[o[a]].y,!(p===s&&f===l||p===u&&f===c||p===d&&f===h)&&(_=b*(f-l)-x*(p-s),w=v*(f-h)-y*(p-d),m*(f-c)-g*(p-u)>=-Number.EPSILON&&w>=-Number.EPSILON&&_>=-Number.EPSILON))return!1;return!0}return function(t,n){var i=t.length;if(i<3)return null;var r,o,a,s=[],l=[],u=[];if(no.area(t)>0)for(o=0;o<i;o++)l[o]=o;else for(o=0;o<i;o++)l[o]=i-1-o;var c=i,d=2*c;for(o=c-1;c>2;){if(d--<=0)return console.warn(\\\"THREE.ShapeUtils: Unable to triangulate polygon! in triangulate()\\\"),n?u:s;if(c<=(r=o)&&(r=0),c<=(o=r+1)&&(o=0),c<=(a=o+1)&&(a=0),e(t,r,o,a,c,l)){var h,p,f,m,g;for(h=l[r],p=l[o],f=l[a],s.push([t[h],t[p],t[f]]),u.push([l[r],l[o],l[a]]),m=o,g=o+1;g<c;m++,g++)l[m]=l[g];d=2*--c}}return n?u:s}}(),triangulateShape:function(e,t){function n(e){var t=e.length;t>2&&e[t-1].equals(e[0])&&e.pop()}function i(e,t,n){return e.x!==t.x?e.x<t.x?e.x<=n.x&&n.x<=t.x:t.x<=n.x&&n.x<=e.x:e.y<t.y?e.y<=n.y&&n.y<=t.y:t.y<=n.y&&n.y<=e.y}function r(e,t,n,r,o){var a=t.x-e.x,s=t.y-e.y,l=r.x-n.x,u=r.y-n.y,c=e.x-n.x,d=e.y-n.y,h=s*l-a*u,p=s*c-a*d;if(Math.abs(h)>Number.EPSILON){var f;if(h>0){if(p<0||p>h)return[];if((f=u*c-l*d)<0||f>h)return[]}else{if(p>0||p<h)return[];if((f=u*c-l*d)>0||f<h)return[]}if(0===f)return!o||0!==p&&p!==h?[e]:[];if(f===h)return!o||0!==p&&p!==h?[t]:[];if(0===p)return[n];if(p===h)return[r];var m=f/h;return[{x:e.x+m*a,y:e.y+m*s}]}if(0!==p||u*c!=l*d)return[];var g,v,y,b,x,_,w,M,S=0===a&&0===s,E=0===l&&0===u;return S&&E?e.x!==n.x||e.y!==n.y?[]:[e]:S?i(n,r,e)?[e]:[]:E?i(e,t,n)?[n]:[]:(0!==a?(e.x<t.x?(g=e,y=e.x,v=t,b=t.x):(g=t,y=t.x,v=e,b=e.x),n.x<r.x?(x=n,w=n.x,_=r,M=r.x):(x=r,w=r.x,_=n,M=n.x)):(e.y<t.y?(g=e,y=e.y,v=t,b=t.y):(g=t,y=t.y,v=e,b=e.y),n.y<r.y?(x=n,w=n.y,_=r,M=r.y):(x=r,w=r.y,_=n,M=n.y)),y<=w?b<w?[]:b===w?o?[]:[x]:b<=M?[x,v]:[x,_]:y>M?[]:y===M?o?[]:[g]:b<=M?[g,v]:[g,_])}function o(e,t,n,i){var r=t.x-e.x,o=t.y-e.y,a=n.x-e.x,s=n.y-e.y,l=i.x-e.x,u=i.y-e.y,c=r*s-o*a,d=r*u-o*l;if(Math.abs(c)>Number.EPSILON){var h=l*s-u*a;return c>0?d>=0&&h>=0:d>=0||h>=0}return d>0}n(e),t.forEach(n);for(var a,s,l,u,c,d,h={},p=e.concat(),f=0,m=t.length;f<m;f++)Array.prototype.push.apply(p,t[f]);for(a=0,s=p.length;a<s;a++)void 0!==h[c=p[a].x+\\\":\\\"+p[a].y]&&console.warn(\\\"THREE.ShapeUtils: Duplicate point\\\",c,a),h[c]=a;var g=function(e,t){var n,i=e.concat();function a(e,t){var r=i.length-1,a=e-1;a<0&&(a=r);var s=e+1;s>r&&(s=0);var l=o(i[e],i[a],i[s],n[t]);if(!l)return!1;var u=n.length-1,c=t-1;c<0&&(c=u);var d=t+1;return d>u&&(d=0),!!(l=o(n[t],n[c],n[d],i[e]))}function s(e,t){var n,o;for(n=0;n<i.length;n++)if(o=n+1,o%=i.length,r(e,t,i[n],i[o],!0).length>0)return!0;return!1}var l=[];function u(e,n){var i,o,a,s;for(i=0;i<l.length;i++)for(o=t[l[i]],a=0;a<o.length;a++)if(s=a+1,s%=o.length,r(e,n,o[a],o[s],!0).length>0)return!0;return!1}for(var c,d,h,p,f,m,g,v,y,b,x=[],_=0,w=t.length;_<w;_++)l.push(_);for(var M=0,S=2*l.length;l.length>0;){if(--S<0){console.log(\\\"Infinite Loop! Holes left:\\\"+l.length+\\\", Probably Hole outside Shape!\\\");break}for(d=M;d<i.length;d++){h=i[d],c=-1;for(_=0;_<l.length;_++)if(f=l[_],void 0===x[m=h.x+\\\":\\\"+h.y+\\\":\\\"+f]){n=t[f];for(var E=0;E<n.length;E++)if(p=n[E],a(d,E)&&!s(h,p)&&!u(h,p)){c=E,l.splice(_,1),g=i.slice(0,d+1),v=i.slice(d),y=n.slice(c),b=n.slice(0,c+1),i=g.concat(y).concat(b).concat(v),M=d;break}if(c>=0)break;x[m]=!0}if(c>=0)break}}return i}(e,t),v=no.triangulate(g,!1);for(a=0,s=v.length;a<s;a++)for(u=v[a],l=0;l<3;l++)void 0!==(d=h[c=u[l].x+\\\":\\\"+u[l].y])&&(u[l]=d);return v.concat()},isClockWise:function(e){return no.area(e)<0}};function io(e,t){void 0!==e?(Ni.call(this),this.type=\\\"ExtrudeGeometry\\\",e=Array.isArray(e)?e:[e],this.addShapeList(e,t),this.computeFaceNormals()):e=[]}function ro(e,t){var n=(t=t||{}).font;if(!1===(n&&n.isFont))return console.error(\\\"THREE.TextGeometry: font parameter is not an instance of THREE.Font.\\\"),new Ni;var i=n.generateShapes(e,t.size,t.curveSegments);t.amount=void 0!==t.height?t.height:50,void 0===t.bevelThickness&&(t.bevelThickness=10),void 0===t.bevelSize&&(t.bevelSize=8),void 0===t.bevelEnabled&&(t.bevelEnabled=!1),io.call(this,i,t),this.type=\\\"TextGeometry\\\"}function oo(e,t,n,i,r,o,a){Ni.call(this),this.type=\\\"SphereGeometry\\\",this.parameters={radius:e,widthSegments:t,heightSegments:n,phiStart:i,phiLength:r,thetaStart:o,thetaLength:a},this.fromBufferGeometry(new ao(e,t,n,i,r,o,a))}function ao(e,t,n,i,r,o,a){Fi.call(this),this.type=\\\"SphereBufferGeometry\\\",this.parameters={radius:e,widthSegments:t,heightSegments:n,phiStart:i,phiLength:r,thetaStart:o,thetaLength:a},e=e||50,t=Math.max(3,Math.floor(t)||8),n=Math.max(2,Math.floor(n)||6),i=void 0!==i?i:0,r=void 0!==r?r:2*Math.PI;var s,l,u=(o=void 0!==o?o:0)+(a=void 0!==a?a:Math.PI),c=0,d=[],h=new Ut,p=new Ut,f=[],m=[],g=[],v=[];for(l=0;l<=n;l++){var y=[],b=l/n;for(s=0;s<=t;s++){var x=s/t;h.x=-e*Math.cos(i+x*r)*Math.sin(o+b*a),h.y=e*Math.cos(o+b*a),h.z=e*Math.sin(i+x*r)*Math.sin(o+b*a),m.push(h.x,h.y,h.z),p.set(h.x,h.y,h.z).normalize(),g.push(p.x,p.y,p.z),v.push(x,1-b),y.push(c++)}d.push(y)}for(l=0;l<n;l++)for(s=0;s<t;s++){var _=d[l][s+1],w=d[l][s],M=d[l+1][s],S=d[l+1][s+1];(0!==l||o>0)&&f.push(_,w,S),(l!==n-1||u<Math.PI)&&f.push(w,M,S)}this.setIndex(f),this.addAttribute(\\\"position\\\",new Pi(m,3)),this.addAttribute(\\\"normal\\\",new Pi(g,3)),this.addAttribute(\\\"uv\\\",new Pi(v,2))}function so(e,t,n,i,r,o){Ni.call(this),this.type=\\\"RingGeometry\\\",this.parameters={innerRadius:e,outerRadius:t,thetaSegments:n,phiSegments:i,thetaStart:r,thetaLength:o},this.fromBufferGeometry(new lo(e,t,n,i,r,o))}function lo(e,t,n,i,r,o){Fi.call(this),this.type=\\\"RingBufferGeometry\\\",this.parameters={innerRadius:e,outerRadius:t,thetaSegments:n,phiSegments:i,thetaStart:r,thetaLength:o},e=e||20,t=t||50,r=void 0!==r?r:0,o=void 0!==o?o:2*Math.PI,n=void 0!==n?Math.max(3,n):8;var a,s,l,u=[],c=[],d=[],h=[],p=e,f=(t-e)/(i=void 0!==i?Math.max(1,i):1),m=new Ut,g=new Ot;for(s=0;s<=i;s++){for(l=0;l<=n;l++)a=r+l/n*o,m.x=p*Math.cos(a),m.y=p*Math.sin(a),c.push(m.x,m.y,m.z),d.push(0,0,1),g.x=(m.x/t+1)/2,g.y=(m.y/t+1)/2,h.push(g.x,g.y);p+=f}for(s=0;s<i;s++){var v=s*(n+1);for(l=0;l<n;l++){var y=a=l+v,b=a+n+1,x=a+n+2,_=a+1;u.push(y,b,_),u.push(b,x,_)}}this.setIndex(u),this.addAttribute(\\\"position\\\",new Pi(c,3)),this.addAttribute(\\\"normal\\\",new Pi(d,3)),this.addAttribute(\\\"uv\\\",new Pi(h,2))}function uo(e,t,n,i){Ni.call(this),this.type=\\\"LatheGeometry\\\",this.parameters={points:e,segments:t,phiStart:n,phiLength:i},this.fromBufferGeometry(new co(e,t,n,i)),this.mergeVertices()}function co(e,t,n,i){Fi.call(this),this.type=\\\"LatheBufferGeometry\\\",this.parameters={points:e,segments:t,phiStart:n,phiLength:i},t=Math.floor(t)||12,n=n||0,i=i||2*Math.PI,i=Ct.clamp(i,0,2*Math.PI);var r,o,a,s=[],l=[],u=[],c=1/t,d=new Ut,h=new Ot;for(o=0;o<=t;o++){var p=n+o*c*i,f=Math.sin(p),m=Math.cos(p);for(a=0;a<=e.length-1;a++)d.x=e[a].x*f,d.y=e[a].y,d.z=e[a].x*m,l.push(d.x,d.y,d.z),h.x=o/t,h.y=a/(e.length-1),u.push(h.x,h.y)}for(o=0;o<t;o++)for(a=0;a<e.length-1;a++){var g=r=a+o*e.length,v=r+e.length,y=r+e.length+1,b=r+1;s.push(g,v,b),s.push(v,y,b)}if(this.setIndex(s),this.addAttribute(\\\"position\\\",new Pi(l,3)),this.addAttribute(\\\"uv\\\",new Pi(u,2)),this.computeVertexNormals(),i===2*Math.PI){var x=this.attributes.normal.array,_=new Ut,w=new Ut,M=new Ut;for(r=t*e.length*3,o=0,a=0;o<e.length;o++,a+=3)_.x=x[a+0],_.y=x[a+1],_.z=x[a+2],w.x=x[r+a+0],w.y=x[r+a+1],w.z=x[r+a+2],M.addVectors(_,w).normalize(),x[a+0]=x[r+a+0]=M.x,x[a+1]=x[r+a+1]=M.y,x[a+2]=x[r+a+2]=M.z}}function ho(e,t){Ni.call(this),this.type=\\\"ShapeGeometry\\\",\\\"object\\\"==typeof t&&(console.warn(\\\"THREE.ShapeGeometry: Options parameter has been removed.\\\"),t=t.curveSegments),this.parameters={shapes:e,curveSegments:t},this.fromBufferGeometry(new po(e,t)),this.mergeVertices()}function po(e,t){Fi.call(this),this.type=\\\"ShapeBufferGeometry\\\",this.parameters={shapes:e,curveSegments:t},t=t||12;var n=[],i=[],r=[],o=[],a=0,s=0;if(!1===Array.isArray(e))u(e);else for(var l=0;l<e.length;l++)u(e[l]),this.addGroup(a,s,l),a+=s,s=0;function u(e){var a,l,u,c=i.length/3,d=e.extractPoints(t),h=d.shape,p=d.holes;if(!1===no.isClockWise(h))for(h=h.reverse(),a=0,l=p.length;a<l;a++)u=p[a],!0===no.isClockWise(u)&&(p[a]=u.reverse());var f=no.triangulateShape(h,p);for(a=0,l=p.length;a<l;a++)u=p[a],h=h.concat(u);for(a=0,l=h.length;a<l;a++){var m=h[a];i.push(m.x,m.y,0),r.push(0,0,1),o.push(m.x,m.y)}for(a=0,l=f.length;a<l;a++){var g=f[a],v=g[0]+c,y=g[1]+c,b=g[2]+c;n.push(v,y,b),s+=3}}this.setIndex(n),this.addAttribute(\\\"position\\\",new Pi(i,3)),this.addAttribute(\\\"normal\\\",new Pi(r,3)),this.addAttribute(\\\"uv\\\",new Pi(o,2))}function fo(e,t){Fi.call(this),this.type=\\\"EdgesGeometry\\\",this.parameters={thresholdAngle:t},t=void 0!==t?t:1;var n,i,r=[],o=Math.cos(Ct.DEG2RAD*t),a=[0,0],s={},l=[\\\"a\\\",\\\"b\\\",\\\"c\\\"];e.isBufferGeometry?(i=new Ni).fromBufferGeometry(e):i=e.clone(),i.mergeVertices(),i.computeFaceNormals();for(var u=i.vertices,c=i.faces,d=0,h=c.length;d<h;d++)for(var p=c[d],f=0;f<3;f++)a[0]=p[l[f]],a[1]=p[l[(f+1)%3]],a.sort(v),void 0===s[n=a.toString()]?s[n]={index1:a[0],index2:a[1],face1:d,face2:void 0}:s[n].face2=d;for(n in s){var m=s[n];if(void 0===m.face2||c[m.face1].normal.dot(c[m.face2].normal)<=o){var g=u[m.index1];r.push(g.x,g.y,g.z),g=u[m.index2],r.push(g.x,g.y,g.z)}}function v(e,t){return e-t}this.addAttribute(\\\"position\\\",new Pi(r,3))}function mo(e,t,n,i,r,o,a,s){Ni.call(this),this.type=\\\"CylinderGeometry\\\",this.parameters={radiusTop:e,radiusBottom:t,height:n,radialSegments:i,heightSegments:r,openEnded:o,thetaStart:a,thetaLength:s},this.fromBufferGeometry(new go(e,t,n,i,r,o,a,s)),this.mergeVertices()}function go(e,t,n,i,r,o,a,s){Fi.call(this),this.type=\\\"CylinderBufferGeometry\\\",this.parameters={radiusTop:e,radiusBottom:t,height:n,radialSegments:i,heightSegments:r,openEnded:o,thetaStart:a,thetaLength:s};var l=this;e=void 0!==e?e:20,t=void 0!==t?t:20,n=void 0!==n?n:100,i=Math.floor(i)||8,r=Math.floor(r)||1,o=void 0!==o&&o,a=void 0!==a?a:0,s=void 0!==s?s:2*Math.PI;var u=[],c=[],d=[],h=[],p=0,f=[],m=n/2,g=0;function v(n){var r,o,f,v=new Ot,y=new Ut,b=0,x=!0===n?e:t,_=!0===n?1:-1;for(o=p,r=1;r<=i;r++)c.push(0,m*_,0),d.push(0,_,0),h.push(.5,.5),p++;for(f=p,r=0;r<=i;r++){var w=r/i*s+a,M=Math.cos(w),S=Math.sin(w);y.x=x*S,y.y=m*_,y.z=x*M,c.push(y.x,y.y,y.z),d.push(0,_,0),v.x=.5*M+.5,v.y=.5*S*_+.5,h.push(v.x,v.y),p++}for(r=0;r<i;r++){var E=o+r,T=f+r;!0===n?u.push(T,T+1,E):u.push(T+1,T,E),b+=3}l.addGroup(g,b,!0===n?1:2),g+=b}!function(){var o,v,y=new Ut,b=new Ut,x=0,_=(t-e)/n;for(v=0;v<=r;v++){var w=[],M=v/r,S=M*(t-e)+e;for(o=0;o<=i;o++){var E=o/i,T=E*s+a,C=Math.sin(T),O=Math.cos(T);b.x=S*C,b.y=-M*n+m,b.z=S*O,c.push(b.x,b.y,b.z),y.set(C,_,O).normalize(),d.push(y.x,y.y,y.z),h.push(E,1-M),w.push(p++)}f.push(w)}for(o=0;o<i;o++)for(v=0;v<r;v++){var P=f[v][o],k=f[v+1][o],A=f[v+1][o+1],R=f[v][o+1];u.push(P,k,R),u.push(k,A,R),x+=6}l.addGroup(g,x,0),g+=x}(),!1===o&&(e>0&&v(!0),t>0&&v(!1)),this.setIndex(u),this.addAttribute(\\\"position\\\",new Pi(c,3)),this.addAttribute(\\\"normal\\\",new Pi(d,3)),this.addAttribute(\\\"uv\\\",new Pi(h,2))}function vo(e,t,n,i,r,o,a){mo.call(this,0,e,t,n,i,r,o,a),this.type=\\\"ConeGeometry\\\",this.parameters={radius:e,height:t,radialSegments:n,heightSegments:i,openEnded:r,thetaStart:o,thetaLength:a}}function yo(e,t,n,i,r,o,a){go.call(this,0,e,t,n,i,r,o,a),this.type=\\\"ConeBufferGeometry\\\",this.parameters={radius:e,height:t,radialSegments:n,heightSegments:i,openEnded:r,thetaStart:o,thetaLength:a}}function bo(e,t,n,i){Ni.call(this),this.type=\\\"CircleGeometry\\\",this.parameters={radius:e,segments:t,thetaStart:n,thetaLength:i},this.fromBufferGeometry(new xo(e,t,n,i))}function xo(e,t,n,i){Fi.call(this),this.type=\\\"CircleBufferGeometry\\\",this.parameters={radius:e,segments:t,thetaStart:n,thetaLength:i},e=e||50,t=void 0!==t?Math.max(3,t):8,n=void 0!==n?n:0,i=void 0!==i?i:2*Math.PI;var r,o,a=[],s=[],l=[],u=[],c=new Ut,d=new Ot;for(s.push(0,0,0),l.push(0,0,1),u.push(.5,.5),o=0,r=3;o<=t;o++,r+=3){var h=n+o/t*i;c.x=e*Math.cos(h),c.y=e*Math.sin(h),s.push(c.x,c.y,c.z),l.push(0,0,1),d.x=(s[r]/e+1)/2,d.y=(s[r+1]/e+1)/2,u.push(d.x,d.y)}for(r=1;r<=t;r++)a.push(r,r+1,0);this.setIndex(a),this.addAttribute(\\\"position\\\",new Pi(s,3)),this.addAttribute(\\\"normal\\\",new Pi(l,3)),this.addAttribute(\\\"uv\\\",new Pi(u,2))}io.prototype=Object.create(Ni.prototype),io.prototype.constructor=io,io.prototype.addShapeList=function(e,t){for(var n=e.length,i=0;i<n;i++){var r=e[i];this.addShape(r,t)}},io.prototype.addShape=function(e,t){var n,i,r,o,a,s,l,u,c=void 0!==t.amount?t.amount:100,d=void 0!==t.bevelThickness?t.bevelThickness:6,h=void 0!==t.bevelSize?t.bevelSize:d-2,p=void 0!==t.bevelSegments?t.bevelSegments:3,f=void 0===t.bevelEnabled||t.bevelEnabled,m=void 0!==t.curveSegments?t.curveSegments:12,g=void 0!==t.steps?t.steps:1,v=t.extrudePath,y=!1,b=void 0!==t.UVGenerator?t.UVGenerator:io.WorldUVGenerator;v&&(n=v.getSpacedPoints(g),y=!0,f=!1,i=void 0!==t.frames?t.frames:v.computeFrenetFrames(g,!1),r=new Ut,o=new Ut,a=new Ut),f||(p=0,d=0,h=0);var x=this,_=this.vertices.length,w=e.extractPoints(m),M=w.shape,S=w.holes,E=!no.isClockWise(M);if(E){for(M=M.reverse(),l=0,u=S.length;l<u;l++)s=S[l],no.isClockWise(s)&&(S[l]=s.reverse());E=!1}var T=no.triangulateShape(M,S),C=M;for(l=0,u=S.length;l<u;l++)s=S[l],M=M.concat(s);function O(e,t,n){return t||console.error(\\\"THREE.ExtrudeGeometry: vec does not exist\\\"),t.clone().multiplyScalar(n).add(e)}var P,k,A,R,L,I,D=M.length,N=T.length;function F(e,t,n){var i,r,o=1,a=e.x-t.x,s=e.y-t.y,l=n.x-e.x,u=n.y-e.y,c=a*a+s*s,d=a*u-s*l;if(Math.abs(d)>Number.EPSILON){var h=Math.sqrt(c),p=Math.sqrt(l*l+u*u),f=t.x-s/h,m=t.y+a/h,g=((n.x-u/p-f)*u-(n.y+l/p-m)*l)/(a*u-s*l),v=(i=f+a*g-e.x)*i+(r=m+s*g-e.y)*r;if(v<=2)return new Ot(i,r);o=Math.sqrt(v/2)}else{var y=!1;a>Number.EPSILON?l>Number.EPSILON&&(y=!0):a<-Number.EPSILON?l<-Number.EPSILON&&(y=!0):Math.sign(s)===Math.sign(u)&&(y=!0),y?(i=-s,r=a,o=Math.sqrt(c)):(i=a,r=s,o=Math.sqrt(c/2))}return new Ot(i/o,r/o)}for(var z=[],B=0,j=C.length,U=j-1,W=B+1;B<j;B++,U++,W++)U===j&&(U=0),W===j&&(W=0),z[B]=F(C[B],C[U],C[W]);var G,V,H=[],Y=z.concat();for(l=0,u=S.length;l<u;l++){for(s=S[l],G=[],B=0,U=(j=s.length)-1,W=B+1;B<j;B++,U++,W++)U===j&&(U=0),W===j&&(W=0),G[B]=F(s[B],s[U],s[W]);H.push(G),Y=Y.concat(G)}for(P=0;P<p;P++){for(A=P/p,R=d*Math.cos(A*Math.PI/2),k=h*Math.sin(A*Math.PI/2),B=0,j=C.length;B<j;B++)X((L=O(C[B],z[B],k)).x,L.y,-R);for(l=0,u=S.length;l<u;l++)for(s=S[l],G=H[l],B=0,j=s.length;B<j;B++)X((L=O(s[B],G[B],k)).x,L.y,-R)}for(k=h,B=0;B<D;B++)L=f?O(M[B],Y[B],k):M[B],y?(o.copy(i.normals[0]).multiplyScalar(L.x),r.copy(i.binormals[0]).multiplyScalar(L.y),a.copy(n[0]).add(o).add(r),X(a.x,a.y,a.z)):X(L.x,L.y,0);for(V=1;V<=g;V++)for(B=0;B<D;B++)L=f?O(M[B],Y[B],k):M[B],y?(o.copy(i.normals[V]).multiplyScalar(L.x),r.copy(i.binormals[V]).multiplyScalar(L.y),a.copy(n[V]).add(o).add(r),X(a.x,a.y,a.z)):X(L.x,L.y,c/g*V);for(P=p-1;P>=0;P--){for(A=P/p,R=d*Math.cos(A*Math.PI/2),k=h*Math.sin(A*Math.PI/2),B=0,j=C.length;B<j;B++)X((L=O(C[B],z[B],k)).x,L.y,c+R);for(l=0,u=S.length;l<u;l++)for(s=S[l],G=H[l],B=0,j=s.length;B<j;B++)L=O(s[B],G[B],k),y?X(L.x,L.y+n[g-1].y,n[g-1].x+R):X(L.x,L.y,c+R)}function q(e,t){var n,i;for(B=e.length;--B>=0;){n=B,(i=B-1)<0&&(i=e.length-1);var r=0,o=g+2*p;for(r=0;r<o;r++){var a=D*r,s=D*(r+1);J(t+n+a,t+i+a,t+i+s,t+n+s,e,r,o,n,i)}}}function X(e,t,n){x.vertices.push(new Ut(e,t,n))}function K(e,t,n){e+=_,t+=_,n+=_,x.faces.push(new bi(e,t,n,null,null,0));var i=b.generateTopUV(x,e,t,n);x.faceVertexUvs[0].push(i)}function J(e,t,n,i,r,o,a,s,l){e+=_,t+=_,n+=_,i+=_,x.faces.push(new bi(e,t,i,null,null,1)),x.faces.push(new bi(t,n,i,null,null,1));var u=b.generateSideWallUV(x,e,t,n,i);x.faceVertexUvs[0].push([u[0],u[1],u[3]]),x.faceVertexUvs[0].push([u[1],u[2],u[3]])}!function(){if(f){var e=0,t=D*e;for(B=0;B<N;B++)K((I=T[B])[2]+t,I[1]+t,I[0]+t);for(t=D*(e=g+2*p),B=0;B<N;B++)K((I=T[B])[0]+t,I[1]+t,I[2]+t)}else{for(B=0;B<N;B++)K((I=T[B])[2],I[1],I[0]);for(B=0;B<N;B++)K((I=T[B])[0]+D*g,I[1]+D*g,I[2]+D*g)}}(),function(){var e=0;for(q(C,e),e+=C.length,l=0,u=S.length;l<u;l++)q(s=S[l],e),e+=s.length}()},io.WorldUVGenerator={generateTopUV:function(e,t,n,i){var r=e.vertices,o=r[t],a=r[n],s=r[i];return[new Ot(o.x,o.y),new Ot(a.x,a.y),new Ot(s.x,s.y)]},generateSideWallUV:function(e,t,n,i,r){var o=e.vertices,a=o[t],s=o[n],l=o[i],u=o[r];return Math.abs(a.y-s.y)<.01?[new Ot(a.x,1-a.z),new Ot(s.x,1-s.z),new Ot(l.x,1-l.z),new Ot(u.x,1-u.z)]:[new Ot(a.y,1-a.z),new Ot(s.y,1-s.z),new Ot(l.y,1-l.z),new Ot(u.y,1-u.z)]}},ro.prototype=Object.create(io.prototype),ro.prototype.constructor=ro,oo.prototype=Object.create(Ni.prototype),oo.prototype.constructor=oo,ao.prototype=Object.create(Fi.prototype),ao.prototype.constructor=ao,so.prototype=Object.create(Ni.prototype),so.prototype.constructor=so,lo.prototype=Object.create(Fi.prototype),lo.prototype.constructor=lo,uo.prototype=Object.create(Ni.prototype),uo.prototype.constructor=uo,co.prototype=Object.create(Fi.prototype),co.prototype.constructor=co,ho.prototype=Object.create(Ni.prototype),ho.prototype.constructor=ho,po.prototype=Object.create(Fi.prototype),po.prototype.constructor=po,fo.prototype=Object.create(Fi.prototype),fo.prototype.constructor=fo,mo.prototype=Object.create(Ni.prototype),mo.prototype.constructor=mo,go.prototype=Object.create(Fi.prototype),go.prototype.constructor=go,vo.prototype=Object.create(mo.prototype),vo.prototype.constructor=vo,yo.prototype=Object.create(go.prototype),yo.prototype.constructor=yo,bo.prototype=Object.create(Ni.prototype),bo.prototype.constructor=bo,xo.prototype=Object.create(Fi.prototype),xo.prototype.constructor=xo;var _o=Object.freeze({WireframeGeometry:Fr,ParametricGeometry:zr,ParametricBufferGeometry:Br,TetrahedronGeometry:Wr,TetrahedronBufferGeometry:Gr,OctahedronGeometry:Vr,OctahedronBufferGeometry:Hr,IcosahedronGeometry:Yr,IcosahedronBufferGeometry:qr,DodecahedronGeometry:Xr,DodecahedronBufferGeometry:Kr,PolyhedronGeometry:jr,PolyhedronBufferGeometry:Ur,TubeGeometry:Jr,TubeBufferGeometry:Zr,TorusKnotGeometry:$r,TorusKnotBufferGeometry:Qr,TorusGeometry:eo,TorusBufferGeometry:to,TextGeometry:ro,SphereGeometry:oo,SphereBufferGeometry:ao,RingGeometry:so,RingBufferGeometry:lo,PlaneGeometry:Ui,PlaneBufferGeometry:Wi,LatheGeometry:uo,LatheBufferGeometry:co,ShapeGeometry:ho,ShapeBufferGeometry:po,ExtrudeGeometry:io,EdgesGeometry:fo,ConeGeometry:vo,ConeBufferGeometry:yo,CylinderGeometry:mo,CylinderBufferGeometry:go,CircleGeometry:bo,CircleBufferGeometry:xo,BoxGeometry:Bi,BoxBufferGeometry:ji});function wo(){Zn.call(this,{uniforms:On.merge([Ln.lights,{opacity:{value:1}}]),vertexShader:Pn.shadow_vert,fragmentShader:Pn.shadow_frag}),this.lights=!0,this.transparent=!0,Object.defineProperties(this,{opacity:{enumerable:!0,get:function(){return this.uniforms.opacity.value},set:function(e){this.uniforms.opacity.value=e}}})}function Mo(e){Zn.call(this,e),this.type=\\\"RawShaderMaterial\\\"}function So(e){this.uuid=Ct.generateUUID(),this.type=\\\"MultiMaterial\\\",this.materials=Array.isArray(e)?e:[],this.visible=!0}function Eo(e){Jn.call(this),this.defines={STANDARD:\\\"\\\"},this.type=\\\"MeshStandardMaterial\\\",this.color=new kn(16777215),this.roughness=.5,this.metalness=.5,this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new kn(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalScale=new Ot(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.roughnessMap=null,this.metalnessMap=null,this.alphaMap=null,this.envMap=null,this.envMapIntensity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=\\\"round\\\",this.wireframeLinejoin=\\\"round\\\",this.skinning=!1,this.morphTargets=!1,this.morphNormals=!1,this.setValues(e)}function To(e){Eo.call(this),this.defines={PHYSICAL:\\\"\\\"},this.type=\\\"MeshPhysicalMaterial\\\",this.reflectivity=.5,this.clearCoat=0,this.clearCoatRoughness=0,this.setValues(e)}function Co(e){Jn.call(this),this.type=\\\"MeshPhongMaterial\\\",this.color=new kn(16777215),this.specular=new kn(1118481),this.shininess=30,this.map=null,this.lightMap=null,this.lightMapIntensity=1,this.aoMap=null,this.aoMapIntensity=1,this.emissive=new kn(0),this.emissiveIntensity=1,this.emissiveMap=null,this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalScale=new Ot(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.specularMap=null,this.alphaMap=null,this.envMap=null,this.combine=oe,this.reflectivity=1,this.refractionRatio=.98,this.wireframe=!1,this.wireframeLinewidth=1,this.wireframeLinecap=\\\"round\\\",this.wireframeLinejoin=\\\"round\\\",this.skinning=!1,this.morphTargets=!1,this.morphNormals=!1,this.setValues(e)}function Oo(e){Co.call(this),this.defines={TOON:\\\"\\\"},this.type=\\\"MeshToonMaterial\\\",this.gradientMap=null,this.setValues(e)}function Po(e){Jn.call(this,e),this.type=\\\"MeshNormalMaterial\\\",this.bumpMap=null,this.bumpScale=1,this.normalMap=null,this.normalScale=new Ot(1,1),this.displacementMap=null,this.displacementScale=1,this.displacementBias=0,this.wireframe=!1,this.wireframeLinewidth=1,this.fog=!1,this.lights=!1,this.skinning=!1,this.morphTargets=!1,this.morphNormals=!1,this.setValues(e)}function ko(e){Jn.call(this),this.type=\\\"MeshLambertMaterial\\\",this.color=new 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0!==e.sizeAttenuation&&(i.sizeAttenuation=e.sizeAttenuation),void 0!==e.map&&(i.map=n(e.map)),void 0!==e.alphaMap&&(i.alphaMap=n(e.alphaMap),i.transparent=!0),void 0!==e.bumpMap&&(i.bumpMap=n(e.bumpMap)),void 0!==e.bumpScale&&(i.bumpScale=e.bumpScale),void 0!==e.normalMap&&(i.normalMap=n(e.normalMap)),void 0!==e.normalScale){var r=e.normalScale;!1===Array.isArray(r)&&(r=[r,r]),i.normalScale=(new Ot).fromArray(r)}if(void 0!==e.displacementMap&&(i.displacementMap=n(e.displacementMap)),void 0!==e.displacementScale&&(i.displacementScale=e.displacementScale),void 0!==e.displacementBias&&(i.displacementBias=e.displacementBias),void 0!==e.roughnessMap&&(i.roughnessMap=n(e.roughnessMap)),void 0!==e.metalnessMap&&(i.metalnessMap=n(e.metalnessMap)),void 0!==e.emissiveMap&&(i.emissiveMap=n(e.emissiveMap)),void 0!==e.emissiveIntensity&&(i.emissiveIntensity=e.emissiveIntensity),void 0!==e.specularMap&&(i.specularMap=n(e.specularMap)),void 0!==e.envMap&&(i.envMap=n(e.envMap)),void 0!==e.reflectivity&&(i.reflectivity=e.reflectivity),void 0!==e.lightMap&&(i.lightMap=n(e.lightMap)),void 0!==e.lightMapIntensity&&(i.lightMapIntensity=e.lightMapIntensity),void 0!==e.aoMap&&(i.aoMap=n(e.aoMap)),void 0!==e.aoMapIntensity&&(i.aoMapIntensity=e.aoMapIntensity),void 0!==e.gradientMap&&(i.gradientMap=n(e.gradientMap)),void 0!==e.materials)for(var o=0,a=e.materials.length;o<a;o++)i.materials.push(this.parse(e.materials[o]));return i}}),Object.assign(ya.prototype,{load:function(e,t,n,i){var r=this;new No(r.manager).load(e,(function(e){t(r.parse(JSON.parse(e)))}),n,i)},parse:function(e){var t=new Fi,n=e.data.index,i={Int8Array:Int8Array,Uint8Array:Uint8Array,Uint8ClampedArray:Uint8ClampedArray,Int16Array:Int16Array,Uint16Array:Uint16Array,Int32Array:Int32Array,Uint32Array:Uint32Array,Float32Array:Float32Array,Float64Array:Float64Array};if(void 0!==n){var r=new i[n.type](n.array);t.setIndex(new _i(r,1))}var o=e.data.attributes;for(var a in o){var s=o[a];r=new i[s.type](s.array);t.addAttribute(a,new _i(r,s.itemSize,s.normalized))}var l=e.data.groups||e.data.drawcalls||e.data.offsets;if(void 0!==l)for(var u=0,c=l.length;u!==c;++u){var d=l[u];t.addGroup(d.start,d.count,d.materialIndex)}var h=e.data.boundingSphere;if(void 0!==h){var p=new Ut;void 0!==h.center&&p.fromArray(h.center),t.boundingSphere=new ei(p,h.radius)}return t}}),ba.prototype={constructor:ba,crossOrigin:void 0,extractUrlBase:function(e){var t=e.split(\\\"/\\\");return 1===t.length?\\\"./\\\":(t.pop(),t.join(\\\"/\\\")+\\\"/\\\")},initMaterials:function(e,t,n){for(var i=[],r=0;r<e.length;++r)i[r]=this.createMaterial(e[r],t,n);return i},createMaterial:(ta={NoBlending:P,NormalBlending:k,AdditiveBlending:A,SubtractiveBlending:R,MultiplyBlending:L,CustomBlending:I},function(e,t,n){void 0===$o&&($o=new kn),void 0===Qo&&(Qo=new Uo),void 0===ea&&(ea=new va);var i={};function r(e,r,o,a,s){var l,u=t+e,c=ba.Handlers.get(u);null!==c?l=c.load(u):(Qo.setCrossOrigin(n),l=Qo.load(u)),void 0!==r&&(l.repeat.fromArray(r),1!==r[0]&&(l.wrapS=_e),1!==r[1]&&(l.wrapT=_e)),void 0!==o&&l.offset.fromArray(o),void 0!==a&&(\\\"repeat\\\"===a[0]&&(l.wrapS=_e),\\\"mirror\\\"===a[0]&&(l.wrapS=Me),\\\"repeat\\\"===a[1]&&(l.wrapT=_e),\\\"mirror\\\"===a[1]&&(l.wrapT=Me)),void 0!==s&&(l.anisotropy=s);var d=Ct.generateUUID();return i[d]=l,d}var o={uuid:Ct.generateUUID(),type:\\\"MeshLambertMaterial\\\"};for(var a in e){var s=e[a];switch(a){case\\\"DbgColor\\\":case\\\"DbgIndex\\\":case\\\"opticalDensity\\\":case\\\"illumination\\\":break;case\\\"DbgName\\\":o.name=s;break;case\\\"blending\\\":o.blending=ta[s];break;case\\\"colorAmbient\\\":case\\\"mapAmbient\\\":console.warn(\\\"THREE.Loader.createMaterial:\\\",a,\\\"is no longer supported.\\\");break;case\\\"colorDiffuse\\\":o.color=$o.fromArray(s).getHex();break;case\\\"colorSpecular\\\":o.specular=$o.fromArray(s).getHex();break;case\\\"colorEmissive\\\":o.emissive=$o.fromArray(s).getHex();break;case\\\"specularCoef\\\":o.shininess=s;break;case\\\"shading\\\":\\\"basic\\\"===s.toLowerCase()&&(o.type=\\\"MeshBasicMaterial\\\"),\\\"phong\\\"===s.toLowerCase()&&(o.type=\\\"MeshPhongMaterial\\\"),\\\"standard\\\"===s.toLowerCase()&&(o.type=\\\"MeshStandardMaterial\\\");break;case\\\"mapDiffuse\\\":o.map=r(s,e.mapDiffuseRepeat,e.mapDiffuseOffset,e.mapDiffuseWrap,e.mapDiffuseAnisotropy);break;case\\\"mapDiffuseRepeat\\\":case\\\"mapDiffuseOffset\\\":case\\\"mapDiffuseWrap\\\":case\\\"mapDiffuseAnisotropy\\\":break;case\\\"mapEmissive\\\":o.emissiveMap=r(s,e.mapEmissiveRepeat,e.mapEmissiveOffset,e.mapEmissiveWrap,e.mapEmissiveAnisotropy);break;case\\\"mapEmissiveRepeat\\\":case\\\"mapEmissiveOffset\\\":case\\\"mapEmissiveWrap\\\":case\\\"mapEmissiveAnisotropy\\\":break;case\\\"mapLight\\\":o.lightMap=r(s,e.mapLightRepeat,e.mapLightOffset,e.mapLightWrap,e.mapLightAnisotropy);break;case\\\"mapLightRepeat\\\":case\\\"mapLightOffset\\\":case\\\"mapLightWrap\\\":case\\\"mapLightAnisotropy\\\":break;case\\\"mapAO\\\":o.aoMap=r(s,e.mapAORepeat,e.mapAOOffset,e.mapAOWrap,e.mapAOAnisotropy);break;case\\\"mapAORepeat\\\":case\\\"mapAOOffset\\\":case\\\"mapAOWrap\\\":case\\\"mapAOAnisotropy\\\":break;case\\\"mapBump\\\":o.bumpMap=r(s,e.mapBumpRepeat,e.mapBumpOffset,e.mapBumpWrap,e.mapBumpAnisotropy);break;case\\\"mapBumpScale\\\":o.bumpScale=s;break;case\\\"mapBumpRepeat\\\":case\\\"mapBumpOffset\\\":case\\\"mapBumpWrap\\\":case\\\"mapBumpAnisotropy\\\":break;case\\\"mapNormal\\\":o.normalMap=r(s,e.mapNormalRepeat,e.mapNormalOffset,e.mapNormalWrap,e.mapNormalAnisotropy);break;case\\\"mapNormalFactor\\\":o.normalScale=[s,s];break;case\\\"mapNormalRepeat\\\":case\\\"mapNormalOffset\\\":case\\\"mapNormalWrap\\\":case\\\"mapNormalAnisotropy\\\":break;case\\\"mapSpecular\\\":o.specularMap=r(s,e.mapSpecularRepeat,e.mapSpecularOffset,e.mapSpecularWrap,e.mapSpecularAnisotropy);break;case\\\"mapSpecularRepeat\\\":case\\\"mapSpecularOffset\\\":case\\\"mapSpecularWrap\\\":case\\\"mapSpecularAnisotropy\\\":break;case\\\"mapMetalness\\\":o.metalnessMap=r(s,e.mapMetalnessRepeat,e.mapMetalnessOffset,e.mapMetalnessWrap,e.mapMetalnessAnisotropy);break;case\\\"mapMetalnessRepeat\\\":case\\\"mapMetalnessOffset\\\":case\\\"mapMetalnessWrap\\\":case\\\"mapMetalnessAnisotropy\\\":break;case\\\"mapRoughness\\\":o.roughnessMap=r(s,e.mapRoughnessRepeat,e.mapRoughnessOffset,e.mapRoughnessWrap,e.mapRoughnessAnisotropy);break;case\\\"mapRoughnessRepeat\\\":case\\\"mapRoughnessOffset\\\":case\\\"mapRoughnessWrap\\\":case\\\"mapRoughnessAnisotropy\\\":break;case\\\"mapAlpha\\\":o.alphaMap=r(s,e.mapAlphaRepeat,e.mapAlphaOffset,e.mapAlphaWrap,e.mapAlphaAnisotropy);break;case\\\"mapAlphaRepeat\\\":case\\\"mapAlphaOffset\\\":case\\\"mapAlphaWrap\\\":case\\\"mapAlphaAnisotropy\\\":break;case\\\"flipSided\\\":o.side=w;break;case\\\"doubleSided\\\":o.side=M;break;case\\\"transparency\\\":console.warn(\\\"THREE.Loader.createMaterial: transparency has been renamed to opacity\\\"),o.opacity=s;break;case\\\"depthTest\\\":case\\\"depthWrite\\\":case\\\"colorWrite\\\":case\\\"opacity\\\":case\\\"reflectivity\\\":case\\\"transparent\\\":case\\\"visible\\\":case\\\"wireframe\\\":o[a]=s;break;case\\\"vertexColors\\\":!0===s&&(o.vertexColors=O),\\\"face\\\"===s&&(o.vertexColors=C);break;default:console.error(\\\"THREE.Loader.createMaterial: Unsupported\\\",a,s)}}return\\\"MeshBasicMaterial\\\"===o.type&&delete o.emissive,\\\"MeshPhongMaterial\\\"!==o.type&&delete o.specular,o.opacity<1&&(o.transparent=!0),ea.setTextures(i),ea.parse(o)})},ba.Handlers={handlers:[],add:function(e,t){this.handlers.push(e,t)},get:function(e){for(var t=this.handlers,n=0,i=t.length;n<i;n+=2){var r=t[n],o=t[n+1];if(r.test(e))return o}return null}},Object.assign(xa.prototype,{load:function(e,t,n,i){var r=this,o=this.texturePath&&\\\"string\\\"==typeof this.texturePath?this.texturePath:ba.prototype.extractUrlBase(e),a=new No(this.manager);a.setWithCredentials(this.withCredentials),a.load(e,(function(n){var i=JSON.parse(n),a=i.metadata;if(void 0!==a){var s=a.type;if(void 0!==s){if(\\\"object\\\"===s.toLowerCase())return void console.error(\\\"THREE.JSONLoader: \\\"+e+\\\" should be loaded with THREE.ObjectLoader instead.\\\");if(\\\"scene\\\"===s.toLowerCase())return void console.error(\\\"THREE.JSONLoader: \\\"+e+\\\" should be loaded with THREE.SceneLoader instead.\\\")}}var l=r.parse(i,o);t(l.geometry,l.materials)}),n,i)},setTexturePath:function(e){this.texturePath=e},parse:function(e,t){var n=new Ni,i=void 0!==e.scale?1/e.scale:1;if(function(t){function i(e,t){return e&1<<t}var r,o,a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w,M,S,E,T,C,O,P,k,A=e.faces,R=e.vertices,L=e.normals,I=e.colors,D=0;if(void 0!==e.uvs){for(r=0;r<e.uvs.length;r++)e.uvs[r].length&&D++;for(r=0;r<D;r++)n.faceVertexUvs[r]=[]}s=0,l=R.length;for(;s<l;)(_=new Ut).x=R[s++]*t,_.y=R[s++]*t,_.z=R[s++]*t,n.vertices.push(_);s=0,l=A.length;for(;s<l;)if(p=A[s++],f=i(p,0),m=i(p,1),g=i(p,3),v=i(p,4),y=i(p,5),b=i(p,6),x=i(p,7),f){if((M=new bi).a=A[s],M.b=A[s+1],M.c=A[s+3],(S=new bi).a=A[s+1],S.b=A[s+2],S.c=A[s+3],s+=4,m&&(h=A[s++],M.materialIndex=h,S.materialIndex=h),a=n.faces.length,g)for(r=0;r<D;r++)for(C=e.uvs[r],n.faceVertexUvs[r][a]=[],n.faceVertexUvs[r][a+1]=[],o=0;o<4;o++)d=A[s++],P=C[2*d],k=C[2*d+1],O=new Ot(P,k),2!==o&&n.faceVertexUvs[r][a].push(O),0!==o&&n.faceVertexUvs[r][a+1].push(O);if(v&&(c=3*A[s++],M.normal.set(L[c++],L[c++],L[c]),S.normal.copy(M.normal)),y)for(r=0;r<4;r++)c=3*A[s++],T=new Ut(L[c++],L[c++],L[c]),2!==r&&M.vertexNormals.push(T),0!==r&&S.vertexNormals.push(T);if(b&&(u=A[s++],E=I[u],M.color.setHex(E),S.color.setHex(E)),x)for(r=0;r<4;r++)u=A[s++],E=I[u],2!==r&&M.vertexColors.push(new kn(E)),0!==r&&S.vertexColors.push(new kn(E));n.faces.push(M),n.faces.push(S)}else{if((w=new bi).a=A[s++],w.b=A[s++],w.c=A[s++],m&&(h=A[s++],w.materialIndex=h),a=n.faces.length,g)for(r=0;r<D;r++)for(C=e.uvs[r],n.faceVertexUvs[r][a]=[],o=0;o<3;o++)d=A[s++],P=C[2*d],k=C[2*d+1],O=new Ot(P,k),n.faceVertexUvs[r][a].push(O);if(v&&(c=3*A[s++],w.normal.set(L[c++],L[c++],L[c])),y)for(r=0;r<3;r++)c=3*A[s++],T=new Ut(L[c++],L[c++],L[c]),w.vertexNormals.push(T);if(b&&(u=A[s++],w.color.setHex(I[u])),x)for(r=0;r<3;r++)u=A[s++],w.vertexColors.push(new kn(I[u]));n.faces.push(w)}}(i),function(){var t=void 0!==e.influencesPerVertex?e.influencesPerVertex:2;if(e.skinWeights)for(var i=0,r=e.skinWeights.length;i<r;i+=t){var o=e.skinWeights[i],a=t>1?e.skinWeights[i+1]:0,s=t>2?e.skinWeights[i+2]:0,l=t>3?e.skinWeights[i+3]:0;n.skinWeights.push(new Ft(o,a,s,l))}if(e.skinIndices)for(i=0,r=e.skinIndices.length;i<r;i+=t){var u=e.skinIndices[i],c=t>1?e.skinIndices[i+1]:0,d=t>2?e.skinIndices[i+2]:0,h=t>3?e.skinIndices[i+3]:0;n.skinIndices.push(new Ft(u,c,d,h))}n.bones=e.bones,n.bones&&n.bones.length>0&&(n.skinWeights.length!==n.skinIndices.length||n.skinIndices.length!==n.vertices.length)&&console.warn(\\\"When skinning, number of vertices (\\\"+n.vertices.length+\\\"), skinIndices (\\\"+n.skinIndices.length+\\\"), and skinWeights (\\\"+n.skinWeights.length+\\\") should match.\\\")}(),function(t){if(void 0!==e.morphTargets)for(var i=0,r=e.morphTargets.length;i<r;i++){n.morphTargets[i]={},n.morphTargets[i].name=e.morphTargets[i].name,n.morphTargets[i].vertices=[];for(var o=n.morphTargets[i].vertices,a=e.morphTargets[i].vertices,s=0,l=a.length;s<l;s+=3){var u=new Ut;u.x=a[s]*t,u.y=a[s+1]*t,u.z=a[s+2]*t,o.push(u)}}if(void 0!==e.morphColors&&e.morphColors.length>0){console.warn('THREE.JSONLoader: \\\"morphColors\\\" no longer supported. Using them as face colors.');var c=n.faces,d=e.morphColors[0].colors;for(i=0,r=c.length;i<r;i++)c[i].color.fromArray(d,3*i)}}(i),function(){var t=[],i=[];void 0!==e.animation&&i.push(e.animation);void 0!==e.animations&&(e.animations.length?i=i.concat(e.animations):i.push(e.animations));for(var r=0;r<i.length;r++){var o=ga.parseAnimation(i[r],n.bones);o&&t.push(o)}if(n.morphTargets){var a=ga.CreateClipsFromMorphTargetSequences(n.morphTargets,10);t=t.concat(a)}t.length>0&&(n.animations=t)}(),n.computeFaceNormals(),n.computeBoundingSphere(),void 0===e.materials||0===e.materials.length)return{geometry:n};var r=ba.prototype.initMaterials(e.materials,t,this.crossOrigin);return{geometry:n,materials:r}}}),Object.assign(_a.prototype,{load:function(e,t,n,i){\\\"\\\"===this.texturePath&&(this.texturePath=e.substring(0,e.lastIndexOf(\\\"/\\\")+1));var r=this;new No(r.manager).load(e,(function(n){var o=null;try{o=JSON.parse(n)}catch(t){return void 0!==i&&i(t),void console.error(\\\"THREE:ObjectLoader: Can't parse \\\"+e+\\\".\\\",t.message)}var a=o.metadata;void 0!==a&&void 0!==a.type&&\\\"geometry\\\"!==a.type.toLowerCase()?r.parse(o,t):console.error(\\\"THREE.ObjectLoader: Can't load \\\"+e+\\\". Use THREE.JSONLoader instead.\\\")}),n,i)},setTexturePath:function(e){this.texturePath=e},setCrossOrigin:function(e){this.crossOrigin=e},parse:function(e,t){var n=this.parseGeometries(e.geometries),i=this.parseImages(e.images,(function(){void 0!==t&&t(a)})),r=this.parseTextures(e.textures,i),o=this.parseMaterials(e.materials,r),a=this.parseObject(e.object,n,o);return e.animations&&(a.animations=this.parseAnimations(e.animations)),void 0!==e.images&&0!==e.images.length||void 0!==t&&t(a),a},parseGeometries:function(e){var t={};if(void 0!==e)for(var n=new xa,i=new ya,r=0,o=e.length;r<o;r++){var a,s=e[r];switch(s.type){case\\\"PlaneGeometry\\\":case\\\"PlaneBufferGeometry\\\":a=new _o[s.type](s.width,s.height,s.widthSegments,s.heightSegments);break;case\\\"BoxGeometry\\\":case\\\"BoxBufferGeometry\\\":case\\\"CubeGeometry\\\":a=new _o[s.type](s.width,s.height,s.depth,s.widthSegments,s.heightSegments,s.depthSegments);break;case\\\"CircleGeometry\\\":case\\\"CircleBufferGeometry\\\":a=new _o[s.type](s.radius,s.segments,s.thetaStart,s.thetaLength);break;case\\\"CylinderGeometry\\\":case\\\"CylinderBufferGeometry\\\":a=new _o[s.type](s.radiusTop,s.radiusBottom,s.height,s.radialSegments,s.heightSegments,s.openEnded,s.thetaStart,s.thetaLength);break;case\\\"ConeGeometry\\\":case\\\"ConeBufferGeometry\\\":a=new _o[s.type](s.radius,s.height,s.radialSegments,s.heightSegments,s.openEnded,s.thetaStart,s.thetaLength);break;case\\\"SphereGeometry\\\":case\\\"SphereBufferGeometry\\\":a=new _o[s.type](s.radius,s.widthSegments,s.heightSegments,s.phiStart,s.phiLength,s.thetaStart,s.thetaLength);break;case\\\"DodecahedronGeometry\\\":case\\\"IcosahedronGeometry\\\":case\\\"OctahedronGeometry\\\":case\\\"TetrahedronGeometry\\\":a=new _o[s.type](s.radius,s.detail);break;case\\\"RingGeometry\\\":case\\\"RingBufferGeometry\\\":a=new _o[s.type](s.innerRadius,s.outerRadius,s.thetaSegments,s.phiSegments,s.thetaStart,s.thetaLength);break;case\\\"TorusGeometry\\\":case\\\"TorusBufferGeometry\\\":a=new _o[s.type](s.radius,s.tube,s.radialSegments,s.tubularSegments,s.arc);break;case\\\"TorusKnotGeometry\\\":case\\\"TorusKnotBufferGeometry\\\":a=new _o[s.type](s.radius,s.tube,s.tubularSegments,s.radialSegments,s.p,s.q);break;case\\\"LatheGeometry\\\":case\\\"LatheBufferGeometry\\\":a=new _o[s.type](s.points,s.segments,s.phiStart,s.phiLength);break;case\\\"BufferGeometry\\\":a=i.parse(s);break;case\\\"Geometry\\\":a=n.parse(s.data,this.texturePath).geometry;break;default:console.warn('THREE.ObjectLoader: Unsupported geometry type \\\"'+s.type+'\\\"');continue}a.uuid=s.uuid,void 0!==s.name&&(a.name=s.name),t[s.uuid]=a}return t},parseMaterials:function(e,t){var n={};if(void 0!==e){var i=new va;i.setTextures(t);for(var r=0,o=e.length;r<o;r++){var a=i.parse(e[r]);n[a.uuid]=a}}return n},parseAnimations:function(e){for(var t=[],n=0;n<e.length;n++){var i=ga.parse(e[n]);t.push(i)}return t},parseImages:function(e,t){var n=this,i={};function r(e){return n.manager.itemStart(e),o.load(e,(function(){n.manager.itemEnd(e)}),void 0,(function(){n.manager.itemError(e)}))}if(void 0!==e&&e.length>0){var o=new Bo(new Io(t));o.setCrossOrigin(this.crossOrigin);for(var a=0,s=e.length;a<s;a++){var l=e[a],u=/^(\\\\/\\\\/)|([a-z]+:(\\\\/\\\\/)?)/i.test(l.url)?l.url:n.texturePath+l.url;i[l.uuid]=r(u)}}return i},parseTextures:function(e,t){var n={UVMapping:pe,CubeReflectionMapping:fe,CubeRefractionMapping:me,EquirectangularReflectionMapping:ge,EquirectangularRefractionMapping:ve,SphericalReflectionMapping:ye,CubeUVReflectionMapping:be,CubeUVRefractionMapping:xe},i={RepeatWrapping:_e,ClampToEdgeWrapping:we,MirroredRepeatWrapping:Me},r={NearestFilter:Se,NearestMipMapNearestFilter:Ee,NearestMipMapLinearFilter:Te,LinearFilter:Ce,LinearMipMapNearestFilter:Oe,LinearMipMapLinearFilter:Pe};function o(e,t){return\\\"number\\\"==typeof e?e:(console.warn(\\\"THREE.ObjectLoader.parseTexture: Constant should be in numeric form.\\\",e),t[e])}var a={};if(void 0!==e)for(var s=0,l=e.length;s<l;s++){var u=e[s];void 0===u.image&&console.warn('THREE.ObjectLoader: No \\\"image\\\" specified for',u.uuid),void 0===t[u.image]&&console.warn(\\\"THREE.ObjectLoader: Undefined image\\\",u.image);var c=new Nt(t[u.image]);c.needsUpdate=!0,c.uuid=u.uuid,void 0!==u.name&&(c.name=u.name),void 0!==u.mapping&&(c.mapping=o(u.mapping,n)),void 0!==u.offset&&c.offset.fromArray(u.offset),void 0!==u.repeat&&c.repeat.fromArray(u.repeat),void 0!==u.wrap&&(c.wrapS=o(u.wrap[0],i),c.wrapT=o(u.wrap[1],i)),void 0!==u.minFilter&&(c.minFilter=o(u.minFilter,r)),void 0!==u.magFilter&&(c.magFilter=o(u.magFilter,r)),void 0!==u.anisotropy&&(c.anisotropy=u.anisotropy),void 0!==u.flipY&&(c.flipY=u.flipY),a[u.uuid]=c}return a},parseObject:function(){var e=new Wt;return function(t,n,i){var r;function o(e){return void 0===n[e]&&console.warn(\\\"THREE.ObjectLoader: Undefined geometry\\\",e),n[e]}function a(e){if(void 0!==e)return void 0===i[e]&&console.warn(\\\"THREE.ObjectLoader: Undefined material\\\",e),i[e]}switch(t.type){case\\\"Scene\\\":r=new br,void 0!==t.background&&Number.isInteger(t.background)&&(r.background=new kn(t.background)),void 0!==t.fog&&(\\\"Fog\\\"===t.fog.type?r.fog=new yr(t.fog.color,t.fog.near,t.fog.far):\\\"FogExp2\\\"===t.fog.type&&(r.fog=new vr(t.fog.color,t.fog.density)));break;case\\\"PerspectiveCamera\\\":r=new Vi(t.fov,t.aspect,t.near,t.far),void 0!==t.focus&&(r.focus=t.focus),void 0!==t.zoom&&(r.zoom=t.zoom),void 0!==t.filmGauge&&(r.filmGauge=t.filmGauge),void 0!==t.filmOffset&&(r.filmOffset=t.filmOffset),void 0!==t.view&&(r.view=Object.assign({},t.view));break;case\\\"OrthographicCamera\\\":r=new Hi(t.left,t.right,t.top,t.bottom,t.near,t.far);break;case\\\"AmbientLight\\\":r=new Jo(t.color,t.intensity);break;case\\\"DirectionalLight\\\":r=new Ko(t.color,t.intensity);break;case\\\"PointLight\\\":r=new qo(t.color,t.intensity,t.distance,t.decay);break;case\\\"SpotLight\\\":r=new Yo(t.color,t.intensity,t.distance,t.angle,t.penumbra,t.decay);break;case\\\"HemisphereLight\\\":r=new Go(t.color,t.groundColor,t.intensity);break;case\\\"Mesh\\\":var s=o(t.geometry),l=a(t.material);r=s.bones&&s.bones.length>0?new Tr(s,l):new zi(s,l);break;case\\\"LOD\\\":r=new Mr;break;case\\\"Line\\\":r=new Or(o(t.geometry),a(t.material),t.mode);break;case\\\"LineSegments\\\":r=new Pr(o(t.geometry),a(t.material));break;case\\\"PointCloud\\\":case\\\"Points\\\":r=new Ar(o(t.geometry),a(t.material));break;case\\\"Sprite\\\":r=new wr(a(t.material));break;case\\\"Group\\\":r=new Rr;break;case\\\"SkinnedMesh\\\":console.warn(\\\"THREE.ObjectLoader.parseObject() does not support SkinnedMesh type. Instantiates Object3D instead.\\\");default:r=new gi}if(r.uuid=t.uuid,void 0!==t.name&&(r.name=t.name),void 0!==t.matrix?(e.fromArray(t.matrix),e.decompose(r.position,r.quaternion,r.scale)):(void 0!==t.position&&r.position.fromArray(t.position),void 0!==t.rotation&&r.rotation.fromArray(t.rotation),void 0!==t.quaternion&&r.quaternion.fromArray(t.quaternion),void 0!==t.scale&&r.scale.fromArray(t.scale)),void 0!==t.castShadow&&(r.castShadow=t.castShadow),void 0!==t.receiveShadow&&(r.receiveShadow=t.receiveShadow),t.shadow&&(void 0!==t.shadow.bias&&(r.shadow.bias=t.shadow.bias),void 0!==t.shadow.radius&&(r.shadow.radius=t.shadow.radius),void 0!==t.shadow.mapSize&&r.shadow.mapSize.fromArray(t.shadow.mapSize),void 0!==t.shadow.camera&&(r.shadow.camera=this.parseObject(t.shadow.camera))),void 0!==t.visible&&(r.visible=t.visible),void 0!==t.userData&&(r.userData=t.userData),void 0!==t.children)for(var u in t.children)r.add(this.parseObject(t.children[u],n,i));if(\\\"LOD\\\"===t.type)for(var c=t.levels,d=0;d<c.length;d++){var h=c[d];void 0!==(u=r.getObjectByProperty(\\\"uuid\\\",h.object))&&r.addLevel(u,h.distance)}return r}}()}),Ea.prototype={constructor:Ea,getPoint:function(e){return console.warn(\\\"THREE.Curve: Warning, getPoint() not implemented!\\\"),null},getPointAt:function(e){var t=this.getUtoTmapping(e);return this.getPoint(t)},getPoints:function(e){isNaN(e)&&(e=5);for(var t=[],n=0;n<=e;n++)t.push(this.getPoint(n/e));return t},getSpacedPoints:function(e){isNaN(e)&&(e=5);for(var t=[],n=0;n<=e;n++)t.push(this.getPointAt(n/e));return t},getLength:function(){var e=this.getLengths();return e[e.length-1]},getLengths:function(e){if(isNaN(e)&&(e=this.__arcLengthDivisions?this.__arcLengthDivisions:200),this.cacheArcLengths&&this.cacheArcLengths.length===e+1&&!this.needsUpdate)return this.cacheArcLengths;this.needsUpdate=!1;var t,n,i=[],r=this.getPoint(0),o=0;for(i.push(0),n=1;n<=e;n++)o+=(t=this.getPoint(n/e)).distanceTo(r),i.push(o),r=t;return this.cacheArcLengths=i,i},updateArcLengths:function(){this.needsUpdate=!0,this.getLengths()},getUtoTmapping:function(e,t){var n,i=this.getLengths(),r=0,o=i.length;n=t||e*i[o-1];for(var a,s=0,l=o-1;s<=l;)if((a=i[r=Math.floor(s+(l-s)/2)]-n)<0)s=r+1;else{if(!(a>0)){l=r;break}l=r-1}if(i[r=l]===n)return r/(o-1);var u=i[r];return(r+(n-u)/(i[r+1]-u))/(o-1)},getTangent:function(e){var t=e-1e-4,n=e+1e-4;t<0&&(t=0),n>1&&(n=1);var i=this.getPoint(t);return this.getPoint(n).clone().sub(i).normalize()},getTangentAt:function(e){var t=this.getUtoTmapping(e);return this.getTangent(t)},computeFrenetFrames:function(e,t){var n,i,r,o=new Ut,a=[],s=[],l=[],u=new Ut,c=new Wt;for(n=0;n<=e;n++)i=n/e,a[n]=this.getTangentAt(i),a[n].normalize();s[0]=new Ut,l[0]=new Ut;var d=Number.MAX_VALUE,h=Math.abs(a[0].x),p=Math.abs(a[0].y),f=Math.abs(a[0].z);for(h<=d&&(d=h,o.set(1,0,0)),p<=d&&(d=p,o.set(0,1,0)),f<=d&&o.set(0,0,1),u.crossVectors(a[0],o).normalize(),s[0].crossVectors(a[0],u),l[0].crossVectors(a[0],s[0]),n=1;n<=e;n++)s[n]=s[n-1].clone(),l[n]=l[n-1].clone(),u.crossVectors(a[n-1],a[n]),u.length()>Number.EPSILON&&(u.normalize(),r=Math.acos(Ct.clamp(a[n-1].dot(a[n]),-1,1)),s[n].applyMatrix4(c.makeRotationAxis(u,r))),l[n].crossVectors(a[n],s[n]);if(!0===t)for(r=Math.acos(Ct.clamp(s[0].dot(s[e]),-1,1)),r/=e,a[0].dot(u.crossVectors(s[0],s[e]))>0&&(r=-r),n=1;n<=e;n++)s[n].applyMatrix4(c.makeRotationAxis(a[n],r*n)),l[n].crossVectors(a[n],s[n]);return{tangents:a,normals:s,binormals:l}}},Ta.prototype=Object.create(Ea.prototype),Ta.prototype.constructor=Ta,Ta.prototype.isLineCurve=!0,Ta.prototype.getPoint=function(e){if(1===e)return this.v2.clone();var t=this.v2.clone().sub(this.v1);return t.multiplyScalar(e).add(this.v1),t},Ta.prototype.getPointAt=function(e){return this.getPoint(e)},Ta.prototype.getTangent=function(e){return this.v2.clone().sub(this.v1).normalize()},Ca.prototype=Object.assign(Object.create(Ea.prototype),{constructor:Ca,add:function(e){this.curves.push(e)},closePath:function(){var e=this.curves[0].getPoint(0),t=this.curves[this.curves.length-1].getPoint(1);e.equals(t)||this.curves.push(new Ta(t,e))},getPoint:function(e){for(var t=e*this.getLength(),n=this.getCurveLengths(),i=0;i<n.length;){if(n[i]>=t){var r=n[i]-t,o=this.curves[i],a=o.getLength(),s=0===a?0:1-r/a;return o.getPointAt(s)}i++}return null},getLength:function(){var e=this.getCurveLengths();return e[e.length-1]},updateArcLengths:function(){this.needsUpdate=!0,this.cacheLengths=null,this.getLengths()},getCurveLengths:function(){if(this.cacheLengths&&this.cacheLengths.length===this.curves.length)return this.cacheLengths;for(var e=[],t=0,n=0,i=this.curves.length;n<i;n++)t+=this.curves[n].getLength(),e.push(t);return this.cacheLengths=e,e},getSpacedPoints:function(e){isNaN(e)&&(e=40);for(var t=[],n=0;n<=e;n++)t.push(this.getPoint(n/e));return this.autoClose&&t.push(t[0]),t},getPoints:function(e){e=e||12;for(var t,n=[],i=0,r=this.curves;i<r.length;i++)for(var o=r[i],a=o&&o.isEllipseCurve?2*e:o&&o.isLineCurve?1:o&&o.isSplineCurve?e*o.points.length:e,s=o.getPoints(a),l=0;l<s.length;l++){var u=s[l];t&&t.equals(u)||(n.push(u),t=u)}return this.autoClose&&n.length>1&&!n[n.length-1].equals(n[0])&&n.push(n[0]),n},createPointsGeometry:function(e){var t=this.getPoints(e);return this.createGeometry(t)},createSpacedPointsGeometry:function(e){var t=this.getSpacedPoints(e);return this.createGeometry(t)},createGeometry:function(e){for(var t=new Ni,n=0,i=e.length;n<i;n++){var r=e[n];t.vertices.push(new Ut(r.x,r.y,r.z||0))}return t}}),Oa.prototype=Object.create(Ea.prototype),Oa.prototype.constructor=Oa,Oa.prototype.isEllipseCurve=!0,Oa.prototype.getPoint=function(e){for(var t=2*Math.PI,n=this.aEndAngle-this.aStartAngle,i=Math.abs(n)<Number.EPSILON;n<0;)n+=t;for(;n>t;)n-=t;n<Number.EPSILON&&(n=i?0:t),!0!==this.aClockwise||i||(n===t?n=-t:n-=t);var r=this.aStartAngle+e*n,o=this.aX+this.xRadius*Math.cos(r),a=this.aY+this.yRadius*Math.sin(r);if(0!==this.aRotation){var s=Math.cos(this.aRotation),l=Math.sin(this.aRotation),u=o-this.aX,c=a-this.aY;o=u*s-c*l+this.aX,a=u*l+c*s+this.aY}return new Ot(o,a)},Pa.prototype=Object.create(Ea.prototype),Pa.prototype.constructor=Pa,Pa.prototype.isSplineCurve=!0,Pa.prototype.getPoint=function(e){var t=this.points,n=(t.length-1)*e,i=Math.floor(n),r=n-i,o=t[0===i?i:i-1],a=t[i],s=t[i>t.length-2?t.length-1:i+1],l=t[i>t.length-3?t.length-1:i+2];return new Ot(wa(r,o.x,a.x,s.x,l.x),wa(r,o.y,a.y,s.y,l.y))},ka.prototype=Object.create(Ea.prototype),ka.prototype.constructor=ka,ka.prototype.getPoint=function(e){var t=this.v0,n=this.v1,i=this.v2,r=this.v3;return new Ot(Sa(e,t.x,n.x,i.x,r.x),Sa(e,t.y,n.y,i.y,r.y))},Aa.prototype=Object.create(Ea.prototype),Aa.prototype.constructor=Aa,Aa.prototype.getPoint=function(e){var t=this.v0,n=this.v1,i=this.v2;return new Ot(Ma(e,t.x,n.x,i.x),Ma(e,t.y,n.y,i.y))};var Ra,La=Object.assign(Object.create(Ca.prototype),{fromPoints:function(e){this.moveTo(e[0].x,e[0].y);for(var t=1,n=e.length;t<n;t++)this.lineTo(e[t].x,e[t].y)},moveTo:function(e,t){this.currentPoint.set(e,t)},lineTo:function(e,t){var n=new Ta(this.currentPoint.clone(),new Ot(e,t));this.curves.push(n),this.currentPoint.set(e,t)},quadraticCurveTo:function(e,t,n,i){var r=new Aa(this.currentPoint.clone(),new Ot(e,t),new Ot(n,i));this.curves.push(r),this.currentPoint.set(n,i)},bezierCurveTo:function(e,t,n,i,r,o){var a=new ka(this.currentPoint.clone(),new Ot(e,t),new Ot(n,i),new Ot(r,o));this.curves.push(a),this.currentPoint.set(r,o)},splineThru:function(e){var t=new Pa([this.currentPoint.clone()].concat(e));this.curves.push(t),this.currentPoint.copy(e[e.length-1])},arc:function(e,t,n,i,r,o){var a=this.currentPoint.x,s=this.currentPoint.y;this.absarc(e+a,t+s,n,i,r,o)},absarc:function(e,t,n,i,r,o){this.absellipse(e,t,n,n,i,r,o)},ellipse:function(e,t,n,i,r,o,a,s){var l=this.currentPoint.x,u=this.currentPoint.y;this.absellipse(e+l,t+u,n,i,r,o,a,s)},absellipse:function(e,t,n,i,r,o,a,s){var l=new Oa(e,t,n,i,r,o,a,s);if(this.curves.length>0){var u=l.getPoint(0);u.equals(this.currentPoint)||this.lineTo(u.x,u.y)}this.curves.push(l);var c=l.getPoint(1);this.currentPoint.copy(c)}});function Ia(e){Ca.call(this),this.currentPoint=new Ot,e&&this.fromPoints(e)}function Da(){Ia.apply(this,arguments),this.holes=[]}function Na(){this.subPaths=[],this.currentPath=null}function Fa(e){this.data=e}function za(e){this.manager=void 0!==e?e:Do}Ia.prototype=La,La.constructor=Ia,Da.prototype=Object.assign(Object.create(La),{constructor:Da,getPointsHoles:function(e){for(var t=[],n=0,i=this.holes.length;n<i;n++)t[n]=this.holes[n].getPoints(e);return t},extractAllPoints:function(e){return{shape:this.getPoints(e),holes:this.getPointsHoles(e)}},extractPoints:function(e){return this.extractAllPoints(e)}}),Na.prototype={moveTo:function(e,t){this.currentPath=new Ia,this.subPaths.push(this.currentPath),this.currentPath.moveTo(e,t)},lineTo:function(e,t){this.currentPath.lineTo(e,t)},quadraticCurveTo:function(e,t,n,i){this.currentPath.quadraticCurveTo(e,t,n,i)},bezierCurveTo:function(e,t,n,i,r,o){this.currentPath.bezierCurveTo(e,t,n,i,r,o)},splineThru:function(e){this.currentPath.splineThru(e)},toShapes:function(e,t){function n(e){for(var t=[],n=0,i=e.length;n<i;n++){var r=e[n],o=new Da;o.curves=r.curves,t.push(o)}return t}function i(e,t){for(var n=t.length,i=!1,r=n-1,o=0;o<n;r=o++){var a=t[r],s=t[o],l=s.x-a.x,u=s.y-a.y;if(Math.abs(u)>Number.EPSILON){if(u<0&&(a=t[o],l=-l,s=t[r],u=-u),e.y<a.y||e.y>s.y)continue;if(e.y===a.y){if(e.x===a.x)return!0}else{var c=u*(e.x-a.x)-l*(e.y-a.y);if(0===c)return!0;if(c<0)continue;i=!i}}else{if(e.y!==a.y)continue;if(s.x<=e.x&&e.x<=a.x||a.x<=e.x&&e.x<=s.x)return!0}}return i}var r=no.isClockWise,o=this.subPaths;if(0===o.length)return[];if(!0===t)return n(o);var a,s,l,u=[];if(1===o.length)return s=o[0],(l=new Da).curves=s.curves,u.push(l),u;var c=!r(o[0].getPoints());c=e?!c:c;var d,h,p=[],f=[],m=[],g=0;f[g]=void 0,m[g]=[];for(var v=0,y=o.length;v<y;v++)a=r(d=(s=o[v]).getPoints()),(a=e?!a:a)?(!c&&f[g]&&g++,f[g]={s:new Da,p:d},f[g].s.curves=s.curves,c&&g++,m[g]=[]):m[g].push({h:s,p:d[0]});if(!f[0])return n(o);if(f.length>1){for(var b=!1,x=[],_=0,w=f.length;_<w;_++)p[_]=[];for(_=0,w=f.length;_<w;_++)for(var M=m[_],S=0;S<M.length;S++){for(var E=M[S],T=!0,C=0;C<f.length;C++)i(E.p,f[C].p)&&(_!==C&&x.push({froms:_,tos:C,hole:S}),T?(T=!1,p[C].push(E)):b=!0);T&&p[_].push(E)}x.length>0&&(b||(m=p))}v=0;for(var O=f.length;v<O;v++){l=f[v].s,u.push(l);for(var P=0,k=(h=m[v]).length;P<k;P++)l.holes.push(h[P].h)}return u}},Object.assign(Fa.prototype,{isFont:!0,generateShapes:function(e,t,n){function i(e,t,i,o){var a=r.glyphs[e]||r.glyphs[\\\"?\\\"];if(a){var s,l,u,c,d,h,p,f,m,g,v,y=new Na,b=[];if(a.o)for(var x=a._cachedOutline||(a._cachedOutline=a.o.split(\\\" \\\")),_=0,w=x.length;_<w;){switch(x[_++]){case\\\"m\\\":s=x[_++]*t+i,l=x[_++]*t+o,y.moveTo(s,l);break;case\\\"l\\\":s=x[_++]*t+i,l=x[_++]*t+o,y.lineTo(s,l);break;case\\\"q\\\":if(u=x[_++]*t+i,c=x[_++]*t+o,p=x[_++]*t+i,f=x[_++]*t+o,y.quadraticCurveTo(p,f,u,c),v=b[b.length-1]){d=v.x,h=v.y;for(var M=1;M<=n;M++){Ma(S=M/n,d,p,u),Ma(S,h,f,c)}}break;case\\\"b\\\":if(u=x[_++]*t+i,c=x[_++]*t+o,p=x[_++]*t+i,f=x[_++]*t+o,m=x[_++]*t+i,g=x[_++]*t+o,y.bezierCurveTo(p,f,m,g,u,c),v=b[b.length-1]){d=v.x,h=v.y;for(M=1;M<=n;M++){var S;Sa(S=M/n,d,p,m,u),Sa(S,h,f,g,c)}}}}return{offsetX:a.ha*t,path:y}}}void 0===t&&(t=100),void 0===n&&(n=4);for(var r=this.data,o=function(e){for(var n=String(e).split(\\\"\\\"),o=t/r.resolution,a=(r.boundingBox.yMax-r.boundingBox.yMin+r.underlineThickness)*o,s=0,l=0,u=[],c=0;c<n.length;c++){var d=n[c];if(\\\"\\\\n\\\"===d)s=0,l-=a;else{var h=i(d,o,s,l);s+=h.offsetX,u.push(h.path)}}return u}(e),a=[],s=0,l=o.length;s<l;s++)Array.prototype.push.apply(a,o[s].toShapes());return a}}),Object.assign(za.prototype,{load:function(e,t,n,i){var r=this;new No(this.manager).load(e,(function(e){var n;try{n=JSON.parse(e)}catch(t){console.warn(\\\"THREE.FontLoader: typeface.js support is being deprecated. Use typeface.json instead.\\\"),n=JSON.parse(e.substring(65,e.length-2))}var i=r.parse(n);t&&t(i)}),n,i)},parse:function(e){return new Fa(e)}});var Ba,ja,Ua,Wa,Ga,Va,Ha,Ya,qa,Xa,Ka,Ja,Za,$a,Qa,es={getContext:function(){return void 0===Ra&&(Ra=new(window.AudioContext||window.webkitAudioContext)),Ra},setContext:function(e){Ra=e}};function ts(e){this.manager=void 0!==e?e:Do}function ns(e,t,n,i){Wo.call(this,e,t),this.type=\\\"RectAreaLight\\\",this.position.set(0,1,0),this.updateMatrix(),this.width=void 0!==n?n:10,this.height=void 0!==i?i:10}function is(){this.type=\\\"StereoCamera\\\",this.aspect=1,this.eyeSep=.064,this.cameraL=new Vi,this.cameraL.layers.enable(1),this.cameraL.matrixAutoUpdate=!1,this.cameraR=new Vi,this.cameraR.layers.enable(2),this.cameraR.matrixAutoUpdate=!1}function rs(e,t,n){gi.call(this),this.type=\\\"CubeCamera\\\";var i=new Vi(90,1,e,t);i.up.set(0,-1,0),i.lookAt(new Ut(1,0,0)),this.add(i);var r=new Vi(90,1,e,t);r.up.set(0,-1,0),r.lookAt(new Ut(-1,0,0)),this.add(r);var o=new Vi(90,1,e,t);o.up.set(0,0,1),o.lookAt(new Ut(0,1,0)),this.add(o);var a=new Vi(90,1,e,t);a.up.set(0,0,-1),a.lookAt(new Ut(0,-1,0)),this.add(a);var s=new Vi(90,1,e,t);s.up.set(0,-1,0),s.lookAt(new Ut(0,0,1)),this.add(s);var l=new Vi(90,1,e,t);l.up.set(0,-1,0),l.lookAt(new Ut(0,0,-1)),this.add(l);var u={format:Ge,magFilter:Ce,minFilter:Ce};this.renderTarget=new Bt(n,n,u),this.updateCubeMap=function(e,t){null===this.parent&&this.updateMatrixWorld();var n=this.renderTarget,u=n.texture.generateMipmaps;n.texture.generateMipmaps=!1,n.activeCubeFace=0,e.render(t,i,n),n.activeCubeFace=1,e.render(t,r,n),n.activeCubeFace=2,e.render(t,o,n),n.activeCubeFace=3,e.render(t,a,n),n.activeCubeFace=4,e.render(t,s,n),n.texture.generateMipmaps=u,n.activeCubeFace=5,e.render(t,l,n),e.setRenderTarget(null)}}function os(){gi.call(this),this.type=\\\"AudioListener\\\",this.context=es.getContext(),this.gain=this.context.createGain(),this.gain.connect(this.context.destination),this.filter=null}function as(e){gi.call(this),this.type=\\\"Audio\\\",this.context=e.context,this.gain=this.context.createGain(),this.gain.connect(e.getInput()),this.autoplay=!1,this.buffer=null,this.loop=!1,this.startTime=0,this.playbackRate=1,this.isPlaying=!1,this.hasPlaybackControl=!0,this.sourceType=\\\"empty\\\",this.filters=[]}function ss(e){as.call(this,e),this.panner=this.context.createPanner(),this.panner.connect(this.gain)}function ls(e,t){this.analyser=e.context.createAnalyser(),this.analyser.fftSize=void 0!==t?t:2048,this.data=new Uint8Array(this.analyser.frequencyBinCount),e.getOutput().connect(this.analyser)}function us(e,t,n){this.binding=e,this.valueSize=n;var i,r=Float64Array;switch(t){case\\\"quaternion\\\":i=this._slerp;break;case\\\"string\\\":case\\\"bool\\\":r=Array,i=this._select;break;default:i=this._lerp}this.buffer=new r(4*n),this._mixBufferRegion=i,this.cumulativeWeight=0,this.useCount=0,this.referenceCount=0}function cs(e,t,n){this.path=t,this.parsedPath=n||cs.parseTrackName(t),this.node=cs.findNode(e,this.parsedPath.nodeName)||e,this.rootNode=e}function ds(e){this.uuid=Ct.generateUUID(),this._objects=Array.prototype.slice.call(arguments),this.nCachedObjects_=0;var t={};this._indicesByUUID=t;for(var n=0,i=arguments.length;n!==i;++n)t[arguments[n].uuid]=n;this._paths=[],this._parsedPaths=[],this._bindings=[],this._bindingsIndicesByPath={};var r=this;this.stats={objects:{get total(){return r._objects.length},get inUse(){return this.total-r.nCachedObjects_}},get bindingsPerObject(){return r._bindings.length}}}function hs(e,t,n){this._mixer=e,this._clip=t,this._localRoot=n||null;for(var i=t.tracks,r=i.length,o=new Array(r),a={endingStart:dt,endingEnd:dt},s=0;s!==r;++s){var l=i[s].createInterpolant(null);o[s]=l,l.settings=a}this._interpolantSettings=a,this._interpolants=o,this._propertyBindings=new Array(r),this._cacheIndex=null,this._byClipCacheIndex=null,this._timeScaleInterpolant=null,this._weightInterpolant=null,this.loop=at,this._loopCount=-1,this._startTime=null,this.time=0,this.timeScale=1,this._effectiveTimeScale=1,this.weight=1,this._effectiveWeight=1,this.repetitions=1/0,this.paused=!1,this.enabled=!0,this.clampWhenFinished=!1,this.zeroSlopeAtStart=!0,this.zeroSlopeAtEnd=!0}function ps(e){this._root=e,this._initMemoryManager(),this._accuIndex=0,this.time=0,this.timeScale=1}function fs(e){\\\"string\\\"==typeof e&&(console.warn(\\\"THREE.Uniform: Type parameter is no longer needed.\\\"),e=arguments[1]),this.value=e}function ms(){Fi.call(this),this.type=\\\"InstancedBufferGeometry\\\",this.maxInstancedCount=void 0}function gs(e,t,n,i){this.uuid=Ct.generateUUID(),this.data=e,this.itemSize=t,this.offset=n,this.normalized=!0===i}function vs(e,t){this.uuid=Ct.generateUUID(),this.array=e,this.stride=t,this.count=void 0!==e?e.length/t:0,this.dynamic=!1,this.updateRange={offset:0,count:-1},this.onUploadCallback=function(){},this.version=0}function ys(e,t,n){vs.call(this,e,t),this.meshPerAttribute=n||1}function bs(e,t,n){_i.call(this,e,t),this.meshPerAttribute=n||1}function xs(e,t,n,i){this.ray=new oi(e,t),this.near=n||0,this.far=i||1/0,this.params={Mesh:{},Line:{},LOD:{},Points:{threshold:1},Sprite:{}},Object.defineProperties(this.params,{PointCloud:{get:function(){return console.warn(\\\"THREE.Raycaster: params.PointCloud has been renamed to params.Points.\\\"),this.Points}}})}function _s(e,t){return e.distance-t.distance}function ws(e,t,n,i){if(!1!==e.visible&&(e.raycast(t,n),!0===i))for(var r=e.children,o=0,a=r.length;o<a;o++)ws(r[o],t,n,!0)}function Ms(e){this.autoStart=void 0===e||e,this.startTime=0,this.oldTime=0,this.elapsedTime=0,this.running=!1}function Ss(e,t,n){return this.radius=void 0!==e?e:1,this.phi=void 0!==t?t:0,this.theta=void 0!==n?n:0,this}function Es(e,t,n){return this.radius=void 0!==e?e:1,this.theta=void 0!==t?t:0,this.y=void 0!==n?n:0,this}function Ts(e,t){zi.call(this,e,t),this.animationsMap={},this.animationsList=[];var n=this.geometry.morphTargets.length,i=n-1,r=n/1;this.createAnimation(\\\"__default\\\",0,i,r),this.setAnimationWeight(\\\"__default\\\",1)}function Cs(e){gi.call(this),this.material=e,this.render=function(e){}}function Os(e,t,n,i){this.object=e,this.size=void 0!==t?t:1;var r=void 0!==n?n:16711680,o=void 0!==i?i:1,a=0,s=this.object.geometry;s&&s.isGeometry?a=3*s.faces.length:s&&s.isBufferGeometry&&(a=s.attributes.normal.count);var l=new Fi,u=new Pi(2*a*3,3);l.addAttribute(\\\"position\\\",u),Pr.call(this,l,new Cr({color:r,linewidth:o})),this.matrixAutoUpdate=!1,this.update()}function Ps(e){gi.call(this),this.light=e,this.light.updateMatrixWorld(),this.matrix=e.matrixWorld,this.matrixAutoUpdate=!1;for(var t=new Fi,n=[0,0,0,0,0,1,0,0,0,1,0,1,0,0,0,-1,0,1,0,0,0,0,1,1,0,0,0,0,-1,1],i=0,r=1;i<32;i++,r++){var o=i/32*Math.PI*2,a=r/32*Math.PI*2;n.push(Math.cos(o),Math.sin(o),1,Math.cos(a),Math.sin(a),1)}t.addAttribute(\\\"position\\\",new Pi(n,3));var s=new Cr({fog:!1});this.cone=new Pr(t,s),this.add(this.cone),this.update()}function ks(e){this.bones=this.getBoneList(e);for(var t=new Fi,n=[],i=[],r=new kn(0,0,1),o=new kn(0,1,0),a=0;a<this.bones.length;a++){var s=this.bones[a];s.parent&&s.parent.isBone&&(n.push(0,0,0),n.push(0,0,0),i.push(r.r,r.g,r.b),i.push(o.r,o.g,o.b))}t.addAttribute(\\\"position\\\",new Pi(n,3)),t.addAttribute(\\\"color\\\",new Pi(i,3));var l=new Cr({vertexColors:O,depthTest:!1,depthWrite:!1,transparent:!0});Pr.call(this,t,l),this.root=e,this.matrix=e.matrixWorld,this.matrixAutoUpdate=!1,this.update()}function As(e,t){this.light=e,this.light.updateMatrixWorld();var n=new ao(t,4,2),i=new xi({wireframe:!0,fog:!1});i.color.copy(this.light.color).multiplyScalar(this.light.intensity),zi.call(this,n,i),this.matrix=this.light.matrixWorld,this.matrixAutoUpdate=!1}function Rs(e){gi.call(this),this.light=e,this.light.updateMatrixWorld();var t=new xi({color:e.color,fog:!1}),n=new xi({color:e.color,fog:!1,wireframe:!0}),i=new Fi;i.addAttribute(\\\"position\\\",new _i(new Float32Array(18),3)),this.add(new zi(i,t)),this.add(new zi(i,n)),this.update()}function Ls(e,t){gi.call(this),this.light=e,this.light.updateMatrixWorld(),this.matrix=e.matrixWorld,this.matrixAutoUpdate=!1;var n=new Hr(t);n.rotateY(.5*Math.PI);var i=new xi({vertexColors:O,wireframe:!0}),r=n.getAttribute(\\\"position\\\"),o=new Float32Array(3*r.count);n.addAttribute(\\\"color\\\",new _i(o,3)),this.add(new zi(n,i)),this.update()}function Is(e,t,n,i){e=e||10,t=t||10,n=new kn(void 0!==n?n:4473924),i=new kn(void 0!==i?i:8947848);for(var r=t/2,o=e/t,a=e/2,s=[],l=[],u=0,c=0,d=-a;u<=t;u++,d+=o){s.push(-a,0,d,a,0,d),s.push(d,0,-a,d,0,a);var h=u===r?n:i;h.toArray(l,c),c+=3,h.toArray(l,c),c+=3,h.toArray(l,c),c+=3,h.toArray(l,c),c+=3}var p=new Fi;p.addAttribute(\\\"position\\\",new Pi(s,3)),p.addAttribute(\\\"color\\\",new Pi(l,3));var f=new Cr({vertexColors:O});Pr.call(this,p,f)}function Ds(e,t,n,i,r,o){e=e||10,t=t||16,n=n||8,i=i||64,r=new kn(void 0!==r?r:4473924),o=new kn(void 0!==o?o:8947848);var a,s,l,u,c,d,h,p=[],f=[];for(u=0;u<=t;u++)l=u/t*(2*Math.PI),a=Math.sin(l)*e,s=Math.cos(l)*e,p.push(0,0,0),p.push(a,0,s),h=1&u?r:o,f.push(h.r,h.g,h.b),f.push(h.r,h.g,h.b);for(u=0;u<=n;u++)for(h=1&u?r:o,d=e-e/n*u,c=0;c<i;c++)l=c/i*(2*Math.PI),a=Math.sin(l)*d,s=Math.cos(l)*d,p.push(a,0,s),f.push(h.r,h.g,h.b),l=(c+1)/i*(2*Math.PI),a=Math.sin(l)*d,s=Math.cos(l)*d,p.push(a,0,s),f.push(h.r,h.g,h.b);var m=new Fi;m.addAttribute(\\\"position\\\",new Pi(p,3)),m.addAttribute(\\\"color\\\",new Pi(f,3));var g=new Cr({vertexColors:O});Pr.call(this,m,g)}function Ns(e,t,n,i){this.object=e,this.size=void 0!==t?t:1;var r=void 0!==n?n:16776960,o=void 0!==i?i:1,a=0,s=this.object.geometry;s&&s.isGeometry?a=s.faces.length:console.warn(\\\"THREE.FaceNormalsHelper: only THREE.Geometry is supported. Use THREE.VertexNormalsHelper, instead.\\\");var l=new Fi,u=new Pi(2*a*3,3);l.addAttribute(\\\"position\\\",u),Pr.call(this,l,new Cr({color:r,linewidth:o})),this.matrixAutoUpdate=!1,this.update()}function Fs(e,t){gi.call(this),this.light=e,this.light.updateMatrixWorld(),this.matrix=e.matrixWorld,this.matrixAutoUpdate=!1,void 0===t&&(t=1);var n=new Fi;n.addAttribute(\\\"position\\\",new Pi([-t,t,0,t,t,0,t,-t,0,-t,-t,0,-t,t,0],3));var i=new Cr({fog:!1});this.add(new Or(n,i)),(n=new Fi).addAttribute(\\\"position\\\",new Pi([0,0,0,0,0,1],3)),this.add(new Or(n,i)),this.update()}function zs(e){var t=new Fi,n=new Cr({color:16777215,vertexColors:C}),i=[],r=[],o={},a=new kn(16755200),s=new kn(16711680),l=new kn(43775),u=new kn(16777215),c=new kn(3355443);function d(e,t,n){h(e,n),h(t,n)}function h(e,t){i.push(0,0,0),r.push(t.r,t.g,t.b),void 0===o[e]&&(o[e]=[]),o[e].push(i.length/3-1)}d(\\\"n1\\\",\\\"n2\\\",a),d(\\\"n2\\\",\\\"n4\\\",a),d(\\\"n4\\\",\\\"n3\\\",a),d(\\\"n3\\\",\\\"n1\\\",a),d(\\\"f1\\\",\\\"f2\\\",a),d(\\\"f2\\\",\\\"f4\\\",a),d(\\\"f4\\\",\\\"f3\\\",a),d(\\\"f3\\\",\\\"f1\\\",a),d(\\\"n1\\\",\\\"f1\\\",a),d(\\\"n2\\\",\\\"f2\\\",a),d(\\\"n3\\\",\\\"f3\\\",a),d(\\\"n4\\\",\\\"f4\\\",a),d(\\\"p\\\",\\\"n1\\\",s),d(\\\"p\\\",\\\"n2\\\",s),d(\\\"p\\\",\\\"n3\\\",s),d(\\\"p\\\",\\\"n4\\\",s),d(\\\"u1\\\",\\\"u2\\\",l),d(\\\"u2\\\",\\\"u3\\\",l),d(\\\"u3\\\",\\\"u1\\\",l),d(\\\"c\\\",\\\"t\\\",u),d(\\\"p\\\",\\\"c\\\",c),d(\\\"cn1\\\",\\\"cn2\\\",c),d(\\\"cn3\\\",\\\"cn4\\\",c),d(\\\"cf1\\\",\\\"cf2\\\",c),d(\\\"cf3\\\",\\\"cf4\\\",c),t.addAttribute(\\\"position\\\",new Pi(i,3)),t.addAttribute(\\\"color\\\",new Pi(r,3)),Pr.call(this,t,n),this.camera=e,this.camera.updateProjectionMatrix&&this.camera.updateProjectionMatrix(),this.matrix=e.matrixWorld,this.matrixAutoUpdate=!1,this.pointMap=o,this.update()}function Bs(e,t){void 0===t&&(t=16776960);var n=new Uint16Array([0,1,1,2,2,3,3,0,4,5,5,6,6,7,7,4,0,4,1,5,2,6,3,7]),i=new Float32Array(24),r=new Fi;r.setIndex(new _i(n,1)),r.addAttribute(\\\"position\\\",new _i(i,3)),Pr.call(this,r,new Cr({color:t})),void 0!==e&&this.update(e)}function js(e,t,n,i,r,o){gi.call(this),void 0===i&&(i=16776960),void 0===n&&(n=1),void 0===r&&(r=.2*n),void 0===o&&(o=.2*r),void 0===Ja&&((Ja=new Fi).addAttribute(\\\"position\\\",new Pi([0,0,0,0,1,0],3)),(Za=new go(0,.5,1,5,1)).translate(0,-.5,0)),this.position.copy(t),this.line=new Or(Ja,new Cr({color:i})),this.line.matrixAutoUpdate=!1,this.add(this.line),this.cone=new zi(Za,new xi({color:i})),this.cone.matrixAutoUpdate=!1,this.add(this.cone),this.setDirection(e),this.setLength(n,r,o)}function Us(e){var t=[0,0,0,e=e||1,0,0,0,0,0,0,e,0,0,0,0,0,0,e],n=new Fi;n.addAttribute(\\\"position\\\",new Pi(t,3)),n.addAttribute(\\\"color\\\",new Pi([1,0,0,1,.6,0,0,1,0,.6,1,0,0,0,1,0,.6,1],3));var i=new Cr({vertexColors:O});Pr.call(this,n,i)}function Ws(){var e=0,t=0,n=0,i=0;function r(r,o,a,s){e=r,t=a,n=-3*r+3*o-2*a-s,i=2*r-2*o+a+s}return{initCatmullRom:function(e,t,n,i,o){r(t,n,o*(n-e),o*(i-t))},initNonuniformCatmullRom:function(e,t,n,i,o,a,s){var l=(t-e)/o-(n-e)/(o+a)+(n-t)/a,u=(n-t)/a-(i-t)/(a+s)+(i-n)/s;r(t,n,l*=a,u*=a)},calc:function(r){var o=r*r;return e+t*r+n*o+i*(o*r)}}}Object.assign(ts.prototype,{load:function(e,t,n,i){var r=new No(this.manager);r.setResponseType(\\\"arraybuffer\\\"),r.load(e,(function(e){es.getContext().decodeAudioData(e,(function(e){t(e)}))}),n,i)}}),ns.prototype=Object.assign(Object.create(Wo.prototype),{constructor:ns,isRectAreaLight:!0,copy:function(e){return Wo.prototype.copy.call(this,e),this.width=e.width,this.height=e.height,this}}),Object.assign(is.prototype,{update:(Ya=new Wt,qa=new Wt,function(e){if(Ba!==this||ja!==e.focus||Ua!==e.fov||Wa!==e.aspect*this.aspect||Ga!==e.near||Va!==e.far||Ha!==e.zoom){Ba=this,ja=e.focus,Ua=e.fov,Wa=e.aspect*this.aspect,Ga=e.near,Va=e.far,Ha=e.zoom;var t,n,i=e.projectionMatrix.clone(),r=this.eyeSep/2,o=r*Ga/ja,a=Ga*Math.tan(Ct.DEG2RAD*Ua*.5)/Ha;qa.elements[12]=-r,Ya.elements[12]=r,t=-a*Wa+o,n=a*Wa+o,i.elements[0]=2*Ga/(n-t),i.elements[8]=(n+t)/(n-t),this.cameraL.projectionMatrix.copy(i),t=-a*Wa-o,n=a*Wa-o,i.elements[0]=2*Ga/(n-t),i.elements[8]=(n+t)/(n-t),this.cameraR.projectionMatrix.copy(i)}this.cameraL.matrixWorld.copy(e.matrixWorld).multiply(qa),this.cameraR.matrixWorld.copy(e.matrixWorld).multiply(Ya)})}),rs.prototype=Object.create(gi.prototype),rs.prototype.constructor=rs,os.prototype=Object.assign(Object.create(gi.prototype),{constructor:os,getInput:function(){return this.gain},removeFilter:function(){null!==this.filter&&(this.gain.disconnect(this.filter),this.filter.disconnect(this.context.destination),this.gain.connect(this.context.destination),this.filter=null)},getFilter:function(){return this.filter},setFilter:function(e){null!==this.filter?(this.gain.disconnect(this.filter),this.filter.disconnect(this.context.destination)):this.gain.disconnect(this.context.destination),this.filter=e,this.gain.connect(this.filter),this.filter.connect(this.context.destination)},getMasterVolume:function(){return this.gain.gain.value},setMasterVolume:function(e){this.gain.gain.value=e},updateMatrixWorld:function(){var e=new Ut,t=new jt,n=new Ut,i=new Ut;return function(r){gi.prototype.updateMatrixWorld.call(this,r);var o=this.context.listener,a=this.up;this.matrixWorld.decompose(e,t,n),i.set(0,0,-1).applyQuaternion(t),o.positionX?(o.positionX.setValueAtTime(e.x,this.context.currentTime),o.positionY.setValueAtTime(e.y,this.context.currentTime),o.positionZ.setValueAtTime(e.z,this.context.currentTime),o.forwardX.setValueAtTime(i.x,this.context.currentTime),o.forwardY.setValueAtTime(i.y,this.context.currentTime),o.forwardZ.setValueAtTime(i.z,this.context.currentTime),o.upX.setValueAtTime(a.x,this.context.currentTime),o.upY.setValueAtTime(a.y,this.context.currentTime),o.upZ.setValueAtTime(a.z,this.context.currentTime)):(o.setPosition(e.x,e.y,e.z),o.setOrientation(i.x,i.y,i.z,a.x,a.y,a.z))}}()}),as.prototype=Object.assign(Object.create(gi.prototype),{constructor:as,getOutput:function(){return this.gain},setNodeSource:function(e){return this.hasPlaybackControl=!1,this.sourceType=\\\"audioNode\\\",this.source=e,this.connect(),this},setBuffer:function(e){return this.buffer=e,this.sourceType=\\\"buffer\\\",this.autoplay&&this.play(),this},play:function(){if(!0!==this.isPlaying){if(!1!==this.hasPlaybackControl){var e=this.context.createBufferSource();return e.buffer=this.buffer,e.loop=this.loop,e.onended=this.onEnded.bind(this),e.playbackRate.setValueAtTime(this.playbackRate,this.startTime),e.start(0,this.startTime),this.isPlaying=!0,this.source=e,this.connect()}console.warn(\\\"THREE.Audio: this Audio has no playback control.\\\")}else console.warn(\\\"THREE.Audio: Audio is already playing.\\\")},pause:function(){if(!1!==this.hasPlaybackControl)return this.source.stop(),this.startTime=this.context.currentTime,this.isPlaying=!1,this;console.warn(\\\"THREE.Audio: this Audio has no playback control.\\\")},stop:function(){if(!1!==this.hasPlaybackControl)return this.source.stop(),this.startTime=0,this.isPlaying=!1,this;console.warn(\\\"THREE.Audio: this Audio has no playback control.\\\")},connect:function(){if(this.filters.length>0){this.source.connect(this.filters[0]);for(var e=1,t=this.filters.length;e<t;e++)this.filters[e-1].connect(this.filters[e]);this.filters[this.filters.length-1].connect(this.getOutput())}else this.source.connect(this.getOutput());return this},disconnect:function(){if(this.filters.length>0){this.source.disconnect(this.filters[0]);for(var e=1,t=this.filters.length;e<t;e++)this.filters[e-1].disconnect(this.filters[e]);this.filters[this.filters.length-1].disconnect(this.getOutput())}else this.source.disconnect(this.getOutput());return this},getFilters:function(){return this.filters},setFilters:function(e){return e||(e=[]),!0===this.isPlaying?(this.disconnect(),this.filters=e,this.connect()):this.filters=e,this},getFilter:function(){return this.getFilters()[0]},setFilter:function(e){return this.setFilters(e?[e]:[])},setPlaybackRate:function(e){if(!1!==this.hasPlaybackControl)return this.playbackRate=e,!0===this.isPlaying&&this.source.playbackRate.setValueAtTime(this.playbackRate,this.context.currentTime),this;console.warn(\\\"THREE.Audio: this Audio has no playback control.\\\")},getPlaybackRate:function(){return this.playbackRate},onEnded:function(){this.isPlaying=!1},getLoop:function(){return!1===this.hasPlaybackControl?(console.warn(\\\"THREE.Audio: this Audio has no playback control.\\\"),!1):this.loop},setLoop:function(e){if(!1!==this.hasPlaybackControl)return this.loop=e,!0===this.isPlaying&&(this.source.loop=this.loop),this;console.warn(\\\"THREE.Audio: this Audio has no playback control.\\\")},getVolume:function(){return this.gain.gain.value},setVolume:function(e){return this.gain.gain.value=e,this}}),ss.prototype=Object.assign(Object.create(as.prototype),{constructor:ss,getOutput:function(){return this.panner},getRefDistance:function(){return this.panner.refDistance},setRefDistance:function(e){this.panner.refDistance=e},getRolloffFactor:function(){return this.panner.rolloffFactor},setRolloffFactor:function(e){this.panner.rolloffFactor=e},getDistanceModel:function(){return this.panner.distanceModel},setDistanceModel:function(e){this.panner.distanceModel=e},getMaxDistance:function(){return this.panner.maxDistance},setMaxDistance:function(e){this.panner.maxDistance=e},updateMatrixWorld:function(){var e=new Ut;return function(t){gi.prototype.updateMatrixWorld.call(this,t),e.setFromMatrixPosition(this.matrixWorld),this.panner.setPosition(e.x,e.y,e.z)}}()}),Object.assign(ls.prototype,{getFrequencyData:function(){return this.analyser.getByteFrequencyData(this.data),this.data},getAverageFrequency:function(){for(var e=0,t=this.getFrequencyData(),n=0;n<t.length;n++)e+=t[n];return e/t.length}}),us.prototype={constructor:us,accumulate:function(e,t){var n=this.buffer,i=this.valueSize,r=e*i+i,o=this.cumulativeWeight;if(0===o){for(var a=0;a!==i;++a)n[r+a]=n[a];o=t}else{var s=t/(o+=t);this._mixBufferRegion(n,r,0,s,i)}this.cumulativeWeight=o},apply:function(e){var t=this.valueSize,n=this.buffer,i=e*t+t,r=this.cumulativeWeight,o=this.binding;if(this.cumulativeWeight=0,r<1){var a=3*t;this._mixBufferRegion(n,i,a,1-r,t)}for(var s=t,l=t+t;s!==l;++s)if(n[s]!==n[s+t]){o.setValue(n,i);break}},saveOriginalState:function(){var e=this.binding,t=this.buffer,n=this.valueSize,i=3*n;e.getValue(t,i);for(var r=n,o=i;r!==o;++r)t[r]=t[i+r%n];this.cumulativeWeight=0},restoreOriginalState:function(){var e=3*this.valueSize;this.binding.setValue(this.buffer,e)},_select:function(e,t,n,i,r){if(i>=.5)for(var o=0;o!==r;++o)e[t+o]=e[n+o]},_slerp:function(e,t,n,i,r){jt.slerpFlat(e,t,e,t,e,n,i)},_lerp:function(e,t,n,i,r){for(var o=1-i,a=0;a!==r;++a){var s=t+a;e[s]=e[s]*o+e[n+a]*i}}},cs.prototype={constructor:cs,getValue:function(e,t){this.bind(),this.getValue(e,t)},setValue:function(e,t){this.bind(),this.setValue(e,t)},bind:function(){var e=this.node,t=this.parsedPath,n=t.objectName,i=t.propertyName,r=t.propertyIndex;if(e||(e=cs.findNode(this.rootNode,t.nodeName)||this.rootNode,this.node=e),this.getValue=this._getValue_unavailable,this.setValue=this._setValue_unavailable,e){if(n){var o=t.objectIndex;switch(n){case\\\"materials\\\":if(!e.material)return void console.error(\\\" can not bind to material as node does not have a material\\\",this);if(!e.material.materials)return void console.error(\\\" can not bind to material.materials as node.material does not have a materials array\\\",this);e=e.material.materials;break;case\\\"bones\\\":if(!e.skeleton)return void console.error(\\\" can not bind to bones as node does not have a skeleton\\\",this);e=e.skeleton.bones;for(var a=0;a<e.length;a++)if(e[a].name===o){o=a;break}break;default:if(void 0===e[n])return void console.error(\\\" can not bind to objectName of node, undefined\\\",this);e=e[n]}if(void 0!==o){if(void 0===e[o])return void console.error(\\\" trying to bind to objectIndex of objectName, but is undefined:\\\",this,e);e=e[o]}}var s=e[i];if(void 0!==s){var l=this.Versioning.None;void 0!==e.needsUpdate?(l=this.Versioning.NeedsUpdate,this.targetObject=e):void 0!==e.matrixWorldNeedsUpdate&&(l=this.Versioning.MatrixWorldNeedsUpdate,this.targetObject=e);var u=this.BindingType.Direct;if(void 0!==r){if(\\\"morphTargetInfluences\\\"===i){if(!e.geometry)return void console.error(\\\" can not bind to morphTargetInfluences becasuse node does not have a geometry\\\",this);if(!e.geometry.morphTargets)return void console.error(\\\" can not bind to morphTargetInfluences becasuse node does not have a geometry.morphTargets\\\",this);for(a=0;a<this.node.geometry.morphTargets.length;a++)if(e.geometry.morphTargets[a].name===r){r=a;break}}u=this.BindingType.ArrayElement,this.resolvedProperty=s,this.propertyIndex=r}else void 0!==s.fromArray&&void 0!==s.toArray?(u=this.BindingType.HasFromToArray,this.resolvedProperty=s):void 0!==s.length?(u=this.BindingType.EntireArray,this.resolvedProperty=s):this.propertyName=i;this.getValue=this.GetterByBindingType[u],this.setValue=this.SetterByBindingTypeAndVersioning[u][l]}else{var c=t.nodeName;console.error(\\\" trying to update property for track: \\\"+c+\\\".\\\"+i+\\\" but it wasn't found.\\\",e)}}else console.error(\\\" trying to update node for track: \\\"+this.path+\\\" but it wasn't found.\\\")},unbind:function(){this.node=null,this.getValue=this._getValue_unbound,this.setValue=this._setValue_unbound}},Object.assign(cs.prototype,{_getValue_unavailable:function(){},_setValue_unavailable:function(){},_getValue_unbound:cs.prototype.getValue,_setValue_unbound:cs.prototype.setValue,BindingType:{Direct:0,EntireArray:1,ArrayElement:2,HasFromToArray:3},Versioning:{None:0,NeedsUpdate:1,MatrixWorldNeedsUpdate:2},GetterByBindingType:[function(e,t){e[t]=this.node[this.propertyName]},function(e,t){for(var n=this.resolvedProperty,i=0,r=n.length;i!==r;++i)e[t++]=n[i]},function(e,t){e[t]=this.resolvedProperty[this.propertyIndex]},function(e,t){this.resolvedProperty.toArray(e,t)}],SetterByBindingTypeAndVersioning:[[function(e,t){this.node[this.propertyName]=e[t]},function(e,t){this.node[this.propertyName]=e[t],this.targetObject.needsUpdate=!0},function(e,t){this.node[this.propertyName]=e[t],this.targetObject.matrixWorldNeedsUpdate=!0}],[function(e,t){for(var n=this.resolvedProperty,i=0,r=n.length;i!==r;++i)n[i]=e[t++]},function(e,t){for(var n=this.resolvedProperty,i=0,r=n.length;i!==r;++i)n[i]=e[t++];this.targetObject.needsUpdate=!0},function(e,t){for(var n=this.resolvedProperty,i=0,r=n.length;i!==r;++i)n[i]=e[t++];this.targetObject.matrixWorldNeedsUpdate=!0}],[function(e,t){this.resolvedProperty[this.propertyIndex]=e[t]},function(e,t){this.resolvedProperty[this.propertyIndex]=e[t],this.targetObject.needsUpdate=!0},function(e,t){this.resolvedProperty[this.propertyIndex]=e[t],this.targetObject.matrixWorldNeedsUpdate=!0}],[function(e,t){this.resolvedProperty.fromArray(e,t)},function(e,t){this.resolvedProperty.fromArray(e,t),this.targetObject.needsUpdate=!0},function(e,t){this.resolvedProperty.fromArray(e,t),this.targetObject.matrixWorldNeedsUpdate=!0}]]}),cs.Composite=function(e,t,n){var i=n||cs.parseTrackName(t);this._targetGroup=e,this._bindings=e.subscribe_(t,i)},cs.Composite.prototype={constructor:cs.Composite,getValue:function(e,t){this.bind();var n=this._targetGroup.nCachedObjects_,i=this._bindings[n];void 0!==i&&i.getValue(e,t)},setValue:function(e,t){for(var n=this._bindings,i=this._targetGroup.nCachedObjects_,r=n.length;i!==r;++i)n[i].setValue(e,t)},bind:function(){for(var e=this._bindings,t=this._targetGroup.nCachedObjects_,n=e.length;t!==n;++t)e[t].bind()},unbind:function(){for(var e=this._bindings,t=this._targetGroup.nCachedObjects_,n=e.length;t!==n;++t)e[t].unbind()}},cs.create=function(e,t,n){return e&&e.isAnimationObjectGroup?new cs.Composite(e,t,n):new cs(e,t,n)},cs.parseTrackName=function(e){var t=/^((?:[\\\\w-]+[\\\\/:])*)([\\\\w-]+)?(?:\\\\.([\\\\w-]+)(?:\\\\[(.+)\\\\])?)?\\\\.([\\\\w-]+)(?:\\\\[(.+)\\\\])?$/.exec(e);if(!t)throw new Error(\\\"cannot parse trackName at all: \\\"+e);var n={nodeName:t[2],objectName:t[3],objectIndex:t[4],propertyName:t[5],propertyIndex:t[6]};if(null===n.propertyName||0===n.propertyName.length)throw new Error(\\\"can not parse propertyName from trackName: \\\"+e);return n},cs.findNode=function(e,t){if(!t||\\\"\\\"===t||\\\"root\\\"===t||\\\".\\\"===t||-1===t||t===e.name||t===e.uuid)return e;if(e.skeleton){var n=function(e){for(var n=0;n<e.bones.length;n++){var i=e.bones[n];if(i.name===t)return i}return null}(e.skeleton);if(n)return n}if(e.children){var i=function(e){for(var n=0;n<e.length;n++){var r=e[n];if(r.name===t||r.uuid===t)return r;var o=i(r.children);if(o)return o}return null},r=i(e.children);if(r)return r}return null},ds.prototype={constructor:ds,isAnimationObjectGroup:!0,add:function(e){for(var t=this._objects,n=t.length,i=this.nCachedObjects_,r=this._indicesByUUID,o=this._paths,a=this._parsedPaths,s=this._bindings,l=s.length,u=0,c=arguments.length;u!==c;++u){var d=arguments[u],h=d.uuid,p=r[h],f=void 0;if(void 0===p){p=n++,r[h]=p,t.push(d);for(var m=0,g=l;m!==g;++m)s[m].push(new cs(d,o[m],a[m]))}else if(p<i){f=t[p];var v=--i,y=t[v];r[y.uuid]=p,t[p]=y,r[h]=v,t[v]=d;for(m=0,g=l;m!==g;++m){var b=s[m],x=b[v],_=b[p];b[p]=x,void 0===_&&(_=new cs(d,o[m],a[m])),b[v]=_}}else t[p]!==f&&console.error(\\\"Different objects with the same UUID detected. Clean the caches or recreate your infrastructure when reloading scenes...\\\")}this.nCachedObjects_=i},remove:function(e){for(var t=this._objects,n=this.nCachedObjects_,i=this._indicesByUUID,r=this._bindings,o=r.length,a=0,s=arguments.length;a!==s;++a){var l=arguments[a],u=l.uuid,c=i[u];if(void 0!==c&&c>=n){var d=n++,h=t[d];i[h.uuid]=c,t[c]=h,i[u]=d,t[d]=l;for(var p=0,f=o;p!==f;++p){var m=r[p],g=m[d],v=m[c];m[c]=g,m[d]=v}}}this.nCachedObjects_=n},uncache:function(e){for(var t=this._objects,n=t.length,i=this.nCachedObjects_,r=this._indicesByUUID,o=this._bindings,a=o.length,s=0,l=arguments.length;s!==l;++s){var u=arguments[s],c=u.uuid,d=r[c];if(void 0!==d)if(delete r[c],d<i){var h=--i,p=t[h],f=t[b=--n];r[p.uuid]=d,t[d]=p,r[f.uuid]=h,t[h]=f,t.pop();for(var m=0,g=a;m!==g;++m){var v=(x=o[m])[h],y=x[b];x[d]=v,x[h]=y,x.pop()}}else{var b;r[(f=t[b=--n]).uuid]=d,t[d]=f,t.pop();for(m=0,g=a;m!==g;++m){var x;(x=o[m])[d]=x[b],x.pop()}}}this.nCachedObjects_=i},subscribe_:function(e,t){var n=this._bindingsIndicesByPath,i=n[e],r=this._bindings;if(void 0!==i)return r[i];var o=this._paths,a=this._parsedPaths,s=this._objects,l=s.length,u=this.nCachedObjects_,c=new Array(l);i=r.length,n[e]=i,o.push(e),a.push(t),r.push(c);for(var d=u,h=s.length;d!==h;++d){var p=s[d];c[d]=new cs(p,e,t)}return c},unsubscribe_:function(e){var t=this._bindingsIndicesByPath,n=t[e];if(void 0!==n){var i=this._paths,r=this._parsedPaths,o=this._bindings,a=o.length-1,s=o[a];t[e[a]]=n,o[n]=s,o.pop(),r[n]=r[a],r.pop(),i[n]=i[a],i.pop()}}},hs.prototype={constructor:hs,play:function(){return this._mixer._activateAction(this),this},stop:function(){return this._mixer._deactivateAction(this),this.reset()},reset:function(){return this.paused=!1,this.enabled=!0,this.time=0,this._loopCount=-1,this._startTime=null,this.stopFading().stopWarping()},isRunning:function(){return this.enabled&&!this.paused&&0!==this.timeScale&&null===this._startTime&&this._mixer._isActiveAction(this)},isScheduled:function(){return this._mixer._isActiveAction(this)},startAt:function(e){return this._startTime=e,this},setLoop:function(e,t){return this.loop=e,this.repetitions=t,this},setEffectiveWeight:function(e){return this.weight=e,this._effectiveWeight=this.enabled?e:0,this.stopFading()},getEffectiveWeight:function(){return this._effectiveWeight},fadeIn:function(e){return this._scheduleFading(e,0,1)},fadeOut:function(e){return this._scheduleFading(e,1,0)},crossFadeFrom:function(e,t,n){if(e.fadeOut(t),this.fadeIn(t),n){var i=this._clip.duration,r=e._clip.duration,o=r/i,a=i/r;e.warp(1,o,t),this.warp(a,1,t)}return this},crossFadeTo:function(e,t,n){return e.crossFadeFrom(this,t,n)},stopFading:function(){var e=this._weightInterpolant;return null!==e&&(this._weightInterpolant=null,this._mixer._takeBackControlInterpolant(e)),this},setEffectiveTimeScale:function(e){return this.timeScale=e,this._effectiveTimeScale=this.paused?0:e,this.stopWarping()},getEffectiveTimeScale:function(){return this._effectiveTimeScale},setDuration:function(e){return this.timeScale=this._clip.duration/e,this.stopWarping()},syncWith:function(e){return this.time=e.time,this.timeScale=e.timeScale,this.stopWarping()},halt:function(e){return this.warp(this._effectiveTimeScale,0,e)},warp:function(e,t,n){var i=this._mixer,r=i.time,o=this._timeScaleInterpolant,a=this.timeScale;null===o&&(o=i._lendControlInterpolant(),this._timeScaleInterpolant=o);var s=o.parameterPositions,l=o.sampleValues;return s[0]=r,s[1]=r+n,l[0]=e/a,l[1]=t/a,this},stopWarping:function(){var e=this._timeScaleInterpolant;return null!==e&&(this._timeScaleInterpolant=null,this._mixer._takeBackControlInterpolant(e)),this},getMixer:function(){return this._mixer},getClip:function(){return this._clip},getRoot:function(){return this._localRoot||this._mixer._root},_update:function(e,t,n,i){var r=this._startTime;if(null!==r){var o=(e-r)*n;if(o<0||0===n)return;this._startTime=null,t=n*o}t*=this._updateTimeScale(e);var a=this._updateTime(t),s=this._updateWeight(e);if(s>0)for(var l=this._interpolants,u=this._propertyBindings,c=0,d=l.length;c!==d;++c)l[c].evaluate(a),u[c].accumulate(i,s)},_updateWeight:function(e){var t=0;if(this.enabled){t=this.weight;var n=this._weightInterpolant;if(null!==n){var i=n.evaluate(e)[0];t*=i,e>n.parameterPositions[1]&&(this.stopFading(),0===i&&(this.enabled=!1))}}return this._effectiveWeight=t,t},_updateTimeScale:function(e){var t=0;if(!this.paused){t=this.timeScale;var n=this._timeScaleInterpolant;if(null!==n)t*=n.evaluate(e)[0],e>n.parameterPositions[1]&&(this.stopWarping(),0===t?this.paused=!0:this.timeScale=t)}return this._effectiveTimeScale=t,t},_updateTime:function(e){var t=this.time+e;if(0===e)return t;var n=this._clip.duration,i=this.loop,r=this._loopCount;if(i===ot){-1===r&&(this._loopCount=0,this._setEndings(!0,!0,!1));e:{if(t>=n)t=n;else{if(!(t<0))break e;t=0}this.clampWhenFinished?this.paused=!0:this.enabled=!1,this._mixer.dispatchEvent({type:\\\"finished\\\",action:this,direction:e<0?-1:1})}}else{var o=i===st;if(-1===r&&(e>=0?(r=0,this._setEndings(!0,0===this.repetitions,o)):this._setEndings(0===this.repetitions,!0,o)),t>=n||t<0){var a=Math.floor(t/n);t-=n*a,r+=Math.abs(a);var s=this.repetitions-r;if(s<0)this.clampWhenFinished?this.paused=!0:this.enabled=!1,t=e>0?n:0,this._mixer.dispatchEvent({type:\\\"finished\\\",action:this,direction:e>0?1:-1});else{if(0===s){var l=e<0;this._setEndings(l,!l,o)}else this._setEndings(!1,!1,o);this._loopCount=r,this._mixer.dispatchEvent({type:\\\"loop\\\",action:this,loopDelta:a})}}if(o&&1==(1&r))return this.time=t,n-t}return this.time=t,t},_setEndings:function(e,t,n){var i=this._interpolantSettings;n?(i.endingStart=ht,i.endingEnd=ht):(i.endingStart=e?this.zeroSlopeAtStart?ht:dt:pt,i.endingEnd=t?this.zeroSlopeAtEnd?ht:dt:pt)},_scheduleFading:function(e,t,n){var i=this._mixer,r=i.time,o=this._weightInterpolant;null===o&&(o=i._lendControlInterpolant(),this._weightInterpolant=o);var a=o.parameterPositions,s=o.sampleValues;return a[0]=r,s[0]=t,a[1]=r+e,s[1]=n,this}},ps.prototype={constructor:ps,clipAction:function(e,t){var n=t||this._root,i=n.uuid,r=\\\"string\\\"==typeof e?ga.findByName(n,e):e,o=null!==r?r.uuid:e,a=this._actionsByClip[o],s=null;if(void 0!==a){var l=a.actionByRoot[i];if(void 0!==l)return l;s=a.knownActions[0],null===r&&(r=s._clip)}if(null===r)return null;var u=new hs(this,r,t);return this._bindAction(u,s),this._addInactiveAction(u,o,i),u},existingAction:function(e,t){var n=t||this._root,i=n.uuid,r=\\\"string\\\"==typeof e?ga.findByName(n,e):e,o=r?r.uuid:e,a=this._actionsByClip[o];return void 0!==a&&a.actionByRoot[i]||null},stopAllAction:function(){var e=this._actions,t=this._nActiveActions,n=this._bindings,i=this._nActiveBindings;this._nActiveActions=0,this._nActiveBindings=0;for(var r=0;r!==t;++r)e[r].reset();for(r=0;r!==i;++r)n[r].useCount=0;return this},update:function(e){e*=this.timeScale;for(var t=this._actions,n=this._nActiveActions,i=this.time+=e,r=Math.sign(e),o=this._accuIndex^=1,a=0;a!==n;++a){var s=t[a];s.enabled&&s._update(i,e,r,o)}var l=this._bindings,u=this._nActiveBindings;for(a=0;a!==u;++a)l[a].apply(o);return this},getRoot:function(){return this._root},uncacheClip:function(e){var t=this._actions,n=e.uuid,i=this._actionsByClip,r=i[n];if(void 0!==r){for(var o=r.knownActions,a=0,s=o.length;a!==s;++a){var l=o[a];this._deactivateAction(l);var u=l._cacheIndex,c=t[t.length-1];l._cacheIndex=null,l._byClipCacheIndex=null,c._cacheIndex=u,t[u]=c,t.pop(),this._removeInactiveBindingsForAction(l)}delete i[n]}},uncacheRoot:function(e){var t=e.uuid,n=this._actionsByClip;for(var i in n){var r=n[i].actionByRoot[t];void 0!==r&&(this._deactivateAction(r),this._removeInactiveAction(r))}var o=this._bindingsByRootAndName[t];if(void 0!==o)for(var a in o){var s=o[a];s.restoreOriginalState(),this._removeInactiveBinding(s)}},uncacheAction:function(e,t){var n=this.existingAction(e,t);null!==n&&(this._deactivateAction(n),this._removeInactiveAction(n))}},Object.assign(ps.prototype,{_bindAction:function(e,t){var n=e._localRoot||this._root,i=e._clip.tracks,r=i.length,o=e._propertyBindings,a=e._interpolants,s=n.uuid,l=this._bindingsByRootAndName,u=l[s];void 0===u&&(u={},l[s]=u);for(var c=0;c!==r;++c){var d=i[c],h=d.name,p=u[h];if(void 0!==p)o[c]=p;else{if(void 0!==(p=o[c])){null===p._cacheIndex&&(++p.referenceCount,this._addInactiveBinding(p,s,h));continue}var f=t&&t._propertyBindings[c].binding.parsedPath;++(p=new us(cs.create(n,h,f),d.ValueTypeName,d.getValueSize())).referenceCount,this._addInactiveBinding(p,s,h),o[c]=p}a[c].resultBuffer=p.buffer}},_activateAction:function(e){if(!this._isActiveAction(e)){if(null===e._cacheIndex){var t=(e._localRoot||this._root).uuid,n=e._clip.uuid,i=this._actionsByClip[n];this._bindAction(e,i&&i.knownActions[0]),this._addInactiveAction(e,n,t)}for(var r=e._propertyBindings,o=0,a=r.length;o!==a;++o){var s=r[o];0==s.useCount++&&(this._lendBinding(s),s.saveOriginalState())}this._lendAction(e)}},_deactivateAction:function(e){if(this._isActiveAction(e)){for(var t=e._propertyBindings,n=0,i=t.length;n!==i;++n){var r=t[n];0==--r.useCount&&(r.restoreOriginalState(),this._takeBackBinding(r))}this._takeBackAction(e)}},_initMemoryManager:function(){this._actions=[],this._nActiveActions=0,this._actionsByClip={},this._bindings=[],this._nActiveBindings=0,this._bindingsByRootAndName={},this._controlInterpolants=[],this._nActiveControlInterpolants=0;var e=this;this.stats={actions:{get total(){return e._actions.length},get inUse(){return e._nActiveActions}},bindings:{get total(){return e._bindings.length},get inUse(){return e._nActiveBindings}},controlInterpolants:{get total(){return e._controlInterpolants.length},get inUse(){return e._nActiveControlInterpolants}}}},_isActiveAction:function(e){var t=e._cacheIndex;return null!==t&&t<this._nActiveActions},_addInactiveAction:function(e,t,n){var i=this._actions,r=this._actionsByClip,o=r[t];if(void 0===o)o={knownActions:[e],actionByRoot:{}},e._byClipCacheIndex=0,r[t]=o;else{var a=o.knownActions;e._byClipCacheIndex=a.length,a.push(e)}e._cacheIndex=i.length,i.push(e),o.actionByRoot[n]=e},_removeInactiveAction:function(e){var t=this._actions,n=t[t.length-1],i=e._cacheIndex;n._cacheIndex=i,t[i]=n,t.pop(),e._cacheIndex=null;var r=e._clip.uuid,o=this._actionsByClip,a=o[r],s=a.knownActions,l=s[s.length-1],u=e._byClipCacheIndex;l._byClipCacheIndex=u,s[u]=l,s.pop(),e._byClipCacheIndex=null,delete a.actionByRoot[(t._localRoot||this._root).uuid],0===s.length&&delete o[r],this._removeInactiveBindingsForAction(e)},_removeInactiveBindingsForAction:function(e){for(var t=e._propertyBindings,n=0,i=t.length;n!==i;++n){var r=t[n];0==--r.referenceCount&&this._removeInactiveBinding(r)}},_lendAction:function(e){var t=this._actions,n=e._cacheIndex,i=this._nActiveActions++,r=t[i];e._cacheIndex=i,t[i]=e,r._cacheIndex=n,t[n]=r},_takeBackAction:function(e){var t=this._actions,n=e._cacheIndex,i=--this._nActiveActions,r=t[i];e._cacheIndex=i,t[i]=e,r._cacheIndex=n,t[n]=r},_addInactiveBinding:function(e,t,n){var i=this._bindingsByRootAndName,r=i[t],o=this._bindings;void 0===r&&(r={},i[t]=r),r[n]=e,e._cacheIndex=o.length,o.push(e)},_removeInactiveBinding:function(e){var t=this._bindings,n=e.binding,i=n.rootNode.uuid,r=n.path,o=this._bindingsByRootAndName,a=o[i],s=t[t.length-1],l=e._cacheIndex;s._cacheIndex=l,t[l]=s,t.pop(),delete a[r];e:{for(var u in a)break e;delete o[i]}},_lendBinding:function(e){var t=this._bindings,n=e._cacheIndex,i=this._nActiveBindings++,r=t[i];e._cacheIndex=i,t[i]=e,r._cacheIndex=n,t[n]=r},_takeBackBinding:function(e){var t=this._bindings,n=e._cacheIndex,i=--this._nActiveBindings,r=t[i];e._cacheIndex=i,t[i]=e,r._cacheIndex=n,t[n]=r},_lendControlInterpolant:function(){var e=this._controlInterpolants,t=this._nActiveControlInterpolants++,n=e[t];return void 0===n&&((n=new oa(new Float32Array(2),new Float32Array(2),1,this._controlInterpolantsResultBuffer)).__cacheIndex=t,e[t]=n),n},_takeBackControlInterpolant:function(e){var t=this._controlInterpolants,n=e.__cacheIndex,i=--this._nActiveControlInterpolants,r=t[i];e.__cacheIndex=i,t[i]=e,r.__cacheIndex=n,t[n]=r},_controlInterpolantsResultBuffer:new Float32Array(1)}),Object.assign(ps.prototype,i.prototype),fs.prototype.clone=function(){return new fs(void 0===this.value.clone?this.value:this.value.clone())},ms.prototype=Object.create(Fi.prototype),ms.prototype.constructor=ms,ms.prototype.isInstancedBufferGeometry=!0,ms.prototype.addGroup=function(e,t,n){this.groups.push({start:e,count:t,materialIndex:n})},ms.prototype.copy=function(e){var t=e.index;null!==t&&this.setIndex(t.clone());var n=e.attributes;for(var i in n){var r=n[i];this.addAttribute(i,r.clone())}for(var o=e.groups,a=0,s=o.length;a<s;a++){var l=o[a];this.addGroup(l.start,l.count,l.materialIndex)}return this},gs.prototype={constructor:gs,isInterleavedBufferAttribute:!0,get count(){return this.data.count},get array(){return this.data.array},setX:function(e,t){return this.data.array[e*this.data.stride+this.offset]=t,this},setY:function(e,t){return this.data.array[e*this.data.stride+this.offset+1]=t,this},setZ:function(e,t){return this.data.array[e*this.data.stride+this.offset+2]=t,this},setW:function(e,t){return this.data.array[e*this.data.stride+this.offset+3]=t,this},getX:function(e){return this.data.array[e*this.data.stride+this.offset]},getY:function(e){return this.data.array[e*this.data.stride+this.offset+1]},getZ:function(e){return this.data.array[e*this.data.stride+this.offset+2]},getW:function(e){return this.data.array[e*this.data.stride+this.offset+3]},setXY:function(e,t,n){return e=e*this.data.stride+this.offset,this.data.array[e+0]=t,this.data.array[e+1]=n,this},setXYZ:function(e,t,n,i){return e=e*this.data.stride+this.offset,this.data.array[e+0]=t,this.data.array[e+1]=n,this.data.array[e+2]=i,this},setXYZW:function(e,t,n,i,r){return e=e*this.data.stride+this.offset,this.data.array[e+0]=t,this.data.array[e+1]=n,this.data.array[e+2]=i,this.data.array[e+3]=r,this}},vs.prototype={constructor:vs,isInterleavedBuffer:!0,set needsUpdate(e){!0===e&&this.version++},setArray:function(e){if(Array.isArray(e))throw new TypeError(\\\"THREE.BufferAttribute: array should be a Typed Array.\\\");this.count=void 0!==e?e.length/this.stride:0,this.array=e},setDynamic:function(e){return this.dynamic=e,this},copy:function(e){return this.array=new e.array.constructor(e.array),this.count=e.count,this.stride=e.stride,this.dynamic=e.dynamic,this},copyAt:function(e,t,n){e*=this.stride,n*=t.stride;for(var i=0,r=this.stride;i<r;i++)this.array[e+i]=t.array[n+i];return this},set:function(e,t){return void 0===t&&(t=0),this.array.set(e,t),this},clone:function(){return(new this.constructor).copy(this)},onUpload:function(e){return this.onUploadCallback=e,this}},ys.prototype=Object.create(vs.prototype),ys.prototype.constructor=ys,ys.prototype.isInstancedInterleavedBuffer=!0,ys.prototype.copy=function(e){return vs.prototype.copy.call(this,e),this.meshPerAttribute=e.meshPerAttribute,this},bs.prototype=Object.create(_i.prototype),bs.prototype.constructor=bs,bs.prototype.isInstancedBufferAttribute=!0,bs.prototype.copy=function(e){return _i.prototype.copy.call(this,e),this.meshPerAttribute=e.meshPerAttribute,this},xs.prototype={constructor:xs,linePrecision:1,set:function(e,t){this.ray.set(e,t)},setFromCamera:function(e,t){t&&t.isPerspectiveCamera?(this.ray.origin.setFromMatrixPosition(t.matrixWorld),this.ray.direction.set(e.x,e.y,.5).unproject(t).sub(this.ray.origin).normalize()):t&&t.isOrthographicCamera?(this.ray.origin.set(e.x,e.y,(t.near+t.far)/(t.near-t.far)).unproject(t),this.ray.direction.set(0,0,-1).transformDirection(t.matrixWorld)):console.error(\\\"THREE.Raycaster: Unsupported camera type.\\\")},intersectObject:function(e,t){var n=[];return ws(e,this,n,t),n.sort(_s),n},intersectObjects:function(e,t){var n=[];if(!1===Array.isArray(e))return console.warn(\\\"THREE.Raycaster.intersectObjects: objects is not an Array.\\\"),n;for(var i=0,r=e.length;i<r;i++)ws(e[i],this,n,t);return n.sort(_s),n}},Ms.prototype={constructor:Ms,start:function(){this.startTime=(performance||Date).now(),this.oldTime=this.startTime,this.elapsedTime=0,this.running=!0},stop:function(){this.getElapsedTime(),this.running=!1},getElapsedTime:function(){return this.getDelta(),this.elapsedTime},getDelta:function(){var e=0;if(this.autoStart&&!this.running&&this.start(),this.running){var t=(performance||Date).now();e=(t-this.oldTime)/1e3,this.oldTime=t,this.elapsedTime+=e}return e}},Ss.prototype={constructor:Ss,set:function(e,t,n){return this.radius=e,this.phi=t,this.theta=n,this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.radius=e.radius,this.phi=e.phi,this.theta=e.theta,this},makeSafe:function(){return this.phi=Math.max(1e-6,Math.min(Math.PI-1e-6,this.phi)),this},setFromVector3:function(e){return this.radius=e.length(),0===this.radius?(this.theta=0,this.phi=0):(this.theta=Math.atan2(e.x,e.z),this.phi=Math.acos(Ct.clamp(e.y/this.radius,-1,1))),this}},Es.prototype={constructor:Es,set:function(e,t,n){return this.radius=e,this.theta=t,this.y=n,this},clone:function(){return(new this.constructor).copy(this)},copy:function(e){return this.radius=e.radius,this.theta=e.theta,this.y=e.y,this},setFromVector3:function(e){return this.radius=Math.sqrt(e.x*e.x+e.z*e.z),this.theta=Math.atan2(e.x,e.z),this.y=e.y,this}},Ts.prototype=Object.create(zi.prototype),Ts.prototype.constructor=Ts,Ts.prototype.createAnimation=function(e,t,n,i){var r={start:t,end:n,length:n-t+1,fps:i,duration:(n-t)/i,lastFrame:0,currentFrame:0,active:!1,time:0,direction:1,weight:1,directionBackwards:!1,mirroredLoop:!1};this.animationsMap[e]=r,this.animationsList.push(r)},Ts.prototype.autoCreateAnimations=function(e){for(var t,n=/([a-z]+)_?(\\\\d+)/i,i={},r=this.geometry,o=0,a=r.morphTargets.length;o<a;o++){var s=r.morphTargets[o].name.match(n);if(s&&s.length>1)i[l=s[1]]||(i[l]={start:1/0,end:-1/0}),o<(u=i[l]).start&&(u.start=o),o>u.end&&(u.end=o),t||(t=l)}for(var l in i){var u=i[l];this.createAnimation(l,u.start,u.end,e)}this.firstAnimation=t},Ts.prototype.setAnimationDirectionForward=function(e){var t=this.animationsMap[e];t&&(t.direction=1,t.directionBackwards=!1)},Ts.prototype.setAnimationDirectionBackward=function(e){var t=this.animationsMap[e];t&&(t.direction=-1,t.directionBackwards=!0)},Ts.prototype.setAnimationFPS=function(e,t){var n=this.animationsMap[e];n&&(n.fps=t,n.duration=(n.end-n.start)/n.fps)},Ts.prototype.setAnimationDuration=function(e,t){var n=this.animationsMap[e];n&&(n.duration=t,n.fps=(n.end-n.start)/n.duration)},Ts.prototype.setAnimationWeight=function(e,t){var n=this.animationsMap[e];n&&(n.weight=t)},Ts.prototype.setAnimationTime=function(e,t){var n=this.animationsMap[e];n&&(n.time=t)},Ts.prototype.getAnimationTime=function(e){var t=0,n=this.animationsMap[e];return n&&(t=n.time),t},Ts.prototype.getAnimationDuration=function(e){var t=-1,n=this.animationsMap[e];return n&&(t=n.duration),t},Ts.prototype.playAnimation=function(e){var t=this.animationsMap[e];t?(t.time=0,t.active=!0):console.warn(\\\"THREE.MorphBlendMesh: animation[\\\"+e+\\\"] undefined in .playAnimation()\\\")},Ts.prototype.stopAnimation=function(e){var t=this.animationsMap[e];t&&(t.active=!1)},Ts.prototype.update=function(e){for(var t=0,n=this.animationsList.length;t<n;t++){var i=this.animationsList[t];if(i.active){var r=i.duration/i.length;i.time+=i.direction*e,i.mirroredLoop?(i.time>i.duration||i.time<0)&&(i.direction*=-1,i.time>i.duration&&(i.time=i.duration,i.directionBackwards=!0),i.time<0&&(i.time=0,i.directionBackwards=!1)):(i.time=i.time%i.duration,i.time<0&&(i.time+=i.duration));var o=i.start+Ct.clamp(Math.floor(i.time/r),0,i.length-1),a=i.weight;o!==i.currentFrame&&(this.morphTargetInfluences[i.lastFrame]=0,this.morphTargetInfluences[i.currentFrame]=1*a,this.morphTargetInfluences[o]=0,i.lastFrame=i.currentFrame,i.currentFrame=o);var s=i.time%r/r;i.directionBackwards&&(s=1-s),i.currentFrame!==i.lastFrame?(this.morphTargetInfluences[i.currentFrame]=s*a,this.morphTargetInfluences[i.lastFrame]=(1-s)*a):this.morphTargetInfluences[i.currentFrame]=a}}},Cs.prototype=Object.create(gi.prototype),Cs.prototype.constructor=Cs,Cs.prototype.isImmediateRenderObject=!0,Os.prototype=Object.create(Pr.prototype),Os.prototype.constructor=Os,Os.prototype.update=function(){var e=new Ut,t=new Ut,n=new ti;return function(){var i=[\\\"a\\\",\\\"b\\\",\\\"c\\\"];this.object.updateMatrixWorld(!0),n.getNormalMatrix(this.object.matrixWorld);var r=this.object.matrixWorld,o=this.geometry.attributes.position,a=this.object.geometry;if(a&&a.isGeometry)for(var s=a.vertices,l=a.faces,u=0,c=0,d=l.length;c<d;c++)for(var h=l[c],p=0,f=h.vertexNormals.length;p<f;p++){var m=s[h[i[p]]],g=h.vertexNormals[p];e.copy(m).applyMatrix4(r),t.copy(g).applyMatrix3(n).normalize().multiplyScalar(this.size).add(e),o.setXYZ(u,e.x,e.y,e.z),u+=1,o.setXYZ(u,t.x,t.y,t.z),u+=1}else if(a&&a.isBufferGeometry){var v=a.attributes.position,y=a.attributes.normal;for(u=0,p=0,f=v.count;p<f;p++)e.set(v.getX(p),v.getY(p),v.getZ(p)).applyMatrix4(r),t.set(y.getX(p),y.getY(p),y.getZ(p)),t.applyMatrix3(n).normalize().multiplyScalar(this.size).add(e),o.setXYZ(u,e.x,e.y,e.z),u+=1,o.setXYZ(u,t.x,t.y,t.z),u+=1}return o.needsUpdate=!0,this}}(),Ps.prototype=Object.create(gi.prototype),Ps.prototype.constructor=Ps,Ps.prototype.dispose=function(){this.cone.geometry.dispose(),this.cone.material.dispose()},Ps.prototype.update=(Xa=new Ut,Ka=new Ut,function(){var e=this.light.distance?this.light.distance:1e3,t=e*Math.tan(this.light.angle);this.cone.scale.set(t,t,e),Xa.setFromMatrixPosition(this.light.matrixWorld),Ka.setFromMatrixPosition(this.light.target.matrixWorld),this.cone.lookAt(Ka.sub(Xa)),this.cone.material.color.copy(this.light.color).multiplyScalar(this.light.intensity)}),ks.prototype=Object.create(Pr.prototype),ks.prototype.constructor=ks,ks.prototype.getBoneList=function(e){var t=[];e&&e.isBone&&t.push(e);for(var n=0;n<e.children.length;n++)t.push.apply(t,this.getBoneList(e.children[n]));return t},ks.prototype.update=function(){var e=new Ut,t=new Wt,n=new Wt;return function(){var i=this.geometry,r=i.getAttribute(\\\"position\\\");n.getInverse(this.root.matrixWorld);for(var o=0,a=0;o<this.bones.length;o++){var s=this.bones[o];s.parent&&s.parent.isBone&&(t.multiplyMatrices(n,s.matrixWorld),e.setFromMatrixPosition(t),r.setXYZ(a,e.x,e.y,e.z),t.multiplyMatrices(n,s.parent.matrixWorld),e.setFromMatrixPosition(t),r.setXYZ(a+1,e.x,e.y,e.z),a+=2)}i.getAttribute(\\\"position\\\").needsUpdate=!0}}(),As.prototype=Object.create(zi.prototype),As.prototype.constructor=As,As.prototype.dispose=function(){this.geometry.dispose(),this.material.dispose()},As.prototype.update=function(){this.material.color.copy(this.light.color).multiplyScalar(this.light.intensity)},Rs.prototype=Object.create(gi.prototype),Rs.prototype.constructor=Rs,Rs.prototype.dispose=function(){this.children[0].geometry.dispose(),this.children[0].material.dispose(),this.children[1].geometry.dispose(),this.children[1].material.dispose()},Rs.prototype.update=function(){var e=new Ut,t=new Ut;return function(){var n=this.children[0],i=this.children[1];if(this.light.target){e.setFromMatrixPosition(this.light.matrixWorld),t.setFromMatrixPosition(this.light.target.matrixWorld);var r=t.clone().sub(e);n.lookAt(r),i.lookAt(r)}n.material.color.copy(this.light.color).multiplyScalar(this.light.intensity),i.material.color.copy(this.light.color).multiplyScalar(this.light.intensity);var o=.5*this.light.width,a=.5*this.light.height,s=n.geometry.getAttribute(\\\"position\\\"),l=s.array;l[0]=o,l[1]=-a,l[2]=0,l[3]=o,l[4]=a,l[5]=0,l[6]=-o,l[7]=a,l[8]=0,l[9]=-o,l[10]=a,l[11]=0,l[12]=-o,l[13]=-a,l[14]=0,l[15]=o,l[16]=-a,l[17]=0,s.needsUpdate=!0}}(),Ls.prototype=Object.create(gi.prototype),Ls.prototype.constructor=Ls,Ls.prototype.dispose=function(){this.children[0].geometry.dispose(),this.children[0].material.dispose()},Ls.prototype.update=function(){var e=new Ut,t=new kn,n=new kn;return function(){var i=this.children[0],r=i.geometry.getAttribute(\\\"color\\\");t.copy(this.light.color).multiplyScalar(this.light.intensity),n.copy(this.light.groundColor).multiplyScalar(this.light.intensity);for(var o=0,a=r.count;o<a;o++){var s=o<a/2?t:n;r.setXYZ(o,s.r,s.g,s.b)}i.lookAt(e.setFromMatrixPosition(this.light.matrixWorld).negate()),r.needsUpdate=!0}}(),Is.prototype=Object.create(Pr.prototype),Is.prototype.constructor=Is,Ds.prototype=Object.create(Pr.prototype),Ds.prototype.constructor=Ds,Ns.prototype=Object.create(Pr.prototype),Ns.prototype.constructor=Ns,Ns.prototype.update=function(){var e=new Ut,t=new Ut,n=new ti;return function(){this.object.updateMatrixWorld(!0),n.getNormalMatrix(this.object.matrixWorld);for(var i=this.object.matrixWorld,r=this.geometry.attributes.position,o=this.object.geometry,a=o.vertices,s=o.faces,l=0,u=0,c=s.length;u<c;u++){var d=s[u],h=d.normal;e.copy(a[d.a]).add(a[d.b]).add(a[d.c]).divideScalar(3).applyMatrix4(i),t.copy(h).applyMatrix3(n).normalize().multiplyScalar(this.size).add(e),r.setXYZ(l,e.x,e.y,e.z),l+=1,r.setXYZ(l,t.x,t.y,t.z),l+=1}return r.needsUpdate=!0,this}}(),Fs.prototype=Object.create(gi.prototype),Fs.prototype.constructor=Fs,Fs.prototype.dispose=function(){var e=this.children[0],t=this.children[1];e.geometry.dispose(),e.material.dispose(),t.geometry.dispose(),t.material.dispose()},Fs.prototype.update=function(){var e=new Ut,t=new Ut,n=new Ut;return function(){e.setFromMatrixPosition(this.light.matrixWorld),t.setFromMatrixPosition(this.light.target.matrixWorld),n.subVectors(t,e);var i=this.children[0],r=this.children[1];i.lookAt(n),i.material.color.copy(this.light.color).multiplyScalar(this.light.intensity),r.lookAt(n),r.scale.z=n.length()}}(),zs.prototype=Object.create(Pr.prototype),zs.prototype.constructor=zs,zs.prototype.update=function(){var e,t,n=new Ut,i=new Gi;function r(r,o,a,s){n.set(o,a,s).unproject(i);var l=t[r];if(void 0!==l)for(var u=e.getAttribute(\\\"position\\\"),c=0,d=l.length;c<d;c++)u.setXYZ(l[c],n.x,n.y,n.z)}return function(){e=this.geometry,t=this.pointMap;i.projectionMatrix.copy(this.camera.projectionMatrix),r(\\\"c\\\",0,0,-1),r(\\\"t\\\",0,0,1),r(\\\"n1\\\",-1,-1,-1),r(\\\"n2\\\",1,-1,-1),r(\\\"n3\\\",-1,1,-1),r(\\\"n4\\\",1,1,-1),r(\\\"f1\\\",-1,-1,1),r(\\\"f2\\\",1,-1,1),r(\\\"f3\\\",-1,1,1),r(\\\"f4\\\",1,1,1),r(\\\"u1\\\",.7,1.1,-1),r(\\\"u2\\\",-.7,1.1,-1),r(\\\"u3\\\",0,2,-1),r(\\\"cf1\\\",-1,0,1),r(\\\"cf2\\\",1,0,1),r(\\\"cf3\\\",0,-1,1),r(\\\"cf4\\\",0,1,1),r(\\\"cn1\\\",-1,0,-1),r(\\\"cn2\\\",1,0,-1),r(\\\"cn3\\\",0,-1,-1),r(\\\"cn4\\\",0,1,-1),e.getAttribute(\\\"position\\\").needsUpdate=!0}}(),Bs.prototype=Object.create(Pr.prototype),Bs.prototype.constructor=Bs,Bs.prototype.update=function(){var e=new Qn;return function(t){if(t&&t.isBox3?e.copy(t):e.setFromObject(t),!e.isEmpty()){var n=e.min,i=e.max,r=this.geometry.attributes.position,o=r.array;o[0]=i.x,o[1]=i.y,o[2]=i.z,o[3]=n.x,o[4]=i.y,o[5]=i.z,o[6]=n.x,o[7]=n.y,o[8]=i.z,o[9]=i.x,o[10]=n.y,o[11]=i.z,o[12]=i.x,o[13]=i.y,o[14]=n.z,o[15]=n.x,o[16]=i.y,o[17]=n.z,o[18]=n.x,o[19]=n.y,o[20]=n.z,o[21]=i.x,o[22]=n.y,o[23]=n.z,r.needsUpdate=!0,this.geometry.computeBoundingSphere()}}}(),js.prototype=Object.create(gi.prototype),js.prototype.constructor=js,js.prototype.setDirection=(Qa=new Ut,function(e){e.y>.99999?this.quaternion.set(0,0,0,1):e.y<-.99999?this.quaternion.set(1,0,0,0):(Qa.set(e.z,0,-e.x).normalize(),$a=Math.acos(e.y),this.quaternion.setFromAxisAngle(Qa,$a))}),js.prototype.setLength=function(e,t,n){void 0===t&&(t=.2*e),void 0===n&&(n=.2*t),this.line.scale.set(1,Math.max(0,e-t),1),this.line.updateMatrix(),this.cone.scale.set(n,t,n),this.cone.position.y=e,this.cone.updateMatrix()},js.prototype.setColor=function(e){this.line.material.color.copy(e),this.cone.material.color.copy(e)},Us.prototype=Object.create(Pr.prototype),Us.prototype.constructor=Us;var Gs=new Ut,Vs=new Ws,Hs=new Ws,Ys=new Ws;function qs(e){this.points=e||[],this.closed=!1}function Xs(e,t,n,i){this.v0=e,this.v1=t,this.v2=n,this.v3=i}function Ks(e,t,n){this.v0=e,this.v1=t,this.v2=n}function Js(e,t){this.v1=e,this.v2=t}function Zs(e,t,n,i,r,o){Oa.call(this,e,t,n,n,i,r,o)}qs.prototype=Object.create(Ea.prototype),qs.prototype.constructor=qs,qs.prototype.getPoint=function(e){var t=this.points,n=t.length;n<2&&console.log(\\\"duh, you need at least 2 points\\\");var i,r,o,a,s=(n-(this.closed?0:1))*e,l=Math.floor(s),u=s-l;if(this.closed?l+=l>0?0:(Math.floor(Math.abs(l)/t.length)+1)*t.length:0===u&&l===n-1&&(l=n-2,u=1),this.closed||l>0?i=t[(l-1)%n]:(Gs.subVectors(t[0],t[1]).add(t[0]),i=Gs),r=t[l%n],o=t[(l+1)%n],this.closed||l+2<n?a=t[(l+2)%n]:(Gs.subVectors(t[n-1],t[n-2]).add(t[n-1]),a=Gs),void 0===this.type||\\\"centripetal\\\"===this.type||\\\"chordal\\\"===this.type){var c=\\\"chordal\\\"===this.type?.5:.25,d=Math.pow(i.distanceToSquared(r),c),h=Math.pow(r.distanceToSquared(o),c),p=Math.pow(o.distanceToSquared(a),c);h<1e-4&&(h=1),d<1e-4&&(d=h),p<1e-4&&(p=h),Vs.initNonuniformCatmullRom(i.x,r.x,o.x,a.x,d,h,p),Hs.initNonuniformCatmullRom(i.y,r.y,o.y,a.y,d,h,p),Ys.initNonuniformCatmullRom(i.z,r.z,o.z,a.z,d,h,p)}else if(\\\"catmullrom\\\"===this.type){var f=void 0!==this.tension?this.tension:.5;Vs.initCatmullRom(i.x,r.x,o.x,a.x,f),Hs.initCatmullRom(i.y,r.y,o.y,a.y,f),Ys.initCatmullRom(i.z,r.z,o.z,a.z,f)}return new Ut(Vs.calc(u),Hs.calc(u),Ys.calc(u))},Xs.prototype=Object.create(Ea.prototype),Xs.prototype.constructor=Xs,Xs.prototype.getPoint=function(e){var t=this.v0,n=this.v1,i=this.v2,r=this.v3;return new Ut(Sa(e,t.x,n.x,i.x,r.x),Sa(e,t.y,n.y,i.y,r.y),Sa(e,t.z,n.z,i.z,r.z))},Ks.prototype=Object.create(Ea.prototype),Ks.prototype.constructor=Ks,Ks.prototype.getPoint=function(e){var t=this.v0,n=this.v1,i=this.v2;return new Ut(Ma(e,t.x,n.x,i.x),Ma(e,t.y,n.y,i.y),Ma(e,t.z,n.z,i.z))},Js.prototype=Object.create(Ea.prototype),Js.prototype.constructor=Js,Js.prototype.getPoint=function(e){if(1===e)return this.v2.clone();var t=new Ut;return t.subVectors(this.v2,this.v1),t.multiplyScalar(e),t.add(this.v1),t},Zs.prototype=Object.create(Oa.prototype),Zs.prototype.constructor=Zs;var $s={createMultiMaterialObject:function(e,t){for(var n=new Rr,i=0,r=t.length;i<r;i++)n.add(new zi(e,t[i]));return n},detach:function(e,t,n){e.applyMatrix(t.matrixWorld),t.remove(e),n.add(e)},attach:function(e,t,n){var i=new Wt;i.getInverse(n.matrixWorld),e.applyMatrix(i),t.remove(e),n.add(e)}};function Qs(e,t,n,i,r,o,a){return console.warn(\\\"THREE.Face4 has been removed. A THREE.Face3 will be created instead.\\\"),new bi(e,t,n,r,o,a)}var el=0,tl=1;function nl(e){return console.warn(\\\"THREE.MeshFaceMaterial has been renamed to THREE.MultiMaterial.\\\"),new So(e)}function il(e,t){return console.warn(\\\"THREE.PointCloud has been renamed to THREE.Points.\\\"),new Ar(e,t)}function rl(e){return console.warn(\\\"THREE.Particle has been renamed to THREE.Sprite.\\\"),new wr(e)}function ol(e,t){return console.warn(\\\"THREE.ParticleSystem has been renamed to THREE.Points.\\\"),new Ar(e,t)}function al(e){return console.warn(\\\"THREE.PointCloudMaterial has been renamed to THREE.PointsMaterial.\\\"),new kr(e)}function sl(e){return console.warn(\\\"THREE.ParticleBasicMaterial has been renamed to THREE.PointsMaterial.\\\"),new kr(e)}function ll(e){return console.warn(\\\"THREE.ParticleSystemMaterial has been renamed to THREE.PointsMaterial.\\\"),new kr(e)}function ul(e,t,n){return console.warn(\\\"THREE.Vertex has been removed. Use THREE.Vector3 instead.\\\"),new Ut(e,t,n)}function cl(e,t){return console.warn(\\\"THREE.DynamicBufferAttribute has been removed. Use new THREE.BufferAttribute().setDynamic( true ) instead.\\\"),new _i(e,t).setDynamic(!0)}function dl(e,t){return console.warn(\\\"THREE.Int8Attribute has been removed. Use new THREE.Int8BufferAttribute() instead.\\\"),new wi(e,t)}function hl(e,t){return console.warn(\\\"THREE.Uint8Attribute has been removed. Use new THREE.Uint8BufferAttribute() instead.\\\"),new Mi(e,t)}function pl(e,t){return console.warn(\\\"THREE.Uint8ClampedAttribute has been removed. Use new THREE.Uint8ClampedBufferAttribute() instead.\\\"),new Si(e,t)}function fl(e,t){return console.warn(\\\"THREE.Int16Attribute has been removed. Use new THREE.Int16BufferAttribute() instead.\\\"),new Ei(e,t)}function ml(e,t){return console.warn(\\\"THREE.Uint16Attribute has been removed. Use new THREE.Uint16BufferAttribute() instead.\\\"),new Ti(e,t)}function gl(e,t){return console.warn(\\\"THREE.Int32Attribute has been removed. Use new THREE.Int32BufferAttribute() instead.\\\"),new Ci(e,t)}function vl(e,t){return console.warn(\\\"THREE.Uint32Attribute has been removed. Use new THREE.Uint32BufferAttribute() instead.\\\"),new Oi(e,t)}function yl(e,t){return console.warn(\\\"THREE.Float32Attribute has been removed. Use new THREE.Float32BufferAttribute() instead.\\\"),new Pi(e,t)}function bl(e,t){return console.warn(\\\"THREE.Float64Attribute has been removed. Use new THREE.Float64BufferAttribute() instead.\\\"),new ki(e,t)}function xl(e){console.warn(\\\"THREE.ClosedSplineCurve3 has been deprecated. Use THREE.CatmullRomCurve3 instead.\\\"),qs.call(this,e),this.type=\\\"catmullrom\\\",this.closed=!0}function _l(e){console.warn(\\\"THREE.SplineCurve3 has been deprecated. Use THREE.CatmullRomCurve3 instead.\\\"),qs.call(this,e),this.type=\\\"catmullrom\\\"}function wl(e){console.warn(\\\"THREE.Spline has been removed. Use THREE.CatmullRomCurve3 instead.\\\"),qs.call(this,e),this.type=\\\"catmullrom\\\"}function Ml(e,t){return console.warn(\\\"THREE.BoundingBoxHelper has been deprecated. Creating a THREE.BoxHelper instead.\\\"),new Bs(e,t)}function Sl(e,t){return console.warn(\\\"THREE.EdgesHelper has been removed. Use THREE.EdgesGeometry instead.\\\"),new Pr(new fo(e.geometry),new Cr({color:void 0!==t?t:16777215}))}function El(e,t){return console.warn(\\\"THREE.WireframeHelper has been removed. Use THREE.WireframeGeometry instead.\\\"),new Pr(new Fr(e.geometry),new Cr({color:void 0!==t?t:16777215}))}function Tl(e){return console.warn(\\\"THREE.XHRLoader has been renamed to THREE.FileLoader.\\\"),new No(e)}function Cl(e){return console.warn(\\\"THREE.BinaryTextureLoader has been renamed to THREE.DataTextureLoader.\\\"),new zo(e)}Ea.create=function(e,t){return console.log(\\\"THREE.Curve.create() has been deprecated\\\"),e.prototype=Object.create(Ea.prototype),e.prototype.constructor=e,e.prototype.getPoint=t,e},xl.prototype=Object.create(qs.prototype),_l.prototype=Object.create(qs.prototype),wl.prototype=Object.create(qs.prototype),Object.assign(wl.prototype,{initFromArray:function(e){console.error(\\\"THREE.Spline: .initFromArray() has been removed.\\\")},getControlPointsArray:function(e){console.error(\\\"THREE.Spline: .getControlPointsArray() has been removed.\\\")},reparametrizeByArcLength:function(e){console.error(\\\"THREE.Spline: .reparametrizeByArcLength() has been removed.\\\")}}),Is.prototype.setColors=function(){console.error(\\\"THREE.GridHelper: setColors() has been deprecated, pass them in the constructor instead.\\\")},Object.assign(Dn.prototype,{center:function(e){return console.warn(\\\"THREE.Box2: .center() has been renamed to .getCenter().\\\"),this.getCenter(e)},empty:function(){return console.warn(\\\"THREE.Box2: .empty() has been renamed to .isEmpty().\\\"),this.isEmpty()},isIntersectionBox:function(e){return console.warn(\\\"THREE.Box2: .isIntersectionBox() has been renamed to .intersectsBox().\\\"),this.intersectsBox(e)},size:function(e){return console.warn(\\\"THREE.Box2: .size() has been renamed to .getSize().\\\"),this.getSize(e)}}),Object.assign(Qn.prototype,{center:function(e){return console.warn(\\\"THREE.Box3: .center() has been renamed to .getCenter().\\\"),this.getCenter(e)},empty:function(){return console.warn(\\\"THREE.Box3: .empty() has been renamed to .isEmpty().\\\"),this.isEmpty()},isIntersectionBox:function(e){return console.warn(\\\"THREE.Box3: .isIntersectionBox() has been renamed to .intersectsBox().\\\"),this.intersectsBox(e)},isIntersectionSphere:function(e){return console.warn(\\\"THREE.Box3: .isIntersectionSphere() has been renamed to .intersectsSphere().\\\"),this.intersectsSphere(e)},size:function(e){return console.warn(\\\"THREE.Box3: .size() has been renamed to .getSize().\\\"),this.getSize(e)}}),vi.prototype.center=function(e){return console.warn(\\\"THREE.Line3: .center() has been renamed to .getCenter().\\\"),this.getCenter(e)},Ct.random16=function(){return console.warn(\\\"THREE.Math.random16() has been deprecated. Use Math.random() instead.\\\"),Math.random()},Object.assign(ti.prototype,{flattenToArrayOffset:function(e,t){return console.warn(\\\"THREE.Matrix3: .flattenToArrayOffset() has been deprecated. Use .toArray() instead.\\\"),this.toArray(e,t)},multiplyVector3:function(e){return console.warn(\\\"THREE.Matrix3: .multiplyVector3() has been removed. Use vector.applyMatrix3( matrix ) instead.\\\"),e.applyMatrix3(this)},multiplyVector3Array:function(e){return console.warn(\\\"THREE.Matrix3: .multiplyVector3Array() has been renamed. Use matrix.applyToVector3Array( array ) instead.\\\"),this.applyToVector3Array(e)},applyToBuffer:function(e,t,n){return console.warn(\\\"THREE.Matrix3: .applyToBuffer() has been removed. Use matrix.applyToBufferAttribute( attribute ) instead.\\\"),this.applyToBufferAttribute(e)},applyToVector3Array:function(e,t,n){console.error(\\\"THREE.Matrix3: .applyToVector3Array() has been removed.\\\")}}),Object.assign(Wt.prototype,{extractPosition:function(e){return console.warn(\\\"THREE.Matrix4: .extractPosition() has been renamed to .copyPosition().\\\"),this.copyPosition(e)},flattenToArrayOffset:function(e,t){return console.warn(\\\"THREE.Matrix4: .flattenToArrayOffset() has been deprecated. Use .toArray() instead.\\\"),this.toArray(e,t)},getPosition:function(){var e;return function(){return void 0===e&&(e=new Ut),console.warn(\\\"THREE.Matrix4: .getPosition() has been removed. Use Vector3.setFromMatrixPosition( matrix ) instead.\\\"),e.setFromMatrixColumn(this,3)}}(),setRotationFromQuaternion:function(e){return console.warn(\\\"THREE.Matrix4: .setRotationFromQuaternion() has been renamed to .makeRotationFromQuaternion().\\\"),this.makeRotationFromQuaternion(e)},multiplyVector3:function(e){return console.warn(\\\"THREE.Matrix4: .multiplyVector3() has been removed. Use vector.applyMatrix4( matrix ) instead.\\\"),e.applyMatrix4(this)},multiplyVector4:function(e){return console.warn(\\\"THREE.Matrix4: .multiplyVector4() has been removed. Use vector.applyMatrix4( matrix ) instead.\\\"),e.applyMatrix4(this)},multiplyVector3Array:function(e){return console.warn(\\\"THREE.Matrix4: .multiplyVector3Array() has been renamed. Use matrix.applyToVector3Array( array ) instead.\\\"),this.applyToVector3Array(e)},rotateAxis:function(e){console.warn(\\\"THREE.Matrix4: .rotateAxis() has been removed. Use Vector3.transformDirection( matrix ) instead.\\\"),e.transformDirection(this)},crossVector:function(e){return console.warn(\\\"THREE.Matrix4: .crossVector() has been removed. Use vector.applyMatrix4( matrix ) instead.\\\"),e.applyMatrix4(this)},translate:function(){console.error(\\\"THREE.Matrix4: .translate() has been removed.\\\")},rotateX:function(){console.error(\\\"THREE.Matrix4: .rotateX() has been removed.\\\")},rotateY:function(){console.error(\\\"THREE.Matrix4: .rotateY() has been removed.\\\")},rotateZ:function(){console.error(\\\"THREE.Matrix4: .rotateZ() has been removed.\\\")},rotateByAxis:function(){console.error(\\\"THREE.Matrix4: .rotateByAxis() has been removed.\\\")},applyToBuffer:function(e,t,n){return console.warn(\\\"THREE.Matrix4: .applyToBuffer() has been removed. Use matrix.applyToBufferAttribute( attribute ) instead.\\\"),this.applyToBufferAttribute(e)},applyToVector3Array:function(e,t,n){console.error(\\\"THREE.Matrix4: .applyToVector3Array() has been removed.\\\")},makeFrustum:function(e,t,n,i,r,o){return console.warn(\\\"THREE.Matrix4: .makeFrustum() has been removed. Use .makePerspective( left, right, top, bottom, near, far ) instead.\\\"),this.makePerspective(e,t,i,n,r,o)}}),ni.prototype.isIntersectionLine=function(e){return console.warn(\\\"THREE.Plane: .isIntersectionLine() has been renamed to .intersectsLine().\\\"),this.intersectsLine(e)},jt.prototype.multiplyVector3=function(e){return console.warn(\\\"THREE.Quaternion: .multiplyVector3() has been removed. Use is now vector.applyQuaternion( quaternion ) instead.\\\"),e.applyQuaternion(this)},Object.assign(oi.prototype,{isIntersectionBox:function(e){return console.warn(\\\"THREE.Ray: .isIntersectionBox() has been renamed to .intersectsBox().\\\"),this.intersectsBox(e)},isIntersectionPlane:function(e){return console.warn(\\\"THREE.Ray: .isIntersectionPlane() has been renamed to .intersectsPlane().\\\"),this.intersectsPlane(e)},isIntersectionSphere:function(e){return console.warn(\\\"THREE.Ray: .isIntersectionSphere() has been renamed to .intersectsSphere().\\\"),this.intersectsSphere(e)}}),Object.assign(Da.prototype,{extrude:function(e){return console.warn(\\\"THREE.Shape: .extrude() has been removed. Use ExtrudeGeometry() instead.\\\"),new io(this,e)},makeGeometry:function(e){return console.warn(\\\"THREE.Shape: .makeGeometry() has been removed. Use ShapeGeometry() instead.\\\"),new ho(this,e)}}),Object.assign(Ot.prototype,{fromAttribute:function(e,t,n){return console.error(\\\"THREE.Vector2: .fromAttribute() has been renamed to .fromBufferAttribute().\\\"),this.fromBufferAttribute(e,t,n)}}),Object.assign(Ut.prototype,{setEulerFromRotationMatrix:function(){console.error(\\\"THREE.Vector3: .setEulerFromRotationMatrix() has been removed. Use Euler.setFromRotationMatrix() instead.\\\")},setEulerFromQuaternion:function(){console.error(\\\"THREE.Vector3: .setEulerFromQuaternion() has been removed. Use Euler.setFromQuaternion() instead.\\\")},getPositionFromMatrix:function(e){return console.warn(\\\"THREE.Vector3: .getPositionFromMatrix() has been renamed to .setFromMatrixPosition().\\\"),this.setFromMatrixPosition(e)},getScaleFromMatrix:function(e){return console.warn(\\\"THREE.Vector3: .getScaleFromMatrix() has been renamed to .setFromMatrixScale().\\\"),this.setFromMatrixScale(e)},getColumnFromMatrix:function(e,t){return console.warn(\\\"THREE.Vector3: .getColumnFromMatrix() has been renamed to .setFromMatrixColumn().\\\"),this.setFromMatrixColumn(t,e)},applyProjection:function(e){return console.warn(\\\"THREE.Vector3: .applyProjection() has been removed. Use .applyMatrix4( m ) instead.\\\"),this.applyMatrix4(e)},fromAttribute:function(e,t,n){return console.error(\\\"THREE.Vector3: .fromAttribute() has been renamed to .fromBufferAttribute().\\\"),this.fromBufferAttribute(e,t,n)}}),Object.assign(Ft.prototype,{fromAttribute:function(e,t,n){return console.error(\\\"THREE.Vector4: .fromAttribute() has been renamed to .fromBufferAttribute().\\\"),this.fromBufferAttribute(e,t,n)}}),Ni.prototype.computeTangents=function(){console.warn(\\\"THREE.Geometry: .computeTangents() has been removed.\\\")},Object.assign(gi.prototype,{getChildByName:function(e){return console.warn(\\\"THREE.Object3D: .getChildByName() has been renamed to .getObjectByName().\\\"),this.getObjectByName(e)},renderDepth:function(){console.warn(\\\"THREE.Object3D: .renderDepth has been removed. Use .renderOrder, instead.\\\")},translate:function(e,t){return console.warn(\\\"THREE.Object3D: .translate() has been removed. Use .translateOnAxis( axis, distance ) instead.\\\"),this.translateOnAxis(t,e)}}),Object.defineProperties(gi.prototype,{eulerOrder:{get:function(){return console.warn(\\\"THREE.Object3D: .eulerOrder is now .rotation.order.\\\"),this.rotation.order},set:function(e){console.warn(\\\"THREE.Object3D: .eulerOrder is now .rotation.order.\\\"),this.rotation.order=e}},useQuaternion:{get:function(){console.warn(\\\"THREE.Object3D: .useQuaternion has been removed. The library now uses quaternions by default.\\\")},set:function(){console.warn(\\\"THREE.Object3D: .useQuaternion has been removed. The library now uses quaternions by default.\\\")}}}),Object.defineProperties(Mr.prototype,{objects:{get:function(){return console.warn(\\\"THREE.LOD: .objects has been renamed to .levels.\\\"),this.levels}}}),Vi.prototype.setLens=function(e,t){console.warn(\\\"THREE.PerspectiveCamera.setLens is deprecated. Use .setFocalLength and .filmGauge for a photographic setup.\\\"),void 0!==t&&(this.filmGauge=t),this.setFocalLength(e)},Object.defineProperties(Wo.prototype,{onlyShadow:{set:function(){console.warn(\\\"THREE.Light: .onlyShadow has been removed.\\\")}},shadowCameraFov:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraFov is now .shadow.camera.fov.\\\"),this.shadow.camera.fov=e}},shadowCameraLeft:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraLeft is now .shadow.camera.left.\\\"),this.shadow.camera.left=e}},shadowCameraRight:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraRight is now .shadow.camera.right.\\\"),this.shadow.camera.right=e}},shadowCameraTop:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraTop is now .shadow.camera.top.\\\"),this.shadow.camera.top=e}},shadowCameraBottom:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraBottom is now .shadow.camera.bottom.\\\"),this.shadow.camera.bottom=e}},shadowCameraNear:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraNear is now .shadow.camera.near.\\\"),this.shadow.camera.near=e}},shadowCameraFar:{set:function(e){console.warn(\\\"THREE.Light: .shadowCameraFar is now .shadow.camera.far.\\\"),this.shadow.camera.far=e}},shadowCameraVisible:{set:function(){console.warn(\\\"THREE.Light: .shadowCameraVisible has been removed. Use new THREE.CameraHelper( light.shadow.camera ) instead.\\\")}},shadowBias:{set:function(e){console.warn(\\\"THREE.Light: .shadowBias is now .shadow.bias.\\\"),this.shadow.bias=e}},shadowDarkness:{set:function(){console.warn(\\\"THREE.Light: .shadowDarkness has been removed.\\\")}},shadowMapWidth:{set:function(e){console.warn(\\\"THREE.Light: .shadowMapWidth is now .shadow.mapSize.width.\\\"),this.shadow.mapSize.width=e}},shadowMapHeight:{set:function(e){console.warn(\\\"THREE.Light: .shadowMapHeight is now .shadow.mapSize.height.\\\"),this.shadow.mapSize.height=e}}}),Object.defineProperties(_i.prototype,{length:{get:function(){return console.warn(\\\"THREE.BufferAttribute: .length has been deprecated. Use .count instead.\\\"),this.array.length}}}),Object.assign(Fi.prototype,{addIndex:function(e){console.warn(\\\"THREE.BufferGeometry: .addIndex() has been renamed to .setIndex().\\\"),this.setIndex(e)},addDrawCall:function(e,t,n){void 0!==n&&console.warn(\\\"THREE.BufferGeometry: .addDrawCall() no longer supports indexOffset.\\\"),console.warn(\\\"THREE.BufferGeometry: .addDrawCall() is now .addGroup().\\\"),this.addGroup(e,t)},clearDrawCalls:function(){console.warn(\\\"THREE.BufferGeometry: .clearDrawCalls() is now .clearGroups().\\\"),this.clearGroups()},computeTangents:function(){console.warn(\\\"THREE.BufferGeometry: .computeTangents() has been removed.\\\")},computeOffsets:function(){console.warn(\\\"THREE.BufferGeometry: .computeOffsets() has been removed.\\\")}}),Object.defineProperties(Fi.prototype,{drawcalls:{get:function(){return console.error(\\\"THREE.BufferGeometry: .drawcalls has been renamed to .groups.\\\"),this.groups}},offsets:{get:function(){return console.warn(\\\"THREE.BufferGeometry: .offsets has been renamed to .groups.\\\"),this.groups}}}),Object.defineProperties(fs.prototype,{dynamic:{set:function(){console.warn(\\\"THREE.Uniform: .dynamic has been removed. Use object.onBeforeRender() instead.\\\")}},onUpdate:{value:function(){return console.warn(\\\"THREE.Uniform: .onUpdate() has been removed. Use object.onBeforeRender() instead.\\\"),this}}}),Object.defineProperties(Jn.prototype,{wrapAround:{get:function(){console.warn(\\\"THREE.\\\"+this.type+\\\": .wrapAround has been removed.\\\")},set:function(){console.warn(\\\"THREE.\\\"+this.type+\\\": .wrapAround has been removed.\\\")}},wrapRGB:{get:function(){return console.warn(\\\"THREE.\\\"+this.type+\\\": .wrapRGB has been removed.\\\"),new kn}}}),Object.defineProperties(Co.prototype,{metal:{get:function(){return console.warn(\\\"THREE.MeshPhongMaterial: .metal has been removed. Use THREE.MeshStandardMaterial instead.\\\"),!1},set:function(){console.warn(\\\"THREE.MeshPhongMaterial: .metal has been removed. Use THREE.MeshStandardMaterial instead\\\")}}}),Object.defineProperties(Zn.prototype,{derivatives:{get:function(){return console.warn(\\\"THREE.ShaderMaterial: .derivatives has been moved to .extensions.derivatives.\\\"),this.extensions.derivatives},set:function(e){console.warn(\\\"THREE. 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in t.delay){var n=t.delay[e]<0?\\\"-\\\":t.delay[e].toFixed(2);this.moduleDelay.has(e)?this.moduleDelay.get(e).delay=n:this.moduleDelay.set(e,{delay:n,name:e[0].toUpperCase()+e.slice(1)})}}},{key:\\\"handleOptionToggle\\\",value:function(e){var t=this.options.showMonitor,n=this.options.showTools,i=this.options.showRouteEditingBar;this.options.toggle(e),t&&!this.options.showMonitor&&this.dimension.disableMonitor(),i&&!this.options.showRouteEditingBar&&this.routeEditingManager.disableRouteEditing(),!t&&this.options.showMonitor?this.dimension.enableMonitor():n!==this.options.showTools&&this.dimension.update(),\\\"showRouteEditingBar\\\"===e&&(this.options.showPOI=!1,this.routeEditingManager.enableRouteEditing())}},{key:\\\"setOptionStatus\\\",value:function(e,t){this.options[e]!==(t||!1)&&this.handleOptionToggle(e)}},{key:\\\"updateCustomizedToggles\\\",value:function(e){var t=this,n={};if(e.planningData&&(e.planningData.path&&e.planningData.path.forEach((function(e){var 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t.default=e,t}(n(12)),a=w(n(207)),s=w(n(75)),l=w(n(208)),u=w(n(209)),c=(w(n(237)),w(n(241))),d=w(n(243)),h=w(n(287)),p=w(n(297)),f=w(n(298)),m=w(n(146)),g=w(n(302)),v=w(n(326)),y=w(n(327)),b=w(n(328)),x=w(n(331)),_=w(n(332));function w(e){return e&&e.__esModule?e:{default:e}}var M=n(8),S=[\\\"BUTTON\\\",\\\"INPUT\\\"],E=new(function(){function e(){(0,i.default)(this,e);var t=!this.isMobileDevice();this.coordinates=new l.default,this.renderer=new o.WebGLRenderer({antialias:t,alpha:!0}),this.scene=new o.Scene,this.dimension={width:0,height:0},this.ground=\\\"tile\\\"===PARAMETERS.ground.type?new d.default(this.renderer):new c.default,this.map=new h.default,this.adc=new u.default(\\\"adc\\\",this.scene),this.planningAdc=new u.default(\\\"planningAdc\\\",this.scene),this.shadowAdc=new u.default(\\\"shadowAdc\\\",this.scene),this.planningTrajectory=new p.default,this.planningStatus=new f.default,this.perceptionObstacles=new m.default,this.decision=new g.default,this.prediction=new v.default,this.routing=new y.default,this.routingEditor=new b.default,this.gnss=new x.default,this.pointCloud=new _.default,this.checkPoints=!1,this.stats=null,PARAMETERS.debug.performanceMonitor&&(this.stats=new a.default,this.stats.showPanel(1),this.stats.domElement.style.position=\\\"absolute\\\",this.stats.domElement.style.top=null,this.stats.domElement.style.bottom=\\\"0px\\\",document.body.appendChild(this.stats.domElement)),this.geolocation={x:0,y:0}}return(0,r.default)(e,[{key:\\\"initialize\\\",value:function(e,t,n,i,r){this.options=i,this.cameraData=r,this.canvasId=e,this.viewAngle=PARAMETERS.camera.viewAngle,this.viewDistance=PARAMETERS.camera.laneWidth*PARAMETERS.camera.laneWidthToViewDistanceRatio,this.camera=new o.PerspectiveCamera(PARAMETERS.camera[this.options.cameraAngle].fov,t/n,PARAMETERS.camera[this.options.cameraAngle].near,PARAMETERS.camera[this.options.cameraAngle].far),this.camera.name=\\\"camera\\\",this.scene.add(this.camera),this.updateDimension(t,n),this.renderer.setPixelRatio(window.devicePixelRatio),document.getElementById(e).appendChild(this.renderer.domElement);var a=new o.AmbientLight(4473924),s=new o.DirectionalLight(16772829);s.position.set(0,0,1).normalize(),this.camera.up.set(0,0,1),this.controls=new o.OrbitControls(this.camera,this.renderer.domElement),this.controls.enable=!1,this.onMouseDownHandler=this.editRoute.bind(this),this.scene.add(a),this.scene.add(s),this.animate()}},{key:\\\"maybeInitializeOffest\\\",value:function(e,t){var n=arguments.length>2&&void 0!==arguments[2]&&arguments[2];this.coordinates.isInitialized()&&!n||this.coordinates.initialize(e,t)}},{key:\\\"updateDimension\\\",value:function(e,t){e<s.default.MIN_MAIN_VIEW_WIDTH/2&&this.dimension.width>=e||(this.camera.aspect=e/t,this.camera.updateProjectionMatrix(),this.renderer.setSize(e,t),this.dimension.width=e,this.dimension.height=t)}},{key:\\\"enableOrbitControls\\\",value:function(e){var t=this.adc.mesh.position;this.camera.position.set(t.x,t.y,50),\\\"FLU\\\"===this.coordinates.systemName?this.camera.up.set(1,0,0):this.camera.up.set(0,0,1);var n=new o.Vector3(t.x,t.y,0);this.camera.lookAt(n),this.controls.target0=n.clone(),this.controls.position0=this.camera.position.clone(),this.controls.zoom0=this.camera.zoom,this.controls.minDistance=4,this.controls.maxDistance=4e3,this.controls.minPolarAngle=0,this.controls.maxPolarAngle=Math.PI/2,this.controls.enabled=!0,this.controls.enableRotate=e,this.controls.reset()}},{key:\\\"adjustCamera\\\",value:function(e,t){if(!this.routingEditor.isInEditingMode()){switch(this.camera.fov=PARAMETERS.camera[t].fov,this.camera.near=PARAMETERS.camera[t].near,this.camera.far=PARAMETERS.camera[t].far,t){case\\\"Default\\\":var n=this.viewDistance*Math.cos(e.rotation.y)*Math.cos(this.viewAngle),i=this.viewDistance*Math.sin(e.rotation.y)*Math.cos(this.viewAngle),r=this.viewDistance*Math.sin(this.viewAngle);this.camera.position.x=e.position.x-n,this.camera.position.y=e.position.y-i,this.camera.position.z=e.position.z+r,this.camera.up.set(0,0,1),this.camera.lookAt({x:e.position.x+n,y:e.position.y+i,z:0}),this.controls.enabled=!1;break;case\\\"Near\\\":n=.5*this.viewDistance*Math.cos(e.rotation.y)*Math.cos(this.viewAngle),i=.5*this.viewDistance*Math.sin(e.rotation.y)*Math.cos(this.viewAngle),r=.5*this.viewDistance*Math.sin(this.viewAngle),this.camera.position.x=e.position.x-n,this.camera.position.y=e.position.y-i,this.camera.position.z=e.position.z+r,this.camera.up.set(0,0,1),this.camera.lookAt({x:e.position.x+n,y:e.position.y+i,z:0}),this.controls.enabled=!1;break;case\\\"Overhead\\\":i=.5*this.viewDistance*Math.sin(e.rotation.y)*Math.cos(this.viewAngle),r=2*this.viewDistance*Math.sin(this.viewAngle),this.camera.position.x=e.position.x,this.camera.position.y=e.position.y+i,this.camera.position.z=2*(e.position.z+r),\\\"FLU\\\"===this.coordinates.systemName?this.camera.up.set(1,0,0):this.camera.up.set(0,1,0),this.camera.lookAt({x:e.position.x,y:e.position.y+i,z:0}),this.controls.enabled=!1;break;case\\\"Map\\\":this.controls.enabled||this.enableOrbitControls(!0);break;case\\\"CameraView\\\":var o=this.cameraData.get(),a=o.position,s=o.rotation,l=this.coordinates.applyOffset(a),u=l.x,c=l.y,d=l.z;this.camera.position.set(u,c,d),this.camera.rotation.set(s.x+Math.PI,-s.y,-s.z),this.controls.enabled=!1;var h=document.getElementById(\\\"camera-image\\\");h&&this.cameraData.imageSrcData&&(h.src=this.cameraData.imageSrcData)}this.camera.updateProjectionMatrix()}}},{key:\\\"enableRouteEditing\\\",value:function(){this.enableOrbitControls(!1),this.routingEditor.enableEditingMode(this.camera,this.adc),document.getElementById(this.canvasId).addEventListener(\\\"mousedown\\\",this.onMouseDownHandler,!1)}},{key:\\\"disableRouteEditing\\\",value:function(){this.routingEditor.disableEditingMode(this.scene);var e=document.getElementById(this.canvasId);e&&e.removeEventListener(\\\"mousedown\\\",this.onMouseDownHandler,!1)}},{key:\\\"addDefaultEndPoint\\\",value:function(e){for(var t=0;t<e.length;t++)this.routingEditor.addRoutingPoint(e[t],this.coordinates,this.scene)}},{key:\\\"addDefaultRouting\\\",value:function(e){return this.routingEditor.addDefaultRouting(e,this.coordinates)}},{key:\\\"removeInvalidRoutingPoint\\\",value:function(e,t){var n=this.routingEditor.removeInvalidRoutingPoint(e,t,this.scene);-1!==n&&this.map.changeSelectedParkingSpaceColor(n,14329120)}},{key:\\\"setParkingInfo\\\",value:function(e){this.routingEditor.setParkingInfo(e)}},{key:\\\"removeAllRoutingPoints\\\",value:function(){var e=this,t=this.routingEditor.removeAllRoutePoints(this.scene);M.isEmpty(t)||t.forEach((function(t){e.map.changeSelectedParkingSpaceColor(t,14329120)}))}},{key:\\\"removeLastRoutingPoint\\\",value:function(){var e=this.routingEditor.removeLastRoutingPoint(this.scene);-1!==e&&this.map.changeSelectedParkingSpaceColor(e,14329120)}},{key:\\\"sendRoutingRequest\\\",value:function(){var e=arguments.length>0&&void 0!==arguments[0]?arguments[0]:[];return this.routingEditor.sendRoutingRequest(this.adc.mesh.position,this.adc.mesh.rotation.y,this.coordinates,e)}},{key:\\\"sendCycleRoutingRequest\\\",value:function(e,t,n){return this.routingEditor.sendCycleRoutingRequest(e,t,n,this.adc.mesh.position,this.adc.mesh.rotation.y,this.coordinates)}},{key:\\\"editRoute\\\",value:function(e){if((!e.target||!S.includes(e.target.tagName))&&this.routingEditor.isInEditingMode()&&e.button===o.MOUSE.LEFT&&this.coordinates.isInitialized()&&this.ground.mesh){var t=this.getGeolocation(e),n=this.routingEditor.addRoutingPoint(t,this.coordinates,this.scene);-1!==n&&this.map.changeSelectedParkingSpaceColor(n)}}},{key:\\\"render\\\",value:function(){this.coordinates.isInitialized()&&this.adc.mesh&&this.ground.mesh&&(\\\"default\\\"!==this.ground.type||this.ground.initialized||(this.ground.initialize(this.coordinates),this.ground.mesh.name=\\\"ground\\\",this.scene.add(this.ground.mesh)),!1===this.pointCloud.initialized&&(this.pointCloud.initialize(),this.scene.add(this.pointCloud.points)),this.adjustCamera(this.adc.mesh,this.options.cameraAngle),this.renderer.render(this.scene,this.camera))}},{key:\\\"animate\\\",value:function(){var e=this;requestAnimationFrame((function(){e.animate()})),this.stats&&this.stats.update(),this.render()}},{key:\\\"updateWorld\\\",value:function(e){var t=e.autoDrivingCar;if(this.adc.update(this.coordinates,t),M.isNumber(t.positionX)&&M.isNumber(t.positionY)){this.adc.updateRssMarker(e.isRssSafe),this.ground.update(e,this.coordinates,this.scene),this.planningTrajectory.update(e,e.planningData,this.coordinates,this.scene),this.planningStatus.update(e.planningData,this.coordinates,this.scene);var n=[\\\"Overhead\\\",\\\"Map\\\"].includes(M.get(this,\\\"options.cameraAngle\\\"));this.perceptionObstacles.update(e,this.coordinates,this.scene,n),this.decision.update(e,this.coordinates,this.scene),this.prediction.update(e,this.coordinates,this.scene),this.updateRouting(e.routingTime,e.routePath),this.gnss.update(e,this.coordinates,this.scene),this.map.update(e);var i=M.get(e,\\\"planningData.initPoint.pathPoint\\\");if(this.planningAdc&&i){var r={positionX:i.x,positionY:i.y,heading:i.theta};this.planningAdc.update(this.coordinates,r)}var o=e.shadowLocalization;if(o){var a={positionX:o.positionX,positionY:o.positionY,heading:o.heading};this.shadowAdc.update(this.coordinates,a)}}else console.error(\\\"Invalid ego car position: \\\"+t.positionX+\\\", \\\"+t.positionY+\\\"!\\\")}},{key:\\\"updateRouting\\\",value:function(e,t){this.routing.update(e,t,this.coordinates,this.scene)}},{key:\\\"updateGroundImage\\\",value:function(e){this.ground.updateImage(e)}},{key:\\\"updateGroundMetadata\\\",value:function(e){this.ground.initialize(e)}},{key:\\\"updateMap\\\",value:function(e){var t=arguments.length>1&&void 0!==arguments[1]&&arguments[1];t&&this.map.removeAllElements(this.scene);var n=this.map.appendMapData(e,this.coordinates,this.scene);e.parkingSpace&&!M.isEmpty(n[0])&&this.routingEditor.setParkingSpaceInfo(e.parkingSpace,n[0],this.coordinates,this.scene),M.isEmpty(n[1])||this.routingEditor.setDeadJunctionInfo(n[1])}},{key:\\\"updatePointCloud\\\",value:function(e){this.coordinates.isInitialized()&&this.adc.mesh&&this.pointCloud.update(e,this.adc.mesh)}},{key:\\\"updateMapIndex\\\",value:function(e,t,n){this.routingEditor.isInEditingMode()&&PARAMETERS.routingEditor.radiusOfMapRequest!==n||this.map.updateIndex(e,t,this.scene)}},{key:\\\"isMobileDevice\\\",value:function(){return navigator.userAgent.match(/Android/i)||navigator.userAgent.match(/webOS/i)||navigator.userAgent.match(/iPhone/i)||navigator.userAgent.match(/iPad/i)||navigator.userAgent.match(/iPod/i)}},{key:\\\"getGeolocation\\\",value:function(e){if(this.coordinates.isInitialized()){var t=e.currentTarget.getBoundingClientRect(),n=new o.Vector3((e.clientX-t.left)/this.dimension.width*2-1,-(e.clientY-t.top)/this.dimension.height*2+1,0);n.unproject(this.camera);var i=n.sub(this.camera.position).normalize(),r=-this.camera.position.z/i.z,a=this.camera.position.clone().add(i.multiplyScalar(r));return this.coordinates.applyOffset(a,!0)}}},{key:\\\"getMouseOverLanes\\\",value:function(e){var t=e.currentTarget.getBoundingClientRect(),n=new o.Vector3((e.clientX-t.left)/this.dimension.width*2-1,-(e.clientY-t.top)/this.dimension.height*2+1,0),i=new o.Raycaster;i.setFromCamera(n,this.camera);var r=this.map.data.lane.reduce((function(e,t){return e.concat(t.drewObjects)}),[]);return i.intersectObjects(r).map((function(e){return e.object.name}))}},{key:\\\"checkCycleRoutingAvailable\\\",value:function(e,t){return this.routingEditor.checkCycleRoutingAvailable(e,this.adc.mesh.position,t)}}]),e}());t.default=E},function(e,t,n){\\\"use strict\\\";!function e(){if(\\\"undefined\\\"!=typeof 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r=t,o=r.charCodeAt(0);switch(o<33&&(o=(r=r.trim()).charCodeAt(0)),o){case 38:switch(X+i){case 0:case 1:if(0===e.trim().length)break;default:return r.replace(d,\\\"$1\\\"+e.trim())}break;case G:switch(r.charCodeAt(1)){case 103:if(J>0&&X>0)return r.replace(h,\\\"$1\\\").replace(d,\\\"$1\\\"+le);break;default:return e.trim()+r.replace(d,\\\"$1\\\"+e.trim())}default:if(n*X>0&&r.indexOf(\\\"\\\\f\\\")>0)return r.replace(d,(e.charCodeAt(0)===G?\\\"\\\":\\\"$1\\\")+e.trim())}return e+r}function he(e,t,n,i){var u,c=0,d=e+\\\";\\\",h=2*t+3*n+4*i;if(944===h)return function(e){var t=e.length,n=e.indexOf(\\\":\\\",9)+1,i=e.substring(0,n).trim(),r=e.substring(n,t-1).trim();switch(e.charCodeAt(9)*oe){case 0:break;case j:if(110!==e.charCodeAt(10))break;default:var o=r.split((r=\\\"\\\",s)),a=0;for(n=0,t=o.length;a<t;n=0,++a){for(var u=o[a],c=u.split(l);u=c[n];){var 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978:return P+d+k+d+d;case 1019:case 983:return P+d+k+d+A+d+d;case 883:return d.charCodeAt(8)===j?P+d+d:d.indexOf(\\\"image-set(\\\",11)>0?d.replace(O,\\\"$1\\\"+P+\\\"$2\\\")+d:d;case 932:if(d.charCodeAt(4)===j)switch(d.charCodeAt(5)){case 103:return P+\\\"box-\\\"+d.replace(\\\"-grow\\\",\\\"\\\")+P+d+A+d.replace(\\\"grow\\\",\\\"positive\\\")+d;case 115:return P+d+A+d.replace(\\\"shrink\\\",\\\"negative\\\")+d;case 98:return P+d+A+d.replace(\\\"basis\\\",\\\"preferred-size\\\")+d}return P+d+A+d+d;case 964:return P+d+A+\\\"flex-\\\"+d+d;case 1023:if(99!==d.charCodeAt(8))break;return u=d.substring(d.indexOf(\\\":\\\",15)).replace(\\\"flex-\\\",\\\"\\\").replace(\\\"space-between\\\",\\\"justify\\\"),P+\\\"box-pack\\\"+u+P+d+A+\\\"flex-pack\\\"+u+d;case 1005:return o.test(d)?d.replace(r,\\\":\\\"+P)+d.replace(r,\\\":\\\"+k)+d:d;case 1e3:switch(c=(u=d.substring(13).trim()).indexOf(\\\"-\\\")+1,u.charCodeAt(0)+u.charCodeAt(c)){case 226:u=d.replace(w,\\\"tb\\\");break;case 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i=l(n(37)),r=l(n(1)),o=l(n(2)),a=n(179),s=n(26);function l(e){return e&&e.__esModule?e:{default:e}}var u=new(function(){function e(){(0,r.default)(this,e),this.mapAPILoaded=!1,this.WS=null,this.mapAdapter=null,this.routingPaths=[],this.plannedPath=null,this.vehicleMarker=null,this.rightLaneMarker=null,this.leftLaneMarker=null,this.destinationMarker=null,this.centerVehicle=!0,this.routingRequestPoints=[]}return(0,o.default)(e,[{key:\\\"initialize\\\",value:function(e,t){var n=this;this.WS=e,this.mapAdapter=t;var i=this.mapAdapter.createPoint({lng:-122.014487,lat:37.415885});this.mapAdapter.loadMap(i,\\\"map_canvas\\\"),this.vehicleMarker=this.mapAdapter.createMarker(i,null,!1),this.createControls(),this.mapAdapter.addEventHandler(\\\"click\\\",(function(e){n.destinationMarker?n.destinationMarker.setPosition(e):n.destinationMarker=n.mapAdapter.createMarker(e,\\\"D\\\")}))}},{key:\\\"isInitialized\\\",value:function(){return this.WS&&this.mapAdapter&&this.mapAdapter.isInitialized()}},{key:\\\"reset\\\",value:function(){var e=this;this.routingPaths.forEach((function(t){e.mapAdapter.removePolyline(t)})),this.routingPaths=[],this.plannedPath&&(this.mapAdapter.removePolyline(this.plannedPath),this.plannedPath=null),this.rightLaneMarker&&(this.mapAdapter.removePolyline(this.rightLaneMarker),this.rightLaneMarker=null),this.leftLaneMarker&&(this.mapAdapter.removePolyline(this.leftLaneMarker),this.leftLaneMarker=null),this.WS=null,this.mapAdapter=null,this.vehicleMarker=null,this.destinationMarker=null,this.centerVehicle=!0}},{key:\\\"createControls\\\",value:function(){var e=this;this.mapAdapter.createControl({text:\\\"CarView ON\\\",tip:\\\"Click to recenter the vehicle\\\",color:\\\"#FFFFFF\\\",offsetX:130,offsetY:0,onClickHandler:function(t){e.centerVehicle?(e.centerVehicle=!1,t.innerHTML=\\\"CarView OFF\\\",e.mapAdapter.setZoom(18)):(e.centerVehicle=!0,t.innerHTML=\\\"CarView ON\\\",e.mapAdapter.setZoom(20))}}),this.mapAdapter.createControl({text:\\\"Route\\\",tip:\\\"Click to send routing request\\\",color:\\\"#CD5C5C\\\",offsetX:235,offsetY:0,onClickHandler:function(t){if(e.destinationMarker){var n=e.mapAdapter.getMarkerPosition(e.vehicleMarker),i=e.mapAdapter.getMarkerPosition(e.destinationMarker);e.requestRoute(n.lat,n.lng,i.lat,i.lng)}else alert(\\\"please select a destination point.\\\")}})}},{key:\\\"disableControls\\\",value:function(){this.mapAdapter.disableControls()}},{key:\\\"enableControls\\\",value:function(){this.mapAdapter.enableControls()}},{key:\\\"update\\\",value:function(e){if(this.isInitialized()){var t=e.autoDrivingCar;this.updateCenterVehicle(t),this.updateNavigationPath(e.navigationPath),this.updateLaneMarkers(t,e.laneMarker),this.updatePlanningPath(t,e.planningTrajectory)}}},{key:\\\"updateCenterVehicle\\\",value:function(e){if(e){var t=e.positionX,n=e.positionY,r=this.mapAdapter.applyCoordinateOffset((0,a.UTMToWGS84)(t,n)),o=(0,i.default)(r,2),s=o[0],l=o[1],u=this.mapAdapter.createPoint({lat:l,lng:s});this.centerVehicle&&this.mapAdapter.setCenter(u),this.vehicleMarker.setPosition(u)}}},{key:\\\"calculateLaneMarkerPath\\\",value:function(e,t){var n=this;return(0,s.calculateLaneMarkerPoints)(e,t).map((function(e){var t=n.mapAdapter.applyCoordinateOffset((0,a.UTMToWGS84)(e.x,e.y)),r=(0,i.default)(t,2),o=r[0],s=r[1];return n.mapAdapter.createPoint({lat:s,lng:o})}))}},{key:\\\"updateLaneMarkers\\\",value:function(e,t){if(e&&t){var n=this.calculateLaneMarkerPath(e,t.rightLaneMarker);this.rightLaneMarker?this.mapAdapter.updatePolyline(this.rightLaneMarker,n):this.rightLaneMarker=this.mapAdapter.createPolyline(n,\\\"#0000FF\\\");var i=this.calculateLaneMarkerPath(e,t.leftLaneMarker);this.leftLaneMarker?this.mapAdapter.updatePolyline(this.leftLaneMarker,i):this.leftLaneMarker=this.mapAdapter.createPolyline(i,\\\"#0000FF\\\")}}},{key:\\\"updatePlanningPath\\\",value:function(e,t){var n=this;if(e&&t){var r=e.positionX,o=e.positionY,s=e.heading,l=t.map((function(e){var t=e.positionX,l=e.positionY,u=t*Math.cos(s)-l*Math.sin(s),c=l*Math.cos(s)+t*Math.sin(s),d=n.mapAdapter.applyCoordinateOffset((0,a.UTMToWGS84)(r+u,o+c)),h=(0,i.default)(d,2),p=h[0],f=h[1];return n.mapAdapter.createPoint({lat:f,lng:p})}));this.plannedPath?this.mapAdapter.updatePolyline(this.plannedPath,l):this.plannedPath=this.mapAdapter.createPolyline(l,\\\"#00FF00\\\")}}},{key:\\\"updateNavigationPath\\\",value:function(e){var t=this;if(e){var n=e.map((function(e){return e.pathPoint.map((function(e){var n=t.mapAdapter.applyCoordinateOffset((0,a.UTMToWGS84)(e.x,e.y)),r=(0,i.default)(n,2),o=r[0],s=r[1];return 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e(){(0,o.default)(this,e),this.textRender=new d.default,this.arrows=[],this.ids=[],this.solidCubes=[],this.dashedCubes=[],this.extrusionSolidFaces=[],this.extrusionDashedFaces=[],this.laneMarkers=[],this.icons=[],this.trafficCones=[],this.v2xCubes=[],this.v2xSolidFaces=[],this.arrowIdx=0,this.cubeIdx=0,this.extrusionFaceIdx=0,this.iconIdx=0,this.trafficConeIdx=0,this.v2xCubeIdx=0,this.v2xSolidFaceIdx=0}return(0,a.default)(e,[{key:\\\"update\\\",value:function(e,t,n,i){this.resetObjects(n,u.default.isEmpty(e.object)),this.updateObjects(e,t,n,i),this.updateSensorMeasurements(e,t,n),this.hideUnusedObjects(),this.updateLaneMarkers(e,t,n)}},{key:\\\"updateObjects\\\",value:function(e,t,n,i){var o=e.object;if(!u.default.isEmpty(o)){var a=t.applyOffset({x:e.autoDrivingCar.positionX,y:e.autoDrivingCar.positionY});a.heading=e.autoDrivingCar.heading;for(var s=0;s<o.length;s++){var d=o[s];if(c.default.options[\\\"showObstacles\\\"+u.default.upperFirst(u.default.camelCase(d.type))]&&u.default.isNumber(d.positionX)&&u.default.isNumber(d.positionY)&&(c.default.options.showObstaclesV2xInfo||\\\"V2X\\\"!==d.source)){var h=t.applyOffset(new l.Vector3(d.positionX,d.positionY,(d.height||1.5)/2)),p=v[d.type]||g,f=\\\"V2X\\\"===d.source;if(c.default.options.showObstaclesVelocity&&d.type&&\\\"UNKNOWN_UNMOVABLE\\\"!==d.type&&d.speed>.5){var m=this.updateArrow(h,d.speedHeading,p,n);this.arrowIdx++;var y=1+(0,r.default)(d.speed);m.scale.set(y,y,y),m.visible=!0}c.default.options.showObstaclesHeading&&(this.drawObstacleHeading(h,d.heading,n),this.arrowIdx++),this.updateTexts(a,d,h,n,i,f);var b=d.confidence;b=Math.max(0,b),b=Math.min(1,b);var x=d.polygonPoint;if(\\\"ST_TRAFFICCONE\\\"===d.subType?(this.updateTrafficCone(h,n),this.trafficConeIdx++):void 0!==x&&x.length>0?f?(this.updatePolygon(x,d.height,p,t,b,n,!0),this.v2xSolidFaceIdx+=x.length):(this.updatePolygon(x,d.height,p,t,b,n,!1),this.extrusionFaceIdx+=x.length):d.length&&d.width&&d.height&&(f?(this.updateV2xCube(d.length,d.width,d.height,h,d.heading,p,n),this.v2xCubeIdx++):(this.updateCube(d.length,d.width,d.height,h,d.heading,p,b,n),this.cubeIdx++)),d.yieldedObstacle){var _={x:h.x,y:h.y,z:h.z+d.height+.5};this.updateIcon(_,e.autoDrivingCar.heading,n),this.iconIdx++}}}}}},{key:\\\"updateSensorMeasurements\\\",value:function(e,t,n){if(c.default.options.showObstaclesLidarSensor||c.default.options.showObstaclesRadarSensor||c.default.options.showObstaclesCameraSensor){var r=e.sensorMeasurements;for(var o in r){var a=this.deduceSensorType(o.toLowerCase());if(a&&c.default.options[\\\"showObstacles\\\"+a]){var s=!0,d=!1,h=void 0;try{for(var p,f=(0,i.default)(r[o].sensorMeasurement);!(s=(p=f.next()).done);s=!0){var m=p.value;if(u.default.isNumber(m.positionX)&&u.default.isNumber(m.positionY)){var y=t.applyOffset(new l.Vector3(m.positionX,m.positionY,(m.height||1.5)/2)),b=v[m.type]||g;c.default.options.showObstaclesHeading&&(this.drawObstacleHeading(y,m.heading,n),this.arrowIdx++),\\\"ST_TRAFFICCONE\\\"===m.subType?(this.updateTrafficCone(y,n),this.trafficConeIdx++):m.length&&m.width&&m.height&&(this.updateCube(m.length,m.width,m.height,y,m.heading,b,.5,n),this.cubeIdx++)}}}catch(e){d=!0,h=e}finally{try{!s&&f.return&&f.return()}finally{if(d)throw h}}}}}}},{key:\\\"resetObjects\\\",value:function(e,t){u.default.isEmpty(this.ids)||(this.ids.forEach((function(t){t.children.forEach((function(e){return e.visible=!1})),e.remove(t)})),this.ids=[]),this.textRender.reset(),this.arrowIdx=0,this.cubeIdx=0,this.extrusionFaceIdx=0,this.iconIdx=0,this.trafficConeIdx=0,this.v2xCubeIdx=0,this.v2xSolidFaceIdx=0,t&&this.hideUnusedObjects()}},{key:\\\"hideUnusedObjects\\\",value:function(){(0,h.hideArrayObjects)(this.arrows,this.arrowIdx),(0,h.hideArrayObjects)(this.solidCubes,this.cubeIdx),(0,h.hideArrayObjects)(this.dashedCubes,this.cubeIdx),(0,h.hideArrayObjects)(this.extrusionSolidFaces,this.extrusionFaceIdx),(0,h.hideArrayObjects)(this.extrusionDashedFaces,this.extrusionFaceIdx),(0,h.hideArrayObjects)(this.icons,this.iconIdx),(0,h.hideArrayObjects)(this.trafficCones,this.trafficConeIdx),(0,h.hideArrayObjects)(this.v2xCubes,this.v2xCubeIdx),(0,h.hideArrayObjects)(this.v2xSolidFaces,this.v2xSolidFaceIdx)}},{key:\\\"deduceSensorType\\\",value:function(e){return-1!==e.search(\\\"radar\\\")?\\\"RadarSensor\\\":-1!==e.search(\\\"lidar\\\")||-1!==e.search(\\\"velodyne\\\")?\\\"LidarSensor\\\":-1!==e.search(\\\"camera\\\")?\\\"CameraSensor\\\":(console.warn(\\\"Cannot deduce sensor type:\\\",e),null)}},{key:\\\"updateArrow\\\",value:function(e,t,n,i){var r=this.getArrow(this.arrowIdx,i);return(0,h.copyProperty)(r.position,e),r.material.color.setHex(n),r.rotation.set(0,0,-(Math.PI/2-t)),r}},{key:\\\"updateTexts\\\",value:function(e,t,n,i,r,o){var a=this,s={x:n.x,y:n.y,z:t.height||3},l=r?0:.5*Math.cos(e.heading),d=r?.7:.5*Math.sin(e.heading),h=r?0:.5,p=0;if(c.default.options.showObstaclesInfo){var f=e.distanceTo(n).toFixed(1),m=t.speed.toFixed(1);this.drawTexts(\\\"(\\\"+f+\\\"m, \\\"+m+\\\"m/s)\\\",s,i),p++}if(c.default.options.showObstaclesId){var g={x:s.x+p*l,y:s.y+p*d,z:s.z+p*h};this.drawTexts(t.id,g,i),p++}if(c.default.options.showPredictionPriority){var v=u.default.get(t,\\\"obstaclePriority.priority\\\");if(v&&\\\"NORMAL\\\"!==v){var y={x:s.x+p*l,y:s.y+p*d,z:s.z+p*h};this.drawTexts(v,y,i),p++}}if(c.default.options.showPredictionInteractiveTag){var b=u.default.get(t,\\\"interactiveTag.interactiveTag\\\");if(b&&\\\"NONINTERACTION\\\"!==b){var x={x:s.x+p*l,y:s.y+p*d,z:s.z+p*h};this.drawTexts(b,x,i),p++}}o&&u.default.get(t,\\\"v2xInfo.v2xType\\\",[]).forEach((function(e){var t={x:s.x+p*l,y:s.y+p*d,z:s.z+p*h};a.drawTexts(e,t,i,16711680),p++}))}},{key:\\\"updatePolygon\\\",value:function(e,t,n,i,r,o){for(var a=arguments.length>6&&void 0!==arguments[6]&&arguments[6],s=0;s<e.length;s++){var u=s===e.length-1?0:s+1,c=new l.Vector3(e[s].x,e[s].y,e[s].z),d=new l.Vector3(e[u].x,e[u].y,e[u].z),h=i.applyOffset(new l.Vector2((c.x+d.x)/2,(c.y+d.y)/2));if(null!==h){var p=c.distanceTo(d);if(0!==p)if(a){var f=this.getFace(this.v2xSolidFaceIdx+s,o,y.SOLID_FACE);f.position.set(h.x,h.y,t),f.scale.set(p,1,t),f.material.color.setHex(n),f.rotation.set(0,0,Math.atan2(d.y-c.y,d.x-c.x)),f.rotateX(Math.PI/2),f.visible=!0}else{var m=this.getFace(this.extrusionFaceIdx+s,o,y.SOLID_LINE),g=this.getFace(this.extrusionFaceIdx+s,o,y.DASHED_LINE);m.position.set(h.x,h.y,0),g.position.set(h.x,h.y,t*r),m.scale.set(p,1,t*r),g.scale.set(p,1,t*(1-r)),m.material.color.setHex(n),m.rotation.set(0,0,Math.atan2(d.y-c.y,d.x-c.x)),m.visible=0!==r,g.material.color.setHex(n),g.rotation.set(0,0,Math.atan2(d.y-c.y,d.x-c.x)),g.visible=1!==r}else console.warn(\\\"Cannot display obstacle with an edge length 0!\\\")}}}},{key:\\\"updateV2xCube\\\",value:function(e,t,n,i,r,o,a){var s=this.getCube(this.v2xCubeIdx,a,b.SOLID_FACE);s.position.set(i.x,i.y,i.z),s.scale.set(e,t,n),s.material.color.setHex(o),s.children[0].material.color.setHex(o),s.rotation.set(0,0,r),s.visible=!0}},{key:\\\"updateCube\\\",value:function(e,t,n,i,r,o,a,s){if(a>0){var l=this.getCube(this.cubeIdx,s,b.SOLID_LINE);l.position.set(i.x,i.y,i.z+n*(a-1)/2),l.scale.set(e,t,n*a),l.material.color.setHex(o),l.rotation.set(0,0,r),l.visible=!0}if(a<1){var u=this.getCube(this.cubeIdx,s,b.DASHED_LINE);u.position.set(i.x,i.y,i.z+n*a/2),u.scale.set(e,t,n*(1-a)),u.material.color.setHex(o),u.rotation.set(0,0,r),u.visible=!0}}},{key:\\\"updateIcon\\\",value:function(e,t,n){var i=this.getIcon(this.iconIdx,n);(0,h.copyProperty)(i.position,e),i.rotation.set(Math.PI/2,t-Math.PI/2,0),i.visible=!0}},{key:\\\"updateTrafficCone\\\",value:function(e,t){var n=this.getTrafficCone(this.trafficConeIdx,t);n.position.setX(e.x),n.position.setY(e.y),n.visible=!0}},{key:\\\"getArrow\\\",value:function(e,t){if(e<this.arrows.length)return this.arrows[e];var n=(0,p.drawArrow)(1.5,1.5,.5,.5,g);return n.rotation.set(0,0,-Math.PI/2),n.visible=!1,this.arrows.push(n),t.add(n),n}},{key:\\\"getFace\\\",value:function(e,t,n){var i=this[n];if(e<i.length)return i[e];var r=[new l.Vector3(-.5,0,0),new l.Vector3(.5,0,0),new l.Vector3(.5,0,1),new l.Vector3(-.5,0,1)],o=null;switch(n){case y.SOLID_FACE:o=(0,p.drawSolidPolygonFace)();break;case y.SOLID_LINE:o=(0,p.drawSegmentsFromPoints)(r,g,1.5);break;default:o=(0,p.drawDashedLineFromPoints)(r,g,1.5,.1,.1)}return o.visible=!1,i.push(o),t.add(o),o}},{key:\\\"getCube\\\",value:function(e,t,n){var i=this[n];if(e<i.length)return i[e];var r=new l.Vector3(1,1,1),o=null;switch(n){case b.SOLID_FACE:o=(0,p.drawSolidBox)(r,g,1.5);break;case b.SOLID_LINE:o=(0,p.drawBox)(r,g,1.5);break;default:o=(0,p.drawDashedBox)(r,g,1.5,.1,.1)}return o.visible=!1,i.push(o),t.add(o),o}},{key:\\\"getIcon\\\",value:function(e,t){if(e<this.icons.length)return this.icons[e];var n=(0,p.drawImage)(f.default,1,1,3,3.6,0);return n.rotation.set(0,0,-Math.PI/2),n.visible=!1,this.icons.push(n),t.add(n),n}},{key:\\\"drawTexts\\\",value:function(e,t,n){var i=arguments.length>3&&void 0!==arguments[3]?arguments[3]:16771584,r=this.textRender.drawText(e,n,i);r&&(r.position.set(t.x,t.y,t.z),this.ids.push(r),n.add(r))}},{key:\\\"drawObstacleHeading\\\",value:function(e,t,n){var i=this.updateArrow(e,t,16777215,n);i.scale.set(1,1,1),i.visible=!0}},{key:\\\"updateLaneMarkers\\\",value:function(e,t,n){if(u.default.isEmpty(this.laneMarkers)||(this.laneMarkers.forEach((function(e){n.remove(e),e.geometry.dispose(),e.material.dispose()})),this.laneMarkers=[]),c.default.options.showPerceptionLaneMarker){var i=e.autoDrivingCar;for(var r in e.laneMarker){var o=(0,h.calculateLaneMarkerPoints)(i,e.laneMarker[r]);if(o.length){var a=o.map((function(e){return t.applyOffset(e)})),s=(0,p.drawSegmentsFromPoints)(a,27391,2,4,!1);n.add(s),this.laneMarkers.push(s)}}}}},{key:\\\"getTrafficCone\\\",value:function(e,t){if(e<this.trafficCones.length)return this.trafficCones[e];var n=new l.CylinderGeometry(.1,.25,.914,32),i=new l.MeshBasicMaterial({color:14770204,transparent:!0,opacity:.65}),r=new l.Mesh(n,i);return r.rotation.set(Math.PI/2,0,0),r.position.set(0,0,.457),this.trafficCones.push(r),t.add(r),r}}]),e}();t.default=x},function(e,t,n){e.exports=n.p+\\\"assets/22OHVlbCh_r7sZD_oEQ2gj.png\\\"},function(e,t,n){\\\"use strict\\\";t.__esModule=!0;var i,r=n(15),o=(i=r)&&i.__esModule?i:{default:i};t.default=function(e,t,n){return t in e?(0,o.default)(e,t,{value:n,enumerable:!0,configurable:!0,writable:!0}):e[t]=n,e}},function(e,t,n){var i=n(345);\\\"string\\\"==typeof i&&(i=[[e.i,i,\\\"\\\"]]);var r={transform:void 0};n(64)(i,r);i.locals&&(e.exports=i.locals)},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=[{id:\\\"camera\\\",title:\\\"Point of View\\\",type:\\\"radio\\\",data:{1:\\\"Default\\\",2:\\\"Near\\\",3:\\\"Overhead\\\",4:\\\"Map\\\",5:\\\"CameraView\\\"},supportInOfflineView:!0},{id:\\\"perception\\\",title:\\\"Perception\\\",type:\\\"checkbox\\\",data:{perceptionPointCloud:\\\"Point Cloud\\\",perceptionVehicle:\\\"Vehicle\\\",perceptionPedestrian:\\\"Pedestrian\\\",perceptionBicycle:\\\"Bicycle\\\",perceptionUnknownMovable:\\\"Unknown Movable\\\",perceptionUnknownUnmovable:\\\"Unknown Stationary\\\",perceptionUnknown:\\\"Unknown\\\",perceptionCipv:\\\"Closest In-Path Vehicle\\\",perceptionVelocity:\\\"Velocity\\\",perceptionHeading:\\\"Heading\\\",perceptionId:\\\"Id\\\",perceptionObstacleInfo:\\\"Distance and Speed\\\",perceptionLaneMarker:\\\"Lane Marker\\\",perceptionLidarSensor:\\\"Lidar Sensor\\\",perceptionRadarSensor:\\\"Radar Sensor\\\",perceptionCameraSensor:\\\"Camera Sensor\\\",perceptionV2xInfo:\\\"V2X\\\"},supportInOfflineView:!0},{id:\\\"prediction\\\",title:\\\"Prediction\\\",type:\\\"checkbox\\\",data:{predictionMajor:\\\"Major Prediction Line\\\",predictionMinor:\\\"Minor Prediction Line\\\",predictionGaussianInfo:\\\"Gaussian Info\\\",predictionPriority:\\\"Priority\\\",predictionInteractiveTag:\\\"Interactive Tag\\\"},supportInOfflineView:!0},{id:\\\"routing\\\",title:\\\"Routing\\\",type:\\\"checkbox\\\",data:{routing:\\\"Routing Line\\\"},supportInOfflineView:!0},{id:\\\"decision\\\",title:\\\"Decision\\\",type:\\\"checkbox\\\",data:{decisionMain:\\\"Main Decision\\\",decisionObstacle:\\\"Obstacle Decision\\\"},supportInOfflineView:!0},{id:\\\"planning\\\",title:\\\"Planning\\\",type:\\\"checkbox\\\",data:{planningCar:\\\"Planning Car\\\",planningTrajectory:\\\"Planning Trajectory\\\",rssInfo:\\\"RSS Info\\\"},supportInOfflineView:!0},{id:\\\"position\\\",title:\\\"Position\\\",type:\\\"checkbox\\\",data:{positionLocalization:\\\"Localization\\\",positionGps:\\\"GPS\\\",positionShadow:\\\"Shadow\\\"},supportInOfflineView:!0},{id:\\\"map\\\",title:\\\"Map\\\",type:\\\"checkbox\\\",data:{mapCrosswalk:\\\"Crosswalk\\\",mapClearArea:\\\"Clear Area\\\",mapJunction:\\\"Junction\\\",mapPncJunction:\\\"PNC Junction\\\",mapLane:\\\"Lane\\\",mapRoad:\\\"Road\\\",mapSignal:\\\"Signal\\\",mapStopSign:\\\"Stop Sign\\\",mapYield:\\\"Yield Sign\\\",mapSpeedBump:\\\"Speed Bump\\\",mapParkingSpace:\\\"Parking Space\\\",mapLaneId:\\\"Lane Id\\\"},supportInOfflineView:!1}]},function(e,t){e.exports={nameMapper:{planning_reference_line:\\\"ReferenceLine\\\",DpStSpeedOptimizer:\\\"SpeedHeuristic\\\",PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER:\\\"PlannedSpeed\\\"},slGraph:{title:\\\"QP Path - sl graph\\\",options:{legend:{display:!1},axes:{x:{min:0,max:200,labelString:\\\"s - ref_line (m)\\\"},y:{min:-5,max:5,labelString:\\\"l (m)\\\"}}},properties:{lines:{aggregatedBoundaryLow:{color:\\\"rgba(48, 165, 255, 1)\\\",borderWidth:2,pointRadius:0,fill:!1,showLine:!0},aggregatedBoundaryHigh:{color:\\\"rgba(48, 165, 255, 1)\\\",borderWidth:2,pointRadius:0,lineTension:0,fill:!1,showLine:!0},pathLine:{color:\\\"rgba(225, 225, 225, 0.7)\\\",borderWidth:2,pointRadius:.5,fill:!1,showLine:!1},mapLowerBound:{color:\\\"rgba(54, 162, 235, 0.4)\\\",borderWidth:2,pointRadius:0,fill:\\\"start\\\",showLine:!0},mapUpperBound:{color:\\\"rgba(54, 162, 235, 0.4)\\\",borderWidth:2,pointRadius:0,fill:\\\"end\\\",showLine:!0},staticObstacleLowerBound:{color:\\\"rgba(255, 0, 0, 0.8)\\\",borderWidth:2,pointRadius:0,fill:\\\"start\\\",showLine:!0},staticObstacleUpperBound:{color:\\\"rgba(255, 0, 0, 0.8)\\\",borderWidth:2,pointRadius:0,fill:\\\"end\\\",showLine:!0},dynamicObstacleLowerBound:{color:\\\"rgba(255, 206, 86, 0.2)\\\",borderWidth:2,pointRadius:0,fill:!1,showLine:!0},dynamicObstacleUpperBound:{color:\\\"rgba(255, 206, 86, 0.2)\\\",borderWidth:2,pointRadius:0,fill:!1,showLine:!0}}}},stGraph:{options:{legend:{display:!1},axes:{x:{min:-2,max:10,labelString:\\\"t (second)\\\"},y:{min:-10,max:220,labelString:\\\"s (m)\\\"}}},properties:{lines:{curveLine:{color:\\\"rgba(225, 225, 225, 0.5)\\\",borderWidth:2,pointRadius:1,fill:!1,showLine:!1},kernelCruise:{color:\\\"rgba(27, 249, 105, 0.5)\\\",borderWidth:2,pointRadius:1,fill:!1,showLine:!1},kernelFollow:{color:\\\"rgba(255, 206, 86, 0.5)\\\",borderWidth:2,pointRadius:1,fill:!1,showLine:!1}}},datasets:[{name:\\\"DP_ST_SPEED_OPTIMIZER\\\",graphTitle:\\\"Speed Heuristic\\\"},{name:\\\"PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER\\\",graphTitle:\\\"Planning S-T Graph\\\"}]},stSpeedGraph:{options:{legend:{display:!0},axes:{x:{min:-10,max:220,labelString:\\\"s - qp_path(m)\\\"},y:{min:-1,max:40,labelString:\\\"v (m/s)\\\"}}},properties:{lines:{upperConstraint:{color:\\\"rgba(54, 162, 235, 1)\\\",borderWidth:2,pointRadius:0,fill:!1,showLine:!0},lowerConstraint:{color:\\\"rgba(54, 162, 235, 1)\\\",borderWidth:4,pointRadius:0,fill:!1,showLine:!0},planned:{color:\\\"rgba(225, 225, 225, 0.5)\\\",borderWidth:4,pointRadius:0,fill:!1,showLine:!0},limit:{color:\\\"rgba(255, 0, 0, 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}}},ControlData:{fields:{timestampSec:{type:\\\"double\\\",id:1},stationError:{type:\\\"double\\\",id:2},lateralError:{type:\\\"double\\\",id:3},headingError:{type:\\\"double\\\",id:4},currentTargetPoint:{type:\\\"apollo.common.TrajectoryPoint\\\",id:5}}},Notification:{fields:{timestampSec:{type:\\\"double\\\",id:1},item:{type:\\\"apollo.common.monitor.MonitorMessageItem\\\",id:2}}},SensorMeasurements:{fields:{sensorMeasurement:{rule:\\\"repeated\\\",type:\\\"Object\\\",id:1}}},SimulationWorld:{fields:{timestamp:{type:\\\"double\\\",id:1},sequenceNum:{type:\\\"uint32\\\",id:2},object:{rule:\\\"repeated\\\",type:\\\"Object\\\",id:3},autoDrivingCar:{type:\\\"Object\\\",id:4},trafficSignal:{type:\\\"Object\\\",id:5},routePath:{rule:\\\"repeated\\\",type:\\\"RoutePath\\\",id:6},routingTime:{type:\\\"double\\\",id:7},planningTrajectory:{rule:\\\"repeated\\\",type:\\\"Object\\\",id:8},mainStop:{type:\\\"Object\\\",id:9,options:{deprecated:!0}},mainDecision:{type:\\\"Object\\\",id:10},speedLimit:{type:\\\"double\\\",id:11},delay:{type:\\\"DelaysInMs\\\",id:12},monitor:{type:\\\"apollo.common.monitor.MonitorMessage\\\",id:13,options:{deprecated:!0}},notification:{rule:\\\"repeated\\\",type:\\\"Notification\\\",id:14},engageAdvice:{type:\\\"string\\\",id:15},latency:{keyType:\\\"string\\\",type:\\\"Latency\\\",id:16},mapElementIds:{type:\\\"MapElementIds\\\",id:17},mapHash:{type:\\\"uint64\\\",id:18},mapRadius:{type:\\\"double\\\",id:19},planningData:{type:\\\"apollo.planning_internal.PlanningData\\\",id:20},gps:{type:\\\"Object\\\",id:21},laneMarker:{type:\\\"apollo.perception.LaneMarkers\\\",id:22},controlData:{type:\\\"ControlData\\\",id:23},navigationPath:{rule:\\\"repeated\\\",type:\\\"apollo.common.Path\\\",id:24},isRssSafe:{type:\\\"bool\\\",id:25,options:{default:!0}},shadowLocalization:{type:\\\"Object\\\",id:26},perceivedSignal:{rule:\\\"repeated\\\",type:\\\"Object\\\",id:27},stories:{keyType:\\\"string\\\",type:\\\"bool\\\",id:28},sensorMeasurements:{keyType:\\\"string\\\",type:\\\"SensorMeasurements\\\",id:29},isSirenOn:{type:\\\"bool\\\",id:30,options:{default:!1}}}},Options:{fields:{legendDisplay:{type:\\\"bool\\\",id:1,options:{default:!0}},x:{type:\\\"Axis\\\",id:2},y:{type:\\\"Axis\\\",id:3},aspectRatio:{type:\\\"double\\\",id:4},syncXyWindowSize:{type:\\\"bool\\\",id:5,options:{default:!1}}},nested:{Axis:{fields:{min:{type:\\\"double\\\",id:1},max:{type:\\\"double\\\",id:2},labelString:{type:\\\"string\\\",id:3},windowSize:{type:\\\"double\\\",id:4},stepSize:{type:\\\"double\\\",id:5},midValue:{type:\\\"double\\\",id:6}}}}},Line:{fields:{label:{type:\\\"string\\\",id:1},hideLabelInLegend:{type:\\\"bool\\\",id:2,options:{default:!1}},point:{rule:\\\"repeated\\\",type:\\\"apollo.common.Point2D\\\",id:3},properties:{keyType:\\\"string\\\",type:\\\"string\\\",id:4}}},Polygon:{fields:{label:{type:\\\"string\\\",id:1},hideLabelInLegend:{type:\\\"bool\\\",id:2,options:{default:!1}},point:{rule:\\\"repeated\\\",type:\\\"apollo.common.Point2D\\\",id:3},properties:{keyType:\\\"string\\\",type:\\\"string\\\",id:4}}},Car:{fields:{label:{type:\\\"string\\\",id:1},hideLabelInLegend:{type:\\\"bool\\\",id:2,options:{default:!1}},x:{type:\\\"double\\\",id:3},y:{type:\\\"double\\\",id:4},heading:{type:\\\"double\\\",id:5},color:{type:\\\"string\\\",id:6}}},Chart:{fields:{title:{type:\\\"string\\\",id:1},options:{type:\\\"Options\\\",id:2},line:{rule:\\\"repeated\\\",type:\\\"Line\\\",id:3},polygon:{rule:\\\"repeated\\\",type:\\\"Polygon\\\",id:4},car:{rule:\\\"repeated\\\",type:\\\"Car\\\",id:5}}},CameraUpdate:{fields:{localization:{rule:\\\"repeated\\\",type:\\\"double\\\",id:1,options:{packed:!1}},localization2cameraTf:{rule:\\\"repeated\\\",type:\\\"double\\\",id:2,options:{packed:!1}},image:{type:\\\"bytes\\\",id:3},imageAspectRatio:{type:\\\"double\\\",id:4}}}}},common:{nested:{Direction:{values:{EAST:0,WEST:1,SOUTH:2,NORTH:3,NORTHEAST:4,SOUTHEAST:5,SOUTHWEST:6,NORTHWEST:7}},DriveEvent:{fields:{header:{type:\\\"apollo.common.Header\\\",id:1},event:{type:\\\"string\\\",id:2},location:{type:\\\"apollo.localization.Pose\\\",id:3},type:{rule:\\\"repeated\\\",type:\\\"Type\\\",id:4,options:{packed:!1}},isReportable:{type:\\\"bool\\\",id:5}},nested:{Type:{values:{CRITICAL:0,PROBLEM:1,DESIRED:2,OUT_OF_SCOPE:3}}}},EngageAdvice:{fields:{advice:{type:\\\"Advice\\\",id:1,options:{default:\\\"DISALLOW_ENGAGE\\\"}},reason:{type:\\\"string\\\",id:2}},nested:{Advice:{values:{UNKNOWN:0,DISALLOW_ENGAGE:1,READY_TO_ENGAGE:2,KEEP_ENGAGED:3,PREPARE_DISENGAGE:4}}}},ErrorCode:{values:{OK:0,CONTROL_ERROR:1e3,CONTROL_INIT_ERROR:1001,CONTROL_COMPUTE_ERROR:1002,CONTROL_ESTOP_ERROR:1003,PERFECT_CONTROL_ERROR:1004,CANBUS_ERROR:2e3,CAN_CLIENT_ERROR_BASE:2100,CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED:2101,CAN_CLIENT_ERROR_FRAME_NUM:2102,CAN_CLIENT_ERROR_SEND_FAILED:2103,CAN_CLIENT_ERROR_RECV_FAILED:2104,LOCALIZATION_ERROR:3e3,LOCALIZATION_ERROR_MSG:3100,LOCALIZATION_ERROR_LIDAR:3200,LOCALIZATION_ERROR_INTEG:3300,LOCALIZATION_ERROR_GNSS:3400,PERCE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leftEdgeToCenter:{type:\\\"double\\\",id:5,options:{default:null}},rightEdgeToCenter:{type:\\\"double\\\",id:6,options:{default:null}},length:{type:\\\"double\\\",id:7,options:{default:null}},width:{type:\\\"double\\\",id:8,options:{default:null}},height:{type:\\\"double\\\",id:9,options:{default:null}},minTurnRadius:{type:\\\"double\\\",id:10,options:{default:null}},maxAcceleration:{type:\\\"double\\\",id:11,options:{default:null}},maxDeceleration:{type:\\\"double\\\",id:12,options:{default:null}},maxSteerAngle:{type:\\\"double\\\",id:13,options:{default:null}},maxSteerAngleRate:{type:\\\"double\\\",id:14,options:{default:null}},minSteerAngleRate:{type:\\\"double\\\",id:15,options:{default:null}},steerRatio:{type:\\\"double\\\",id:16,options:{default:null}},wheelBase:{type:\\\"double\\\",id:17,options:{default:null}},wheelRollingRadius:{type:\\\"double\\\",id:18,options:{default:null}},maxAbsSpeedWhenStopped:{type:\\\"float\\\",id:19,options:{default:null}},brakeDeadzone:{type:\\\"double\\\",id:20,options:{default:null}},throttleDeadzone:{type:\\\"double\\\",id:21,options:{default:null}},steeringLatencyParam:{type:\\\"LatencyParam\\\",id:22},throttleLatencyParam:{type:\\\"LatencyParam\\\",id:23},brakeLatencyParam:{type:\\\"LatencyParam\\\",id:24}}},VehicleConfig:{fields:{header:{type:\\\"apollo.common.Header\\\",id:1},vehicleParam:{type:\\\"VehicleParam\\\",id:2},extrinsics:{type:\\\"Extrinsics\\\",id:3}}},monitor:{nested:{MonitorMessageItem:{fields:{source:{type:\\\"MessageSource\\\",id:1,options:{default:\\\"UNKNOWN\\\"}},msg:{type:\\\"string\\\",id:2},logLevel:{type:\\\"LogLevel\\\",id:3,options:{default:\\\"INFO\\\"}}},nested:{MessageSource:{values:{UNKNOWN:1,CANBUS:2,CONTROL:3,DECISION:4,LOCALIZATION:5,PLANNING:6,PREDICTION:7,SIMULATOR:8,HWSYS:9,ROUTING:10,MONITOR:11,HMI:12,RELATIVE_MAP:13,GNSS:14,CONTI_RADAR:15,RACOBIT_RADAR:16,ULTRASONIC_RADAR:17,MOBILEYE:18,DELPHI_ESR:19,STORYTELLING:20,TASK_MANAGER:21}},LogLevel:{values:{INFO:0,WARN:1,ERROR:2,FATAL:3}}}},MonitorMessage:{fields:{header:{type:\\\"apollo.common.Header\\\",id:1},item:{rule:\\\"repeated\\\",type:\\\"MonitorMessageItem\\\",id:2}}}}}}},localization:{nested:{Uncertainty:{fields:{positionStdDev:{type:\\\"apollo.common.Point3D\\\",id:1},orientationStdDev:{type:\\\"apollo.common.Point3D\\\",id:2},linearVelocityStdDev:{type:\\\"apollo.common.Point3D\\\",id:3},linearAccelerationStdDev:{type:\\\"apollo.common.Point3D\\\",id:4},angularVelocityStdDev:{type:\\\"apollo.common.Point3D\\\",id:5}}},LocalizationEstimate:{fields:{header:{type:\\\"apollo.common.Header\\\",id:1},pose:{type:\\\"apollo.localization.Pose\\\",id:2},uncertainty:{type:\\\"Uncertainty\\\",id:3},measurementTime:{type:\\\"double\\\",id:4},trajectoryPoint:{rule:\\\"repeated\\\",type:\\\"apollo.common.TrajectoryPoint\\\",id:5},msfStatus:{type:\\\"MsfStatus\\\",id:6},sensorStatus:{type:\\\"MsfSensorMsgStatus\\\",id:7}}},MeasureState:{values:{OK:0,WARNNING:1,ERROR:2,CRITICAL_ERROR:3,FATAL_ERROR:4}},LocalizationStatus:{fields:{header:{type:\\\"apollo.common.Header\\\",id:1},fusionStatus:{type:\\\"MeasureState\\\",id:2},gnssStatus:{type:\\\"MeasureState\\\",id:3,options:{deprecated:!0}},lidarStatus:{type:\\\"MeasureState\\\",id:4,options:{deprecated:!0}},measurementTime:{type:\\\"double\\\",id:5},stateMessage:{type:\\\"string\\\",id:6}}},Pose:{fields:{position:{type:\\\"apollo.common.PointENU\\\",id:1},orientation:{type:\\\"apollo.common.Quaternion\\\",id:2},linearVelocity:{type:\\\"apollo.common.Point3D\\\",id:3},linearAcceleration:{type:\\\"apollo.common.Point3D\\\",id:4},angularVelocity:{type:\\\"apollo.common.Point3D\\\",id:5},heading:{type:\\\"double\\\",id:6},linearAccelerationVrf:{type:\\\"apollo.common.Point3D\\\",id:7},angularVelocityVrf:{type:\\\"apollo.common.Point3D\\\",id:8},eulerAngles:{type:\\\"apollo.common.Point3D\\\",id:9}}},LocalLidarStatus:{values:{MSF_LOCAL_LIDAR_NORMAL:0,MSF_LOCAL_LIDAR_MAP_MISSING:1,MSF_LOCAL_LIDAR_EXTRINSICS_MISSING:2,MSF_LOCAL_LIDAR_MAP_LOADING_FAILED:3,MSF_LOCAL_LIDAR_NO_OUTPUT:4,MSF_LOCAL_LIDAR_OUT_OF_MAP:5,MSF_LOCAL_LIDAR_NOT_GOOD:6,MSF_LOCAL_LIDAR_UNDEFINED_STATUS:7}},LocalLidarQuality:{values:{MSF_LOCAL_LIDAR_VERY_GOOD:0,MSF_LOCAL_LIDAR_GOOD:1,MSF_LOCAL_LIDAR_NOT_BAD:2,MSF_LOCAL_LIDAR_BAD:3}},LocalLidarConsistency:{values:{MSF_LOCAL_LIDAR_CONSISTENCY_00:0,MSF_LOCAL_LIDAR_CONSISTENCY_01:1,MSF_LOCAL_LIDAR_CONSISTENCY_02:2,MSF_LOCAL_LIDAR_CONSISTENCY_03:3}},GnssConsistency:{values:{MSF_GNSS_CONSISTENCY_00:0,MSF_GNSS_CONSISTENCY_01:1,MSF_GNSS_CONSISTENCY_02:2,MSF_GNSS_CONSISTENCY_03:3}},GnssPositionType:{values:{NONE:0,FIXEDPOS:1,FIXEDHEIGHT:2,FLOATCONV:4,WIDELANE:5,NARROWLANE:6,DOPPLER_VELOCITY:8,SINGLE:16,PSRDIFF:17,WAAS:18,PROPOGATED:19,OMNISTAR:20,L1_FLOAT:32,IONOFREE_FLOAT:33,NARROW_FLOAT:34,L1_INT:48,WIDE_INT:49,NARROW_INT:50,RTK_DIRECT_INS:51,INS_SBAS:52,INS_PSRSP:53,INS_PSRDIFF:54,INS_RTKFLOAT:55,INS_RTKFIXED:56,INS_OMNISTAR:57,INS_OMNISTAR_HP:58,INS_OMNISTAR_XP:59,OMNISTAR_HP:64,OMNISTAR_XP:65,PPP_CONVERGING:68,PPP:69,INS_PPP_Convergin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rajectoryProviderConfig:{type:\\\"OpenSpaceTrajectoryProviderConfig\\\",id:17},piecewiseJerkNonlinearSpeedOptimizerConfig:{type:\\\"PiecewiseJerkNonlinearSpeedOptimizerConfig\\\",id:18},piecewiseJerkPathOptimizerConfig:{type:\\\"PiecewiseJerkPathOptimizerConfig\\\",id:19},piecewiseJerkSpeedOptimizerConfig:{type:\\\"PiecewiseJerkSpeedOptimizerConfig\\\",id:20},speedHeuristicOptimizerConfig:{type:\\\"SpeedHeuristicOptimizerConfig\\\",id:21},learningModelInferenceTaskConfig:{type:\\\"LearningModelInferenceTaskConfig\\\",id:22},learningModelInferenceTrajectoryTaskConfig:{type:\\\"LearningModelInferenceTrajectoryTaskConfig\\\",id:23}},nested:{TaskType:{values:{CREEP_DECIDER:1,LANE_CHANGE_DECIDER:2,NAVI_OBSTACLE_DECIDER:3,NAVI_PATH_DECIDER:4,NAVI_SPEED_DECIDER:5,OPEN_SPACE_FALLBACK_DECIDER:6,OPEN_SPACE_PRE_STOP_DECIDER:7,OPEN_SPACE_ROI_DECIDER:8,PATH_ASSESSMENT_DECIDER:9,PATH_BOUNDS_DECIDER:10,PATH_DECIDER:11,PATH_LANE_BORROW_DECIDER:12,PATH_REFERENCE_DECIDER:13,PATH_REUSE_DECIDER:14,RSS_DECIDER:15,RULE_BASED_STOP_DECIDER:16,SPEED_BOUNDS_PRIORI_DECIDER:17,SPEED_BOUNDS_FINAL_DECIDER:18,SPEED_DECIDER:19,ST_BOUNDS_DECIDER:20,OPEN_SPACE_TRAJECTORY_PARTITION:21,OPEN_SPACE_TRAJECTORY_PROVIDER:22,PIECEWISE_JERK_NONLINEAR_SPEED_OPTIMIZER:23,PIECEWISE_JERK_PATH_OPTIMIZER:24,PIECEWISE_JERK_SPEED_OPTIMIZER:25,SPEED_HEURISTIC_OPTIMIZER:26,LEARNING_MODEL_INFERENCE_TASK:27,LEARNING_MODEL_INFERENCE_TRAJECTORY_TASK:28}}}},ScenarioBareIntersectionUnprotectedConfig:{fields:{startBareIntersectionScenarioDistance:{type:\\\"double\\\",id:1,options:{default:25}},enableExplicitStop:{type:\\\"bool\\\",id:2,options:{default:!1}},minPassSDistance:{type:\\\"double\\\",id:3,options:{default:3}},approachCruiseSpeed:{type:\\\"double\\\",id:4,options:{default:6.7056}},stopDistance:{type:\\\"double\\\",id:5,options:{default:.5}},stopTimeoutSec:{type:\\\"float\\\",id:6,options:{default:8}},creepTimeoutSec:{type:\\\"float\\\",id:7,options:{default:10}}}},ScenarioEmergencyPullOverConfig:{fields:{maxStopDeceleration:{type:\\\"double\\\",id:1,options:{default:3}},slowDownDecelerationTime:{type:\\\"double\\\",id:2,options:{default:3}},targetSlowDownSpeed:{type:\\\"double\\\",id:3,options:{default:2.5}},stopDistance:{type:\\\"double\\\",id:4,options:{default:1.5}}}},ScenarioEmergencyStopConfig:{fields:{maxStopDeceleration:{type:\\\"double\\\",id:1,options:{default:6}},stopDistance:{type:\\\"double\\\",id:2,options:{default:1}}}},ScenarioLaneFollowConfig:{fields:{}},ScenarioLearningModelSampleConfig:{fields:{}},ScenarioNarrowStreetUTurnConfig:{fields:{}},ScenarioParkAndGoConfig:{fields:{frontObstacleBuffer:{type:\\\"double\\\",id:1,options:{default:4}},headingBuffer:{type:\\\"double\\\",id:2,options:{default:.5}},minDistToDest:{type:\\\"double\\\",id:3,options:{default:25}},maxSteeringPercentageWhenCruise:{type:\\\"double\\\",id:4,options:{default:90}}}},ScenarioPullOverConfig:{fields:{startPullOverScenarioDistance:{type:\\\"double\\\",id:1,options:{default:50}},pullOverMinDistanceBuffer:{type:\\\"double\\\",id:2,options:{default:10}},maxDistanceStopSearch:{type:\\\"double\\\",id:3,options:{default:25}},maxSErrorToEndPoint:{type:\\\"double\\\",id:4,options:{default:.2}},maxLErrorToEndPoint:{type:\\\"double\\\",id:5,options:{default:.5}},maxThetaErrorToEndPoint:{type:\\\"double\\\",id:6,options:{default:.2}},maxDistanceErrorToEndPoint:{type:\\\"double\\\",id:7,options:{default:.2}},passDestinationThreshold:{type:\\\"double\\\",id:8,options:{default:10}},maxValidStopDistance:{type:\\\"double\\\",id:9,options:{default:1}},sDistanceToStopForOpenSpaceParking:{type:\\\"double\\\",id:10,options:{default:7}}}},ScenarioStopSignUnprotectedConfig:{fields:{startStopSignScenarioDistance:{type:\\\"double\\\",id:1,options:{default:5}},watchVehicleMaxValidStopDistance:{type:\\\"double\\\",id:2,options:{default:5}},maxValidStopDistance:{type:\\\"double\\\",id:3,options:{default:3.5}},stopDurationSec:{type:\\\"float\\\",id:4,options:{default:1}},minPassSDistance:{type:\\\"double\\\",id:5,options:{default:3}},stopTimeoutSec:{type:\\\"float\\\",id:6,options:{default:8}},creepTimeoutSec:{type:\\\"float\\\",id:7,options:{default:10}}}},ScenarioTrafficLightProtectedConfig:{fields:{startTrafficLightScenarioDistance:{type:\\\"double\\\",id:1,options:{default:5}},maxValidStopDistance:{type:\\\"double\\\",id:2,options:{default:2}},minPassSDistance:{type:\\\"double\\\",id:3,options:{default:3}}}},ScenarioTrafficLightUnprotectedLeftTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:\\\"double\\\",id:1,options:{default:5}},approachCruiseSpeed:{type:\\\"double\\\",id:2,options:{default:2.78}},maxValidStopDistance:{type:\\\"double\\\",id:3,options:{default:3.5}},minPassSDistance:{type:\\\"double\\\",id:4,options:{default:3}},creepTimeoutSec:{type:\\\"float\\\",id:5,options:{default:10}},maxAdcSpeedBeforeCreep:{type:\\\"double\\\",id:6,options:{default:5.56}}}},ScenarioTrafficLightUnprotectedRightTurnConfig:{fields:{startTrafficLightScenarioDistance:{type:\\\"double\\\",id:1,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:{rule:\\\"repeated\\\",type:\\\"LaneBorrowDirection\\\",id:5,options:{packed:!1}}},nested:{LaneBorrowDirection:{values:{LEFT_BORROW:1,RIGHT_BORROW:2}}}},PullOverStatus:{fields:{pullOverType:{type:\\\"PullOverType\\\",id:1},planPullOverPath:{type:\\\"bool\\\",id:2,options:{default:!1}},position:{type:\\\"apollo.common.PointENU\\\",id:3},theta:{type:\\\"double\\\",id:4},lengthFront:{type:\\\"double\\\",id:5},lengthBack:{type:\\\"double\\\",id:6},widthLeft:{type:\\\"double\\\",id:7},widthRight:{type:\\\"double\\\",id:8}},nested:{PullOverType:{values:{PULL_OVER:1,EMERGENCY_PULL_OVER:2}}}},ReroutingStatus:{fields:{lastReroutingTime:{type:\\\"double\\\",id:1},needRerouting:{type:\\\"bool\\\",id:2,options:{default:!1}},routingRequest:{type:\\\"apollo.routing.RoutingRequest\\\",id:3}}},SpeedDeciderStatus:{fields:{pedestrianStopTime:{rule:\\\"repeated\\\",type:\\\"StopTime\\\",id:1}}},ScenarioStatus:{fields:{scenarioType:{type:\\\"ScenarioConfig.ScenarioType\\\",id:1},stageType:{type:\\\"ScenarioConfig.StageType\\\",id:2}}},StopSignStatus:{fields:{currentStopSignOverlapId:{type:\\\"string\\\",id:1},doneStopSignOverlapId:{type:\\\"string\\\",id:2},waitForObstacleId:{rule:\\\"repeated\\\",type:\\\"string\\\",id:3}}},TrafficLightStatus:{fields:{currentTrafficLightOverlapId:{rule:\\\"repeated\\\",type:\\\"string\\\",id:1},doneTrafficLightOverlapId:{rule:\\\"repeated\\\",type:\\\"string\\\",id:2}}},YieldSignStatus:{fields:{currentYieldSignOverlapId:{rule:\\\"repeated\\\",type:\\\"string\\\",id:1},doneYieldSignOverlapId:{rule:\\\"repeated\\\",type:\\\"string\\\",id:2},waitForObstacleId:{rule:\\\"repeated\\\",type:\\\"string\\\",id:3}}},PlanningStatus:{fields:{bareIntersection:{type:\\\"BareIntersectionStatus\\\",id:1},changeLane:{type:\\\"ChangeLaneStatus\\\",id:2},creepDecider:{type:\\\"CreepDeciderStatus\\\",id:3},crosswalk:{type:\\\"CrosswalkStatus\\\",id:4},destination:{type:\\\"DestinationStatus\\\",id:5},emergencyStop:{type:\\\"EmergencyStopStatus\\\",id:6},openSpace:{type:\\\"OpenSpaceStatus\\\",id:7},parkAndGo:{type:\\\"ParkAndGoStatus\\\",id:8},pathDecider:{type:\\\"PathDeciderStatus\\\",id:9},pullOver:{type:\\\"PullOverStatus\\\",id:10},rerouting:{type:\\\"ReroutingStatus\\\",id:11},scenario:{type:\\\"ScenarioStatus\\\",id:12},speedDecider:{type:\\\"SpeedDeciderStatus\\\",id:13},stopSign:{type:\\\"StopSignStatus\\\",id:14},trafficLight:{type:\\\"TrafficLightStatus\\\",id:15},yieldSign:{type:\\\"YieldSignStatus\\\",id:16}}},QpSplineSmootherConfig:{fields:{splineOrder:{type:\\\"uint32\\\",id:1,options:{default:5}},maxSplineLength:{type:\\\"double\\\",id:2,options:{default:25}},regularizationWeight:{type:\\\"double\\\",id:3,options:{default:.1}},secondDerivativeWeight:{type:\\\"double\\\",id:4,options:{default:0}},thirdDerivativeWeight:{type:\\\"double\\\",id:5,options:{default:100}}}},SpiralSmootherConfig:{fields:{maxDeviation:{type:\\\"double\\\",id:1,options:{default:.1}},piecewiseLength:{type:\\\"double\\\",id:2,options:{default:10}},maxIteration:{type:\\\"uint32\\\",id:3,options:{default:1e3}},optTol:{type:\\\"double\\\",id:4,options:{default:1e-8}},optAcceptableTol:{type:\\\"double\\\",id:5,options:{default:1e-6}},optAcceptableIteration:{type:\\\"uint32\\\",id:6,options:{default:15}},weightCurveLength:{type:\\\"double\\\",id:7,options:{default:1}},weightKappa:{type:\\\"double\\\",id:8,options:{default:1}},weightDkappa:{type:\\\"double\\\",id:9,options:{default:100}}}},DiscretePointsSmootherConfig:{oneofs:{SmootherConfig:{oneof:[\\\"cosThetaSmoothing\\\",\\\"femPosDeviationSmoothing\\\"]}},fields:{smoothingMethod:{type:\\\"SmoothingMethod\\\",id:3,options:{default:\\\"FEM_POS_DEVIATION_SMOOTHING\\\"}},cosThetaSmoothing:{type:\\\"CosThetaSmootherConfig\\\",id:4},femPosDeviationSmoothing:{type:\\\"FemPosDeviationSmootherConfig\\\",id:5}},nested:{SmoothingMethod:{values:{NOT_DEFINED:0,COS_THETA_SMOOTHING:1,FEM_POS_DEVIATION_SMOOTHING:2}}}},ReferenceLineSmootherConfig:{oneofs:{SmootherConfig:{oneof:[\\\"qpSpline\\\",\\\"spiral\\\",\\\"discretePoints\\\"]}},fields:{maxConstraintInterval:{type:\\\"double\\\",id:1,options:{default:5}},longitudinalBoundaryBound:{type:\\\"double\\\",id:2,options:{default:1}},maxLateralBoundaryBound:{type:\\\"double\\\",id:3,options:{default:.5}},minLateralBoundaryBound:{type:\\\"double\\\",id:4,options:{default:.2}},numOfTotalPoints:{type:\\\"uint32\\\",id:5,options:{default:500}},curbShift:{type:\\\"double\\\",id:6,options:{default:.2}},lateralBuffer:{type:\\\"double\\\",id:7,options:{default:.2}},resolution:{type:\\\"double\\\",id:8,options:{default:.02}},qpSpline:{type:\\\"QpSplineSmootherConfig\\\",id:20},spiral:{type:\\\"SpiralSmootherConfig\\\",id:21},discretePoints:{type:\\\"DiscretePointsSmootherConfig\\\",id:22}}},SLBoundary:{fields:{startS:{type:\\\"double\\\",id:1},endS:{type:\\\"double\\\",id:2},startL:{type:\\\"double\\\",id:3},endL:{type:\\\"double\\\",id:4},boundaryPoint:{rule:\\\"repeated\\\",type:\\\"apollo.common.SLPoint\\\",id:5}}},STDrivableBoundaryInstance:{fields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ieldSign\\\",id:7},overlap:{rule:\\\"repeated\\\",type:\\\"Overlap\\\",id:8},clearArea:{rule:\\\"repeated\\\",type:\\\"ClearArea\\\",id:9},speedBump:{rule:\\\"repeated\\\",type:\\\"SpeedBump\\\",id:10},road:{rule:\\\"repeated\\\",type:\\\"Road\\\",id:11},parkingSpace:{rule:\\\"repeated\\\",type:\\\"ParkingSpace\\\",id:12},pncJunction:{rule:\\\"repeated\\\",type:\\\"PNCJunction\\\",id:13},rsu:{rule:\\\"repeated\\\",type:\\\"RSU\\\",id:14}}},ClearArea:{fields:{id:{type:\\\"Id\\\",id:1},overlapId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:2},polygon:{type:\\\"Polygon\\\",id:3}}},Crosswalk:{fields:{id:{type:\\\"Id\\\",id:1},polygon:{type:\\\"Polygon\\\",id:2},overlapId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:3}}},Polygon:{fields:{point:{rule:\\\"repeated\\\",type:\\\"apollo.common.PointENU\\\",id:1}}},LineSegment:{fields:{point:{rule:\\\"repeated\\\",type:\\\"apollo.common.PointENU\\\",id:1}}},CurveSegment:{oneofs:{curveType:{oneof:[\\\"lineSegment\\\"]}},fields:{lineSegment:{type:\\\"LineSegment\\\",id:1},s:{type:\\\"double\\\",id:6},startPosition:{type:\\\"apollo.common.PointENU\\\",id:7},heading:{type:\\\"double\\\",id:8},length:{type:\\\"double\\\",id:9}}},Curve:{fields:{segment:{rule:\\\"repeated\\\",type:\\\"CurveSegment\\\",id:1}}},Id:{fields:{id:{type:\\\"string\\\",id:1}}},Junction:{fields:{id:{type:\\\"Id\\\",id:1},polygon:{type:\\\"Polygon\\\",id:2},overlapId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:3},type:{type:\\\"Type\\\",id:4}},nested:{Type:{values:{UNKNOWN:0,IN_ROAD:1,CROSS_ROAD:2,FORK_ROAD:3,MAIN_SIDE:4,DEAD_END:5}}}},LaneBoundaryType:{fields:{s:{type:\\\"double\\\",id:1},types:{rule:\\\"repeated\\\",type:\\\"Type\\\",id:2,options:{packed:!1}}},nested:{Type:{values:{UNKNOWN:0,DOTTED_YELLOW:1,DOTTED_WHITE:2,SOLID_YELLOW:3,SOLID_WHITE:4,DOUBLE_YELLOW:5,CURB:6}}}},LaneBoundary:{fields:{curve:{type:\\\"Curve\\\",id:1},length:{type:\\\"double\\\",id:2},virtual:{type:\\\"bool\\\",id:3},boundaryType:{rule:\\\"repeated\\\",type:\\\"LaneBoundaryType\\\",id:4}}},LaneSampleAssociation:{fields:{s:{type:\\\"double\\\",id:1},width:{type:\\\"double\\\",id:2}}},Lane:{fields:{id:{type:\\\"Id\\\",id:1},centralCurve:{type:\\\"Curve\\\",id:2},leftBoundary:{type:\\\"LaneBoundary\\\",id:3},rightBoundary:{type:\\\"LaneBoundary\\\",id:4},length:{type:\\\"double\\\",id:5},speedLimit:{type:\\\"double\\\",id:6},overlapId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:7},predecessorId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:8},successorId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:9},leftNeighborForwardLaneId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:10},rightNeighborForwardLaneId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:11},type:{type:\\\"LaneType\\\",id:12},turn:{type:\\\"LaneTurn\\\",id:13},leftNeighborReverseLaneId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:14},rightNeighborReverseLaneId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:15},junctionId:{type:\\\"Id\\\",id:16},leftSample:{rule:\\\"repeated\\\",type:\\\"LaneSampleAssociation\\\",id:17},rightSample:{rule:\\\"repeated\\\",type:\\\"LaneSampleAssociation\\\",id:18},direction:{type:\\\"LaneDirection\\\",id:19},leftRoadSample:{rule:\\\"repeated\\\",type:\\\"LaneSampleAssociation\\\",id:20},rightRoadSample:{rule:\\\"repeated\\\",type:\\\"LaneSampleAssociation\\\",id:21},selfReverseLaneId:{rule:\\\"repeated\\\",type:\\\"Id\\\",id:22}},nested:{LaneType:{values:{NONE:1,CITY_DRIVING:2,BIKING:3,SIDEWALK:4,PARKING:5,SHOULDER:6}},LaneTurn:{values:{NO_TURN:1,LEFT_TURN:2,RIGHT_TURN:3,U_TURN:4}},LaneDirection:{values:{FORWARD:1,BACKWARD:2,BIDIRECTION:3}}}},LaneOverlapInfo:{fields:{startS:{type:\\\"double\\\",id:1},endS:{type:\\\"double\\\",id:2},isMerge:{type:\\\"bool\\\",id:3},regionOverlapId:{type:\\\"Id\\\",id:4}}},SignalOverlapInfo:{fields:{}},StopSignOverlapInfo:{fields:{}},CrosswalkOverlapInfo:{fields:{regionOverlapId:{type:\\\"Id\\\",id:1}}},JunctionOverlapInfo:{fields:{}},YieldOverlapInfo:{fields:{}},ClearAreaOverlapInfo:{fields:{}},SpeedBumpOverlapInfo:{fields:{}},ParkingSpaceOverlapInfo:{fields:{}},PNCJunctionOverlapInfo:{fields:{}},RSUOverlapInfo:{fields:{}},RegionOverlapInfo:{fields:{id:{type:\\\"Id\\\",id:1},polygon:{rule:\\\"repeated\\\",type:\\\"Polygon\\\",id:2}}},ObjectOverlapInfo:{oneofs:{overlapInfo:{oneof:[\\\"laneOverlapInfo\\\",\\\"signalOverlapInfo\\\",\\\"stopSignOverlapInfo\\\",\\\"crosswalkOverlapInfo\\\",\\\"junctionOverlapInfo\\\",\\\"yieldSignOverlapInfo\\\",\\\"clearAreaOverlapInfo\\\",\\\"speedBumpOverlapInfo\\\",\\\"parkingSpaceOverlapInfo\\\",\\\"pncJunctionOverlapInfo\\\",\\\"rsuOverlapInfo\\\"]}},fields:{id:{type:\\\"Id\\\",id:1},laneOverlapInfo:{type:\\\"LaneOverlapInfo\\\",id:3},signalOverlapInfo:{type:\\\"SignalOverlapInfo\\\",id:4},stopSignOverlapInfo:{type:\\\"StopSignOverlapInfo\\\",id:5},crosswalkOverlapInfo:{type:\\\"CrosswalkOverlapInfo\\\",id:6},junctionOverlapInfo:{type:\\\"JunctionOverlapInfo\\\",id:7},yieldSignOverlapInfo:{type:\\\"YieldOverlapInfo\\\",id:8},clearAreaOverlapInfo:{type:\\\"ClearAreaOverlapInfo\\\",id:9},speedBumpOver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cursor: pointer;\\\\n height: 20px;\\\\n padding: 0;\\\\n line-height: 20px;\\\\n border: 0px;\\\\n background-color: #3F4548;\\\\n transition: background-color 0.2s ease-in; }\\\\n .switch .toggle-switch-label:before {\\\\n content: \\\"\\\";\\\\n display: block;\\\\n width: 16px;\\\\n margin: 2px;\\\\n background: #A0A0A0;\\\\n position: absolute;\\\\n top: 0;\\\\n bottom: 0;\\\\n right: 20px;\\\\n transition: all 0.2s ease-in; }\\\\n .switch .toggle-switch:checked + .toggle-switch-label {\\\\n background-color: #0E3D62; }\\\\n .switch .toggle-switch:checked + .toggle-switch-label,\\\\n .switch .toggle-switch:checked + .toggle-switch-label:before {\\\\n border-color: #0E3D62; }\\\\n .switch .toggle-switch:checked + .toggle-switch-label:before {\\\\n right: 0px;\\\\n background-color: #30A5FF; }\\\\n .switch .toggle-switch:disabled + .toggle-switch-label,\\\\n .switch .toggle-switch:disabled + .toggle-switch-label:before {\\\\n cursor: not-allowed; }\\\\n\\\\n.command-button {\\\\n flex: 1 1 0;\\\\n margin: 3px;\\\\n border: 0px;\\\\n min-width: 75px;\\\\n min-height: 40px;\\\\n max-height: 60px;\\\\n color: #999999;\\\\n border-bottom: 2px solid #1C9063;\\\\n background: linear-gradient(#000000, #111F1D);\\\\n outline: none;\\\\n cursor: pointer; }\\\\n .command-button:hover {\\\\n color: #FFFFFF;\\\\n background: #151E1B; }\\\\n .command-button:active {\\\\n background: rgba(35, 51, 45, 0.6); }\\\\n .command-button:disabled {\\\\n color: #999999;\\\\n border-color: #555555;\\\\n background: linear-gradient(rgba(0, 0, 0, 0.8), rgba(9, 17, 16, 0.8));\\\\n cursor: not-allowed; }\\\\n\\\\nbody {\\\\n margin: 0px;\\\\n overflow: hidden;\\\\n background-color: #14171A !important;\\\\n font: 14px \\\"Lucida Grande\\\", Helvetica, Arial, sans-serif;\\\\n color: #FFFFFF; }\\\\n body * {\\\\n font-size: 16px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n body * {\\\\n font-size: 14px; } }\\\\n\\\\n.no-data {\\\\n padding: 20px;\\\\n color: #B43131; }\\\\n\\\\n/* Adjust the scrollbar style. */\\\\n::-webkit-scrollbar {\\\\n width: 4px;\\\\n height: 8px;\\\\n opacity: 0.3;\\\\n background-color: #FFFFFF; }\\\\n\\\\n::-webkit-scrollbar-track {\\\\n -webkit-box-shadow: inset 0 0 6px rgba(0, 0, 0, 0.3);\\\\n background-color: #555555; }\\\\n\\\\n::-webkit-scrollbar-thumb {\\\\n opacity: 0.8;\\\\n background-color: #30A5FF; }\\\\n\\\\n::-webkit-scrollbar-thumb:active {\\\\n background-color: #30A5FF; }\\\\n\\\\n.header {\\\\n display: flex;\\\\n align-items: center;\\\\n z-index: 100;\\\\n position: relative;\\\\n top: 0;\\\\n left: 0;\\\\n height: 60px;\\\\n background: #000000;\\\\n color: #ffffff;\\\\n text-align: left;\\\\n /* The Apollo logo on the header. */ }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .header {\\\\n height: 55px; } }\\\\n .header .apollo-logo {\\\\n flex: 0 0 auto;\\\\n top: 40px;\\\\n left: 40px;\\\\n height: 40px;\\\\n width: 121px;\\\\n margin: 10px auto 5px 18px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .header .apollo-logo {\\\\n top: 15px;\\\\n left: 25px;\\\\n height: 25px;\\\\n width: 80px;\\\\n margin-top: 5px; } }\\\\n .header .header-item {\\\\n flex: 0 0 auto;\\\\n position: relative;\\\\n margin: 5px;\\\\n border: 1px solid #383838; }\\\\n .header .selector select {\\\\n display: block;\\\\n border: none;\\\\n padding: 0.5em 3em 0.5em 0.5em;\\\\n background: #000000;\\\\n color: #ffffff;\\\\n outline: none;\\\\n cursor: pointer;\\\\n /* remove default arrow */\\\\n -webkit-appearance: none;\\\\n -moz-appearance: none;\\\\n appearance: none; }\\\\n .header .selector .arrow {\\\\n position: absolute;\\\\n top: 0px;\\\\n right: 0px;\\\\n width: 30px;\\\\n height: 100%;\\\\n border-left: 1px solid #383838;\\\\n background: #181818;\\\\n pointer-events: none; }\\\\n .header .selector .arrow:before {\\\\n position: absolute;\\\\n top: 55%;\\\\n right: 7px;\\\\n margin-top: -5px;\\\\n border-top: 8px solid #666666;\\\\n border-left: 8px solid transparent;\\\\n border-right: 8px solid transparent;\\\\n content: \\\\'\\\\';\\\\n pointer-events: none; }\\\\n .header .header-button {\\\\n min-width: 125px;\\\\n padding: 0.5em 0em;\\\\n background: #181818;\\\\n color: #ffffff;\\\\n text-align: center;\\\\n cursor: pointer; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .header .header-button {\\\\n min-width: 110px; } }\\\\n .header .header-button-active {\\\\n color: #30A5FF; }\\\\n\\\\n.pane-container {\\\\n position: absolute;\\\\n width: 100%;\\\\n height: calc(100% - 60px); }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .pane-container {\\\\n height: calc(100% - 55px); } }\\\\n .pane-container .left-pane {\\\\n display: flex;\\\\n flex-flow: row nowrap;\\\\n align-items: stretch;\\\\n position: absolute;\\\\n bottom: 0px;\\\\n top: 0px;\\\\n width: 100%; }\\\\n .pane-container .left-pane .dreamview-body {\\\\n display: flex;\\\\n flex-flow: column nowrap;\\\\n flex: 1 1 auto;\\\\n overflow: hidden;\\\\n background-color: #1D2226; }\\\\n .pane-container .left-pane .dreamview-body .main-view {\\\\n flex: 0 0 auto;\\\\n position: relative;\\\\n min-width: 600px; }\\\\n .pane-container .left-pane .dreamview-body .main-view #camera-image {\\\\n width: 100%; }\\\\n .pane-container .right-pane {\\\\n position: absolute;\\\\n right: 0px;\\\\n width: 100%;\\\\n height: 100%;\\\\n overflow: hidden; }\\\\n .pane-container .right-pane ::-webkit-scrollbar {\\\\n width: 6px; }\\\\n .pane-container .SplitPane .Resizer {\\\\n background: #000000;\\\\n opacity: 0.2;\\\\n z-index: 1;\\\\n -moz-box-sizing: border-box;\\\\n -webkit-box-sizing: border-box;\\\\n box-sizing: border-box;\\\\n -moz-background-clip: padding;\\\\n -webkit-background-clip: padding;\\\\n background-clip: padding-box; }\\\\n .pane-container .SplitPane .Resizer:hover {\\\\n -webkit-transition: all 2s ease;\\\\n transition: all 2s ease; }\\\\n .pane-container .SplitPane .Resizer.vertical {\\\\n width: 11px;\\\\n margin: 0 -5px;\\\\n border-left: 5px solid rgba(255, 255, 255, 0);\\\\n border-right: 5px solid rgba(255, 255, 255, 0);\\\\n cursor: col-resize; }\\\\n .pane-container .SplitPane .Resizer.vertical:hover {\\\\n border-left: 5px solid rgba(0, 0, 0, 0.5);\\\\n border-right: 5px solid rgba(0, 0, 0, 0.5); }\\\\n .pane-container .SplitPane .Resizer.disabled {\\\\n cursor: auto; }\\\\n .pane-container .SplitPane .Resizer.disabled:hover {\\\\n border-color: transparent; }\\\\n\\\\n.offlineview {\\\\n display: flex;\\\\n flex-flow: column nowrap;\\\\n position: absolute;\\\\n width: 100%;\\\\n height: 100%; }\\\\n .offlineview .main-view {\\\\n flex: 0 0 auto;\\\\n position: relative; }\\\\n\\\\n/* This is the styles for the main canvas of the dreamview container.\\\\n It is applied to the major <div> of <Dreamview>. */\\\\n.dreamview-canvas {\\\\n z-index: 1;\\\\n position: absolute; }\\\\n .dreamview-canvas .geolocation {\\\\n z-index: 10;\\\\n position: absolute;\\\\n bottom: 10px;\\\\n right: 10px;\\\\n color: white; }\\\\n .dreamview-canvas .default-routing-input {\\\\n z-index: 10;\\\\n position: absolute;\\\\n top: 50%;\\\\n left: 50%;\\\\n transform: translate(-50%, -50%);\\\\n background: #1D2226;\\\\n padding: 5px; }\\\\n .dreamview-canvas .default-routing-input .name-label {\\\\n padding: 10px 0 10px 10px; }\\\\n .dreamview-canvas .default-routing-input .start-cycle-checkbox {\\\\n display: inline-block;\\\\n padding-left: 20px; }\\\\n .dreamview-canvas .default-routing-input .name-input {\\\\n margin: 10px;\\\\n min-height: 20px; }\\\\n .dreamview-canvas .default-routing-input .default-routing-input-btn {\\\\n display: flex;\\\\n justify-content: center;\\\\n align-items: center; }\\\\n .dreamview-canvas .default-routing-input .default-routing-input-btn .input-button {\\\\n min-width: 100px;\\\\n display: inline-block;\\\\n margin: 0 5px 5px 5px;\\\\n padding: 10px 10px;\\\\n border: 1px solid #383838;\\\\n background: #1D2226;\\\\n color: #FFFFFF;\\\\n vertical-align: middle;\\\\n text-align: center; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .dreamview-canvas .default-routing-input .default-routing-input-btn .input-button {\\\\n min-width: 125px; } }\\\\n .dreamview-canvas .default-routing-input .default-routing-input-btn .submit-button {\\\\n background: #000000; }\\\\n .dreamview-canvas .default-routing-input .default-routing-input-btn .input-button:active {\\\\n background: #383838; }\\\\n\\\\n.hidden {\\\\n display: none; }\\\\n\\\\n.tools {\\\\n display: flex;\\\\n flex-flow: row nowrap;\\\\n align-items: stretch;\\\\n flex: 1 1 auto;\\\\n overflow: hidden;\\\\n border-top: 1px solid #000000;\\\\n background: #000000; }\\\\n .tools .card {\\\\n flex: 1 1 auto;\\\\n margin-right: 1px;\\\\n padding: 15px 10px 25px 20px;\\\\n background: #1D2226; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .card {\\\\n padding: 12px 5px 15px 12px; } }\\\\n .tools .card .card-header {\\\\n width: 100%;\\\\n padding-bottom: 15px; }\\\\n .tools .card .card-header span {\\\\n width: 200px;\\\\n border-bottom: 1px solid #999999;\\\\n padding: 10px 10px 10px 0px;\\\\n font-size: 18px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .card .card-header span {\\\\n font-size: 16px; } }\\\\n .tools .card .card-header .card-header-btn {\\\\n border: none;\\\\n border-bottom: 1px solid #999999;\\\\n padding: 10px 0px 10px 0px;\\\\n margin-right: 10px;\\\\n background: #1D2226;\\\\n color: #FFFFFF;\\\\n text-align: left;\\\\n white-space: nowrap;\\\\n font-size: 18px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .card .card-header .card-header-btn {\\\\n font-size: 16px; } }\\\\n .tools .card .card-content-row {\\\\n display: flex;\\\\n flex-flow: row wrap;\\\\n align-content: flex-start;\\\\n overflow-x: hidden;\\\\n overflow-y: auto;\\\\n height: 85%; }\\\\n .tools .card .card-content-row .cycle-input {\\\\n display: flex;\\\\n margin-left: auto;\\\\n justify-content: flex-start;\\\\n justify-content: space-between;\\\\n padding: 0px;\\\\n border: none;\\\\n background: #1D2226; }\\\\n .tools .card .card-content-row .cycle-input .cycle-input-item {\\\\n margin: 10px; }\\\\n .tools .card .card-content-column {\\\\n display: flex;\\\\n flex-flow: column nowrap;\\\\n justify-content: flex-start;\\\\n overflow-x: hidden;\\\\n overflow-y: auto;\\\\n height: 89%; }\\\\n .tools .tool-view-menu {\\\\n display: flex;\\\\n flex-flow: row nowrap;\\\\n align-items: stretch;\\\\n flex: 2 1 auto;\\\\n z-index: 10 !important;\\\\n margin-left: 1px;\\\\n overflow-y: hidden;\\\\n overflow-x: auto;\\\\n background: #000000;\\\\n color: #FFFFFF;\\\\n text-align: left;\\\\n white-space: nowrap;\\\\n /* Radio button */ }\\\\n .tools .tool-view-menu .summary {\\\\n line-height: 50px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .tool-view-menu .summary {\\\\n line-height: 25px; } }\\\\n .tools .tool-view-menu .summary img {\\\\n position: relative;\\\\n width: 30px;\\\\n height: 30px;\\\\n transform: translate(-30%, 25%); }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .tool-view-menu .summary img {\\\\n width: 20px;\\\\n height: 20px;\\\\n transform: translate(-50%, 10%); } }\\\\n .tools .tool-view-menu .summary span {\\\\n padding-left: 10px; }\\\\n .tools .tool-view-menu input[type=\\\"radio\\\"] {\\\\n display: none; }\\\\n .tools .tool-view-menu .radio-selector-label {\\\\n display: inline-block;\\\\n position: relative;\\\\n transform: translate(10%, 30%);\\\\n box-sizing: border-box;\\\\n -webkit-box-sizing: border-box;\\\\n width: 25px;\\\\n height: 25px;\\\\n margin-right: 6px;\\\\n border-radius: 50%;\\\\n -webkit-border-radius: 50%;\\\\n background-color: #A0A0A0;\\\\n box-shadow: inset 1px 0 #A0A0A0;\\\\n border: 7px solid #3F4548; }\\\\n .tools .tool-view-menu input[type=\\\"radio\\\"]:checked + .radio-selector-label {\\\\n border: 7px solid #0E3D62;\\\\n background-color: #30A5FF; }\\\\n .tools .console {\\\\n z-index: 10;\\\\n position: relative;\\\\n min-width: 230px;\\\\n margin: 0px;\\\\n border: none;\\\\n padding: 0px;\\\\n overflow: hidden; }\\\\n .tools .console .monitor-item {\\\\n display: flex;\\\\n list-style-type: none;\\\\n flex-direction: row;\\\\n flex-wrap: nowrap;\\\\n justify-content: flex-start;\\\\n align-items: center;\\\\n border-top: 1px solid #333333;\\\\n padding: 10px;\\\\n cursor: default; }\\\\n .tools .console .monitor-item .icon {\\\\n position: relative;\\\\n height: 20px;\\\\n width: 20px;\\\\n padding-right: 5px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .console .monitor-item .icon {\\\\n height: 15px;\\\\n width: 15px; } }\\\\n .tools .console .monitor-item .text {\\\\n position: relative;\\\\n width: calc(100% - 82px);\\\\n padding-left: 5px;\\\\n line-height: 150%;\\\\n font-size: 14px;\\\\n word-wrap: break-word;\\\\n white-space: pre-wrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .console .monitor-item .text {\\\\n font-size: 12px; } }\\\\n .tools .console .monitor-item .time {\\\\n position: absolute;\\\\n right: 5px;\\\\n font-size: 12px; }\\\\n .tools .console .monitor-item .alert {\\\\n color: #D7466F; }\\\\n .tools .console .monitor-item .warn {\\\\n color: #A3842D; }\\\\n .tools .default-routing-button {\\\\n min-width: 360px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tools .default-routing-button {\\\\n min-width: 320px; } }\\\\n\\\\n.side-bar {\\\\n display: flex;\\\\n flex-direction: column;\\\\n flex: 0 0 auto;\\\\n z-index: 100;\\\\n background: #1D2226;\\\\n border-right: 1px solid #000000;\\\\n overflow-y: auto;\\\\n overflow-x: hidden; }\\\\n .side-bar .main-panel {\\\\n margin-bottom: auto; }\\\\n .side-bar .button {\\\\n display: block;\\\\n width: 90px;\\\\n border: none;\\\\n padding: 20px 10px;\\\\n text-align: center;\\\\n background: #1D2226;\\\\n color: #FFFFFF;\\\\n opacity: 0.6;\\\\n cursor: pointer; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .side-bar .button {\\\\n width: 80px;\\\\n padding-top: 10px; } }\\\\n .side-bar .button .icon {\\\\n width: 40px;\\\\n height: 40px;\\\\n margin: auto; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .side-bar .button .icon {\\\\n width: 30px;\\\\n height: 30px; } }\\\\n .side-bar .button .label {\\\\n padding-top: 10px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .side-bar .button .label {\\\\n padding-top: 4px; } }\\\\n .side-bar .button:first-child {\\\\n padding-top: 25px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .side-bar .button:first-child {\\\\n padding-top: 10px; } }\\\\n .side-bar .button:disabled {\\\\n color: #414141;\\\\n cursor: not-allowed; }\\\\n .side-bar .button:disabled .icon {\\\\n opacity: 0.2; }\\\\n .side-bar .button-active {\\\\n background: #2A3238;\\\\n opacity: 1;\\\\n color: #FFFFFF; }\\\\n .side-bar .sub-button {\\\\n display: block;\\\\n width: 90px;\\\\n height: 80px;\\\\n border: none;\\\\n padding: 10px;\\\\n text-align: center;\\\\n background: #3E4041;\\\\n color: #999999;\\\\n cursor: pointer; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .side-bar .sub-button {\\\\n width: 80px;\\\\n height: 60px; } }\\\\n .side-bar .sub-button:not(:last-child) {\\\\n border-bottom: 1px solid #1D2226; }\\\\n .side-bar .sub-button:disabled {\\\\n cursor: not-allowed;\\\\n opacity: 0.3; }\\\\n .side-bar .sub-button-active {\\\\n background: #30A5FF;\\\\n color: #FFFFFF; }\\\\n\\\\n.status-bar {\\\\n z-index: 10;\\\\n position: absolute;\\\\n top: 0;\\\\n left: 0;\\\\n width: 100%; }\\\\n .status-bar .rss {\\\\n flex: 1 1 auto;\\\\n position: absolute;\\\\n width: 240px;\\\\n height: 270px;\\\\n top: 10px;\\\\n right: 250px;\\\\n background: rgba(0, 0, 0, 0.8); }\\\\n .status-bar .rss .rss-header {\\\\n width: 100%;\\\\n text-align: center;\\\\n font-size: 15px; }\\\\n .status-bar .rss .rss-header div {\\\\n padding: 5px 0 5px 0; }\\\\n .status-bar .rss .rss-content-column {\\\\n flex-flow: column nowrap;\\\\n overflow-x: hidden;\\\\n overflow-y: auto;\\\\n height: 89%; }\\\\n .status-bar .rss .rss-console {\\\\n z-index: 10;\\\\n position: relative;\\\\n min-width: 230px;\\\\n margin: 0px;\\\\n border: none;\\\\n padding: 0px;\\\\n overflow: hidden;\\\\n white-space: pre-wrap; }\\\\n .status-bar .rss .rss-console .monitor-item {\\\\n display: flex;\\\\n list-style-type: none;\\\\n flex-direction: row;\\\\n flex-wrap: nowrap;\\\\n justify-content: flex-start;\\\\n align-items: center;\\\\n border-top: 1px solid #333333;\\\\n padding: 10px;\\\\n cursor: default; }\\\\n .status-bar .rss .rss-console .monitor-item .icon {\\\\n position: relative;\\\\n height: 20px;\\\\n width: 20px;\\\\n padding-right: 5px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .status-bar .rss .rss-console .monitor-item .icon {\\\\n height: 15px;\\\\n width: 15px; } }\\\\n .status-bar .rss .rss-console .monitor-item .text {\\\\n position: relative;\\\\n width: calc(100% - 80px);\\\\n padding-left: 5px;\\\\n line-height: 150%;\\\\n font-size: 14px;\\\\n word-wrap: break-word;\\\\n white-space: pre-wrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .status-bar .rss .rss-console .monitor-item .text {\\\\n font-size: 12px; } }\\\\n .status-bar .rss .rss-console .monitor-item .time {\\\\n position: absolute;\\\\n right: 5px;\\\\n font-size: 12px; }\\\\n .status-bar .rss .rss-console .monitor-item .alert {\\\\n color: #D7466F; }\\\\n .status-bar .rss .rss-console .monitor-item .warn {\\\\n color: #A3842D; }\\\\n .status-bar .battery-and-gears {\\\\n position: absolute;\\\\n width: 224px;\\\\n height: 35px;\\\\n right: 20px;\\\\n background: rgba(0, 0, 0, 0.8);\\\\n font-size: 14px; }\\\\n .status-bar .battery-and-gears .left-div {\\\\n position: absolute;\\\\n width: 116px;\\\\n height: 35px; }\\\\n .status-bar .battery-and-gears .right-div {\\\\n position: absolute;\\\\n top: 0px;\\\\n right: 0px;\\\\n width: 105px;\\\\n height: 35px; }\\\\n .status-bar .battery-and-gears .text {\\\\n position: absolute;\\\\n top: 50%;\\\\n left: 50%;\\\\n float: right;\\\\n transform: translate(-50%, -50%);\\\\n text-align: center;\\\\n font-size: 14px;\\\\n color: #FFFFFF; }\\\\n .status-bar .electricity-status {\\\\n top: 287px;\\\\n background: rgba(0, 0, 0, 0.5); }\\\\n .status-bar .auto-meter {\\\\n position: absolute;\\\\n width: 224px;\\\\n height: 112px;\\\\n top: 10px;\\\\n right: 20px;\\\\n background: rgba(0, 0, 0, 0.8); }\\\\n .status-bar .auto-meter .speed-read {\\\\n position: absolute;\\\\n top: 27px;\\\\n left: 15px;\\\\n font-family: Arial;\\\\n font-weight: lighter;\\\\n font-size: 35px;\\\\n color: #ffffff;\\\\n cursor: pointer; }\\\\n .status-bar .auto-meter .speed-unit {\\\\n position: absolute;\\\\n top: 66px;\\\\n left: 17px;\\\\n color: #ffffff;\\\\n font-size: 15px;\\\\n cursor: pointer; }\\\\n .status-bar .auto-meter .brake-panel {\\\\n position: absolute;\\\\n top: 21px;\\\\n right: 2px; }\\\\n .status-bar .auto-meter .throttle-panel {\\\\n position: absolute;\\\\n top: 61px;\\\\n right: 2px; }\\\\n .status-bar .auto-meter .meter-container .meter-label {\\\\n font-size: 13px;\\\\n color: #ffffff; }\\\\n .status-bar .auto-meter .meter-container .meter-label .meter-value {\\\\n position: absolute;\\\\n top: 2px;\\\\n right: 10px;\\\\n font-size: 10px; }\\\\n .status-bar .auto-meter .meter-container .meter-head {\\\\n display: inline-block;\\\\n position: absolute;\\\\n margin: 5px 0px 0px 0px;\\\\n border-width: 4px;\\\\n border-style: solid; }\\\\n .status-bar .auto-meter .meter-container .meter-background {\\\\n position: relative;\\\\n display: block;\\\\n height: 2px;\\\\n width: 120px;\\\\n margin: 8px; }\\\\n .status-bar .auto-meter .meter-container .meter-background span {\\\\n position: relative;\\\\n overflow: hidden;\\\\n display: block;\\\\n height: 100%; }\\\\n .status-bar .wheel-panel {\\\\n display: flex;\\\\n flex-direction: row;\\\\n justify-content: left;\\\\n align-items: center;\\\\n position: absolute;\\\\n top: 128px;\\\\n right: 20px;\\\\n width: 187px;\\\\n height: 92px;\\\\n padding: 10px 22px 10px 15px;\\\\n background: rgba(0, 0, 0, 0.8); }\\\\n .status-bar .wheel-panel .steerangle-read {\\\\n font-family: Arial;\\\\n font-weight: lighter;\\\\n font-size: 35px;\\\\n color: #ffffff; }\\\\n .status-bar .wheel-panel .steerangle-unit {\\\\n padding: 20px 10px 0px 3px;\\\\n color: #ffffff;\\\\n font-size: 13px; }\\\\n .status-bar .wheel-panel .left-arrow {\\\\n position: absolute;\\\\n top: 45px;\\\\n right: 115px;\\\\n width: 0px;\\\\n height: 0px;\\\\n border-style: solid;\\\\n border-width: 12px 15px 12px 0px;\\\\n border-color: transparent #30435e transparent transparent; }\\\\n .status-bar .wheel-panel .right-arrow {\\\\n position: absolute;\\\\n top: 45px;\\\\n right: 15px;\\\\n width: 0px;\\\\n height: 0px;\\\\n border-style: solid;\\\\n border-width: 12px 0px 12px 15px;\\\\n border-color: transparent transparent transparent #30435e; }\\\\n .status-bar .wheel-panel .blink-left {\\\\n animation: left 0.5s linear infinite alternate;\\\\n animation-play-state: running; }\\\\n\\\\n@keyframes left {\\\\n from {\\\\n border-right-color: #006AFF; }\\\\n to {\\\\n border-right-color: #30435E; } }\\\\n .status-bar .wheel-panel .blink-right {\\\\n animation: right 0.5s linear infinite alternate;\\\\n animation-play-state: running; }\\\\n\\\\n@keyframes right {\\\\n from {\\\\n border-left-color: #006AFF; }\\\\n to {\\\\n border-left-color: #30435E; } }\\\\n .status-bar .wheel-panel .wheel {\\\\n position: absolute;\\\\n top: 15px;\\\\n right: 33px; }\\\\n .status-bar .wheel-panel .wheel-background {\\\\n stroke-width: 3px;\\\\n stroke: #006AFF; }\\\\n .status-bar .wheel-panel .wheel-arm {\\\\n stroke-width: 3px;\\\\n stroke: #006AFF;\\\\n fill: #006AFF; }\\\\n .status-bar .traffic-light-and-driving-mode {\\\\n position: absolute;\\\\n top: 246px;\\\\n right: 20px;\\\\n width: 224px;\\\\n height: 35px;\\\\n font-size: 14px; }\\\\n .status-bar .traffic-light-and-driving-mode .traffic-light {\\\\n position: absolute;\\\\n width: 116px;\\\\n height: 35px;\\\\n background: rgba(0, 0, 0, 0.8); }\\\\n .status-bar .traffic-light-and-driving-mode .traffic-light .symbol {\\\\n position: relative;\\\\n top: 4px;\\\\n left: 4px;\\\\n width: 28px;\\\\n height: 28px; }\\\\n .status-bar .traffic-light-and-driving-mode .traffic-light .text {\\\\n position: absolute;\\\\n top: 10px;\\\\n right: 8px;\\\\n font-size: 14px;\\\\n color: #FFFFFF; }\\\\n .status-bar .traffic-light-and-driving-mode .driving-mode {\\\\n position: absolute;\\\\n top: 0px;\\\\n right: 0px;\\\\n width: 105px;\\\\n height: 35px; }\\\\n .status-bar .traffic-light-and-driving-mode .driving-mode .text {\\\\n position: absolute;\\\\n top: 50%;\\\\n left: 50%;\\\\n float: right;\\\\n transform: translate(-50%, -50%);\\\\n text-align: center;\\\\n font-size: 14px; }\\\\n .status-bar .traffic-light-and-driving-mode .auto-mode {\\\\n background: linear-gradient(to right, rgba(17, 30, 48, 0.8), rgba(7, 42, 94, 0.8));\\\\n border-right: 1px solid #006AFF;\\\\n color: #006AFF; }\\\\n .status-bar .traffic-light-and-driving-mode .manual-mode {\\\\n background: linear-gradient(to right, rgba(30, 17, 17, 0.8), rgba(71, 36, 36, 0.8));\\\\n color: #B43131;\\\\n border-right: 1px solid #B43131; }\\\\n .status-bar .notification-warn {\\\\n position: absolute;\\\\n top: 10px;\\\\n right: 260px;\\\\n width: 260px;\\\\n display: flex;\\\\n list-style-type: none;\\\\n flex-direction: row;\\\\n flex-wrap: nowrap;\\\\n justify-content: flex-start;\\\\n align-items: center;\\\\n border-top: 1px solid #333333;\\\\n padding: 10px;\\\\n cursor: default;\\\\n border: 1px solid #A3842D;\\\\n background-color: rgba(52, 39, 5, 0.3); }\\\\n .status-bar .notification-warn .icon {\\\\n position: relative;\\\\n height: 20px;\\\\n width: 20px;\\\\n padding-right: 5px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .status-bar .notification-warn .icon {\\\\n height: 15px;\\\\n width: 15px; } }\\\\n .status-bar .notification-warn .text {\\\\n position: relative;\\\\n width: calc(100% - 17px);\\\\n padding-left: 5px;\\\\n line-height: 150%;\\\\n font-size: 14px;\\\\n word-wrap: break-word;\\\\n white-space: pre-wrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .status-bar .notification-warn .text {\\\\n font-size: 12px; } }\\\\n .status-bar .notification-warn .time {\\\\n position: absolute;\\\\n right: 5px;\\\\n font-size: 12px; }\\\\n .status-bar .notification-warn .alert {\\\\n color: #D7466F; }\\\\n .status-bar .notification-warn .warn {\\\\n color: #A3842D; }\\\\n .status-bar .notification-alert {\\\\n position: absolute;\\\\n top: 10px;\\\\n right: 260px;\\\\n width: 260px;\\\\n display: flex;\\\\n list-style-type: none;\\\\n flex-direction: row;\\\\n flex-wrap: nowrap;\\\\n justify-content: flex-start;\\\\n align-items: center;\\\\n border-top: 1px solid #333333;\\\\n padding: 10px;\\\\n cursor: default;\\\\n border: 1px solid #D7466F;\\\\n background-color: rgba(74, 5, 24, 0.3); }\\\\n .status-bar .notification-alert .icon {\\\\n position: relative;\\\\n height: 20px;\\\\n width: 20px;\\\\n padding-right: 5px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .status-bar .notification-alert .icon {\\\\n height: 15px;\\\\n width: 15px; } }\\\\n .status-bar .notification-alert .text {\\\\n position: relative;\\\\n width: calc(100% - 17px);\\\\n padding-left: 5px;\\\\n line-height: 150%;\\\\n font-size: 14px;\\\\n word-wrap: break-word;\\\\n white-space: pre-wrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .status-bar .notification-alert .text {\\\\n font-size: 12px; } }\\\\n .status-bar .notification-alert .time {\\\\n position: absolute;\\\\n right: 5px;\\\\n font-size: 12px; }\\\\n .status-bar .notification-alert .alert {\\\\n color: #D7466F; }\\\\n .status-bar .notification-alert .warn {\\\\n color: #A3842D; }\\\\n\\\\n.tasks {\\\\n display: flex;\\\\n flex-flow: row nowrap;\\\\n align-items: stretch;\\\\n flex: 1 1 auto;\\\\n z-index: 10;\\\\n overflow-x: auto;\\\\n overflow-y: hidden; }\\\\n .tasks .command-group {\\\\n display: flex;\\\\n flex-flow: row nowrap;\\\\n justify-content: flex-start;\\\\n flex: 1 1 0;\\\\n min-height: 45px;\\\\n min-width: 130px; }\\\\n .tasks .command-group .name {\\\\n width: 40px;\\\\n padding: 15px; }\\\\n .tasks .start-auto-command {\\\\n flex: 2 2 0; }\\\\n .tasks .start-auto-command .start-auto-button {\\\\n max-height: unset; }\\\\n .tasks .others {\\\\n min-width: 245px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tasks .others {\\\\n min-width: 225px; } }\\\\n .tasks .others .others-checkbox {\\\\n margin-left: 10px; }\\\\n .tasks .delay {\\\\n min-width: 260px;\\\\n line-height: 26px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .tasks .delay {\\\\n min-width: 230px; } }\\\\n .tasks .delay .delay-item {\\\\n position: relative;\\\\n margin: 0px 10px; }\\\\n .tasks .delay .delay-item .name {\\\\n display: inline-block;\\\\n min-width: 140px;\\\\n color: #1C9063; }\\\\n .tasks .delay .delay-item .value {\\\\n display: inline-block;\\\\n position: absolute;\\\\n right: 0px;\\\\n min-width: 70px;\\\\n text-align: right; }\\\\n .tasks .delay .delay-item .warning {\\\\n color: #b43131; }\\\\n .tasks .camera {\\\\n min-width: 265px; }\\\\n .tasks .disabled {\\\\n cursor: not-allowed; }\\\\n\\\\n.module-controller {\\\\n display: flex;\\\\n flex-flow: row nowrap;\\\\n align-items: stretch;\\\\n flex: 1 1 auto;\\\\n z-index: 10;\\\\n overflow: hidden; }\\\\n .module-controller .controller {\\\\n min-width: 180px; }\\\\n .module-controller .modules-container {\\\\n flex-flow: column wrap; }\\\\n .module-controller .status-display {\\\\n display: flex;\\\\n flex-wrap: nowrap;\\\\n justify-content: space-around;\\\\n min-width: 250px;\\\\n padding: 5px 20px 5px 5px; }\\\\n .module-controller .status-display:hover {\\\\n background: #2A3238; }\\\\n .module-controller .status-display .name {\\\\n padding: 10px;\\\\n min-width: 80px; }\\\\n .module-controller .status-display .status {\\\\n position: relative;\\\\n width: 130px;\\\\n padding: 10px;\\\\n background: #000000;\\\\n white-space: nowrap; }\\\\n .module-controller .status-display .status .status-icon {\\\\n position: absolute;\\\\n right: 10px;\\\\n width: 15px;\\\\n height: 15px;\\\\n background-color: #B43131; }\\\\n\\\\n.route-editing-bar {\\\\n z-index: 10;\\\\n position: absolute;\\\\n top: 0px;\\\\n left: 0px;\\\\n right: 0px;\\\\n min-height: 90px;\\\\n border-bottom: 3px solid #000000;\\\\n padding-left: 10px;\\\\n background: #1D2226; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .route-editing-bar {\\\\n min-height: 60px; } }\\\\n .route-editing-bar .editing-panel {\\\\n display: flex;\\\\n justify-content: center;\\\\n align-items: center;\\\\n overflow: hidden;\\\\n white-space: nowrap; }\\\\n .route-editing-bar .editing-panel .button {\\\\n height: 90px;\\\\n border: none;\\\\n padding: 10px 15px;\\\\n background: #1D2226;\\\\n outline: none;\\\\n color: #999999; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .route-editing-bar .editing-panel .button {\\\\n height: 60px;\\\\n padding: 5px 10px; } }\\\\n .route-editing-bar .editing-panel .button img {\\\\n display: block;\\\\n top: 23px;\\\\n margin: 15px auto; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .route-editing-bar .editing-panel .button img {\\\\n top: 13px;\\\\n margin: 7px auto; } }\\\\n .route-editing-bar .editing-panel .button span {\\\\n font-family: PingFangSC-Light;\\\\n color: #D8D8D8;\\\\n text-align: center; }\\\\n .route-editing-bar .editing-panel .button:hover {\\\\n background: #2A3238; }\\\\n .route-editing-bar .editing-panel .active {\\\\n color: #FFFFFF;\\\\n background: #2A3238; }\\\\n .route-editing-bar .editing-panel .editing-tip {\\\\n height: 90px;\\\\n width: 90px;\\\\n margin-left: auto;\\\\n border: none;\\\\n color: #D8D8D8; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .route-editing-bar .editing-panel .editing-tip {\\\\n height: 60px;\\\\n width: 60px; } }\\\\n .route-editing-bar .editing-panel .editing-tip .tip-popup {\\\\n position: absolute;\\\\n top: 120%;\\\\n right: 15px;\\\\n width: 400px;\\\\n border-radius: 3px;\\\\n padding: 20px;\\\\n background-color: #FFFFFF;\\\\n color: #555555;\\\\n text-align: left;\\\\n white-space: pre-wrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .route-editing-bar .editing-panel .editing-tip .tip-popup {\\\\n right: 5px; } }\\\\n .route-editing-bar .editing-panel .editing-tip .tip-popup .title {\\\\n padding-bottom: 10px;\\\\n font-size: 16px;\\\\n font-weight: bold; }\\\\n .route-editing-bar .editing-panel .editing-tip .tip-popup table {\\\\n border-collapse: collapse; }\\\\n .route-editing-bar .editing-panel .editing-tip .tip-popup table th, .route-editing-bar .editing-panel .editing-tip .tip-popup table td {\\\\n border: 1px solid #D9D9D9;\\\\n padding: 10px; }\\\\n .route-editing-bar .editing-panel .editing-tip .tip-popup table th {\\\\n text-align: center; }\\\\n\\\\n.data-recorder {\\\\n z-index: 10;\\\\n padding-left: 5px; }\\\\n .data-recorder .react-tabs {\\\\n height: 100%; }\\\\n .data-recorder .react-tabs__tab-panel {\\\\n box-sizing: border-box;\\\\n height: 100%;\\\\n padding: 10px 0px 5px 0px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .data-recorder .react-tabs__tab-panel {\\\\n padding: 5px 0px 0px 0px; } }\\\\n .data-recorder .react-tabs ul.react-tabs__tab-list {\\\\n width: unset; }\\\\n .data-recorder .react-tabs li.react-tabs__tab {\\\\n border-bottom: 1px solid #999999;\\\\n padding: 10px 35px; }\\\\n .data-recorder .react-tabs li.react-tabs__tab--selected {\\\\n border-bottom: 1px solid #FFFFFF; }\\\\n .data-recorder table {\\\\n width: 100%;\\\\n height: 100%;\\\\n min-width: 860px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .data-recorder table {\\\\n min-width: 550px; } }\\\\n .data-recorder table tr, .data-recorder table td {\\\\n border: 2px solid #1D2226; }\\\\n .data-recorder table td:first-child {\\\\n width: 110px;\\\\n border: none;\\\\n padding-left: 15px;\\\\n box-sizing: border-box;\\\\n white-space: nowrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .data-recorder table td:first-child {\\\\n width: 75px; } }\\\\n .data-recorder table .drive-event-row .event-time {\\\\n position: relative;\\\\n padding: 10px 5px 10px 10px;\\\\n background: #101315;\\\\n white-space: nowrap; }\\\\n .data-recorder table .drive-event-row .event-time .timestamp-button {\\\\n position: relative;\\\\n top: 0px;\\\\n right: 0px;\\\\n padding: 5px 20px;\\\\n border: 5px solid #101315;\\\\n margin-left: 10px;\\\\n background: #006AFF;\\\\n color: #FFFFFF; }\\\\n .data-recorder table .drive-event-row .event-time .timestamp-button:hover {\\\\n background: #49a9ee; }\\\\n .data-recorder table .drive-event-msg-row {\\\\n width: 70%;\\\\n height: 70%; }\\\\n .data-recorder table .drive-event-msg-row textarea, .data-recorder table .drive-event-msg-row input {\\\\n height: 100%;\\\\n width: 100%;\\\\n max-width: 500px;\\\\n color: #FFFFFF;\\\\n border: 1px solid #383838;\\\\n background: #101315;\\\\n resize: none; }\\\\n .data-recorder table .drive-event-msg-row input {\\\\n padding: 7px; }\\\\n .data-recorder table .drive-event-type-button, .data-recorder table .cancel-button, .data-recorder table .submit-button, .data-recorder table .submit-button:active {\\\\n min-width: 135px;\\\\n margin-right: 5px;\\\\n padding: 10px 35px;\\\\n border: 1px solid #383838;\\\\n background: #1D2226;\\\\n color: #FFFFFF;\\\\n cursor: pointer; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .data-recorder table .drive-event-type-button, .data-recorder table .cancel-button, .data-recorder table .submit-button, .data-recorder table .submit-button:active {\\\\n min-width: 125px; } }\\\\n .data-recorder table .drive-event-type-button {\\\\n background: #181818;\\\\n padding: 10px 25px; }\\\\n .data-recorder table .drive-event-type-button-active {\\\\n color: #30A5FF; }\\\\n .data-recorder table .submit-button {\\\\n background: #000000; }\\\\n .data-recorder table .submit-button:active {\\\\n background: #383838; }\\\\n .data-recorder table .multiple-items {\\\\n display: flex;\\\\n justify-content: flex-start;\\\\n justify-content: space-between;\\\\n padding: 0px;\\\\n border: none;\\\\n background: #1D2226; }\\\\n\\\\n.loader {\\\\n flex: 0 0 auto;\\\\n position: relative;\\\\n width: 100%;\\\\n height: 100%;\\\\n background-color: #000C17; }\\\\n .loader .img-container {\\\\n position: relative;\\\\n top: 55%;\\\\n left: 50%;\\\\n width: 40%;\\\\n transform: translate(-50%, -50%); }\\\\n .loader .img-container img {\\\\n width: 100%;\\\\n height: auto; }\\\\n .loader .img-container .status-message {\\\\n margin-top: 10px;\\\\n font-size: 18px;\\\\n /* fallback */\\\\n font-size: 1.7vw;\\\\n color: #FFFFFF;\\\\n text-align: center;\\\\n animation-name: flash;\\\\n animation-duration: 2s;\\\\n animation-timing-function: linear;\\\\n animation-iteration-count: infinite;\\\\n animation-direction: alternate;\\\\n animation-play-state: running; }\\\\n\\\\n@keyframes flash {\\\\n from {\\\\n color: #FFFFFF; }\\\\n to {\\\\n color: #000C17; } }\\\\n .loader .offline-loader {\\\\n width: 60%;\\\\n max-width: 650px; }\\\\n .loader .offline-loader .status-message {\\\\n position: relative;\\\\n top: -70px;\\\\n /* fallback */\\\\n top: -4.5vw;\\\\n font-size: 3vw; }\\\\n .loader .offline-loader .error-message {\\\\n position: relative;\\\\n top: -2vw;\\\\n font-size: 1.5vw;\\\\n color: #B43131;\\\\n white-space: nowrap;\\\\n text-align: center; }\\\\n\\\\n.camera-video {\\\\n text-align: center; }\\\\n .camera-video img {\\\\n width: auto;\\\\n height: auto;\\\\n max-width: 100%;\\\\n max-height: 100%; }\\\\n\\\\n.dashcam-player {\\\\n z-index: 1;\\\\n position: absolute;\\\\n top: 0px;\\\\n left: 0px;\\\\n color: white; }\\\\n .dashcam-player video {\\\\n max-width: 380px;\\\\n max-height: 300px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .dashcam-player video {\\\\n max-width: 300px;\\\\n max-height: 200px; } }\\\\n .dashcam-player .controls {\\\\n display: flex;\\\\n justify-content: flex-end;\\\\n z-index: 10;\\\\n position: absolute;\\\\n right: 0px; }\\\\n .dashcam-player .controls button {\\\\n width: 27px;\\\\n height: 27px;\\\\n border: none;\\\\n background-color: #000000;\\\\n opacity: 0.6;\\\\n color: #FFFFFF; }\\\\n .dashcam-player .controls button img {\\\\n width: 15px; }\\\\n .dashcam-player .controls button:hover {\\\\n opacity: 0.9; }\\\\n .dashcam-player .controls .close {\\\\n font-size: 20px; }\\\\n .dashcam-player .controls .syncup {\\\\n padding-top: 0.5em; }\\\\n\\\\n.navigation-view {\\\\n z-index: 20;\\\\n position: relative; }\\\\n .navigation-view #map_canvas {\\\\n width: 100%;\\\\n height: 100%;\\\\n background: rgba(0, 0, 0, 0.8); }\\\\n .navigation-view .window-resize-control {\\\\n position: absolute;\\\\n bottom: 0px;\\\\n right: 0px;\\\\n width: 30px;\\\\n height: 30px;\\\\n cursor: pointer; }\\\\n\\\\n.notification-alert-center {\\\\n z-index: 10;\\\\n position: absolute;\\\\n max-width: 50%;\\\\n top: 50%;\\\\n left: 50%;\\\\n transform: translate(-50%, -50%);\\\\n border: 1px solid #B96E76;\\\\n padding: 7px 10px;\\\\n background-color: rgba(74, 5, 24, 0.5);\\\\n animation: blinker 1.5s linear infinite alternate;\\\\n animation-play-state: running; }\\\\n .notification-alert-center .icon {\\\\n position: relative;\\\\n height: 20px;\\\\n width: 20px;\\\\n padding-right: 5px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .notification-alert-center .icon {\\\\n height: 15px;\\\\n width: 15px; } }\\\\n .notification-alert-center .text {\\\\n position: relative;\\\\n padding-left: 5px;\\\\n color: #b95c76;\\\\n line-height: 150%;\\\\n font-size: 22px;\\\\n word-wrap: break-word;\\\\n white-space: pre-wrap; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .notification-alert-center .text {\\\\n font-size: 18px; } }\\\\n\\\\n@keyframes blinker {\\\\n 50% {\\\\n opacity: 0; } }\\\\n\\\\n.custom-react-tab .react-tabs:not(:last-child), .pane-container .right-pane .react-tabs .react-tabs:not(:last-child), .data-recorder .react-tabs .react-tabs:not(:last-child) {\\\\n border-bottom: 2px solid #000000; }\\\\n\\\\n.custom-react-tab .react-tabs__tab-list, .pane-container .right-pane .react-tabs .react-tabs__tab-list, .data-recorder .react-tabs .react-tabs__tab-list {\\\\n display: table;\\\\n width: 100%;\\\\n margin: 0px;\\\\n border-bottom: 1px solid #000000;\\\\n padding: 0; }\\\\n\\\\n.custom-react-tab .react-tabs__tab, .pane-container .right-pane .react-tabs .react-tabs__tab, .data-recorder .react-tabs .react-tabs__tab {\\\\n display: table-cell;\\\\n position: relative;\\\\n border: 1px solid transparent;\\\\n border-bottom: none;\\\\n padding: 6px 12px;\\\\n background: #1D2226;\\\\n color: #999999;\\\\n list-style: none;\\\\n cursor: pointer;\\\\n font-size: 18px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .custom-react-tab .react-tabs__tab, .pane-container .right-pane .react-tabs .react-tabs__tab, .data-recorder .react-tabs .react-tabs__tab {\\\\n font-size: 16px; } }\\\\n .custom-react-tab .react-tabs__tab--selected, .pane-container .right-pane .react-tabs .react-tabs__tab--selected, .data-recorder .react-tabs .react-tabs__tab--selected {\\\\n background: #2A3238;\\\\n color: #FFFFFF; }\\\\n .custom-react-tab .react-tabs__tab span, .pane-container .right-pane .react-tabs .react-tabs__tab span, .data-recorder .react-tabs .react-tabs__tab span {\\\\n color: #FFFFFF; }\\\\n\\\\n.custom-react-tab .react-tabs__tab-panel, .pane-container 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flex;\\\\n width: 100%;\\\\n flex-flow: row nowrap;\\\\n justify-content: flex-start;\\\\n align-items: center; }\\\\n .sensor-configuration-table .sensor-configuration-translation .sensor-configuration-xyz {\\\\n flex: 1;\\\\n padding: 5px 15px 0 0; }\\\\n\\\\n.preprocess-bar {\\\\n clear: left; }\\\\n .preprocess-bar .preprocess-btn {\\\\n min-width: 40px;\\\\n margin-right: 5px;\\\\n padding: 10px 10px;\\\\n border: 1px solid #383838;\\\\n background: #1D2226;\\\\n color: #FFFFFF;\\\\n cursor: pointer; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .preprocess-bar .preprocess-btn {\\\\n min-width: 40px; } }\\\\n .preprocess-bar .button-active {\\\\n color: #30A5FF; }\\\\n\\\\n.preprocess-console {\\\\n z-index: 10;\\\\n position: relative;\\\\n min-width: 230px;\\\\n margin: 0px;\\\\n border: none;\\\\n padding: 0px;\\\\n overflow: hidden; }\\\\n .preprocess-console .monitor-item {\\\\n display: flex;\\\\n list-style-type: none;\\\\n flex-direction: row;\\\\n 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t}));return/^(#|data:|http:\\\\/\\\\/|https:\\\\/\\\\/|file:\\\\/\\\\/\\\\/)/i.test(o)?e:(r=0===o.indexOf(\\\"//\\\")?o:0===o.indexOf(\\\"/\\\")?n+o:i+o.replace(/^\\\\.\\\\//,\\\"\\\"),\\\"url(\\\"+JSON.stringify(r)+\\\")\\\")}))}},function(e,t,n){n(193);var i=n(10).Object;e.exports=function(e,t,n){return i.defineProperty(e,t,n)}},function(e,t,n){var i=n(14);i(i.S+i.F*!n(22),\\\"Object\\\",{defineProperty:n(24).f})},function(e,t,n){n(195);var i=n(10).Object;e.exports=function(e,t){return i.getOwnPropertyDescriptor(e,t)}},function(e,t,n){var i=n(33),r=n(81).f;n(65)(\\\"getOwnPropertyDescriptor\\\",(function(){return function(e,t){return r(i(e),t)}}))},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i,r,o,a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w,M,S,E,T,C,O,P,k,A=V(n(15)),R=V(n(16)),L=V(n(82)),I=V(n(21)),D=V(n(28)),N=V(n(1)),F=V(n(2)),z=V(n(55)),B=n(9),j=V(n(8)),U=V(n(18)),W=V(n(72)),G=V(n(34));function V(e){return e&&e.__esModule?e:{default:e}}function H(e,t,n,i){n&&(0,A.default)(e,t,{enumerable:n.enumerable,configurable:n.configurable,writable:n.writable,value:n.initializer?n.initializer.call(i):void 0})}function Y(e,t,n,i,r){var o={};return Object.keys(i).forEach((function(e){o[e]=i[e]})),o.enumerable=!!o.enumerable,o.configurable=!!o.configurable,(\\\"value\\\"in o||o.initializer)&&(o.writable=!0),o=n.slice().reverse().reduce((function(n,i){return i(e,t,n)||n}),o),r&&void 0!==o.initializer&&(o.value=o.initializer?o.initializer.call(r):void 0,o.initializer=void 0),void 0===o.initializer&&(Object.defineProperty(e,t,o),o=null),o}var q=(0,z.default)({CAR:\\\"Car Teleop\\\",CONSOLE:\\\"Console Teleop\\\"}),X=(i=function(){function e(){(0,N.default)(this,e),this.modes=[],H(this,\\\"currentMode\\\",r,this),this.vehicles=[],H(this,\\\"currentVehicle\\\",o,this),this.defaultVehicleSize={height:1.48,width:2.11,length:4.933},this.vehicleParam={frontEdgeToCenter:3.89,backEdgeToCenter:1.043,leftEdgeToCenter:1.055,rightEdgeToCenter:1.055,height:1.48,width:2.11,length:4.933,steerRatio:16,wheelBase:2.8448},this.maps=[],H(this,\\\"currentMap\\\",a,this),H(this,\\\"moduleStatus\\\",s,this),H(this,\\\"componentStatus\\\",l,this),H(this,\\\"otherComponentStatus\\\",u,this),H(this,\\\"enableStartAuto\\\",c,this),H(this,\\\"dockerImage\\\",d,this),H(this,\\\"isCoDriver\\\",h,this),H(this,\\\"isMute\\\",p,this),H(this,\\\"isPreprocess\\\",f,this),this.displayName={},this.utmZoneId=10,H(this,\\\"isVehicleCalibrationMode\\\",m,this),H(this,\\\"isSensorCalibrationMode\\\",g,this),H(this,\\\"dataCollectionUpdateStatus\\\",v,this),H(this,\\\"dataCollectionProgress\\\",y,this),H(this,\\\"lidars\\\",b,this),H(this,\\\"camera\\\",x,this),H(this,\\\"mainSensor\\\",_,this),H(this,\\\"updateConfiguration\\\",w,this),H(this,\\\"preprocessStarted\\\",M,this),H(this,\\\"preprocessFinished\\\",S,this),H(this,\\\"unexpectedAborted\\\",E,this),H(this,\\\"preprocessStatus\\\",T,this),H(this,\\\"logString\\\",C,this),H(this,\\\"preprocessProgress\\\",O,this),H(this,\\\"preprocessMonitorItemTimeStamp\\\",P,this),H(this,\\\"counter\\\",k,this)}return(0,F.default)(e,[{key:\\\"toggleCoDriverFlag\\\",value:function(){this.isCoDriver=!this.isCoDriver}},{key:\\\"toggleMuteFlag\\\",value:function(){this.isMute=!this.isMute,W.default.setMute(this.isMute)}},{key:\\\"updateStatus\\\",value:function(e){if(e.dockerImage&&(this.dockerImage=e.dockerImage),e.utmZoneId&&(this.utmZoneId=e.utmZoneId),e.modes&&(this.modes=e.modes.sort()),e.currentMode&&(this.isVehicleCalibrationMode=e.currentMode.toLowerCase().includes(\\\"vehicle calibration\\\"),this.isSensorCalibrationMode=e.currentMode.toLowerCase().includes(\\\"sensor calibration\\\"),this.currentMode!==e.currentMode&&(this.resetDataCollectionProgress(),this.resetSensorCalibrationConfiguration(),this.resetPreprocessProgress(),this.currentMode=e.currentMode,this.isSensorCalibrationMode&&(this.updateConfiguration=!0))),e.maps&&(this.maps=e.maps.sort()),e.currentMap&&(this.currentMap=e.currentMap),e.vehicles&&(this.vehicles=e.vehicles.sort()),e.currentVehicle&&(this.isVehicleCalibrationMode&&this.currentVehicle!==e.currentVehicle&&(this.resetDataCollectionProgress(),this.resetPreprocessProgress()),this.isSensorCalibrationMode&&this.currentVehicle!==e.currentVehicle&&(this.updateConfiguration=!0,this.resetSensorCalibrationConfiguration(),this.resetPreprocessProgress()),this.currentVehicle=e.currentVehicle),e.modules){var t=(0,D.default)((0,I.default)(e.modules).sort()),n=(0,D.default)(this.moduleStatus.keys().sort());for(var i in t!==n&&this.moduleStatus.clear(),e.modules)this.moduleStatus.set(i,e.modules[i])}if(e.monitoredComponents){var r=(0,D.default)((0,I.default)(e.monitoredComponents).sort()),o=(0,D.default)(this.componentStatus.keys().sort());for(var a in r!==o&&this.componentStatus.clear(),e.monitoredComponents)this.componentStatus.set(a,e.monitoredComponents[a]);this.startMonitorRecorderProcess&&!this.allMonitoredComponentSuccess&&this.toggleModule(this.preConditionModule)}if(e.otherComponents){var s=(0,D.default)((0,I.default)(e.otherComponents).sort()),l=(0,D.default)(this.otherComponentStatus.keys().sort());for(var u in s!==l&&this.otherComponentStatus.clear(),e.otherComponents)this.otherComponentStatus.set(u,e.otherComponents[u])}this.preprocessStarted&&!this.preprocessIsRunning&&(this.counter+=1,this.counter>1&&(this.preprocessFinished||(this.unexpectedAborted=!0),this.counter=0,this.preprocessStarted=!1)),\\\"string\\\"==typeof e.passengerMsg&&W.default.speakRepeatedly(e.passengerMsg)}},{key:\\\"update\\\",value:function(e){this.enableStartAuto=\\\"READY_TO_ENGAGE\\\"===e.engageAdvice}},{key:\\\"updateVehicleParam\\\",value:function(e){this.vehicleParam=e,G.default.adc.resizeCarScale(this.vehicleParam.length/this.defaultVehicleSize.length,this.vehicleParam.height/this.defaultVehicleSize.height,this.vehicleParam.width/this.defaultVehicleSize.width)}},{key:\\\"toggleModule\\\",value:function(e){this.moduleStatus.set(e,!this.moduleStatus.get(e));var t=this.moduleStatus.get(e)?\\\"START_MODULE\\\":\\\"STOP_MODULE\\\";U.default.executeModuleCommand(e,t)}},{key:\\\"resetDataCollectionProgress\\\",value:function(){this.dataCollectionUpdateStatus.clear(),this.dataCollectionProgress.clear()}},{key:\\\"resetSensorCalibrationConfiguration\\\",value:function(){this.lidars.clear(),this.camera={}}},{key:\\\"resetPreprocessProgress\\\",value:function(){this.preprocessStarted=!1,this.preprocessFinished=!1,this.unexpectedAborted=!1,this.preprocessStatus=\\\"UNKNOWN\\\",this.logString=\\\"\\\",this.preprocessProgress=0,this.preprocessMonitorItemTimeStamp=null}},{key:\\\"updateDataCollectionProgress\\\",value:function(e){var t=this;(0,I.default)(e).sort().forEach((function(n){t.dataCollectionProgress.has(n)||(t.dataCollectionProgress.set(n,B.observable.map()),t.dataCollectionUpdateStatus.set(n,B.observable.map()));var i=t.dataCollectionProgress.get(n),r=t.dataCollectionUpdateStatus.get(n),o=e[n];(0,I.default)(o).sort().forEach((function(e){var t=i.get(e)!==o[e];i.set(e,o[e]),r.set(e,t)}))}))}},{key:\\\"updatePreprocessProgress\\\",value:function(e){var t=this;this.updateConfiguration&&(e.lidarConfig&&e.lidarConfig.map((function(e){t.lidars.set(e.sensorName,e.translation)})),e.cameraConfig&&(this.camera=e.cameraConfig),this.mainSensor=e.mainSensor,this.updateConfiguration=!1),e.progress&&(this.preprocessMonitorItemTimeStamp=(new Date).getTime(),this.unexpectedAborted?(this.preprocessStatus=\\\"FAIL\\\",this.logString=\\\"The preprocessing process has been aborted unexpectedly, please check nohup.out for reasons or try again.\\\"):(this.preprocessProgress=j.default.get(e,\\\"progress.percentage\\\"),this.logString=j.default.get(e,\\\"progress.logString\\\"),this.preprocessStatus=j.default.get(e,\\\"progress.status\\\"),[\\\"SUCCESS\\\",\\\"FAIL\\\"].includes(this.preprocessStatus)?this.preprocessFinished=!0:this.preprocessFinished=!1))}},{key:\\\"changeTranslation\\\",value:function(e,t,n,i){i?j.default.set(this.lidars.get(e),t,n):j.default.set(this.camera,\\\"translation.\\\"+t,n)}},{key:\\\"changeIntrinsic\\\",value:function(e,t,n){j.default.set(this.camera,e+\\\"[\\\"+t+\\\"]\\\",n)}},{key:\\\"rotate2DPoint\\\",value:function(e,t){var n=e.x,i=e.y;return{x:n*Math.cos(t)-i*Math.sin(t),y:n*Math.sin(t)+i*Math.cos(t)}}},{key:\\\"calculateCarPolygonPoints\\\",value:function(e,t,n){var 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i=n(19),r=n(128).set,o=i.MutationObserver||i.WebKitMutationObserver,a=i.process,s=i.Promise,l=\\\"process\\\"==n(52)(a);e.exports=function(){var e,t,n,u=function(){var i,r;for(l&&(i=a.domain)&&i.exit();e;){r=e.fn,e=e.next;try{r()}catch(i){throw e?n():t=void 0,i}}t=void 0,i&&i.enter()};if(l)n=function(){a.nextTick(u)};else if(!o||i.navigator&&i.navigator.standalone)if(s&&s.resolve){var c=s.resolve(void 0);n=function(){c.then(u)}}else n=function(){r.call(i,u)};else{var d=!0,h=document.createTextNode(\\\"\\\");new o(u).observe(h,{characterData:!0}),n=function(){h.data=d=!d}}return function(i){var r={fn:i,next:void 0};t&&(t.next=r),e||(e=r,n()),t=r}}},function(e,t,n){var i=n(19).navigator;e.exports=i&&i.userAgent||\\\"\\\"},function(e,t,n){\\\"use strict\\\";var i=n(14),r=n(10),o=n(19),a=n(127),s=n(130);i(i.P+i.R,\\\"Promise\\\",{finally:function(e){var t=a(this,r.Promise||o.Promise),n=\\\"function\\\"==typeof e;return this.then(n?function(n){return s(t,e()).then((function(){return n}))}:e,n?function(n){return s(t,e()).then((function(){throw n}))}:e)}})},function(e,t,n){\\\"use strict\\\";var i=n(14),r=n(91),o=n(129);i(i.S,\\\"Promise\\\",{try:function(e){var t=r.f(this),n=o(e);return(n.e?t.reject:t.resolve)(n.v),t.promise}})},function(e,t,n){var i=n(12);i.OBJLoader=function(e){this.manager=void 0!==e?e:i.DefaultLoadingManager,this.materials=null,this.regexp={vertex_pattern:/^v\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)/,normal_pattern:/^vn\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)/,uv_pattern:/^vt\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)\\\\s+([\\\\d|\\\\.|\\\\+|\\\\-|e|E]+)/,face_vertex:/^f\\\\s+(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\s+(-?\\\\d+)(?:\\\\s+(-?\\\\d+))?/,face_vertex_uv:/^f\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)(?:\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+))?/,face_vertex_uv_normal:/^f\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)\\\\/(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)\\\\/(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)\\\\/(-?\\\\d+)(?:\\\\s+(-?\\\\d+)\\\\/(-?\\\\d+)\\\\/(-?\\\\d+))?/,face_vertex_normal:/^f\\\\s+(-?\\\\d+)\\\\/\\\\/(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\/\\\\/(-?\\\\d+)\\\\s+(-?\\\\d+)\\\\/\\\\/(-?\\\\d+)(?:\\\\s+(-?\\\\d+)\\\\/\\\\/(-?\\\\d+))?/,object_pattern:/^[og]\\\\s*(.+)?/,smoothing_pattern:/^s\\\\s+(\\\\d+|on|off)/,material_library_pattern:/^mtllib /,material_use_pattern:/^usemtl /}},i.OBJLoader.prototype={constructor:i.OBJLoader,load:function(e,t,n,r){var o=this,a=new i.FileLoader(o.manager);a.setPath(this.path),a.load(e,(function(e){t(o.parse(e))}),n,r)},setPath:function(e){this.path=e},setMaterials:function(e){this.materials=e},_createParserState:function(){var e={objects:[],object:{},vertices:[],normals:[],uvs:[],materialLibraries:[],startObject:function(e,t){if(this.object&&!1===this.object.fromDeclaration)return this.object.name=e,void(this.object.fromDeclaration=!1!==t);var n=this.object&&\\\"function\\\"==typeof this.object.currentMaterial?this.object.currentMaterial():void 0;if(this.object&&\\\"function\\\"==typeof this.object._finalize&&this.object._finalize(!0),this.object={name:e||\\\"\\\",fromDeclaration:!1!==t,geometry:{vertices:[],normals:[],uvs:[]},materials:[],smooth:!0,startMaterial:function(e,t){var n=this._finalize(!1);n&&(n.inherited||n.groupCount<=0)&&this.materials.splice(n.index,1);var i={index:this.materials.length,name:e||\\\"\\\",mtllib:Array.isArray(t)&&t.length>0?t[t.length-1]:\\\"\\\",smooth:void 0!==n?n.smooth:this.smooth,groupStart:void 0!==n?n.groupEnd:0,groupEnd:-1,groupCount:-1,inherited:!1,clone:function(e){var t={index:\\\"number\\\"==typeof e?e:this.index,name:this.name,mtllib:this.mtllib,smooth:this.smooth,groupStart:0,groupEnd:-1,groupCount:-1,inherited:!1};return t.clone=this.clone.bind(t),t}};return this.materials.push(i),i},currentMaterial:function(){if(this.materials.length>0)return this.materials[this.materials.length-1]},_finalize:function(e){var t=this.currentMaterial();if(t&&-1===t.groupEnd&&(t.groupEnd=this.geometry.vertices.length/3,t.groupCount=t.groupEnd-t.groupStart,t.inherited=!1),e&&this.materials.length>1)for(var n=this.materials.length-1;n>=0;n--)this.materials[n].groupCount<=0&&this.materials.splice(n,1);return e&&0===this.materials.length&&this.materials.push({name:\\\"\\\",smooth:this.smooth}),t}},n&&n.name&&\\\"function\\\"==typeof n.clone){var i=n.clone(0);i.inherited=!0,this.object.materials.push(i)}this.objects.push(this.object)},finalize:function(){this.object&&\\\"function\\\"==typeof this.object._finalize&&this.object._finalize(!0)},parseVertexIndex:function(e,t){var n=parseInt(e,10);return 3*(n>=0?n-1:n+t/3)},parseNormalIndex:function(e,t){var n=parseInt(e,10);return 3*(n>=0?n-1:n+t/3)},parseUVIndex:function(e,t){var n=parseInt(e,10);return 2*(n>=0?n-1:n+t/2)},addVertex:function(e,t,n){var i=this.vertices,r=this.object.geometry.vertices;r.push(i[e+0]),r.push(i[e+1]),r.push(i[e+2]),r.push(i[t+0]),r.push(i[t+1]),r.push(i[t+2]),r.push(i[n+0]),r.push(i[n+1]),r.push(i[n+2])},addVertexLine:function(e){var t=this.vertices,n=this.object.geometry.vertices;n.push(t[e+0]),n.push(t[e+1]),n.push(t[e+2])},addNormal:function(e,t,n){var i=this.normals,r=this.object.geometry.normals;r.push(i[e+0]),r.push(i[e+1]),r.push(i[e+2]),r.push(i[t+0]),r.push(i[t+1]),r.push(i[t+2]),r.push(i[n+0]),r.push(i[n+1]),r.push(i[n+2])},addUV:function(e,t,n){var i=this.uvs,r=this.object.geometry.uvs;r.push(i[e+0]),r.push(i[e+1]),r.push(i[t+0]),r.push(i[t+1]),r.push(i[n+0]),r.push(i[n+1])},addUVLine:function(e){var t=this.uvs,n=this.object.geometry.uvs;n.push(t[e+0]),n.push(t[e+1])},addFace:function(e,t,n,i,r,o,a,s,l,u,c,d){var h,p=this.vertices.length,f=this.parseVertexIndex(e,p),m=this.parseVertexIndex(t,p),g=this.parseVertexIndex(n,p);if(void 0===i?this.addVertex(f,m,g):(h=this.parseVertexIndex(i,p),this.addVertex(f,m,h),this.addVertex(m,g,h)),void 0!==r){var v=this.uvs.length;f=this.parseUVIndex(r,v),m=this.parseUVIndex(o,v),g=this.parseUVIndex(a,v),void 0===i?this.addUV(f,m,g):(h=this.parseUVIndex(s,v),this.addUV(f,m,h),this.addUV(m,g,h))}if(void 0!==l){var y=this.normals.length;f=this.parseNormalIndex(l,y),m=l===u?f:this.parseNormalIndex(u,y),g=l===c?f:this.parseNormalIndex(c,y),void 0===i?this.addNormal(f,m,g):(h=this.parseNormalIndex(d,y),this.addNormal(f,m,h),this.addNormal(m,g,h))}},addLineGeometry:function(e,t){this.object.geometry.type=\\\"Line\\\";for(var n=this.vertices.length,i=this.uvs.length,r=0,o=e.length;r<o;r++)this.addVertexLine(this.parseVertexIndex(e[r],n));var a=0;for(o=t.length;a<o;a++)this.addUVLine(this.parseUVIndex(t[a],i))}};return e.startObject(\\\"\\\",!1),e},parse:function(e){console.time(\\\"OBJLoader\\\");var t=this._createParserState();-1!==e.indexOf(\\\"\\\\r\\\\n\\\")&&(e=e.replace(/\\\\r\\\\n/g,\\\"\\\\n\\\")),-1!==e.indexOf(\\\"\\\\\\\\\\\\n\\\")&&(e=e.replace(/\\\\\\\\\\\\n/g,\\\"\\\"));for(var n=e.split(\\\"\\\\n\\\"),r=\\\"\\\",o=\\\"\\\",a=\\\"\\\",s=[],l=\\\"function\\\"==typeof\\\"\\\".trimLeft,u=0,c=n.length;u<c;u++)if(r=n[u],0!==(r=l?r.trimLeft():r.trim()).length&&\\\"#\\\"!==(o=r.charAt(0)))if(\\\"v\\\"===o)if(\\\" \\\"===(a=r.charAt(1))&&null!==(s=this.regexp.vertex_pattern.exec(r)))t.vertices.push(parseFloat(s[1]),parseFloat(s[2]),parseFloat(s[3]));else if(\\\"n\\\"===a&&null!==(s=this.regexp.normal_pattern.exec(r)))t.normals.push(parseFloat(s[1]),parseFloat(s[2]),parseFloat(s[3]));else{if(\\\"t\\\"!==a||null===(s=this.regexp.uv_pattern.exec(r)))throw new Error(\\\"Unexpected vertex/normal/uv line: '\\\"+r+\\\"'\\\");t.uvs.push(parseFloat(s[1]),parseFloat(s[2]))}else if(\\\"f\\\"===o)if(null!==(s=this.regexp.face_vertex_uv_normal.exec(r)))t.addFace(s[1],s[4],s[7],s[10],s[2],s[5],s[8],s[11],s[3],s[6],s[9],s[12]);else if(null!==(s=this.regexp.face_vertex_uv.exec(r)))t.addFace(s[1],s[3],s[5],s[7],s[2],s[4],s[6],s[8]);else if(null!==(s=this.regexp.face_vertex_normal.exec(r)))t.addFace(s[1],s[3],s[5],s[7],void 0,void 0,void 0,void 0,s[2],s[4],s[6],s[8]);else{if(null===(s=this.regexp.face_vertex.exec(r)))throw new Error(\\\"Unexpected face line: '\\\"+r+\\\"'\\\");t.addFace(s[1],s[2],s[3],s[4])}else if(\\\"l\\\"===o){var d=r.substring(1).trim().split(\\\" \\\"),h=[],p=[];if(-1===r.indexOf(\\\"/\\\"))h=d;else for(var f=0,m=d.length;f<m;f++){var g=d[f].split(\\\"/\\\");\\\"\\\"!==g[0]&&h.push(g[0]),\\\"\\\"!==g[1]&&p.push(g[1])}t.addLineGeometry(h,p)}else if(null!==(s=this.regexp.object_pattern.exec(r))){var v=(\\\" \\\"+s[0].substr(1).trim()).substr(1);t.startObject(v)}else if(this.regexp.material_use_pattern.test(r))t.object.startMaterial(r.substring(7).trim(),t.materialLibraries);else if(this.regexp.material_library_pattern.test(r))t.materialLibraries.push(r.substring(7).trim());else{if(null===(s=this.regexp.smoothing_pattern.exec(r))){if(\\\"\\\\0\\\"===r)continue;throw new Error(\\\"Unexpected line: '\\\"+r+\\\"'\\\")}var y=s[1].trim().toLowerCase();t.object.smooth=\\\"1\\\"===y||\\\"on\\\"===y,(k=t.object.currentMaterial())&&(k.smooth=t.object.smooth)}t.finalize();var b=new i.Group;b.materialLibraries=[].concat(t.materialLibraries);for(u=0,c=t.objects.length;u<c;u++){var x=t.objects[u],_=x.geometry,w=x.materials,M=\\\"Line\\\"===_.type;if(0!==_.vertices.length){var S=new i.BufferGeometry;S.addAttribute(\\\"position\\\",new i.BufferAttribute(new Float32Array(_.vertices),3)),_.normals.length>0?S.addAttribute(\\\"normal\\\",new i.BufferAttribute(new Float32Array(_.normals),3)):S.computeVertexNormals(),_.uvs.length>0&&S.addAttribute(\\\"uv\\\",new i.BufferAttribute(new Float32Array(_.uvs),2));for(var E,T=[],C=0,O=w.length;C<O;C++){var P=w[C],k=void 0;if(null!==this.materials&&(k=this.materials.create(P.name),M&&k&&!(k instanceof i.LineBasicMaterial))){var A=new i.LineBasicMaterial;A.copy(k),k=A}k||((k=M?new i.LineBasicMaterial:new i.MeshPhongMaterial).name=P.name),k.shading=P.smooth?i.SmoothShading:i.FlatShading,T.push(k)}if(T.length>1){for(C=0,O=w.length;C<O;C++){P=w[C];S.addGroup(P.groupStart,P.groupCount,C)}var R=new i.MultiMaterial(T);E=M?new i.LineSegments(S,R):new i.Mesh(S,R)}else E=M?new i.LineSegments(S,T[0]):new i.Mesh(S,T[0]);E.name=x.name,b.add(E)}}return console.timeEnd(\\\"OBJLoader\\\"),b}}},function(e,t,n){var i=n(12);i.MTLLoader=function(e){this.manager=void 0!==e?e:i.DefaultLoadingManager},i.MTLLoader.prototype={constructor:i.MTLLoader,load:function(e,t,n,r){var o=this,a=new i.FileLoader(this.manager);a.setPath(this.path),a.load(e,(function(e){t(o.parse(e))}),n,r)},setPath:function(e){this.path=e},setTexturePath:function(e){this.texturePath=e},setBaseUrl:function(e){console.warn(\\\"THREE.MTLLoader: .setBaseUrl() is deprecated. Use .setTexturePath( path ) for texture path or .setPath( path ) for general base path instead.\\\"),this.setTexturePath(e)},setCrossOrigin:function(e){this.crossOrigin=e},setMaterialOptions:function(e){this.materialOptions=e},parse:function(e){for(var t=e.split(\\\"\\\\n\\\"),n={},r=/\\\\s+/,o={},a=0;a<t.length;a++){var s=t[a];if(0!==(s=s.trim()).length&&\\\"#\\\"!==s.charAt(0)){var l=s.indexOf(\\\" \\\"),u=l>=0?s.substring(0,l):s;u=u.toLowerCase();var c=l>=0?s.substring(l+1):\\\"\\\";if(c=c.trim(),\\\"newmtl\\\"===u)n={name:c},o[c]=n;else if(n)if(\\\"ka\\\"===u||\\\"kd\\\"===u||\\\"ks\\\"===u){var d=c.split(r,3);n[u]=[parseFloat(d[0]),parseFloat(d[1]),parseFloat(d[2])]}else n[u]=c}}var h=new i.MTLLoader.MaterialCreator(this.texturePath||this.path,this.materialOptions);return h.setCrossOrigin(this.crossOrigin),h.setManager(this.manager),h.setMaterials(o),h}},i.MTLLoader.MaterialCreator=function(e,t){this.baseUrl=e||\\\"\\\",this.options=t,this.materialsInfo={},this.materials={},this.materialsArray=[],this.nameLookup={},this.side=this.options&&this.options.side?this.options.side:i.FrontSide,this.wrap=this.options&&this.options.wrap?this.options.wrap:i.RepeatWrapping},i.MTLLoader.MaterialCreator.prototype={constructor:i.MTLLoader.MaterialCreator,setCrossOrigin:function(e){this.crossOrigin=e},setManager:function(e){this.manager=e},setMaterials:function(e){this.materialsInfo=this.convert(e),this.materials={},this.materialsArray=[],this.nameLookup={}},convert:function(e){if(!this.options)return e;var t={};for(var n in e){var i=e[n],r={};for(var o in t[n]=r,i){var a=!0,s=i[o],l=o.toLowerCase();switch(l){case\\\"kd\\\":case\\\"ka\\\":case\\\"ks\\\":this.options&&this.options.normalizeRGB&&(s=[s[0]/255,s[1]/255,s[2]/255]),this.options&&this.options.ignoreZeroRGBs&&0===s[0]&&0===s[1]&&0===s[2]&&(a=!1)}a&&(r[l]=s)}}return t},preload:function(){for(var e in this.materialsInfo)this.create(e)},getIndex:function(e){return this.nameLookup[e]},getAsArray:function(){var e=0;for(var t in this.materialsInfo)this.materialsArray[e]=this.create(t),this.nameLookup[t]=e,e++;return this.materialsArray},create:function(e){return void 0===this.materials[e]&&this.createMaterial_(e),this.materials[e]},createMaterial_:function(e){var t=this,n=this.materialsInfo[e],r={name:e,side:this.side};function o(e,n){if(!r[e]){var i,o,a=t.getTextureParams(n,r),s=t.loadTexture((i=t.baseUrl,\\\"string\\\"!=typeof(o=a.url)||\\\"\\\"===o?\\\"\\\":/^https?:\\\\/\\\\//i.test(o)?o:i+o));s.repeat.copy(a.scale),s.offset.copy(a.offset),s.wrapS=t.wrap,s.wrapT=t.wrap,r[e]=s}}for(var a in n){var s=n[a];if(\\\"\\\"!==s)switch(a.toLowerCase()){case\\\"kd\\\":r.color=(new i.Color).fromArray(s);break;case\\\"ks\\\":r.specular=(new i.Color).fromArray(s);break;case\\\"map_kd\\\":o(\\\"map\\\",s);break;case\\\"map_ks\\\":o(\\\"specularMap\\\",s);break;case\\\"map_bump\\\":case\\\"bump\\\":o(\\\"bumpMap\\\",s);break;case\\\"ns\\\":r.shininess=parseFloat(s);break;case\\\"d\\\":s<1&&(r.opacity=s,r.transparent=!0);break;case\\\"Tr\\\":s>0&&(r.opacity=1-s,r.transparent=!0)}}return this.materials[e]=new i.MeshPhongMaterial(r),this.materials[e]},getTextureParams:function(e,t){var n,r={scale:new i.Vector2(1,1),offset:new i.Vector2(0,0)},o=e.split(/\\\\s+/);return(n=o.indexOf(\\\"-bm\\\"))>=0&&(t.bumpScale=parseFloat(o[n+1]),o.splice(n,2)),(n=o.indexOf(\\\"-s\\\"))>=0&&(r.scale.set(parseFloat(o[n+1]),parseFloat(o[n+2])),o.splice(n,4)),(n=o.indexOf(\\\"-o\\\"))>=0&&(r.offset.set(parseFloat(o[n+1]),parseFloat(o[n+2])),o.splice(n,4)),r.url=o.join(\\\" 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r=l.default.options.showCameraView,s=r!==this.showCameraView;this.showCameraView=r;var u=this.inNaviMode!==l.default.hmi.inNavigationMode;if(this.inNaviMode=l.default.hmi.inNavigationMode,this.inNaviMode?(this.mesh.type=\\\"grid\\\",u&&this.loadGrid(t)):this.mesh.type=\\\"reflection\\\",\\\"grid\\\"===this.mesh.type){var c=e.autoDrivingCar,d=t.applyOffset({x:c.positionX,y:c.positionY});this.mesh.position.set(d.x,d.y,0)}else if(this.loadedMap!==this.updateMap||u||s){if(r)return n.background=null,void(this.mesh.visible=!1);var h=this.titleCaseToSnakeCase(this.updateMap),p=window.location,f=PARAMETERS.server.port,m=p.protocol+\\\"//\\\"+p.hostname+\\\":\\\"+f+\\\"/assets/map_data/\\\"+h+\\\"/background.jpg\\\";(0,a.loadTexture)(m,(function(e){console.log(\\\"updating ground image with \\\"+h),i.mesh.material.map=e,i.mesh.type=\\\"reflection\\\",i.mesh.visible=!0,i.render(t,h)}),(function(e){i.loadGrid(t)})),this.loadedMap=this.updateMap,n.background=new 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t={};if(null!=e)for(var n in e)Object.prototype.hasOwnProperty.call(e,n)&&(t[n]=e[n]);return t.default=e,t}(n(12)),u=n(56),c=g(n(137)),d=g(n(140)),h=g(n(141)),p=g(n(142)),f=g(n(143)),m=g(n(144));function g(e){return e&&e.__esModule?e:{default:e}}var v=function(){function e(t){(0,o.default)(this,e),this.renderer=t,this.mesh=!0,this.type=\\\"tile\\\",this.range=PARAMETERS.ground.defaults.tileRange,this.metadata=null,this.mapId=null,this.mapUrlPrefix=null,this.hash=-1,this.currentTiles={},this.currentTrafficLights=[],this.currentStopSigns=[],this.currentYieldSigns=[],this.initialized=!1,this.trafficSignals=new d.default,this.stopSigns=new c.default(h.default,p.default,.01),this.yieldSigns=new c.default(f.default,m.default,1.5)}return(0,a.default)(e,[{key:\\\"initialize\\\",value:function(e){this.metadata={tileLength:e.tile*e.mpp,left:e.left,top:e.top,numCols:e.wnum,numRows:e.hnum,mpp:e.mpp,tile:e.tile,imageUrl:e.image_url,availableMapTiles:new 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s=this.metadata.imageUrl?this.mapUrlPrefix+\\\"/\\\"+a:this.mapUrlPrefix+\\\"?mapId=\\\"+this.mapId+\\\"&i=\\\"+e+\\\"&j=\\\"+t,c=i.applyOffset({x:this.metadata.left+(e+.5)*this.metadata.tileLength,y:this.metadata.top-(t+.5)*this.metadata.tileLength,z:0});(0,u.loadTexture)(s,(function(e){e.anisotropy=o.renderer.getMaxAnisotropy();var t=new l.Mesh(new l.PlaneGeometry(1,1),new l.MeshBasicMaterial({map:e}));t.position.set(c.x,c.y,c.z),t.scale.set(o.metadata.tileLength,o.metadata.tileLength,1),t.overdraw=!1,o.currentTiles[n]=t,r.add(t)}))}}},{key:\\\"removeExpiredTiles\\\",value:function(e,t){for(var n in this.currentTiles)e.has(n)||this.removeDrewObject(n,this.currentTiles,t);var i=[];this.currentTrafficLights.forEach((function(t){var n=t.key,r=t.id;e.has(n)&&i.push(r)})),this.trafficSignals.removeExpired(i,t);var r=[];this.currentStopSigns.forEach((function(t){var n=t.key,i=t.id;e.has(n)&&r.push(i)})),this.stopSigns.removeExpired(r,t);var o=[];this.currentYieldSigns.forEach((function(t){e.has(t.key)&&o.push(t.id)})),this.yieldSigns.removeExpired(o,t)}},{key:\\\"updateIndex\\\",value:function(e,t,n,o){var a=this;if(e!==this.hash){this.hash=e,this.removeExpiredTiles(t,o);var l=function(e,t){var n=new s.default(e);for(var i in t)n.delete(i);return n}(t,this.currentTiles);if(!_.isEmpty(l)||!this.initialized){var u=function(e){a.currentTiles[e]=null;var t=e.split(\\\",\\\"),i=parseInt(t[0]),s=parseInt(t[1]);if(s<0||s>a.metadata.numCols||i<0||i>a.metadata.numRows)return\\\"continue\\\";if(a.appendTiles(i,s,e,n,o),a.metadata.allSignals){var l=a.getItems(i,s,a.metadata.allSignals);a.trafficSignals.add(l,n,o),a.currentTrafficLights=[].concat((0,r.default)(a.currentTrafficLights),(0,r.default)(l.map((function(t){return{key:e,id:t.id}}))))}if(a.metadata.allStopSigns){var u=a.getItems(i,s,a.metadata.allStopSigns);a.stopSigns.add(u,n,o),a.currentStopSigns=[].concat((0,r.default)(a.currentStopSigns),(0,r.default)(u.map((function(t){return{key:e,id:t.id}}))))}if(a.metadata.allYieldSigns){var c=a.getItems(i,s,a.metadata.allYieldSigns);a.yieldSigns.add(c,n,o),a.currentYieldSigns=[].concat((0,r.default)(a.currentYieldSigns),(0,r.default)(c.map((function(t){return{key:e,id:t.id}}))))}},c=!0,d=!1,h=void 0;try{for(var p,f=(0,i.default)(l);!(c=(p=f.next()).done);c=!0)u(p.value)}catch(e){d=!0,h=e}finally{try{!c&&f.return&&f.return()}finally{if(d)throw h}}}}}},{key:\\\"getRowAndCol\\\",value:function(e,t){return{i:Math.floor((e-this.metadata.left)/this.metadata.tileLength),j:Math.floor((this.metadata.top-t)/this.metadata.tileLength)}}},{key:\\\"update\\\",value:function(e,t,n){if(t.isInitialized()&&this.initialized){for(var i=e.autoDrivingCar.positionX,r=e.autoDrivingCar.positionY,o=this.getRowAndCol(i,r),a=o.i,l=o.j,u=new 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a=t.applyOffsetToArray(o.lineSegment.point),s=(0,p.drawSegmentsFromPoints)(a,O,1,i.zOffsetFactor,!1);s.name=\\\"CentralLine-\\\"+e.id.id,n.add(s),r.push(s)}));var o=e.rightBoundary.boundaryType[0].types[0];e.rightBoundary.curve.segment.forEach((function(a,s){var l=t.applyOffsetToArray(a.lineSegment.point),u=i.addLaneMesh(o,l);u.name=\\\"RightBoundary-\\\"+e.id.id,n.add(u),r.push(u)}));var a=e.leftBoundary.boundaryType[0].types[0];return e.leftBoundary.curve.segment.forEach((function(o,s){var l=t.applyOffsetToArray(o.lineSegment.point),u=i.addLaneMesh(a,l);u.name=\\\"LeftBoundary-\\\"+e.id.id,n.add(u),r.push(u)})),r}},{key:\\\"addLaneId\\\",value:function(e,t,n){var i=e.centralCurve.segment,r=h.default.get(i,\\\"[0].startPosition\\\");r&&(r.z=.04,r=t.applyOffset(r));var o={x:0,y:0,z:0},a=h.default.get(i,\\\"[0].lineSegment.point\\\",[]);if(a.length>=2){var s=a[0],l=a[1];o.z=Math.atan2(l.y-s.y,l.x-s.x)}var u=this.textRender.drawText(e.id.id,n,E,m.TEXT_ALIGN.LEFT);if(u){var c=r||h.default.get(a,\\\"[0]\\\");c&&(u.position.set(c.x,c.y,c.z),u.rotation.set(o.x,o.y,o.z)),u.visible=!1,n.add(u)}return u}},{key:\\\"addRoad\\\",value:function(e,t,n){var i=this,r=[];return e.section.forEach((function(o){o.boundary.outerPolygon.edge.forEach((function(o){o.curve.segment.forEach((function(o,a){var s=t.applyOffsetToArray(o.lineSegment.point),l=i.addLaneMesh(\\\"CURB\\\",s);l.name=\\\"Road-\\\"+e.id.id,n.add(l),r.push(l)}))}))})),r}},{key:\\\"addBorder\\\",value:function(e,t,n,i){var r=[],o=n.applyOffsetToArray(e.polygon.point);o.push(o[0]);var a=(0,p.drawSegmentsFromPoints)(o,t,2,this.zOffsetFactor,!0,!1,1);return i.add(a),r.push(a),r}},{key:\\\"addParkingSpaceId\\\",value:function(e,t,n){var i=this.textRender.drawText(e.id.id,n,E),r=h.default.get(e,\\\"polygon.point\\\");if(r&&r.length>=3&&i){var o=r[0],a=r[1],s=r[2],l={x:(o.x+s.x)/2,y:(o.y+s.y)/2,z:.04};l=t.applyOffset(l);var u=Math.atan2(a.y-o.y,a.x-o.x);i.position.set(l.x,l.y,l.z),i.rotation.set(0,0,u),i.visible=!0,n.add(i)}return i}},{key:\\\"addZone\\\",value:function(e,t,n,i){var r=[],o=n.applyOffsetToArray(e.polygon.point);o.push(o[0]);var a=new u.MeshBasicMaterial({color:t,transparent:!0,opacity:.15}),s=(0,p.drawShapeFromPoints)(o,a,!1,3*this.zOffsetFactor,!1);i.add(s),r.push(s);var l=(0,p.drawSegmentsFromPoints)(o,t,2,this.zOffsetFactor,!0,!1,1);return i.add(l),r.push(l),r}},{key:\\\"addCurve\\\",value:function(e,t,n,i){var r=this,o=[];return e.forEach((function(e){e.segment.forEach((function(e){var a=n.applyOffsetToArray(e.lineSegment.point),s=(0,p.drawSegmentsFromPoints)(a,t,5,2*r.zOffsetFactor,!1);i.add(s),o.push(s)}))})),o}},{key:\\\"addStopLine\\\",value:function(e,t,n){return this.addCurve(e,k,t,n)}},{key:\\\"removeDrewText\\\",value:function(e,t){e&&(e.children.forEach((function(e){return e.visible=!1})),t.remove(e))}},{key:\\\"removeDrewObjects\\\",value:function(e,t){e&&e.forEach((function(e){t.remove(e),e.geometry&&e.geometry.dispose(),e.material&&e.material.dispose()}))}},{key:\\\"removeAllElements\\\",value:function(e){this.removeExpiredElements([],e),this.trafficSignals.removeAll(e),this.stopSigns.removeAll(e),this.yieldSigns.removeAll(e)}},{key:\\\"removeExpiredElements\\\",value:function(e,t){var n=this,i={},r=function(r){var o=n.shouldDrawObjectOfThisElementKind(r);i[r]=[];var a=n.data[r],s=e[r];a.forEach((function(e){o&&s&&s.includes(e.id.id)?i[r].push(e):(n.removeDrewObjects(e.drewObjects,t),n.removeDrewText(e.text,t))}))};for(var o in this.data)r(o);this.data=i}},{key:\\\"appendMapData\\\",value:function(e,t,n){var i=[],r=[],o=[];for(var s in e)if(e[s]){this.data[s]||(this.data[s]=[]);for(var l=0;l<e[s].length;++l)switch(s){case\\\"lane\\\":var u=e[s][l];this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addLane(u,t,n),text:this.addLaneId(u,t,n)}));break;case\\\"clearArea\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addZone(e[s][l],S,t,n)}));break;case\\\"crosswalk\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addZone(e[s][l],k,t,n)}));break;case\\\"junction\\\":\\\"DEAD_END\\\"===e[s][l].type&&r.push(e[s][l]),this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addBorder(e[s][l],P,t,n)}));break;case\\\"pncJunction\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addZone(e[s][l],P,t,n)}));break;case\\\"signal\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addStopLine(e[s][l].stopLine,t,n)})),this.trafficSignals.add([e[s][l]],t,n);break;case\\\"stopSign\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addStopLine(e[s][l].stopLine,t,n)})),this.stopSigns.add([e[s][l]],t,n);break;case\\\"yield\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addStopLine(e[s][l].stopLine,t,n)})),this.yieldSigns.add([e[s][l]],t,n);break;case\\\"road\\\":var c=e[s][l];this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addRoad(c,t,n)}));break;case\\\"parkingSpace\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addBorder(e[s][l],S,t,n),text:this.addParkingSpaceId(e[s][l],t,n)})),i.push(this.calcParkingSpaceExtraInfo(e[s][l],t));break;case\\\"speedBump\\\":this.data[s].push((0,a.default)(e[s][l],{drewObjects:this.addCurve(e[s][l].position,C,t,n)}));break;default:this.data[s].push(e[s][l])}}return h.default.isEmpty(r)||(o=this.getDeadEndJunctionInfo(r,t)),[i,o]}},{key:\\\"shouldDrawObjectOfThisElementKind\\\",value:function(e){var t=\\\"showMap\\\"+e[0].toUpperCase()+e.slice(1);return!1!==c.default.options[t]}},{key:\\\"shouldDrawTextOfThisElementKind\\\",value:function(e){return c.default.options.showMapLaneId&&[\\\"parkingSpace\\\",\\\"lane\\\"].includes(e)}},{key:\\\"updateText\\\",value:function(){var e=this,t=function(t){var n=e.shouldDrawTextOfThisElementKind(t);e.data[t].forEach((function(e){e.text&&(e.text.visible=n)}))};for(var n in this.data)t(n)}},{key:\\\"updateIndex\\\",value:function(e,t,n){if(c.default.hmi.inNavigationMode)d.MAP_WS.requestRelativeMapData();else{this.updateText();var i=\\\"\\\",a=!0,s=!1,l=void 0;try{for(var u,p=(0,o.default)((0,r.default)(t).sort());!(a=(u=p.next()).done);a=!0){var f=u.value;this.shouldDrawObjectOfThisElementKind(f)&&(i+=f)}}catch(e){s=!0,l=e}finally{try{!a&&p.return&&p.return()}finally{if(s)throw l}}if(e!==this.hash||this.elementKindsDrawn!==i){this.hash=e,this.elementKindsDrawn=i;var m=this.diffMapElements(t,this.data);h.default.isEmpty(m)&&this.initialized||(d.MAP_WS.requestMapData(m),this.initialized=!0),this.removeExpiredElements(t,n),this.shouldDrawObjectOfThisElementKind(\\\"signal\\\")?this.trafficSignals.removeExpired(t.signal,n):this.trafficSignals.removeAll(n),this.shouldDrawObjectOfThisElementKind(\\\"stopSign\\\")?this.stopSigns.removeExpired(t.stopSign,n):this.stopSigns.removeAll(n),this.shouldDrawObjectOfThisElementKind(\\\"yield\\\")?this.yieldSigns.removeExpired(t.yield,n):this.yieldSigns.removeAll(n)}}this.zOffsetFactor=c.default.options.showCameraView?0:1}},{key:\\\"update\\\",value:function(e){this.trafficSignals.updateTrafficLightStatus(e.perceivedSignal)}},{key:\\\"changeSelectedParkingSpaceColor\\\",value:function(e){var t=arguments.length>1&&void 0!==arguments[1]?arguments[1]:16711680;this.data.parkingSpace[e].drewObjects.forEach((function(e){(0,p.changeMaterial)(e,t)}))}},{key:\\\"getLaneBasedOverlapId\\\",value:function(e,t){if(h.default.isEmpty(e))return null;var n=h.default.findIndex(this.data.lane,(function(t){return-1!==h.default.findIndex(t.overlapId,{id:e[0].id})}));if(-1===n)return null;var i=this.data.lane[n];return{centerLine:this.getPointsFromLane(i,t),length:h.default.get(i,\\\"length\\\"),successorId:h.default.get(i,\\\"successorId\\\"),predecessorId:h.default.get(i,\\\"predecessorId\\\")}}},{key:\\\"getPointsFromLane\\\",value:function(e,t){var n=!(arguments.length>2&&void 0!==arguments[2])||arguments[2],i=h.default.get(e,\\\"centralCurve.segment\\\");if(h.default.isEmpty(i))return null;var r=[];if(1!==i.length){var a=!0,s=!1,l=void 0;try{for(var u,c=(0,o.default)(i);!(a=(u=c.next()).done);a=!0){var d=u.value;r.push(h.default.get(d,\\\"lineSegment.point\\\"))}}catch(e){s=!0,l=e}finally{try{!a&&c.return&&c.return()}finally{if(s)throw l}}r=h.default.uniq(h.default.flattenDeep(r))}var p=h.default.isEmpty(r)?h.default.get(i[0],\\\"lineSegment.point\\\"):r;return n&&(p=t.applyOffsetToArray(p)),p}},{key:\\\"getRoutingPointAlongLane\\\",value:function(e,t,n,i){for(var r=!(arguments.length>4&&void 0!==arguments[4])||arguments[4];t<i;){var o=this.findFixedDistancePointOnLane(i-t,e,n,r);if(h.default.isEmpty(o))return null;if(o.x)return[o,h.default.get(e,\\\"0.id\\\")];t+=o.length,e=o.nextId}}},{key:\\\"findFixedDistancePointOnLane\\\",value:function(e,t,n){var i=!(arguments.length>3&&void 0!==arguments[3])||arguments[3],r=h.default.findIndex(this.data.lane,(function(e){return h.default.isEqual(e.id,t[0])}));if(-1===r)return null;var o=this.data.lane[r],a=e;if(o.length>=a){var s=h.default.get(o,\\\"centralCurve.segment\\\");if(h.default.isEmpty(s))return null;var l=i?0:s.length-1,u=null;if(i)for(;l<=s.length-1;){if(!(a>s[l].length)){u=this.findFixedDistancePointOnSegment(a,s[l],n,i);break}a-=s[l].length,l++}else for(;l>=0;){if(!(a>s[l].length)){u=this.findFixedDistancePointOnSegment(a,s[l],n,i);break}a-=s[l].length,l--}return u}return{length:o.length,nextId:i?o.successorId:o.predecessorId}}},{key:\\\"findFixedDistancePointOnSegment\\\",value:function(e,t,n){var i=!(arguments.length>3&&void 0!==arguments[3])||arguments[3],r=h.default.get(t,\\\"lineSegment.point\\\");if(h.default.isEmpty(r)||r.length<2)return null;r=n.applyOffsetToArray(r);var o=i?r[0]:r[r.length-1],a=i?1:r.length-2;if(i)for(;a<=r.length-1&&!((0,f.getPointDistance)(o,r[a])>=e);)a++;else for(;a>=0&&!((0,f.getPointDistance)(o,r[a])>=e);)a--;return r[a]}},{key:\\\"getRoutingPoint\\\",value:function(e,t,n,i,r,o,a){if(e){var s=(0,f.getPointDistance)(t,i[i.length-1]);if(s>=n){var l=(0,f.getInFrontOfPointIndexDistanceApart)(n,i,t,r);return-1===l?null:[i[l],h.default.get(a,\\\"0.id\\\")]}return h.default.isEmpty(a)?null:this.getRoutingPointAlongLane(a,s,o,n)}var u=(0,f.getPointDistance)(t,i[0]);if(u>=n){var c=(0,f.getBehindPointIndexDistanceApart)(n,i,t,r);return-1===c?null:[i[c],h.default.get(a,\\\"0.id\\\")]}return this.getRoutingPointAlongLane(a,u,o,n,!1)}},{key:\\\"calcParkingSpaceExtraInfo\\\",value:function(e,t){var n,i=t.applyOffsetToArray(e.polygon.point),r=this.getLaneBasedOverlapId(e.overlapId,t);if(h.default.isEmpty(r))return null;var o=r.centerLine,a=[],s=o[o.length-1],l=null,u={x:s.x-o[0].x,y:s.y-o[0].y},d={x:i[1].x-i[0].x,y:i[1].y-i[0].y},p={x:i[1].x-i[2].x,y:i[1].y-i[2].y},m=-1;if(1===((0,f.directionVectorCrossProduct)(u,d,!0)>(0,f.directionVectorCrossProduct)(u,p,!0)?2:1)){var g={x:(i[0].x+i[1].x)/2,y:(i[0].y+i[1].y)/2},v={x:(i[2].x+i[3].x)/2,y:(i[2].y+i[3].y)/2};m=(l=(0,f.getIntersectionPoint)(g,o[0],s)).x===g.x||l.x===v.x||g.x===v.x?l.y<g.y?g.y<v.y?(0,f.pointOnVectorRight)(i[3],g,v)?3:2:(0,f.pointOnVectorRight)(i[0],v,g)?0:1:g.y<v.y?(0,f.pointOnVectorRight)(i[0],v,g)?0:1:(0,f.pointOnVectorRight)(i[3],g,v)?3:2:l.x<g.x?g.x<v.x?(0,f.pointOnVectorRight)(i[3],g,v)?3:2:(0,f.pointOnVectorRight)(i[0],v,g)?0:1:g.x<v.x?(0,f.pointOnVectorRight)(i[0],v,g)?0:1:(0,f.pointOnVectorRight)(i[3],g,v)?3:2,a=R[m]}else{var y={x:(i[2].x+i[1].x)/2,y:(i[2].y+i[1].y)/2},b={x:(i[0].x+i[3].x)/2,y:(i[0].y+i[3].y)/2};m=(l=(0,f.getIntersectionPoint)(y,o[0],s)).x===y.x||l.x===b.x||y.x===b.x?l.y<y.y?y.y<b.y?(0,f.pointOnVectorRight)(i[0],y,b)?0:3:(0,f.pointOnVectorRight)(i[1],b,y)?1:2:y.y<b.y?(0,f.pointOnVectorRight)(i[1],b,y)?1:2:(0,f.pointOnVectorRight)(i[0],y,b)?0:3:l.x<y.x?y.x<b.x?(0,f.pointOnVectorRight)(i[0],y,b)?0:3:(0,f.pointOnVectorRight)(i[1],b,y)?1:2:y.x<b.x?(0,f.pointOnVectorRight)(i[1],b,y)?1:2:(0,f.pointOnVectorRight)(i[0],y,b)?0:3,a=L[m]}var x=(0,f.directionSameWithVector)(i[a[0]],i[a[1]],u),_=(0,f.getIntersectionPoint)(i[a[2]],o[0],s),w=4*(0,f.getPointDistance)(i[a[2]],_),M=x?r.successorId:r.predecessorId,S=this.getRoutingPoint(x,_,c.default.routeEditingManager.parkingRoutingDistanceThreshold,o,u,t,M);return h.default.isArray(S)&&2===S.length?(n=S[0],{order:a,type:(0,f.getPointDistance)(i[a[0]],i[a[1]])<(0,f.getPointDistance)(i[a[2]],i[a[1]])?0:1,laneWidth:w,routingEndPoint:n,laneId:S[1]}):null}},{key:\\\"getPointClosestToTheJunctionOnLane\\\",value:function(e,t,n){var i=arguments.length>3&&void 0!==arguments[3]&&arguments[3],r=(0,f.getLaneFirstAndLastPoint)(e);if(r=n.applyOffsetToArray(r),h.default.isEmpty(r))return null;for(var o=e,a=i?\\\"successorId\\\":\\\"predecessorId\\\";(0,f.isLaneCompleteInRectangle)(t,r);){if(o=h.default.find(this.data.lane,(function(t){return h.default.isEqual(t.id,h.default.get(e,a+\\\".0\\\"))})),h.default.isEmpty(o))return null;r=n.applyOffsetToArray((0,f.getLaneFirstAndLastPoint)(o))}var s=h.default.get(o,\\\"centralCurve.segment\\\");if(h.default.isEmpty(s))return null;var l=!1,u=null,c=null,d=null,p=0;if(i)for(;p<s.length&&!l;p++){if(c=h.default.get(s[p],\\\"lineSegment.point\\\"),d=n.applyOffsetToArray(c),h.default.isEmpty(d))return null;var m=h.default.findIndex(d,(function(e){return!(0,f.IsPointInRectangle)(t,e)}));-1!==m&&(u=m,l=!0)}else for(var g=s.length-1;g>=0&&!l;g--){if(c=h.default.get(s[g],\\\"lineSegment.point\\\"),d=n.applyOffsetToArray(c),h.default.isEmpty(d))return null;var v=h.default.findLastIndex(d,(function(e){return!(0,f.IsPointInRectangle)(t,e)}));-1!==v&&(u=c[v],l=!0)}return l?i?[u,c,o,p]:u:null}},{key:\\\"getPointOnJunctionInLane\\\",value:function(e,t,n){var i=(0,f.getLaneFirstAndLastPoint)(e);if(i=n.applyOffsetToArray(i),h.default.isEmpty(i))return null;for(var r=e;(0,f.isLaneCompleteInRectangle)(t,i);){if(r=h.default.find(this.data.lane,(function(t){return h.default.isEqual(t.id,e.predecessorId[0])})),h.default.isEmpty(r))return null;i=n.applyOffsetToArray((0,f.getLaneFirstAndLastPoint)(r))}var o=h.default.get(r,\\\"centralCurve.segment\\\");if(h.default.isEmpty(o))return null;for(var a=!1,s=null,l=o.length-1;l>=0&&!a;l--){var u=h.default.get(o[l],\\\"lineSegment.point\\\"),c=n.applyOffsetToArray(u);if(h.default.isEmpty(c))a=!0;else{var d=h.default.findLastIndex(c,(function(e){return!(0,f.IsPointInRectangle)(t,e)}));-1!==d&&(s=u[d],a=!0)}}return a?s:null}},{key:\\\"getPointsOnJunctionOutLane\\\",value:function(e,t,n,r){var o=this,a=this.getPointClosestToTheJunctionOnLane(e,t,r,!0);if(!h.default.isArray(a)||4!==a.length)return null;var s=a[0],l=a[1],u=r.applyOffsetToArray(l),c=u[s],d=[l[s]],p=(0,f.getPointDistance)(c,h.default.last(u));if(p>n){var m=h.default.findIndex(u,(function(e){return(0,f.getPointDistance)(c,e)>=n}),s+1);if(-1===m)return null;d.push(l[m])}else if(p===n)d.push(h.default.last(l));else{var g=function(){for(var e=!1,t=null,i=a[2],s=a[3],c=n-p,m=h.default.get(i,\\\"centralCurve.segment\\\");!e;){if(s===m.length&&(s=0,i=h.default.find(o.data.lane,(function(e){return h.default.isEqual(e.id,i.successorId[0])})),m=h.default.get(i,\\\"centralCurve.segment\\\"),h.default.isEmpty(m)))return{v:null};if(m[s].length<c)c-=m[s].length,s++;else{if(l=h.default.get(m[s],\\\"lineSegment.point\\\"),u=r.applyOffsetToArray(l),-1===(t=h.default.findIndex(u,(function(e){return(0,f.getPointDistance)(u[0],e)>=c}),1)))return{v:null};e=!0,d.push(l[t])}}}();if(\\\"object\\\"===(void 0===g?\\\"undefined\\\":(0,i.default)(g)))return g.v}return d}},{key:\\\"getRangeLaneIds\\\",value:function(e,t,n,i){var r=\\\"predecessorId\\\"===i?(0,f.getLaneFirstPoint)(t):(0,f.getLaneLastPoint)(t);if(h.default.isEmpty(r))return null;for(var o=[h.default.get(t,\\\"id.id\\\")],a=(0,f.getPointDistance)(e,r),s=h.default.get(t,i+\\\".0.id\\\");a<n&&s;){var l=h.default.find(this.data.lane,(function(e){return h.default.isEqual(h.default.get(e,\\\"id.id\\\"),s)}));if(h.default.isEmpty(l))break;a+=l.length,o.push(s),s=h.default.get(l,i+\\\".0.id\\\")}return o}},{key:\\\"getInAndOutLaneForDeadEndJunction\\\",value:function(e,t){var n=this,i={},o=e.overlapId;if(!h.default.isArray(o)||o.length<2)return null;var a=[];if(o.forEach((function(e){var t=h.default.find(n.data.lane,(function(t){return-1!==h.default.findIndex(t.overlapId,e)}));h.default.isEmpty(t)||a.push(t)})),a.length<2)return null;for(var s=[a[0]],l=[],u=1;u<a.length;u++){var c=(0,f.determineTheRelationBetweenLanes)(s[0].predecessorId,h.default.last(s).successorId,a[u]);if(c)1===c?s.unshift(a[u]):s.push(a[u]);else if(h.default.isEmpty(l))l.push(a[u]);else{var d=(0,f.determineTheRelationBetweenLanes)(l[0].predecessorId,h.default.last(l).successorId,a[u]);if(!d)return null;d>1?l.unshift(a[u]):l.push(a[u])}}if(h.default.isEmpty(l))return null;var p=[s,l],m=t.applyOffsetToArray(e.polygon.point);if(p.forEach((function(e){var n=(0,f.getLaneArrayFirstAndLastPoint)(e[0],h.default.last(e));h.default.isEmpty(n)||(n=t.applyOffsetToArray(n),i[(0,f.determinLaneDirection)(n,m[0])]=e)})),!h.default.has(i,\\\"in\\\")||!h.default.has(i,\\\"out\\\"))return null;i.in=i.in[0],i.out=i.out[0];i.inEndPoint=(0,f.getLaneLastPoint)(i.in),i.inLaneIds=this.getRangeLaneIds(i.inEndPoint,i.in,100,\\\"predecessorId\\\");i.outStartPoint=(0,f.getLaneFirstPoint)(i.out);var g=this.getPointsFromLane(i.out,t,!1);if(!h.default.isArray(g)||g.length<2)return null;var v=this.getRoutingPoint(!0,i.outStartPoint,10,g,null,t,h.default.get(i.out,\\\"successorId\\\"));if(!h.default.isArray(v)||2!==v.length)return null;var y=t.applyOffset({x:v[0].x,y:v[0].y},!0);i.routingPoint=y,i.deadJunctionPoints=e.polygon.point,i.outLaneIds=this.getRangeLaneIds(i.outStartPoint,i.out,100,\\\"successorId\\\"),i.deadJunctionId=e.id.id;var 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u=0;u<o.length;u+=1)i.drawGaussian(o[u].gaussianInfo,r,a[u],n);g>.2&&(g-=.7)}))}})))}},{key:\\\"getPredCircle\\\",value:function(){var e=new o.MeshBasicMaterial({color:16777215,transparent:!1,opacity:.5}),t=(0,l.drawCircle)(.2,e);return this.predCircles.push(t),t}},{key:\\\"drawGaussian\\\",value:function(e,t,n,i){if(a.default.options.showGaussianInfo&&e&&e.ellipseA>.001&&e.ellipseB>.001){var r=new o.MeshBasicMaterial({color:t,transparent:!0,opacity:.35}),s=(0,l.drawEllipse)(e.ellipseA,e.ellipseB,r);s.position.set(n.x,n.y,.25),s.rotation.set(0,0,e.thetaA),this.predGaussian.push(s),i.add(s)}}}]),e}();t.default=d},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i=s(n(1)),r=s(n(2)),o=s(n(13)),a=n(25);function s(e){return e&&e.__esModule?e:{default:e}}n(8);var l=function(){function e(){(0,i.default)(this,e),this.routePaths=[],this.lastRoutingTime=-1}return(0,r.default)(e,[{key:\\\"update\\\",value:function(e,t,n,i){var r=this;this.routePaths.forEach((function(e){e.visible=o.default.options.showRouting})),this.lastRoutingTime!==e&&void 0!==t&&(this.lastRoutingTime=e,this.routePaths.forEach((function(e){i.remove(e),e.material.dispose(),e.geometry.dispose()})),t.forEach((function(e){var t=n.applyOffsetToArray(e.point),s=(0,a.drawThickBandFromPoints)(t,.3,16711680,.6,5);s.visible=o.default.options.showRouting,i.add(s),r.routePaths.push(s)})))}}]),e}();t.default=l},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i=c(n(1)),r=c(n(2));n(329);var o=c(n(330)),a=c(n(18)),s=n(25),l=n(26),u=c(n(8));function c(e){return e&&e.__esModule?e:{default:e}}var d=function(){function e(){(0,i.default)(this,e),this.routePoints=[],this.parkingInfo=null,this.inEditingMode=!1,this.pointId=0,this.parkingSpaceInfo=[],this.deadJunctionInfo=[]}return(0,r.default)(e,[{key:\\\"isInEditingMode\\\",value:function(){return this.inEditingMode}},{key:\\\"enableEditingMode\\\",value:function(e,t){this.inEditingMode=!0;e.fov=PARAMETERS.camera.Map.fov,e.near=PARAMETERS.camera.Map.near,e.far=PARAMETERS.camera.Map.far,e.updateProjectionMatrix(),a.default.requestMapElementIdsByRadius(PARAMETERS.routingEditor.radiusOfMapRequest)}},{key:\\\"disableEditingMode\\\",value:function(e){this.inEditingMode=!1,this.removeAllRoutePoints(e),this.parkingInfo=null,this.pointId=0}},{key:\\\"addRoutingPoint\\\",value:function(e,t,n){var i=t.applyOffset({x:e.x,y:e.y}),r=this.isPointInParkingSpace(i);-1!==r&&this.parkingSpaceInfo[r].selectedCounts++;var l=(0,s.drawImage)(o.default,3.5,3.5,i.x,i.y,.3);return l.pointId=this.pointId,e.id=this.pointId,this.pointId+=1,this.routePoints.push(l),n.add(l),a.default.checkRoutingPoint(e),r}},{key:\\\"setParkingInfo\\\",value:function(e){this.parkingInfo=e}},{key:\\\"setParkingSpaceInfo\\\",value:function(e,t,n,i){this.parkingSpaceInfo=e,this.parkingSpaceInfo.forEach((function(e,i){var r=t[i];if(u.default.isEmpty(r))return!1;var o=e.polygon.point.map((function(e){return n.applyOffset({x:e.x,y:e.y})})),a=r.order.map((function(e){return o[e]}));e.polygon.point=a,e.type=r.type,e.routingEndPoint=r.routingEndPoint,e.laneWidth=r.laneWidth,e.selectedCounts=0,e.laneId=r.laneId}))}},{key:\\\"removeInvalidRoutingPoint\\\",value:function(e,t,n){var i=this,r=-1;return alert(t),e&&(this.routePoints=this.routePoints.filter((function(t){return t.pointId!==e||(r=i.removeRoutingPoint(n,t),!1)}))),r}},{key:\\\"removeLastRoutingPoint\\\",value:function(e){var t=this.routePoints.pop(),n=-1;return t&&(n=this.removeRoutingPoint(e,t)),n}},{key:\\\"removeAllRoutePoints\\\",value:function(e){var t=this,n=-1,i=[];return this.routePoints.forEach((function(r){-1!==(n=t.removeRoutingPoint(e,r))&&i.push(n)})),this.routePoints=[],i}},{key:\\\"removeRoutingPoint\\\",value:function(e,t){e.remove(t);var n=this.isPointInParkingSpace(u.default.get(t,\\\"position\\\"));return-1!==n&&--this.parkingSpaceInfo[n].selectedCounts>0&&(n=-1),t.geometry&&t.geometry.dispose(),t.material&&t.material.dispose(),n}},{key:\\\"sendRoutingRequest\\\",value:function(e,t,n,i){if(0===this.routePoints.length&&0===i.length)return alert(\\\"Please provide at least an end point.\\\"),!1;var r=u.default.isEmpty(this.routePoints)?-1:this.isPointInParkingSpace(this.routePoints[this.routePoints.length-1].position);if(-1!==r){var o=this.routePoints.pop(),s=this.parkingSpaceInfo[r],l=s.routingEndPoint,c=s.id,d=s.type,h=s.laneWidth,p=s.laneId,f=this.routePoints.map((function(e){return e.position.z=0,n.applyOffset(e.position,!0)}));f.push(n.applyOffset(l,!0));var m=f.length>1?f[0]:n.applyOffset(e,!0),g=f[f.length-1],v=f.length>1?f.slice(1,-1):[];this.routePoints.push(o),this.parkingSpaceInfo[r].polygon.point.forEach((function(e){e.z=0,f.push(n.applyOffset(e,!0))}));var y=f.slice(-4),b={parkingSpaceId:u.default.get(c,\\\"id\\\"),parkingPoint:n.applyOffset(o.position,!0),parkingSpaceType:d};return a.default.sendParkingRequest(m,v,g,b,h,y,p),!0}var x=u.default.isEmpty(i)?this.routePoints.map((function(e){return e.position.z=0,n.applyOffset(e.position,!0)})):i.map((function(e){return e.z=0,u.default.pick(e,[\\\"x\\\",\\\"y\\\",\\\"z\\\"])}));if(3===x.length&&!u.default.isEmpty(this.deadJunctionInfo)){var _=this.determinDeadEndJunctionRequest(x);if(-1!==_){var w=this.deadJunctionInfo[_];return a.default.sendDeadEndJunctionRoutingRequest(x[0],w.inEndPoint,w.outStartPoint,x[2],w.inLaneIds,w.outLaneIds,[w.routingPoint]),!0}}var M=x.length>1?x[0]:n.applyOffset(e,!0),S=x.length>1?null:t,E=x[x.length-1],T=x.length>1?x.slice(1,-1):[];return a.default.requestRoute(M,S,T,E,this.parkingInfo),!0}},{key:\\\"sendCycleRoutingRequest\\\",value:function(e,t,n,i,r,o){var s=t.map((function(e){return e.z=0,u.default.pick(e,[\\\"x\\\",\\\"y\\\",\\\"z\\\"])})),l=o.applyOffset(i,!0),c=r,d=s[s.length-1],h=s.length>1?s.slice(0,-1):[];return a.default.requestDefaultCycleRouting(l,c,h,d,n),!0}},{key:\\\"addDefaultRouting\\\",value:function(e,t){if(this.routePoints.length<1)return alert(\\\"Please provide at least 1 end point.\\\"),!1;var n=this.routePoints.map((function(e){return t.applyOffset(e.position,!0)}));a.default.saveDefaultRouting(e,n)}},{key:\\\"checkCycleRoutingAvailable\\\",value:function(e,t,n){var i=t,r=e[e.length-1];return!u.default.isEmpty(i)&&!u.default.isEmpty(r)&&Math.sqrt(Math.pow(r.x-i.x,2)+Math.pow(r.y-i.y,2))>n}},{key:\\\"isPointInParkingSpace\\\",value:function(e){var t=-1;return u.default.isEmpty(this.parkingSpaceInfo)||u.default.isEmpty(e)||(t=u.default.findIndex(this.parkingSpaceInfo,(function(t){return(0,l.IsPointInRectangle)(t.polygon.point,e)}))),t}},{key:\\\"determinDeadEndJunctionRequest\\\",value:function(e){return u.default.findIndex(this.deadJunctionInfo,(function(t){return(0,l.IsPointInRectangle)(t.deadJunctionPoints,e[1])}))}},{key:\\\"setDeadJunctionInfo\\\",value:function(e){this.deadJunctionInfo=e}}]),e}();t.default=d},function(e,t,n){var i=n(12);(i=n(12)).OrbitControls=function(e,t){var n,r,o,a,s;this.object=e,this.domElement=void 0!==t?t:document,this.enabled=!0,this.target=new i.Vector3,this.minDistance=0,this.maxDistance=1/0,this.minZoom=0,this.maxZoom=1/0,this.minPolarAngle=0,this.maxPolarAngle=Math.PI,this.minAzimuthAngle=-1/0,this.maxAzimuthAngle=1/0,this.enableDamping=!1,this.dampingFactor=.25,this.enableZoom=!0,this.zoomSpeed=1,this.enableRotate=!0,this.rotateSpeed=1,this.enablePan=!0,this.keyPanSpeed=7,this.autoRotate=!1,this.autoRotateSpeed=2,this.enableKeys=!0,this.keys={LEFT:37,UP:38,RIGHT:39,BOTTOM:40},this.mouseButtons={ORBIT:i.MOUSE.LEFT,ZOOM:i.MOUSE.MIDDLE,PAN:i.MOUSE.RIGHT},this.target0=this.target.clone(),this.position0=this.object.position.clone(),this.zoom0=this.object.zoom,this.getPolarAngle=function(){return m.phi},this.getAzimuthalAngle=function(){return m.theta},this.reset=function(){l.target.copy(l.target0),l.object.position.copy(l.position0),l.object.zoom=l.zoom0,l.object.updateProjectionMatrix(),l.dispatchEvent(u),l.update(),p=h.NONE},this.update=(n=new i.Vector3,r=(new i.Quaternion).setFromUnitVectors(e.up,new i.Vector3(0,1,0)),o=r.clone().inverse(),a=new i.Vector3,s=new i.Quaternion,function(){var e=l.object.position;return n.copy(e).sub(l.target),n.applyQuaternion(r),m.setFromVector3(n),l.autoRotate&&p===h.NONE&&k(2*Math.PI/60/60*l.autoRotateSpeed),m.theta+=g.theta,m.phi+=g.phi,m.theta=Math.max(l.minAzimuthAngle,Math.min(l.maxAzimuthAngle,m.theta)),m.phi=Math.max(l.minPolarAngle,Math.min(l.maxPolarAngle,m.phi)),m.makeSafe(),m.radius*=v,m.radius=Math.max(l.minDistance,Math.min(l.maxDistance,m.radius)),l.target.add(y),n.setFromSpherical(m),n.applyQuaternion(o),e.copy(l.target).add(n),l.object.lookAt(l.target),!0===l.enableDamping?(g.theta*=1-l.dampingFactor,g.phi*=1-l.dampingFactor):g.set(0,0,0),v=1,y.set(0,0,0),!!(b||a.distanceToSquared(l.object.position)>f||8*(1-s.dot(l.object.quaternion))>f)&&(l.dispatchEvent(u),a.copy(l.object.position),s.copy(l.object.quaternion),b=!1,!0)}),this.dispose=function(){l.domElement.removeEventListener(\\\"contextmenu\\\",Y,!1),l.domElement.removeEventListener(\\\"mousedown\\\",z,!1),l.domElement.removeEventListener(\\\"wheel\\\",U,!1),l.domElement.removeEventListener(\\\"touchstart\\\",G,!1),l.domElement.removeEventListener(\\\"touchend\\\",H,!1),l.domElement.removeEventListener(\\\"touchmove\\\",V,!1),document.removeEventListener(\\\"mousemove\\\",B,!1),document.removeEventListener(\\\"mouseup\\\",j,!1),window.removeEventListener(\\\"keydown\\\",W,!1)};var l=this,u={type:\\\"change\\\"},c={type:\\\"start\\\"},d={type:\\\"end\\\"},h={NONE:-1,ROTATE:0,DOLLY:1,PAN:2,TOUCH_ROTATE:3,TOUCH_DOLLY:4,TOUCH_PAN:5},p=h.NONE,f=1e-6,m=new i.Spherical,g=new i.Spherical,v=1,y=new i.Vector3,b=!1,x=new i.Vector2,_=new i.Vector2,w=new i.Vector2,M=new i.Vector2,S=new i.Vector2,E=new i.Vector2,T=new i.Vector2,C=new i.Vector2,O=new i.Vector2;function P(){return Math.pow(.95,l.zoomSpeed)}function k(e){g.theta-=e}function A(e){g.phi-=e}var R,L=(R=new i.Vector3,function(e,t){R.setFromMatrixColumn(t,0),R.multiplyScalar(-e),y.add(R)}),I=function(){var e=new i.Vector3;return function(t,n){e.setFromMatrixColumn(n,1),e.multiplyScalar(t),y.add(e)}}(),D=function(){var e=new i.Vector3;return function(t,n){var r=l.domElement===document?l.domElement.body:l.domElement;if(l.object instanceof i.PerspectiveCamera){var o=l.object.position;e.copy(o).sub(l.target);var a=e.length();a*=Math.tan(l.object.fov/2*Math.PI/180),L(2*t*a/r.clientHeight,l.object.matrix),I(2*n*a/r.clientHeight,l.object.matrix)}else l.object instanceof i.OrthographicCamera?(L(t*(l.object.right-l.object.left)/l.object.zoom/r.clientWidth,l.object.matrix),I(n*(l.object.top-l.object.bottom)/l.object.zoom/r.clientHeight,l.object.matrix)):(console.warn(\\\"WARNING: OrbitControls.js encountered an unknown camera type - pan disabled.\\\"),l.enablePan=!1)}}();function N(e){l.object instanceof i.PerspectiveCamera?v/=e:l.object instanceof i.OrthographicCamera?(l.object.zoom=Math.max(l.minZoom,Math.min(l.maxZoom,l.object.zoom*e)),l.object.updateProjectionMatrix(),b=!0):(console.warn(\\\"WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.\\\"),l.enableZoom=!1)}function F(e){l.object instanceof i.PerspectiveCamera?v*=e:l.object instanceof i.OrthographicCamera?(l.object.zoom=Math.max(l.minZoom,Math.min(l.maxZoom,l.object.zoom/e)),l.object.updateProjectionMatrix(),b=!0):(console.warn(\\\"WARNING: OrbitControls.js encountered an unknown camera type - dolly/zoom disabled.\\\"),l.enableZoom=!1)}function z(e){if(!1!==l.enabled){if(e.preventDefault(),e.button===l.mouseButtons.ORBIT){if(!1===l.enableRotate)return;!function(e){x.set(e.clientX,e.clientY)}(e),p=h.ROTATE}else if(e.button===l.mouseButtons.ZOOM){if(!1===l.enableZoom)return;!function(e){T.set(e.clientX,e.clientY)}(e),p=h.DOLLY}else if(e.button===l.mouseButtons.PAN){if(!1===l.enablePan)return;!function(e){M.set(e.clientX,e.clientY)}(e),p=h.PAN}p!==h.NONE&&(document.addEventListener(\\\"mousemove\\\",B,!1),document.addEventListener(\\\"mouseup\\\",j,!1),l.dispatchEvent(c))}}function B(e){if(!1!==l.enabled)if(e.preventDefault(),p===h.ROTATE){if(!1===l.enableRotate)return;!function(e){_.set(e.clientX,e.clientY),w.subVectors(_,x);var t=l.domElement===document?l.domElement.body:l.domElement;k(2*Math.PI*w.x/t.clientWidth*l.rotateSpeed),A(2*Math.PI*w.y/t.clientHeight*l.rotateSpeed),x.copy(_),l.update()}(e)}else if(p===h.DOLLY){if(!1===l.enableZoom)return;!function(e){C.set(e.clientX,e.clientY),O.subVectors(C,T),O.y>0?N(P()):O.y<0&&F(P()),T.copy(C),l.update()}(e)}else if(p===h.PAN){if(!1===l.enablePan)return;!function(e){S.set(e.clientX,e.clientY),E.subVectors(S,M),D(E.x,E.y),M.copy(S),l.update()}(e)}}function j(e){!1!==l.enabled&&(document.removeEventListener(\\\"mousemove\\\",B,!1),document.removeEventListener(\\\"mouseup\\\",j,!1),l.dispatchEvent(d),p=h.NONE)}function U(e){!1===l.enabled||!1===l.enableZoom||p!==h.NONE&&p!==h.ROTATE||(e.preventDefault(),e.stopPropagation(),function(e){e.deltaY<0?F(P()):e.deltaY>0&&N(P()),l.update()}(e),l.dispatchEvent(c),l.dispatchEvent(d))}function W(e){!1!==l.enabled&&!1!==l.enableKeys&&!1!==l.enablePan&&function(e){switch(e.keyCode){case l.keys.UP:D(0,l.keyPanSpeed),l.update();break;case l.keys.BOTTOM:D(0,-l.keyPanSpeed),l.update();break;case l.keys.LEFT:D(l.keyPanSpeed,0),l.update();break;case l.keys.RIGHT:D(-l.keyPanSpeed,0),l.update()}}(e)}function G(e){if(!1!==l.enabled){switch(e.touches.length){case 1:if(!1===l.enableRotate)return;!function(e){x.set(e.touches[0].pageX,e.touches[0].pageY)}(e),p=h.TOUCH_ROTATE;break;case 2:if(!1===l.enableZoom)return;!function(e){var t=e.touches[0].pageX-e.touches[1].pageX,n=e.touches[0].pageY-e.touches[1].pageY,i=Math.sqrt(t*t+n*n);T.set(0,i)}(e),p=h.TOUCH_DOLLY;break;case 3:if(!1===l.enablePan)return;!function(e){M.set(e.touches[0].pageX,e.touches[0].pageY)}(e),p=h.TOUCH_PAN;break;default:p=h.NONE}p!==h.NONE&&l.dispatchEvent(c)}}function V(e){if(!1!==l.enabled)switch(e.preventDefault(),e.stopPropagation(),e.touches.length){case 1:if(!1===l.enableRotate)return;if(p!==h.TOUCH_ROTATE)return;!function(e){_.set(e.touches[0].pageX,e.touches[0].pageY),w.subVectors(_,x);var t=l.domElement===document?l.domElement.body:l.domElement;k(2*Math.PI*w.x/t.clientWidth*l.rotateSpeed),A(2*Math.PI*w.y/t.clientHeight*l.rotateSpeed),x.copy(_),l.update()}(e);break;case 2:if(!1===l.enableZoom)return;if(p!==h.TOUCH_DOLLY)return;!function(e){var t=e.touches[0].pageX-e.touches[1].pageX,n=e.touches[0].pageY-e.touches[1].pageY,i=Math.sqrt(t*t+n*n);C.set(0,i),O.subVectors(C,T),O.y>0?F(P()):O.y<0&&N(P()),T.copy(C),l.update()}(e);break;case 3:if(!1===l.enablePan)return;if(p!==h.TOUCH_PAN)return;!function(e){S.set(e.touches[0].pageX,e.touches[0].pageY),E.subVectors(S,M),D(E.x,E.y),M.copy(S),l.update()}(e);break;default:p=h.NONE}}function H(e){!1!==l.enabled&&(l.dispatchEvent(d),p=h.NONE)}function Y(e){e.preventDefault()}l.domElement.addEventListener(\\\"contextmenu\\\",Y,!1),l.domElement.addEventListener(\\\"mousedown\\\",z,!1),l.domElement.addEventListener(\\\"wheel\\\",U,!1),l.domElement.addEventListener(\\\"touchstart\\\",G,!1),l.domElement.addEventListener(\\\"touchend\\\",H,!1),l.domElement.addEventListener(\\\"touchmove\\\",V,!1),window.addEventListener(\\\"keydown\\\",W,!1),this.update()},i.OrbitControls.prototype=Object.create(i.EventDispatcher.prototype),i.OrbitControls.prototype.constructor=i.OrbitControls,Object.defineProperties(i.OrbitControls.prototype,{center:{get:function(){return console.warn(\\\"THREE.OrbitControls: .center has been renamed to .target\\\"),this.target}},noZoom:{get:function(){return console.warn(\\\"THREE.OrbitControls: .noZoom has been deprecated. Use .enableZoom instead.\\\"),!this.enableZoom},set:function(e){console.warn(\\\"THREE.OrbitControls: .noZoom has been deprecated. Use .enableZoom instead.\\\"),this.enableZoom=!e}},noRotate:{get:function(){return console.warn(\\\"THREE.OrbitControls: .noRotate has been deprecated. Use .enableRotate instead.\\\"),!this.enableRotate},set:function(e){console.warn(\\\"THREE.OrbitControls: .noRotate has been deprecated. Use .enableRotate instead.\\\"),this.enableRotate=!e}},noPan:{get:function(){return console.warn(\\\"THREE.OrbitControls: .noPan has been deprecated. Use .enablePan instead.\\\"),!this.enablePan},set:function(e){console.warn(\\\"THREE.OrbitControls: .noPan has been deprecated. Use .enablePan instead.\\\"),this.enablePan=!e}},noKeys:{get:function(){return console.warn(\\\"THREE.OrbitControls: .noKeys has been deprecated. Use .enableKeys instead.\\\"),!this.enableKeys},set:function(e){console.warn(\\\"THREE.OrbitControls: .noKeys has been deprecated. Use .enableKeys instead.\\\"),this.enableKeys=!e}},staticMoving:{get:function(){return console.warn(\\\"THREE.OrbitControls: .staticMoving has been deprecated. Use .enableDamping instead.\\\"),!this.enableDamping},set:function(e){console.warn(\\\"THREE.OrbitControls: .staticMoving has been deprecated. Use .enableDamping instead.\\\"),this.enableDamping=!e}},dynamicDampingFactor:{get:function(){return console.warn(\\\"THREE.OrbitControls: .dynamicDampingFactor has been renamed. Use .dampingFactor instead.\\\"),this.dampingFactor},set:function(e){console.warn(\\\"THREE.OrbitControls: .dynamicDampingFactor has been renamed. Use .dampingFactor instead.\\\"),this.dampingFactor=e}}})},function(e,t,n){e.exports=n.p+\\\"assets/cQGVQz4W_CET1VNG7zZBI.png\\\"},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i=l(n(1)),r=l(n(2)),o=function(e){if(e&&e.__esModule)return e;var t={};if(null!=e)for(var n in e)Object.prototype.hasOwnProperty.call(e,n)&&(t[n]=e[n]);return t.default=e,t}(n(12)),a=l(n(13)),s=n(25);function l(e){return e&&e.__esModule?e:{default:e}}var u=function(){function e(){(0,i.default)(this,e),this.circle=null,this.base=null}return(0,r.default)(e,[{key:\\\"update\\\",value:function(e,t,n){if(e.gps&&e.autoDrivingCar){if(!this.circle){var i=new o.MeshBasicMaterial({color:27391,transparent:!1,opacity:.5});this.circle=(0,s.drawCircle)(.2,i),n.add(this.circle)}if(!this.base){var r=a.default.hmi.vehicleParam;this.base=(0,s.drawSegmentsFromPoints)([new o.Vector3(r.frontEdgeToCenter,-r.leftEdgeToCenter,0),new o.Vector3(r.frontEdgeToCenter,r.rightEdgeToCenter,0),new o.Vector3(-r.backEdgeToCenter,r.rightEdgeToCenter,0),new o.Vector3(-r.backEdgeToCenter,-r.leftEdgeToCenter,0),new o.Vector3(r.frontEdgeToCenter,-r.leftEdgeToCenter,0)],27391,2,5),n.add(this.base)}var l=a.default.options.showPositionGps,u=t.applyOffset({x:e.gps.positionX,y:e.gps.positionY,z:.01});this.circle.position.set(u.x,u.y,u.z),this.circle.visible=l,this.base.position.set(u.x,u.y,u.z),this.base.rotation.set(0,0,e.gps.heading),this.base.visible=l}}}]),e}();t.default=u},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i=a(n(1)),r=a(n(2)),o=function(e){if(e&&e.__esModule)return e;var t={};if(null!=e)for(var n in e)Object.prototype.hasOwnProperty.call(e,n)&&(t[n]=e[n]);return t.default=e,t}(n(12));function a(e){return e&&e.__esModule?e:{default:e}}var s={.5:16711680,1:16744192,1.5:16776960,2:65280,2.5:255,3:4915330,10:9699539},l=function(){function e(){(0,i.default)(this,e),this.points=null,this.initialized=!1}return(0,r.default)(e,[{key:\\\"initialize\\\",value:function(){this.points=this.createPointCloud(s[.5]),this.initialized=!0}},{key:\\\"createPointCloud\\\",value:function(e){for(var t=new o.Geometry,n=[],i=0;i<2e5;++i){var r=new o.Vector3;r.set(0,0,-10),t.vertices.push(r),n[i]=new o.Color(e)}t.colors=n;var a=new o.PointsMaterial({size:.25,transparent:!0,opacity:.7,vertexColors:o.VertexColors}),s=new o.Points(t,a);return s.frustumCulled=!1,s}},{key:\\\"update\\\",value:function(e,t){if(null!==this.points)if(e.num.length%3==0){for(var n=e.num.length/3,i=n<2e5?n:2e5,r=.5,o=0;o<i;o++){var a=e.num[3*o],l=e.num[3*o+1],u=e.num[3*o+2];this.points.geometry.vertices[o].set(a,l,u+.8),r=u<.5?.5:u<1?1:u<1.5?1.5:u<2?2:u<2.5?2.5:u<3?3:10,this.points.geometry.colors[o].setHex(s[r])}for(var c=i;c<2e5;++c)this.points.geometry.vertices[c].set(0,0,-10);this.points.geometry.verticesNeedUpdate=!0,this.points.geometry.colorsNeedUpdate=!0,this.points.position.set(t.position.x,t.position.y,t.position.z),this.points.rotation.set(0,0,t.rotation.y)}else console.warn(\\\"PointCloud length should be multiples of 3!\\\")}}]),e}();t.default=l},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i=d(n(28)),r=d(n(1)),o=d(n(2)),a=d(n(13)),s=d(n(34)),l=d(n(113)),u=d(n(72)),c=d(n(60));function d(e){return e&&e.__esModule?e:{default:e}}var h=function(){function e(t){(0,r.default)(this,e),this.serverAddr=t,this.websocket=null,this.simWorldUpdatePeriodMs=100,this.simWorldLastUpdateTimestamp=0,this.mapUpdatePeriodMs=1e3,this.mapLastUpdateTimestamp=0,this.updatePOI=!0,this.updateDefaultRoutingPoints=!0,this.routingTime=void 0,this.currentMode=null,this.worker=new c.default,this.pointcloudWS=null,this.requestHmiStatus=this.requestHmiStatus.bind(this),this.updateParkingRoutingDistance=!0}return(0,o.default)(e,[{key:\\\"initialize\\\",value:function(){var e=this;try{this.websocket=new WebSocket(this.serverAddr),this.websocket.binaryType=\\\"arraybuffer\\\"}catch(t){return console.error(\\\"Failed to establish a connection: \\\"+t),void setTimeout((function(){e.initialize()}),1e3)}this.websocket.onmessage=function(t){e.worker.postMessage({source:\\\"realtime\\\",data:t.data})},this.worker.onmessage=function(t){var n=t.data;switch(n.type){case\\\"HMIStatus\\\":a.default.hmi.updateStatus(n.data),s.default.updateGroundImage(a.default.hmi.currentMap);break;case\\\"VehicleParam\\\":a.default.hmi.updateVehicleParam(n.data);break;case\\\"SimControlStatus\\\":a.default.setOptionStatus(\\\"enableSimControl\\\",n.enabled);break;case\\\"SimWorldUpdate\\\":e.checkMessage(n);var i=e.currentMode&&e.currentMode!==a.default.hmi.currentMode,r=\\\"Navigation\\\"===e.currentMode||\\\"Navigation\\\"===a.default.hmi.currentMode;e.currentMode=a.default.hmi.currentMode,a.default.hmi.shouldDisplayNavigationMap?(l.default.isInitialized()&&l.default.update(n),a.default.hmi.inNavigationMode&&(n.autoDrivingCar.positionX=0,n.autoDrivingCar.positionY=0,n.autoDrivingCar.heading=0,s.default.coordinates.setSystem(\\\"FLU\\\"),e.mapUpdatePeriodMs=100)):(s.default.coordinates.setSystem(\\\"ENU\\\"),e.mapUpdatePeriodMs=1e3),a.default.update(n,i),s.default.maybeInitializeOffest(n.autoDrivingCar.positionX,n.autoDrivingCar.positionY,i&&r),s.default.updateWorld(n),e.updateMapIndex(n),e.routingTime!==n.routingTime&&(e.requestRoutePath(),e.routingTime=n.routingTime);break;case\\\"MapElementIds\\\":s.default.updateMapIndex(n.mapHash,n.mapElementIds,n.mapRadius);break;case\\\"DefaultEndPoint\\\":a.default.routeEditingManager.updateDefaultRoutingEndPoint(n);break;case\\\"DefaultRoutings\\\":a.default.routeEditingManager.updateDefaultRoutingPoints(n);break;case\\\"AddDefaultRoutingPath\\\":a.default.routeEditingManager.addDefaultRoutingPath(n);break;case\\\"RoutePath\\\":s.default.updateRouting(n.routingTime,n.routePath);break;case\\\"RoutingPointCheckResult\\\":n.error&&s.default.removeInvalidRoutingPoint(n.pointId,n.error);break;case\\\"DataCollectionProgress\\\":n&&a.default.hmi.updateDataCollectionProgress(n.data);break;case\\\"PreprocessProgress\\\":n&&a.default.hmi.updatePreprocessProgress(n.data);break;case\\\"ParkingRoutingDistance\\\":n&&a.default.routeEditingManager.updateParkingRoutingDistance(n.threshold)}},this.websocket.onclose=function(t){console.log(\\\"WebSocket connection closed, close_code: \\\"+t.code);var n=(new Date).getTime(),i=n-e.simWorldLastUpdateTimestamp,r=n-a.default.monitor.lastUpdateTimestamp;if(0!==e.simWorldLastUpdateTimestamp&&i>1e4&&r>2e3){var o=\\\"Connection to the server has been lost.\\\";a.default.monitor.insert(\\\"FATAL\\\",o,n),u.default.getCurrentText()===o&&u.default.isSpeaking()||u.default.speakOnce(o)}e.initialize()},clearInterval(this.timer),this.timer=setInterval((function(){e.websocket.readyState===e.websocket.OPEN&&(e.updatePOI&&(e.requestDefaultRoutingEndPoint(),e.updatePOI=!1),e.updateDefaultRoutingPoints&&(e.requestDefaultRoutingPoints(),e.updateDefaultRoutingPoints=!1),e.pointcloudWS.isEnabled()&&e.pointcloudWS.requestPointCloud(),e.requestSimulationWorld(a.default.options.showPNCMonitor),e.updateParkingRoutingDistance&&(e.requestParkingRoutingDistance(),e.updateParkingRoutingDistance=!1),a.default.hmi.isVehicleCalibrationMode&&(e.requestDataCollectionProgress(),e.requestPreprocessProgress()),a.default.hmi.isSensorCalibrationMode&&e.requestPreprocessProgress())}),this.simWorldUpdatePeriodMs)}},{key:\\\"updateMapIndex\\\",value:function(e){var t=new Date,n=t-this.mapLastUpdateTimestamp;e.mapHash&&n>=this.mapUpdatePeriodMs&&(s.default.updateMapIndex(e.mapHash,e.mapElementIds,e.mapRadius),this.mapLastUpdateTimestamp=t)}},{key:\\\"checkMessage\\\",value:function(e){var t=(new Date).getTime(),n=t-this.simWorldLastUpdateTimestamp;0!==this.simWorldLastUpdateTimestamp&&n>200&&console.warn(\\\"Last sim_world_update took \\\"+n+\\\"ms\\\"),this.secondLastSeqNum===e.sequenceNum&&console.warn(\\\"Received duplicate simulation_world:\\\",this.lastSeqNum),this.secondLastSeqNum=this.lastSeqNum,this.lastSeqNum=e.sequenceNum,this.simWorldLastUpdateTimestamp=t}},{key:\\\"requestSimulationWorld\\\",value:function(e){this.websocket.send((0,i.default)({type:\\\"RequestSimulationWorld\\\",planning:e}))}},{key:\\\"checkRoutingPoint\\\",value:function(e){var t={type:\\\"CheckRoutingPoint\\\",point:e};this.websocket.send((0,i.default)(t))}},{key:\\\"requestMapElementIdsByRadius\\\",value:function(e){this.websocket.send((0,i.default)({type:\\\"RetrieveMapElementIdsByRadius\\\",radius:e}))}},{key:\\\"requestRoute\\\",value:function(e,t,n,r,o){var a={type:\\\"SendRoutingRequest\\\",start:e,end:r,waypoint:n};o&&(a.parkingInfo=o),t&&(a.start.heading=t),this.websocket.send((0,i.default)(a))}},{key:\\\"requestDefaultCycleRouting\\\",value:function(e,t,n,r,o){var a={type:\\\"SendDefaultCycleRoutingRequest\\\",start:e,end:r,waypoint:n,cycleNumber:o};t&&(a.start.heading=t),this.websocket.send((0,i.default)(a))}},{key:\\\"requestDefaultRoutingEndPoint\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"GetDefaultEndPoint\\\"}))}},{key:\\\"requestDefaultRoutingPoints\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"GetDefaultRoutings\\\"}))}},{key:\\\"requestParkingRoutingDistance\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"GetParkingRoutingDistance\\\"}))}},{key:\\\"resetBackend\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"Reset\\\"}))}},{key:\\\"dumpMessages\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"Dump\\\"}))}},{key:\\\"changeSetupMode\\\",value:function(e){this.websocket.send((0,i.default)({type:\\\"HMIAction\\\",action:\\\"CHANGE_MODE\\\",value:e}))}},{key:\\\"changeMap\\\",value:function(e){this.websocket.send((0,i.default)({type:\\\"HMIAction\\\",action:\\\"CHANGE_MAP\\\",value:e})),this.updatePOI=!0,this.updateDefaultRoutingPoints=!0}},{key:\\\"changeVehicle\\\",value:function(e){this.websocket.send((0,i.default)({type:\\\"HMIAction\\\",action:\\\"CHANGE_VEHICLE\\\",value:e}))}},{key:\\\"executeModeCommand\\\",value:function(e){[\\\"SETUP_MODE\\\",\\\"RESET_MODE\\\",\\\"ENTER_AUTO_MODE\\\"].includes(e)?(this.websocket.send((0,i.default)({type:\\\"HMIAction\\\",action:e})),setTimeout(this.requestHmiStatus,5e3)):console.error(\\\"Unknown mode command found:\\\",e)}},{key:\\\"executeModuleCommand\\\",value:function(e,t){[\\\"START_MODULE\\\",\\\"STOP_MODULE\\\"].includes(t)?(this.websocket.send((0,i.default)({type:\\\"HMIAction\\\",action:t,value:e})),setTimeout(this.requestHmiStatus,5e3)):console.error(\\\"Unknown module command found:\\\",t)}},{key:\\\"submitDriveEvent\\\",value:function(e,t,n,r){this.websocket.send((0,i.default)({type:\\\"SubmitDriveEvent\\\",event_time_ms:e,event_msg:t,event_type:n,is_reportable:r}))}},{key:\\\"submitAudioEvent\\\",value:function(e,t,n,r,o,a){this.websocket.send((0,i.default)({type:\\\"SubmitAudioEvent\\\",event_time_ms:e,obstacle_id:t,audio_type:n,moving_result:r,audio_direction:o,is_siren_on:a}))}},{key:\\\"toggleSimControl\\\",value:function(e){this.websocket.send((0,i.default)({type:\\\"ToggleSimControl\\\",enable:e}))}},{key:\\\"requestRoutePath\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"RequestRoutePath\\\"}))}},{key:\\\"requestHmiStatus\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"HMIStatus\\\"}))}},{key:\\\"publishNavigationInfo\\\",value:function(e){this.websocket.send(e)}},{key:\\\"requestDataCollectionProgress\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"RequestDataCollectionProgress\\\"}))}},{key:\\\"setPointCloudWS\\\",value:function(e){this.pointcloudWS=e}},{key:\\\"saveDefaultRouting\\\",value:function(e,t){var n={type:\\\"SaveDefaultRouting\\\",name:e,point:t};this.websocket.send((0,i.default)(n))}},{key:\\\"requestPreprocessProgress\\\",value:function(){this.websocket.send((0,i.default)({type:\\\"RequestPreprocessProgress\\\"}))}},{key:\\\"startPreprocessData\\\",value:function(e,t){var n={type:t};e&&(n.data=e),this.websocket.send((0,i.default)(n))}},{key:\\\"sendParkingRequest\\\",value:function(e,t,n,r,o,a,s){var l={type:\\\"SendParkingRoutingRequest\\\",start:e,end:n,waypoint:t,parkingInfo:r,laneWidth:o,cornerPoints:a};s&&(l.end.id=s),this.websocket.send((0,i.default)(l))}},{key:\\\"sendDeadEndJunctionRoutingRequest\\\",value:function(e,t,n,r,o,a,s){var l={type:\\\"SendDeadEndJunctionRoutingRequest\\\",start1:e,end1:t,start2:n,end2:r,inLaneIds:o,outLaneIds:a,routingPoint:s};l.end1.id=o[0],l.start2.id=a[0],this.websocket.send((0,i.default)(l))}}]),e}();t.default=h},function(e,t,n){!function(){\\\"use strict\\\";var t={PI:Math.PI,x_pi:3e3*Math.PI/180,delta:function(e,t){var n=6378245,i=.006693421622965943,r=this.transformLat(t-105,e-35),o=this.transformLon(t-105,e-35),a=e/180*this.PI,s=Math.sin(a);s=1-i*s*s;var l=Math.sqrt(s);return{lat:r=180*r/(n*(1-i)/(s*l)*this.PI),lon:o=180*o/(n/l*Math.cos(a)*this.PI)}},wgs84_gcj02:function(e,t){if(this.outOfChina(t,e))return[e,t];var n=this.delta(t,e);return[e+n.lon,t+n.lat]},gcj02_wgs84:function(e,t){if(this.outOfChina(t,e))return[e,t];var n=this.delta(t,e);return[e-n.lon,t-n.lat]},gcj02_wgs84_precise:function(e,t){for(var n,i,r=.01,o=.01,a=t-r,s=e-o,l=t+r,u=e+o,c=0;;){n=(a+l)/2,i=(s+u)/2;var d=this.gcj_encrypt(n,i);if(r=d.lat-t,o=d.lon-e,Math.abs(r)<1e-9&&Math.abs(o)<1e-9)break;if(r>0?l=n:a=n,o>0?u=i:s=i,++c>1e4)break}return[i,n]},gcj02_bd09ll:function(e,t){var n=e,i=t,r=Math.sqrt(n*n+i*i)+2e-5*Math.sin(i*this.x_pi),o=Math.atan2(i,n)+3e-6*Math.cos(n*this.x_pi);return[r*Math.cos(o)+.0065,r*Math.sin(o)+.006]},bd09ll_gcj02:function(e,t){var n=e-.0065,i=t-.006,r=Math.sqrt(n*n+i*i)-2e-5*Math.sin(i*this.x_pi),o=Math.atan2(i,n)-3e-6*Math.cos(n*this.x_pi);return[r*Math.cos(o),r*Math.sin(o)]},outOfChina:function(e,t){return t<72.004||t>137.8347||(e<.8293||e>55.8271)},transformLat:function(e,t){var n=2*e-100+3*t+.2*t*t+.1*e*t+.2*Math.sqrt(Math.abs(e));return n+=2*(20*Math.sin(6*e*this.PI)+20*Math.sin(2*e*this.PI))/3,n+=2*(20*Math.sin(t*this.PI)+40*Math.sin(t/3*this.PI))/3,n+=2*(160*Math.sin(t/12*this.PI)+320*Math.sin(t*this.PI/30))/3},transformLon:function(e,t){var n=300+e+2*t+.1*e*e+.1*e*t+.1*Math.sqrt(Math.abs(e));return n+=2*(20*Math.sin(6*e*this.PI)+20*Math.sin(2*e*this.PI))/3,n+=2*(20*Math.sin(e*this.PI)+40*Math.sin(e/3*this.PI))/3,n+=2*(150*Math.sin(e/12*this.PI)+300*Math.sin(e/30*this.PI))/3}},n={crs:{bd09ll:\\\"+proj=longlat +datum=BD09\\\",gcj02:\\\"+proj=longlat +datum=GCJ02\\\",wgs84:\\\"+proj=longlat +datum=WGS84 +no_defs\\\"},transform:function(e,t,n){if(!e)return null;if(!t||!n)throw new Error(\\\"must provide a valid fromCRS and toCRS.\\\");if(this._isCoord(e))return this._transformCoordinate(e,t,n);if(this._isArray(e)){for(var i=[],r=0;r<e.length;r++)i.push(this.transform(e[r],t,n));return i}return this._transformGeoJSON(e,t,n)},_transformGeoJSON:function(e,t,n){if(\\\"Feature\\\"===e.type){var i=this.transform(e.geometry,t,n);return(o=this._extend({},e)).geometry=i,o}if(\\\"FeatureCollection\\\"===e.type){for(var r=e.features,o=this._extend({},e),a=[],s=0;s<r.length;s++)a.push(this.transform(r[s],t,n));return o.features=a,o}if(\\\"GeometryCollection\\\"===e.type){var l=e.geometries,u=(o=this._extend({},e),[]);for(s=0;s<l.length;s++)u.push(this.transform(l[s],t,n));return o.geometries=u,o}o=this._extend({},e);var c=this._transformCoordinate(e.coordinates,t,n);return o.coordinates=c,o},_transformCoordinate:function(e,n,i){var r=n,o=i;if(\\\"proj4\\\"===n.type&&(r=this._toCRS(n.properties.proj)),\\\"proj4\\\"===i.type&&(o=this._toCRS(i.properties.proj)),\\\"epsg:4326\\\"===(r=r.toLowerCase())&&(r=\\\"wgs84\\\"),\\\"epsg:4326\\\"===(o=o.toLowerCase())&&(o=\\\"wgs84\\\"),r===o)return e;var a=r+\\\"_\\\"+o;return this._eachCoordinate(e,(function(e){return t[a](parseFloat(e[0]),parseFloat(e[1]))}),this)},_extend:function(e,t){for(var n in t)t.hasOwnProperty(n)&&(e[n]=t[n]);return e},_toCRS:function(e){for(var t in this.crs)if(e===this.crs[t])return t;return null},_eachCoordinate:function(e,t,n){if(this._isCoord(e))return t.call(n,e);for(var i=[],r=0,o=e.length;r<o;r++){var a=e[r];if(null!=a)if(this._isCoord(a)){var s=t.call(n,a);i.push(s)}else this._isArray(a)&&i.push(this._eachCoordinate(a,t,n))}return i},_isCoord:function(e){return!!(this._isArray(e)&&this._isNumber(e[0])&&this._isNumber(e[1]))},_isNumber:function(e){return\\\"number\\\"==typeof 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o=t.heading,a=Math.abs(r),s=7200/(2*Math.PI*a)*Math.PI/180,l=null,u=null,d=null,h=null;r>=0?(d=Math.PI/2+o,h=o-Math.PI/2,l=0,u=s):(d=o-Math.PI/2,h=Math.PI/2+o,l=-s,u=0);var p=t.positionX+Math.cos(d)*a,f=t.positionY+Math.sin(d)*a,m=new c.EllipseCurve(p,f,a,a,l,u,!1,h);e.steerCurve=m.getPoints(25)}},{key:\\\"interpolateValueByCurrentTime\\\",value:function(e,t,n){if(\\\"timestampSec\\\"===n)return t;var i=e.map((function(e){return e.timestampSec})),r=e.map((function(e){return e[n]}));return new c.LinearInterpolant(i,r,1,[]).evaluate(t)[0]}},{key:\\\"updateAdcStatusGraph\\\",value:function(e,t,n,i,r){var o=n.timestampSec,a=e.target.length>0&&o<e.target[e.target.length-1].t,s=e.target.length>=80;if(a?(e.target=[],e.real=[],e.autoModeZone=[]):s&&(e.target.shift(),e.real.shift(),e.autoModeZone.shift()),0===e.target.length||o!==e.target[e.target.length-1].t){e.plan=t.map((function(e){return{x:e[i],y:e[r]}})),e.target.push({x:this.interpolateValueByCurrentTime(t,o,i),y:this.interpolateValueByCurrentTime(t,o,r),t:o}),e.real.push({x:n[i],y:n[r]});var l=\\\"DISENGAGE_NONE\\\"===n.disengageType;e.autoModeZone.push({x:n[i],y:l?n[r]:void 0})}}},{key:\\\"setCurrentTargetPoint\\\",value:function(e,t){e.currentTargetPoint=[],t&&t.pathPoint&&e.currentTargetPoint.push({x:t.pathPoint.x,y:t.pathPoint.y})}},{key:\\\"update\\\",value:function(e,t){var n=e.planningTrajectory,i=e.autoDrivingCar;if(n&&i&&(this.updateAdcStatusGraph(this.data.speedGraph,n,i,\\\"timestampSec\\\",\\\"speed\\\"),this.updateAdcStatusGraph(this.data.accelerationGraph,n,i,\\\"timestampSec\\\",\\\"speedAcceleration\\\"),this.updateAdcStatusGraph(this.data.curvatureGraph,n,i,\\\"timestampSec\\\",\\\"kappa\\\"),this.updateAdcStatusGraph(this.data.trajectoryGraph,n,i,\\\"positionX\\\",\\\"positionY\\\"),this.updateSteerCurve(this.data.trajectoryGraph,i,t),this.data.pose.x=i.positionX,this.data.pose.y=i.positionY,this.data.pose.heading=i.heading),e.controlData){var r=e.controlData;this.setCurrentTargetPoint(this.data.trajectoryGraph,r.currentTargetPoint);var o=r.timestampSec;this.updateErrorGraph(this.data.stationErrorGraph,o,r.stationError),this.updateErrorGraph(this.data.lateralErrorGraph,o,r.lateralError),this.updateErrorGraph(this.data.headingErrorGraph,o,r.headingError),this.updateTime(o)}}}]),e}(),r=h(i.prototype,\\\"lastUpdatedTime\\\",[u.observable],{enumerable:!0,initializer:function(){return null}}),h(i.prototype,\\\"updateTime\\\",[u.action],(0,a.default)(i.prototype,\\\"updateTime\\\"),i.prototype),i);t.default=p},function(e,t,n){(t=e.exports=n(63)(!1)).push([e.i,\\\".playback-controls {\\\\n z-index: 100;\\\\n position: absolute;\\\\n width: 100%;\\\\n height: 40px;\\\\n bottom: 0px;\\\\n background: #1D2226;\\\\n font-size: 16px;\\\\n min-width: 550px; }\\\\n @media (max-height: 800px), (max-width: 1280px) {\\\\n .playback-controls {\\\\n font-size: 14px; } }\\\\n .playback-controls .icon {\\\\n display: inline-block;\\\\n width: 20px;\\\\n height: 20px;\\\\n padding: 10px;\\\\n cursor: pointer; }\\\\n .playback-controls 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select {\\\\n display: block;\\\\n border: none;\\\\n padding: 11px 23px 0px 5px;\\\\n color: #FFFFFF;\\\\n background: #1D2226;\\\\n outline: none;\\\\n cursor: pointer;\\\\n font-size: 16px;\\\\n /* remove default arrow */\\\\n -webkit-appearance: none;\\\\n -moz-appearance: none;\\\\n appearance: none; }\\\\n .playback-controls .rate-selector .arrow {\\\\n position: absolute;\\\\n top: 5px;\\\\n right: 0px;\\\\n width: 10px;\\\\n height: 100%;\\\\n pointer-events: none; }\\\\n .playback-controls .rate-selector .arrow:before {\\\\n position: absolute;\\\\n top: 16px;\\\\n right: 1px;\\\\n margin-top: -5px;\\\\n border-top: 8px solid #666666;\\\\n border-left: 8px solid transparent;\\\\n border-right: 8px solid transparent;\\\\n content: '';\\\\n pointer-events: none; }\\\\n .playback-controls .time-controls {\\\\n position: absolute;\\\\n min-width: 300px;\\\\n height: 100%;\\\\n left: 125px;\\\\n right: 50px; }\\\\n .playback-controls .time-controls .rangeslider {\\\\n position: 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i,r,o,a,s,l,u,c,d,h,p,f=b(n(15)),m=b(n(16)),g=b(n(1)),v=b(n(2)),y=n(9);function b(e){return e&&e.__esModule?e:{default:e}}function x(e,t,n,i){n&&(0,f.default)(e,t,{enumerable:n.enumerable,configurable:n.configurable,writable:n.writable,value:n.initializer?n.initializer.call(i):void 0})}function _(e,t,n,i,r){var o={};return Object.keys(i).forEach((function(e){o[e]=i[e]})),o.enumerable=!!o.enumerable,o.configurable=!!o.configurable,(\\\"value\\\"in o||o.initializer)&&(o.writable=!0),o=n.slice().reverse().reduce((function(n,i){return i(e,t,n)||n}),o),r&&void 0!==o.initializer&&(o.value=o.initializer?o.initializer.call(r):void 0,o.initializer=void 0),void 0===o.initializer&&(Object.defineProperty(e,t,o),o=null),o}function w(e){return 10*Math.round(e/10)}var M=(i=function(){function e(){(0,g.default)(this,e),x(this,\\\"throttlePercent\\\",r,this),x(this,\\\"brakePercent\\\",o,this),x(this,\\\"speed\\\",a,this),x(this,\\\"steeringAngle\\\",s,this),x(this,\\\"steeringPercentage\\\",l,this),x(this,\\\"batteryPercentage\\\",u,this),x(this,\\\"gearLocation\\\",c,this),x(this,\\\"drivingMode\\\",d,this),x(this,\\\"isAutoMode\\\",h,this),x(this,\\\"turnSignal\\\",p,this)}return(0,v.default)(e,[{key:\\\"update\\\",value:function(e){var t;e.autoDrivingCar&&(void 0!==e.autoDrivingCar.throttlePercentage&&(this.throttlePercent=w(e.autoDrivingCar.throttlePercentage)),void 0!==e.autoDrivingCar.brakePercentage&&(this.brakePercent=w(e.autoDrivingCar.brakePercentage)),void 0!==e.autoDrivingCar.speed&&(this.speed=e.autoDrivingCar.speed),void 0!==e.autoDrivingCar.batteryPercentage&&e.autoDrivingCar.batteryPercentage>=0&&e.autoDrivingCar.batteryPercentage<=100&&(this.batteryPercentage=e.autoDrivingCar.batteryPercentage),void 0!==e.autoDrivingCar.gearLocation&&(this.gearLocation=e.autoDrivingCar.gearLocation),void 0===e.autoDrivingCar.steeringPercentage||isNaN(e.autoDrivingCar.steeringPercentage)||(this.steeringPercentage=Math.round(e.autoDrivingCar.steeringPercentage)),void 0===e.autoDrivingCar.steeringAngle||isNaN(e.autoDrivingCar.steeringAngle)||(this.steeringAngle=-Math.round(180*e.autoDrivingCar.steeringAngle/Math.PI)),void 0!==e.autoDrivingCar.disengageType&&(this.drivingMode=function(e){switch(e){case\\\"DISENGAGE_MANUAL\\\":return\\\"MANUAL\\\";case\\\"DISENGAGE_NONE\\\":return\\\"AUTO\\\";case\\\"DISENGAGE_EMERGENCY\\\":return\\\"DISENGAGED\\\";case\\\"DISENGAGE_AUTO_STEER_ONLY\\\":return\\\"AUTO STEER\\\";case\\\"DISENGAGE_AUTO_SPEED_ONLY\\\":return\\\"AUTO SPEED\\\";case\\\"DISENGAGE_CHASSIS_ERROR\\\":return\\\"CHASSIS ERROR\\\";default:return\\\"UNKNOWN\\\"}}(e.autoDrivingCar.disengageType),this.isAutoMode=\\\"DISENGAGE_NONE\\\"===(t=e.autoDrivingCar.disengageType)||\\\"DISENGAGE_AUTO_STEER_ONLY\\\"===t||\\\"DISENGAGE_AUTO_SPEED_ONLY\\\"===t),void 0!==e.autoDrivingCar.currentSignal&&(this.turnSignal=e.autoDrivingCar.currentSignal))}}]),e}(),r=_(i.prototype,\\\"throttlePercent\\\",[y.observable],{enumerable:!0,initializer:function(){return 0}}),o=_(i.prototype,\\\"brakePercent\\\",[y.observable],{enumerable:!0,initializer:function(){return 0}}),a=_(i.prototype,\\\"speed\\\",[y.observable],{enumerable:!0,initializer:function(){return 0}}),s=_(i.prototype,\\\"steeringAngle\\\",[y.observable],{enumerable:!0,initializer:function(){return 0}}),l=_(i.prototype,\\\"steeringPercentage\\\",[y.observable],{enumerable:!0,initializer:function(){return 0}}),u=_(i.prototype,\\\"batteryPercentage\\\",[y.observable],{enumerable:!0,initializer:function(){return 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Object.keys(i).forEach((function(e){o[e]=i[e]})),o.enumerable=!!o.enumerable,o.configurable=!!o.configurable,(\\\"value\\\"in o||o.initializer)&&(o.writable=!0),o=n.slice().reverse().reduce((function(n,i){return i(e,t,n)||n}),o),r&&void 0!==o.initializer&&(o.value=o.initializer?o.initializer.call(r):void 0,o.initializer=void 0),void 0===o.initializer&&(Object.defineProperty(e,t,o),o=null),o}var y=(i=function(){function e(){(0,h.default)(this,e),g(this,\\\"hasActiveNotification\\\",r,this),g(this,\\\"items\\\",o,this),g(this,\\\"rssInfo\\\",a,this),g(this,\\\"isSirenOn\\\",s,this),this.lastUpdateTimestamp=0,this.refreshTimer=null}return(0,p.default)(e,[{key:\\\"startRefresh\\\",value:function(){var e=this;this.clearRefreshTimer(),this.refreshTimer=setInterval((function(){Date.now()-e.lastUpdateTimestamp>6e3&&(e.setHasActiveNotification(!1),e.clearRefreshTimer())}),500)}},{key:\\\"clearRefreshTimer\\\",value:function(){null!==this.refreshTimer&&(clearInterval(this.refreshTimer),this.refreshTimer=null)}},{key:\\\"setHasActiveNotification\\\",value:function(e){this.hasActiveNotification=e}},{key:\\\"update\\\",value:function(e){this.updateMonitorItems(e),this.updateEmergencyItem(e)}},{key:\\\"updateEmergencyItem\\\",value:function(e){this.isSirenOn=e.isSirenOn}},{key:\\\"updateMonitorItems\\\",value:function(e){if(e.monitor||e.notification){var t=[];e.notification?t=e.notification.reverse().map((function(e){return(0,d.default)(e.item,{timestampMs:1e3*e.timestampSec})})).sort((function(e,t){return t.timestampMs-e.timestampMs})):e.monitor&&(t=e.monitor.item),this.hasNewNotification(this.items,t)&&this.updateMonitorMessages(t,Date.now())}}},{key:\\\"hasNewNotification\\\",value:function(e,t){return(0!==e.length||0!==t.length)&&(0===e.length||0===t.length||(0,c.default)(this.items[0])!==(0,c.default)(t[0]))}},{key:\\\"insert\\\",value:function(e,t,n){var i=[];i.push({msg:t,logLevel:e,timestampMs:n});for(var r=0;r<this.items.length;++r)r<29&&i.push(this.items[r]);this.updateMonitorMessages(i,n)}},{key:\\\"updateMonitorMessages\\\",value:function(e,t){var n=this;this.hasActiveNotification=!0,this.lastUpdateTimestamp=t,this.items=[],this.rssInfo=[],e.forEach((function(e){e&&e.msg&&e.msg.startsWith(\\\"RSS\\\")?n.rssInfo.push(e):n.items.push(e)}))}}]),e}(),r=v(i.prototype,\\\"hasActiveNotification\\\",[f.observable],{enumerable:!0,initializer:function(){return!1}}),o=v(i.prototype,\\\"items\\\",[f.observable],{enumerable:!0,initializer:function(){return[]}}),a=v(i.prototype,\\\"rssInfo\\\",[f.observable],{enumerable:!0,initializer:function(){return[]}}),s=v(i.prototype,\\\"isSirenOn\\\",[f.observable],{enumerable:!0,initializer:function(){return!1}}),v(i.prototype,\\\"setHasActiveNotification\\\",[f.action],(0,u.default)(i.prototype,\\\"setHasActiveNotification\\\"),i.prototype),v(i.prototype,\\\"updateEmergencyItem\\\",[f.action],(0,u.default)(i.prototype,\\\"updateEmergencyItem\\\"),i.prototype),v(i.prototype,\\\"updateMonitorItems\\\",[f.action],(0,u.default)(i.prototype,\\\"updateMonitorItems\\\"),i.prototype),v(i.prototype,\\\"insert\\\",[f.action],(0,u.default)(i.prototype,\\\"insert\\\"),i.prototype),i);t.default=y},function(e,t,n){\\\"use strict\\\";Object.defineProperty(t,\\\"__esModule\\\",{value:!0}),t.default=void 0;var i,r,o=f(n(15)),a=f(n(16)),s=f(n(41)),l=f(n(1)),u=f(n(2)),c=n(9),d=n(12),h=n(350),p=f(n(151));function f(e){return e&&e.__esModule?e:{default:e}}function m(e,t,n,i,r){var o={};return Object.keys(i).forEach((function(e){o[e]=i[e]})),o.enumerable=!!o.enumerable,o.configurable=!!o.configurable,(\\\"value\\\"in o||o.initializer)&&(o.writable=!0),o=n.slice().reverse().reduce((function(n,i){return i(e,t,n)||n}),o),r&&void 0!==o.initializer&&(o.value=o.initializer?o.initializer.call(r):void 0,o.initializer=void 0),void 0===o.initializer&&(Object.defineProperty(e,t,o),o=null),o}var g=p.default.nameMapper,v=(i=function(){function e(){var t,n,i,a;(0,l.default)(this,e),t=this,n=\\\"planningTimeSec\\\",a=this,(i=r)&&(0,o.default)(t,n,{enumerable:i.enumerable,configurable:i.configurable,writable:i.writable,value:i.initializer?i.initializer.call(a):void 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t=this.data.slGraph,n=e[0].sampledS;t.mapLowerBound=this.generateDataPoints(n,e[0].mapLowerBound,this.transformMapBound),t.mapUpperBound=this.generateDataPoints(n,e[0].mapUpperBound,this.transformMapBound),t.staticObstacleLowerBound=this.generateDataPoints(n,e[0].staticObstacleLowerBound),t.staticObstacleUpperBound=this.generateDataPoints(n,e[0].staticObstacleUpperBound),t.dynamicObstacleLowerBound=this.generateDataPoints(n,e[0].dynamicObstacleLowerBound),t.dynamicObstacleUpperBound=this.generateDataPoints(n,e[0].dynamicObstacleUpperBound),t.pathLine=this.extractDataPoints(e[0].slPath,\\\"s\\\",\\\"l\\\");var i=e[1].aggregatedBoundaryS;t.aggregatedBoundaryLow=this.generateDataPoints(i,e[1].aggregatedBoundaryLow),t.aggregatedBoundaryHigh=this.generateDataPoints(i,e[1].aggregatedBoundaryHigh)}},{key:\\\"updateSTGraph\\\",value:function(e){var t=!0,n=!1,i=void 0;try{for(var r,o=(0,s.default)(e);!(t=(r=o.next()).done);t=!0){var a=r.value;this.data.stGraph[a.name]={obstaclesBoundary:{}};var l=this.data.stGraph[a.name];if(a.boundary){var u=!0,c=!1,d=void 0;try{for(var h,p=(0,s.default)(a.boundary);!(u=(h=p.next()).done);u=!0){var f=h.value,m=f.type.substring(\\\"ST_BOUNDARY_TYPE_\\\".length),g=f.name+\\\"_\\\"+m;l.obstaclesBoundary[g]=this.extractDataPoints(f.point,\\\"t\\\",\\\"s\\\",!0)}}catch(e){c=!0,d=e}finally{try{!u&&p.return&&p.return()}finally{if(c)throw d}}}l.curveLine=this.extractDataPoints(a.speedProfile,\\\"t\\\",\\\"s\\\"),a.kernelCruiseRef&&(l.kernelCruise=this.generateDataPoints(a.kernelCruiseRef.t,a.kernelCruiseRef.cruiseLineS)),a.kernelFollowRef&&(l.kernelFollow=this.generateDataPoints(a.kernelFollowRef.t,a.kernelFollowRef.followLineS))}}catch(e){n=!0,i=e}finally{try{!t&&o.return&&o.return()}finally{if(n)throw i}}}},{key:\\\"updateSTSpeedGraph\\\",value:function(e){var t=this,n=!0,i=!1,r=void 0;try{for(var o,a=(0,s.default)(e);!(n=(o=a.next()).done);n=!0){var l=o.value;this.data.stSpeedGraph[l.name]={};var u=this.data.stSpeedGraph[l.name];u.limit=this.extractDataPoints(l.speedLimit,\\\"s\\\",\\\"v\\\"),u.planned=this.extractDataPoints(l.speedProfile,\\\"s\\\",\\\"v\\\"),l.speedConstraint&&function(){var e=l.speedProfile.map((function(e){return e.t})),n=l.speedProfile.map((function(e){return e.s})),i=new d.LinearInterpolant(e,n,1,[]),r=l.speedConstraint.t.map((function(e){return i.evaluate(e)[0]}));u.lowerConstraint=t.generateDataPoints(r,l.speedConstraint.lowerBound),u.upperConstraint=t.generateDataPoints(r,l.speedConstraint.upperBound)}()}}catch(e){i=!0,r=e}finally{try{!n&&a.return&&a.return()}finally{if(i)throw r}}}},{key:\\\"updateSpeed\\\",value:function(e,t){var n=this.data.speedGraph;if(e){var i=!0,r=!1,o=void 0;try{for(var a,l=(0,s.default)(e);!(i=(a=l.next()).done);i=!0){var u=a.value;n[g[u.name]||u.name]=this.extractDataPoints(u.speedPoint,\\\"t\\\",\\\"v\\\")}}catch(e){r=!0,o=e}finally{try{!i&&l.return&&l.return()}finally{if(r)throw o}}}t&&(n.VehicleSpeed=this.extractDataPoints(t,\\\"timestampSec\\\",\\\"speed\\\",!1,-this.planningTimeSec))}},{key:\\\"updateAccelerationGraph\\\",value:function(e){var t=this.data.accelerationGraph;e&&(t.acceleration=this.extractDataPoints(e,\\\"timestampSec\\\",\\\"speedAcceleration\\\",!1,-this.planningTimeSec))}},{key:\\\"updatePathThetaGraph\\\",value:function(e){var t=!0,n=!1,i=void 0;try{for(var r,o=(0,s.default)(e);!(t=(r=o.next()).done);t=!0){var a=r.value,l=g[a.name]||a.name;this.data.thetaGraph[l]=this.extractDataPoints(a.pathPoint,\\\"s\\\",\\\"theta\\\")}}catch(e){n=!0,i=e}finally{try{!t&&o.return&&o.return()}finally{if(n)throw i}}}},{key:\\\"updateTrajectoryThetaGraph\\\",value:function(e){e&&(this.data.thetaGraph.Trajectory=this.extractDataPoints(e,\\\"timestampSec\\\",\\\"heading\\\"))}},{key:\\\"updatePathKappaGraph\\\",value:function(e){var t=!0,n=!1,i=void 0;try{for(var r,o=(0,s.default)(e);!(t=(r=o.next()).done);t=!0){var a=r.value,l=g[a.name]||a.name;this.data.kappaGraph[l]=this.extractDataPoints(a.pathPoint,\\\"s\\\",\\\"kappa\\\")}}catch(e){n=!0,i=e}finally{try{!t&&o.return&&o.return()}finally{if(n)throw i}}}},{key:\\\"updateTrajectoryKappaGraph\\\",value:function(e){e&&(this.data.kappaGraph.Trajectory=this.extractDataPoints(e,\\\"timestampSec\\\",\\\"kappa\\\"))}},{key:\\\"updatePathDkappaGraph\\\",value:function(e){var t=!0,n=!1,i=void 0;try{for(var r,o=(0,s.default)(e);!(t=(r=o.next()).done);t=!0){var a=r.value,l=g[a.name]||a.name;this.data.dkappaGraph[l]=this.extractDataPoints(a.pathPoint,\\\"s\\\",\\\"dkappa\\\")}}catch(e){n=!0,i=e}finally{try{!t&&o.return&&o.return()}finally{if(n)throw i}}}},{key:\\\"updateTrajectoryDkappaGraph\\\",value:function(e){e&&(this.data.dkappaGraph.Trajectory=this.extractDataPoints(e,\\\"timestampSec\\\",\\\"dkappa\\\"))}},{key:\\\"updateScenario\\\",value:function(e,t){if(e){var n=this.scenarioHistory.length>0?this.scenarioHistory[this.scenarioHistory.length-1]:{};n.timeSec&&t<n.timeSec&&(this.scenarioHistory=[]),n.scenarioType===e.scenarioType&&n.stageType===e.stageType||(this.scenarioHistory.push({timeSec:t,scenarioType:e.scenarioType,stageType:e.stageType}),this.scenarioHistory.length>5&&this.scenarioHistory.shift())}}},{key:\\\"update\\\",value:function(e){var t=e.planningData;if(t){var n=e.latency.planning.timestampSec;if(this.planningTimeSec===n)return;if(t.scenario&&this.updateScenario(t.scenario,n),this.chartData=[],this.data=this.initData(),t.chart){var i=!0,r=!1,o=void 0;try{for(var a,l=(0,s.default)(t.chart);!(i=(a=l.next()).done);i=!0){var u=a.value;this.chartData.push((0,h.parseChartDataFromProtoBuf)(u))}}catch(e){r=!0,o=e}finally{try{!i&&l.return&&l.return()}finally{if(r)throw 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i,r,o,a,s,l,u=v(n(15)),c=v(n(16)),d=v(n(1)),h=v(n(2)),p=n(9),f=v(n(8)),m=v(n(34)),g=v(n(113));function v(e){return e&&e.__esModule?e:{default:e}}function y(e,t,n,i){n&&(0,u.default)(e,t,{enumerable:n.enumerable,configurable:n.configurable,writable:n.writable,value:n.initializer?n.initializer.call(i):void 0})}function b(e,t,n,i,r){var o={};return Object.keys(i).forEach((function(e){o[e]=i[e]})),o.enumerable=!!o.enumerable,o.configurable=!!o.configurable,(\\\"value\\\"in o||o.initializer)&&(o.writable=!0),o=n.slice().reverse().reduce((function(n,i){return i(e,t,n)||n}),o),r&&void 0!==o.initializer&&(o.value=o.initializer?o.initializer.call(r):void 0,o.initializer=void 0),void 0===o.initializer&&(Object.defineProperty(e,t,o),o=null),o}var x=(i=function(){function e(){(0,d.default)(this,e),y(this,\\\"defaultRoutingEndPoint\\\",r,this),y(this,\\\"defaultRoutings\\\",o,this),y(this,\\\"defaultRoutingDistanceThreshold\\\",a,this),y(this,\\\"currentPOI\\\",s,this),y(this,\\\"inDefaultRoutingMode\\\",l,this),this.defaultParkingInfo={},this.currentDefaultRouting=\\\"none\\\",this.parkingRoutingDistanceThreshold=20}return(0,h.default)(e,[{key:\\\"updateDefaultRoutingEndPoint\\\",value:function(e){if(void 0!==e.poi){this.defaultRoutingEndPoint={},this.defaultParkingInfo={};for(var t=0;t<e.poi.length;++t){var n=e.poi[t];this.defaultRoutingEndPoint[n.name]=n.waypoint,this.defaultParkingInfo[n.name]=n.parkingInfo,\\\"\\\"===this.defaultParkingInfo[n.name].parkingSpaceId&&(delete this.defaultParkingInfo[n.name].parkingSpaceId,f.default.isEmpty(this.defaultParkingInfo[n.name])&&delete this.defaultParkingInfo[n.name])}}}},{key:\\\"addDefaultEndPoint\\\",value:function(e,t){f.default.isEmpty(this.defaultRoutingEndPoint)?alert(\\\"Failed to get default routing end point, make sure there's a default end point file under the map data directory.\\\"):void 0!==e&&\\\"\\\"!==e&&e in this.defaultRoutingEndPoint?(this.currentPOI=e,t?g.default.addDefaultEndPoint(this.defaultRoutingEndPoint[e]):(m.default.addDefaultEndPoint(this.defaultRoutingEndPoint[e]),m.default.setParkingInfo(this.defaultParkingInfo[e]))):alert(\\\"Please select a valid POI.\\\")}},{key:\\\"addDefaultRoutingPoint\\\",value:function(e){f.default.isEmpty(this.defaultRoutings)?alert(\\\"Failed to get default routing, make sure there's a default routing file under the map data directory.\\\"):void 0!==e&&\\\"\\\"!==e&&e in this.defaultRoutings?m.default.addDefaultEndPoint(this.defaultRoutings[e],!1):alert(\\\"Please select a valid default routing.\\\")}},{key:\\\"updateDefaultRoutingPoints\\\",value:function(e){if(e.threshold&&(this.defaultRoutingDistanceThreshold=e.threshold),void 0!==e.defaultRoutings){this.defaultRoutings={};for(var t=0;t<e.defaultRoutings.length;++t){var 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strict\\\";e.exports=\\\"SECRET_DO_NOT_PASS_THIS_OR_YOU_WILL_BE_FIRED\\\"},function(e,t){e.exports=[\\\"alignContent\\\",\\\"MozAlignContent\\\",\\\"WebkitAlignContent\\\",\\\"MSAlignContent\\\",\\\"OAlignContent\\\",\\\"alignItems\\\",\\\"MozAlignItems\\\",\\\"WebkitAlignItems\\\",\\\"MSAlignItems\\\",\\\"OAlignItems\\\",\\\"alignSelf\\\",\\\"MozAlignSelf\\\",\\\"WebkitAlignSelf\\\",\\\"MSAlignSelf\\\",\\\"OAlignSelf\\\",\\\"all\\\",\\\"MozAll\\\",\\\"WebkitAll\\\",\\\"MSAll\\\",\\\"OAll\\\",\\\"animation\\\",\\\"MozAnimation\\\",\\\"WebkitAnimation\\\",\\\"MSAnimation\\\",\\\"OAnimation\\\",\\\"animationDelay\\\",\\\"MozAnimationDelay\\\",\\\"WebkitAnimationDelay\\\",\\\"MSAnimationDelay\\\",\\\"OAnimationDelay\\\",\\\"animationDirection\\\",\\\"MozAnimationDirection\\\",\\\"WebkitAnimationDirection\\\",\\\"MSAnimationDirection\\\",\\\"OAnimationDirection\\\",\\\"animationDuration\\\",\\\"MozAnimationDuration\\\",\\\"WebkitAnimationDuration\\\",\\\"MSAnimationDuration\\\",\\\"OAnimationDuration\\\",\\\"animationFillMode\\\",\\\"MozAnimationFillMode\\\",\\\"WebkitAnimationFillMode\\\",\\\"MSAnimationFillMode\\\",\\\"OAnimationFillMode\\\",\\\"animationIterationCount\\\",\\\"MozAnimationIterationCount\\\",\\\"WebkitAnimationIterationCount\\\",\\\"MSAnimationIterationCount\\\",\\\"OAnimationIterationCount\\\",\\\"animationName\\\",\\\"MozAnimationName\\\",\\\"WebkitAnimationName\\\",\\\"MSAnimationName\\\",\\\"OAnimationName\\\",\\\"animationPlayState\\\",\\\"MozAnimationPlayState\\\",\\\"WebkitAnimationPlayState\\\",\\\"MSAnimationPlayState\\\",\\\"OAnimationPlayState\\\",\\\"animationTimingFunction\\\",\\\"MozAnimationTimingFunction\\\",\\\"WebkitAnimationTimingFunction\\\",\\\"MSAnimationTimingFunction\\\",\\\"OAnimationTimingFunction\\\",\\\"backfaceVisibility\\\",\\\"MozBackfaceVisibility\\\",\\\"WebkitBackfaceVisibility\\\",\\\"MSBackfaceVisibility\\\",\\\"OBackfaceVisibility\\\",\\\"background\\\",\\\"MozBackground\\\",\\\"WebkitBackground\\\",\\\"MSBackground\\\",\\\"OBackground\\\",\\\"backgroundAttachment\\\",\\\"MozBackgroundAttachment\\\",\\\"WebkitBackgroundAttachment\\\",\\\"MSBackgroundAttachment\\\",\\\"OBackgroundAttachment\\\",\\\"backgroundBlendMode\\\",\\\"MozBackgroundBlendMode\\\",\\\"WebkitBackgroundBlendMode\\\",\\\"MSBackgroundBlendMode\\\",\\\"OBackgroundBlendMode\\\",\\\"backgroundClip\\\",\\\"MozBackgroundClip\\\",\\\"WebkitBackgroundClip\\\",\\\"MSBackgroundClip\\\",\\\"OBackgroundClip\\\",\\\"backgroundColor\\\",\\\"MozBackgroundColor\\\",\\\"WebkitBackgroundColor\\\",\\\"MSBackgroundColor\\\",\\\"OBackgroundColor\\\",\\\"backgroundImage\\\",\\\"MozBackgroundImage\\\",\\\"WebkitBackgroundImage\\\",\\\"MSBackgroundImage\\\",\\\"OBackgroundImage\\\",\\\"backgroundOrigin\\\",\\\"MozBackgroundOrigin\\\",\\\"WebkitBackgroundOrigin\\\",\\\"MSBackgroundOrigin\\\",\\\"OBackgroundOrigin\\\",\\\"backgroundPosition\\\",\\\"MozBackgroundPosition\\\",\\\"WebkitBackgroundPosition\\\",\\\"MSBackgroundPosition\\\",\\\"OBackgroundPosition\\\",\\\"backgroundRepeat\\\",\\\"MozBackgroundRepeat\\\",\\\"WebkitBackgroundRepeat\\\",\\\"MSBackgroundRepeat\\\",\\\"OBackgroundRepeat\\\",\\\"backgroundSize\\\",\\\"MozBackgroundSize\\\",\\\"WebkitBackgroundSize\\\",\\\"MSBackgroundSize\\\",\\\"OBackgroundSize\\\",\\\"blockSize\\\",\\\"MozBlockSize\\\",\\\"WebkitBlockSize\\\",\\\"MSBlockSize\\\",\\\"OBlockSize\\\",\\\"border\\\",\\\"MozBorder\\\",\\\"WebkitBorder\\\",\\\"MSBorder\\\",\\\"OBorder\\\",\\\"borderBlockEnd\\\",\\\"MozBorderBlockEnd\\\",\\\"WebkitBorderBlockEnd\\\",\\\"MSBorderBlockEnd\\\",\\\"OBorderBlockEnd\\\",\\\"borderBlockEndColor\\\",\\\"MozBorderBlockEndColor\\\",\\\"WebkitBorderBlockEndColor\\\",\\\"MSBorderBlockEndColor\\\",\\\"OBorderBlockEndColor\\\",\\\"borderBlockEndStyle\\\",\\\"MozBorderBlockEndStyle\\\",\\\"WebkitBorderBlockEndStyle\\\",\\\"MSBorderBlockEndStyle\\\",\\\"OBorderBlockEndStyle\\\",\\\"borderBlockEndWidth\\\",\\\"MozBorderBlockEndWidth\\\",\\\"WebkitBorderBlockEndWidth\\\",\\\"MSBorderBlockEndWidth\\\",\\\"OBorderBlockEndWidth\\\",\\\"borderBlockStart\\\",\\\"MozBorderBlockStart\\\",\\\"WebkitBorderBlockStart\\\",\\\"MSBorderBlockStart\\\",\\\"OBorderBlockStart\\\",\\\"borderBlockStartColor\\\",\\\"MozBorderBlockStartColor\\\",\\\"WebkitBorderBlockStartColor\\\",\\\"MSBorderBlockStartColor\\\",\\\"OBorderBlockStartColor\\\",\\\"borderBlockStartStyle\\\",\\\"MozBorderBlockStartStyle\\\",\\\"WebkitBorderBlockStartStyle\\\",\\\"MSBorderBlockStartStyle\\\",\\\"OBorderBlockStartStyle\\\",\\\"borderBlockStartWidth\\\",\\\"MozBorderBlockStartWidth\\\",\\\"WebkitBorderBlockStartWidth\\\",\\\"MSBorderBlockStartWidth\\\",\\\"OBorderBlockStartWidth\\\",\\\"borderBottom\\\",\\\"MozBorderBottom\\\",\\\"WebkitBorderBottom\\\",\\\"MSBorderBottom\\\",\\\"OBorderBottom\\\",\\\"borderBottomColor\\\",\\\"MozBorderBottomColor\\\",\\\"WebkitBorderBottomColor\\\",\\\"MSBorderBottomColor\\\",\\\"OBorderBottomColor\\\",\\\"borderBottomLeftRadius\\\",\\\"MozBorderBottomLeftRadius\\\",\\\"Webk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t=this.getMeta(),n=t.data||[],i=n.length,r=0;r<i;++r)n[r].transition(e);t.dataset&&t.dataset.transition(e)},draw:function(){var e=this.getMeta(),t=e.data||[],n=t.length,i=0;for(e.dataset&&e.dataset.draw();i<n;++i)t[i].draw()},getStyle:function(e){var t,n=this.getMeta(),i=n.dataset;return this._configure(),i&&void 0===e?t=this._resolveDatasetElementOptions(i||{}):(e=e||0,t=this._resolveDataElementOptions(n.data[e]||{},e)),!1!==t.fill&&null!==t.fill||(t.backgroundColor=t.borderColor),t},_resolveDatasetElementOptions:function(e,t){var n,i,r,o,a=this,s=a.chart,l=a._config,u=e.custom||{},c=s.options.elements[a.datasetElementType.prototype._type]||{},d=a._datasetElementOptions,h={},p={chart:s,dataset:a.getDataset(),datasetIndex:a.index,hover:t};for(n=0,i=d.length;n<i;++n)r=d[n],o=t?\\\"hover\\\"+r.charAt(0).toUpperCase()+r.slice(1):r,h[r]=$([u[o],l[o],c[o]],p);return h},_resolveDataElementOptions:function(e,t){var n=this,i=e&&e.custom,r=n._cachedDataOpts;if(r&&!i)return r;var 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e=arguments.length;this.insertElements(this.getDataset().data.length-e,e)},onDataPop:function(){this.getMeta().data.pop()},onDataShift:function(){this.getMeta().data.shift()},onDataSplice:function(e,t){this.getMeta().data.splice(e,t),this.insertElements(e,arguments.length-2)},onDataUnshift:function(){this.insertElements(0,arguments.length)}}),te.extend=U.inherits;var ne=te,ie=2*Math.PI;function re(e,t){var n=t.startAngle,i=t.endAngle,r=t.pixelMargin,o=r/t.outerRadius,a=t.x,s=t.y;e.beginPath(),e.arc(a,s,t.outerRadius,n-o,i+o),t.innerRadius>r?(o=r/t.innerRadius,e.arc(a,s,t.innerRadius-r,i+o,n-o,!0)):e.arc(a,s,r,i+Math.PI/2,n-Math.PI/2),e.closePath(),e.clip()}function oe(e,t,n){var i=\\\"inner\\\"===t.borderAlign;i?(e.lineWidth=2*t.borderWidth,e.lineJoin=\\\"round\\\"):(e.lineWidth=t.borderWidth,e.lineJoin=\\\"bevel\\\"),n.fullCircles&&function(e,t,n,i){var 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i=U.getAngleFromPoint(n,{x:e,y:t}),r=i.angle,o=i.distance,a=n.startAngle,s=n.endAngle;s<a;)s+=ie;for(;r>s;)r-=ie;for(;r<a;)r+=ie;var l=r>=a&&r<=s,u=o>=n.innerRadius&&o<=n.outerRadius;return l&&u}return!1},getCenterPoint:function(){var e=this._view,t=(e.startAngle+e.endAngle)/2,n=(e.innerRadius+e.outerRadius)/2;return{x:e.x+Math.cos(t)*n,y:e.y+Math.sin(t)*n}},getArea:function(){var e=this._view;return Math.PI*((e.endAngle-e.startAngle)/(2*Math.PI))*(Math.pow(e.outerRadius,2)-Math.pow(e.innerRadius,2))},tooltipPosition:function(){var e=this._view,t=e.startAngle+(e.endAngle-e.startAngle)/2,n=(e.outerRadius-e.innerRadius)/2+e.innerRadius;return{x:e.x+Math.cos(t)*n,y:e.y+Math.sin(t)*n}},draw:function(){var e,t=this._chart.ctx,n=this._view,i=\\\"inner\\\"===n.borderAlign?.33:0,r={x:n.x,y:n.y,innerRadius:n.innerRadius,outerRadius:Math.max(n.outerRadius-i,0),pixelMargin:i,startAngle:n.startAngle,endAngle:n.endAngle,fullCircles:Math.floor(n.circumference/ie)};if(t.save(),t.fillStyle=n.backgroundColor,t.strokeStyle=n.borderColor,r.fullCircles){for(r.endAngle=r.startAngle+ie,t.beginPath(),t.arc(r.x,r.y,r.outerRadius,r.startAngle,r.endAngle),t.arc(r.x,r.y,r.innerRadius,r.endAngle,r.startAngle,!0),t.closePath(),e=0;e<r.fullCircles;++e)t.fill();r.endAngle=r.startAngle+n.circumference%ie}t.beginPath(),t.arc(r.x,r.y,r.outerRadius,r.startAngle,r.endAngle),t.arc(r.x,r.y,r.innerRadius,r.endAngle,r.startAngle,!0),t.closePath(),t.fill(),n.borderWidth&&oe(t,n,r),t.restore()}}),se=U.valueOrDefault,le=N.global.defaultColor;N._set(\\\"global\\\",{elements:{line:{tension:.4,backgroundColor:le,borderWidth:3,borderColor:le,borderCapStyle:\\\"butt\\\",borderDash:[],borderDashOffset:0,borderJoinStyle:\\\"miter\\\",capBezierPoints:!0,fill:!0}}});var ue=X.extend({_type:\\\"line\\\",draw:function(){var e,t,n,i=this,r=i._view,o=i._chart.ctx,a=r.spanGaps,s=i._children.slice(),l=N.global,u=l.elements.line,c=-1,d=i._loop;if(s.length){if(i._loop){for(e=0;e<s.length;++e)if(t=U.previousItem(s,e),!s[e]._view.skip&&t._view.skip){s=s.slice(e).concat(s.slice(0,e)),d=a;break}d&&s.push(s[0])}for(o.save(),o.lineCap=r.borderCapStyle||u.borderCapStyle,o.setLineDash&&o.setLineDash(r.borderDash||u.borderDash),o.lineDashOffset=se(r.borderDashOffset,u.borderDashOffset),o.lineJoin=r.borderJoinStyle||u.borderJoinStyle,o.lineWidth=se(r.borderWidth,u.borderWidth),o.strokeStyle=r.borderColor||l.defaultColor,o.beginPath(),(n=s[0]._view).skip||(o.moveTo(n.x,n.y),c=0),e=1;e<s.length;++e)n=s[e]._view,t=-1===c?U.previousItem(s,e):s[c],n.skip||(c!==e-1&&!a||-1===c?o.moveTo(n.x,n.y):U.canvas.lineTo(o,t._view,n),c=e);d&&o.closePath(),o.stroke(),o.restore()}}}),ce=U.valueOrDefault,de=N.global.defaultColor;function he(e){var t=this._view;return!!t&&Math.abs(e-t.x)<t.radius+t.hitRadius}N._set(\\\"global\\\",{elements:{point:{radius:3,pointStyle:\\\"circle\\\",backgroundColor:de,borderColor:de,borderWidth:1,hitRadius:1,hoverRadius:4,hoverBorderWidth:1}}});var pe=X.extend({_type:\\\"point\\\",inRange:function(e,t){var n=this._view;return!!n&&Math.pow(e-n.x,2)+Math.pow(t-n.y,2)<Math.pow(n.hitRadius+n.radius,2)},inLabelRange:he,inXRange:he,inYRange:function(e){var t=this._view;return!!t&&Math.abs(e-t.y)<t.radius+t.hitRadius},getCenterPoint:function(){var e=this._view;return{x:e.x,y:e.y}},getArea:function(){return Math.PI*Math.pow(this._view.radius,2)},tooltipPosition:function(){var e=this._view;return{x:e.x,y:e.y,padding:e.radius+e.borderWidth}},draw:function(e){var t=this._view,n=this._chart.ctx,i=t.pointStyle,r=t.rotation,o=t.radius,a=t.x,s=t.y,l=N.global,u=l.defaultColor;t.skip||(void 0===e||U.canvas._isPointInArea(t,e))&&(n.strokeStyle=t.borderColor||u,n.lineWidth=ce(t.borderWidth,l.elements.point.borderWidth),n.fillStyle=t.backgroundColor||u,U.canvas.drawPoint(n,i,o,a,s,r))}}),fe=N.global.defaultColor;function me(e){return e&&void 0!==e.width}function ge(e){var t,n,i,r,o;return me(e)?(o=e.width/2,t=e.x-o,n=e.x+o,i=Math.min(e.y,e.base),r=Math.max(e.y,e.base)):(o=e.height/2,t=Math.min(e.x,e.base),n=Math.max(e.x,e.base),i=e.y-o,r=e.y+o),{left:t,top:i,right:n,bottom:r}}function ve(e,t,n){return e===t?n:e===n?t:e}function ye(e,t,n){var i,r,o,a,s=e.borderWidth,l=function(e){var t=e.borderSkipped,n={};return t?(e.horizontal?e.base>e.x&&(t=ve(t,\\\"left\\\",\\\"right\\\")):e.base<e.y&&(t=ve(t,\\\"bottom\\\",\\\"top\\\")),n[t]=!0,n):n}(e);return U.isObject(s)?(i=+s.top||0,r=+s.right||0,o=+s.bottom||0,a=+s.left||0):i=r=o=a=+s||0,{t:l.top||i<0?0:i>n?n:i,r:l.right||r<0?0:r>t?t:r,b:l.bottom||o<0?0:o>n?n:o,l:l.left||a<0?0:a>t?t:a}}function be(e,t,n){var 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be(this._view,e,null)},inYRange:function(e){return be(this._view,null,e)},getCenterPoint:function(){var e,t,n=this._view;return me(n)?(e=n.x,t=(n.y+n.base)/2):(e=(n.x+n.base)/2,t=n.y),{x:e,y:t}},getArea:function(){var e=this._view;return me(e)?e.width*Math.abs(e.y-e.base):e.height*Math.abs(e.x-e.base)},tooltipPosition:function(){var e=this._view;return{x:e.x,y:e.y}}}),_e={},we=ae,Me=ue,Se=pe,Ee=xe;_e.Arc=we,_e.Line=Me,_e.Point=Se,_e.Rectangle=Ee;var Te=U._deprecated,Ce=U.valueOrDefault;function Oe(e,t,n){var i,r,o=n.barThickness,a=t.stackCount,s=t.pixels[e],l=U.isNullOrUndef(o)?function(e,t){var n,i,r,o,a=e._length;for(r=1,o=t.length;r<o;++r)a=Math.min(a,Math.abs(t[r]-t[r-1]));for(r=0,o=e.getTicks().length;r<o;++r)i=e.getPixelForTick(r),a=r>0?Math.min(a,Math.abs(i-n)):a,n=i;return a}(t.scale,t.pixels):-1;return U.isNullOrUndef(o)?(i=l*n.categoryPercentage,r=n.barPercentage):(i=o*a,r=1),{chunk:i/a,ratio:r,start:s-i/2}}N._set(\\\"bar\\\",{hover:{mode:\\\"label\\\"},scales:{xAxes:[{type:\\\"category\\\",offset:!0,gridLines:{offsetGridLines:!0}}],yAxes:[{type:\\\"linear\\\"}]}}),N._set(\\\"global\\\",{datasets:{bar:{categoryPercentage:.8,barPercentage:.9}}});var Pe=ne.extend({dataElementType:_e.Rectangle,_dataElementOptions:[\\\"backgroundColor\\\",\\\"borderColor\\\",\\\"borderSkipped\\\",\\\"borderWidth\\\",\\\"barPercentage\\\",\\\"barThickness\\\",\\\"categoryPercentage\\\",\\\"maxBarThickness\\\",\\\"minBarLength\\\"],initialize:function(){var e,t,n=this;ne.prototype.initialize.apply(n,arguments),(e=n.getMeta()).stack=n.getDataset().stack,e.bar=!0,t=n._getIndexScale().options,Te(\\\"bar chart\\\",t.barPercentage,\\\"scales.[x/y]Axes.barPercentage\\\",\\\"dataset.barPercentage\\\"),Te(\\\"bar 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i=this,r=i.getMeta(),o=i.getDataset(),a=i._resolveDataElementOptions(e,t);e._xScale=i.getScaleForId(r.xAxisID),e._yScale=i.getScaleForId(r.yAxisID),e._datasetIndex=i.index,e._index=t,e._model={backgroundColor:a.backgroundColor,borderColor:a.borderColor,borderSkipped:a.borderSkipped,borderWidth:a.borderWidth,datasetLabel:o.label,label:i.chart.data.labels[t]},U.isArray(o.data[t])&&(e._model.borderSkipped=null),i._updateElementGeometry(e,t,n,a),e.pivot()},_updateElementGeometry:function(e,t,n,i){var r=this,o=e._model,a=r._getValueScale(),s=a.getBasePixel(),l=a.isHorizontal(),u=r._ruler||r.getRuler(),c=r.calculateBarValuePixels(r.index,t,i),d=r.calculateBarIndexPixels(r.index,t,u,i);o.horizontal=l,o.base=n?s:c.base,o.x=l?n?s:c.head:d.center,o.y=l?d.center:n?s:c.head,o.height=l?d.size:void 0,o.width=l?void 0:d.size},_getStacks:function(e){var t,n,i=this._getIndexScale(),r=i._getMatchingVisibleMetas(this._type),o=i.options.stacked,a=r.length,s=[];for(t=0;t<a&&(n=r[t],(!1===o||-1===s.indexOf(n.stack)||void 0===o&&void 0===n.stack)&&s.push(n.stack),n.index!==e);++t);return s},getStackCount:function(){return this._getStacks().length},getStackIndex:function(e,t){var n=this._getStacks(e),i=void 0!==t?n.indexOf(t):-1;return-1===i?n.length-1:i},getRuler:function(){var e,t,n=this._getIndexScale(),i=[];for(e=0,t=this.getMeta().data.length;e<t;++e)i.push(n.getPixelForValue(null,e,this.index));return{pixels:i,start:n._startPixel,end:n._endPixel,stackCount:this.getStackCount(),scale:n}},calculateBarValuePixels:function(e,t,n){var i,r,o,a,s,l,u,c=this.chart,d=this._getValueScale(),h=d.isHorizontal(),p=c.data.datasets,f=d._getMatchingVisibleMetas(this._type),m=d._parseValue(p[e].data[t]),g=n.minBarLength,v=d.options.stacked,y=this.getMeta().stack,b=void 0===m.start?0:m.max>=0&&m.min>=0?m.min:m.max,x=void 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null===a&&(a=o-(null===s?t.end-t.start:s-o)),null===s&&(s=o+o-a),i=o-(o-Math.min(a,s))/2*l,{chunk:Math.abs(s-a)/2*l/t.stackCount,ratio:n.barPercentage,start:i}}(t,n,i):Oe(t,n,i),o=this.getStackIndex(e,this.getMeta().stack),a=r.start+r.chunk*o+r.chunk/2,s=Math.min(Ce(i.maxBarThickness,1/0),r.chunk*r.ratio);return{base:a-s/2,head:a+s/2,center:a,size:s}},draw:function(){var e=this.chart,t=this._getValueScale(),n=this.getMeta().data,i=this.getDataset(),r=n.length,o=0;for(U.canvas.clipArea(e.ctx,e.chartArea);o<r;++o){var a=t._parseValue(i.data[o]);isNaN(a.min)||isNaN(a.max)||n[o].draw()}U.canvas.unclipArea(e.ctx)},_resolveDataElementOptions:function(){var e=this,t=U.extend({},ne.prototype._resolveDataElementOptions.apply(e,arguments)),n=e._getIndexScale().options,i=e._getValueScale().options;return t.barPercentage=Ce(n.barPercentage,t.barPercentage),t.barThickness=Ce(n.barThickness,t.barThickness),t.categoryPercentage=Ce(n.categoryPercentage,t.categoryPercentage),t.maxBarThickness=Ce(n.maxBarThickness,t.maxBarThickness),t.minBarLength=Ce(i.minBarLength,t.minBarLength),t}}),ke=U.valueOrDefault,Ae=U.options.resolve;N._set(\\\"bubble\\\",{hover:{mode:\\\"single\\\"},scales:{xAxes:[{type:\\\"linear\\\",position:\\\"bottom\\\",id:\\\"x-axis-0\\\"}],yAxes:[{type:\\\"linear\\\",position:\\\"left\\\",id:\\\"y-axis-0\\\"}]},tooltips:{callbacks:{title:function(){return\\\"\\\"},label:function(e,t){var n=t.datasets[e.datasetIndex].label||\\\"\\\",i=t.datasets[e.datasetIndex].data[e.index];return n+\\\": (\\\"+e.xLabel+\\\", \\\"+e.yLabel+\\\", \\\"+i.r+\\\")\\\"}}}});var Re=ne.extend({dataElementType:_e.Point,_dataElementOptions:[\\\"backgroundColor\\\",\\\"borderColor\\\",\\\"borderWidth\\\",\\\"hoverBackgroundColor\\\",\\\"hoverBorderColor\\\",\\\"hoverBorderWidth\\\",\\\"hoverRadius\\\",\\\"hitRadius\\\",\\\"pointStyle\\\",\\\"rotation\\\"],update:function(e){var t=this,n=t.getMeta().data;U.each(n,(function(n,i){t.updateElement(n,i,e)}))},updateElement:function(e,t,n){var i=this,r=i.getMeta(),o=e.custom||{},a=i.getScaleForId(r.xAxisID),s=i.getScaleForId(r.yAxisID),l=i._resolveDataElementOptions(e,t),u=i.getDataset().data[t],c=i.index,d=n?a.getPixelForDecimal(.5):a.getPixelForValue(\\\"object\\\"==typeof u?u:NaN,t,c),h=n?s.getBasePixel():s.getPixelForValue(u,t,c);e._xScale=a,e._yScale=s,e._options=l,e._datasetIndex=c,e._index=t,e._model={backgroundColor:l.backgroundColor,borderColor:l.borderColor,borderWidth:l.borderWidth,hitRadius:l.hitRadius,pointStyle:l.pointStyle,rotation:l.rotation,radius:n?0:l.radius,skip:o.skip||isNaN(d)||isNaN(h),x:d,y:h},e.pivot()},setHoverStyle:function(e){var t=e._model,n=e._options,i=U.getHoverColor;e.$previousStyle={backgroundColor:t.backgroundColor,borderColor:t.borderColor,borderWidth:t.borderWidth,radius:t.radius},t.backgroundColor=ke(n.hoverBackgroundColor,i(n.backgroundColor)),t.borderColor=ke(n.hoverBorderColor,i(n.borderColor)),t.borderWidth=ke(n.hoverBorderWidth,n.borderWidth),t.radius=n.radius+n.hoverRadius},_resolveDataElementOptions:function(e,t){var n=this,i=n.chart,r=n.getDataset(),o=e.custom||{},a=r.data[t]||{},s=ne.prototype._resolveDataElementOptions.apply(n,arguments),l={chart:i,dataIndex:t,dataset:r,datasetIndex:n.index};return n._cachedDataOpts===s&&(s=U.extend({},s)),s.radius=Ae([o.radius,a.r,n._config.radius,i.options.elements.point.radius],l,t),s}}),Le=U.valueOrDefault,Ie=Math.PI,De=2*Ie,Ne=Ie/2;N._set(\\\"doughnut\\\",{animation:{animateRotate:!0,animateScale:!1},hover:{mode:\\\"single\\\"},legendCallback:function(e){var t,n,i,r=document.createElement(\\\"ul\\\"),o=e.data,a=o.datasets,s=o.labels;if(r.setAttribute(\\\"class\\\",e.id+\\\"-legend\\\"),a.length)for(t=0,n=a[0].data.length;t<n;++t)(i=r.appendChild(document.createElement(\\\"li\\\"))).appendChild(document.createElement(\\\"span\\\")).style.backgroundColor=a[0].backgroundColor[t],s[t]&&i.appendChild(document.createTextNode(s[t]));return r.outerHTML},legend:{labels:{generateLabels:function(e){var t=e.data;return t.labels.length&&t.datasets.length?t.labels.map((function(n,i){var r=e.getDatasetMeta(0),o=r.controller.getStyle(i);return{text:n,fillStyle:o.backgroundColor,strokeStyle:o.borderColor,lineWidth:o.borderWidth,hidden:isNaN(t.datasets[0].data[i])||r.data[i].hidden,index:i}})):[]}},onClick:function(e,t){var n,i,r,o=t.index,a=this.chart;for(n=0,i=(a.data.datasets||[]).length;n<i;++n)(r=a.getDatasetMeta(n)).data[o]&&(r.data[o].hidden=!r.data[o].hidden);a.update()}},cutoutPercentage:50,rotation:-Ne,circumference:De,tooltips:{callbacks:{title:function(){return\\\"\\\"},label:function(e,t){var n=t.labels[e.index],i=\\\": \\\"+t.datasets[e.datasetIndex].data[e.index];return U.isArray(n)?(n=n.slice())[0]+=i:n+=i,n}}}});var Fe=ne.extend({dataElementType:_e.Arc,linkScales:U.noop,_dataElementOptions:[\\\"backgroundColor\\\",\\\"borderColor\\\",\\\"borderWidth\\\",\\\"borderAlign\\\",\\\"hoverBackgroundColor\\\",\\\"hoverBorderColor\\\",\\\"hoverBorderWidth\\\"],getRingIndex:function(e){for(var t=0,n=0;n<e;++n)this.chart.isDatasetVisible(n)&&++t;return t},update:function(e){var t,n,i,r,o=this,a=o.chart,s=a.chartArea,l=a.options,u=1,c=1,d=0,h=0,p=o.getMeta(),f=p.data,m=l.cutoutPercentage/100||0,g=l.circumference,v=o._getRingWeight(o.index);if(g<De){var y=l.rotation%De,b=(y+=y>=Ie?-De:y<-Ie?De:0)+g,x=Math.cos(y),_=Math.sin(y),w=Math.cos(b),M=Math.sin(b),S=y<=0&&b>=0||b>=De,E=y<=Ne&&b>=Ne||b>=De+Ne,T=y<=-Ne&&b>=-Ne||b>=Ie+Ne,C=y===-Ie||b>=Ie?-1:Math.min(x,x*m,w,w*m),O=T?-1:Math.min(_,_*m,M,M*m),P=S?1:Math.max(x,x*m,w,w*m),k=E?1:Math.max(_,_*m,M,M*m);u=(P-C)/2,c=(k-O)/2,d=-(P+C)/2,h=-(k+O)/2}for(i=0,r=f.length;i<r;++i)f[i]._options=o._resolveDataElementOptions(f[i],i);for(a.borderWidth=o.getMaxBorderWidth(),t=(s.right-s.left-a.borderWidth)/u,n=(s.bottom-s.top-a.borderWidth)/c,a.outerRadius=Math.max(Math.min(t,n)/2,0),a.innerRadius=Math.max(a.outerRadius*m,0),a.radiusLength=(a.outerRadius-a.innerRadius)/(o._getVisibleDatasetWeightTotal()||1),a.offsetX=d*a.outerRadius,a.offsetY=h*a.outerRadius,p.total=o.calculateTotal(),o.outerRadius=a.outerRadius-a.radiusLength*o._getRingWeightOffset(o.index),o.innerRadius=Math.max(o.outerRadius-a.radiusLength*v,0),i=0,r=f.length;i<r;++i)o.updateElement(f[i],i,e)},updateElement:function(e,t,n){var i=this,r=i.chart,o=r.chartArea,a=r.options,s=a.animation,l=(o.left+o.right)/2,u=(o.top+o.bottom)/2,c=a.rotation,d=a.rotation,h=i.getDataset(),p=n&&s.animateRotate||e.hidden?0:i.calculateCircumference(h.data[t])*(a.circumference/De),f=n&&s.animateScale?0:i.innerRadius,m=n&&s.animateScale?0:i.outerRadius,g=e._options||{};U.extend(e,{_datasetIndex:i.index,_index:t,_model:{backgroundColor:g.backgroundColor,borderColor:g.borderColor,borderWidth:g.borderWidth,borderAlign:g.borderAlign,x:l+r.offsetX,y:u+r.offsetY,startAngle:c,endAngle:d,circumference:p,outerRadius:m,innerRadius:f,label:U.valueAtIndexOrDefault(h.label,t,r.data.labels[t])}});var v=e._model;n&&s.animateRotate||(v.startAngle=0===t?a.rotation:i.getMeta().data[t-1]._model.endAngle,v.endAngle=v.startAngle+v.circumference),e.pivot()},calculateTotal:function(){var e,t=this.getDataset(),n=this.getMeta(),i=0;return U.each(n.data,(function(n,r){e=t.data[r],isNaN(e)||n.hidden||(i+=Math.abs(e))})),i},calculateCircumference:function(e){var t=this.getMeta().total;return t>0&&!isNaN(e)?De*(Math.abs(e)/t):0},getMaxBorderWidth:function(e){var t,n,i,r,o,a,s,l,u=0,c=this.chart;if(!e)for(t=0,n=c.data.datasets.length;t<n;++t)if(c.isDatasetVisible(t)){e=(i=c.getDatasetMeta(t)).data,t!==this.index&&(o=i.controller);break}if(!e)return 0;for(t=0,n=e.length;t<n;++t)r=e[t],o?(o._configure(),a=o._resolveDataElementOptions(r,t)):a=r._options,\\\"inner\\\"!==a.borderAlign&&(s=a.borderWidth,u=(l=a.hoverBorderWidth)>(u=s>u?s:u)?l:u);return u},setHoverStyle:function(e){var t=e._model,n=e._options,i=U.getHoverColor;e.$previousStyle={backgroundColor:t.backgroundColor,borderColor:t.borderColor,borderWidth:t.borderWidth},t.backgroundColor=Le(n.hoverBackgroundColor,i(n.backgroundColor)),t.borderColor=Le(n.hoverBorderColor,i(n.borderColor)),t.borderWidth=Le(n.hoverBorderWidth,n.borderWidth)},_getRingWeightOffset:function(e){for(var t=0,n=0;n<e;++n)this.chart.isDatasetVisible(n)&&(t+=this._getRingWeight(n));return t},_getRingWeight:function(e){return Math.max(Le(this.chart.data.datasets[e].weight,1),0)},_getVisibleDatasetWeightTotal:function(){return this._getRingWeightOffset(this.chart.data.datasets.length)}});N._set(\\\"horizontalBar\\\",{hover:{mode:\\\"index\\\",axis:\\\"y\\\"},scales:{xAxes:[{type:\\\"linear\\\",position:\\\"bottom\\\"}],yAxes:[{type:\\\"category\\\",position:\\\"left\\\",offset:!0,gridLines:{offsetGridLines:!0}}]},elements:{rectangle:{borderSkipped:\\\"left\\\"}},tooltips:{mode:\\\"index\\\",axis:\\\"y\\\"}}),N._set(\\\"global\\\",{datasets:{horizontalBar:{categoryPercentage:.8,barPercentage:.9}}});var ze=Pe.extend({_getValueScaleId:function(){return this.getMeta().xAxisID},_getIndexScaleId:function(){return this.getMeta().yAxisID}}),Be=U.valueOrDefault,je=U.options.resolve,Ue=U.canvas._isPointInArea;function We(e,t){var n=e&&e.options.ticks||{},i=n.reverse,r=void 0===n.min?t:0,o=void 0===n.max?t:0;return{start:i?o:r,end:i?r:o}}function Ge(e,t,n){var i=n/2,r=We(e,i),o=We(t,i);return{top:o.end,right:r.end,bottom:o.start,left:r.start}}function Ve(e){var t,n,i,r;return U.isObject(e)?(t=e.top,n=e.right,i=e.bottom,r=e.left):t=n=i=r=e,{top:t,right:n,bottom:i,left:r}}N._set(\\\"line\\\",{showLines:!0,spanGaps:!1,hover:{mode:\\\"label\\\"},scales:{xAxes:[{type:\\\"category\\\",id:\\\"x-axis-0\\\"}],yAxes:[{type:\\\"linear\\\",id:\\\"y-axis-0\\\"}]}});var He=ne.extend({datasetElementType:_e.Line,dataElementType:_e.Point,_datasetElementOptions:[\\\"backgroundColor\\\",\\\"borderCapStyle\\\",\\\"borderColor\\\",\\\"borderDash\\\",\\\"borderDashOffset\\\",\\\"borderJoinStyle\\\",\\\"borderWidth\\\",\\\"cubicInterpolationMode\\\",\\\"fill\\\"],_dataElementOptions:{backgroundColor:\\\"pointBackgroundColor\\\",borderColor:\\\"pointBorderColor\\\",borderWidth:\\\"pointBorderWidth\\\",hitRadius:\\\"pointHitRadius\\\",hoverBackgroundColor:\\\"pointHoverBackgroundColor\\\",hoverBorderColor:\\\"pointHoverBorderColor\\\",hoverBorderWidth:\\\"pointHoverBorderWidth\\\",hoverRadius:\\\"pointHoverRadius\\\",pointStyle:\\\"pointStyle\\\",radius:\\\"pointRadius\\\",rotation:\\\"pointRotation\\\"},update:function(e){var t,n,i=this,r=i.getMeta(),o=r.dataset,a=r.data||[],s=i.chart.options,l=i._config,u=i._showLine=Be(l.showLine,s.showLines);for(i._xScale=i.getScaleForId(r.xAxisID),i._yScale=i.getScaleForId(r.yAxisID),u&&(void 0!==l.tension&&void 0===l.lineTension&&(l.lineTension=l.tension),o._scale=i._yScale,o._datasetIndex=i.index,o._children=a,o._model=i._resolveDatasetElementOptions(o),o.pivot()),t=0,n=a.length;t<n;++t)i.updateElement(a[t],t,e);for(u&&0!==o._model.tension&&i.updateBezierControlPoints(),t=0,n=a.length;t<n;++t)a[t].pivot()},updateElement:function(e,t,n){var i,r,o=this,a=o.getMeta(),s=e.custom||{},l=o.getDataset(),u=o.index,c=l.data[t],d=o._xScale,h=o._yScale,p=a.dataset._model,f=o._resolveDataElementOptions(e,t);i=d.getPixelForValue(\\\"object\\\"==typeof c?c:NaN,t,u),r=n?h.getBasePixel():o.calculatePointY(c,t,u),e._xScale=d,e._yScale=h,e._options=f,e._datasetIndex=u,e._index=t,e._model={x:i,y:r,skip:s.skip||isNaN(i)||isNaN(r),radius:f.radius,pointStyle:f.pointStyle,rotation:f.rotation,backgroundColor:f.backgroundColor,borderColor:f.borderColor,borderWidth:f.borderWidth,tension:Be(s.tension,p?p.tension:0),steppedLine:!!p&&p.steppedLine,hitRadius:f.hitRadius}},_resolveDatasetElementOptions:function(e){var t=this,n=t._config,i=e.custom||{},r=t.chart.options,o=r.elements.line,a=ne.prototype._resolveDatasetElementOptions.apply(t,arguments);return a.spanGaps=Be(n.spanGaps,r.spanGaps),a.tension=Be(n.lineTension,o.tension),a.steppedLine=je([i.steppedLine,n.steppedLine,o.stepped]),a.clip=Ve(Be(n.clip,Ge(t._xScale,t._yScale,a.borderWidth))),a},calculatePointY:function(e,t,n){var i,r,o,a,s,l,u,c=this.chart,d=this._yScale,h=0,p=0;if(d.options.stacked){for(s=+d.getRightValue(e),u=(l=c._getSortedVisibleDatasetMetas()).length,i=0;i<u&&(o=l[i]).index!==n;++i)r=c.data.datasets[o.index],\\\"line\\\"===o.type&&o.yAxisID===d.id&&((a=+d.getRightValue(r.data[t]))<0?p+=a||0:h+=a||0);return s<0?d.getPixelForValue(p+s):d.getPixelForValue(h+s)}return d.getPixelForValue(e)},updateBezierControlPoints:function(){var e,t,n,i,r=this.chart,o=this.getMeta(),a=o.dataset._model,s=r.chartArea,l=o.data||[];function u(e,t,n){return Math.max(Math.min(e,n),t)}if(a.spanGaps&&(l=l.filter((function(e){return!e._model.skip}))),\\\"monotone\\\"===a.cubicInterpolationMode)U.splineCurveMonotone(l);else for(e=0,t=l.length;e<t;++e)n=l[e]._model,i=U.splineCurve(U.previousItem(l,e)._model,n,U.nextItem(l,e)._model,a.tension),n.controlPointPreviousX=i.previous.x,n.controlPointPreviousY=i.previous.y,n.controlPointNextX=i.next.x,n.controlPointNextY=i.next.y;if(r.options.elements.line.capBezierPoints)for(e=0,t=l.length;e<t;++e)n=l[e]._model,Ue(n,s)&&(e>0&&Ue(l[e-1]._model,s)&&(n.controlPointPreviousX=u(n.controlPointPreviousX,s.left,s.right),n.controlPointPreviousY=u(n.controlPointPreviousY,s.top,s.bottom)),e<l.length-1&&Ue(l[e+1]._model,s)&&(n.controlPointNextX=u(n.controlPointNextX,s.left,s.right),n.controlPointNextY=u(n.controlPointNextY,s.top,s.bottom)))},draw:function(){var e,t=this.chart,n=this.getMeta(),i=n.data||[],r=t.chartArea,o=t.canvas,a=0,s=i.length;for(this._showLine&&(e=n.dataset._model.clip,U.canvas.clipArea(t.ctx,{left:!1===e.left?0:r.left-e.left,right:!1===e.right?o.width:r.right+e.right,top:!1===e.top?0:r.top-e.top,bottom:!1===e.bottom?o.height:r.bottom+e.bottom}),n.dataset.draw(),U.canvas.unclipArea(t.ctx));a<s;++a)i[a].draw(r)},setHoverStyle:function(e){var t=e._model,n=e._options,i=U.getHoverColor;e.$previousStyle={backgroundColor:t.backgroundColor,borderColor:t.borderColor,borderWidth:t.borderWidth,radius:t.radius},t.backgroundColor=Be(n.hoverBackgroundColor,i(n.backgroundColor)),t.borderColor=Be(n.hoverBorderColor,i(n.borderColor)),t.borderWidth=Be(n.hoverBorderWidth,n.borderWidth),t.radius=Be(n.hoverRadius,n.radius)}}),Ye=U.options.resolve;N._set(\\\"polarArea\\\",{scale:{type:\\\"radialLinear\\\",angleLines:{display:!1},gridLines:{circular:!0},pointLabels:{display:!1},ticks:{beginAtZero:!0}},animation:{animateRotate:!0,animateScale:!0},startAngle:-.5*Math.PI,legendCallback:function(e){var t,n,i,r=document.createElement(\\\"ul\\\"),o=e.data,a=o.datasets,s=o.labels;if(r.setAttribute(\\\"class\\\",e.id+\\\"-legend\\\"),a.length)for(t=0,n=a[0].data.length;t<n;++t)(i=r.appendChild(document.createElement(\\\"li\\\"))).appendChild(document.createElement(\\\"span\\\")).style.backgroundColor=a[0].backgroundColor[t],s[t]&&i.appendChild(document.createTextNode(s[t]));return r.outerHTML},legend:{labels:{generateLabels:function(e){var t=e.data;return t.labels.length&&t.datasets.length?t.labels.map((function(n,i){var r=e.getDatasetMeta(0),o=r.controller.getStyle(i);return{text:n,fillStyle:o.backgroundColor,strokeStyle:o.borderColor,lineWidth:o.borderWidth,hidden:isNaN(t.datasets[0].data[i])||r.data[i].hidden,index:i}})):[]}},onClick:function(e,t){var n,i,r,o=t.index,a=this.chart;for(n=0,i=(a.data.datasets||[]).length;n<i;++n)(r=a.getDatasetMeta(n)).data[o].hidden=!r.data[o].hidden;a.update()}},tooltips:{callbacks:{title:function(){return\\\"\\\"},label:function(e,t){return t.labels[e.index]+\\\": \\\"+e.yLabel}}}});var qe=ne.extend({dataElementType:_e.Arc,linkScales:U.noop,_dataElementOptions:[\\\"backgroundColor\\\",\\\"borderColor\\\",\\\"borderWidth\\\",\\\"borderAlign\\\",\\\"hoverBackgroundColor\\\",\\\"hoverBorderColor\\\",\\\"hoverBorderWidth\\\"],_getIndexScaleId:function(){return this.chart.scale.id},_getValueScaleId:function(){return this.chart.scale.id},update:function(e){var t,n,i,r=this,o=r.getDataset(),a=r.getMeta(),s=r.chart.options.startAngle||0,l=r._starts=[],u=r._angles=[],c=a.data;for(r._updateRadius(),a.count=r.countVisibleElements(),t=0,n=o.data.length;t<n;t++)l[t]=s,i=r._computeAngle(t),u[t]=i,s+=i;for(t=0,n=c.length;t<n;++t)c[t]._options=r._resolveDataElementOptions(c[t],t),r.updateElement(c[t],t,e)},_updateRadius:function(){var e=this,t=e.chart,n=t.chartArea,i=t.options,r=Math.min(n.right-n.left,n.bottom-n.top);t.outerRadius=Math.max(r/2,0),t.innerRadius=Math.max(i.cutoutPercentage?t.outerRadius/100*i.cutoutPercentage:1,0),t.radiusLength=(t.outerRadius-t.innerRadius)/t.getVisibleDatasetCount(),e.outerRadius=t.outerRadius-t.radiusLength*e.index,e.innerRadius=e.outerRadius-t.radiusLength},updateElement:function(e,t,n){var i=this,r=i.chart,o=i.getDataset(),a=r.options,s=a.animation,l=r.scale,u=r.data.labels,c=l.xCenter,d=l.yCenter,h=a.startAngle,p=e.hidden?0:l.getDistanceFromCenterForValue(o.data[t]),f=i._starts[t],m=f+(e.hidden?0:i._angles[t]),g=s.animateScale?0:l.getDistanceFromCenterForValue(o.data[t]),v=e._options||{};U.extend(e,{_datasetIndex:i.index,_index:t,_scale:l,_model:{backgroundColor:v.backgroundColor,borderColor:v.borderColor,borderWidth:v.borderWidth,borderAlign:v.borderAlign,x:c,y:d,innerRadius:0,outerRadius:n?g:p,startAngle:n&&s.animateRotate?h:f,endAngle:n&&s.animateRotate?h:m,label:U.valueAtIndexOrDefault(u,t,u[t])}}),e.pivot()},countVisibleElements:function(){var e=this.getDataset(),t=this.getMeta(),n=0;return U.each(t.data,(function(t,i){isNaN(e.data[i])||t.hidden||n++})),n},setHoverStyle:function(e){var 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u=l.getCenterPoint(),c=U.distanceBetweenPoints(t,u);c<s&&(s=c,r=l)}}if(r){var d=r.tooltipPosition();o=d.x,a=d.y}return{x:o,y:a}}};function It(e,t){return t&&(U.isArray(t)?Array.prototype.push.apply(e,t):e.push(t)),e}function Dt(e){return(\\\"string\\\"==typeof e||e instanceof String)&&e.indexOf(\\\"\\\\n\\\")>-1?e.split(\\\"\\\\n\\\"):e}function Nt(e){var t=N.global;return{xPadding:e.xPadding,yPadding:e.yPadding,xAlign:e.xAlign,yAlign:e.yAlign,rtl:e.rtl,textDirection:e.textDirection,bodyFontColor:e.bodyFontColor,_bodyFontFamily:At(e.bodyFontFamily,t.defaultFontFamily),_bodyFontStyle:At(e.bodyFontStyle,t.defaultFontStyle),_bodyAlign:e.bodyAlign,bodyFontSize:At(e.bodyFontSize,t.defaultFontSize),bodySpacing:e.bodySpacing,titleFontColor:e.titleFontColor,_titleFontFamily:At(e.titleFontFamily,t.defaultFontFamily),_titleFontStyle:At(e.titleFontStyle,t.defaultFontStyle),titleFontSize:At(e.titleFontSize,t.defaultFontSize),_titleAlign:e.titleAlign,titleSpacing:e.titleSpacing,titleMarginBottom:e.titleMarginBottom,footerFontColor:e.footerFontColor,_footerFontFamily:At(e.footerFontFamily,t.defaultFontFamily),_footerFontStyle:At(e.footerFontStyle,t.defaultFontStyle),footerFontSize:At(e.footerFontSize,t.defaultFontSize),_footerAlign:e.footerAlign,footerSpacing:e.footerSpacing,footerMarginTop:e.footerMarginTop,caretSize:e.caretSize,cornerRadius:e.cornerRadius,backgroundColor:e.backgroundColor,opacity:0,legendColorBackground:e.multiKeyBackground,displayColors:e.displayColors,borderColor:e.borderColor,borderWidth:e.borderWidth}}function Ft(e,t){return\\\"center\\\"===t?e.x+e.width/2:\\\"right\\\"===t?e.x+e.width-e.xPadding:e.x+e.xPadding}function zt(e){return It([],Dt(e))}var Bt=X.extend({initialize:function(){this._model=Nt(this._options),this._lastActive=[]},getTitle:function(){var e=this,t=e._options,n=t.callbacks,i=n.beforeTitle.apply(e,arguments),r=n.title.apply(e,arguments),o=n.afterTitle.apply(e,arguments),a=[];return a=It(a,Dt(i)),a=It(a,Dt(r)),a=It(a,Dt(o))},getBeforeBody:function(){return zt(this._options.callbacks.beforeBody.apply(this,arguments))},getBody:function(e,t){var n=this,i=n._options.callbacks,r=[];return U.each(e,(function(e){var o={before:[],lines:[],after:[]};It(o.before,Dt(i.beforeLabel.call(n,e,t))),It(o.lines,i.label.call(n,e,t)),It(o.after,Dt(i.afterLabel.call(n,e,t))),r.push(o)})),r},getAfterBody:function(){return zt(this._options.callbacks.afterBody.apply(this,arguments))},getFooter:function(){var e=this,t=e._options.callbacks,n=t.beforeFooter.apply(e,arguments),i=t.footer.apply(e,arguments),r=t.afterFooter.apply(e,arguments),o=[];return o=It(o,Dt(n)),o=It(o,Dt(i)),o=It(o,Dt(r))},update:function(e){var t,n,i,r,o,a,s,l,u,c,d=this,h=d._options,p=d._model,f=d._model=Nt(h),m=d._active,g=d._data,v={xAlign:p.xAlign,yAlign:p.yAlign},y={x:p.x,y:p.y},b={width:p.width,height:p.height},x={x:p.caretX,y:p.caretY};if(m.length){f.opacity=1;var _=[],w=[];x=Lt[h.position].call(d,m,d._eventPosition);var M=[];for(t=0,n=m.length;t<n;++t)M.push((i=m[t],r=void 0,o=void 0,a=void 0,s=void 0,l=void 0,u=void 0,c=void 0,r=i._xScale,o=i._yScale||i._scale,a=i._index,s=i._datasetIndex,l=i._chart.getDatasetMeta(s).controller,u=l._getIndexScale(),c=l._getValueScale(),{xLabel:r?r.getLabelForIndex(a,s):\\\"\\\",yLabel:o?o.getLabelForIndex(a,s):\\\"\\\",label:u?\\\"\\\"+u.getLabelForIndex(a,s):\\\"\\\",value:c?\\\"\\\"+c.getLabelForIndex(a,s):\\\"\\\",index:a,datasetIndex:s,x:i._model.x,y:i._model.y}));h.filter&&(M=M.filter((function(e){return h.filter(e,g)}))),h.itemSort&&(M=M.sort((function(e,t){return h.itemSort(e,t,g)}))),U.each(M,(function(e){_.push(h.callbacks.labelColor.call(d,e,d._chart)),w.push(h.callbacks.labelTextColor.call(d,e,d._chart))})),f.title=d.getTitle(M,g),f.beforeBody=d.getBeforeBody(M,g),f.body=d.getBody(M,g),f.afterBody=d.getAfterBody(M,g),f.footer=d.getFooter(M,g),f.x=x.x,f.y=x.y,f.caretPadding=h.caretPadding,f.labelColors=_,f.labelTextColors=w,f.dataPoints=M,b=function(e,t){var n=e._chart.ctx,i=2*t.yPadding,r=0,o=t.body,a=o.reduce((function(e,t){return e+t.before.length+t.lines.length+t.after.length}),0);a+=t.beforeBody.length+t.afterBody.length;var s=t.title.length,l=t.footer.length,u=t.titleFontSize,c=t.bodyFontSize,d=t.footerFontSize;i+=s*u,i+=s?(s-1)*t.titleSpacing:0,i+=s?t.titleMarginBottom:0,i+=a*c,i+=a?(a-1)*t.bodySpacing:0,i+=l?t.footerMarginTop:0,i+=l*d,i+=l?(l-1)*t.footerSpacing:0;var h=0,p=function(e){r=Math.max(r,n.measureText(e).width+h)};return n.font=U.fontString(u,t._titleFontStyle,t._titleFontFamily),U.each(t.title,p),n.font=U.fontString(c,t._bodyFontStyle,t._bodyFontFamily),U.each(t.beforeBody.concat(t.afterBody),p),h=t.displayColors?c+2:0,U.each(o,(function(e){U.each(e.before,p),U.each(e.lines,p),U.each(e.after,p)})),h=0,n.font=U.fontString(d,t._footerFontStyle,t._footerFontFamily),U.each(t.footer,p),{width:r+=2*t.xPadding,height:i}}(this,f),y=function(e,t,n,i){var r=e.x,o=e.y,a=e.caretSize,s=e.caretPadding,l=e.cornerRadius,u=n.xAlign,c=n.yAlign,d=a+s,h=l+s;return\\\"right\\\"===u?r-=t.width:\\\"center\\\"===u&&((r-=t.width/2)+t.width>i.width&&(r=i.width-t.width),r<0&&(r=0)),\\\"top\\\"===c?o+=d:o-=\\\"bottom\\\"===c?t.height+d:t.height/2,\\\"center\\\"===c?\\\"left\\\"===u?r+=d:\\\"right\\\"===u&&(r-=d):\\\"left\\\"===u?r-=h:\\\"right\\\"===u&&(r+=h),{x:r,y:o}}(f,b,v=function(e,t){var n,i,r,o,a,s=e._model,l=e._chart,u=e._chart.chartArea,c=\\\"center\\\",d=\\\"center\\\";s.y<t.height?d=\\\"top\\\":s.y>l.height-t.height&&(d=\\\"bottom\\\");var h=(u.left+u.right)/2,p=(u.top+u.bottom)/2;\\\"center\\\"===d?(n=function(e){return e<=h},i=function(e){return e>h}):(n=function(e){return e<=t.width/2},i=function(e){return e>=l.width-t.width/2}),r=function(e){return e+t.width+s.caretSize+s.caretPadding>l.width},o=function(e){return e-t.width-s.caretSize-s.caretPadding<0},a=function(e){return e<=p?\\\"top\\\":\\\"bottom\\\"},n(s.x)?(c=\\\"left\\\",r(s.x)&&(c=\\\"center\\\",d=a(s.y))):i(s.x)&&(c=\\\"right\\\",o(s.x)&&(c=\\\"center\\\",d=a(s.y)));var f=e._options;return{xAlign:f.xAlign?f.xAlign:c,yAlign:f.yAlign?f.yAlign:d}}(this,b),d._chart)}else f.opacity=0;return f.xAlign=v.xAlign,f.yAlign=v.yAlign,f.x=y.x,f.y=y.y,f.width=b.width,f.height=b.height,f.caretX=x.x,f.caretY=x.y,d._model=f,e&&h.custom&&h.custom.call(d,f),d},drawCaret:function(e,t){var n=this._chart.ctx,i=this._view,r=this.getCaretPosition(e,t,i);n.lineTo(r.x1,r.y1),n.lineTo(r.x2,r.y2),n.lineTo(r.x3,r.y3)},getCaretPosition:function(e,t,n){var i,r,o,a,s,l,u=n.caretSize,c=n.cornerRadius,d=n.xAlign,h=n.yAlign,p=e.x,f=e.y,m=t.width,g=t.height;if(\\\"center\\\"===h)s=f+g/2,\\\"left\\\"===d?(r=(i=p)-u,o=i,a=s+u,l=s-u):(r=(i=p+m)+u,o=i,a=s-u,l=s+u);else if(\\\"left\\\"===d?(i=(r=p+c+u)-u,o=r+u):\\\"right\\\"===d?(i=(r=p+m-c-u)-u,o=r+u):(i=(r=n.caretX)-u,o=r+u),\\\"top\\\"===h)s=(a=f)-u,l=a;else{s=(a=f+g)+u,l=a;var v=o;o=i,i=v}return{x1:i,x2:r,x3:o,y1:a,y2:s,y3:l}},drawTitle:function(e,t,n){var i,r,o,a=t.title,s=a.length;if(s){var l=Rt(t.rtl,t.x,t.width);for(e.x=Ft(t,t._titleAlign),n.textAlign=l.textAlign(t._titleAlign),n.textBaseline=\\\"middle\\\",i=t.titleFontSize,r=t.titleSpacing,n.fillStyle=t.titleFontColor,n.font=U.fontString(i,t._titleFontStyle,t._titleFontFamily),o=0;o<s;++o)n.fillText(a[o],l.x(e.x),e.y+i/2),e.y+=i+r,o+1===s&&(e.y+=t.titleMarginBottom-r)}},drawBody:function(e,t,n){var i,r,o,a,s,l,u,c,d=t.bodyFontSize,h=t.bodySpacing,p=t._bodyAlign,f=t.body,m=t.displayColors,g=0,v=m?Ft(t,\\\"left\\\"):0,y=Rt(t.rtl,t.x,t.width),b=function(t){n.fillText(t,y.x(e.x+g),e.y+d/2),e.y+=d+h},x=y.textAlign(p);for(n.textAlign=p,n.textBaseline=\\\"middle\\\",n.font=U.fontString(d,t._bodyFontStyle,t._bodyFontFamily),e.x=Ft(t,x),n.fillStyle=t.bodyFontColor,U.each(t.beforeBody,b),g=m&&\\\"right\\\"!==x?\\\"center\\\"===p?d/2+1:d+2:0,s=0,u=f.length;s<u;++s){for(i=f[s],r=t.labelTextColors[s],o=t.labelColors[s],n.fillStyle=r,U.each(i.before,b),l=0,c=(a=i.lines).length;l<c;++l){if(m){var _=y.x(v);n.fillStyle=t.legendColorBackground,n.fillRect(y.leftForLtr(_,d),e.y,d,d),n.lineWidth=1,n.strokeStyle=o.borderColor,n.strokeRect(y.leftForLtr(_,d),e.y,d,d),n.fillStyle=o.backgroundColor,n.fillRect(y.leftForLtr(y.xPlus(_,1),d-2),e.y+1,d-2,d-2),n.fillStyle=r}b(a[l])}U.each(i.after,b)}g=0,U.each(t.afterBody,b),e.y-=h},drawFooter:function(e,t,n){var i,r,o=t.footer,a=o.length;if(a){var s=Rt(t.rtl,t.x,t.width);for(e.x=Ft(t,t._footerAlign),e.y+=t.footerMarginTop,n.textAlign=s.textAlign(t._footerAlign),n.textBaseline=\\\"middle\\\",i=t.footerFontSize,n.fillStyle=t.footerFontColor,n.font=U.fontString(i,t._footerFontStyle,t._footerFontFamily),r=0;r<a;++r)n.fillText(o[r],s.x(e.x),e.y+i/2),e.y+=i+t.footerSpacing}},drawBackground:function(e,t,n,i){n.fillStyle=t.backgroundColor,n.strokeStyle=t.borderColor,n.lineWidth=t.borderWidth;var r=t.xAlign,o=t.yAlign,a=e.x,s=e.y,l=i.width,u=i.height,c=t.cornerRadius;n.beginPath(),n.moveTo(a+c,s),\\\"top\\\"===o&&this.drawCaret(e,i),n.lineTo(a+l-c,s),n.quadraticCurveTo(a+l,s,a+l,s+c),\\\"center\\\"===o&&\\\"right\\\"===r&&this.drawCaret(e,i),n.lineTo(a+l,s+u-c),n.quadraticCurveTo(a+l,s+u,a+l-c,s+u),\\\"bottom\\\"===o&&this.drawCaret(e,i),n.lineTo(a+c,s+u),n.quadraticCurveTo(a,s+u,a,s+u-c),\\\"center\\\"===o&&\\\"left\\\"===r&&this.drawCaret(e,i),n.lineTo(a,s+c),n.quadraticCurveTo(a,s,a+c,s),n.closePath(),n.fill(),t.borderWidth>0&&n.stroke()},draw:function(){var e=this._chart.ctx,t=this._view;if(0!==t.opacity){var n={width:t.width,height:t.height},i={x:t.x,y:t.y},r=Math.abs(t.opacity<.001)?0:t.opacity,o=t.title.length||t.beforeBody.length||t.body.length||t.afterBody.length||t.footer.length;this._options.enabled&&o&&(e.save(),e.globalAlpha=r,this.drawBackground(i,t,e,n),i.y+=t.yPadding,U.rtl.overrideTextDirection(e,t.textDirection),this.drawTitle(i,t,e),this.drawBody(i,t,e),this.drawFooter(i,t,e),U.rtl.restoreTextDirection(e,t.textDirection),e.restore())}},handleEvent:function(e){var t,n=this,i=n._options;return n._lastActive=n._lastActive||[],\\\"mouseout\\\"===e.type?n._active=[]:(n._active=n._chart.getElementsAtEventForMode(e,i.mode,i),i.reverse&&n._active.reverse()),(t=!U.arrayEquals(n._active,n._lastActive))&&(n._lastActive=n._active,(i.enabled||i.custom)&&(n._eventPosition={x:e.x,y:e.y},n.update(!0),n.pivot())),t}}),jt=Lt,Ut=Bt;Ut.positioners=jt;var Wt=U.valueOrDefault;function Gt(){return U.merge({},[].slice.call(arguments),{merger:function(e,t,n,i){if(\\\"xAxes\\\"===e||\\\"yAxes\\\"===e){var r,o,a,s=n[e].length;for(t[e]||(t[e]=[]),r=0;r<s;++r)a=n[e][r],o=Wt(a.type,\\\"xAxes\\\"===e?\\\"category\\\":\\\"linear\\\"),r>=t[e].length&&t[e].push({}),!t[e][r].type||a.type&&a.type!==t[e][r].type?U.merge(t[e][r],[kt.getScaleDefaults(o),a]):U.merge(t[e][r],a)}else U._merger(e,t,n,i)}})}function Vt(){return U.merge({},[].slice.call(arguments),{merger:function(e,t,n,i){var r=t[e]||{},o=n[e];\\\"scales\\\"===e?t[e]=Gt(r,o):\\\"scale\\\"===e?t[e]=U.merge(r,[kt.getScaleDefaults(o.type),o]):U._merger(e,t,n,i)}})}function Ht(e){var t=e.options;U.each(e.scales,(function(t){ft.removeBox(e,t)})),t=Vt(N.global,N[e.config.type],t),e.options=e.config.options=t,e.ensureScalesHaveIDs(),e.buildOrUpdateScales(),e.tooltip._options=t.tooltips,e.tooltip.initialize()}function Yt(e,t,n){var i,r=function(e){return e.id===i};do{i=t+n++}while(U.findIndex(e,r)>=0);return i}function qt(e){return\\\"top\\\"===e||\\\"bottom\\\"===e}function Xt(e,t){return function(n,i){return n[e]===i[e]?n[t]-i[t]:n[e]-i[e]}}N._set(\\\"global\\\",{elements:{},events:[\\\"mousemove\\\",\\\"mouseout\\\",\\\"click\\\",\\\"touchstart\\\",\\\"touchmove\\\"],hover:{onHover:null,mode:\\\"nearest\\\",intersect:!0,animationDuration:400},onClick:null,maintainAspectRatio:!0,responsive:!0,responsiveAnimationDuration:0});var Kt=function(e,t){return this.construct(e,t),this};U.extend(Kt.prototype,{construct:function(e,t){var n=this;t=function(e){var t=(e=e||{}).data=e.data||{};return t.datasets=t.datasets||[],t.labels=t.labels||[],e.options=Vt(N.global,N[e.type],e.options||{}),e}(t);var i=Ot.acquireContext(e,t),r=i&&i.canvas,o=r&&r.height,a=r&&r.width;n.id=U.uid(),n.ctx=i,n.canvas=r,n.config=t,n.width=a,n.height=o,n.aspectRatio=o?a/o:null,n.options=t.options,n._bufferedRender=!1,n._layers=[],n.chart=n,n.controller=n,Kt.instances[n.id]=n,Object.defineProperty(n,\\\"data\\\",{get:function(){return n.config.data},set:function(e){n.config.data=e}}),i&&r?(n.initialize(),n.update()):console.error(\\\"Failed to create chart: can't acquire context from the given item\\\")},initialize:function(){var e=this;return Pt.notify(e,\\\"beforeInit\\\"),U.retinaScale(e,e.options.devicePixelRatio),e.bindEvents(),e.options.responsive&&e.resize(!0),e.initToolTip(),Pt.notify(e,\\\"afterInit\\\"),e},clear:function(){return U.canvas.clear(this),this},stop:function(){return Z.cancelAnimation(this),this},resize:function(e){var t=this,n=t.options,i=t.canvas,r=n.maintainAspectRatio&&t.aspectRatio||null,o=Math.max(0,Math.floor(U.getMaximumWidth(i))),a=Math.max(0,Math.floor(r?o/r:U.getMaximumHeight(i)));if((t.width!==o||t.height!==a)&&(i.width=t.width=o,i.height=t.height=a,i.style.width=o+\\\"px\\\",i.style.height=a+\\\"px\\\",U.retinaScale(t,n.devicePixelRatio),!e)){var s={width:o,height:a};Pt.notify(t,\\\"resize\\\",[s]),n.onResize&&n.onResize(t,s),t.stop(),t.update({duration:n.responsiveAnimationDuration})}},ensureScalesHaveIDs:function(){var e=this.options,t=e.scales||{},n=e.scale;U.each(t.xAxes,(function(e,n){e.id||(e.id=Yt(t.xAxes,\\\"x-axis-\\\",n))})),U.each(t.yAxes,(function(e,n){e.id||(e.id=Yt(t.yAxes,\\\"y-axis-\\\",n))})),n&&(n.id=n.id||\\\"scale\\\")},buildOrUpdateScales:function(){var e=this,t=e.options,n=e.scales||{},i=[],r=Object.keys(n).reduce((function(e,t){return e[t]=!1,e}),{});t.scales&&(i=i.concat((t.scales.xAxes||[]).map((function(e){return{options:e,dtype:\\\"category\\\",dposition:\\\"bottom\\\"}})),(t.scales.yAxes||[]).map((function(e){return{options:e,dtype:\\\"linear\\\",dposition:\\\"left\\\"}})))),t.scale&&i.push({options:t.scale,dtype:\\\"radialLinear\\\",isDefault:!0,dposition:\\\"chartArea\\\"}),U.each(i,(function(t){var i=t.options,o=i.id,a=Wt(i.type,t.dtype);qt(i.position)!==qt(t.dposition)&&(i.position=t.dposition),r[o]=!0;var s=null;if(o in n&&n[o].type===a)(s=n[o]).options=i,s.ctx=e.ctx,s.chart=e;else{var l=kt.getScaleConstructor(a);if(!l)return;s=new l({id:o,type:a,options:i,ctx:e.ctx,chart:e}),n[s.id]=s}s.mergeTicksOptions(),t.isDefault&&(e.scale=s)})),U.each(r,(function(e,t){e||delete n[t]})),e.scales=n,kt.addScalesToLayout(this)},buildOrUpdateControllers:function(){var e,t,n=this,i=[],r=n.data.datasets;for(e=0,t=r.length;e<t;e++){var o=r[e],a=n.getDatasetMeta(e),s=o.type||n.config.type;if(a.type&&a.type!==s&&(n.destroyDatasetMeta(e),a=n.getDatasetMeta(e)),a.type=s,a.order=o.order||0,a.index=e,a.controller)a.controller.updateIndex(e),a.controller.linkScales();else{var l=Ze[a.type];if(void 0===l)throw new Error('\\\"'+a.type+'\\\" is not a chart type.');a.controller=new l(n,e),i.push(a.controller)}}return i},resetElements:function(){var e=this;U.each(e.data.datasets,(function(t,n){e.getDatasetMeta(n).controller.reset()}),e)},reset:function(){this.resetElements(),this.tooltip.initialize()},update:function(e){var t,n,i=this;if(e&&\\\"object\\\"==typeof e||(e={duration:e,lazy:arguments[1]}),Ht(i),Pt._invalidate(i),!1!==Pt.notify(i,\\\"beforeUpdate\\\")){i.tooltip._data=i.data;var r=i.buildOrUpdateControllers();for(t=0,n=i.data.datasets.length;t<n;t++)i.getDatasetMeta(t).controller.buildOrUpdateElements();i.updateLayout(),i.options.animation&&i.options.animation.duration&&U.each(r,(function(e){e.reset()})),i.updateDatasets(),i.tooltip.initialize(),i.lastActive=[],Pt.notify(i,\\\"afterUpdate\\\"),i._layers.sort(Xt(\\\"z\\\",\\\"_idx\\\")),i._bufferedRender?i._bufferedRequest={duration:e.duration,easing:e.easing,lazy:e.lazy}:i.render(e)}},updateLayout:function(){var e=this;!1!==Pt.notify(e,\\\"beforeLayout\\\")&&(ft.update(this,this.width,this.height),e._layers=[],U.each(e.boxes,(function(t){t._configure&&t._configure(),e._layers.push.apply(e._layers,t._layers())}),e),e._layers.forEach((function(e,t){e._idx=t})),Pt.notify(e,\\\"afterScaleUpdate\\\"),Pt.notify(e,\\\"afterLayout\\\"))},updateDatasets:function(){if(!1!==Pt.notify(this,\\\"beforeDatasetsUpdate\\\")){for(var e=0,t=this.data.datasets.length;e<t;++e)this.updateDataset(e);Pt.notify(this,\\\"afterDatasetsUpdate\\\")}},updateDataset:function(e){var t=this.getDatasetMeta(e),n={meta:t,index:e};!1!==Pt.notify(this,\\\"beforeDatasetUpdate\\\",[n])&&(t.controller._update(),Pt.notify(this,\\\"afterDatasetUpdate\\\",[n]))},render:function(e){var t=this;e&&\\\"object\\\"==typeof e||(e={duration:e,lazy:arguments[1]});var n=t.options.animation,i=Wt(e.duration,n&&n.duration),r=e.lazy;if(!1!==Pt.notify(t,\\\"beforeRender\\\")){var o=function(e){Pt.notify(t,\\\"afterRender\\\"),U.callback(n&&n.onComplete,[e],t)};if(n&&i){var a=new J({numSteps:i/16.66,easing:e.easing||n.easing,render:function(e,t){var n=U.easing.effects[t.easing],i=t.currentStep,r=i/t.numSteps;e.draw(n(r),r,i)},onAnimationProgress:n.onProgress,onAnimationComplete:o});Z.addAnimation(t,a,i,r)}else t.draw(),o(new J({numSteps:0,chart:t}));return t}},draw:function(e){var t,n,i=this;if(i.clear(),U.isNullOrUndef(e)&&(e=1),i.transition(e),!(i.width<=0||i.height<=0)&&!1!==Pt.notify(i,\\\"beforeDraw\\\",[e])){for(n=i._layers,t=0;t<n.length&&n[t].z<=0;++t)n[t].draw(i.chartArea);for(i.drawDatasets(e);t<n.length;++t)n[t].draw(i.chartArea);i._drawTooltip(e),Pt.notify(i,\\\"afterDraw\\\",[e])}},transition:function(e){for(var t=0,n=(this.data.datasets||[]).length;t<n;++t)this.isDatasetVisible(t)&&this.getDatasetMeta(t).controller.transition(e);this.tooltip.transition(e)},_getSortedDatasetMetas:function(e){var t,n,i=[];for(t=0,n=(this.data.datasets||[]).length;t<n;++t)e&&!this.isDatasetVisible(t)||i.push(this.getDatasetMeta(t));return i.sort(Xt(\\\"order\\\",\\\"index\\\")),i},_getSortedVisibleDatasetMetas:function(){return this._getSortedDatasetMetas(!0)},drawDatasets:function(e){var t,n;if(!1!==Pt.notify(this,\\\"beforeDatasetsDraw\\\",[e])){for(n=(t=this._getSortedVisibleDatasetMetas()).length-1;n>=0;--n)this.drawDataset(t[n],e);Pt.notify(this,\\\"afterDatasetsDraw\\\",[e])}},drawDataset:function(e,t){var n={meta:e,index:e.index,easingValue:t};!1!==Pt.notify(this,\\\"beforeDatasetDraw\\\",[n])&&(e.controller.draw(t),Pt.notify(this,\\\"afterDatasetDraw\\\",[n]))},_drawTooltip:function(e){var t=this.tooltip,n={tooltip:t,easingValue:e};!1!==Pt.notify(this,\\\"beforeTooltipDraw\\\",[n])&&(t.draw(),Pt.notify(this,\\\"afterTooltipDraw\\\",[n]))},getElementAtEvent:function(e){return rt.modes.single(this,e)},getElementsAtEvent:function(e){return rt.modes.label(this,e,{intersect:!0})},getElementsAtXAxis:function(e){return rt.modes[\\\"x-axis\\\"](this,e,{intersect:!0})},getElementsAtEventForMode:function(e,t,n){var i=rt.modes[t];return\\\"function\\\"==typeof i?i(this,e,n):[]},getDatasetAtEvent:function(e){return rt.modes.dataset(this,e,{intersect:!0})},getDatasetMeta:function(e){var t=this.data.datasets[e];t._meta||(t._meta={});var n=t._meta[this.id];return n||(n=t._meta[this.id]={type:null,data:[],dataset:null,controller:null,hidden:null,xAxisID:null,yAxisID:null,order:t.order||0,index:e}),n},getVisibleDatasetCount:function(){for(var e=0,t=0,n=this.data.datasets.length;t<n;++t)this.isDatasetVisible(t)&&e++;return e},isDatasetVisible:function(e){var t=this.getDatasetMeta(e);return\\\"boolean\\\"==typeof t.hidden?!t.hidden:!this.data.datasets[e].hidden},generateLegend:function(){return this.options.legendCallback(this)},destroyDatasetMeta:function(e){var t=this.id,n=this.data.datasets[e],i=n._meta&&n._meta[t];i&&(i.controller.destroy(),delete n._meta[t])},destroy:function(){var e,t,n=this,i=n.canvas;for(n.stop(),e=0,t=n.data.datasets.length;e<t;++e)n.destroyDatasetMeta(e);i&&(n.unbindEvents(),U.canvas.clear(n),Ot.releaseContext(n.ctx),n.canvas=null,n.ctx=null),Pt.notify(n,\\\"destroy\\\"),delete Kt.instances[n.id]},toBase64Image:function(){return this.canvas.toDataURL.apply(this.canvas,arguments)},initToolTip:function(){var e=this;e.tooltip=new Ut({_chart:e,_chartInstance:e,_data:e.data,_options:e.options.tooltips},e)},bindEvents:function(){var e=this,t=e._listeners={},n=function(){e.eventHandler.apply(e,arguments)};U.each(e.options.events,(function(i){Ot.addEventListener(e,i,n),t[i]=n})),e.options.responsive&&(n=function(){e.resize()},Ot.addEventListener(e,\\\"resize\\\",n),t.resize=n)},unbindEvents:function(){var e=this,t=e._listeners;t&&(delete e._listeners,U.each(t,(function(t,n){Ot.removeEventListener(e,n,t)})))},updateHoverStyle:function(e,t,n){var i,r,o,a=n?\\\"set\\\":\\\"remove\\\";for(r=0,o=e.length;r<o;++r)(i=e[r])&&this.getDatasetMeta(i._datasetIndex).controller[a+\\\"HoverStyle\\\"](i);\\\"dataset\\\"===t&&this.getDatasetMeta(e[0]._datasetIndex).controller[\\\"_\\\"+a+\\\"DatasetHoverStyle\\\"]()},eventHandler:function(e){var t=this,n=t.tooltip;if(!1!==Pt.notify(t,\\\"beforeEvent\\\",[e])){t._bufferedRender=!0,t._bufferedRequest=null;var i=t.handleEvent(e);n&&(i=n._start?n.handleEvent(e):i|n.handleEvent(e)),Pt.notify(t,\\\"afterEvent\\\",[e]);var r=t._bufferedRequest;return r?t.render(r):i&&!t.animating&&(t.stop(),t.render({duration:t.options.hover.animationDuration,lazy:!0})),t._bufferedRender=!1,t._bufferedRequest=null,t}},handleEvent:function(e){var t,n=this,i=n.options||{},r=i.hover;return n.lastActive=n.lastActive||[],\\\"mouseout\\\"===e.type?n.active=[]:n.active=n.getElementsAtEventForMode(e,r.mode,r),U.callback(i.onHover||i.hover.onHover,[e.native,n.active],n),\\\"mouseup\\\"!==e.type&&\\\"click\\\"!==e.type||i.onClick&&i.onClick.call(n,e.native,n.active),n.lastActive.length&&n.updateHoverStyle(n.lastActive,r.mode,!1),n.active.length&&r.mode&&n.updateHoverStyle(n.active,r.mode,!0),t=!U.arrayEquals(n.active,n.lastActive),n.lastActive=n.active,t}}),Kt.instances={};var Jt=Kt;function Zt(){throw new Error(\\\"This method is not implemented: either no adapter can be found or an incomplete integration was provided.\\\")}function $t(e){this.options=e||{}}Kt.Controller=Kt,Kt.types={},U.configMerge=Vt,U.scaleMerge=Gt,U.extend($t.prototype,{formats:Zt,parse:Zt,format:Zt,add:Zt,diff:Zt,startOf:Zt,endOf:Zt,_create:function(e){return e}}),$t.override=function(e){U.extend($t.prototype,e)};var Qt={_date:$t},en={formatters:{values:function(e){return U.isArray(e)?e:\\\"\\\"+e},linear:function(e,t,n){var i=n.length>3?n[2]-n[1]:n[1]-n[0];Math.abs(i)>1&&e!==Math.floor(e)&&(i=e-Math.floor(e));var r=U.log10(Math.abs(i)),o=\\\"\\\";if(0!==e)if(Math.max(Math.abs(n[0]),Math.abs(n[n.length-1]))<1e-4){var a=U.log10(Math.abs(e)),s=Math.floor(a)-Math.floor(r);s=Math.max(Math.min(s,20),0),o=e.toExponential(s)}else{var l=-1*Math.floor(r);l=Math.max(Math.min(l,20),0),o=e.toFixed(l)}else o=\\\"0\\\";return o},logarithmic:function(e,t,n){var i=e/Math.pow(10,Math.floor(U.log10(e)));return 0===e?\\\"0\\\":1===i||2===i||5===i||0===t||t===n.length-1?e.toExponential():\\\"\\\"}}},tn=U.isArray,nn=U.isNullOrUndef,rn=U.valueOrDefault,on=U.valueAtIndexOrDefault;function an(e,t,n){var i,r=e.getTicks().length,o=Math.min(t,r-1),a=e.getPixelForTick(o),s=e._startPixel,l=e._endPixel;if(!(n&&(i=1===r?Math.max(a-s,l-a):0===t?(e.getPixelForTick(1)-a)/2:(a-e.getPixelForTick(o-1))/2,(a+=o<t?i:-i)<s-1e-6||a>l+1e-6)))return a}function sn(e,t,n,i){var r,o,a,s,l,u,c,d,h,p,f,m,g,v=n.length,y=[],b=[],x=[];for(r=0;r<v;++r){if(s=n[r].label,l=n[r].major?t.major:t.minor,e.font=u=l.string,c=i[u]=i[u]||{data:{},gc:[]},d=l.lineHeight,h=p=0,nn(s)||tn(s)){if(tn(s))for(o=0,a=s.length;o<a;++o)f=s[o],nn(f)||tn(f)||(h=U.measureText(e,c.data,c.gc,h,f),p+=d)}else h=U.measureText(e,c.data,c.gc,h,s),p=d;y.push(h),b.push(p),x.push(d/2)}function _(e){return{width:y[e]||0,height:b[e]||0,offset:x[e]||0}}return function(e,t){U.each(e,(function(e){var n,i=e.gc,r=i.length/2;if(r>t){for(n=0;n<r;++n)delete e.data[i[n]];i.splice(0,r)}}))}(i,v),m=y.indexOf(Math.max.apply(null,y)),g=b.indexOf(Math.max.apply(null,b)),{first:_(0),last:_(v-1),widest:_(m),highest:_(g)}}function ln(e){return e.drawTicks?e.tickMarkLength:0}function un(e){var t,n;return e.display?(t=U.options._parseFont(e),n=U.options.toPadding(e.padding),t.lineHeight+n.height):0}function cn(e,t){return 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a.label}N._set(\\\"scale\\\",{display:!0,position:\\\"left\\\",offset:!1,gridLines:{display:!0,color:\\\"rgba(0,0,0,0.1)\\\",lineWidth:1,drawBorder:!0,drawOnChartArea:!0,drawTicks:!0,tickMarkLength:10,zeroLineWidth:1,zeroLineColor:\\\"rgba(0,0,0,0.25)\\\",zeroLineBorderDash:[],zeroLineBorderDashOffset:0,offsetGridLines:!1,borderDash:[],borderDashOffset:0},scaleLabel:{display:!1,labelString:\\\"\\\",padding:{top:4,bottom:4}},ticks:{beginAtZero:!1,minRotation:0,maxRotation:50,mirror:!1,padding:0,reverse:!1,display:!0,autoSkip:!0,autoSkipPadding:0,labelOffset:0,callback:en.formatters.values,minor:{},major:{}}});var fn=X.extend({zeroLineIndex:0,getPadding:function(){return{left:this.paddingLeft||0,top:this.paddingTop||0,right:this.paddingRight||0,bottom:this.paddingBottom||0}},getTicks:function(){return this._ticks},_getLabels:function(){var e=this.chart.data;return this.options.labels||(this.isHorizontal()?e.xLabels:e.yLabels)||e.labels||[]},mergeTicksOptions:function(){},beforeUpdate:function(){U.callback(this.options.beforeUpdate,[this])},update:function(e,t,n){var i,r,o,a,s,l=this,u=l.options.ticks,c=u.sampleSize;if(l.beforeUpdate(),l.maxWidth=e,l.maxHeight=t,l.margins=U.extend({left:0,right:0,top:0,bottom:0},n),l._ticks=null,l.ticks=null,l._labelSizes=null,l._maxLabelLines=0,l.longestLabelWidth=0,l.longestTextCache=l.longestTextCache||{},l._gridLineItems=null,l._labelItems=null,l.beforeSetDimensions(),l.setDimensions(),l.afterSetDimensions(),l.beforeDataLimits(),l.determineDataLimits(),l.afterDataLimits(),l.beforeBuildTicks(),a=l.buildTicks()||[],(!(a=l.afterBuildTicks(a)||a)||!a.length)&&l.ticks)for(a=[],i=0,r=l.ticks.length;i<r;++i)a.push({value:l.ticks[i],major:!1});return l._ticks=a,s=c<a.length,o=l._convertTicksToLabels(s?function(e,t){for(var n=[],i=e.length/t,r=0,o=e.length;r<o;r+=i)n.push(e[Math.floor(r)]);return n}(a,c):a),l._configure(),l.beforeCalculateTickRotation(),l.calculateTickRotation(),l.afterCalculateTickRotation(),l.beforeFit(),l.fit(),l.afterFit(),l._ticksToDraw=u.display&&(u.autoSkip||\\\"auto\\\"===u.source)?l._autoSkip(a):a,s&&(o=l._convertTicksToLabels(l._ticksToDraw)),l.ticks=o,l.afterUpdate(),l.minSize},_configure:function(){var e,t,n=this,i=n.options.ticks.reverse;n.isHorizontal()?(e=n.left,t=n.right):(e=n.top,t=n.bottom,i=!i),n._startPixel=e,n._endPixel=t,n._reversePixels=i,n._length=t-e},afterUpdate:function(){U.callback(this.options.afterUpdate,[this])},beforeSetDimensions:function(){U.callback(this.options.beforeSetDimensions,[this])},setDimensions:function(){var e=this;e.isHorizontal()?(e.width=e.maxWidth,e.left=0,e.right=e.width):(e.height=e.maxHeight,e.top=0,e.bottom=e.height),e.paddingLeft=0,e.paddingTop=0,e.paddingRight=0,e.paddingBottom=0},afterSetDimensions:function(){U.callback(this.options.afterSetDimensions,[this])},beforeDataLimits:function(){U.callback(this.options.beforeDataLimits,[this])},determineDataLimits:U.noop,afterDataLimits:function(){U.callback(this.options.afterDataLimits,[this])},beforeBuildTicks:function(){U.callback(this.options.beforeBuildTicks,[this])},buildTicks:U.noop,afterBuildTicks:function(e){var t=this;return tn(e)&&e.length?U.callback(t.options.afterBuildTicks,[t,e]):(t.ticks=U.callback(t.options.afterBuildTicks,[t,t.ticks])||t.ticks,e)},beforeTickToLabelConversion:function(){U.callback(this.options.beforeTickToLabelConversion,[this])},convertTicksToLabels:function(){var e=this.options.ticks;this.ticks=this.ticks.map(e.userCallback||e.callback,this)},afterTickToLabelConversion:function(){U.callback(this.options.afterTickToLabelConversion,[this])},beforeCalculateTickRotation:function(){U.callback(this.options.beforeCalculateTickRotation,[this])},calculateTickRotation:function(){var e,t,n,i,r,o,a,s=this,l=s.options,u=l.ticks,c=s.getTicks().length,d=u.minRotation||0,h=u.maxRotation,p=d;!s._isVisible()||!u.display||d>=h||c<=1||!s.isHorizontal()?s.labelRotation=d:(t=(e=s._getLabelSizes()).widest.width,n=e.highest.height-e.highest.offset,i=Math.min(s.maxWidth,s.chart.width-t),t+6>(r=l.offset?s.maxWidth/c:i/(c-1))&&(r=i/(c-(l.offset?.5:1)),o=s.maxHeight-ln(l.gridLines)-u.padding-un(l.scaleLabel),a=Math.sqrt(t*t+n*n),p=U.toDegrees(Math.min(Math.asin(Math.min((e.highest.height+6)/r,1)),Math.asin(Math.min(o/a,1))-Math.asin(n/a))),p=Math.max(d,Math.min(h,p))),s.labelRotation=p)},afterCalculateTickRotation:function(){U.callback(this.options.afterCalculateTickRotation,[this])},beforeFit:function(){U.callback(this.options.beforeFit,[this])},fit:function(){var e=this,t=e.minSize={width:0,height:0},n=e.chart,i=e.options,r=i.ticks,o=i.scaleLabel,a=i.gridLines,s=e._isVisible(),l=\\\"bottom\\\"===i.position,u=e.isHorizontal();if(u?t.width=e.maxWidth:s&&(t.width=ln(a)+un(o)),u?s&&(t.height=ln(a)+un(o)):t.height=e.maxHeight,r.display&&s){var c=dn(r),d=e._getLabelSizes(),h=d.first,p=d.last,f=d.widest,m=d.highest,g=.4*c.minor.lineHeight,v=r.padding;if(u){var y=0!==e.labelRotation,b=U.toRadians(e.labelRotation),x=Math.cos(b),_=Math.sin(b),w=_*f.width+x*(m.height-(y?m.offset:0))+(y?0:g);t.height=Math.min(e.maxHeight,t.height+w+v);var M,S,E=e.getPixelForTick(0)-e.left,T=e.right-e.getPixelForTick(e.getTicks().length-1);y?(M=l?x*h.width+_*h.offset:_*(h.height-h.offset),S=l?_*(p.height-p.offset):x*p.width+_*p.offset):(M=h.width/2,S=p.width/2),e.paddingLeft=Math.max((M-E)*e.width/(e.width-E),0)+3,e.paddingRight=Math.max((S-T)*e.width/(e.width-T),0)+3}else{var C=r.mirror?0:f.width+v+g;t.width=Math.min(e.maxWidth,t.width+C),e.paddingTop=h.height/2,e.paddingBottom=p.height/2}}e.handleMargins(),u?(e.width=e._length=n.width-e.margins.left-e.margins.right,e.height=t.height):(e.width=t.width,e.height=e._length=n.height-e.margins.top-e.margins.bottom)},handleMargins:function(){var e=this;e.margins&&(e.margins.left=Math.max(e.paddingLeft,e.margins.left),e.margins.top=Math.max(e.paddingTop,e.margins.top),e.margins.right=Math.max(e.paddingRight,e.margins.right),e.margins.bottom=Math.max(e.paddingBottom,e.margins.bottom))},afterFit:function(){U.callback(this.options.afterFit,[this])},isHorizontal:function(){var e=this.options.position;return\\\"top\\\"===e||\\\"bottom\\\"===e},isFullWidth:function(){return this.options.fullWidth},getRightValue:function(e){if(nn(e))return NaN;if((\\\"number\\\"==typeof e||e instanceof Number)&&!isFinite(e))return NaN;if(e)if(this.isHorizontal()){if(void 0!==e.x)return this.getRightValue(e.x)}else if(void 0!==e.y)return this.getRightValue(e.y);return e},_convertTicksToLabels:function(e){var t,n,i,r=this;for(r.ticks=e.map((function(e){return e.value})),r.beforeTickToLabelConversion(),t=r.convertTicksToLabels(e)||r.ticks,r.afterTickToLabelConversion(),n=0,i=e.length;n<i;++n)e[n].label=t[n];return t},_getLabelSizes:function(){var e=this,t=e._labelSizes;return t||(e._labelSizes=t=sn(e.ctx,dn(e.options.ticks),e.getTicks(),e.longestTextCache),e.longestLabelWidth=t.widest.width),t},_parseValue:function(e){var t,n,i,r;return tn(e)?(t=+this.getRightValue(e[0]),n=+this.getRightValue(e[1]),i=Math.min(t,n),r=Math.max(t,n)):(t=void 0,n=e=+this.getRightValue(e),i=e,r=e),{min:i,max:r,start:t,end:n}},_getScaleLabel:function(e){var t=this._parseValue(e);return void 0!==t.start?\\\"[\\\"+t.start+\\\", \\\"+t.end+\\\"]\\\":+this.getRightValue(e)},getLabelForIndex:U.noop,getPixelForValue:U.noop,getValueForPixel:U.noop,getPixelForTick:function(e){var t=this.options.offset,n=this._ticks.length,i=1/Math.max(n-(t?0:1),1);return e<0||e>n-1?null:this.getPixelForDecimal(e*i+(t?i/2:0))},getPixelForDecimal:function(e){return this._reversePixels&&(e=1-e),this._startPixel+e*this._length},getDecimalForPixel:function(e){var t=(e-this._startPixel)/this._length;return this._reversePixels?1-t:t},getBasePixel:function(){return this.getPixelForValue(this.getBaseValue())},getBaseValue:function(){var e=this.min,t=this.max;return this.beginAtZero?0:e<0&&t<0?t:e>0&&t>0?e:0},_autoSkip:function(e){var t,n,i,r,o=this.options.ticks,a=this._length,s=o.maxTicksLimit||a/this._tickSize()+1,l=o.major.enabled?function(e){var t,n,i=[];for(t=0,n=e.length;t<n;t++)e[t].major&&i.push(t);return i}(e):[],u=l.length,c=l[0],d=l[u-1];if(u>s)return function(e,t,n){var i,r,o=0,a=t[0];for(n=Math.ceil(n),i=0;i<e.length;i++)r=e[i],i===a?(r._index=i,a=t[++o*n]):delete r.label}(e,l,u/s),hn(e);if(i=function(e,t,n,i){var r,o,a,s,l=function(e){var t,n,i=e.length;if(i<2)return!1;for(n=e[0],t=1;t<i;++t)if(e[t]-e[t-1]!==n)return!1;return n}(e),u=(t.length-1)/i;if(!l)return Math.max(u,1);for(a=0,s=(r=U.math._factorize(l)).length-1;a<s;a++)if((o=r[a])>u)return o;return Math.max(u,1)}(l,e,0,s),u>0){for(t=0,n=u-1;t<n;t++)pn(e,i,l[t],l[t+1]);return r=u>1?(d-c)/(u-1):null,pn(e,i,U.isNullOrUndef(r)?0:c-r,c),pn(e,i,d,U.isNullOrUndef(r)?e.length:d+r),hn(e)}return pn(e,i),hn(e)},_tickSize:function(){var e=this.options.ticks,t=U.toRadians(this.labelRotation),n=Math.abs(Math.cos(t)),i=Math.abs(Math.sin(t)),r=this._getLabelSizes(),o=e.autoSkipPadding||0,a=r?r.widest.width+o:0,s=r?r.highest.height+o:0;return this.isHorizontal()?s*n>a*i?a/n:s/i:s*i<a*n?s/n:a/i},_isVisible:function(){var e,t,n,i=this.chart,r=this.options.display;if(\\\"auto\\\"!==r)return!!r;for(e=0,t=i.data.datasets.length;e<t;++e)if(i.isDatasetVisible(e)&&((n=i.getDatasetMeta(e)).xAxisID===this.id||n.yAxisID===this.id))return!0;return!1},_computeGridLineItems:function(e){var t,n,i,r,o,a,s,l,u,c,d,h,p,f,m,g,v,y=this,b=y.chart,x=y.options,_=x.gridLines,w=x.position,M=_.offsetGridLines,S=y.isHorizontal(),E=y._ticksToDraw,T=E.length+(M?1:0),C=ln(_),O=[],P=_.drawBorder?on(_.lineWidth,0,0):0,k=P/2,A=U._alignPixel,R=function(e){return A(b,e,P)};for(\\\"top\\\"===w?(t=R(y.bottom),s=y.bottom-C,u=t-k,d=R(e.top)+k,p=e.bottom):\\\"bottom\\\"===w?(t=R(y.top),d=e.top,p=R(e.bottom)-k,s=t+k,u=y.top+C):\\\"left\\\"===w?(t=R(y.right),a=y.right-C,l=t-k,c=R(e.left)+k,h=e.right):(t=R(y.left),c=e.left,h=R(e.right)-k,a=t+k,l=y.left+C),n=0;n<T;++n)i=E[n]||{},nn(i.label)&&n<E.length||(n===y.zeroLineIndex&&x.offset===M?(f=_.zeroLineWidth,m=_.zeroLineColor,g=_.zeroLineBorderDash||[],v=_.zeroLineBorderDashOffset||0):(f=on(_.lineWidth,n,1),m=on(_.color,n,\\\"rgba(0,0,0,0.1)\\\"),g=_.borderDash||[],v=_.borderDashOffset||0),void 0!==(r=an(y,i._index||n,M))&&(o=A(b,r,f),S?a=l=c=h=o:s=u=d=p=o,O.push({tx1:a,ty1:s,tx2:l,ty2:u,x1:c,y1:d,x2:h,y2:p,width:f,color:m,borderDash:g,borderDashOffset:v})));return O.ticksLength=T,O.borderValue=t,O},_computeLabelItems:function(){var e,t,n,i,r,o,a,s,l,u,c,d,h=this,p=h.options,f=p.ticks,m=p.position,g=f.mirror,v=h.isHorizontal(),y=h._ticksToDraw,b=dn(f),x=f.padding,_=ln(p.gridLines),w=-U.toRadians(h.labelRotation),M=[];for(\\\"top\\\"===m?(o=h.bottom-_-x,a=w?\\\"left\\\":\\\"center\\\"):\\\"bottom\\\"===m?(o=h.top+_+x,a=w?\\\"right\\\":\\\"center\\\"):\\\"left\\\"===m?(r=h.right-(g?0:_)-x,a=g?\\\"left\\\":\\\"right\\\"):(r=h.left+(g?0:_)+x,a=g?\\\"right\\\":\\\"left\\\"),e=0,t=y.length;e<t;++e)i=(n=y[e]).label,nn(i)||(s=h.getPixelForTick(n._index||e)+f.labelOffset,u=(l=n.major?b.major:b.minor).lineHeight,c=tn(i)?i.length:1,v?(r=s,d=\\\"top\\\"===m?((w?1:.5)-c)*u:(w?0:.5)*u):(o=s,d=(1-c)*u/2),M.push({x:r,y:o,rotation:w,label:i,font:l,textOffset:d,textAlign:a}));return M},_drawGrid:function(e){var t=this,n=t.options.gridLines;if(n.display){var i,r,o,a,s,l=t.ctx,u=t.chart,c=U._alignPixel,d=n.drawBorder?on(n.lineWidth,0,0):0,h=t._gridLineItems||(t._gridLineItems=t._computeGridLineItems(e));for(o=0,a=h.length;o<a;++o)i=(s=h[o]).width,r=s.color,i&&r&&(l.save(),l.lineWidth=i,l.strokeStyle=r,l.setLineDash&&(l.setLineDash(s.borderDash),l.lineDashOffset=s.borderDashOffset),l.beginPath(),n.drawTicks&&(l.moveTo(s.tx1,s.ty1),l.lineTo(s.tx2,s.ty2)),n.drawOnChartArea&&(l.moveTo(s.x1,s.y1),l.lineTo(s.x2,s.y2)),l.stroke(),l.restore());if(d){var p,f,m,g,v=d,y=on(n.lineWidth,h.ticksLength-1,1),b=h.borderValue;t.isHorizontal()?(p=c(u,t.left,v)-v/2,f=c(u,t.right,y)+y/2,m=g=b):(m=c(u,t.top,v)-v/2,g=c(u,t.bottom,y)+y/2,p=f=b),l.lineWidth=d,l.strokeStyle=on(n.color,0),l.beginPath(),l.moveTo(p,m),l.lineTo(f,g),l.stroke()}}},_drawLabels:function(){var e=this;if(e.options.ticks.display){var t,n,i,r,o,a,s,l,u=e.ctx,c=e._labelItems||(e._labelItems=e._computeLabelItems());for(t=0,i=c.length;t<i;++t){if(a=(o=c[t]).font,u.save(),u.translate(o.x,o.y),u.rotate(o.rotation),u.font=a.string,u.fillStyle=a.color,u.textBaseline=\\\"middle\\\",u.textAlign=o.textAlign,s=o.label,l=o.textOffset,tn(s))for(n=0,r=s.length;n<r;++n)u.fillText(\\\"\\\"+s[n],0,l),l+=a.lineHeight;else u.fillText(s,0,l);u.restore()}}},_drawTitle:function(){var e=this,t=e.ctx,n=e.options,i=n.scaleLabel;if(i.display){var r,o,a=rn(i.fontColor,N.global.defaultFontColor),s=U.options._parseFont(i),l=U.options.toPadding(i.padding),u=s.lineHeight/2,c=n.position,d=0;if(e.isHorizontal())r=e.left+e.width/2,o=\\\"bottom\\\"===c?e.bottom-u-l.bottom:e.top+u+l.top;else{var h=\\\"left\\\"===c;r=h?e.left+u+l.top:e.right-u-l.top,o=e.top+e.height/2,d=h?-.5*Math.PI:.5*Math.PI}t.save(),t.translate(r,o),t.rotate(d),t.textAlign=\\\"center\\\",t.textBaseline=\\\"middle\\\",t.fillStyle=a,t.font=s.string,t.fillText(i.labelString,0,0),t.restore()}},draw:function(e){this._isVisible()&&(this._drawGrid(e),this._drawTitle(),this._drawLabels())},_layers:function(){var e=this,t=e.options,n=t.ticks&&t.ticks.z||0,i=t.gridLines&&t.gridLines.z||0;return e._isVisible()&&n!==i&&e.draw===e._draw?[{z:i,draw:function(){e._drawGrid.apply(e,arguments),e._drawTitle.apply(e,arguments)}},{z:n,draw:function(){e._drawLabels.apply(e,arguments)}}]:[{z:n,draw:function(){e.draw.apply(e,arguments)}}]},_getMatchingVisibleMetas:function(e){var t=this,n=t.isHorizontal();return t.chart._getSortedVisibleDatasetMetas().filter((function(i){return(!e||i.type===e)&&(n?i.xAxisID===t.id:i.yAxisID===t.id)}))}});fn.prototype._draw=fn.prototype.draw;var mn=fn,gn=U.isNullOrUndef,vn=mn.extend({determineDataLimits:function(){var e,t=this,n=t._getLabels(),i=t.options.ticks,r=i.min,o=i.max,a=0,s=n.length-1;void 0!==r&&(e=n.indexOf(r))>=0&&(a=e),void 0!==o&&(e=n.indexOf(o))>=0&&(s=e),t.minIndex=a,t.maxIndex=s,t.min=n[a],t.max=n[s]},buildTicks:function(){var e=this._getLabels(),t=this.minIndex,n=this.maxIndex;this.ticks=0===t&&n===e.length-1?e:e.slice(t,n+1)},getLabelForIndex:function(e,t){var n=this.chart;return n.getDatasetMeta(t).controller._getValueScaleId()===this.id?this.getRightValue(n.data.datasets[t].data[e]):this._getLabels()[e]},_configure:function(){var e=this,t=e.options.offset,n=e.ticks;mn.prototype._configure.call(e),e.isHorizontal()||(e._reversePixels=!e._reversePixels),n&&(e._startValue=e.minIndex-(t?.5:0),e._valueRange=Math.max(n.length-(t?0:1),1))},getPixelForValue:function(e,t,n){var i,r,o,a=this;return gn(t)||gn(n)||(e=a.chart.data.datasets[n].data[t]),gn(e)||(i=a.isHorizontal()?e.x:e.y),(void 0!==i||void 0!==e&&isNaN(t))&&(r=a._getLabels(),e=U.valueOrDefault(i,e),t=-1!==(o=r.indexOf(e))?o:t,isNaN(t)&&(t=e)),a.getPixelForDecimal((t-a._startValue)/a._valueRange)},getPixelForTick:function(e){var t=this.ticks;return e<0||e>t.length-1?null:this.getPixelForValue(t[e],e+this.minIndex)},getValueForPixel:function(e){var t=Math.round(this._startValue+this.getDecimalForPixel(e)*this._valueRange);return Math.min(Math.max(t,0),this.ticks.length-1)},getBasePixel:function(){return this.bottom}}),yn={position:\\\"bottom\\\"};vn._defaults=yn;var bn=U.noop,xn=U.isNullOrUndef,_n=mn.extend({getRightValue:function(e){return\\\"string\\\"==typeof e?+e:mn.prototype.getRightValue.call(this,e)},handleTickRangeOptions:function(){var e=this,t=e.options.ticks;if(t.beginAtZero){var n=U.sign(e.min),i=U.sign(e.max);n<0&&i<0?e.max=0:n>0&&i>0&&(e.min=0)}var r=void 0!==t.min||void 0!==t.suggestedMin,o=void 0!==t.max||void 0!==t.suggestedMax;void 0!==t.min?e.min=t.min:void 0!==t.suggestedMin&&(null===e.min?e.min=t.suggestedMin:e.min=Math.min(e.min,t.suggestedMin)),void 0!==t.max?e.max=t.max:void 0!==t.suggestedMax&&(null===e.max?e.max=t.suggestedMax:e.max=Math.max(e.max,t.suggestedMax)),r!==o&&e.min>=e.max&&(r?e.max=e.min+1:e.min=e.max-1),e.min===e.max&&(e.max++,t.beginAtZero||e.min--)},getTickLimit:function(){var e,t=this.options.ticks,n=t.stepSize,i=t.maxTicksLimit;return n?e=Math.ceil(this.max/n)-Math.floor(this.min/n)+1:(e=this._computeTickLimit(),i=i||11),i&&(e=Math.min(i,e)),e},_computeTickLimit:function(){return Number.POSITIVE_INFINITY},handleDirectionalChanges:bn,buildTicks:function(){var e=this,t=e.options.ticks,n=e.getTickLimit(),i={maxTicks:n=Math.max(2,n),min:t.min,max:t.max,precision:t.precision,stepSize:U.valueOrDefault(t.fixedStepSize,t.stepSize)},r=e.ticks=function(e,t){var n,i,r,o,a=[],s=e.stepSize,l=s||1,u=e.maxTicks-1,c=e.min,d=e.max,h=e.precision,p=t.min,f=t.max,m=U.niceNum((f-p)/u/l)*l;if(m<1e-14&&xn(c)&&xn(d))return[p,f];(o=Math.ceil(f/m)-Math.floor(p/m))>u&&(m=U.niceNum(o*m/u/l)*l),s||xn(h)?n=Math.pow(10,U._decimalPlaces(m)):(n=Math.pow(10,h),m=Math.ceil(m*n)/n),i=Math.floor(p/m)*m,r=Math.ceil(f/m)*m,s&&(!xn(c)&&U.almostWhole(c/m,m/1e3)&&(i=c),!xn(d)&&U.almostWhole(d/m,m/1e3)&&(r=d)),o=(r-i)/m,o=U.almostEquals(o,Math.round(o),m/1e3)?Math.round(o):Math.ceil(o),i=Math.round(i*n)/n,r=Math.round(r*n)/n,a.push(xn(c)?i:c);for(var g=1;g<o;++g)a.push(Math.round((i+g*m)*n)/n);return a.push(xn(d)?r:d),a}(i,e);e.handleDirectionalChanges(),e.max=U.max(r),e.min=U.min(r),t.reverse?(r.reverse(),e.start=e.max,e.end=e.min):(e.start=e.min,e.end=e.max)},convertTicksToLabels:function(){var e=this;e.ticksAsNumbers=e.ticks.slice(),e.zeroLineIndex=e.ticks.indexOf(0),mn.prototype.convertTicksToLabels.call(e)},_configure:function(){var e,t=this,n=t.getTicks(),i=t.min,r=t.max;mn.prototype._configure.call(t),t.options.offset&&n.length&&(i-=e=(r-i)/Math.max(n.length-1,1)/2,r+=e),t._startValue=i,t._endValue=r,t._valueRange=r-i}}),wn={position:\\\"left\\\",ticks:{callback:en.formatters.linear}};function Mn(e,t,n,i){var r,o,a=e.options,s=function(e,t,n){var i=[n.type,void 0===t&&void 0===n.stack?n.index:\\\"\\\",n.stack].join(\\\".\\\");return void 0===e[i]&&(e[i]={pos:[],neg:[]}),e[i]}(t,a.stacked,n),l=s.pos,u=s.neg,c=i.length;for(r=0;r<c;++r)o=e._parseValue(i[r]),isNaN(o.min)||isNaN(o.max)||n.data[r].hidden||(l[r]=l[r]||0,u[r]=u[r]||0,a.relativePoints?l[r]=100:o.min<0||o.max<0?u[r]+=o.min:l[r]+=o.max)}function Sn(e,t,n){var i,r,o=n.length;for(i=0;i<o;++i)r=e._parseValue(n[i]),isNaN(r.min)||isNaN(r.max)||t.data[i].hidden||(e.min=Math.min(e.min,r.min),e.max=Math.max(e.max,r.max))}var En=_n.extend({determineDataLimits:function(){var e,t,n,i,r=this,o=r.options,a=r.chart.data.datasets,s=r._getMatchingVisibleMetas(),l=o.stacked,u={},c=s.length;if(r.min=Number.POSITIVE_INFINITY,r.max=Number.NEGATIVE_INFINITY,void 0===l)for(e=0;!l&&e<c;++e)l=void 0!==(t=s[e]).stack;for(e=0;e<c;++e)n=a[(t=s[e]).index].data,l?Mn(r,u,t,n):Sn(r,t,n);U.each(u,(function(e){i=e.pos.concat(e.neg),r.min=Math.min(r.min,U.min(i)),r.max=Math.max(r.max,U.max(i))})),r.min=U.isFinite(r.min)&&!isNaN(r.min)?r.min:0,r.max=U.isFinite(r.max)&&!isNaN(r.max)?r.max:1,r.handleTickRangeOptions()},_computeTickLimit:function(){var e;return this.isHorizontal()?Math.ceil(this.width/40):(e=U.options._parseFont(this.options.ticks),Math.ceil(this.height/e.lineHeight))},handleDirectionalChanges:function(){this.isHorizontal()||this.ticks.reverse()},getLabelForIndex:function(e,t){return this._getScaleLabel(this.chart.data.datasets[t].data[e])},getPixelForValue:function(e){return this.getPixelForDecimal((+this.getRightValue(e)-this._startValue)/this._valueRange)},getValueForPixel:function(e){return this._startValue+this.getDecimalForPixel(e)*this._valueRange},getPixelForTick:function(e){var t=this.ticksAsNumbers;return e<0||e>t.length-1?null:this.getPixelForValue(t[e])}}),Tn=wn;En._defaults=Tn;var Cn=U.valueOrDefault,On=U.math.log10,Pn={position:\\\"left\\\",ticks:{callback:en.formatters.logarithmic}};function kn(e,t){return U.isFinite(e)&&e>=0?e:t}var An=mn.extend({determineDataLimits:function(){var e,t,n,i,r,o,a=this,s=a.options,l=a.chart,u=l.data.datasets,c=a.isHorizontal();function d(e){return c?e.xAxisID===a.id:e.yAxisID===a.id}a.min=Number.POSITIVE_INFINITY,a.max=Number.NEGATIVE_INFINITY,a.minNotZero=Number.POSITIVE_INFINITY;var h=s.stacked;if(void 0===h)for(e=0;e<u.length;e++)if(t=l.getDatasetMeta(e),l.isDatasetVisible(e)&&d(t)&&void 0!==t.stack){h=!0;break}if(s.stacked||h){var p={};for(e=0;e<u.length;e++){var f=[(t=l.getDatasetMeta(e)).type,void 0===s.stacked&&void 0===t.stack?e:\\\"\\\",t.stack].join(\\\".\\\");if(l.isDatasetVisible(e)&&d(t))for(void 0===p[f]&&(p[f]=[]),r=0,o=(i=u[e].data).length;r<o;r++){var m=p[f];n=a._parseValue(i[r]),isNaN(n.min)||isNaN(n.max)||t.data[r].hidden||n.min<0||n.max<0||(m[r]=m[r]||0,m[r]+=n.max)}}U.each(p,(function(e){if(e.length>0){var t=U.min(e),n=U.max(e);a.min=Math.min(a.min,t),a.max=Math.max(a.max,n)}}))}else for(e=0;e<u.length;e++)if(t=l.getDatasetMeta(e),l.isDatasetVisible(e)&&d(t))for(r=0,o=(i=u[e].data).length;r<o;r++)n=a._parseValue(i[r]),isNaN(n.min)||isNaN(n.max)||t.data[r].hidden||n.min<0||n.max<0||(a.min=Math.min(n.min,a.min),a.max=Math.max(n.max,a.max),0!==n.min&&(a.minNotZero=Math.min(n.min,a.minNotZero)));a.min=U.isFinite(a.min)?a.min:null,a.max=U.isFinite(a.max)?a.max:null,a.minNotZero=U.isFinite(a.minNotZero)?a.minNotZero:null,this.handleTickRangeOptions()},handleTickRangeOptions:function(){var e=this,t=e.options.ticks;e.min=kn(t.min,e.min),e.max=kn(t.max,e.max),e.min===e.max&&(0!==e.min&&null!==e.min?(e.min=Math.pow(10,Math.floor(On(e.min))-1),e.max=Math.pow(10,Math.floor(On(e.max))+1)):(e.min=1,e.max=10)),null===e.min&&(e.min=Math.pow(10,Math.floor(On(e.max))-1)),null===e.max&&(e.max=0!==e.min?Math.pow(10,Math.floor(On(e.min))+1):10),null===e.minNotZero&&(e.min>0?e.minNotZero=e.min:e.max<1?e.minNotZero=Math.pow(10,Math.floor(On(e.max))):e.minNotZero=1)},buildTicks:function(){var e=this,t=e.options.ticks,n=!e.isHorizontal(),i={min:kn(t.min),max:kn(t.max)},r=e.ticks=function(e,t){var n,i,r=[],o=Cn(e.min,Math.pow(10,Math.floor(On(t.min)))),a=Math.floor(On(t.max)),s=Math.ceil(t.max/Math.pow(10,a));0===o?(n=Math.floor(On(t.minNotZero)),i=Math.floor(t.minNotZero/Math.pow(10,n)),r.push(o),o=i*Math.pow(10,n)):(n=Math.floor(On(o)),i=Math.floor(o/Math.pow(10,n)));var l=n<0?Math.pow(10,Math.abs(n)):1;do{r.push(o),10==++i&&(i=1,l=++n>=0?1:l),o=Math.round(i*Math.pow(10,n)*l)/l}while(n<a||n===a&&i<s);var u=Cn(e.max,o);return r.push(u),r}(i,e);e.max=U.max(r),e.min=U.min(r),t.reverse?(n=!n,e.start=e.max,e.end=e.min):(e.start=e.min,e.end=e.max),n&&r.reverse()},convertTicksToLabels:function(){this.tickValues=this.ticks.slice(),mn.prototype.convertTicksToLabels.call(this)},getLabelForIndex:function(e,t){return this._getScaleLabel(this.chart.data.datasets[t].data[e])},getPixelForTick:function(e){var t=this.tickValues;return e<0||e>t.length-1?null:this.getPixelForValue(t[e])},_getFirstTickValue:function(e){var t=Math.floor(On(e));return Math.floor(e/Math.pow(10,t))*Math.pow(10,t)},_configure:function(){var e=this,t=e.min,n=0;mn.prototype._configure.call(e),0===t&&(t=e._getFirstTickValue(e.minNotZero),n=Cn(e.options.ticks.fontSize,N.global.defaultFontSize)/e._length),e._startValue=On(t),e._valueOffset=n,e._valueRange=(On(e.max)-On(t))/(1-n)},getPixelForValue:function(e){var t=this,n=0;return(e=+t.getRightValue(e))>t.min&&e>0&&(n=(On(e)-t._startValue)/t._valueRange+t._valueOffset),t.getPixelForDecimal(n)},getValueForPixel:function(e){var t=this,n=t.getDecimalForPixel(e);return 0===n&&0===t.min?0:Math.pow(10,t._startValue+(n-t._valueOffset)*t._valueRange)}}),Rn=Pn;An._defaults=Rn;var Ln=U.valueOrDefault,In=U.valueAtIndexOrDefault,Dn=U.options.resolve,Nn={display:!0,animate:!0,position:\\\"chartArea\\\",angleLines:{display:!0,color:\\\"rgba(0,0,0,0.1)\\\",lineWidth:1,borderDash:[],borderDashOffset:0},gridLines:{circular:!1},ticks:{showLabelBackdrop:!0,backdropColor:\\\"rgba(255,255,255,0.75)\\\",backdropPaddingY:2,backdropPaddingX:2,callback:en.formatters.linear},pointLabels:{display:!0,fontSize:10,callback:function(e){return e}}};function Fn(e){var t=e.ticks;return t.display&&e.display?Ln(t.fontSize,N.global.defaultFontSize)+2*t.backdropPaddingY:0}function zn(e,t,n,i,r){return e===i||e===r?{start:t-n/2,end:t+n/2}:e<i||e>r?{start:t-n,end:t}:{start:t,end:t+n}}function Bn(e){return 0===e||180===e?\\\"center\\\":e<180?\\\"left\\\":\\\"right\\\"}function jn(e,t,n,i){var r,o,a=n.y+i/2;if(U.isArray(t))for(r=0,o=t.length;r<o;++r)e.fillText(t[r],n.x,a),a+=i;else e.fillText(t,n.x,a)}function Un(e,t,n){90===e||270===e?n.y-=t.h/2:(e>270||e<90)&&(n.y-=t.h)}function Wn(e){return U.isNumber(e)?e:0}var Gn=_n.extend({setDimensions:function(){var e=this;e.width=e.maxWidth,e.height=e.maxHeight,e.paddingTop=Fn(e.options)/2,e.xCenter=Math.floor(e.width/2),e.yCenter=Math.floor((e.height-e.paddingTop)/2),e.drawingArea=Math.min(e.height-e.paddingTop,e.width)/2},determineDataLimits:function(){var e=this,t=e.chart,n=Number.POSITIVE_INFINITY,i=Number.NEGATIVE_INFINITY;U.each(t.data.datasets,(function(r,o){if(t.isDatasetVisible(o)){var a=t.getDatasetMeta(o);U.each(r.data,(function(t,r){var o=+e.getRightValue(t);isNaN(o)||a.data[r].hidden||(n=Math.min(o,n),i=Math.max(o,i))}))}})),e.min=n===Number.POSITIVE_INFINITY?0:n,e.max=i===Number.NEGATIVE_INFINITY?0:i,e.handleTickRangeOptions()},_computeTickLimit:function(){return Math.ceil(this.drawingArea/Fn(this.options))},convertTicksToLabels:function(){var e=this;_n.prototype.convertTicksToLabels.call(e),e.pointLabels=e.chart.data.labels.map((function(){var t=U.callback(e.options.pointLabels.callback,arguments,e);return t||0===t?t:\\\"\\\"}))},getLabelForIndex:function(e,t){return+this.getRightValue(this.chart.data.datasets[t].data[e])},fit:function(){var e=this.options;e.display&&e.pointLabels.display?function(e){var t,n,i,r=U.options._parseFont(e.options.pointLabels),o={l:0,r:e.width,t:0,b:e.height-e.paddingTop},a={};e.ctx.font=r.string,e._pointLabelSizes=[];var s,l,u,c=e.chart.data.labels.length;for(t=0;t<c;t++){i=e.getPointPosition(t,e.drawingArea+5),s=e.ctx,l=r.lineHeight,u=e.pointLabels[t],n=U.isArray(u)?{w:U.longestText(s,s.font,u),h:u.length*l}:{w:s.measureText(u).width,h:l},e._pointLabelSizes[t]=n;var d=e.getIndexAngle(t),h=U.toDegrees(d)%360,p=zn(h,i.x,n.w,0,180),f=zn(h,i.y,n.h,90,270);p.start<o.l&&(o.l=p.start,a.l=d),p.end>o.r&&(o.r=p.end,a.r=d),f.start<o.t&&(o.t=f.start,a.t=d),f.end>o.b&&(o.b=f.end,a.b=d)}e.setReductions(e.drawingArea,o,a)}(this):this.setCenterPoint(0,0,0,0)},setReductions:function(e,t,n){var i=this,r=t.l/Math.sin(n.l),o=Math.max(t.r-i.width,0)/Math.sin(n.r),a=-t.t/Math.cos(n.t),s=-Math.max(t.b-(i.height-i.paddingTop),0)/Math.cos(n.b);r=Wn(r),o=Wn(o),a=Wn(a),s=Wn(s),i.drawingArea=Math.min(Math.floor(e-(r+o)/2),Math.floor(e-(a+s)/2)),i.setCenterPoint(r,o,a,s)},setCenterPoint:function(e,t,n,i){var r=this,o=r.width-t-r.drawingArea,a=e+r.drawingArea,s=n+r.drawingArea,l=r.height-r.paddingTop-i-r.drawingArea;r.xCenter=Math.floor((a+o)/2+r.left),r.yCenter=Math.floor((s+l)/2+r.top+r.paddingTop)},getIndexAngle:function(e){var t=this.chart,n=(e*(360/t.data.labels.length)+((t.options||{}).startAngle||0))%360;return(n<0?n+360:n)*Math.PI*2/360},getDistanceFromCenterForValue:function(e){var t=this;if(U.isNullOrUndef(e))return NaN;var n=t.drawingArea/(t.max-t.min);return t.options.ticks.reverse?(t.max-e)*n:(e-t.min)*n},getPointPosition:function(e,t){var n=this.getIndexAngle(e)-Math.PI/2;return{x:Math.cos(n)*t+this.xCenter,y:Math.sin(n)*t+this.yCenter}},getPointPositionForValue:function(e,t){return this.getPointPosition(e,this.getDistanceFromCenterForValue(t))},getBasePosition:function(e){var t=this.min,n=this.max;return this.getPointPositionForValue(e||0,this.beginAtZero?0:t<0&&n<0?n:t>0&&n>0?t:0)},_drawGrid:function(){var e,t,n,i=this,r=i.ctx,o=i.options,a=o.gridLines,s=o.angleLines,l=Ln(s.lineWidth,a.lineWidth),u=Ln(s.color,a.color);if(o.pointLabels.display&&function(e){var t=e.ctx,n=e.options,i=n.pointLabels,r=Fn(n),o=e.getDistanceFromCenterForValue(n.ticks.reverse?e.min:e.max),a=U.options._parseFont(i);t.save(),t.font=a.string,t.textBaseline=\\\"middle\\\";for(var s=e.chart.data.labels.length-1;s>=0;s--){var l=0===s?r/2:0,u=e.getPointPosition(s,o+l+5),c=In(i.fontColor,s,N.global.defaultFontColor);t.fillStyle=c;var d=e.getIndexAngle(s),h=U.toDegrees(d);t.textAlign=Bn(h),Un(h,e._pointLabelSizes[s],u),jn(t,e.pointLabels[s],u,a.lineHeight)}t.restore()}(i),a.display&&U.each(i.ticks,(function(e,n){0!==n&&(t=i.getDistanceFromCenterForValue(i.ticksAsNumbers[n]),function(e,t,n,i){var r,o=e.ctx,a=t.circular,s=e.chart.data.labels.length,l=In(t.color,i-1),u=In(t.lineWidth,i-1);if((a||s)&&l&&u){if(o.save(),o.strokeStyle=l,o.lineWidth=u,o.setLineDash&&(o.setLineDash(t.borderDash||[]),o.lineDashOffset=t.borderDashOffset||0),o.beginPath(),a)o.arc(e.xCenter,e.yCenter,n,0,2*Math.PI);else{r=e.getPointPosition(0,n),o.moveTo(r.x,r.y);for(var c=1;c<s;c++)r=e.getPointPosition(c,n),o.lineTo(r.x,r.y)}o.closePath(),o.stroke(),o.restore()}}(i,a,t,n))})),s.display&&l&&u){for(r.save(),r.lineWidth=l,r.strokeStyle=u,r.setLineDash&&(r.setLineDash(Dn([s.borderDash,a.borderDash,[]])),r.lineDashOffset=Dn([s.borderDashOffset,a.borderDashOffset,0])),e=i.chart.data.labels.length-1;e>=0;e--)t=i.getDistanceFromCenterForValue(o.ticks.reverse?i.min:i.max),n=i.getPointPosition(e,t),r.beginPath(),r.moveTo(i.xCenter,i.yCenter),r.lineTo(n.x,n.y),r.stroke();r.restore()}},_drawLabels:function(){var e=this,t=e.ctx,n=e.options.ticks;if(n.display){var i,r,o=e.getIndexAngle(0),a=U.options._parseFont(n),s=Ln(n.fontColor,N.global.defaultFontColor);t.save(),t.font=a.string,t.translate(e.xCenter,e.yCenter),t.rotate(o),t.textAlign=\\\"center\\\",t.textBaseline=\\\"middle\\\",U.each(e.ticks,(function(o,l){(0!==l||n.reverse)&&(i=e.getDistanceFromCenterForValue(e.ticksAsNumbers[l]),n.showLabelBackdrop&&(r=t.measureText(o).width,t.fillStyle=n.backdropColor,t.fillRect(-r/2-n.backdropPaddingX,-i-a.size/2-n.backdropPaddingY,r+2*n.backdropPaddingX,a.size+2*n.backdropPaddingY)),t.fillStyle=s,t.fillText(o,0,-i))})),t.restore()}},_drawTitle:U.noop}),Vn=Nn;Gn._defaults=Vn;var Hn=U._deprecated,Yn=U.options.resolve,qn=U.valueOrDefault,Xn=Number.MIN_SAFE_INTEGER||-9007199254740991,Kn=Number.MAX_SAFE_INTEGER||9007199254740991,Jn={millisecond:{common:!0,size:1,steps:1e3},second:{common:!0,size:1e3,steps:60},minute:{common:!0,size:6e4,steps:60},hour:{common:!0,size:36e5,steps:24},day:{common:!0,size:864e5,steps:30},week:{common:!1,size:6048e5,steps:4},month:{common:!0,size:2628e6,steps:12},quarter:{common:!1,size:7884e6,steps:4},year:{common:!0,size:3154e7}},Zn=Object.keys(Jn);function $n(e,t){return e-t}function Qn(e){return U.valueOrDefault(e.time.min,e.ticks.min)}function ei(e){return U.valueOrDefault(e.time.max,e.ticks.max)}function ti(e,t,n,i){var r=function(e,t,n){for(var i,r,o,a=0,s=e.length-1;a>=0&&a<=s;){if(r=e[(i=a+s>>1)-1]||null,o=e[i],!r)return{lo:null,hi:o};if(o[t]<n)a=i+1;else{if(!(r[t]>n))return{lo:r,hi:o};s=i-1}}return{lo:o,hi:null}}(e,t,n),o=r.lo?r.hi?r.lo:e[e.length-2]:e[0],a=r.lo?r.hi?r.hi:e[e.length-1]:e[1],s=a[t]-o[t],l=s?(n-o[t])/s:0,u=(a[i]-o[i])*l;return o[i]+u}function ni(e,t){var n=e._adapter,i=e.options.time,r=i.parser,o=r||i.format,a=t;return\\\"function\\\"==typeof r&&(a=r(a)),U.isFinite(a)||(a=\\\"string\\\"==typeof o?n.parse(a,o):n.parse(a)),null!==a?+a:(r||\\\"function\\\"!=typeof o||(a=o(t),U.isFinite(a)||(a=n.parse(a))),a)}function ii(e,t){if(U.isNullOrUndef(t))return null;var n=e.options.time,i=ni(e,e.getRightValue(t));return null===i||n.round&&(i=+e._adapter.startOf(i,n.round)),i}function ri(e,t,n,i){var r,o,a,s=Zn.length;for(r=Zn.indexOf(e);r<s-1;++r)if(a=(o=Jn[Zn[r]]).steps?o.steps:Kn,o.common&&Math.ceil((n-t)/(a*o.size))<=i)return Zn[r];return Zn[s-1]}function oi(e,t,n){var i,r,o=[],a={},s=t.length;for(i=0;i<s;++i)a[r=t[i]]=i,o.push({value:r,major:!1});return 0!==s&&n?function(e,t,n,i){var r,o,a=e._adapter,s=+a.startOf(t[0].value,i),l=t[t.length-1].value;for(r=s;r<=l;r=+a.add(r,1,i))(o=n[r])>=0&&(t[o].major=!0);return t}(e,o,a,n):o}var ai=mn.extend({initialize:function(){this.mergeTicksOptions(),mn.prototype.initialize.call(this)},update:function(){var e=this,t=e.options,n=t.time||(t.time={}),i=e._adapter=new Qt._date(t.adapters.date);return Hn(\\\"time scale\\\",n.format,\\\"time.format\\\",\\\"time.parser\\\"),Hn(\\\"time scale\\\",n.min,\\\"time.min\\\",\\\"ticks.min\\\"),Hn(\\\"time scale\\\",n.max,\\\"time.max\\\",\\\"ticks.max\\\"),U.mergeIf(n.displayFormats,i.formats()),mn.prototype.update.apply(e,arguments)},getRightValue:function(e){return e&&void 0!==e.t&&(e=e.t),mn.prototype.getRightValue.call(this,e)},determineDataLimits:function(){var e,t,n,i,r,o,a,s=this,l=s.chart,u=s._adapter,c=s.options,d=c.time.unit||\\\"day\\\",h=Kn,p=Xn,f=[],m=[],g=[],v=s._getLabels();for(e=0,n=v.length;e<n;++e)g.push(ii(s,v[e]));for(e=0,n=(l.data.datasets||[]).length;e<n;++e)if(l.isDatasetVisible(e))if(r=l.data.datasets[e].data,U.isObject(r[0]))for(m[e]=[],t=0,i=r.length;t<i;++t)o=ii(s,r[t]),f.push(o),m[e][t]=o;else m[e]=g.slice(0),a||(f=f.concat(g),a=!0);else m[e]=[];g.length&&(h=Math.min(h,g[0]),p=Math.max(p,g[g.length-1])),f.length&&(f=n>1?function(e){var t,n,i,r={},o=[];for(t=0,n=e.length;t<n;++t)r[i=e[t]]||(r[i]=!0,o.push(i));return o}(f).sort($n):f.sort($n),h=Math.min(h,f[0]),p=Math.max(p,f[f.length-1])),h=ii(s,Qn(c))||h,p=ii(s,ei(c))||p,h=h===Kn?+u.startOf(Date.now(),d):h,p=p===Xn?+u.endOf(Date.now(),d)+1:p,s.min=Math.min(h,p),s.max=Math.max(h+1,p),s._table=[],s._timestamps={data:f,datasets:m,labels:g}},buildTicks:function(){var e,t,n,i=this,r=i.min,o=i.max,a=i.options,s=a.ticks,l=a.time,u=i._timestamps,c=[],d=i.getLabelCapacity(r),h=s.source,p=a.distribution;for(u=\\\"data\\\"===h||\\\"auto\\\"===h&&\\\"series\\\"===p?u.data:\\\"labels\\\"===h?u.labels:function(e,t,n,i){var r,o=e._adapter,a=e.options,s=a.time,l=s.unit||ri(s.minUnit,t,n,i),u=Yn([s.stepSize,s.unitStepSize,1]),c=\\\"week\\\"===l&&s.isoWeekday,d=t,h=[];if(c&&(d=+o.startOf(d,\\\"isoWeek\\\",c)),d=+o.startOf(d,c?\\\"day\\\":l),o.diff(n,t,l)>1e5*u)throw t+\\\" and \\\"+n+\\\" are too far apart with stepSize of \\\"+u+\\\" \\\"+l;for(r=d;r<n;r=+o.add(r,u,l))h.push(r);return r!==n&&\\\"ticks\\\"!==a.bounds||h.push(r),h}(i,r,o,d),\\\"ticks\\\"===a.bounds&&u.length&&(r=u[0],o=u[u.length-1]),r=ii(i,Qn(a))||r,o=ii(i,ei(a))||o,e=0,t=u.length;e<t;++e)(n=u[e])>=r&&n<=o&&c.push(n);return i.min=r,i.max=o,i._unit=l.unit||(s.autoSkip?ri(l.minUnit,i.min,i.max,d):function(e,t,n,i,r){var o,a;for(o=Zn.length-1;o>=Zn.indexOf(n);o--)if(a=Zn[o],Jn[a].common&&e._adapter.diff(r,i,a)>=t-1)return a;return Zn[n?Zn.indexOf(n):0]}(i,c.length,l.minUnit,i.min,i.max)),i._majorUnit=s.major.enabled&&\\\"year\\\"!==i._unit?function(e){for(var t=Zn.indexOf(e)+1,n=Zn.length;t<n;++t)if(Jn[Zn[t]].common)return Zn[t]}(i._unit):void 0,i._table=function(e,t,n,i){if(\\\"linear\\\"===i||!e.length)return[{time:t,pos:0},{time:n,pos:1}];var r,o,a,s,l,u=[],c=[t];for(r=0,o=e.length;r<o;++r)(s=e[r])>t&&s<n&&c.push(s);for(c.push(n),r=0,o=c.length;r<o;++r)l=c[r+1],a=c[r-1],s=c[r],void 0!==a&&void 0!==l&&Math.round((l+a)/2)===s||u.push({time:s,pos:r/(o-1)});return u}(i._timestamps.data,r,o,p),i._offsets=function(e,t,n,i,r){var o,a,s=0,l=0;return 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this._getLabelSize(e).w},getLabelCapacity:function(e){var t=this,n=t.options.time,i=n.displayFormats,r=i[n.unit]||i.millisecond,o=t.tickFormatFunction(e,0,oi(t,[e],t._majorUnit),r),a=t._getLabelSize(o),s=Math.floor(t.isHorizontal()?t.width/a.w:t.height/a.h);return t.options.offset&&s--,s>0?s:1}}),si={position:\\\"bottom\\\",distribution:\\\"linear\\\",bounds:\\\"data\\\",adapters:{},time:{parser:!1,unit:!1,round:!1,displayFormat:!1,isoWeekday:!1,minUnit:\\\"millisecond\\\",displayFormats:{}},ticks:{autoSkip:!1,source:\\\"auto\\\",major:{enabled:!1}}};ai._defaults=si;var li={category:vn,linear:En,logarithmic:An,radialLinear:Gn,time:ai},ui={datetime:\\\"MMM D, YYYY, h:mm:ss a\\\",millisecond:\\\"h:mm:ss.SSS a\\\",second:\\\"h:mm:ss a\\\",minute:\\\"h:mm a\\\",hour:\\\"hA\\\",day:\\\"MMM D\\\",week:\\\"ll\\\",month:\\\"MMM YYYY\\\",quarter:\\\"[Q]Q - YYYY\\\",year:\\\"YYYY\\\"};Qt._date.override(\\\"function\\\"==typeof e?{_id:\\\"moment\\\",formats:function(){return 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t,n=e.el._model||{},i=e.el._scale||{},r=e.fill,o=null;if(isFinite(r))return null;if(\\\"start\\\"===r?o=void 0===n.scaleBottom?i.bottom:n.scaleBottom:\\\"end\\\"===r?o=void 0===n.scaleTop?i.top:n.scaleTop:void 0!==n.scaleZero?o=n.scaleZero:i.getBasePixel&&(o=i.getBasePixel()),null!=o){if(void 0!==o.x&&void 0!==o.y)return o;if(U.isFinite(o))return{x:(t=i.isHorizontal())?o:null,y:t?null:o}}return null}(e)}function pi(e,t,n){var i,r=e[t].fill,o=[t];if(!n)return r;for(;!1!==r&&-1===o.indexOf(r);){if(!isFinite(r))return r;if(!(i=e[r]))return!1;if(i.visible)return r;o.push(r),r=i.fill}return!1}function fi(e){var t=e.fill,n=\\\"dataset\\\";return!1===t?null:(isFinite(t)||(n=\\\"boundary\\\"),ci[n](e))}function mi(e){return e&&!e.skip}function gi(e,t,n,i,r){var o,a,s,l;if(i&&r){for(e.moveTo(t[0].x,t[0].y),o=1;o<i;++o)U.canvas.lineTo(e,t[o-1],t[o]);if(void 0===n[0].angle)for(e.lineTo(n[r-1].x,n[r-1].y),o=r-1;o>0;--o)U.canvas.lineTo(e,n[o],n[o-1],!0);else 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t,n,i,r,o,a,s,l=e._getSortedVisibleDatasetMetas(),u=e.ctx;for(n=l.length-1;n>=0;--n)(t=l[n].$filler)&&t.visible&&(r=(i=t.el)._view,o=i._children||[],a=t.mapper,s=r.backgroundColor||N.global.defaultColor,a&&s&&o.length&&(U.canvas.clipArea(u,e.chartArea),vi(u,o,a,r,s,i._loop),U.canvas.unclipArea(u)))}},bi=U.rtl.getRtlAdapter,xi=U.noop,_i=U.valueOrDefault;function wi(e,t){return e.usePointStyle&&e.boxWidth>t?t:e.boxWidth}N._set(\\\"global\\\",{legend:{display:!0,position:\\\"top\\\",align:\\\"center\\\",fullWidth:!0,reverse:!1,weight:1e3,onClick:function(e,t){var n=t.datasetIndex,i=this.chart,r=i.getDatasetMeta(n);r.hidden=null===r.hidden?!i.data.datasets[n].hidden:null,i.update()},onHover:null,onLeave:null,labels:{boxWidth:40,padding:10,generateLabels:function(e){var t=e.data.datasets,n=e.options.legend||{},i=n.labels&&n.labels.usePointStyle;return e._getSortedDatasetMetas().map((function(n){var r=n.controller.getStyle(i?0:void 0);return{text:t[n.index].label,fillStyle:r.backgroundColor,hidden:!e.isDatasetVisible(n.index),lineCap:r.borderCapStyle,lineDash:r.borderDash,lineDashOffset:r.borderDashOffset,lineJoin:r.borderJoinStyle,lineWidth:r.borderWidth,strokeStyle:r.borderColor,pointStyle:r.pointStyle,rotation:r.rotation,datasetIndex:n.index}}),this)}}},legendCallback:function(e){var t,n,i,r=document.createElement(\\\"ul\\\"),o=e.data.datasets;for(r.setAttribute(\\\"class\\\",e.id+\\\"-legend\\\"),t=0,n=o.length;t<n;t++)(i=r.appendChild(document.createElement(\\\"li\\\"))).appendChild(document.createElement(\\\"span\\\")).style.backgroundColor=o[t].backgroundColor,o[t].label&&i.appendChild(document.createTextNode(o[t].label));return r.outerHTML}});var Mi=X.extend({initialize:function(e){U.extend(this,e),this.legendHitBoxes=[],this._hoveredItem=null,this.doughnutMode=!1},beforeUpdate:xi,update:function(e,t,n){var i=this;return i.beforeUpdate(),i.maxWidth=e,i.maxHeight=t,i.margins=n,i.beforeSetDimensions(),i.setDimensions(),i.afterSetDimensions(),i.beforeBuildLabels(),i.buildLabels(),i.afterBuildLabels(),i.beforeFit(),i.fit(),i.afterFit(),i.afterUpdate(),i.minSize},afterUpdate:xi,beforeSetDimensions:xi,setDimensions:function(){var e=this;e.isHorizontal()?(e.width=e.maxWidth,e.left=0,e.right=e.width):(e.height=e.maxHeight,e.top=0,e.bottom=e.height),e.paddingLeft=0,e.paddingTop=0,e.paddingRight=0,e.paddingBottom=0,e.minSize={width:0,height:0}},afterSetDimensions:xi,beforeBuildLabels:xi,buildLabels:function(){var e=this,t=e.options.labels||{},n=U.callback(t.generateLabels,[e.chart],e)||[];t.filter&&(n=n.filter((function(n){return t.filter(n,e.chart.data)}))),e.options.reverse&&n.reverse(),e.legendItems=n},afterBuildLabels:xi,beforeFit:xi,fit:function(){var e=this,t=e.options,n=t.labels,i=t.display,r=e.ctx,o=U.options._parseFont(n),a=o.size,s=e.legendHitBoxes=[],l=e.minSize,u=e.isHorizontal();if(u?(l.width=e.maxWidth,l.height=i?10:0):(l.width=i?10:0,l.height=e.maxHeight),i){if(r.font=o.string,u){var c=e.lineWidths=[0],d=0;r.textAlign=\\\"left\\\",r.textBaseline=\\\"middle\\\",U.each(e.legendItems,(function(e,t){var i=wi(n,a)+a/2+r.measureText(e.text).width;(0===t||c[c.length-1]+i+2*n.padding>l.width)&&(d+=a+n.padding,c[c.length-(t>0?0:1)]=0),s[t]={left:0,top:0,width:i,height:a},c[c.length-1]+=i+n.padding})),l.height+=d}else{var h=n.padding,p=e.columnWidths=[],f=e.columnHeights=[],m=n.padding,g=0,v=0;U.each(e.legendItems,(function(e,t){var i=wi(n,a)+a/2+r.measureText(e.text).width;t>0&&v+a+2*h>l.height&&(m+=g+n.padding,p.push(g),f.push(v),g=0,v=0),g=Math.max(g,i),v+=a+h,s[t]={left:0,top:0,width:i,height:a}})),m+=g,p.push(g),f.push(v),l.width+=m}e.width=l.width,e.height=l.height}else e.width=l.width=e.height=l.height=0},afterFit:xi,isHorizontal:function(){return\\\"top\\\"===this.options.position||\\\"bottom\\\"===this.options.position},draw:function(){var e=this,t=e.options,n=t.labels,i=N.global,r=i.defaultColor,o=i.elements.line,a=e.height,s=e.columnHeights,l=e.width,u=e.lineWidths;if(t.display){var c,d=bi(t.rtl,e.left,e.minSize.width),h=e.ctx,p=_i(n.fontColor,i.defaultFontColor),f=U.options._parseFont(n),m=f.size;h.textAlign=d.textAlign(\\\"left\\\"),h.textBaseline=\\\"middle\\\",h.lineWidth=.5,h.strokeStyle=p,h.fillStyle=p,h.font=f.string;var g=wi(n,m),v=e.legendHitBoxes,y=function(e,i){switch(t.align){case\\\"start\\\":return n.padding;case\\\"end\\\":return e-i;default:return(e-i+n.padding)/2}},b=e.isHorizontal();c=b?{x:e.left+y(l,u[0]),y:e.top+n.padding,line:0}:{x:e.left+n.padding,y:e.top+y(a,s[0]),line:0},U.rtl.overrideTextDirection(e.ctx,t.textDirection);var x=m+n.padding;U.each(e.legendItems,(function(t,i){var p=h.measureText(t.text).width,f=g+m/2+p,_=c.x,w=c.y;d.setWidth(e.minSize.width),b?i>0&&_+f+n.padding>e.left+e.minSize.width&&(w=c.y+=x,c.line++,_=c.x=e.left+y(l,u[c.line])):i>0&&w+x>e.top+e.minSize.height&&(_=c.x=_+e.columnWidths[c.line]+n.padding,c.line++,w=c.y=e.top+y(a,s[c.line]));var M=d.x(_);!function(e,t,i){if(!(isNaN(g)||g<=0)){h.save();var a=_i(i.lineWidth,o.borderWidth);if(h.fillStyle=_i(i.fillStyle,r),h.lineCap=_i(i.lineCap,o.borderCapStyle),h.lineDashOffset=_i(i.lineDashOffset,o.borderDashOffset),h.lineJoin=_i(i.lineJoin,o.borderJoinStyle),h.lineWidth=a,h.strokeStyle=_i(i.strokeStyle,r),h.setLineDash&&h.setLineDash(_i(i.lineDash,o.borderDash)),n&&n.usePointStyle){var s=g*Math.SQRT2/2,l=d.xPlus(e,g/2),u=t+m/2;U.canvas.drawPoint(h,i.pointStyle,s,l,u,i.rotation)}else h.fillRect(d.leftForLtr(e,g),t,g,m),0!==a&&h.strokeRect(d.leftForLtr(e,g),t,g,m);h.restore()}}(M,w,t),v[i].left=d.leftForLtr(M,v[i].width),v[i].top=w,function(e,t,n,i){var 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0!==t.name&&\\\"geocent\\\"===t.name?\\\"number\\\"==typeof i.z?[i.x,i.y,i.z].concat(n.splice(3)):[i.x,i.y,n[2]].concat(n.splice(3)):[i.x,i.y].concat(n.splice(2)):[i.x,i.y]):(r=ne(e,t,n),2===(o=Object.keys(n)).length||o.forEach((function(i){if(void 0!==e.name&&\\\"geocent\\\"===e.name||void 0!==t.name&&\\\"geocent\\\"===t.name){if(\\\"x\\\"===i||\\\"y\\\"===i||\\\"z\\\"===i)return}else if(\\\"x\\\"===i||\\\"y\\\"===i)return;r[i]=n[i]})),r)}function oe(e){return e instanceof X?e:e.oProj?e.oProj:X(e)}var ae=function(e,t,n){e=oe(e);var i,r=!1;return void 0===t?(t=e,e=ie,r=!0):(void 0!==t.x||Array.isArray(t))&&(n=t,t=e,e=ie,r=!0),t=oe(t),n?re(e,t,n):(i={forward:function(n){return re(e,t,n)},inverse:function(n){return re(t,e,n)}},r&&(i.oProj=t),i)},se=73,le=79,ue={forward:ce,inverse:function(e){var t=fe(ve(e.toUpperCase()));if(t.lat&&t.lon)return[t.lon,t.lat,t.lon,t.lat];return[t.left,t.bottom,t.right,t.top]},toPoint:de};function ce(e,t){return t=t||5,function(e,t){var n=\\\"00000\\\"+e.easting,i=\\\"00000\\\"+e.northing;return e.zoneNumber+e.zoneLetter+(p=e.easting,f=e.northing,m=e.zoneNumber,g=ge(m),v=Math.floor(p/1e5),y=Math.floor(f/1e5)%20,r=v,o=y,a=g,s=a-1,l=\\\"AJSAJS\\\".charCodeAt(s),u=\\\"AFAFAF\\\".charCodeAt(s),c=l+r-1,d=u+o,h=!1,c>90&&(c=c-90+65-1,h=!0),(c===se||l<se&&c>se||(c>se||l<se)&&h)&&c++,(c===le||l<le&&c>le||(c>le||l<le)&&h)&&++c===se&&c++,c>90&&(c=c-90+65-1),d>86?(d=d-86+65-1,h=!0):h=!1,(d===se||u<se&&d>se||(d>se||u<se)&&h)&&d++,(d===le||u<le&&d>le||(d>le||u<le)&&h)&&++d===se&&d++,d>86&&(d=d-86+65-1),String.fromCharCode(c)+String.fromCharCode(d))+n.substr(n.length-5,t)+i.substr(i.length-5,t);var r,o,a,s,l,u,c,d,h;var p,f,m,g,v,y}(function(e){var t,n,i,r,o,a,s,l=e.lat,u=e.lon,c=6378137,d=he(l),h=he(u);s=Math.floor((u+180)/6)+1,180===u&&(s=60);l>=56&&l<64&&u>=3&&u<12&&(s=32);l>=72&&l<84&&(u>=0&&u<9?s=31:u>=9&&u<21?s=33:u>=21&&u<33?s=35:u>=33&&u<42&&(s=37));a=he(6*(s-1)-180+3),.006739496752268451,t=c/Math.sqrt(1-.00669438*Math.sin(d)*Math.sin(d)),n=Math.tan(d)*Math.tan(d),i=.006739496752268451*Math.cos(d)*Math.cos(d),r=Math.cos(d)*(h-a),o=c*(.9983242984503243*d-.002514607064228144*Math.sin(2*d)+2639046602129982e-21*Math.sin(4*d)-3.418046101696858e-9*Math.sin(6*d));var p=.9996*t*(r+(1-n+i)*r*r*r/6+(5-18*n+n*n+72*i-.39089081163157013)*r*r*r*r*r/120)+5e5,f=.9996*(o+t*Math.tan(d)*(r*r/2+(5-n+9*i+4*i*i)*r*r*r*r/24+(61-58*n+n*n+600*i-2.2240339282485886)*r*r*r*r*r*r/720));l<0&&(f+=1e7);return{northing:Math.round(f),easting:Math.round(p),zoneNumber:s,zoneLetter:me(l)}}({lat:e[1],lon:e[0]}),t)}function de(e){var t=fe(ve(e.toUpperCase()));return t.lat&&t.lon?[t.lon,t.lat]:[(t.left+t.right)/2,(t.top+t.bottom)/2]}function he(e){return e*(Math.PI/180)}function pe(e){return e/Math.PI*180}function fe(e){var t=e.northing,n=e.easting,i=e.zoneLetter,r=e.zoneNumber;if(r<0||r>60)return null;var o,a,s,l,u,c,d,h,p=6378137,f=(1-Math.sqrt(.99330562))/(1+Math.sqrt(.99330562)),m=n-5e5,g=t;i<\\\"N\\\"&&(g-=1e7),c=6*(r-1)-180+3,h=(d=g/.9996/6367449.145945056)+(3*f/2-27*f*f*f/32)*Math.sin(2*d)+(21*f*f/16-55*f*f*f*f/32)*Math.sin(4*d)+151*f*f*f/96*Math.sin(6*d),o=p/Math.sqrt(1-.00669438*Math.sin(h)*Math.sin(h)),a=Math.tan(h)*Math.tan(h),s=.006739496752268451*Math.cos(h)*Math.cos(h),l=.99330562*p/Math.pow(1-.00669438*Math.sin(h)*Math.sin(h),1.5),u=m/(.9996*o);var v=h-o*Math.tan(h)/l*(u*u/2-(5+3*a+10*s-4*s*s-.06065547077041606)*u*u*u*u/24+(61+90*a+298*s+45*a*a-1.6983531815716497-3*s*s)*u*u*u*u*u*u/720);v=pe(v);var y,b=(u-(1+2*a+s)*u*u*u/6+(5-2*s+28*a-3*s*s+.05391597401814761+24*a*a)*u*u*u*u*u/120)/Math.cos(h);if(b=c+pe(b),e.accuracy){var x=fe({northing:e.northing+e.accuracy,easting:e.easting+e.accuracy,zoneLetter:e.zoneLetter,zoneNumber:e.zoneNumber});y={top:x.lat,right:x.lon,bottom:v,left:b}}else y={lat:v,lon:b};return y}function me(e){var t=\\\"Z\\\";return 84>=e&&e>=72?t=\\\"X\\\":72>e&&e>=64?t=\\\"W\\\":64>e&&e>=56?t=\\\"V\\\":56>e&&e>=48?t=\\\"U\\\":48>e&&e>=40?t=\\\"T\\\":40>e&&e>=32?t=\\\"S\\\":32>e&&e>=24?t=\\\"R\\\":24>e&&e>=16?t=\\\"Q\\\":16>e&&e>=8?t=\\\"P\\\":8>e&&e>=0?t=\\\"N\\\":0>e&&e>=-8?t=\\\"M\\\":-8>e&&e>=-16?t=\\\"L\\\":-16>e&&e>=-24?t=\\\"K\\\":-24>e&&e>=-32?t=\\\"J\\\":-32>e&&e>=-40?t=\\\"H\\\":-40>e&&e>=-48?t=\\\"G\\\":-48>e&&e>=-56?t=\\\"F\\\":-56>e&&e>=-64?t=\\\"E\\\":-64>e&&e>=-72?t=\\\"D\\\":-72>e&&e>=-80&&(t=\\\"C\\\"),t}function ge(e){var t=e%6;return 0===t&&(t=6),t}function ve(e){if(e&&0===e.length)throw\\\"MGRSPoint coverting from nothing\\\";for(var t,n=e.length,i=null,r=\\\"\\\",o=0;!/[A-Z]/.test(t=e.charAt(o));){if(o>=2)throw\\\"MGRSPoint bad conversion from: \\\"+e;r+=t,o++}var a=parseInt(r,10);if(0===o||o+3>n)throw\\\"MGRSPoint bad conversion from: \\\"+e;var s=e.charAt(o++);if(s<=\\\"A\\\"||\\\"B\\\"===s||\\\"Y\\\"===s||s>=\\\"Z\\\"||\\\"I\\\"===s||\\\"O\\\"===s)throw\\\"MGRSPoint zone letter \\\"+s+\\\" not handled: \\\"+e;i=e.substring(o,o+=2);for(var l=ge(a),u=function(e,t){var n=\\\"AJSAJS\\\".charCodeAt(t-1),i=1e5,r=!1;for(;n!==e.charCodeAt(0);){if(++n===se&&n++,n===le&&n++,n>90){if(r)throw\\\"Bad character: \\\"+e;n=65,r=!0}i+=1e5}return i}(i.charAt(0),l),c=function(e,t){if(e>\\\"V\\\")throw\\\"MGRSPoint given invalid Northing \\\"+e;var n=\\\"AFAFAF\\\".charCodeAt(t-1),i=0,r=!1;for(;n!==e.charCodeAt(0);){if(++n===se&&n++,n===le&&n++,n>86){if(r)throw\\\"Bad character: \\\"+e;n=65,r=!0}i+=1e5}return i}(i.charAt(1),l);c<ye(s);)c+=2e6;var d=n-o;if(d%2!=0)throw\\\"MGRSPoint has to have an even number \\\\nof digits after the zone letter and two 100km letters - front \\\\nhalf for easting meters, second half for \\\\nnorthing meters\\\"+e;var h,p,f,m=d/2,g=0,v=0;return m>0&&(h=1e5/Math.pow(10,m),p=e.substring(o,o+m),g=parseFloat(p)*h,f=e.substring(o+m),v=parseFloat(f)*h),{easting:g+u,northing:v+c,zoneLetter:s,zoneNumber:a,accuracy:h}}function ye(e){var t;switch(e){case\\\"C\\\":t=11e5;break;case\\\"D\\\":t=2e6;break;case\\\"E\\\":t=28e5;break;case\\\"F\\\":t=37e5;break;case\\\"G\\\":t=46e5;break;case\\\"H\\\":t=55e5;break;case\\\"J\\\":t=64e5;break;case\\\"K\\\":t=73e5;break;case\\\"L\\\":t=82e5;break;case\\\"M\\\":t=91e5;break;case\\\"N\\\":t=0;break;case\\\"P\\\":t=8e5;break;case\\\"Q\\\":t=17e5;break;case\\\"R\\\":t=26e5;break;case\\\"S\\\":t=35e5;break;case\\\"T\\\":t=44e5;break;case\\\"U\\\":t=53e5;break;case\\\"V\\\":t=62e5;break;case\\\"W\\\":t=7e6;break;case\\\"X\\\":t=79e5;break;default:t=-1}if(t>=0)return t;throw\\\"Invalid zone letter: \\\"+e}function be(e,t,n){if(!(this instanceof be))return new be(e,t,n);if(Array.isArray(e))this.x=e[0],this.y=e[1],this.z=e[2]||0;else if(\\\"object\\\"==typeof e)this.x=e.x,this.y=e.y,this.z=e.z||0;else if(\\\"string\\\"==typeof e&&void 0===t){var i=e.split(\\\",\\\");this.x=parseFloat(i[0],10),this.y=parseFloat(i[1],10),this.z=parseFloat(i[2],10)||0}else this.x=e,this.y=t,this.z=n||0;console.warn(\\\"proj4.Point will be removed in version 3, use proj4.toPoint\\\")}be.fromMGRS=function(e){return new be(de(e))},be.prototype.toMGRS=function(e){return ce([this.x,this.y],e)};var xe=be,_e=.01068115234375,we=function(e){var t=[];t[0]=1-e*(.25+e*(.046875+e*(.01953125+e*_e))),t[1]=e*(.75-e*(.046875+e*(.01953125+e*_e)));var n=e*e;return t[2]=n*(.46875-e*(.013020833333333334+.007120768229166667*e)),n*=e,t[3]=n*(.3645833333333333-.005696614583333333*e),t[4]=n*e*.3076171875,t},Me=function(e,t,n,i){return n*=t,t*=t,i[0]*e-n*(i[1]+t*(i[2]+t*(i[3]+t*i[4])))},Se=function(e,t,n){for(var i=1/(1-t),r=e,o=20;o;--o){var a=Math.sin(r),s=1-t*a*a;if(r-=s=(Me(r,a,Math.cos(r),n)-e)*(s*Math.sqrt(s))*i,Math.abs(s)<1e-10)return r}return r};var Ee={init:function(){this.x0=void 0!==this.x0?this.x0:0,this.y0=void 0!==this.y0?this.y0:0,this.long0=void 0!==this.long0?this.long0:0,this.lat0=void 0!==this.lat0?this.lat0:0,this.es&&(this.en=we(this.es),this.ml0=Me(this.lat0,Math.sin(this.lat0),Math.cos(this.lat0),this.en))},forward:function(e){var t,n,i,r=e.x,o=e.y,a=I(r-this.long0),s=Math.sin(o),l=Math.cos(o);if(this.es){var u=l*a,c=Math.pow(u,2),d=this.ep2*Math.pow(l,2),h=Math.pow(d,2),p=Math.abs(l)>1e-10?Math.tan(o):0,f=Math.pow(p,2),m=Math.pow(f,2);t=1-this.es*Math.pow(s,2),u/=Math.sqrt(t);var g=Me(o,s,l,this.en);n=this.a*(this.k0*u*(1+c/6*(1-f+d+c/20*(5-18*f+m+14*d-58*f*d+c/42*(61+179*m-m*f-479*f)))))+this.x0,i=this.a*(this.k0*(g-this.ml0+s*a*u/2*(1+c/12*(5-f+9*d+4*h+c/30*(61+m-58*f+270*d-330*f*d+c/56*(1385+543*m-m*f-3111*f))))))+this.y0}else{var v=l*Math.sin(a);if(Math.abs(Math.abs(v)-1)<1e-10)return 93;if(n=.5*this.a*this.k0*Math.log((1+v)/(1-v))+this.x0,i=l*Math.cos(a)/Math.sqrt(1-Math.pow(v,2)),(v=Math.abs(i))>=1){if(v-1>1e-10)return 93;i=0}else i=Math.acos(i);o<0&&(i=-i),i=this.a*this.k0*(i-this.lat0)+this.y0}return e.x=n,e.y=i,e},inverse:function(e){var t,n,i,o,a=(e.x-this.x0)*(1/this.a),s=(e.y-this.y0)*(1/this.a);if(this.es)if(t=this.ml0+s/this.k0,n=Se(t,this.es,this.en),Math.abs(n)<r){var l=Math.sin(n),u=Math.cos(n),c=Math.abs(u)>1e-10?Math.tan(n):0,d=this.ep2*Math.pow(u,2),h=Math.pow(d,2),p=Math.pow(c,2),f=Math.pow(p,2);t=1-this.es*Math.pow(l,2);var m=a*Math.sqrt(t)/this.k0,g=Math.pow(m,2);i=n-(t*=c)*g/(1-this.es)*.5*(1-g/12*(5+3*p-9*d*p+d-4*h-g/30*(61+90*p-252*d*p+45*f+46*d-g/56*(1385+3633*p+4095*f+1574*f*p)))),o=I(this.long0+m*(1-g/6*(1+2*p+d-g/20*(5+28*p+24*f+8*d*p+6*d-g/42*(61+662*p+1320*f+720*f*p))))/u)}else i=r*L(s),o=0;else{var v=Math.exp(a/this.k0),y=.5*(v-1/v),b=this.lat0+s/this.k0,x=Math.cos(b);t=Math.sqrt((1-Math.pow(x,2))/(1+Math.pow(y,2))),i=Math.asin(t),s<0&&(i=-i),o=0===y&&0===x?0:I(Math.atan2(y,x)+this.long0)}return e.x=o,e.y=i,e},names:[\\\"Transverse_Mercator\\\",\\\"Transverse Mercator\\\",\\\"tmerc\\\"]},Te=function(e){var t=Math.exp(e);return t=(t-1/t)/2},Ce=function(e,t){e=Math.abs(e),t=Math.abs(t);var n=Math.max(e,t),i=Math.min(e,t)/(n||1);return n*Math.sqrt(1+Math.pow(i,2))},Oe=function(e){var t=Math.abs(e);return t=function(e){var t=1+e,n=t-1;return 0===n?e:e*Math.log(t)/n}(t*(1+t/(Ce(1,t)+1))),e<0?-t:t},Pe=function(e,t){for(var n,i=2*Math.cos(2*t),r=e.length-1,o=e[r],a=0;--r>=0;)n=i*o-a+e[r],a=o,o=n;return t+n*Math.sin(2*t)},ke=function(e,t,n){for(var i,r,o=Math.sin(t),a=Math.cos(t),s=Te(n),l=function(e){var t=Math.exp(e);return t=(t+1/t)/2}(n),u=2*a*l,c=-2*o*s,d=e.length-1,h=e[d],p=0,f=0,m=0;--d>=0;)i=f,r=p,h=u*(f=h)-i-c*(p=m)+e[d],m=c*f-r+u*p;return[(u=o*l)*h-(c=a*s)*m,u*m+c*h]};var Ae={init:function(){if(void 0===this.es||this.es<=0)throw new Error(\\\"incorrect elliptical usage\\\");this.x0=void 0!==this.x0?this.x0:0,this.y0=void 0!==this.y0?this.y0:0,this.long0=void 0!==this.long0?this.long0:0,this.lat0=void 0!==this.lat0?this.lat0:0,this.cgb=[],this.cbg=[],this.utg=[],this.gtu=[];var e=this.es/(1+Math.sqrt(1-this.es)),t=e/(2-e),n=t;this.cgb[0]=t*(2+t*(-2/3+t*(t*(116/45+t*(26/45+t*(-2854/675)))-2))),this.cbg[0]=t*(t*(2/3+t*(4/3+t*(-82/45+t*(32/45+t*(4642/4725)))))-2),n*=t,this.cgb[1]=n*(7/3+t*(t*(-227/45+t*(2704/315+t*(2323/945)))-1.6)),this.cbg[1]=n*(5/3+t*(-16/15+t*(-13/9+t*(904/315+t*(-1522/945))))),n*=t,this.cgb[2]=n*(56/15+t*(-136/35+t*(-1262/105+t*(73814/2835)))),this.cbg[2]=n*(-26/15+t*(34/21+t*(1.6+t*(-12686/2835)))),n*=t,this.cgb[3]=n*(4279/630+t*(-332/35+t*(-399572/14175))),this.cbg[3]=n*(1237/630+t*(t*(-24832/14175)-2.4)),n*=t,this.cgb[4]=n*(4174/315+t*(-144838/6237)),this.cbg[4]=n*(-734/315+t*(109598/31185)),n*=t,this.cgb[5]=n*(601676/22275),this.cbg[5]=n*(444337/155925),n=Math.pow(t,2),this.Qn=this.k0/(1+t)*(1+n*(1/4+n*(1/64+n/256))),this.utg[0]=t*(t*(2/3+t*(-37/96+t*(1/360+t*(81/512+t*(-96199/604800)))))-.5),this.gtu[0]=t*(.5+t*(-2/3+t*(5/16+t*(41/180+t*(-127/288+t*(7891/37800)))))),this.utg[1]=n*(-1/48+t*(-1/15+t*(437/1440+t*(-46/105+t*(1118711/3870720))))),this.gtu[1]=n*(13/48+t*(t*(557/1440+t*(281/630+t*(-1983433/1935360)))-.6)),n*=t,this.utg[2]=n*(-17/480+t*(37/840+t*(209/4480+t*(-5569/90720)))),this.gtu[2]=n*(61/240+t*(-103/140+t*(15061/26880+t*(167603/181440)))),n*=t,this.utg[3]=n*(-4397/161280+t*(11/504+t*(830251/7257600))),this.gtu[3]=n*(49561/161280+t*(-179/168+t*(6601661/7257600))),n*=t,this.utg[4]=n*(-4583/161280+t*(108847/3991680)),this.gtu[4]=n*(34729/80640+t*(-3418889/1995840)),n*=t,this.utg[5]=n*(-20648693/638668800),this.gtu[5]=.6650675310896665*n;var i=Pe(this.cbg,this.lat0);this.Zb=-this.Qn*(i+function(e,t){for(var n,i=2*Math.cos(t),r=e.length-1,o=e[r],a=0;--r>=0;)n=i*o-a+e[r],a=o,o=n;return Math.sin(t)*n}(this.gtu,2*i))},forward:function(e){var t=I(e.x-this.long0),n=e.y;n=Pe(this.cbg,n);var i=Math.sin(n),r=Math.cos(n),o=Math.sin(t),a=Math.cos(t);n=Math.atan2(i,a*r),t=Math.atan2(o*r,Ce(i,r*a)),t=Oe(Math.tan(t));var s,l,u=ke(this.gtu,2*n,2*t);return n+=u[0],t+=u[1],Math.abs(t)<=2.623395162778?(s=this.a*(this.Qn*t)+this.x0,l=this.a*(this.Qn*n+this.Zb)+this.y0):(s=1/0,l=1/0),e.x=s,e.y=l,e},inverse:function(e){var t,n,i=(e.x-this.x0)*(1/this.a),r=(e.y-this.y0)*(1/this.a);if(r=(r-this.Zb)/this.Qn,i/=this.Qn,Math.abs(i)<=2.623395162778){var o=ke(this.utg,2*r,2*i);r+=o[0],i+=o[1],i=Math.atan(Te(i));var a=Math.sin(r),s=Math.cos(r),l=Math.sin(i),u=Math.cos(i);r=Math.atan2(a*u,Ce(l,u*s)),i=Math.atan2(l,u*s),t=I(i+this.long0),n=Pe(this.cgb,r)}else t=1/0,n=1/0;return e.x=t,e.y=n,e},names:[\\\"Extended_Transverse_Mercator\\\",\\\"Extended Transverse Mercator\\\",\\\"etmerc\\\"]};var Re={init:function(){var e=function(e,t){if(void 0===e){if((e=Math.floor(30*(I(t)+Math.PI)/Math.PI)+1)<0)return 0;if(e>60)return 60}return e}(this.zone,this.long0);if(void 0===e)throw new Error(\\\"unknown utm zone\\\");this.lat0=0,this.long0=(6*Math.abs(e)-183)*o,this.x0=5e5,this.y0=this.utmSouth?1e7:0,this.k0=.9996,Ae.init.apply(this),this.forward=Ae.forward,this.inverse=Ae.inverse},names:[\\\"Universal Transverse Mercator System\\\",\\\"utm\\\"],dependsOn:\\\"etmerc\\\"},Le=function(e,t){return Math.pow((1-e)/(1+e),t)};var Ie={init:function(){var e=Math.sin(this.lat0),t=Math.cos(this.lat0);t*=t,this.rc=Math.sqrt(1-this.es)/(1-this.es*e*e),this.C=Math.sqrt(1+this.es*t*t/(1-this.es)),this.phic0=Math.asin(e/this.C),this.ratexp=.5*this.C*this.e,this.K=Math.tan(.5*this.phic0+s)/(Math.pow(Math.tan(.5*this.lat0+s),this.C)*Le(this.e*e,this.ratexp))},forward:function(e){var t=e.x,n=e.y;return e.y=2*Math.atan(this.K*Math.pow(Math.tan(.5*n+s),this.C)*Le(this.e*Math.sin(n),this.ratexp))-r,e.x=this.C*t,e},inverse:function(e){for(var t=e.x/this.C,n=e.y,i=Math.pow(Math.tan(.5*n+s)/this.K,1/this.C),o=20;o>0&&(n=2*Math.atan(i*Le(this.e*Math.sin(e.y),-.5*this.e))-r,!(Math.abs(n-e.y)<1e-14));--o)e.y=n;return o?(e.x=t,e.y=n,e):null},names:[\\\"gauss\\\"]};var De={init:function(){Ie.init.apply(this),this.rc&&(this.sinc0=Math.sin(this.phic0),this.cosc0=Math.cos(this.phic0),this.R2=2*this.rc,this.title||(this.title=\\\"Oblique Stereographic Alternative\\\"))},forward:function(e){var t,n,i,r;return e.x=I(e.x-this.long0),Ie.forward.apply(this,[e]),t=Math.sin(e.y),n=Math.cos(e.y),i=Math.cos(e.x),r=this.k0*this.R2/(1+this.sinc0*t+this.cosc0*n*i),e.x=r*n*Math.sin(e.x),e.y=r*(this.cosc0*t-this.sinc0*n*i),e.x=this.a*e.x+this.x0,e.y=this.a*e.y+this.y0,e},inverse:function(e){var t,n,i,r,o;if(e.x=(e.x-this.x0)/this.a,e.y=(e.y-this.y0)/this.a,e.x/=this.k0,e.y/=this.k0,o=Math.sqrt(e.x*e.x+e.y*e.y)){var a=2*Math.atan2(o,this.R2);t=Math.sin(a),n=Math.cos(a),r=Math.asin(n*this.sinc0+e.y*t*this.cosc0/o),i=Math.atan2(e.x*t,o*this.cosc0*n-e.y*this.sinc0*t)}else r=this.phic0,i=0;return e.x=i,e.y=r,Ie.inverse.apply(this,[e]),e.x=I(e.x+this.long0),e},names:[\\\"Stereographic_North_Pole\\\",\\\"Oblique_Stereographic\\\",\\\"Polar_Stereographic\\\",\\\"sterea\\\",\\\"Oblique Stereographic Alternative\\\",\\\"Double_Stereographic\\\"]};var Ne={init:function(){this.coslat0=Math.cos(this.lat0),this.sinlat0=Math.sin(this.lat0),this.sphere?1===this.k0&&!isNaN(this.lat_ts)&&Math.abs(this.coslat0)<=1e-10&&(this.k0=.5*(1+L(this.lat0)*Math.sin(this.lat_ts))):(Math.abs(this.coslat0)<=1e-10&&(this.lat0>0?this.con=1:this.con=-1),this.cons=Math.sqrt(Math.pow(1+this.e,1+this.e)*Math.pow(1-this.e,1-this.e)),1===this.k0&&!isNaN(this.lat_ts)&&Math.abs(this.coslat0)<=1e-10&&(this.k0=.5*this.cons*R(this.e,Math.sin(this.lat_ts),Math.cos(this.lat_ts))/D(this.e,this.con*this.lat_ts,this.con*Math.sin(this.lat_ts))),this.ms1=R(this.e,this.sinlat0,this.coslat0),this.X0=2*Math.atan(this.ssfn_(this.lat0,this.sinlat0,this.e))-r,this.cosX0=Math.cos(this.X0),this.sinX0=Math.sin(this.X0))},forward:function(e){var t,n,i,o,a,s,l=e.x,u=e.y,c=Math.sin(u),d=Math.cos(u),h=I(l-this.long0);return Math.abs(Math.abs(l-this.long0)-Math.PI)<=1e-10&&Math.abs(u+this.lat0)<=1e-10?(e.x=NaN,e.y=NaN,e):this.sphere?(t=2*this.k0/(1+this.sinlat0*c+this.coslat0*d*Math.cos(h)),e.x=this.a*t*d*Math.sin(h)+this.x0,e.y=this.a*t*(this.coslat0*c-this.sinlat0*d*Math.cos(h))+this.y0,e):(n=2*Math.atan(this.ssfn_(u,c,this.e))-r,o=Math.cos(n),i=Math.sin(n),Math.abs(this.coslat0)<=1e-10?(a=D(this.e,u*this.con,this.con*c),s=2*this.a*this.k0*a/this.cons,e.x=this.x0+s*Math.sin(l-this.long0),e.y=this.y0-this.con*s*Math.cos(l-this.long0),e):(Math.abs(this.sinlat0)<1e-10?(t=2*this.a*this.k0/(1+o*Math.cos(h)),e.y=t*i):(t=2*this.a*this.k0*this.ms1/(this.cosX0*(1+this.sinX0*i+this.cosX0*o*Math.cos(h))),e.y=t*(this.cosX0*i-this.sinX0*o*Math.cos(h))+this.y0),e.x=t*o*Math.sin(h)+this.x0,e))},inverse:function(e){var t,n,i,o,a;e.x-=this.x0,e.y-=this.y0;var s=Math.sqrt(e.x*e.x+e.y*e.y);if(this.sphere){var l=2*Math.atan(s/(2*this.a*this.k0));return t=this.long0,n=this.lat0,s<=1e-10?(e.x=t,e.y=n,e):(n=Math.asin(Math.cos(l)*this.sinlat0+e.y*Math.sin(l)*this.coslat0/s),t=Math.abs(this.coslat0)<1e-10?this.lat0>0?I(this.long0+Math.atan2(e.x,-1*e.y)):I(this.long0+Math.atan2(e.x,e.y)):I(this.long0+Math.atan2(e.x*Math.sin(l),s*this.coslat0*Math.cos(l)-e.y*this.sinlat0*Math.sin(l))),e.x=t,e.y=n,e)}if(Math.abs(this.coslat0)<=1e-10){if(s<=1e-10)return n=this.lat0,t=this.long0,e.x=t,e.y=n,e;e.x*=this.con,e.y*=this.con,i=s*this.cons/(2*this.a*this.k0),n=this.con*N(this.e,i),t=this.con*I(this.con*this.long0+Math.atan2(e.x,-1*e.y))}else o=2*Math.atan(s*this.cosX0/(2*this.a*this.k0*this.ms1)),t=this.long0,s<=1e-10?a=this.X0:(a=Math.asin(Math.cos(o)*this.sinX0+e.y*Math.sin(o)*this.cosX0/s),t=I(this.long0+Math.atan2(e.x*Math.sin(o),s*this.cosX0*Math.cos(o)-e.y*this.sinX0*Math.sin(o)))),n=-1*N(this.e,Math.tan(.5*(r+a)));return e.x=t,e.y=n,e},names:[\\\"stere\\\",\\\"Stereographic_South_Pole\\\",\\\"Polar Stereographic (variant B)\\\"],ssfn_:function(e,t,n){return t*=n,Math.tan(.5*(r+e))*Math.pow((1-t)/(1+t),.5*n)}};var Fe={init:function(){var e=this.lat0;this.lambda0=this.long0;var t=Math.sin(e),n=this.a,i=1/this.rf,r=2*i-Math.pow(i,2),o=this.e=Math.sqrt(r);this.R=this.k0*n*Math.sqrt(1-r)/(1-r*Math.pow(t,2)),this.alpha=Math.sqrt(1+r/(1-r)*Math.pow(Math.cos(e),4)),this.b0=Math.asin(t/this.alpha);var a=Math.log(Math.tan(Math.PI/4+this.b0/2)),s=Math.log(Math.tan(Math.PI/4+e/2)),l=Math.log((1+o*t)/(1-o*t));this.K=a-this.alpha*s+this.alpha*o/2*l},forward:function(e){var t=Math.log(Math.tan(Math.PI/4-e.y/2)),n=this.e/2*Math.log((1+this.e*Math.sin(e.y))/(1-this.e*Math.sin(e.y))),i=-this.alpha*(t+n)+this.K,r=2*(Math.atan(Math.exp(i))-Math.PI/4),o=this.alpha*(e.x-this.lambda0),a=Math.atan(Math.sin(o)/(Math.sin(this.b0)*Math.tan(r)+Math.cos(this.b0)*Math.cos(o))),s=Math.asin(Math.cos(this.b0)*Math.sin(r)-Math.sin(this.b0)*Math.cos(r)*Math.cos(o));return e.y=this.R/2*Math.log((1+Math.sin(s))/(1-Math.sin(s)))+this.y0,e.x=this.R*a+this.x0,e},inverse:function(e){for(var t=e.x-this.x0,n=e.y-this.y0,i=t/this.R,r=2*(Math.atan(Math.exp(n/this.R))-Math.PI/4),o=Math.asin(Math.cos(this.b0)*Math.sin(r)+Math.sin(this.b0)*Math.cos(r)*Math.cos(i)),a=Math.atan(Math.sin(i)/(Math.cos(this.b0)*Math.cos(i)-Math.sin(this.b0)*Math.tan(r))),s=this.lambda0+a/this.alpha,l=0,u=o,c=-1e3,d=0;Math.abs(u-c)>1e-7;){if(++d>20)return;l=1/this.alpha*(Math.log(Math.tan(Math.PI/4+o/2))-this.K)+this.e*Math.log(Math.tan(Math.PI/4+Math.asin(this.e*Math.sin(u))/2)),c=u,u=2*Math.atan(Math.exp(l))-Math.PI/2}return e.x=s,e.y=u,e},names:[\\\"somerc\\\"]};var ze={init:function(){this.no_off=this.no_off||!1,this.no_rot=this.no_rot||!1,isNaN(this.k0)&&(this.k0=1);var e=Math.sin(this.lat0),t=Math.cos(this.lat0),n=this.e*e;this.bl=Math.sqrt(1+this.es/(1-this.es)*Math.pow(t,4)),this.al=this.a*this.bl*this.k0*Math.sqrt(1-this.es)/(1-n*n);var i,r,o=D(this.e,this.lat0,e),a=this.bl/t*Math.sqrt((1-this.es)/(1-n*n));if(a*a<1&&(a=1),isNaN(this.longc)){var s=D(this.e,this.lat1,Math.sin(this.lat1)),l=D(this.e,this.lat2,Math.sin(this.lat2));this.lat0>=0?this.el=(a+Math.sqrt(a*a-1))*Math.pow(o,this.bl):this.el=(a-Math.sqrt(a*a-1))*Math.pow(o,this.bl);var u=Math.pow(s,this.bl),c=Math.pow(l,this.bl);r=.5*((i=this.el/u)-1/i);var d=(this.el*this.el-c*u)/(this.el*this.el+c*u),h=(c-u)/(c+u),p=I(this.long1-this.long2);this.long0=.5*(this.long1+this.long2)-Math.atan(d*Math.tan(.5*this.bl*p)/h)/this.bl,this.long0=I(this.long0);var f=I(this.long1-this.long0);this.gamma0=Math.atan(Math.sin(this.bl*f)/r),this.alpha=Math.asin(a*Math.sin(this.gamma0))}else i=this.lat0>=0?a+Math.sqrt(a*a-1):a-Math.sqrt(a*a-1),this.el=i*Math.pow(o,this.bl),r=.5*(i-1/i),this.gamma0=Math.asin(Math.sin(this.alpha)/a),this.long0=this.longc-Math.asin(r*Math.tan(this.gamma0))/this.bl;this.no_off?this.uc=0:this.lat0>=0?this.uc=this.al/this.bl*Math.atan2(Math.sqrt(a*a-1),Math.cos(this.alpha)):this.uc=-1*this.al/this.bl*Math.atan2(Math.sqrt(a*a-1),Math.cos(this.alpha))},forward:function(e){var t,n,i,o=e.x,a=e.y,l=I(o-this.long0);if(Math.abs(Math.abs(a)-r)<=1e-10)i=a>0?-1:1,n=this.al/this.bl*Math.log(Math.tan(s+i*this.gamma0*.5)),t=-1*i*r*this.al/this.bl;else{var u=D(this.e,a,Math.sin(a)),c=this.el/Math.pow(u,this.bl),d=.5*(c-1/c),h=.5*(c+1/c),p=Math.sin(this.bl*l),f=(d*Math.sin(this.gamma0)-p*Math.cos(this.gamma0))/h;n=Math.abs(Math.abs(f)-1)<=1e-10?Number.POSITIVE_INFINITY:.5*this.al*Math.log((1-f)/(1+f))/this.bl,t=Math.abs(Math.cos(this.bl*l))<=1e-10?this.al*this.bl*l:this.al*Math.atan2(d*Math.cos(this.gamma0)+p*Math.sin(this.gamma0),Math.cos(this.bl*l))/this.bl}return this.no_rot?(e.x=this.x0+t,e.y=this.y0+n):(t-=this.uc,e.x=this.x0+n*Math.cos(this.alpha)+t*Math.sin(this.alpha),e.y=this.y0+t*Math.cos(this.alpha)-n*Math.sin(this.alpha)),e},inverse:function(e){var t,n;this.no_rot?(n=e.y-this.y0,t=e.x-this.x0):(n=(e.x-this.x0)*Math.cos(this.alpha)-(e.y-this.y0)*Math.sin(this.alpha),t=(e.y-this.y0)*Math.cos(this.alpha)+(e.x-this.x0)*Math.sin(this.alpha),t+=this.uc);var i=Math.exp(-1*this.bl*n/this.al),o=.5*(i-1/i),a=.5*(i+1/i),s=Math.sin(this.bl*t/this.al),l=(s*Math.cos(this.gamma0)+o*Math.sin(this.gamma0))/a,u=Math.pow(this.el/Math.sqrt((1+l)/(1-l)),1/this.bl);return Math.abs(l-1)<1e-10?(e.x=this.long0,e.y=r):Math.abs(l+1)<1e-10?(e.x=this.long0,e.y=-1*r):(e.y=N(this.e,u),e.x=I(this.long0-Math.atan2(o*Math.cos(this.gamma0)-s*Math.sin(this.gamma0),Math.cos(this.bl*t/this.al))/this.bl)),e},names:[\\\"Hotine_Oblique_Mercator\\\",\\\"Hotine Oblique Mercator\\\",\\\"Hotine_Oblique_Mercator_Azimuth_Natural_Origin\\\",\\\"Hotine_Oblique_Mercator_Azimuth_Center\\\",\\\"omerc\\\"]};var Be={init:function(){if(this.lat2||(this.lat2=this.lat1),this.k0||(this.k0=1),this.x0=this.x0||0,this.y0=this.y0||0,!(Math.abs(this.lat1+this.lat2)<1e-10)){var e=this.b/this.a;this.e=Math.sqrt(1-e*e);var t=Math.sin(this.lat1),n=Math.cos(this.lat1),i=R(this.e,t,n),r=D(this.e,this.lat1,t),o=Math.sin(this.lat2),a=Math.cos(this.lat2),s=R(this.e,o,a),l=D(this.e,this.lat2,o),u=D(this.e,this.lat0,Math.sin(this.lat0));Math.abs(this.lat1-this.lat2)>1e-10?this.ns=Math.log(i/s)/Math.log(r/l):this.ns=t,isNaN(this.ns)&&(this.ns=t),this.f0=i/(this.ns*Math.pow(r,this.ns)),this.rh=this.a*this.f0*Math.pow(u,this.ns),this.title||(this.title=\\\"Lambert Conformal Conic\\\")}},forward:function(e){var t=e.x,n=e.y;Math.abs(2*Math.abs(n)-Math.PI)<=1e-10&&(n=L(n)*(r-2e-10));var i,o,a=Math.abs(Math.abs(n)-r);if(a>1e-10)i=D(this.e,n,Math.sin(n)),o=this.a*this.f0*Math.pow(i,this.ns);else{if((a=n*this.ns)<=0)return null;o=0}var s=this.ns*I(t-this.long0);return e.x=this.k0*(o*Math.sin(s))+this.x0,e.y=this.k0*(this.rh-o*Math.cos(s))+this.y0,e},inverse:function(e){var t,n,i,o,a,s=(e.x-this.x0)/this.k0,l=this.rh-(e.y-this.y0)/this.k0;this.ns>0?(t=Math.sqrt(s*s+l*l),n=1):(t=-Math.sqrt(s*s+l*l),n=-1);var u=0;if(0!==t&&(u=Math.atan2(n*s,n*l)),0!==t||this.ns>0){if(n=1/this.ns,i=Math.pow(t/(this.a*this.f0),n),-9999===(o=N(this.e,i)))return null}else o=-r;return a=I(u/this.ns+this.long0),e.x=a,e.y=o,e},names:[\\\"Lambert Tangential Conformal Conic Projection\\\",\\\"Lambert_Conformal_Conic\\\",\\\"Lambert_Conformal_Conic_2SP\\\",\\\"lcc\\\"]};var je={init:function(){this.a=6377397.155,this.es=.006674372230614,this.e=Math.sqrt(this.es),this.lat0||(this.lat0=.863937979737193),this.long0||(this.long0=.4334234309119251),this.k0||(this.k0=.9999),this.s45=.785398163397448,this.s90=2*this.s45,this.fi0=this.lat0,this.e2=this.es,this.e=Math.sqrt(this.e2),this.alfa=Math.sqrt(1+this.e2*Math.pow(Math.cos(this.fi0),4)/(1-this.e2)),this.uq=1.04216856380474,this.u0=Math.asin(Math.sin(this.fi0)/this.alfa),this.g=Math.pow((1+this.e*Math.sin(this.fi0))/(1-this.e*Math.sin(this.fi0)),this.alfa*this.e/2),this.k=Math.tan(this.u0/2+this.s45)/Math.pow(Math.tan(this.fi0/2+this.s45),this.alfa)*this.g,this.k1=this.k0,this.n0=this.a*Math.sqrt(1-this.e2)/(1-this.e2*Math.pow(Math.sin(this.fi0),2)),this.s0=1.37008346281555,this.n=Math.sin(this.s0),this.ro0=this.k1*this.n0/Math.tan(this.s0),this.ad=this.s90-this.uq},forward:function(e){var t,n,i,r,o,a,s,l=e.x,u=e.y,c=I(l-this.long0);return t=Math.pow((1+this.e*Math.sin(u))/(1-this.e*Math.sin(u)),this.alfa*this.e/2),n=2*(Math.atan(this.k*Math.pow(Math.tan(u/2+this.s45),this.alfa)/t)-this.s45),i=-c*this.alfa,r=Math.asin(Math.cos(this.ad)*Math.sin(n)+Math.sin(this.ad)*Math.cos(n)*Math.cos(i)),o=Math.asin(Math.cos(n)*Math.sin(i)/Math.cos(r)),a=this.n*o,s=this.ro0*Math.pow(Math.tan(this.s0/2+this.s45),this.n)/Math.pow(Math.tan(r/2+this.s45),this.n),e.y=s*Math.cos(a)/1,e.x=s*Math.sin(a)/1,this.czech||(e.y*=-1,e.x*=-1),e},inverse:function(e){var t,n,i,r,o,a,s,l=e.x;e.x=e.y,e.y=l,this.czech||(e.y*=-1,e.x*=-1),o=Math.sqrt(e.x*e.x+e.y*e.y),r=Math.atan2(e.y,e.x)/Math.sin(this.s0),i=2*(Math.atan(Math.pow(this.ro0/o,1/this.n)*Math.tan(this.s0/2+this.s45))-this.s45),t=Math.asin(Math.cos(this.ad)*Math.sin(i)-Math.sin(this.ad)*Math.cos(i)*Math.cos(r)),n=Math.asin(Math.cos(i)*Math.sin(r)/Math.cos(t)),e.x=this.long0-n/this.alfa,a=t,s=0;var u=0;do{e.y=2*(Math.atan(Math.pow(this.k,-1/this.alfa)*Math.pow(Math.tan(t/2+this.s45),1/this.alfa)*Math.pow((1+this.e*Math.sin(a))/(1-this.e*Math.sin(a)),this.e/2))-this.s45),Math.abs(a-e.y)<1e-10&&(s=1),a=e.y,u+=1}while(0===s&&u<15);return u>=15?null:e},names:[\\\"Krovak\\\",\\\"krovak\\\"]},Ue=function(e,t,n,i,r){return e*r-t*Math.sin(2*r)+n*Math.sin(4*r)-i*Math.sin(6*r)},We=function(e){return 1-.25*e*(1+e/16*(3+1.25*e))},Ge=function(e){return.375*e*(1+.25*e*(1+.46875*e))},Ve=function(e){return.05859375*e*e*(1+.75*e)},He=function(e){return e*e*e*(35/3072)},Ye=function(e,t,n){var i=t*n;return e/Math.sqrt(1-i*i)},qe=function(e){return Math.abs(e)<r?e:e-L(e)*Math.PI},Xe=function(e,t,n,i,r){var o,a;o=e/t;for(var s=0;s<15;s++)if(o+=a=(e-(t*o-n*Math.sin(2*o)+i*Math.sin(4*o)-r*Math.sin(6*o)))/(t-2*n*Math.cos(2*o)+4*i*Math.cos(4*o)-6*r*Math.cos(6*o)),Math.abs(a)<=1e-10)return o;return NaN};var Ke={init:function(){this.sphere||(this.e0=We(this.es),this.e1=Ge(this.es),this.e2=Ve(this.es),this.e3=He(this.es),this.ml0=this.a*Ue(this.e0,this.e1,this.e2,this.e3,this.lat0))},forward:function(e){var t,n,i=e.x,r=e.y;if(i=I(i-this.long0),this.sphere)t=this.a*Math.asin(Math.cos(r)*Math.sin(i)),n=this.a*(Math.atan2(Math.tan(r),Math.cos(i))-this.lat0);else{var o=Math.sin(r),a=Math.cos(r),s=Ye(this.a,this.e,o),l=Math.tan(r)*Math.tan(r),u=i*Math.cos(r),c=u*u,d=this.es*a*a/(1-this.es);t=s*u*(1-c*l*(1/6-(8-l+8*d)*c/120)),n=this.a*Ue(this.e0,this.e1,this.e2,this.e3,r)-this.ml0+s*o/a*c*(.5+(5-l+6*d)*c/24)}return e.x=t+this.x0,e.y=n+this.y0,e},inverse:function(e){e.x-=this.x0,e.y-=this.y0;var t,n,i=e.x/this.a,o=e.y/this.a;if(this.sphere){var a=o+this.lat0;t=Math.asin(Math.sin(a)*Math.cos(i)),n=Math.atan2(Math.tan(i),Math.cos(a))}else{var s=this.ml0/this.a+o,l=Xe(s,this.e0,this.e1,this.e2,this.e3);if(Math.abs(Math.abs(l)-r)<=1e-10)return e.x=this.long0,e.y=r,o<0&&(e.y*=-1),e;var u=Ye(this.a,this.e,Math.sin(l)),c=u*u*u/this.a/this.a*(1-this.es),d=Math.pow(Math.tan(l),2),h=i*this.a/u,p=h*h;t=l-u*Math.tan(l)/c*h*h*(.5-(1+3*d)*h*h/24),n=h*(1-p*(d/3+(1+3*d)*d*p/15))/Math.cos(l)}return e.x=I(n+this.long0),e.y=qe(t),e},names:[\\\"Cassini\\\",\\\"Cassini_Soldner\\\",\\\"cass\\\"]},Je=function(e,t){var n;return e>1e-7?(1-e*e)*(t/(1-(n=e*t)*n)-.5/e*Math.log((1-n)/(1+n))):2*t};var Ze={init:function(){var e,t=Math.abs(this.lat0);if(Math.abs(t-r)<1e-10?this.mode=this.lat0<0?this.S_POLE:this.N_POLE:Math.abs(t)<1e-10?this.mode=this.EQUIT:this.mode=this.OBLIQ,this.es>0)switch(this.qp=Je(this.e,1),this.mmf=.5/(1-this.es),this.apa=function(e){var t,n=[];return n[0]=.3333333333333333*e,t=e*e,n[0]+=.17222222222222222*t,n[1]=.06388888888888888*t,t*=e,n[0]+=.10257936507936508*t,n[1]+=.0664021164021164*t,n[2]=.016415012942191543*t,n}(this.es),this.mode){case this.N_POLE:case this.S_POLE:this.dd=1;break;case this.EQUIT:this.rq=Math.sqrt(.5*this.qp),this.dd=1/this.rq,this.xmf=1,this.ymf=.5*this.qp;break;case this.OBLIQ:this.rq=Math.sqrt(.5*this.qp),e=Math.sin(this.lat0),this.sinb1=Je(this.e,e)/this.qp,this.cosb1=Math.sqrt(1-this.sinb1*this.sinb1),this.dd=Math.cos(this.lat0)/(Math.sqrt(1-this.es*e*e)*this.rq*this.cosb1),this.ymf=(this.xmf=this.rq)/this.dd,this.xmf*=this.dd}else this.mode===this.OBLIQ&&(this.sinph0=Math.sin(this.lat0),this.cosph0=Math.cos(this.lat0))},forward:function(e){var t,n,i,o,a,l,u,c,d,h,p=e.x,f=e.y;if(p=I(p-this.long0),this.sphere){if(a=Math.sin(f),h=Math.cos(f),i=Math.cos(p),this.mode===this.OBLIQ||this.mode===this.EQUIT){if((n=this.mode===this.EQUIT?1+h*i:1+this.sinph0*a+this.cosph0*h*i)<=1e-10)return null;t=(n=Math.sqrt(2/n))*h*Math.sin(p),n*=this.mode===this.EQUIT?a:this.cosph0*a-this.sinph0*h*i}else if(this.mode===this.N_POLE||this.mode===this.S_POLE){if(this.mode===this.N_POLE&&(i=-i),Math.abs(f+this.lat0)<1e-10)return null;n=s-.5*f,t=(n=2*(this.mode===this.S_POLE?Math.cos(n):Math.sin(n)))*Math.sin(p),n*=i}}else{switch(u=0,c=0,d=0,i=Math.cos(p),o=Math.sin(p),a=Math.sin(f),l=Je(this.e,a),this.mode!==this.OBLIQ&&this.mode!==this.EQUIT||(u=l/this.qp,c=Math.sqrt(1-u*u)),this.mode){case this.OBLIQ:d=1+this.sinb1*u+this.cosb1*c*i;break;case this.EQUIT:d=1+c*i;break;case this.N_POLE:d=r+f,l=this.qp-l;break;case this.S_POLE:d=f-r,l=this.qp+l}if(Math.abs(d)<1e-10)return null;switch(this.mode){case this.OBLIQ:case this.EQUIT:d=Math.sqrt(2/d),n=this.mode===this.OBLIQ?this.ymf*d*(this.cosb1*u-this.sinb1*c*i):(d=Math.sqrt(2/(1+c*i)))*u*this.ymf,t=this.xmf*d*c*o;break;case this.N_POLE:case this.S_POLE:l>=0?(t=(d=Math.sqrt(l))*o,n=i*(this.mode===this.S_POLE?d:-d)):t=n=0}}return e.x=this.a*t+this.x0,e.y=this.a*n+this.y0,e},inverse:function(e){e.x-=this.x0,e.y-=this.y0;var t,n,i,o,a,s,l,u,c,d,h=e.x/this.a,p=e.y/this.a;if(this.sphere){var f,m=0,g=0;if((n=.5*(f=Math.sqrt(h*h+p*p)))>1)return null;switch(n=2*Math.asin(n),this.mode!==this.OBLIQ&&this.mode!==this.EQUIT||(g=Math.sin(n),m=Math.cos(n)),this.mode){case this.EQUIT:n=Math.abs(f)<=1e-10?0:Math.asin(p*g/f),h*=g,p=m*f;break;case this.OBLIQ:n=Math.abs(f)<=1e-10?this.lat0:Math.asin(m*this.sinph0+p*g*this.cosph0/f),h*=g*this.cosph0,p=(m-Math.sin(n)*this.sinph0)*f;break;case this.N_POLE:p=-p,n=r-n;break;case this.S_POLE:n-=r}t=0!==p||this.mode!==this.EQUIT&&this.mode!==this.OBLIQ?Math.atan2(h,p):0}else{if(l=0,this.mode===this.OBLIQ||this.mode===this.EQUIT){if(h/=this.dd,p*=this.dd,(s=Math.sqrt(h*h+p*p))<1e-10)return e.x=this.long0,e.y=this.lat0,e;o=2*Math.asin(.5*s/this.rq),i=Math.cos(o),h*=o=Math.sin(o),this.mode===this.OBLIQ?(l=i*this.sinb1+p*o*this.cosb1/s,a=this.qp*l,p=s*this.cosb1*i-p*this.sinb1*o):(l=p*o/s,a=this.qp*l,p=s*i)}else if(this.mode===this.N_POLE||this.mode===this.S_POLE){if(this.mode===this.N_POLE&&(p=-p),!(a=h*h+p*p))return e.x=this.long0,e.y=this.lat0,e;l=1-a/this.qp,this.mode===this.S_POLE&&(l=-l)}t=Math.atan2(h,p),u=Math.asin(l),c=this.apa,d=u+u,n=u+c[0]*Math.sin(d)+c[1]*Math.sin(d+d)+c[2]*Math.sin(d+d+d)}return e.x=I(this.long0+t),e.y=n,e},names:[\\\"Lambert Azimuthal Equal Area\\\",\\\"Lambert_Azimuthal_Equal_Area\\\",\\\"laea\\\"],S_POLE:1,N_POLE:2,EQUIT:3,OBLIQ:4},$e=function(e){return Math.abs(e)>1&&(e=e>1?1:-1),Math.asin(e)};var Qe={init:function(){Math.abs(this.lat1+this.lat2)<1e-10||(this.temp=this.b/this.a,this.es=1-Math.pow(this.temp,2),this.e3=Math.sqrt(this.es),this.sin_po=Math.sin(this.lat1),this.cos_po=Math.cos(this.lat1),this.t1=this.sin_po,this.con=this.sin_po,this.ms1=R(this.e3,this.sin_po,this.cos_po),this.qs1=Je(this.e3,this.sin_po,this.cos_po),this.sin_po=Math.sin(this.lat2),this.cos_po=Math.cos(this.lat2),this.t2=this.sin_po,this.ms2=R(this.e3,this.sin_po,this.cos_po),this.qs2=Je(this.e3,this.sin_po,this.cos_po),this.sin_po=Math.sin(this.lat0),this.cos_po=Math.cos(this.lat0),this.t3=this.sin_po,this.qs0=Je(this.e3,this.sin_po,this.cos_po),Math.abs(this.lat1-this.lat2)>1e-10?this.ns0=(this.ms1*this.ms1-this.ms2*this.ms2)/(this.qs2-this.qs1):this.ns0=this.con,this.c=this.ms1*this.ms1+this.ns0*this.qs1,this.rh=this.a*Math.sqrt(this.c-this.ns0*this.qs0)/this.ns0)},forward:function(e){var t=e.x,n=e.y;this.sin_phi=Math.sin(n),this.cos_phi=Math.cos(n);var i=Je(this.e3,this.sin_phi,this.cos_phi),r=this.a*Math.sqrt(this.c-this.ns0*i)/this.ns0,o=this.ns0*I(t-this.long0),a=r*Math.sin(o)+this.x0,s=this.rh-r*Math.cos(o)+this.y0;return e.x=a,e.y=s,e},inverse:function(e){var t,n,i,r,o,a;return e.x-=this.x0,e.y=this.rh-e.y+this.y0,this.ns0>=0?(t=Math.sqrt(e.x*e.x+e.y*e.y),i=1):(t=-Math.sqrt(e.x*e.x+e.y*e.y),i=-1),r=0,0!==t&&(r=Math.atan2(i*e.x,i*e.y)),i=t*this.ns0/this.a,this.sphere?a=Math.asin((this.c-i*i)/(2*this.ns0)):(n=(this.c-i*i)/this.ns0,a=this.phi1z(this.e3,n)),o=I(r/this.ns0+this.long0),e.x=o,e.y=a,e},names:[\\\"Albers_Conic_Equal_Area\\\",\\\"Albers\\\",\\\"aea\\\"],phi1z:function(e,t){var n,i,r,o,a=$e(.5*t);if(e<1e-10)return a;for(var s=e*e,l=1;l<=25;l++)if(a+=o=.5*(r=1-(i=e*(n=Math.sin(a)))*i)*r/Math.cos(a)*(t/(1-s)-n/r+.5/e*Math.log((1-i)/(1+i))),Math.abs(o)<=1e-7)return a;return null}};var et={init:function(){this.sin_p14=Math.sin(this.lat0),this.cos_p14=Math.cos(this.lat0),this.infinity_dist=1e3*this.a,this.rc=1},forward:function(e){var t,n,i,r,o,a,s,l=e.x,u=e.y;return i=I(l-this.long0),t=Math.sin(u),n=Math.cos(u),r=Math.cos(i),1,(o=this.sin_p14*t+this.cos_p14*n*r)>0||Math.abs(o)<=1e-10?(a=this.x0+1*this.a*n*Math.sin(i)/o,s=this.y0+1*this.a*(this.cos_p14*t-this.sin_p14*n*r)/o):(a=this.x0+this.infinity_dist*n*Math.sin(i),s=this.y0+this.infinity_dist*(this.cos_p14*t-this.sin_p14*n*r)),e.x=a,e.y=s,e},inverse:function(e){var t,n,i,r,o,a;return e.x=(e.x-this.x0)/this.a,e.y=(e.y-this.y0)/this.a,e.x/=this.k0,e.y/=this.k0,(t=Math.sqrt(e.x*e.x+e.y*e.y))?(r=Math.atan2(t,this.rc),n=Math.sin(r),i=Math.cos(r),a=$e(i*this.sin_p14+e.y*n*this.cos_p14/t),o=Math.atan2(e.x*n,t*this.cos_p14*i-e.y*this.sin_p14*n),o=I(this.long0+o)):(a=this.phic0,o=0),e.x=o,e.y=a,e},names:[\\\"gnom\\\"]};var tt={init:function(){this.sphere||(this.k0=R(this.e,Math.sin(this.lat_ts),Math.cos(this.lat_ts)))},forward:function(e){var t,n,i=e.x,r=e.y,o=I(i-this.long0);if(this.sphere)t=this.x0+this.a*o*Math.cos(this.lat_ts),n=this.y0+this.a*Math.sin(r)/Math.cos(this.lat_ts);else{var a=Je(this.e,Math.sin(r));t=this.x0+this.a*this.k0*o,n=this.y0+this.a*a*.5/this.k0}return e.x=t,e.y=n,e},inverse:function(e){var t,n;return e.x-=this.x0,e.y-=this.y0,this.sphere?(t=I(this.long0+e.x/this.a/Math.cos(this.lat_ts)),n=Math.asin(e.y/this.a*Math.cos(this.lat_ts))):(n=function(e,t){var n=1-(1-e*e)/(2*e)*Math.log((1-e)/(1+e));if(Math.abs(Math.abs(t)-n)<1e-6)return t<0?-1*r:r;for(var i,o,a,s,l=Math.asin(.5*t),u=0;u<30;u++)if(o=Math.sin(l),a=Math.cos(l),s=e*o,l+=i=Math.pow(1-s*s,2)/(2*a)*(t/(1-e*e)-o/(1-s*s)+.5/e*Math.log((1-s)/(1+s))),Math.abs(i)<=1e-10)return l;return NaN}(this.e,2*e.y*this.k0/this.a),t=I(this.long0+e.x/(this.a*this.k0))),e.x=t,e.y=n,e},names:[\\\"cea\\\"]};var nt={init:function(){this.x0=this.x0||0,this.y0=this.y0||0,this.lat0=this.lat0||0,this.long0=this.long0||0,this.lat_ts=this.lat_ts||0,this.title=this.title||\\\"Equidistant Cylindrical (Plate Carre)\\\",this.rc=Math.cos(this.lat_ts)},forward:function(e){var t=e.x,n=e.y,i=I(t-this.long0),r=qe(n-this.lat0);return e.x=this.x0+this.a*i*this.rc,e.y=this.y0+this.a*r,e},inverse:function(e){var t=e.x,n=e.y;return e.x=I(this.long0+(t-this.x0)/(this.a*this.rc)),e.y=qe(this.lat0+(n-this.y0)/this.a),e},names:[\\\"Equirectangular\\\",\\\"Equidistant_Cylindrical\\\",\\\"eqc\\\"]};var it={init:function(){this.temp=this.b/this.a,this.es=1-Math.pow(this.temp,2),this.e=Math.sqrt(this.es),this.e0=We(this.es),this.e1=Ge(this.es),this.e2=Ve(this.es),this.e3=He(this.es),this.ml0=this.a*Ue(this.e0,this.e1,this.e2,this.e3,this.lat0)},forward:function(e){var t,n,i,r=e.x,o=e.y,a=I(r-this.long0);if(i=a*Math.sin(o),this.sphere)Math.abs(o)<=1e-10?(t=this.a*a,n=-1*this.a*this.lat0):(t=this.a*Math.sin(i)/Math.tan(o),n=this.a*(qe(o-this.lat0)+(1-Math.cos(i))/Math.tan(o)));else if(Math.abs(o)<=1e-10)t=this.a*a,n=-1*this.ml0;else{var s=Ye(this.a,this.e,Math.sin(o))/Math.tan(o);t=s*Math.sin(i),n=this.a*Ue(this.e0,this.e1,this.e2,this.e3,o)-this.ml0+s*(1-Math.cos(i))}return e.x=t+this.x0,e.y=n+this.y0,e},inverse:function(e){var t,n,i,r,o,a,s,l,u;if(i=e.x-this.x0,r=e.y-this.y0,this.sphere)if(Math.abs(r+this.a*this.lat0)<=1e-10)t=I(i/this.a+this.long0),n=0;else{var c;for(a=this.lat0+r/this.a,s=i*i/this.a/this.a+a*a,l=a,o=20;o;--o)if(l+=u=-1*(a*(l*(c=Math.tan(l))+1)-l-.5*(l*l+s)*c)/((l-a)/c-1),Math.abs(u)<=1e-10){n=l;break}t=I(this.long0+Math.asin(i*Math.tan(l)/this.a)/Math.sin(n))}else if(Math.abs(r+this.ml0)<=1e-10)n=0,t=I(this.long0+i/this.a);else{var d,h,p,f,m;for(a=(this.ml0+r)/this.a,s=i*i/this.a/this.a+a*a,l=a,o=20;o;--o)if(m=this.e*Math.sin(l),d=Math.sqrt(1-m*m)*Math.tan(l),h=this.a*Ue(this.e0,this.e1,this.e2,this.e3,l),p=this.e0-2*this.e1*Math.cos(2*l)+4*this.e2*Math.cos(4*l)-6*this.e3*Math.cos(6*l),l-=u=(a*(d*(f=h/this.a)+1)-f-.5*d*(f*f+s))/(this.es*Math.sin(2*l)*(f*f+s-2*a*f)/(4*d)+(a-f)*(d*p-2/Math.sin(2*l))-p),Math.abs(u)<=1e-10){n=l;break}d=Math.sqrt(1-this.es*Math.pow(Math.sin(n),2))*Math.tan(n),t=I(this.long0+Math.asin(i*d/this.a)/Math.sin(n))}return e.x=t,e.y=n,e},names:[\\\"Polyconic\\\",\\\"poly\\\"]};var rt={init:function(){this.A=[],this.A[1]=.6399175073,this.A[2]=-.1358797613,this.A[3]=.063294409,this.A[4]=-.02526853,this.A[5]=.0117879,this.A[6]=-.0055161,this.A[7]=.0026906,this.A[8]=-.001333,this.A[9]=67e-5,this.A[10]=-34e-5,this.B_re=[],this.B_im=[],this.B_re[1]=.7557853228,this.B_im[1]=0,this.B_re[2]=.249204646,this.B_im[2]=.003371507,this.B_re[3]=-.001541739,this.B_im[3]=.04105856,this.B_re[4]=-.10162907,this.B_im[4]=.01727609,this.B_re[5]=-.26623489,this.B_im[5]=-.36249218,this.B_re[6]=-.6870983,this.B_im[6]=-1.1651967,this.C_re=[],this.C_im=[],this.C_re[1]=1.3231270439,this.C_im[1]=0,this.C_re[2]=-.577245789,this.C_im[2]=-.007809598,this.C_re[3]=.508307513,this.C_im[3]=-.112208952,this.C_re[4]=-.15094762,this.C_im[4]=.18200602,this.C_re[5]=1.01418179,this.C_im[5]=1.64497696,this.C_re[6]=1.9660549,this.C_im[6]=2.5127645,this.D=[],this.D[1]=1.5627014243,this.D[2]=.5185406398,this.D[3]=-.03333098,this.D[4]=-.1052906,this.D[5]=-.0368594,this.D[6]=.007317,this.D[7]=.0122,this.D[8]=.00394,this.D[9]=-.0013},forward:function(e){var t,n=e.x,r=e.y-this.lat0,o=n-this.long0,a=r/i*1e-5,s=o,l=1,u=0;for(t=1;t<=10;t++)l*=a,u+=this.A[t]*l;var c,d=u,h=s,p=1,f=0,m=0,g=0;for(t=1;t<=6;t++)c=f*d+p*h,p=p*d-f*h,f=c,m=m+this.B_re[t]*p-this.B_im[t]*f,g=g+this.B_im[t]*p+this.B_re[t]*f;return e.x=g*this.a+this.x0,e.y=m*this.a+this.y0,e},inverse:function(e){var t,n,r=e.x,o=e.y,a=r-this.x0,s=(o-this.y0)/this.a,l=a/this.a,u=1,c=0,d=0,h=0;for(t=1;t<=6;t++)n=c*s+u*l,u=u*s-c*l,c=n,d=d+this.C_re[t]*u-this.C_im[t]*c,h=h+this.C_im[t]*u+this.C_re[t]*c;for(var p=0;p<this.iterations;p++){var f,m=d,g=h,v=s,y=l;for(t=2;t<=6;t++)f=g*d+m*h,m=m*d-g*h,g=f,v+=(t-1)*(this.B_re[t]*m-this.B_im[t]*g),y+=(t-1)*(this.B_im[t]*m+this.B_re[t]*g);m=1,g=0;var b=this.B_re[1],x=this.B_im[1];for(t=2;t<=6;t++)f=g*d+m*h,m=m*d-g*h,g=f,b+=t*(this.B_re[t]*m-this.B_im[t]*g),x+=t*(this.B_im[t]*m+this.B_re[t]*g);var _=b*b+x*x;d=(v*b+y*x)/_,h=(y*b-v*x)/_}var w=d,M=h,S=1,E=0;for(t=1;t<=9;t++)S*=w,E+=this.D[t]*S;var T=this.lat0+E*i*1e5,C=this.long0+M;return e.x=C,e.y=T,e},names:[\\\"New_Zealand_Map_Grid\\\",\\\"nzmg\\\"]};var ot={init:function(){},forward:function(e){var t=e.x,n=e.y,i=I(t-this.long0),r=this.x0+this.a*i,o=this.y0+this.a*Math.log(Math.tan(Math.PI/4+n/2.5))*1.25;return e.x=r,e.y=o,e},inverse:function(e){e.x-=this.x0,e.y-=this.y0;var t=I(this.long0+e.x/this.a),n=2.5*(Math.atan(Math.exp(.8*e.y/this.a))-Math.PI/4);return e.x=t,e.y=n,e},names:[\\\"Miller_Cylindrical\\\",\\\"mill\\\"]};var at={init:function(){this.sphere?(this.n=1,this.m=0,this.es=0,this.C_y=Math.sqrt((this.m+1)/this.n),this.C_x=this.C_y/(this.m+1)):this.en=we(this.es)},forward:function(e){var t,n,i=e.x,r=e.y;if(i=I(i-this.long0),this.sphere){if(this.m)for(var o=this.n*Math.sin(r),a=20;a;--a){var s=(this.m*r+Math.sin(r)-o)/(this.m+Math.cos(r));if(r-=s,Math.abs(s)<1e-10)break}else r=1!==this.n?Math.asin(this.n*Math.sin(r)):r;t=this.a*this.C_x*i*(this.m+Math.cos(r)),n=this.a*this.C_y*r}else{var l=Math.sin(r),u=Math.cos(r);n=this.a*Me(r,l,u,this.en),t=this.a*i*u/Math.sqrt(1-this.es*l*l)}return e.x=t,e.y=n,e},inverse:function(e){var t,n,i,o;return e.x-=this.x0,i=e.x/this.a,e.y-=this.y0,t=e.y/this.a,this.sphere?(t/=this.C_y,i/=this.C_x*(this.m+Math.cos(t)),this.m?t=$e((this.m*t+Math.sin(t))/this.n):1!==this.n&&(t=$e(Math.sin(t)/this.n)),i=I(i+this.long0),t=qe(t)):(t=Se(e.y/this.a,this.es,this.en),(o=Math.abs(t))<r?(o=Math.sin(t),n=this.long0+e.x*Math.sqrt(1-this.es*o*o)/(this.a*Math.cos(t)),i=I(n)):o-1e-10<r&&(i=this.long0)),e.x=i,e.y=t,e},names:[\\\"Sinusoidal\\\",\\\"sinu\\\"]};var st={init:function(){},forward:function(e){for(var t=e.x,n=e.y,i=I(t-this.long0),r=n,o=Math.PI*Math.sin(n);;){var a=-(r+Math.sin(r)-o)/(1+Math.cos(r));if(r+=a,Math.abs(a)<1e-10)break}r/=2,Math.PI/2-Math.abs(n)<1e-10&&(i=0);var s=.900316316158*this.a*i*Math.cos(r)+this.x0,l=1.4142135623731*this.a*Math.sin(r)+this.y0;return e.x=s,e.y=l,e},inverse:function(e){var t,n;e.x-=this.x0,e.y-=this.y0,n=e.y/(1.4142135623731*this.a),Math.abs(n)>.999999999999&&(n=.999999999999),t=Math.asin(n);var i=I(this.long0+e.x/(.900316316158*this.a*Math.cos(t)));i<-Math.PI&&(i=-Math.PI),i>Math.PI&&(i=Math.PI),n=(2*t+Math.sin(2*t))/Math.PI,Math.abs(n)>1&&(n=1);var r=Math.asin(n);return e.x=i,e.y=r,e},names:[\\\"Mollweide\\\",\\\"moll\\\"]};var lt={init:function(){Math.abs(this.lat1+this.lat2)<1e-10||(this.lat2=this.lat2||this.lat1,this.temp=this.b/this.a,this.es=1-Math.pow(this.temp,2),this.e=Math.sqrt(this.es),this.e0=We(this.es),this.e1=Ge(this.es),this.e2=Ve(this.es),this.e3=He(this.es),this.sinphi=Math.sin(this.lat1),this.cosphi=Math.cos(this.lat1),this.ms1=R(this.e,this.sinphi,this.cosphi),this.ml1=Ue(this.e0,this.e1,this.e2,this.e3,this.lat1),Math.abs(this.lat1-this.lat2)<1e-10?this.ns=this.sinphi:(this.sinphi=Math.sin(this.lat2),this.cosphi=Math.cos(this.lat2),this.ms2=R(this.e,this.sinphi,this.cosphi),this.ml2=Ue(this.e0,this.e1,this.e2,this.e3,this.lat2),this.ns=(this.ms1-this.ms2)/(this.ml2-this.ml1)),this.g=this.ml1+this.ms1/this.ns,this.ml0=Ue(this.e0,this.e1,this.e2,this.e3,this.lat0),this.rh=this.a*(this.g-this.ml0))},forward:function(e){var t,n=e.x,i=e.y;if(this.sphere)t=this.a*(this.g-i);else{var r=Ue(this.e0,this.e1,this.e2,this.e3,i);t=this.a*(this.g-r)}var o=this.ns*I(n-this.long0),a=this.x0+t*Math.sin(o),s=this.y0+this.rh-t*Math.cos(o);return e.x=a,e.y=s,e},inverse:function(e){var t,n,i,r;e.x-=this.x0,e.y=this.rh-e.y+this.y0,this.ns>=0?(n=Math.sqrt(e.x*e.x+e.y*e.y),t=1):(n=-Math.sqrt(e.x*e.x+e.y*e.y),t=-1);var o=0;if(0!==n&&(o=Math.atan2(t*e.x,t*e.y)),this.sphere)return r=I(this.long0+o/this.ns),i=qe(this.g-n/this.a),e.x=r,e.y=i,e;var a=this.g-n/this.a;return i=Xe(a,this.e0,this.e1,this.e2,this.e3),r=I(this.long0+o/this.ns),e.x=r,e.y=i,e},names:[\\\"Equidistant_Conic\\\",\\\"eqdc\\\"]};var ut={init:function(){this.R=this.a},forward:function(e){var t,n,i=e.x,o=e.y,a=I(i-this.long0);Math.abs(o)<=1e-10&&(t=this.x0+this.R*a,n=this.y0);var s=$e(2*Math.abs(o/Math.PI));(Math.abs(a)<=1e-10||Math.abs(Math.abs(o)-r)<=1e-10)&&(t=this.x0,n=o>=0?this.y0+Math.PI*this.R*Math.tan(.5*s):this.y0+Math.PI*this.R*-Math.tan(.5*s));var l=.5*Math.abs(Math.PI/a-a/Math.PI),u=l*l,c=Math.sin(s),d=Math.cos(s),h=d/(c+d-1),p=h*h,f=h*(2/c-1),m=f*f,g=Math.PI*this.R*(l*(h-m)+Math.sqrt(u*(h-m)*(h-m)-(m+u)*(p-m)))/(m+u);a<0&&(g=-g),t=this.x0+g;var v=u+h;return g=Math.PI*this.R*(f*v-l*Math.sqrt((m+u)*(u+1)-v*v))/(m+u),n=o>=0?this.y0+g:this.y0-g,e.x=t,e.y=n,e},inverse:function(e){var t,n,i,r,o,a,s,l,u,c,d,h;return e.x-=this.x0,e.y-=this.y0,d=Math.PI*this.R,o=(i=e.x/d)*i+(r=e.y/d)*r,d=3*(r*r/(l=-2*(a=-Math.abs(r)*(1+o))+1+2*r*r+o*o)+(2*(s=a-2*r*r+i*i)*s*s/l/l/l-9*a*s/l/l)/27)/(u=(a-s*s/3/l)/l)/(c=2*Math.sqrt(-u/3)),Math.abs(d)>1&&(d=d>=0?1:-1),h=Math.acos(d)/3,n=e.y>=0?(-c*Math.cos(h+Math.PI/3)-s/3/l)*Math.PI:-(-c*Math.cos(h+Math.PI/3)-s/3/l)*Math.PI,t=Math.abs(i)<1e-10?this.long0:I(this.long0+Math.PI*(o-1+Math.sqrt(1+2*(i*i-r*r)+o*o))/2/i),e.x=t,e.y=n,e},names:[\\\"Van_der_Grinten_I\\\",\\\"VanDerGrinten\\\",\\\"vandg\\\"]};var ct={init:function(){this.sin_p12=Math.sin(this.lat0),this.cos_p12=Math.cos(this.lat0)},forward:function(e){var t,n,i,o,a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w,M,S=e.x,E=e.y,T=Math.sin(e.y),C=Math.cos(e.y),O=I(S-this.long0);return this.sphere?Math.abs(this.sin_p12-1)<=1e-10?(e.x=this.x0+this.a*(r-E)*Math.sin(O),e.y=this.y0-this.a*(r-E)*Math.cos(O),e):Math.abs(this.sin_p12+1)<=1e-10?(e.x=this.x0+this.a*(r+E)*Math.sin(O),e.y=this.y0+this.a*(r+E)*Math.cos(O),e):(b=this.sin_p12*T+this.cos_p12*C*Math.cos(O),y=(v=Math.acos(b))?v/Math.sin(v):1,e.x=this.x0+this.a*y*C*Math.sin(O),e.y=this.y0+this.a*y*(this.cos_p12*T-this.sin_p12*C*Math.cos(O)),e):(t=We(this.es),n=Ge(this.es),i=Ve(this.es),o=He(this.es),Math.abs(this.sin_p12-1)<=1e-10?(a=this.a*Ue(t,n,i,o,r),s=this.a*Ue(t,n,i,o,E),e.x=this.x0+(a-s)*Math.sin(O),e.y=this.y0-(a-s)*Math.cos(O),e):Math.abs(this.sin_p12+1)<=1e-10?(a=this.a*Ue(t,n,i,o,r),s=this.a*Ue(t,n,i,o,E),e.x=this.x0+(a+s)*Math.sin(O),e.y=this.y0+(a+s)*Math.cos(O),e):(l=T/C,u=Ye(this.a,this.e,this.sin_p12),c=Ye(this.a,this.e,T),d=Math.atan((1-this.es)*l+this.es*u*this.sin_p12/(c*C)),x=0===(h=Math.atan2(Math.sin(O),this.cos_p12*Math.tan(d)-this.sin_p12*Math.cos(O)))?Math.asin(this.cos_p12*Math.sin(d)-this.sin_p12*Math.cos(d)):Math.abs(Math.abs(h)-Math.PI)<=1e-10?-Math.asin(this.cos_p12*Math.sin(d)-this.sin_p12*Math.cos(d)):Math.asin(Math.sin(O)*Math.cos(d)/Math.sin(h)),p=this.e*this.sin_p12/Math.sqrt(1-this.es),v=u*x*(1-(_=x*x)*(g=(f=this.e*this.cos_p12*Math.cos(h)/Math.sqrt(1-this.es))*f)*(1-g)/6+(w=_*x)/8*(m=p*f)*(1-2*g)+(M=w*x)/120*(g*(4-7*g)-3*p*p*(1-7*g))-M*x/48*m),e.x=this.x0+v*Math.sin(h),e.y=this.y0+v*Math.cos(h),e))},inverse:function(e){var t,n,i,o,a,s,l,u,c,d,h,p,f,m,g,v,y,b,x,_,w,M,S;if(e.x-=this.x0,e.y-=this.y0,this.sphere){if((t=Math.sqrt(e.x*e.x+e.y*e.y))>2*r*this.a)return;return n=t/this.a,i=Math.sin(n),o=Math.cos(n),a=this.long0,Math.abs(t)<=1e-10?s=this.lat0:(s=$e(o*this.sin_p12+e.y*i*this.cos_p12/t),l=Math.abs(this.lat0)-r,a=Math.abs(l)<=1e-10?this.lat0>=0?I(this.long0+Math.atan2(e.x,-e.y)):I(this.long0-Math.atan2(-e.x,e.y)):I(this.long0+Math.atan2(e.x*i,t*this.cos_p12*o-e.y*this.sin_p12*i))),e.x=a,e.y=s,e}return u=We(this.es),c=Ge(this.es),d=Ve(this.es),h=He(this.es),Math.abs(this.sin_p12-1)<=1e-10?(p=this.a*Ue(u,c,d,h,r),t=Math.sqrt(e.x*e.x+e.y*e.y),s=Xe((p-t)/this.a,u,c,d,h),a=I(this.long0+Math.atan2(e.x,-1*e.y)),e.x=a,e.y=s,e):Math.abs(this.sin_p12+1)<=1e-10?(p=this.a*Ue(u,c,d,h,r),t=Math.sqrt(e.x*e.x+e.y*e.y),s=Xe((t-p)/this.a,u,c,d,h),a=I(this.long0+Math.atan2(e.x,e.y)),e.x=a,e.y=s,e):(t=Math.sqrt(e.x*e.x+e.y*e.y),g=Math.atan2(e.x,e.y),f=Ye(this.a,this.e,this.sin_p12),v=Math.cos(g),b=-(y=this.e*this.cos_p12*v)*y/(1-this.es),x=3*this.es*(1-b)*this.sin_p12*this.cos_p12*v/(1-this.es),M=1-b*(w=(_=t/f)-b*(1+b)*Math.pow(_,3)/6-x*(1+3*b)*Math.pow(_,4)/24)*w/2-_*w*w*w/6,m=Math.asin(this.sin_p12*Math.cos(w)+this.cos_p12*Math.sin(w)*v),a=I(this.long0+Math.asin(Math.sin(g)*Math.sin(w)/Math.cos(m))),S=Math.sin(m),s=Math.atan2((S-this.es*M*this.sin_p12)*Math.tan(m),S*(1-this.es)),e.x=a,e.y=s,e)},names:[\\\"Azimuthal_Equidistant\\\",\\\"aeqd\\\"]};var dt={init:function(){this.sin_p14=Math.sin(this.lat0),this.cos_p14=Math.cos(this.lat0)},forward:function(e){var t,n,i,r,o,a,s,l=e.x,u=e.y;return i=I(l-this.long0),t=Math.sin(u),n=Math.cos(u),r=Math.cos(i),1,((o=this.sin_p14*t+this.cos_p14*n*r)>0||Math.abs(o)<=1e-10)&&(a=1*this.a*n*Math.sin(i),s=this.y0+1*this.a*(this.cos_p14*t-this.sin_p14*n*r)),e.x=a,e.y=s,e},inverse:function(e){var t,n,i,o,a,s,l;return e.x-=this.x0,e.y-=this.y0,t=Math.sqrt(e.x*e.x+e.y*e.y),n=$e(t/this.a),i=Math.sin(n),o=Math.cos(n),s=this.long0,Math.abs(t)<=1e-10?(l=this.lat0,e.x=s,e.y=l,e):(l=$e(o*this.sin_p14+e.y*i*this.cos_p14/t),a=Math.abs(this.lat0)-r,Math.abs(a)<=1e-10?(s=this.lat0>=0?I(this.long0+Math.atan2(e.x,-e.y)):I(this.long0-Math.atan2(-e.x,e.y)),e.x=s,e.y=l,e):(s=I(this.long0+Math.atan2(e.x*i,t*this.cos_p14*o-e.y*this.sin_p14*i)),e.x=s,e.y=l,e))},names:[\\\"ortho\\\"]},ht=1,pt=2,ft=3,mt=4,gt=5,vt=6,yt=1,bt=2,xt=3,_t=4;function wt(e,t,n,i){var o;return e<1e-10?(i.value=yt,o=0):(o=Math.atan2(t,n),Math.abs(o)<=s?i.value=yt:o>s&&o<=r+s?(i.value=bt,o-=r):o>r+s||o<=-(r+s)?(i.value=xt,o=o>=0?o-u:o+u):(i.value=_t,o+=r)),o}function Mt(e,t){var n=e+t;return n<-u?n+=l:n>+u&&(n-=l),n}var St={init:function(){this.x0=this.x0||0,this.y0=this.y0||0,this.lat0=this.lat0||0,this.long0=this.long0||0,this.lat_ts=this.lat_ts||0,this.title=this.title||\\\"Quadrilateralized Spherical Cube\\\",this.lat0>=r-s/2?this.face=gt:this.lat0<=-(r-s/2)?this.face=vt:Math.abs(this.long0)<=s?this.face=ht:Math.abs(this.long0)<=r+s?this.face=this.long0>0?pt:mt:this.face=ft,0!==this.es&&(this.one_minus_f=1-(this.a-this.b)/this.a,this.one_minus_f_squared=this.one_minus_f*this.one_minus_f)},forward:function(e){var t,n,i,o,a,l,c={x:0,y:0},d={value:0};if(e.x-=this.long0,t=0!==this.es?Math.atan(this.one_minus_f_squared*Math.tan(e.y)):e.y,n=e.x,this.face===gt)o=r-t,n>=s&&n<=r+s?(d.value=yt,i=n-r):n>r+s||n<=-(r+s)?(d.value=bt,i=n>0?n-u:n+u):n>-(r+s)&&n<=-s?(d.value=xt,i=n+r):(d.value=_t,i=n);else if(this.face===vt)o=r+t,n>=s&&n<=r+s?(d.value=yt,i=-n+r):n<s&&n>=-s?(d.value=bt,i=-n):n<-s&&n>=-(r+s)?(d.value=xt,i=-n-r):(d.value=_t,i=n>0?-n+u:-n-u);else{var h,p,f,m,g,v;this.face===pt?n=Mt(n,+r):this.face===ft?n=Mt(n,+u):this.face===mt&&(n=Mt(n,-r)),m=Math.sin(t),g=Math.cos(t),v=Math.sin(n),h=g*Math.cos(n),p=g*v,f=m,this.face===ht?i=wt(o=Math.acos(h),f,p,d):this.face===pt?i=wt(o=Math.acos(p),f,-h,d):this.face===ft?i=wt(o=Math.acos(-h),f,-p,d):this.face===mt?i=wt(o=Math.acos(-p),f,h,d):(o=i=0,d.value=yt)}return l=Math.atan(12/u*(i+Math.acos(Math.sin(i)*Math.cos(s))-r)),a=Math.sqrt((1-Math.cos(o))/(Math.cos(l)*Math.cos(l))/(1-Math.cos(Math.atan(1/Math.cos(i))))),d.value===bt?l+=r:d.value===xt?l+=u:d.value===_t&&(l+=1.5*u),c.x=a*Math.cos(l),c.y=a*Math.sin(l),c.x=c.x*this.a+this.x0,c.y=c.y*this.a+this.y0,e.x=c.x,e.y=c.y,e},inverse:function(e){var t,n,i,o,a,s,l,c,d,h,p,f,m={lam:0,phi:0},g={value:0};if(e.x=(e.x-this.x0)/this.a,e.y=(e.y-this.y0)/this.a,n=Math.atan(Math.sqrt(e.x*e.x+e.y*e.y)),t=Math.atan2(e.y,e.x),e.x>=0&&e.x>=Math.abs(e.y)?g.value=yt:e.y>=0&&e.y>=Math.abs(e.x)?(g.value=bt,t-=r):e.x<0&&-e.x>=Math.abs(e.y)?(g.value=xt,t=t<0?t+u:t-u):(g.value=_t,t+=r),d=u/12*Math.tan(t),a=Math.sin(d)/(Math.cos(d)-1/Math.sqrt(2)),s=Math.atan(a),(l=1-(i=Math.cos(t))*i*(o=Math.tan(n))*o*(1-Math.cos(Math.atan(1/Math.cos(s)))))<-1?l=-1:l>1&&(l=1),this.face===gt)c=Math.acos(l),m.phi=r-c,g.value===yt?m.lam=s+r:g.value===bt?m.lam=s<0?s+u:s-u:g.value===xt?m.lam=s-r:m.lam=s;else if(this.face===vt)c=Math.acos(l),m.phi=c-r,g.value===yt?m.lam=-s+r:g.value===bt?m.lam=-s:g.value===xt?m.lam=-s-r:m.lam=s<0?-s-u:-s+u;else{var v,y,b;d=(v=l)*v,y=(d+=(b=d>=1?0:Math.sqrt(1-d)*Math.sin(s))*b)>=1?0:Math.sqrt(1-d),g.value===bt?(d=y,y=-b,b=d):g.value===xt?(y=-y,b=-b):g.value===_t&&(d=y,y=b,b=-d),this.face===pt?(d=v,v=-y,y=d):this.face===ft?(v=-v,y=-y):this.face===mt&&(d=v,v=y,y=-d),m.phi=Math.acos(-b)-r,m.lam=Math.atan2(y,v),this.face===pt?m.lam=Mt(m.lam,-r):this.face===ft?m.lam=Mt(m.lam,-u):this.face===mt&&(m.lam=Mt(m.lam,+r))}return 0!==this.es&&(h=m.phi<0?1:0,p=Math.tan(m.phi),f=this.b/Math.sqrt(p*p+this.one_minus_f_squared),m.phi=Math.atan(Math.sqrt(this.a*this.a-f*f)/(this.one_minus_f*f)),h&&(m.phi=-m.phi)),m.lam+=this.long0,e.x=m.lam,e.y=m.phi,e},names:[\\\"Quadrilateralized Spherical 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e[0]+t*(e[1]+t*(e[2]+t*e[3]))};var Pt={init:function(){this.x0=this.x0||0,this.y0=this.y0||0,this.long0=this.long0||0,this.es=0,this.title=this.title||\\\"Robinson\\\"},forward:function(e){var t=I(e.x-this.long0),n=Math.abs(e.y),i=Math.floor(n*Ct);i<0?i=0:i>=18&&(i=17);var r={x:Ot(Et[i],n=a*(n-.08726646259971647*i))*t,y:Ot(Tt[i],n)};return e.y<0&&(r.y=-r.y),r.x=r.x*this.a*.8487+this.x0,r.y=r.y*this.a*1.3523+this.y0,r},inverse:function(e){var t={x:(e.x-this.x0)/(.8487*this.a),y:Math.abs(e.y-this.y0)/(1.3523*this.a)};if(t.y>=1)t.x/=Et[18][0],t.y=e.y<0?-r:r;else{var n=Math.floor(18*t.y);for(n<0?n=0:n>=18&&(n=17);;)if(Tt[n][0]>t.y)--n;else{if(!(Tt[n+1][0]<=t.y))break;++n}var i=Tt[n],a=5*(t.y-i[0])/(Tt[n+1][0]-i[0]);a=function(e,t,n,i){for(var r=t;i;--i){var o=e(r);if(r-=o,Math.abs(o)<n)break}return r}((function(e){return(Ot(i,e)-t.y)/function(e,t){return e[1]+t*(2*e[2]+3*t*e[3])}(i,e)}),a,1e-10,100),t.x/=Ot(Et[n],a),t.y=(5*n+a)*o,e.y<0&&(t.y=-t.y)}return t.x=I(t.x+this.long0),t},names:[\\\"Robinson\\\",\\\"robin\\\"]};var kt,At={init:function(){this.name=\\\"geocent\\\"},forward:function(e){return K(e,this.es,this.a)},inverse:function(e){return J(e,this.es,this.a,this.b)},names:[\\\"Geocentric\\\",\\\"geocentric\\\",\\\"geocent\\\",\\\"Geocent\\\"]};ae.defaultDatum=\\\"WGS84\\\",ae.Proj=X,ae.WGS84=new ae.Proj(\\\"WGS84\\\"),ae.Point=xe,ae.toPoint=ee,ae.defs=C,ae.transform=ne,ae.mgrs=ue,ae.version=\\\"__VERSION__\\\",(kt=ae).Proj.projections.add(Ee),kt.Proj.projections.add(Ae),kt.Proj.projections.add(Re),kt.Proj.projections.add(De),kt.Proj.projections.add(Ne),kt.Proj.projections.add(Fe),kt.Proj.projections.add(ze),kt.Proj.projections.add(Be),kt.Proj.projections.add(je),kt.Proj.projections.add(Ke),kt.Proj.projections.add(Ze),kt.Proj.projections.add(Qe),kt.Proj.projections.add(et),kt.Proj.projections.add(tt),kt.Proj.projections.add(nt),kt.Proj.projections.add(it),kt.Proj.projections.add(rt),kt.Proj.projections.add(ot),kt.Proj.projections.add(at),kt.Proj.projections.add(st),kt.Proj.projections.add(lt),kt.Proj.projections.add(ut),kt.Proj.projections.add(ct),kt.Proj.projections.add(dt),kt.Proj.projections.add(St),kt.Proj.projections.add(Pt),kt.Proj.projections.add(At);t.default=ae},function(e,t,n){\\\"use strict\\\";n.r(t);var i=n(0),r=n.n(i),o=n(3),a=n.n(o),s=n(36),l=n.n(s);function 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i=Object.getOwnPropertySymbols(e);t&&(i=i.filter((function(t){return Object.getOwnPropertyDescriptor(e,t).enumerable}))),n.push.apply(n,i)}return n}function v(e){for(var t=1;t<arguments.length;t++){var n=null!=arguments[t]?arguments[t]:{};t%2?g(Object(n),!0).forEach((function(t){m(e,t,n[t])})):Object.getOwnPropertyDescriptors?Object.defineProperties(e,Object.getOwnPropertyDescriptors(n)):g(Object(n)).forEach((function(t){Object.defineProperty(e,t,Object.getOwnPropertyDescriptor(n,t))}))}return e}function y(e,t){if(\\\"function\\\"!=typeof t&&null!==t)throw new TypeError(\\\"Super expression must either be null or a function\\\");e.prototype=Object.create(t&&t.prototype,{constructor:{value:e,writable:!0,configurable:!0}}),t&&x(e,t)}function b(e){return(b=Object.setPrototypeOf?Object.getPrototypeOf:function(e){return e.__proto__||Object.getPrototypeOf(e)})(e)}function x(e,t){return(x=Object.setPrototypeOf||function(e,t){return e.__proto__=t,e})(e,t)}function _(e){if(void 0===e)throw new 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only polyfill class components\\\");if(\\\"function\\\"!=typeof e.getDerivedStateFromProps&&\\\"function\\\"!=typeof t.getSnapshotBeforeUpdate)return e;var n=null,i=null,r=null;if(\\\"function\\\"==typeof t.componentWillMount?n=\\\"componentWillMount\\\":\\\"function\\\"==typeof t.UNSAFE_componentWillMount&&(n=\\\"UNSAFE_componentWillMount\\\"),\\\"function\\\"==typeof t.componentWillReceiveProps?i=\\\"componentWillReceiveProps\\\":\\\"function\\\"==typeof t.UNSAFE_componentWillReceiveProps&&(i=\\\"UNSAFE_componentWillReceiveProps\\\"),\\\"function\\\"==typeof t.componentWillUpdate?r=\\\"componentWillUpdate\\\":\\\"function\\\"==typeof t.UNSAFE_componentWillUpdate&&(r=\\\"UNSAFE_componentWillUpdate\\\"),null!==n||null!==i||null!==r){var o=e.displayName||e.name,a=\\\"function\\\"==typeof e.getDerivedStateFromProps?\\\"getDerivedStateFromProps()\\\":\\\"getSnapshotBeforeUpdate()\\\";throw Error(\\\"Unsafe legacy lifecycles will not be called for components using new component 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Learn more about this warning here:\\\\nhttps://fb.me/react-async-component-lifecycle-hooks\\\")}if(\\\"function\\\"==typeof e.getDerivedStateFromProps&&(t.componentWillMount=u,t.componentWillReceiveProps=c),\\\"function\\\"==typeof t.getSnapshotBeforeUpdate){if(\\\"function\\\"!=typeof t.componentDidUpdate)throw new Error(\\\"Cannot polyfill getSnapshotBeforeUpdate() for components that do not define componentDidUpdate() on the prototype\\\");t.componentWillUpdate=d;var s=t.componentDidUpdate;t.componentDidUpdate=function(e,t,n){var i=this.__reactInternalSnapshotFlag?this.__reactInternalSnapshot:n;s.call(this,e,t,i)}}}(C);t.default=C}]);\"],\"mappings\":\"AAAA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA;AACA\",\"sourceRoot\":\"\"}\n\\ No newline at end of file\ndiff --git a/modules/dreamview/frontend/src/renderer/map.js b/modules/dreamview/frontend/src/renderer/map.js\nindex 8bc05aaacf9..85120816554 100644\n--- a/modules/dreamview/frontend/src/renderer/map.js\n+++ b/modules/dreamview/frontend/src/renderer/map.js\n@@ -1157,7 +1157,11 @@ export default class Map {\n if (!_.isArray(routingPointInfo) || routingPointInfo.length !== 2) {\n return null;\n }\n- deadJunctionInfo.routingPoint = routingPointInfo[0];\n+ const offsetRoutingPoint = coordinates.applyOffset(\n+ { x: routingPointInfo[0].x, y: routingPointInfo[0].y },\n+ true\n+ );\n+ deadJunctionInfo.routingPoint = offsetRoutingPoint;\n deadJunctionInfo.deadJunctionPoints = deadJunction.polygon.point;\n deadJunctionInfo.outLaneIds = this.getRangeLaneIds(\n deadJunctionInfo.outStartPoint, deadJunctionInfo.out, laneDistanceThreshold, 'successorId');\n"},"changed_files":{"kind":"list like","value":["modules/dreamview/frontend/dist/app.bundle.js","modules/dreamview/frontend/dist/app.bundle.js.map","modules/dreamview/frontend/src/renderer/map.js"],"string":"[\n \"modules/dreamview/frontend/dist/app.bundle.js\",\n \"modules/dreamview/frontend/dist/app.bundle.js.map\",\n \"modules/dreamview/frontend/src/renderer/map.js\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":555,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15558,"string":"15,558"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Commit code for CXZL gnss module"},"pr_body":{"kind":"string","value":"1. Add Cxzl Text parsing for adding serial port"},"base_sha":{"kind":"string","value":"411b692f94e18b594d80d5f3be1b7190d6f7024a"},"head_sha":{"kind":"string","value":"09a8fd119697aae38f068a7775fbb42261a2aa60"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc b/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc\nnew file mode 100644\nindex 00000000000..378cac17d4e\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc\n@@ -0,0 +1,432 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include \"modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h\"\n+\n+#include <cmath>\n+#include <iostream>\n+#include <limits>\n+#include <memory>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+#define G_EARTH 9.806665\n+// #define DEG_TO_RAD 0.0174532925\n+\n+CxzlBaseParser::CxzlBaseParser(const config::Config& config) {\n+}\n+\n+void CxzlBaseParser::GetMessages(MessageInfoVec* messages) {\n+ if (data_ == nullptr) {\n+ return;\n+ }\n+ if (!PrepareMessage()) {\n+ return;\n+ }\n+\n+ FillGnssBestpos();\n+ FillImu();\n+ FillHeading();\n+ FillIns();\n+ FillInsStat();\n+\n+ if (bestpos_ratecontrol_.check()) {\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\n+ }\n+ messages->push_back(\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\n+ messages->push_back(MessageInfo{MessageType::HEADING,\n+ reinterpret_cast<MessagePtr>(&heading_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\n+}\n+\n+Parser *Parser::CreateCxzlCfg(const config::Config &config) {\n+ return new CxzlBaseParser(config);\n+}\n+\n+void CxzlBaseParser::PrepareMessageStatus(const uint8_t& system_state,\n+ const uint8_t& satellite_status) {\n+}\n+\n+void CxzlBaseParser::FillGnssBestpos() {\n+ bestpos_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ bestpos_.set_latitude(decode_message_.Latitude);\n+ bestpos_.set_longitude(decode_message_.Longitude);\n+ bestpos_.set_height_msl(decode_message_.Altitude);\n+ bestpos_.set_latitude_std_dev(decode_message_.Pe_std);\n+ bestpos_.set_longitude_std_dev(decode_message_.Pn_std);\n+ bestpos_.set_height_std_dev(decode_message_.Pu_std);\n+ bestpos_.set_num_sats_tracked(decode_message_.NSVD1);\n+ bestpos_.set_num_sats_in_solution(decode_message_.NSV1);\n+ bestpos_.set_num_sats_l1(decode_message_.NSV1);\n+ bestpos_.set_num_sats_multi(decode_message_.NSV1);\n+}\n+\n+void CxzlBaseParser::FillIns() {\n+ ins_.mutable_euler_angles()->set_x(decode_message_.Roll * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_y(decode_message_.Pitch * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_z(M_PI_2 -\n+ decode_message_.Heading * DEG_TO_RAD);\n+ ins_.mutable_position()->set_lon(decode_message_.Longitude);\n+ ins_.mutable_position()->set_lat(decode_message_.Latitude);\n+ ins_.mutable_position()->set_height(decode_message_.Altitude);\n+ ins_.mutable_linear_velocity()->set_x(decode_message_.Ve);\n+ ins_.mutable_linear_velocity()->set_y(decode_message_.Vn);\n+ ins_.mutable_linear_velocity()->set_z(decode_message_.Vu);\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ ins_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, ins_.mutable_angular_velocity());\n+ ins_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\n+\n+ switch (decode_message_.Satellite_status) {\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_DIFF:\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_COMB:\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_FIXED:\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_FLOAT:\n+ case CxzlSatelliteStatusT::POS_LOCATE_DIFF:\n+ case CxzlSatelliteStatusT::POS_LOCATE_FIXED:\n+ case CxzlSatelliteStatusT::POS_LOCATE_FLOAT:\n+ ins_.set_type(Ins::GOOD);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_SINGLE:\n+ case CxzlSatelliteStatusT::POS_LOCATE_SINGLE:\n+ ins_.set_type(Ins::CONVERGING);\n+ break;\n+ default:\n+ ins_.set_type(Ins::INVALID);\n+ break;\n+ }\n+}\n+\n+void CxzlBaseParser::FillInsStat() {\n+ switch (decode_message_.Solution_status) {\n+ case CxzlSoluStatusT::INIT_STATUS:\n+ ins_stat_.set_ins_status(SolutionStatus::SOL_COMPUTED);\n+ bestpos_.set_sol_status(SolutionStatus::SOL_COMPUTED);\n+ heading_.set_solution_status(SolutionStatus::SOL_COMPUTED);\n+ break;\n+ case CxzlSoluStatusT::SATELLITE_NAVIGATION:\n+ ins_stat_.set_ins_status(SolutionStatus::SOL_COMPUTED);\n+ bestpos_.set_sol_status(SolutionStatus::SOL_COMPUTED);\n+ heading_.set_solution_status(SolutionStatus::SOL_COMPUTED);\n+ break;\n+ case CxzlSoluStatusT::INTEGRATED_NAVIGATION:\n+ ins_stat_.set_ins_status(SolutionStatus::SOL_COMPUTED);\n+ bestpos_.set_sol_status(SolutionStatus::SOL_COMPUTED);\n+ heading_.set_solution_status(SolutionStatus::SOL_COMPUTED);\n+ break;\n+ case CxzlSoluStatusT::INERTIAL_NAVIGATION:\n+ ins_stat_.set_ins_status(SolutionStatus::SOL_COMPUTED);\n+ bestpos_.set_sol_status(SolutionStatus::SOL_COMPUTED);\n+ heading_.set_solution_status(SolutionStatus::SOL_COMPUTED);\n+ break;\n+ default:\n+ break;\n+ }\n+ if ((decode_message_.Solution_status == INTEGRATED_NAVIGATION)\n+ || (decode_message_.Solution_status == INERTIAL_NAVIGATION)) {\n+ switch (decode_message_.Satellite_status) {\n+ case CxzlSatelliteStatusT::POS_NONE:\n+ ins_stat_.set_pos_type(SolutionType::NONE);\n+ bestpos_.set_sol_type(SolutionType::NONE);\n+ heading_.set_position_type(SolutionType::NONE);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_SINGLE:\n+ case CxzlSatelliteStatusT::POS_LOCATE_SINGLE:\n+ ins_stat_.set_pos_type(SolutionType::SINGLE);\n+ bestpos_.set_sol_type(SolutionType::SINGLE);\n+ heading_.set_position_type(SolutionType::SINGLE);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_DIFF:\n+ case CxzlSatelliteStatusT::POS_LOCATE_DIFF:\n+ ins_stat_.set_pos_type(SolutionType::INS_PSRDIFF);\n+ bestpos_.set_sol_type(SolutionType::INS_PSRDIFF);\n+ heading_.set_position_type(SolutionType::INS_PSRDIFF);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_FIXED:\n+ case CxzlSatelliteStatusT::POS_LOCATE_FIXED:\n+ ins_stat_.set_pos_type(SolutionType::INS_RTKFIXED);\n+ bestpos_.set_sol_type(SolutionType::INS_RTKFIXED);\n+ heading_.set_position_type(SolutionType::INS_RTKFIXED);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_FLOAT:\n+ case CxzlSatelliteStatusT::POS_LOCATE_FLOAT:\n+ ins_stat_.set_pos_type(SolutionType::INS_RTKFLOAT);\n+ bestpos_.set_sol_type(SolutionType::INS_RTKFLOAT);\n+ heading_.set_position_type(SolutionType::INS_RTKFLOAT);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_COMB:\n+ default:\n+ ins_stat_.set_pos_type(SolutionType::NONE);\n+ bestpos_.set_sol_type(SolutionType::NONE);\n+ heading_.set_position_type(SolutionType::NONE);\n+ break;\n+ }\n+ } else {\n+ switch (decode_message_.Satellite_status) {\n+ case CxzlSatelliteStatusT::POS_NONE:\n+ ins_stat_.set_pos_type(SolutionType::NONE);\n+ bestpos_.set_sol_type(SolutionType::NONE);\n+ heading_.set_position_type(SolutionType::NONE);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_SINGLE:\n+ case CxzlSatelliteStatusT::POS_LOCATE_SINGLE:\n+ ins_stat_.set_pos_type(SolutionType::SINGLE);\n+ bestpos_.set_sol_type(SolutionType::SINGLE);\n+ heading_.set_position_type(SolutionType::SINGLE);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_DIFF:\n+ case CxzlSatelliteStatusT::POS_LOCATE_DIFF:\n+ ins_stat_.set_pos_type(SolutionType::PSRDIFF);\n+ bestpos_.set_sol_type(SolutionType::PSRDIFF);\n+ heading_.set_position_type(SolutionType::PSRDIFF);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_FIXED:\n+ case CxzlSatelliteStatusT::POS_LOCATE_FIXED:\n+ ins_stat_.set_pos_type(SolutionType::FIXEDPOS);\n+ bestpos_.set_sol_type(SolutionType::FIXEDPOS);\n+ heading_.set_position_type(SolutionType::FIXEDPOS);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_FLOAT:\n+ case CxzlSatelliteStatusT::POS_LOCATE_FLOAT:\n+ ins_stat_.set_pos_type(SolutionType::NARROW_FLOAT);\n+ bestpos_.set_sol_type(SolutionType::NARROW_FLOAT);\n+ heading_.set_position_type(SolutionType::NARROW_FLOAT);\n+ break;\n+ case CxzlSatelliteStatusT::POS_LOCATEDIRECT_COMB:\n+ default:\n+ ins_stat_.set_pos_type(SolutionType::NONE);\n+ bestpos_.set_sol_type(SolutionType::NONE);\n+ heading_.set_position_type(SolutionType::NONE);\n+ break;\n+ }\n+ }\n+}\n+\n+void CxzlBaseParser::FillImu() {\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ imu_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, imu_.mutable_angular_velocity());\n+ imu_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+}\n+\n+void CxzlBaseParser::FillHeading() {\n+ heading_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ // TODO(NieKK816): This heanding is different from FillIns euler_angles\n+ heading_.set_heading(decode_message_.Heading);\n+ heading_.set_pitch(decode_message_.Pitch);\n+ heading_.set_heading_std_dev(decode_message_.heading_std);\n+ heading_.set_pitch_std_dev(decode_message_.pitch_std);\n+ heading_.set_satellite_number_multi(decode_message_.NSV1);\n+ heading_.set_satellite_soulution_number(decode_message_.NSV1);\n+}\n+\n+bool CxzlBaseParser::PrepareMessage() {\n+// ADEBUG << \"CXZL ASCII is: \" << data_;\n+\n+ // message may be truncated, just save the last message\n+ const uint8_t *data_start = data_;\n+ for (; data_start != data_; --data_start) {\n+ if (*data_start == '$') {\n+ break;\n+ }\n+ }\n+\n+ if (data_start != data_) {\n+ AWARN << \"CXZL message has been truncated: \" << data_;\n+ }\n+\n+ if (*data_start != '$') {\n+ input_str.append(reinterpret_cast<const char *>(data_start),\n+ std::distance(data_start, data_end_));\n+ } else {\n+ input_str.assign(reinterpret_cast<const char *>(data_start),\n+ std::distance(data_start, data_end_));\n+ }\n+\n+ if (*(data_end_ - 1) != 0x0A) {\n+ AWARN << \"CXZL ASCII message is not complete: \" << data_start;\n+ return false;\n+ }\n+\n+ std::vector<std::string> fields;\n+ std::string checknum = input_str.substr(input_str.find('*')+1,\n+ input_str.find(0x0D));\n+\n+ std::stringstream ss(input_str.substr(0, input_str.find('*')));\n+ for (std::string field; std::getline(ss, field, ',');) {\n+ fields.push_back(field);\n+ }\n+ if (fields.empty()) {\n+ return false;\n+ }\n+ auto valid_fields = [&]() -> bool {\n+ for (size_t i = 1; i < fields.size(); ++i) {\n+ if (fields[i].empty()) {\n+ fields[i] = \"0\";\n+ } else if (fields[i].find_first_not_of(\"0123456789.- \") !=\n+ std::string::npos) {\n+ AERROR << \"CXZL ASCII message field error: \" << fields[i]\n+ << \", input str: \" << input_str;\n+ return false;\n+ }\n+ }\n+ return true;\n+ };\n+ if (fields[0] == protocol_.cxhead) {\n+ if (fields.size() < protocol_.CXZL_SIZE) {\n+ AERROR << \"CXINSPVA message format error: \" << data_start;\n+ return false;\n+ }\n+ if (!valid_fields()) {\n+ return false;\n+ }\n+ PrepareMessageCxzl(fields);\n+ return true;\n+ }\n+ return false;\n+}\n+\n+void CxzlBaseParser::PrepareMessageCxzl(\n+ const std::vector<std::string> &fields) {\n+ decode_message_.GPSWeek = std::stoi(fields[1]);\n+ decode_message_.GPSTime = std::stod(fields[2]);\n+ decode_message_.gps_timestamp_sec =\n+ decode_message_.GPSWeek * SECONDS_PER_WEEK + decode_message_.GPSTime;\n+\n+ decode_message_.GyroX = std::stod(fields[3]) * DEG_TO_RAD;\n+ decode_message_.GyroY = std::stod(fields[4]) * DEG_TO_RAD;\n+ decode_message_.GyroZ = std::stod(fields[5]) * DEG_TO_RAD;\n+ decode_message_.AccX = std::stod(fields[6]) * G_EARTH;\n+ decode_message_.AccY = std::stod(fields[7]) * G_EARTH;\n+ decode_message_.AccZ = std::stod(fields[8]) * G_EARTH;\n+\n+ int sys_status = std::stoi(fields[9]);\n+ switch (sys_status) {\n+ case 0:\n+ decode_message_.Solution_status = CxzlSoluStatusT::INIT_STATUS;\n+ break;\n+ case 1:\n+ decode_message_.Solution_status = CxzlSoluStatusT::SATELLITE_NAVIGATION;\n+ break;\n+ case 2:\n+ decode_message_.Solution_status = CxzlSoluStatusT::INTEGRATED_NAVIGATION;\n+ break;\n+ case 3:\n+ decode_message_.Solution_status = CxzlSoluStatusT::INERTIAL_NAVIGATION;\n+ break;\n+ default:\n+ break;\n+ }\n+ decode_message_.NSV1 = std::stoi(fields[10]);\n+\n+ int satel_status = std::stoi(fields[11]);\n+ switch (satel_status) {\n+ case 0:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_NONE;\n+ break;\n+ case 1:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATEDIRECT_SINGLE;\n+ break;\n+ case 2:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATEDIRECT_DIFF;\n+ break;\n+ case 3:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATEDIRECT_COMB;\n+ break;\n+ case 4:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATEDIRECT_FIXED;\n+ break;\n+ case 5:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATEDIRECT_FLOAT;\n+ break;\n+ case 6:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATE_SINGLE;\n+ break;\n+ case 7:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATE_DIFF;\n+ break;\n+ case 8:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATE_FIXED;\n+ break;\n+ case 9:\n+ decode_message_.Satellite_status =\n+ CxzlSatelliteStatusT::POS_LOCATE_FLOAT;\n+ break;\n+ default:\n+ break;\n+ }\n+ decode_message_.NSV2 = std::stoi(fields[12]);\n+ decode_message_.Age = std::stod(fields[13]);\n+ decode_message_.NSVD1 = std::stoi(fields[14]);\n+ decode_message_.NSVD2 = std::stoi(fields[15]);\n+\n+ decode_message_.Altitude = std::stod(fields[16]);\n+ decode_message_.Pe_std = std::stod(fields[17]);\n+ decode_message_.Pn_std = std::stod(fields[18]);\n+ decode_message_.Pu_std = std::stod(fields[19]);\n+ decode_message_.Ve = std::stod(fields[20]);\n+ decode_message_.Vn = std::stod(fields[21]);\n+ decode_message_.Vu = std::stod(fields[22]);\n+ decode_message_.V = std::stod(fields[23]);\n+\n+ decode_message_.vn_std = std::stod(fields[24]);\n+ decode_message_.ve_std = std::stod(fields[25]);\n+ decode_message_.ve_std = std::stod(fields[26]);\n+ decode_message_.v_std = std::stod(fields[27]);\n+ decode_message_.Veh_AccX = std::stod(fields[28]);\n+ decode_message_.Veh_AccY = std::stod(fields[29]);\n+ decode_message_.Veh_AccZ = std::stod(fields[30]);\n+\n+ decode_message_.Roll = std::stod(fields[31]);\n+ decode_message_.Pitch = std::stod(fields[32]);\n+ decode_message_.Heading = std::stod(fields[33]);\n+ decode_message_.roll_std = std::stod(fields[34]);\n+ decode_message_.pitch_std = std::stod(fields[35]);\n+ decode_message_.heading_std = std::stod(fields[36]);\n+ decode_message_.Veh_GyroX = std::stod(fields[37]);\n+ decode_message_.Veh_GyroY = std::stod(fields[38]);\n+ decode_message_.Veh_GyroZ = std::stod(fields[39]);\n+\n+ decode_message_.Longitude = std::stod(fields[40]);\n+ decode_message_.Latitude = std::stod(fields[41]);\n+}\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h b/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h\nnew file mode 100644\nindex 00000000000..603d21c9efd\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h\n@@ -0,0 +1,153 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include <string>\n+#include <vector>\n+\n+#include \"modules/common_msgs/sensor_msgs/gnss.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/gnss_raw_observation.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/heading.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/imu.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/ins.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/gnss/parser/parser.h\"\n+#include \"modules/drivers/gnss/parser/parser_common.h\"\n+#include \"modules/drivers/gnss/util/time_conversion.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+enum CxzlSoluStatusT : int {\n+ INIT_STATUS = 0,\n+ SATELLITE_NAVIGATION = 1,\n+ INTEGRATED_NAVIGATION = 2,\n+ INERTIAL_NAVIGATION = 3,\n+};\n+\n+enum CxzlSatelliteStatusT : int {\n+ POS_NONE = 0,\n+ POS_LOCATEDIRECT_SINGLE = 1,\n+ POS_LOCATEDIRECT_DIFF = 2,\n+ POS_LOCATEDIRECT_COMB = 3,\n+ POS_LOCATEDIRECT_FIXED = 4,\n+ POS_LOCATEDIRECT_FLOAT = 5,\n+ POS_LOCATE_SINGLE = 6,\n+ POS_LOCATE_DIFF = 7,\n+ POS_LOCATE_FIXED = 8,\n+ POS_LOCATE_FLOAT = 9,\n+};\n+\n+struct CxzlMessage {\n+ int GPSWeek;\n+ double GPSTime;\n+\n+ double GyroX;\n+ double GyroY;\n+ double GyroZ;\n+ double AccX;\n+ double AccY;\n+ double AccZ;\n+\n+ CxzlSoluStatusT Solution_status;\n+ int NSV1;\n+ CxzlSatelliteStatusT Satellite_status;\n+ int NSV2;\n+ double Age;\n+ int NSVD1;\n+ int NSVD2;\n+\n+ double Altitude;\n+\n+ double Pe_std = 0.0;\n+ double Pn_std = 0.0;\n+ double Pu_std = 0.0;\n+\n+ double Ve;\n+ double Vn;\n+ double Vu;\n+ double V;\n+ double vn_std = 0.0;\n+ double ve_std = 0.0;\n+ double vu_std = 0.0;\n+ double v_std = 0.0;\n+\n+ double Veh_AccX;\n+ double Veh_AccY;\n+ double Veh_AccZ;\n+\n+ double Roll;\n+ double Pitch;\n+ double Heading;\n+ double roll_std = 0.0;\n+ double pitch_std = 0.0;\n+ double heading_std = 0.0;\n+ double Veh_GyroX;\n+ double Veh_GyroY;\n+ double Veh_GyroZ;\n+\n+ double Longitude;\n+ double Latitude;\n+\n+ unsigned char check;\n+ double gps_timestamp_sec = 0;\n+};\n+\n+struct CxzlProtocol {\n+ std::string cxhead = \"$CXINSPVA\";\n+ size_t CXZL_SIZE = 42;\n+};\n+\n+\n+class CxzlBaseParser : public Parser {\n+ public:\n+ CxzlBaseParser() {}\n+ explicit CxzlBaseParser(const config::Config &config);\n+\n+ virtual bool PrepareMessage();\n+\n+ virtual void GetMessages(MessageInfoVec *messages);\n+\n+ protected:\n+ void PrepareMessageStatus(const uint8_t &system_state,\n+ const uint8_t &satellite_status);\n+ CxzlMessage decode_message_;\n+\n+ private:\n+ void FillGnssBestpos();\n+ void FillIns();\n+ void FillInsStat();\n+ void FillImu();\n+ void FillHeading();\n+ void PrepareMessageCxzl(const std::vector<std::string> &fields);\n+\n+ GnssBestPose bestpos_;\n+ // bestpos 1hz rate control\n+ RateControl bestpos_ratecontrol_{PERIOD_NS_1HZ};\n+ Imu imu_;\n+ Heading heading_;\n+ Ins ins_;\n+ InsStat ins_stat_;\n+\n+ std::string input_str;\n+ CxzlProtocol protocol_;\n+};\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/gnss/parser/parser.h b/modules/drivers/gnss/parser/parser.h\nindex fbff608ccb6..5f04180c1b9 100644\n--- a/modules/drivers/gnss/parser/parser.h\n+++ b/modules/drivers/gnss/parser/parser.h\n@@ -83,6 +83,7 @@ class Parser {\n static Parser *CreateAsensing(const config::Config &config);\n static Parser *CreateBroadGnssText(const config::Config &config);\n static Parser *CreateEnbroad(const config::Config &config);\n+ static Parser *CreateCxzlCfg(const config::Config &config);\n static Parser *CreateForsenseText(const config::Config &config);\n \n static Parser *CreateParser(const config::Config &config) {\n@@ -97,6 +98,8 @@ class Parser {\n return Parser::CreateBroadGnssText(config);\n case config::Stream::ENBROAD_BINARY:\n return Parser::CreateEnbroad(config);\n+ case config::Stream::CXZL_TEXT:\n+ return Parser::CreateCxzlCfg(config);\n case config::Stream::FORSENSE_TEXT:\n return Parser::CreateForsenseText(config);\n default:\ndiff --git a/modules/drivers/gnss/proto/config.proto b/modules/drivers/gnss/proto/config.proto\nindex eb5ff2048f8..4f42a6dd849 100644\n--- a/modules/drivers/gnss/proto/config.proto\n+++ b/modules/drivers/gnss/proto/config.proto\n@@ -31,6 +31,8 @@ message Stream {\n \n FORSENSE_TEXT = 50;\n \n+ CXZL_TEXT = 60;\n+\n }\n optional Format format = 1;\n \n"},"changed_files":{"kind":"list like","value":["modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc","modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h","modules/drivers/gnss/parser/parser.h","modules/drivers/gnss/proto/config.proto"],"string":"[\n \"modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc\",\n \"modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h\",\n \"modules/drivers/gnss/parser/parser.h\",\n \"modules/drivers/gnss/proto/config.proto\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":556,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15492,"string":"15,492"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"ForsenseDecode"},"pr_body":{"kind":"string","value":"ForsenseDecode"},"base_sha":{"kind":"string","value":"fb23f6a1520a34ad38934b0c81fe5377452c2deb"},"head_sha":{"kind":"string","value":"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\nnew file mode 100644\nindex 00000000000..a67b25391b2\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\n@@ -0,0 +1,184 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\"\n+\n+#include <cmath>\n+#include <iostream>\n+#include <limits>\n+#include <memory>\n+#include <vector>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\n+\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\n+ if (data_ == nullptr) {\n+ return;\n+ }\n+ if (!PrepareMessage()) {\n+ return;\n+ }\n+\n+ FillGnssBestpos();\n+ FillImu();\n+ FillHeading();\n+ FillIns();\n+ FillInsStat();\n+\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\n+ messages->push_back(MessageInfo{MessageType::HEADING,\n+ reinterpret_cast<MessagePtr>(&heading_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\n+}\n+\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\n+ const uint8_t& satellite_status) {\n+ switch (system_state) {\n+ case 0:\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\n+ break;\n+ case 1:\n+ case 2:\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\n+ break;\n+ default:\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\n+ }\n+ switch (satellite_status) {\n+ case 0:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ break;\n+ case 1:\n+ case 6:\n+ decode_message_.solution_type = SolutionType::SINGLE;\n+ break;\n+ case 2:\n+ case 7:\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\n+ break;\n+ case 3:\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\n+ break;\n+ case 4:\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\n+ break;\n+ case 5:\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\n+ break;\n+ case 8:\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\n+ break;\n+ case 9:\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\n+ break;\n+ default:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillGnssBestpos() {\n+ bestpos_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ bestpos_.set_sol_status(decode_message_.solution_status);\n+ bestpos_.set_sol_type(decode_message_.solution_type);\n+ bestpos_.set_latitude(decode_message_.Latitude);\n+ bestpos_.set_longitude(decode_message_.Longitude);\n+ bestpos_.set_height_msl(decode_message_.Altitude);\n+ bestpos_.set_latitude_std_dev(decode_message_.lat_std);\n+ bestpos_.set_longitude_std_dev(decode_message_.lon_std);\n+ bestpos_.set_height_std_dev(decode_message_.alti_std);\n+ bestpos_.set_num_sats_tracked(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_in_solution(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_l1(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_multi(decode_message_.satellites_num);\n+}\n+\n+void ForsenseBaseParser::FillIns() {\n+ ins_.mutable_euler_angles()->set_x(decode_message_.Roll * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_y(-decode_message_.Pitch * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_z(\n+ azimuth_deg_to_yaw_rad(decode_message_.Heading));\n+ ins_.mutable_position()->set_lon(decode_message_.Longitude);\n+ ins_.mutable_position()->set_lat(decode_message_.Latitude);\n+ ins_.mutable_position()->set_height(decode_message_.Altitude);\n+ ins_.mutable_linear_velocity()->set_x(decode_message_.Ve);\n+ ins_.mutable_linear_velocity()->set_y(decode_message_.Vn);\n+ ins_.mutable_linear_velocity()->set_z(decode_message_.Vu);\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ ins_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, ins_.mutable_angular_velocity());\n+ ins_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\n+\n+ switch (decode_message_.solution_type) {\n+ case SolutionType::INS_RTKFIXED:\n+ case SolutionType::NARROW_INT:\n+ case SolutionType::INS_RTKFLOAT:\n+ case SolutionType::NARROW_FLOAT:\n+ ins_.set_type(Ins::GOOD);\n+ break;\n+ case SolutionType::SINGLE:\n+ ins_.set_type(Ins::CONVERGING);\n+ break;\n+ default:\n+ ins_.set_type(Ins::INVALID);\n+ break;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillInsStat() {\n+ ins_stat_.set_ins_status(decode_message_.solution_status);\n+ ins_stat_.set_pos_type(decode_message_.solution_type);\n+}\n+\n+void ForsenseBaseParser::FillImu() {\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ imu_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, imu_.mutable_angular_velocity());\n+ imu_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+}\n+\n+void ForsenseBaseParser::FillHeading() {\n+ heading_.set_solution_status(decode_message_.solution_status);\n+ heading_.set_position_type(decode_message_.solution_type);\n+ heading_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ heading_.set_heading(decode_message_.Heading);\n+ heading_.set_pitch(decode_message_.Pitch);\n+ heading_.set_heading_std_dev(decode_message_.yaw_std);\n+ heading_.set_pitch_std_dev(decode_message_.pitch_std);\n+ // heading_.set_station_id(\"0\");\n+ heading_.set_satellite_number_multi(decode_message_.satellites_num);\n+ heading_.set_satellite_soulution_number(decode_message_.satellites_num);\n+}\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\nnew file mode 100644\nindex 00000000000..e9a10c9de74\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\n@@ -0,0 +1,112 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include <string>\n+\n+#include \"modules/common_msgs/sensor_msgs/gnss.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/gnss_raw_observation.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/heading.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/imu.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/ins.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/gnss/parser/parser.h\"\n+#include \"modules/drivers/gnss/parser/parser_common.h\"\n+#include \"modules/drivers/gnss/util/time_conversion.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+struct ForsenseMessage {\n+ std::string messageID;\n+ int GPSWeek;\n+ double GPSTime;\n+ double Heading;\n+ double Pitch;\n+ double Roll;\n+ double GyroX;\n+ double GyroY;\n+ double GyroZ;\n+ double AccX;\n+ double AccY;\n+ double AccZ;\n+ double Latitude;\n+ double Longitude;\n+ double Altitude;\n+ double Ve;\n+ double Vn;\n+ double Vu;\n+ double V;\n+ int NSV1;\n+ int NSV2;\n+ SolutionStatus solution_status;\n+ SolutionType solution_type;\n+ double Age;\n+ std::string WarningCs;\n+ uint8_t satellites_num = 0;\n+ uint8_t wheel_speed_status = 0;\n+ double gps_timestamp_sec = 0;\n+ // 数据标准差\n+ double lat_std = 0.0;\n+ double lon_std = 0.0;\n+ double alti_std = 0.0;\n+ double vn_std = 0.0;\n+ double ve_std = 0.0;\n+ double vu_std = 0.0;\n+ double v_std = 0.0;\n+\n+ double roll_std = 0.0;\n+ double pitch_std = 0.0;\n+ double yaw_std = 0.0;\n+};\n+\n+class ForsenseBaseParser : public Parser {\n+ public:\n+ ForsenseBaseParser() {}\n+ explicit ForsenseBaseParser(const config::Config &config);\n+\n+ virtual bool PrepareMessage() = 0;\n+\n+ virtual void GetMessages(MessageInfoVec *messages);\n+\n+ protected:\n+ void PrepareMessageStatus(const uint8_t &system_state,\n+ const uint8_t &satellite_status);\n+ ForsenseMessage decode_message_;\n+\n+ private:\n+ void FillGnssBestpos();\n+ void FillIns();\n+ void FillInsStat();\n+ void FillImu();\n+ void FillHeading();\n+\n+ GnssBestPose bestpos_;\n+ Imu imu_;\n+ Heading heading_;\n+ Ins ins_;\n+ InsStat ins_stat_;\n+};\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_text_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_text_parser.cc\nnew file mode 100644\nindex 00000000000..bcba7f91f04\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_text_parser.cc\n@@ -0,0 +1,139 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include <cmath>\n+#include <limits>\n+#include <memory>\n+#include <sstream>\n+#include <string>\n+#include <vector>\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\"\n+#include \"modules/drivers/gnss/parser/parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+struct ForsenseProtocol {\n+ std::string GPYJ = \"$GPYJ\";\n+ size_t GPYJ_SIZE = 24;\n+};\n+\n+class ForsenseTextParser : public ForsenseBaseParser {\n+ public:\n+ explicit ForsenseTextParser(const config::Config &config)\n+ : ForsenseBaseParser(config) {}\n+ bool PrepareMessage() override;\n+\n+ private:\n+ void PrepareMessageGPYJ(const std::vector<std::string> &fields);\n+\n+ ForsenseProtocol protocol_;\n+ std::string input_str_;\n+};\n+\n+Parser *Parser::CreateForsenseText(const config::Config &config) {\n+ return new ForsenseTextParser(config);\n+}\n+\n+bool ForsenseTextParser::PrepareMessage() {\n+ ADEBUG << \"Forsense ASCII is: \" << data_;\n+\n+ // message may be truncated, just save the last message\n+ const uint8_t *data_start = data_end_;\n+ for (; data_start != data_; --data_start) {\n+ if (*data_start == '$') {\n+ break;\n+ }\n+ }\n+ if (data_start != data_) {\n+ AWARN << \"Forsense message has been truncated: \" << data_;\n+ }\n+\n+ if (*data_start != '$') {\n+ input_str_.append(reinterpret_cast<const char *>(data_start),\n+ std::distance(data_start, data_end_));\n+ } else {\n+ input_str_.assign(reinterpret_cast<const char *>(data_start),\n+ std::distance(data_start, data_end_));\n+ }\n+\n+ if (*(data_end_ - 1) != 0x0A) {\n+ AWARN << \"Forsense ASCII message is not complete: \" << data_start;\n+ return false;\n+ }\n+\n+ std::vector<std::string> fields;\n+ std::stringstream ss(input_str_);\n+ for (std::string field; std::getline(ss, field, ',');) {\n+ fields.push_back(field);\n+ }\n+ if (fields.empty()) {\n+ return false;\n+ }\n+ if (fields[0] == protocol_.GPYJ) {\n+ if (fields.size() < protocol_.GPYJ_SIZE) {\n+ AERROR << \"GPYJ message format error: \" << data_start;\n+ return false;\n+ }\n+ PrepareMessageGPYJ(fields);\n+ return true;\n+ }\n+ return false;\n+}\n+\n+void ForsenseTextParser::PrepareMessageGPYJ(\n+ const std::vector<std::string> &fields) {\n+ decode_message_.messageID = fields[0];\n+ decode_message_.GPSWeek = std::stoi(fields[1]);\n+ decode_message_.GPSTime = std::stod(fields[2]);\n+ decode_message_.gps_timestamp_sec =\n+ decode_message_.GPSWeek * SECONDS_PER_WEEK + decode_message_.GPSTime;\n+ decode_message_.Heading = std::stod(fields[3]);\n+ decode_message_.Pitch = std::stod(fields[4]);\n+ decode_message_.Roll = std::stod(fields[5]);\n+ decode_message_.GyroX = std::stod(fields[6]);\n+ decode_message_.GyroY = std::stod(fields[7]);\n+ decode_message_.GyroZ = std::stod(fields[8]);\n+ decode_message_.AccX = std::stod(fields[9]);\n+ decode_message_.AccY = std::stod(fields[10]);\n+ decode_message_.AccZ = std::stod(fields[11]);\n+ decode_message_.Latitude = std::stod(fields[12].empty() ? \"0\" : fields[12]);\n+ decode_message_.Longitude = std::stod(fields[13].empty() ? \"0\" : fields[13]);\n+ decode_message_.Altitude = std::stod(fields[14].empty() ? \"0\" : fields[14]);\n+ decode_message_.Ve = std::stod(fields[15]);\n+ decode_message_.Vn = std::stod(fields[16]);\n+ decode_message_.Vu = std::stod(fields[17]);\n+ decode_message_.V = std::stod(fields[18]);\n+ decode_message_.NSV1 = std::stoi(fields[19]);\n+ decode_message_.NSV2 = std::stoi(fields[20]);\n+ int status = std::stoi(fields[21]);\n+ PrepareMessageStatus(status % 10, status / 10);\n+ decode_message_.Age = std::stod(fields[22]);\n+ decode_message_.WarningCs = fields[23];\n+}\n+\n+\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/gnss/parser/parser.h b/modules/drivers/gnss/parser/parser.h\nindex 8a1215ddf6a..fbff608ccb6 100644\n--- a/modules/drivers/gnss/parser/parser.h\n+++ b/modules/drivers/gnss/parser/parser.h\n@@ -83,6 +83,7 @@ class Parser {\n static Parser *CreateAsensing(const config::Config &config);\n static Parser *CreateBroadGnssText(const config::Config &config);\n static Parser *CreateEnbroad(const config::Config &config);\n+ static Parser *CreateForsenseText(const config::Config &config);\n \n static Parser *CreateParser(const config::Config &config) {\n switch (config.data().format()) {\n@@ -96,6 +97,8 @@ class Parser {\n return Parser::CreateBroadGnssText(config);\n case config::Stream::ENBROAD_BINARY:\n return Parser::CreateEnbroad(config);\n+ case config::Stream::FORSENSE_TEXT:\n+ return Parser::CreateForsenseText(config);\n default:\n return nullptr;\n }\ndiff --git a/modules/drivers/gnss/proto/config.proto b/modules/drivers/gnss/proto/config.proto\nindex a03a5dc9d8b..eb5ff2048f8 100644\n--- a/modules/drivers/gnss/proto/config.proto\n+++ b/modules/drivers/gnss/proto/config.proto\n@@ -28,6 +28,8 @@ message Stream {\n \n ENBROAD_TEXT = 40;\n ENBROAD_BINARY = 41;\n+ \n+ FORSENSE_TEXT = 50;\n \n }\n optional Format format = 1;\n"},"changed_files":{"kind":"list like","value":["modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc","modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h","modules/drivers/gnss/parser/forsense_parser/forsense_text_parser.cc","modules/drivers/gnss/parser/parser.h","modules/drivers/gnss/proto/config.proto"],"string":"[\n \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\",\n \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\",\n \"modules/drivers/gnss/parser/forsense_parser/forsense_text_parser.cc\",\n \"modules/drivers/gnss/parser/parser.h\",\n \"modules/drivers/gnss/proto/config.proto\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"rename this file","path":"1","hunk":"","resolving_sha":"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522","resolving_diff":""},{"comment":"delete files in modules/drivers/gnss/conf","path":"modules/drivers/gnss/conf/.gnss_conf.pb.txt.svu","hunk":"","resolving_sha":"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522","resolving_diff":""},{"comment":"delete files in .vs","path":"modules/drivers/gnss/parser/forsense_parser/.vs/ProjectSettings.json","hunk":"","resolving_sha":"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522","resolving_diff":""},{"comment":"use gps time，it will be set as unix time in data_parser.cc .","path":"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc","hunk":"@@ -0,0 +1,184 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\"\n+\n+#include <cmath>\n+#include <iostream>\n+#include <limits>\n+#include <memory>\n+#include <vector>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\n+\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\n+ if (data_ == nullptr) {\n+ return;\n+ }\n+ if (!PrepareMessage()) {\n+ return;\n+ }\n+\n+ FillGnssBestpos();\n+ FillImu();\n+ FillHeading();\n+ FillIns();\n+ FillInsStat();\n+\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\n+ messages->push_back(MessageInfo{MessageType::HEADING,\n+ reinterpret_cast<MessagePtr>(&heading_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\n+}\n+\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\n+ const uint8_t& satellite_status) {\n+ switch (system_state) {\n+ case 0:\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\n+ break;\n+ case 1:\n+ case 2:\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\n+ break;\n+ default:\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\n+ }\n+ switch (satellite_status) {\n+ case 0:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ break;\n+ case 1:\n+ case 6:\n+ decode_message_.solution_type = SolutionType::SINGLE;\n+ break;\n+ case 2:\n+ case 7:\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\n+ break;\n+ case 3:\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\n+ break;\n+ case 4:\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\n+ break;\n+ case 5:\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\n+ break;\n+ case 8:\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\n+ break;\n+ case 9:\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\n+ break;\n+ default:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillGnssBestpos() {\n+ bestpos_.set_measurement_time(decode_message_.unix_timestamp_sec);","resolving_sha":"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522","resolving_diff":"diff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\nnew file mode 100644\nindex 00000000000..a67b25391b2\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\n@@ -0,0 +1,184 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\"\n+\n+#include <cmath>\n+#include <iostream>\n+#include <limits>\n+#include <memory>\n+#include <vector>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\n+\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\n+ if (data_ == nullptr) {\n+ return;\n+ }\n+ if (!PrepareMessage()) {\n+ return;\n+ }\n+\n+ FillGnssBestpos();\n+ FillImu();\n+ FillHeading();\n+ FillIns();\n+ FillInsStat();\n+\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\n+ messages->push_back(MessageInfo{MessageType::HEADING,\n+ reinterpret_cast<MessagePtr>(&heading_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\n+}\n+\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\n+ const uint8_t& satellite_status) {\n+ switch (system_state) {\n+ case 0:\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\n+ break;\n+ case 1:\n+ case 2:\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\n+ break;\n+ default:\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\n+ }\n+ switch (satellite_status) {\n+ case 0:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ break;\n+ case 1:\n+ case 6:\n+ decode_message_.solution_type = SolutionType::SINGLE;\n+ break;\n+ case 2:\n+ case 7:\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\n+ break;\n+ case 3:\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\n+ break;\n+ case 4:\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\n+ break;\n+ case 5:\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\n+ break;\n+ case 8:\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\n+ break;\n+ case 9:\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\n+ break;\n+ default:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillGnssBestpos() {\n+ bestpos_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ bestpos_.set_sol_status(decode_message_.solution_status);\n+ bestpos_.set_sol_type(decode_message_.solution_type);\n+ bestpos_.set_latitude(decode_message_.Latitude);\n+ bestpos_.set_longitude(decode_message_.Longitude);\n+ bestpos_.set_height_msl(decode_message_.Altitude);\n+ bestpos_.set_latitude_std_dev(decode_message_.lat_std);\n+ bestpos_.set_longitude_std_dev(decode_message_.lon_std);\n+ bestpos_.set_height_std_dev(decode_message_.alti_std);\n+ bestpos_.set_num_sats_tracked(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_in_solution(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_l1(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_multi(decode_message_.satellites_num);\n+}\n+\n+void ForsenseBaseParser::FillIns() {\n+ ins_.mutable_euler_angles()->set_x(decode_message_.Roll * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_y(-decode_message_.Pitch * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_z(\n+ azimuth_deg_to_yaw_rad(decode_message_.Heading));\n+ ins_.mutable_position()->set_lon(decode_message_.Longitude);\n+ ins_.mutable_position()->set_lat(decode_message_.Latitude);\n+ ins_.mutable_position()->set_height(decode_message_.Altitude);\n+ ins_.mutable_linear_velocity()->set_x(decode_message_.Ve);\n+ ins_.mutable_linear_velocity()->set_y(decode_message_.Vn);\n+ ins_.mutable_linear_velocity()->set_z(decode_message_.Vu);\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ ins_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, ins_.mutable_angular_velocity());\n+ ins_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\n+\n+ switch (decode_message_.solution_type) {\n+ case SolutionType::INS_RTKFIXED:\n+ case SolutionType::NARROW_INT:\n+ case SolutionType::INS_RTKFLOAT:\n+ case SolutionType::NARROW_FLOAT:\n+ ins_.set_type(Ins::GOOD);\n+ break;\n+ case SolutionType::SINGLE:\n+ ins_.set_type(Ins::CONVERGING);\n+ break;\n+ default:\n+ ins_.set_type(Ins::INVALID);\n+ break;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillInsStat() {\n+ ins_stat_.set_ins_status(decode_message_.solution_status);\n+ ins_stat_.set_pos_type(decode_message_.solution_type);\n+}\n+\n+void ForsenseBaseParser::FillImu() {\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ imu_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, imu_.mutable_angular_velocity());\n+ imu_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+}\n+\n+void ForsenseBaseParser::FillHeading() {\n+ heading_.set_solution_status(decode_message_.solution_status);\n+ heading_.set_position_type(decode_message_.solution_type);\n+ heading_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ heading_.set_heading(decode_message_.Heading);\n+ heading_.set_pitch(decode_message_.Pitch);\n+ heading_.set_heading_std_dev(decode_message_.yaw_std);\n+ heading_.set_pitch_std_dev(decode_message_.pitch_std);\n+ // heading_.set_station_id(\"0\");\n+ heading_.set_satellite_number_multi(decode_message_.satellites_num);\n+ heading_.set_satellite_soulution_number(decode_message_.satellites_num);\n+}\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\n"},{"comment":"2024","path":"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc","hunk":"@@ -0,0 +1,184 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.","resolving_sha":"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522","resolving_diff":"diff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\nnew file mode 100644\nindex 00000000000..a67b25391b2\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\n@@ -0,0 +1,184 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// An parser for decoding binary messages from a NovAtel receiver. The following\n+// messages must be\n+// logged in order for this parser to work properly.\n+//\n+#include \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\"\n+\n+#include <cmath>\n+#include <iostream>\n+#include <limits>\n+#include <memory>\n+#include <vector>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\n+\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\n+ if (data_ == nullptr) {\n+ return;\n+ }\n+ if (!PrepareMessage()) {\n+ return;\n+ }\n+\n+ FillGnssBestpos();\n+ FillImu();\n+ FillHeading();\n+ FillIns();\n+ FillInsStat();\n+\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\n+ messages->push_back(MessageInfo{MessageType::HEADING,\n+ reinterpret_cast<MessagePtr>(&heading_)});\n+ messages->push_back(\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\n+}\n+\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\n+ const uint8_t& satellite_status) {\n+ switch (system_state) {\n+ case 0:\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\n+ break;\n+ case 1:\n+ case 2:\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\n+ break;\n+ default:\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\n+ }\n+ switch (satellite_status) {\n+ case 0:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ break;\n+ case 1:\n+ case 6:\n+ decode_message_.solution_type = SolutionType::SINGLE;\n+ break;\n+ case 2:\n+ case 7:\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\n+ break;\n+ case 3:\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\n+ break;\n+ case 4:\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\n+ break;\n+ case 5:\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\n+ break;\n+ case 8:\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\n+ break;\n+ case 9:\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\n+ break;\n+ default:\n+ decode_message_.solution_type = SolutionType::NONE;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillGnssBestpos() {\n+ bestpos_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ bestpos_.set_sol_status(decode_message_.solution_status);\n+ bestpos_.set_sol_type(decode_message_.solution_type);\n+ bestpos_.set_latitude(decode_message_.Latitude);\n+ bestpos_.set_longitude(decode_message_.Longitude);\n+ bestpos_.set_height_msl(decode_message_.Altitude);\n+ bestpos_.set_latitude_std_dev(decode_message_.lat_std);\n+ bestpos_.set_longitude_std_dev(decode_message_.lon_std);\n+ bestpos_.set_height_std_dev(decode_message_.alti_std);\n+ bestpos_.set_num_sats_tracked(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_in_solution(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_l1(decode_message_.satellites_num);\n+ bestpos_.set_num_sats_multi(decode_message_.satellites_num);\n+}\n+\n+void ForsenseBaseParser::FillIns() {\n+ ins_.mutable_euler_angles()->set_x(decode_message_.Roll * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_y(-decode_message_.Pitch * DEG_TO_RAD);\n+ ins_.mutable_euler_angles()->set_z(\n+ azimuth_deg_to_yaw_rad(decode_message_.Heading));\n+ ins_.mutable_position()->set_lon(decode_message_.Longitude);\n+ ins_.mutable_position()->set_lat(decode_message_.Latitude);\n+ ins_.mutable_position()->set_height(decode_message_.Altitude);\n+ ins_.mutable_linear_velocity()->set_x(decode_message_.Ve);\n+ ins_.mutable_linear_velocity()->set_y(decode_message_.Vn);\n+ ins_.mutable_linear_velocity()->set_z(decode_message_.Vu);\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ ins_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, ins_.mutable_angular_velocity());\n+ ins_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\n+\n+ switch (decode_message_.solution_type) {\n+ case SolutionType::INS_RTKFIXED:\n+ case SolutionType::NARROW_INT:\n+ case SolutionType::INS_RTKFLOAT:\n+ case SolutionType::NARROW_FLOAT:\n+ ins_.set_type(Ins::GOOD);\n+ break;\n+ case SolutionType::SINGLE:\n+ ins_.set_type(Ins::CONVERGING);\n+ break;\n+ default:\n+ ins_.set_type(Ins::INVALID);\n+ break;\n+ }\n+}\n+\n+void ForsenseBaseParser::FillInsStat() {\n+ ins_stat_.set_ins_status(decode_message_.solution_status);\n+ ins_stat_.set_pos_type(decode_message_.solution_type);\n+}\n+\n+void ForsenseBaseParser::FillImu() {\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\n+ imu_.mutable_linear_acceleration());\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\n+ decode_message_.GyroZ, imu_.mutable_angular_velocity());\n+ imu_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+}\n+\n+void ForsenseBaseParser::FillHeading() {\n+ heading_.set_solution_status(decode_message_.solution_status);\n+ heading_.set_position_type(decode_message_.solution_type);\n+ heading_.set_measurement_time(decode_message_.gps_timestamp_sec);\n+ heading_.set_heading(decode_message_.Heading);\n+ heading_.set_pitch(decode_message_.Pitch);\n+ heading_.set_heading_std_dev(decode_message_.yaw_std);\n+ heading_.set_pitch_std_dev(decode_message_.pitch_std);\n+ // heading_.set_station_id(\"0\");\n+ heading_.set_satellite_number_multi(decode_message_.satellites_num);\n+ heading_.set_satellite_soulution_number(decode_message_.satellites_num);\n+}\n+\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\n"}],"string":"[\n {\n \"comment\": \"rename this file\",\n \"path\": \"1\",\n \"hunk\": \"\",\n \"resolving_sha\": \"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522\",\n \"resolving_diff\": \"\"\n },\n {\n \"comment\": \"delete files in modules/drivers/gnss/conf\",\n \"path\": \"modules/drivers/gnss/conf/.gnss_conf.pb.txt.svu\",\n \"hunk\": \"\",\n \"resolving_sha\": \"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522\",\n \"resolving_diff\": \"\"\n },\n {\n \"comment\": \"delete files in .vs\",\n \"path\": \"modules/drivers/gnss/parser/forsense_parser/.vs/ProjectSettings.json\",\n \"hunk\": \"\",\n \"resolving_sha\": \"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522\",\n \"resolving_diff\": \"\"\n },\n {\n \"comment\": \"use gps time，it will be set as unix time in data_parser.cc .\",\n \"path\": \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\",\n \"hunk\": \"@@ -0,0 +1,184 @@\\n+/******************************************************************************\\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+\\n+// An parser for decoding binary messages from a NovAtel receiver. The following\\n+// messages must be\\n+// logged in order for this parser to work properly.\\n+//\\n+#include \\\"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\\\"\\n+\\n+#include <cmath>\\n+#include <iostream>\\n+#include <limits>\\n+#include <memory>\\n+#include <vector>\\n+\\n+namespace apollo {\\n+namespace drivers {\\n+namespace gnss {\\n+\\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\\n+\\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\\n+ if (data_ == nullptr) {\\n+ return;\\n+ }\\n+ if (!PrepareMessage()) {\\n+ return;\\n+ }\\n+\\n+ FillGnssBestpos();\\n+ FillImu();\\n+ FillHeading();\\n+ FillIns();\\n+ FillInsStat();\\n+\\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\\n+ messages->push_back(\\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\\n+ messages->push_back(MessageInfo{MessageType::HEADING,\\n+ reinterpret_cast<MessagePtr>(&heading_)});\\n+ messages->push_back(\\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\\n+}\\n+\\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\\n+ const uint8_t& satellite_status) {\\n+ switch (system_state) {\\n+ case 0:\\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\\n+ break;\\n+ case 1:\\n+ case 2:\\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\\n+ break;\\n+ default:\\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\\n+ }\\n+ switch (satellite_status) {\\n+ case 0:\\n+ decode_message_.solution_type = SolutionType::NONE;\\n+ break;\\n+ case 1:\\n+ case 6:\\n+ decode_message_.solution_type = SolutionType::SINGLE;\\n+ break;\\n+ case 2:\\n+ case 7:\\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\\n+ break;\\n+ case 3:\\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\\n+ break;\\n+ case 4:\\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\\n+ break;\\n+ case 5:\\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\\n+ break;\\n+ case 8:\\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\\n+ break;\\n+ case 9:\\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\\n+ break;\\n+ default:\\n+ decode_message_.solution_type = SolutionType::NONE;\\n+ }\\n+}\\n+\\n+void ForsenseBaseParser::FillGnssBestpos() {\\n+ bestpos_.set_measurement_time(decode_message_.unix_timestamp_sec);\",\n \"resolving_sha\": \"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522\",\n \"resolving_diff\": \"diff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\\nnew file mode 100644\\nindex 00000000000..a67b25391b2\\n--- /dev/null\\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\\n@@ -0,0 +1,184 @@\\n+/******************************************************************************\\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+\\n+// An parser for decoding binary messages from a NovAtel receiver. The following\\n+// messages must be\\n+// logged in order for this parser to work properly.\\n+//\\n+#include \\\"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\\\"\\n+\\n+#include <cmath>\\n+#include <iostream>\\n+#include <limits>\\n+#include <memory>\\n+#include <vector>\\n+\\n+namespace apollo {\\n+namespace drivers {\\n+namespace gnss {\\n+\\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\\n+\\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\\n+ if (data_ == nullptr) {\\n+ return;\\n+ }\\n+ if (!PrepareMessage()) {\\n+ return;\\n+ }\\n+\\n+ FillGnssBestpos();\\n+ FillImu();\\n+ FillHeading();\\n+ FillIns();\\n+ FillInsStat();\\n+\\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\\n+ messages->push_back(\\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\\n+ messages->push_back(MessageInfo{MessageType::HEADING,\\n+ reinterpret_cast<MessagePtr>(&heading_)});\\n+ messages->push_back(\\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\\n+}\\n+\\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\\n+ const uint8_t& satellite_status) {\\n+ switch (system_state) {\\n+ case 0:\\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\\n+ break;\\n+ case 1:\\n+ case 2:\\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\\n+ break;\\n+ default:\\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\\n+ }\\n+ switch (satellite_status) {\\n+ case 0:\\n+ decode_message_.solution_type = SolutionType::NONE;\\n+ break;\\n+ case 1:\\n+ case 6:\\n+ decode_message_.solution_type = SolutionType::SINGLE;\\n+ break;\\n+ case 2:\\n+ case 7:\\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\\n+ break;\\n+ case 3:\\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\\n+ break;\\n+ case 4:\\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\\n+ break;\\n+ case 5:\\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\\n+ break;\\n+ case 8:\\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\\n+ break;\\n+ case 9:\\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\\n+ break;\\n+ default:\\n+ decode_message_.solution_type = SolutionType::NONE;\\n+ }\\n+}\\n+\\n+void ForsenseBaseParser::FillGnssBestpos() {\\n+ bestpos_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+ bestpos_.set_sol_status(decode_message_.solution_status);\\n+ bestpos_.set_sol_type(decode_message_.solution_type);\\n+ bestpos_.set_latitude(decode_message_.Latitude);\\n+ bestpos_.set_longitude(decode_message_.Longitude);\\n+ bestpos_.set_height_msl(decode_message_.Altitude);\\n+ bestpos_.set_latitude_std_dev(decode_message_.lat_std);\\n+ bestpos_.set_longitude_std_dev(decode_message_.lon_std);\\n+ bestpos_.set_height_std_dev(decode_message_.alti_std);\\n+ bestpos_.set_num_sats_tracked(decode_message_.satellites_num);\\n+ bestpos_.set_num_sats_in_solution(decode_message_.satellites_num);\\n+ bestpos_.set_num_sats_l1(decode_message_.satellites_num);\\n+ bestpos_.set_num_sats_multi(decode_message_.satellites_num);\\n+}\\n+\\n+void ForsenseBaseParser::FillIns() {\\n+ ins_.mutable_euler_angles()->set_x(decode_message_.Roll * DEG_TO_RAD);\\n+ ins_.mutable_euler_angles()->set_y(-decode_message_.Pitch * DEG_TO_RAD);\\n+ ins_.mutable_euler_angles()->set_z(\\n+ azimuth_deg_to_yaw_rad(decode_message_.Heading));\\n+ ins_.mutable_position()->set_lon(decode_message_.Longitude);\\n+ ins_.mutable_position()->set_lat(decode_message_.Latitude);\\n+ ins_.mutable_position()->set_height(decode_message_.Altitude);\\n+ ins_.mutable_linear_velocity()->set_x(decode_message_.Ve);\\n+ ins_.mutable_linear_velocity()->set_y(decode_message_.Vn);\\n+ ins_.mutable_linear_velocity()->set_z(decode_message_.Vu);\\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\\n+ ins_.mutable_linear_acceleration());\\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\\n+ decode_message_.GyroZ, ins_.mutable_angular_velocity());\\n+ ins_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\\n+\\n+ switch (decode_message_.solution_type) {\\n+ case SolutionType::INS_RTKFIXED:\\n+ case SolutionType::NARROW_INT:\\n+ case SolutionType::INS_RTKFLOAT:\\n+ case SolutionType::NARROW_FLOAT:\\n+ ins_.set_type(Ins::GOOD);\\n+ break;\\n+ case SolutionType::SINGLE:\\n+ ins_.set_type(Ins::CONVERGING);\\n+ break;\\n+ default:\\n+ ins_.set_type(Ins::INVALID);\\n+ break;\\n+ }\\n+}\\n+\\n+void ForsenseBaseParser::FillInsStat() {\\n+ ins_stat_.set_ins_status(decode_message_.solution_status);\\n+ ins_stat_.set_pos_type(decode_message_.solution_type);\\n+}\\n+\\n+void ForsenseBaseParser::FillImu() {\\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\\n+ imu_.mutable_linear_acceleration());\\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\\n+ decode_message_.GyroZ, imu_.mutable_angular_velocity());\\n+ imu_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+}\\n+\\n+void ForsenseBaseParser::FillHeading() {\\n+ heading_.set_solution_status(decode_message_.solution_status);\\n+ heading_.set_position_type(decode_message_.solution_type);\\n+ heading_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+ heading_.set_heading(decode_message_.Heading);\\n+ heading_.set_pitch(decode_message_.Pitch);\\n+ heading_.set_heading_std_dev(decode_message_.yaw_std);\\n+ heading_.set_pitch_std_dev(decode_message_.pitch_std);\\n+ // heading_.set_station_id(\\\"0\\\");\\n+ heading_.set_satellite_number_multi(decode_message_.satellites_num);\\n+ heading_.set_satellite_soulution_number(decode_message_.satellites_num);\\n+}\\n+\\n+} // namespace gnss\\n+} // namespace drivers\\n+} // namespace apollo\\n\"\n },\n {\n \"comment\": \"2024\",\n \"path\": \"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\",\n \"hunk\": \"@@ -0,0 +1,184 @@\\n+/******************************************************************************\\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\",\n \"resolving_sha\": \"fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522\",\n \"resolving_diff\": \"diff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\\nnew file mode 100644\\nindex 00000000000..a67b25391b2\\n--- /dev/null\\n+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc\\n@@ -0,0 +1,184 @@\\n+/******************************************************************************\\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+\\n+// An parser for decoding binary messages from a NovAtel receiver. The following\\n+// messages must be\\n+// logged in order for this parser to work properly.\\n+//\\n+#include \\\"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h\\\"\\n+\\n+#include <cmath>\\n+#include <iostream>\\n+#include <limits>\\n+#include <memory>\\n+#include <vector>\\n+\\n+namespace apollo {\\n+namespace drivers {\\n+namespace gnss {\\n+\\n+ForsenseBaseParser::ForsenseBaseParser(const config::Config& config) {}\\n+\\n+void ForsenseBaseParser::GetMessages(MessageInfoVec* messages) {\\n+ if (data_ == nullptr) {\\n+ return;\\n+ }\\n+ if (!PrepareMessage()) {\\n+ return;\\n+ }\\n+\\n+ FillGnssBestpos();\\n+ FillImu();\\n+ FillHeading();\\n+ FillIns();\\n+ FillInsStat();\\n+\\n+ messages->push_back(MessageInfo{MessageType::BEST_GNSS_POS,\\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\\n+ messages->push_back(\\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\\n+ messages->push_back(MessageInfo{MessageType::HEADING,\\n+ reinterpret_cast<MessagePtr>(&heading_)});\\n+ messages->push_back(\\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\\n+ messages->push_back(MessageInfo{MessageType::INS_STAT,\\n+ reinterpret_cast<MessagePtr>(&ins_stat_)});\\n+}\\n+\\n+void ForsenseBaseParser::PrepareMessageStatus(const uint8_t& system_state,\\n+ const uint8_t& satellite_status) {\\n+ switch (system_state) {\\n+ case 0:\\n+ decode_message_.solution_status = SolutionStatus::COLD_START;\\n+ break;\\n+ case 1:\\n+ case 2:\\n+ decode_message_.solution_status = SolutionStatus::SOL_COMPUTED;\\n+ break;\\n+ default:\\n+ decode_message_.solution_status = SolutionStatus::INSUFFICIENT_OBS;\\n+ }\\n+ switch (satellite_status) {\\n+ case 0:\\n+ decode_message_.solution_type = SolutionType::NONE;\\n+ break;\\n+ case 1:\\n+ case 6:\\n+ decode_message_.solution_type = SolutionType::SINGLE;\\n+ break;\\n+ case 2:\\n+ case 7:\\n+ decode_message_.solution_type = SolutionType::PSRDIFF;\\n+ break;\\n+ case 3:\\n+ decode_message_.solution_type = SolutionType::PROPOGATED;\\n+ break;\\n+ case 4:\\n+ decode_message_.solution_type = SolutionType::INS_RTKFIXED;\\n+ break;\\n+ case 5:\\n+ decode_message_.solution_type = SolutionType::INS_RTKFLOAT;\\n+ break;\\n+ case 8:\\n+ decode_message_.solution_type = SolutionType::NARROW_INT;\\n+ break;\\n+ case 9:\\n+ decode_message_.solution_type = SolutionType::NARROW_FLOAT;\\n+ break;\\n+ default:\\n+ decode_message_.solution_type = SolutionType::NONE;\\n+ }\\n+}\\n+\\n+void ForsenseBaseParser::FillGnssBestpos() {\\n+ bestpos_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+ bestpos_.set_sol_status(decode_message_.solution_status);\\n+ bestpos_.set_sol_type(decode_message_.solution_type);\\n+ bestpos_.set_latitude(decode_message_.Latitude);\\n+ bestpos_.set_longitude(decode_message_.Longitude);\\n+ bestpos_.set_height_msl(decode_message_.Altitude);\\n+ bestpos_.set_latitude_std_dev(decode_message_.lat_std);\\n+ bestpos_.set_longitude_std_dev(decode_message_.lon_std);\\n+ bestpos_.set_height_std_dev(decode_message_.alti_std);\\n+ bestpos_.set_num_sats_tracked(decode_message_.satellites_num);\\n+ bestpos_.set_num_sats_in_solution(decode_message_.satellites_num);\\n+ bestpos_.set_num_sats_l1(decode_message_.satellites_num);\\n+ bestpos_.set_num_sats_multi(decode_message_.satellites_num);\\n+}\\n+\\n+void ForsenseBaseParser::FillIns() {\\n+ ins_.mutable_euler_angles()->set_x(decode_message_.Roll * DEG_TO_RAD);\\n+ ins_.mutable_euler_angles()->set_y(-decode_message_.Pitch * DEG_TO_RAD);\\n+ ins_.mutable_euler_angles()->set_z(\\n+ azimuth_deg_to_yaw_rad(decode_message_.Heading));\\n+ ins_.mutable_position()->set_lon(decode_message_.Longitude);\\n+ ins_.mutable_position()->set_lat(decode_message_.Latitude);\\n+ ins_.mutable_position()->set_height(decode_message_.Altitude);\\n+ ins_.mutable_linear_velocity()->set_x(decode_message_.Ve);\\n+ ins_.mutable_linear_velocity()->set_y(decode_message_.Vn);\\n+ ins_.mutable_linear_velocity()->set_z(decode_message_.Vu);\\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\\n+ ins_.mutable_linear_acceleration());\\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\\n+ decode_message_.GyroZ, ins_.mutable_angular_velocity());\\n+ ins_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\\n+\\n+ switch (decode_message_.solution_type) {\\n+ case SolutionType::INS_RTKFIXED:\\n+ case SolutionType::NARROW_INT:\\n+ case SolutionType::INS_RTKFLOAT:\\n+ case SolutionType::NARROW_FLOAT:\\n+ ins_.set_type(Ins::GOOD);\\n+ break;\\n+ case SolutionType::SINGLE:\\n+ ins_.set_type(Ins::CONVERGING);\\n+ break;\\n+ default:\\n+ ins_.set_type(Ins::INVALID);\\n+ break;\\n+ }\\n+}\\n+\\n+void ForsenseBaseParser::FillInsStat() {\\n+ ins_stat_.set_ins_status(decode_message_.solution_status);\\n+ ins_stat_.set_pos_type(decode_message_.solution_type);\\n+}\\n+\\n+void ForsenseBaseParser::FillImu() {\\n+ rfu_to_flu(decode_message_.AccX, decode_message_.AccY, decode_message_.AccZ,\\n+ imu_.mutable_linear_acceleration());\\n+ rfu_to_flu(decode_message_.GyroX, decode_message_.GyroY,\\n+ decode_message_.GyroZ, imu_.mutable_angular_velocity());\\n+ imu_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+}\\n+\\n+void ForsenseBaseParser::FillHeading() {\\n+ heading_.set_solution_status(decode_message_.solution_status);\\n+ heading_.set_position_type(decode_message_.solution_type);\\n+ heading_.set_measurement_time(decode_message_.gps_timestamp_sec);\\n+ heading_.set_heading(decode_message_.Heading);\\n+ heading_.set_pitch(decode_message_.Pitch);\\n+ heading_.set_heading_std_dev(decode_message_.yaw_std);\\n+ heading_.set_pitch_std_dev(decode_message_.pitch_std);\\n+ // heading_.set_station_id(\\\"0\\\");\\n+ heading_.set_satellite_number_multi(decode_message_.satellites_num);\\n+ heading_.set_satellite_soulution_number(decode_message_.satellites_num);\\n+}\\n+\\n+} // namespace gnss\\n+} // namespace drivers\\n+} // namespace apollo\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":557,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15553,"string":"15,553"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: compiling failed on arm since missing dependency of bvar"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"70dc837ff5055747183827f137d6080ad42c069e"},"head_sha":{"kind":"string","value":"d5a06e7ba3e05f4cf2e827a15310851fa5d84c2b"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/statistics/BUILD b/cyber/statistics/BUILD\nindex 0d2329dd92b..65934658a46 100644\n--- a/cyber/statistics/BUILD\n+++ b/cyber/statistics/BUILD\n@@ -10,6 +10,7 @@ apollo_cc_library(\n \"//cyber/common:cyber_common\",\n \"//cyber/proto:role_attributes_cc_proto\",\n \"//cyber/time:cyber_time\",\n+ \"@com_github_gflags_gflags//:gflags\",\n ],\n )\n \n"},"changed_files":{"kind":"list like","value":["cyber/statistics/BUILD"],"string":"[\n \"cyber/statistics/BUILD\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":558,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15542,"string":"15,542"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: building error of odometry_parser"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"f460c50897da19957cbf3b24bb3eecee2d6a937a"},"head_sha":{"kind":"string","value":"eefebda1d3caf389bf31d508c61ae1dacda80683"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc\nindex 432e3917836..8d03ee8a19a 100755\n--- a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc\n+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc\n@@ -20,10 +20,10 @@\n namespace apollo {\n namespace cyber {\n \n-void OdometryParser::imuCallback(const RosImuMsg& msg) {\n+void OdometryParser::imuCallback(std::shared_ptr<RosImuMsg> msg) {\n #ifdef ENABLE_ROS_MSG\n imu_received_.store(true);\n- auto current_time = msg.header.stamp.sec + msg.header.stamp.nanosec / 1e9;\n+ auto current_time = msg->header.stamp.sec + msg->header.stamp.nanosec / 1e9;\n double dt = current_time - last_time_;\n last_time_ = current_time;\n \n@@ -34,16 +34,16 @@ void OdometryParser::imuCallback(const RosImuMsg& msg) {\n X_ = F_ * X_;\n P_ = F_ * P_ * F_.transpose() + Q_;\n \n- X_(3) += msg.linear_acceleration.x * dt;\n- X_(4) += msg.linear_acceleration.y * dt;\n- X_(5) += msg.linear_acceleration.z * dt;\n+ X_(3) += msg->linear_acceleration.x * dt;\n+ X_(4) += msg->linear_acceleration.y * dt;\n+ X_(5) += msg->linear_acceleration.z * dt;\n \n double euler_angles[3];\n \n- quaternion_[0] = msg.orientation.x;\n- quaternion_[1] = msg.orientation.y;\n- quaternion_[2] = msg.orientation.z;\n- quaternion_[3] = msg.orientation.w;\n+ quaternion_[0] = msg->orientation.x;\n+ quaternion_[1] = msg->orientation.y;\n+ quaternion_[2] = msg->orientation.z;\n+ quaternion_[3] = msg->orientation.w;\n \n QuaternionToEuler(quaternion_, euler_angles);\n auto roll = euler_angles[0];\n@@ -56,14 +56,14 @@ void OdometryParser::imuCallback(const RosImuMsg& msg) {\n #endif\n }\n \n-void OdometryParser::gpsCallback(const RosNavMsg& msg) {\n+void OdometryParser::gpsCallback(std::shared_ptr<RosNavMsg> msg) {\n #ifdef ENABLE_ROS_MSG\n gps_received_.store(true);\n constexpr double DEG_TO_RAD_LOCAL = M_PI / 180.0;\n Eigen::VectorXd Z(9);\n \n- double lon = msg.longitude;\n- double lat = msg.latitude;\n+ double lon = msg->longitude;\n+ double lat = msg->latitude;\n double px = lon * DEG_TO_RAD_LOCAL;\n double py = lat * DEG_TO_RAD_LOCAL;\n \n@@ -76,7 +76,7 @@ void OdometryParser::gpsCallback(const RosNavMsg& msg) {\n }\n pj_transform(wgs84pj_source_, utm_target_, 1, 1, &px, &py, NULL);\n \n- Z << px, py, msg.altitude, 0, 0, 0, 0, 0, 0;\n+ Z << px, py, msg->altitude, 0, 0, 0, 0, 0, 0;\n \n Eigen::MatrixXd y = Z - H_ * X_;\n Eigen::MatrixXd S = H_ * P_ * H_.transpose() + R_;\n@@ -137,3 +137,4 @@ bool OdometryParser::ConvertMsg(InputTypes<RosWrapMsgPtr>& in,\n \n } // namespace cyber\n } // namespace apollo\n+\n"},"changed_files":{"kind":"list like","value":["cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc"],"string":"[\n \"cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":559,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15541,"string":"15,541"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: build error and communication failed when using ros foxy or galatic"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"99432e69df01801cd668a48b35493ed55d7bb567"},"head_sha":{"kind":"string","value":"83ba04fa6d8e790f930ad80fc374941288c23438"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/ros_bridge/converter_base/convert_ros_double.h b/cyber/ros_bridge/converter_base/convert_ros_double.h\nindex fba130c9713..db1244a2a8a 100644\n--- a/cyber/ros_bridge/converter_base/convert_ros_double.h\n+++ b/cyber/ros_bridge/converter_base/convert_ros_double.h\n@@ -93,12 +93,13 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1) {\n auto out = std::make_shared<OutType0>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{\n std::make_tuple(internal_in_prt_0, internal_in_prt_1)};\n@@ -189,13 +190,14 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{\n std::make_tuple(internal_in_prt_0, internal_in_prt_1)};\n@@ -295,14 +297,15 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{\n std::make_tuple(internal_in_prt_0, internal_in_prt_1)};\n@@ -414,15 +417,16 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n auto out_3 = std::make_shared<OutType3>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>>{\n std::make_tuple(internal_in_prt_0, internal_in_prt_1)};\ndiff --git a/cyber/ros_bridge/converter_base/convert_ros_quadruple.h b/cyber/ros_bridge/converter_base/convert_ros_quadruple.h\nindex 686f336f3f1..1ff7aa90faf 100644\n--- a/cyber/ros_bridge/converter_base/convert_ros_quadruple.h\n+++ b/cyber/ros_bridge/converter_base/convert_ros_quadruple.h\n@@ -110,17 +110,19 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2, const InType3& ros_msg3) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2,\n+ std::shared_ptr<InType3> ros_msg3) {\n auto out = std::make_shared<OutType0>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n typename InType3::SharedPtr internal_in_prt_3 =\n- std::make_shared<InType3>(ros_msg3);\n+ std::make_shared<InType3>(*ros_msg3.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>, std::shared_ptr<InType3>>{\n@@ -229,18 +231,20 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2, const InType3& ros_msg3) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2,\n+ std::shared_ptr<InType3> ros_msg3) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n typename InType3::SharedPtr internal_in_prt_3 =\n- std::make_shared<InType3>(ros_msg3);\n+ std::make_shared<InType3>(*ros_msg3.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>, std::shared_ptr<InType3>>{\n@@ -359,19 +363,21 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2, const InType3& ros_msg3) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2,\n+ std::shared_ptr<InType3> ros_msg3) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n typename InType3::SharedPtr internal_in_prt_3 =\n- std::make_shared<InType3>(ros_msg3);\n+ std::make_shared<InType3>(*ros_msg3.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>, std::shared_ptr<InType3>>{\n@@ -502,20 +508,22 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2, const InType3& ros_msg3) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2,\n+ std::shared_ptr<InType3> ros_msg3) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n auto out_3 = std::make_shared<OutType3>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n typename InType3::SharedPtr internal_in_prt_3 =\n- std::make_shared<InType3>(ros_msg3);\n+ std::make_shared<InType3>(*ros_msg3.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>, std::shared_ptr<InType3>>{\ndiff --git a/cyber/ros_bridge/converter_base/convert_ros_single.h b/cyber/ros_bridge/converter_base/convert_ros_single.h\nindex 2bfbe43c8a7..4fec85448cf 100644\n--- a/cyber/ros_bridge/converter_base/convert_ros_single.h\n+++ b/cyber/ros_bridge/converter_base/convert_ros_single.h\n@@ -75,10 +75,10 @@ class RosApolloMessageConverter<InputTypes<std::shared_ptr<InType0>>,\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0) {\n auto out = std::make_shared<OutType0>();\n typename InType0::SharedPtr internal_in_prt =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};\n auto out_container =\n@@ -148,11 +148,11 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n typename InType0::SharedPtr internal_in_prt =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};\n auto out_container =\n@@ -234,12 +234,12 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n typename InType0::SharedPtr internal_in_prt =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};\n auto out_container =\n@@ -333,13 +333,13 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n auto out_3 = std::make_shared<OutType3>();\n typename InType0::SharedPtr internal_in_prt =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>>{std::make_tuple(internal_in_prt)};\n auto out_container =\ndiff --git a/cyber/ros_bridge/converter_base/convert_ros_triple.h b/cyber/ros_bridge/converter_base/convert_ros_triple.h\nindex 2364bca2b79..82add17c654 100644\n--- a/cyber/ros_bridge/converter_base/convert_ros_triple.h\n+++ b/cyber/ros_bridge/converter_base/convert_ros_triple.h\n@@ -104,15 +104,16 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2) {\n auto out = std::make_shared<OutType0>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>>{std::make_tuple(\n@@ -214,16 +215,17 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>>{std::make_tuple(\n@@ -334,17 +336,18 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType2>(ros_msg2);\n+ std::make_shared<InType2>(*ros_msg2.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>>{std::make_tuple(\n@@ -467,18 +470,19 @@ class RosApolloMessageConverter<\n \n #ifdef RCLCPP__RCLCPP_HPP_\n private:\n- void TopicCallback(const InType0& ros_msg0, const InType1& ros_msg1,\n- const InType2& ros_msg2) {\n+ void TopicCallback(std::shared_ptr<InType0> ros_msg0,\n+ std::shared_ptr<InType1> ros_msg1,\n+ std::shared_ptr<InType2> ros_msg2) {\n auto out_0 = std::make_shared<OutType0>();\n auto out_1 = std::make_shared<OutType1>();\n auto out_2 = std::make_shared<OutType2>();\n auto out_3 = std::make_shared<OutType3>();\n typename InType0::SharedPtr internal_in_prt_0 =\n- std::make_shared<InType0>(ros_msg0);\n+ std::make_shared<InType0>(*ros_msg0.get());\n typename InType1::SharedPtr internal_in_prt_1 =\n- std::make_shared<InType1>(ros_msg1);\n+ std::make_shared<InType1>(*ros_msg1.get());\n typename InType2::SharedPtr internal_in_prt_2 =\n- std::make_shared<InType1>(ros_msg2);\n+ std::make_shared<InType1>(*ros_msg2.get());\n auto in_container =\n InputTypes<std::shared_ptr<InType0>, std::shared_ptr<InType1>,\n std::shared_ptr<InType2>>{std::make_tuple(\ndiff --git a/cyber/ros_bridge/converter_base/message_converter.h b/cyber/ros_bridge/converter_base/message_converter.h\nindex 1b96fa37827..8ebb5542543 100644\n--- a/cyber/ros_bridge/converter_base/message_converter.h\n+++ b/cyber/ros_bridge/converter_base/message_converter.h\n@@ -37,6 +37,7 @@\n #include \"message_filters/sync_policies/approximate_time.h\"\n #include \"message_filters/synchronizer.h\"\n #include \"rclcpp/rclcpp.hpp\"\n+#include \"ros_distro.h\"\n #endif\n \n namespace apollo {\n@@ -46,12 +47,7 @@ class MessageConverter {\n public:\n MessageConverter() : init_(false) {}\n \n- virtual ~MessageConverter() {\n-#ifdef RCLCPP__RCLCPP_HPP_\n- delete ros_node_;\n- delete ros_node_exec_;\n-#endif\n- }\n+ virtual ~MessageConverter() {}\n \n virtual bool Init() {\n if (init_.exchange(true)) {\n@@ -61,9 +57,10 @@ class MessageConverter {\n cyber_node_ = std::move(\n CreateNode(node_name_ + \"_\" + converter_conf_.name() + \"_apollo\"));\n #ifdef RCLCPP__RCLCPP_HPP_\n- ros_node_ =\n- new ::rclcpp::Node(node_name_ + \"_\" + converter_conf_.name() + \"_ros\");\n- ros_node_exec_ = new ::rclcpp::executors::SingleThreadedExecutor();\n+ ros_node_ = std::make_shared<::rclcpp::Node>(\n+ node_name_ + \"_\" + converter_conf_.name() + \"_ros\");\n+ ros_node_exec_ =\n+ std::make_shared<::rclcpp::executors::SingleThreadedExecutor>();\n #endif\n return true;\n }\n@@ -129,10 +126,15 @@ class MessageConverter {\n #ifdef RCLCPP__RCLCPP_HPP_\n std::vector<std::shared_ptr<::rclcpp::PublisherBase>> ros_publishers_;\n std::vector<std::shared_ptr<::rclcpp::SubscriptionBase>> ros_subscriptions_;\n+#if defined(ROS_DISTRO_FOXY) || defined(ROS_DISTRO_GALACTIC)\n+ std::vector<std::shared_ptr<::message_filters::SubscriberBase>>\n+#else\n std::vector<std::shared_ptr<::message_filters::SubscriberBase<rclcpp::Node>>>\n+#endif\n ros_msg_subs_;\n- ::rclcpp::Node* ros_node_ = nullptr;\n- ::rclcpp::executors::SingleThreadedExecutor* ros_node_exec_ = nullptr;\n+ std::shared_ptr<::rclcpp::Node> ros_node_ = nullptr;\n+ std::shared_ptr<::rclcpp::executors::SingleThreadedExecutor> ros_node_exec_ =\n+ nullptr;\n std::shared_ptr<std::thread> ros_spin_thread_;\n #endif\n const std::string node_name_ = \"converter_base\";\ndiff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h\nindex da55de2fe66..286111080e6 100755\n--- a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h\n+++ b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h\n@@ -102,9 +102,9 @@ class OdometryParser\n }\n ~OdometryParser() {}\n \n- void imuCallback(const RosImuMsg& msg);\n+ void imuCallback(std::shared_ptr<RosImuMsg> msg);\n \n- void gpsCallback(const RosNavMsg& msg);\n+ void gpsCallback(std::shared_ptr<RosNavMsg> msg);\n \n void publishOdometry();\n \ndiff --git a/tools/ros/BUILD.tpl b/tools/ros/BUILD.tpl\nindex 54c88d69da1..6835a0b678a 100644\n--- a/tools/ros/BUILD.tpl\n+++ b/tools/ros/BUILD.tpl\n@@ -1,5 +1,7 @@\n package(default_visibility = [\"//visibility:public\"])\n \n+%{ros_distro_gen_rules}\n+\n %{copy_rules}\n \n %{ws_copy_rules}\ndiff --git a/tools/ros/ros_configure.bzl b/tools/ros/ros_configure.bzl\nindex fa8cab464da..d4c05394e98 100644\n--- a/tools/ros/ros_configure.bzl\n+++ b/tools/ros/ros_configure.bzl\n@@ -3,7 +3,7 @@ load(\"//tools/platform:common.bzl\",\n \"execute\", \"make_copy_dir_rule\", \"make_copy_files_rule\", \"get_copy_dir_files\")\n \n _ROS_CODENAME = \"ROS_DISTRO\"\n-\n+ROS_FOUND = False\n CC_TPL='''\n cc_library(\n name = \"{}\",\n@@ -18,10 +18,51 @@ ROS_TPL='''\n cc_library(\n name = \"ros\",\n deps = [{}],\n+ hdrs = [\"ros_distro.h\"],\n+ data = [\":generate_ros_distro_header\"],\n+ includes = [\".\"],\n visibility = [\"//visibility:public\"],\n )\n '''\n \n+ROS_DISTRO_TPL='''\n+genrule(\n+ name = \"generate_ros_distro_header\",\n+ outs = [\"ros_distro.h\"],\n+ cmd = \"\"\"\n+ if [ -d '/opt/ros' ]; then\n+ if [ `ls /opt/ros | wc -l` == \"1\" ]; then\n+ if [ `ls /opt/ros` == \"foxy\" ]; then\n+ echo '#define ROS_DISTRO_FOXY 1' > $@\n+ elif [ `ls /opt/ros` == \"galactic\" ]; then\n+ echo '#define ROS_DISTRO_GALACTIC 1' > $@ \n+ elif [ `ls /opt/ros` == \"humble\" ]; then\n+ echo '#define ROS_DISTRO_HUMBLE 1' > $@\n+ elif [ `ls /opt/ros` == \"iron\" ]; then\n+ echo '#define ROS_DISTRO_IRON 1' > $@\n+ else\n+ echo '// Unknown ROS distribution' > $@ \n+ fi\n+ else\n+ if [ \"$$ROS_DISTRO\" == \"foxy\" ]; then\n+ echo '#define ROS_DISTRO_FOXY 1' > $@\n+ elif [ \"$$ROS_DISTRO\" == \"galactic\" ]; then\n+ echo '#define ROS_DISTRO_GALACTIC 1' > $@\n+ elif [ \"$$ROS_DISTRO\" == \"humble\" ]; then\n+ echo '#define ROS_DISTRO_HUMBLE 1' > $@\n+ elif [ \"$$ROS_DISTRO\" == \"iron\" ]; then\n+ echo '#define ROS_DISTRO_IRON 1' > $@\n+ else\n+ echo '// Unknown ROS distribution' > $@\n+ fi\n+ fi\n+ else\n+ echo '// No ROS distribution' > $@ \n+ fi\n+ \"\"\",\n+)\n+'''\n+\n def find_ros_dir(repository_ctx):\n codename = None\n if _ROS_CODENAME in repository_ctx.os.environ:\n@@ -43,6 +84,7 @@ def find_ros_dir(repository_ctx):\n print(\"No ros2 repositories found, \" + \n \"skip to import hdrs and libs.\")\n return None\n+ ROS_FOUND = True\n return \"/opt/ros/{}\".format(codename)\n \n def find_ros_workspace_dir(repository_ctx):\n@@ -56,6 +98,8 @@ def find_ros_workspace_dir(repository_ctx):\n return \"{}/install\".format(ros_ws)\n \n def _create_ws_ros_repository(repository_ctx):\n+ if not ROS_FOUND:\n+ return ([], [], [])\n ros_ws_dir = find_ros_workspace_dir(repository_ctx)\n ros_ws_pkg = _ros_ws_match_package(repository_ctx, ros_ws_dir)\n # ros_ws_pkg_name = [i.split(\"/\")[-1] for i in ros_ws_pkg]\n@@ -220,7 +264,7 @@ def _ros_match_libraries(repository_ctx, ros_dir = None, pkgs = [], ros_ws_match\n if ros_ws_match:\n cmd = \"\"\"find {}/lib -name lib*.so\"\"\".format(pkg)\n else:\n- cmd = \"\"\"ls -1 {}/lib/lib{}*.so | grep -E --color=never 'lib{}__[a-zA-Z0-9_]*\\\\.so$|lib{}\\\\.so$'\"\"\".format(ros_dir, pkg, pkg, pkg)\n+ cmd = \"\"\"ls -1 {}/lib/lib{}*.so | grep -E --color=never 'lib{}__[a-zA-Z0-9_]*\\\\.so$|lib{}\\\\.so$' | grep -v 'connext_c'\"\"\".format(ros_dir, pkg, pkg, pkg)\n result = execute(repository_ctx, [\"sh\", \"-c\", cmd],\n empty_stdout_fine = True, ignore_error = True).stdout.strip()\n libraries[pkg] = []\n@@ -245,6 +289,7 @@ def _ros_configure_impl(repository_ctx):\n # Set up BUILD file.\n build_tpl = repository_ctx.path(Label(\"//tools/ros:BUILD.tpl\"))\n repository_ctx.template(\"BUILD\", build_tpl, {\n+ \"%{ros_distro_gen_rules}\": \"%s\" % (ROS_DISTRO_TPL),\n \"%{copy_rules}\": \"\\n\".join(copy_rules),\n \"%{ws_copy_rules}\": \"\\n\".join(ws_copy_rules), \n \"%{cc_libraries}\": \"\\n\".join(cc_libraries),\n@@ -255,6 +300,7 @@ def _ros_configure_impl(repository_ctx):\n ros_configure = repository_rule(\n implementation = _ros_configure_impl,\n environ = [],\n+ local = True,\n )\n \n \"\"\"Detects and configures the local ros library.\n"},"changed_files":{"kind":"list like","value":["cyber/ros_bridge/converter_base/convert_ros_double.h","cyber/ros_bridge/converter_base/convert_ros_quadruple.h","cyber/ros_bridge/converter_base/convert_ros_single.h","cyber/ros_bridge/converter_base/convert_ros_triple.h","cyber/ros_bridge/converter_base/message_converter.h","cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h","tools/ros/BUILD.tpl","tools/ros/ros_configure.bzl"],"string":"[\n \"cyber/ros_bridge/converter_base/convert_ros_double.h\",\n \"cyber/ros_bridge/converter_base/convert_ros_quadruple.h\",\n \"cyber/ros_bridge/converter_base/convert_ros_single.h\",\n \"cyber/ros_bridge/converter_base/convert_ros_triple.h\",\n \"cyber/ros_bridge/converter_base/message_converter.h\",\n \"cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.h\",\n \"tools/ros/BUILD.tpl\",\n \"tools/ros/ros_configure.bzl\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":560,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15535,"string":"15,535"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: python configuration error on ubuntu 20.04"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"d30d3811a2887da72cd633ca02caccf3fa9b1250"},"head_sha":{"kind":"string","value":"49b2d299f292633783698361f1d5693a285fcad8"},"gold_diff":{"kind":"string","value":"diff --git a/third_party/py/python_configure.bzl b/third_party/py/python_configure.bzl\nindex 1b058c4faa6..86597bc1115 100644\n--- a/third_party/py/python_configure.bzl\n+++ b/third_party/py/python_configure.bzl\n@@ -192,7 +192,11 @@ def _get_python_lib(repository_ctx, python_bin, lib_path_key):\n \" library_paths = site.getsitepackages()\\n\" +\n \"except AttributeError:\\n\" +\n \" from sysconfig import get_path\\n\" +\n- \" if platform.freedesktop_os_release().get('ID') in ('debian', 'ubuntu'):\\n\" +\n+ \" if 'freedesktop_os_release' in dir(platform):\\n\" + \n+ \" platform_id = platform.freedesktop_os_release().get('ID')\\n\" + \n+ \" else:\\n\" + \n+ \" platform_id = 'None'\\n\" + \n+ \" if platform_id in ('debian', 'ubuntu'):\\n\" +\n \" library_paths = [get_path('platlib', 'deb_system')]\\n\" +\n \" else:\\n\" +\n \" library_paths = [get_path('platlib')]\\n\" +\n@@ -231,8 +235,9 @@ def _get_python_include(repository_ctx, python_bin):\n [\n python_bin,\n \"-c\",\n- \"import sysconfig;import platform;\" +\n- \"print(sysconfig.get_path('include', 'deb_system') if platform.freedesktop_os_release().get('ID') in ('ubuntu', 'debian') else sysconfig.get_path('include'))\",\n+ \"import sysconfig;import platform;import subprocess;\" +\n+ \"os_release = platform.freedesktop_os_release().get('ID') if 'freedesktop_os_release' in dir(platform) else 'None';\" + \n+ \"print(sysconfig.get_path('include', 'deb_system') if os_release in ('ubuntu', 'debian') else sysconfig.get_path('include'))\",\n ],\n error_msg = \"Problem getting python include path for {}.\".format(python_bin),\n error_details = (\n@@ -330,3 +335,4 @@ python_configure(name = \"local_config_python\")\n Args:\n name: A unique name for this workspace rule.\n \"\"\"\n+\n"},"changed_files":{"kind":"list like","value":["third_party/py/python_configure.bzl"],"string":"[\n \"third_party/py/python_configure.bzl\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":561,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15528,"string":"15,528"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: cyber python init error"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"631ed7d78e961851e00c27f5cd5fd0534388381b"},"head_sha":{"kind":"string","value":"2891b461c62c844d40c36a8bcae5c5f5190e2f68"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/python/internal/py_cyber.h b/cyber/python/internal/py_cyber.h\nindex 3f0d75087ff..b1cca07a157 100644\n--- a/cyber/python/internal/py_cyber.h\n+++ b/cyber/python/internal/py_cyber.h\n@@ -16,6 +16,7 @@\n \n #ifndef CYBER_PYTHON_INTERNAL_PY_CYBER_H_\n #define CYBER_PYTHON_INTERNAL_PY_CYBER_H_\n+#define PY_SSIZE_T_CLEAN\n \n #include <unistd.h>\n \n"},"changed_files":{"kind":"list like","value":["cyber/python/internal/py_cyber.h"],"string":"[\n \"cyber/python/internal/py_cyber.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":562,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15526,"string":"15,526"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: find pcl error when enable ros"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"1867edec3ffe50c31813d734740a23f4c2b59ca9"},"head_sha":{"kind":"string","value":"3de1dfcc9923536385bf660825d3b765ee926455"},"gold_diff":{"kind":"string","value":"diff --git a/third_party/pcl/pcl_configure.bzl b/third_party/pcl/pcl_configure.bzl\nindex 1beeb3b7213..a9e0ea8b16e 100644\n--- a/third_party/pcl/pcl_configure.bzl\n+++ b/third_party/pcl/pcl_configure.bzl\n@@ -80,10 +80,15 @@ def _pcl_match_version(repository_ctx, sysroot_dir = None):\n empty_stdout_fine = False,\n ).stdout.strip()\n \n- solib = result.rstrip(\"\\n\")\n+ solibs = result.rstrip(\"\\n\").split(\"\\n\")\n+ solib = \"\"\n+ prefix_dirs = [\"/usr\", \"/usr/local\", \"/opt/apollo/neo\"]\n+ for i in prefix_dirs:\n+ for j in solibs:\n+ if j.startswith(i):\n+ solib = j\n lib_path = dirname(solib)\n prefix = solib[:solib.rfind(\"/lib/\")]\n- prefix_dirs = [\"/usr\", \"/usr/local\", \"/opt/apollo/neo\"]\n if sysroot_dir:\n prefix_dirs.append(sysroot_dir)\n if prefix not in prefix_dirs:\n"},"changed_files":{"kind":"list like","value":["third_party/pcl/pcl_configure.bzl"],"string":"[\n \"third_party/pcl/pcl_configure.bzl\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":563,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15522,"string":"15,522"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"remove lidar object poll and fix aem linking issue"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"446af0a353a56234577806716e11a7e841c21f68"},"head_sha":{"kind":"string","value":"3f8d63c6a250c978031af53978b0c1a71821f19b"},"gold_diff":{"kind":"string","value":"diff --git a/aem/funcs.sh b/aem/funcs.sh\nindex 6a7dcb06f0a..3d6a2e46c19 100755\n--- a/aem/funcs.sh\n+++ b/aem/funcs.sh\n@@ -652,7 +652,7 @@ apollo_container_created_post_action() {\n container_bin_path=\"/usr/local/bin/\"\n \n ${DOCKER} cp \"${aem_path}\" \"${APOLLO_ENV_CONTAINER_NAME}\":\"${container_bin_path}aem\"\n- apollo_execute_cmd_in_container \"ln -snf ${container_bin_path}/aem/aem ${container_bin_path}/aem\" \n+ apollo_execute_cmd_in_container \"ln -snf ${container_bin_path}/aem/run.sh /usr/bin/aem\" \n apollo_execute_cmd_in_container \"[[ `uname -m` == \"aarch64\" ]] && [[ -e /sys/kernel/debug ]] && chmod +rx /sys/kernel/debug\"\n apollo_execute_cmd_in_container \"apt update && apt install --only-upgrade -y ${init_packages[@]}\"\n apollo_execute_cmd_in_container \"mkdir -pv /opt/apollo/neo/etc && chmod 777 -R /opt/apollo/neo/etc\"\ndiff --git a/modules/drivers/lidar/compensator/compensator_component.cc b/modules/drivers/lidar/compensator/compensator_component.cc\nindex 396b66986f5..a6fbf0708ed 100644\n--- a/modules/drivers/lidar/compensator/compensator_component.cc\n+++ b/modules/drivers/lidar/compensator/compensator_component.cc\n@@ -38,16 +38,6 @@ bool CompensatorComponent::Init() {\n \n writer_ = node_->CreateWriter<PointCloud>(config.output_channel());\n compensator_.reset(new Compensator(config));\n- compensator_pool_.reset(new CCObjectPool<PointCloud>(pool_size_));\n- compensator_pool_->ConstructAll();\n- for (int i = 0; i < pool_size_; ++i) {\n- auto point_cloud = compensator_pool_->GetObject();\n- if (point_cloud == nullptr) {\n- AERROR << \"fail to getobject:\" << i;\n- return false;\n- }\n- point_cloud->mutable_point()->Reserve(140000);\n- }\n return true;\n }\n \n@@ -55,7 +45,7 @@ bool CompensatorComponent::Proc(\n const std::shared_ptr<PointCloud>& point_cloud) {\n const auto start_time = Time::Now();\n std::shared_ptr<PointCloud> point_cloud_compensated\n- = compensator_pool_->GetObject();\n+ = writer_->AcquireMessage();\n if (point_cloud_compensated == nullptr) {\n AWARN << \"compensator fail to getobject, will be new\";\n point_cloud_compensated = std::make_shared<PointCloud>();\n"},"changed_files":{"kind":"list like","value":["aem/funcs.sh","modules/drivers/lidar/compensator/compensator_component.cc"],"string":"[\n \"aem/funcs.sh\",\n \"modules/drivers/lidar/compensator/compensator_component.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":564,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15513,"string":"15,513"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"add performance parsing script and fixing performance of process sampling failures"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"0026d7ee9ebdb772818c741e6b9220f9412a94ff"},"head_sha":{"kind":"string","value":"bde4e20111a535c25e8a135218bab304b0529669"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/tools/cyber_performance/cyber_performance.py b/cyber/tools/cyber_performance/cyber_performance.py\nindex 319a3c82d99..a7c2d824a8f 100644\n--- a/cyber/tools/cyber_performance/cyber_performance.py\n+++ b/cyber/tools/cyber_performance/cyber_performance.py\n@@ -60,6 +60,9 @@\n process_network_io = {}\n network_data_lock = threading.Lock()\n \n+sudo_prv = subprocess.run(\n+ ['sudo', '-n', 'true'], stdout=None, stderr=None).returncode == 0\n+\n remove_list = []\n for i in os.listdir(DIRECTORY_TO_WATCH):\n if i.startswith(\"performance_dumps\"):\n@@ -217,68 +220,71 @@ def on_any_event(event):\n process_name = file_name.replace(\".system.data\", \"\")\n pid_file_name = event.src_path.replace(\".system.data\", \".data\")\n latency_file_name = event.src_path.replace(\".system.data\", \".latency.data\") \n- with open(event.src_path, 'r') as f:\n- current_data = {}\n- current_data[\"autodrive\"] = autodrive\n- contents = f.read().split(\"\\n\")\n- if len(contents) == 0:\n- return None\n- elif len(contents) == 1 and contents[0] == \"\":\n- return None\n- for line in contents:\n- if line == \"\":\n+ while True:\n+ with open(event.src_path, 'r') as f:\n+ current_data = {}\n+ current_data[\"autodrive\"] = autodrive\n+ contents = f.read().split(\"\\n\")\n+ if len(contents) == 0:\n continue\n- instance = line.strip().split(\" : \")\n- if len(instance) == 1:\n+ elif len(contents) == 1 and contents[0] == \"\":\n continue\n- \n- if instance[0].endswith(\"cpu_usage\"):\n- current_data[\"BASIC - cpu_usage(%, single-core)\"] = float(instance[1]) * 100\n- elif instance[0].endswith(\"memory_resident\"):\n- current_data[\"BASIC - memory(MB)\"] = int(instance[1]) / 1024 / 1024\n- elif instance[0].endswith(\"disk_read_bytes_second\"):\n- current_data[\"BLOCK_DEVICE_IO - block_device_io_read(rkB/s)\"] = int(instance[1]) / 1024\n- elif instance[0].endswith(\"disk_write_bytes_second\"):\n- current_data[\"BLOCK_DEVICE_IO - block_device_io_write(wkB/s)\"] = int(instance[1]) / 1024\n- else:\n- continue\n- pid = -1\n- with open(pid_file_name, \"r\") as pf:\n- contents = pf.readlines()\n for line in contents:\n if line == \"\":\n continue\n instance = line.strip().split(\" : \")\n if len(instance) == 1:\n continue\n- if instance[0].endswith(\"_pid\"):\n- pid = int(instance[1])\n- break\n- gpu_mem = gpu_memory_usage(pid)\n-\n- with open(latency_file_name, \"r\") as lf:\n- contents = lf.readlines()\n- has_proc_info = False\n- for line in contents:\n- if \"proc_latency :\" in line:\n- instance = line.split(\" : \")\n- latency_name = instance[0].replace(\"mainboard_\", \"\")\n- latency_val = int(instance[1]) / 1000\n+ \n+ if instance[0].endswith(\"cpu_usage\"):\n+ current_data[\"BASIC - cpu_usage(%, single-core)\"] = float(instance[1]) * 100\n+ elif instance[0].endswith(\"memory_resident\"):\n+ current_data[\"BASIC - memory(MB)\"] = int(instance[1]) / 1024 / 1024\n+ elif instance[0].endswith(\"disk_read_bytes_second\"):\n+ current_data[\"BLOCK_DEVICE_IO - block_device_io_read(rkB/s)\"] = int(instance[1]) / 1024\n+ elif instance[0].endswith(\"disk_write_bytes_second\"):\n+ current_data[\"BLOCK_DEVICE_IO - block_device_io_write(wkB/s)\"] = int(instance[1]) / 1024\n else:\n continue\n- has_proc_info = True\n- current_data[f\"E2E_LATENCY - {latency_name}(ms)\"] = latency_val\n- if not has_proc_info:\n- return \n- with network_data_lock:\n- if pid in process_network_io:\n- current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)\"] = process_network_io[pid][\"tx\"]\n- current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)\"] = process_network_io[pid][\"rx\"] \n+ break\n+ pid = -1\n+\n+ with open(pid_file_name, \"r\") as pf:\n+ contents = pf.readlines()\n+ for line in contents:\n+ if line == \"\":\n+ continue\n+ instance = line.strip().split(\" : \")\n+ if len(instance) == 1:\n+ continue\n+ if instance[0].endswith(\"_pid\"):\n+ pid = int(instance[1])\n+ break\n+ gpu_mem = gpu_memory_usage(pid)\n+\n+ with open(latency_file_name, \"r\") as lf:\n+ contents = lf.readlines()\n+ has_proc_info = False\n+ for line in contents:\n+ if \"proc_latency :\" in line:\n+ instance = line.split(\" : \")\n+ latency_name = instance[0].replace(\"mainboard_\", \"\")\n+ latency_val = float((instance[1].strip())) / 1000\n else:\n- current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)\"] = 0\n- current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)\"] = 0 \n- \n- current_data[\"BASIC - gpu_memory(MB)\"] = gpu_mem / 1024\n+ continue\n+ has_proc_info = True\n+ current_data[f\"E2E_LATENCY - {latency_name}(ms)\"] = latency_val\n+ if not has_proc_info:\n+ return \n+ with network_data_lock:\n+ if pid in process_network_io:\n+ current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)\"] = process_network_io[pid][\"tx\"]\n+ current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)\"] = process_network_io[pid][\"rx\"] \n+ else:\n+ current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_write(wkB/s)\"] = 0\n+ current_data[\"ETHERNET_DEVICE_IO - ethernet_device_io_read(rkB/s)\"] = 0 \n+ \n+ current_data[\"BASIC - gpu_memory(MB)\"] = gpu_mem / 1024\n \n with data_lock:\n if process_name not in data_history[\"data\"]: \n@@ -420,7 +426,7 @@ def sample_task():\n \n if dev[\"tran\"] == \"nvme\" or dev[\"tran\"] == \"sata\": \n blk_monitor_devices.append(dev[\"name\"])\n- elif dev[\"trans\"] == \"null\" and \"children\" in dev:\n+ elif dev[\"tran\"] == \"null\" and \"children\" in dev:\n blk_monitor_devices.append(dev[\"name\"])\n blk_monitor_devices = list(filter(\n lambda x: os.path.exists(f\"/dev/{x}\"), blk_monitor_devices))\n@@ -737,34 +743,36 @@ def index():\n watchdog_thread.daemon = True\n watchdog_thread.start()\n \n- nethogs_process = subprocess.Popen(\n- ['sudo', 'nethogs', '-t'], stdout=subprocess.PIPE,\n- stderr=subprocess.PIPE, bufsize=1, universal_newlines=True)\n-\n- def parse_nethogs_output():\n- global nethogs_buf, process_network_io, network_data_lock\n- for line in iter(nethogs_process.stdout.readline, ''):\n- if line.startswith(\"Refreshing:\"):\n- with network_data_lock:\n- process_network_io = {}\n- nethogs_buf_list = list(filter(lambda x: x!= \"\", nethogs_buf.split(\"\\n\")))\n- for i in nethogs_buf_list:\n- raw_line = list(filter(lambda x: x != \"\", i.split(\" \")))\n- raw_process_info = raw_line[0].split(\"\\t\")\n- process_info = raw_process_info[0].split(\"/\")\n- if len(process_info) < 3 or int(process_info[-2]) == 0:\n- continue\n- process_network_io[int(process_info[-2])] = {} \n- process_network_io[int(process_info[-2])][\"rx\"] = float(raw_process_info[2])\n- process_network_io[int(process_info[-2])][\"tx\"] = float(raw_process_info[1])\n- nethogs_buf = \"\"\n- else:\n- nethogs_buf = nethogs_buf + line\n- \n- network_sample_thread = threading.Thread(target=parse_nethogs_output)\n- network_sample_thread.daemon = True\n- network_sample_thread.start()\n+ if sudo_prv:\n+ nethogs_process = subprocess.Popen(\n+ ['sudo', 'nethogs', '-t'], stdout=subprocess.PIPE,\n+ stderr=subprocess.PIPE, bufsize=1, universal_newlines=True)\n+\n+ def parse_nethogs_output():\n+ global nethogs_buf, process_network_io, network_data_lock\n+ for line in iter(nethogs_process.stdout.readline, ''):\n+ if line.startswith(\"Refreshing:\"):\n+ with network_data_lock:\n+ process_network_io = {}\n+ nethogs_buf_list = list(filter(lambda x: x!= \"\", nethogs_buf.split(\"\\n\")))\n+ for i in nethogs_buf_list:\n+ raw_line = list(filter(lambda x: x != \"\", i.split(\" \")))\n+ raw_process_info = raw_line[0].split(\"\\t\")\n+ process_info = raw_process_info[0].split(\"/\")\n+ if len(process_info) < 3 or int(process_info[-2]) == 0:\n+ continue\n+ process_network_io[int(process_info[-2])] = {} \n+ process_network_io[int(process_info[-2])][\"rx\"] = float(raw_process_info[2])\n+ process_network_io[int(process_info[-2])][\"tx\"] = float(raw_process_info[1])\n+ nethogs_buf = \"\"\n+ else:\n+ nethogs_buf = nethogs_buf + line\n+ \n+ network_sample_thread = threading.Thread(target=parse_nethogs_output)\n+ network_sample_thread.daemon = True\n+ network_sample_thread.start()\n \n cyber_task()\n \n app.run(host=\"0.0.0.0\", threaded=True)\n+\ndiff --git a/scripts/performance_parse.py b/scripts/performance_parse.py\nnew file mode 100644\nindex 00000000000..96d82628d62\n--- /dev/null\n+++ b/scripts/performance_parse.py\n@@ -0,0 +1,264 @@\n+#!/usr/bin/env python3\n+\n+###############################################################################\n+# Copyright 2024 The Apollo Authors. All Rights Reserved.\n+#\n+# Licensed under the Apache License, Version 2.0 (the \"License\");\n+# you may not use this file except in compliance with the License.\n+# You may obtain a copy of the License at\n+#\n+# http://www.apache.org/licenses/LICENSE-2.0\n+#\n+# Unless required by applicable law or agreed to in writing, software\n+# distributed under the License is distributed on an \"AS IS\" BASIS,\n+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+# See the License for the specific language governing permissions and\n+# limitations under the License.\n+###############################################################################\n+\"\"\"\n+performance_parse.py: parse performance results dumped by cyber_performance\n+\n+Usage：\n+ 1. parse the performance results\n+ > python3 performance_parse.py -f performance_dumps.06-20-2024.json\n+\"\"\"\n+\n+import argparse\n+import subprocess\n+import os\n+import re\n+import sys\n+import json\n+import numpy as np\n+import requests\n+from datetime import datetime\n+\n+PERFORMANCE_FILE = None\n+FORMAT_STR = \"%m/%d/%Y, %H:%M:%S\"\n+\n+PERFORMANCE_ALL = {}\n+PERFORMANCE_AUTODRIVE = {}\n+\n+def parse_result():\n+ \"\"\"\n+ parse result read from dumped json file of cyber_performance\n+ \"\"\"\n+ global PERFORMANCE_FILE\n+ global PERFORMANCE_ALL\n+ global PERFORMANCE_AUTODRIVE\n+ raw_result = []\n+\n+ if not os.path.exists(PERFORMANCE_FILE):\n+ print(f\"[ERROR] {PERFORMANCE_FILE} not exists!\")\n+ exit(1)\n+ with open(PERFORMANCE_FILE, \"r\") as f:\n+ raw_result = f.readlines()\n+\n+ for raw in raw_result:\n+ sample = json.loads(raw)\n+ for process in sample[\"data\"]:\n+ if process not in PERFORMANCE_ALL:\n+ PERFORMANCE_ALL[process] = {\n+ \"BASIC\": {\n+ \"cpu_usage\": [],\n+ \"gpu_usage\": [],\n+ \"memory\": [],\n+ \"gpu_memory\": [],\n+ },\n+ \"BLOCK_DEVICE_IO\": {\n+ \"io_wait_usage\": [],\n+ \"block_device_io_read\": [],\n+ \"block_device_io_write\": [],\n+ \"devices_io_raw\": {},\n+ },\n+ \"ETHERNET_DEVICE_IO\": {\n+ \"ethernet_device_io_read\": [],\n+ \"ethernet_device_io_write\": [],\n+ \"devices_io_raw\": {},\n+ },\n+ \"E2E_LATENCY\": {},\n+ \"time\": []\n+ }\n+ if process not in PERFORMANCE_AUTODRIVE:\n+ PERFORMANCE_AUTODRIVE[process] = {\n+ \"BASIC\": {\n+ \"cpu_usage\": [],\n+ \"gpu_usage\": [],\n+ \"memory\": [],\n+ \"gpu_memory\": [],\n+ },\n+ \"BLOCK_DEVICE_IO\": {\n+ \"io_wait_usage\": [],\n+ \"block_device_io_read\": [],\n+ \"block_device_io_write\": [],\n+ \"devices_io_raw\": {},\n+ },\n+ \"ETHERNET_DEVICE_IO\": {\n+ \"ethernet_device_io_read\": [],\n+ \"ethernet_device_io_write\": [],\n+ \"devices_io_raw\": {},\n+ },\n+ \"E2E_LATENCY\": {},\n+ \"time\": []\n+ }\n+ autodrive_status = sample[\"data\"][process][\"autodrive\"]\n+ for i in range(len(autodrive_status)):\n+ if autodrive_status[i]:\n+ for monitor_ele in sample[\"data\"][process]:\n+ if monitor_ele == \"autodrive\":\n+ continue\n+ if monitor_ele.startswith(\"time\"):\n+ PERFORMANCE_AUTODRIVE[process][\"time\"].append(\n+ sample[\"data\"][process][monitor_ele][i])\n+ continue\n+ \n+ monitor_ele_list = monitor_ele.split(\" - \")\n+ metric_type = monitor_ele_list[0]\n+ metric_device = None\n+ metric_value = None\n+ if len(monitor_ele_list) > 2:\n+ metric_device = monitor_ele_list[1]\n+ metric_name = re.sub(r'\\(.*?\\)', '', monitor_ele_list[2])\n+ else:\n+ metric_name = re.sub(r'\\(.*?\\)', '', monitor_ele_list[1])\n+ if metric_type not in PERFORMANCE_AUTODRIVE[process]:\n+ continue\n+ if metric_type == \"BASIC\":\n+ PERFORMANCE_AUTODRIVE[process][metric_type][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ elif metric_type == \"E2E_LATENCY\":\n+ try:\n+ if metric_name not in PERFORMANCE_AUTODRIVE[process][metric_type]:\n+ PERFORMANCE_AUTODRIVE[process][metric_type][metric_name] = []\n+ PERFORMANCE_AUTODRIVE[process][metric_type][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ except:\n+ continue\n+ else:\n+ if metric_device is None or metric_device == \"system\":\n+ PERFORMANCE_AUTODRIVE[process][metric_type][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ else:\n+ if metric_device not in \\\n+ PERFORMANCE_AUTODRIVE[process][metric_type][\"devices_io_raw\"]:\n+ PERFORMANCE_AUTODRIVE[process][metric_type][\"devices_io_raw\"][metric_device] = {}\n+ if metric_name not in PERFORMANCE_AUTODRIVE[\n+ process][metric_type][\"devices_io_raw\"][metric_device]:\n+ PERFORMANCE_AUTODRIVE[process][\n+ metric_type][\"devices_io_raw\"][metric_device][metric_name] = []\n+ PERFORMANCE_AUTODRIVE[process][metric_type][\"devices_io_raw\"][\n+ metric_device][metric_name].append(float(sample[\"data\"][process][monitor_ele][i]))\n+ \n+ for monitor_ele in sample[\"data\"][process]:\n+ if monitor_ele == \"autodrive\":\n+ continue\n+ if monitor_ele.startswith(\"time\"):\n+ PERFORMANCE_ALL[process][\"time\"].append(\n+ sample[\"data\"][process][monitor_ele][i])\n+ continue\n+ \n+ monitor_ele_list = monitor_ele.split(\" - \")\n+ metric_type = monitor_ele_list[0]\n+ metric_device = None\n+ metric_value = None\n+ if len(monitor_ele_list) > 2:\n+ metric_device = monitor_ele_list[1]\n+ metric_name = re.sub(r'\\(.*?\\)', '', monitor_ele_list[2])\n+ else:\n+ metric_name = re.sub(r'\\(.*?\\)', '', monitor_ele_list[1])\n+ if metric_type not in PERFORMANCE_ALL[process]:\n+ continue\n+ if metric_type == \"BASIC\":\n+ PERFORMANCE_ALL[process][metric_type][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ elif metric_type == \"E2E_LATENCY\":\n+ try:\n+ if metric_name not in PERFORMANCE_ALL[process][metric_type]:\n+ PERFORMANCE_ALL[process][metric_type][metric_name] = []\n+ PERFORMANCE_ALL[process][metric_type][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ except:\n+ continue\n+ else:\n+ if metric_device is None or metric_device == \"system\":\n+ PERFORMANCE_ALL[process][metric_type][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ else:\n+ if metric_device not in \\\n+ PERFORMANCE_ALL[process][metric_type][\"devices_io_raw\"]:\n+ PERFORMANCE_ALL[process][metric_type][\"devices_io_raw\"][metric_device] = {}\n+ if metric_name not in PERFORMANCE_ALL[\n+ process][metric_type][\"devices_io_raw\"][metric_device]:\n+ PERFORMANCE_ALL[process][metric_type][\"devices_io_raw\"][metric_device][metric_name] = []\n+ PERFORMANCE_ALL[process][metric_type][\"devices_io_raw\"][metric_device][metric_name].append(\n+ float(sample[\"data\"][process][monitor_ele][i]))\n+ tab = \" \"\n+ print(\"Performance: \")\n+ for p in PERFORMANCE_ALL:\n+ print(f\"{tab}{p}:\")\n+ for ele in PERFORMANCE_ALL[p]:\n+ if ele == \"time\":\n+ continue\n+ print(f\"{tab}{tab}{ele}:\")\n+ for mertic in PERFORMANCE_ALL[p][ele]:\n+ if mertic == \"devices_io_raw\":\n+ for dev in PERFORMANCE_ALL[p][ele][mertic]:\n+ print(f\"{tab}{tab}{tab}{dev}:\")\n+ for dev_metric in PERFORMANCE_ALL[p][ele][mertic][dev]:\n+ avg = round(\n+ np.mean(PERFORMANCE_ALL[p][ele][mertic][dev][dev_metric]), 2)\n+ percentile_90 = round(\n+ np.percentile(PERFORMANCE_ALL[p][ele][mertic][dev][dev_metric], 90), 2)\n+ print(f\"{tab}{tab}{tab}{tab}{dev_metric}: \\t[avg: {avg}]\\t[90th: {percentile_90}]\")\n+ else:\n+ if len(PERFORMANCE_ALL[p][ele][mertic]) == 0:\n+ continue\n+ avg = round(np.mean(PERFORMANCE_ALL[p][ele][mertic]), 2)\n+ percentile_90 = round(np.percentile(PERFORMANCE_ALL[p][ele][mertic], 90), 2)\n+ print(f\"{tab}{tab}{tab}{mertic}: \\t[avg: {avg}]\\t[90th: {percentile_90}]\")\n+ \n+ print(\"\\n\")\n+ print(\"Performance during autodrive: \")\n+ for p in PERFORMANCE_AUTODRIVE:\n+ print(f\"{tab}{p}:\")\n+ for ele in PERFORMANCE_AUTODRIVE[p]:\n+ if ele == \"time\":\n+ continue\n+ print(f\"{tab}{tab}{ele}:\")\n+ for mertic in PERFORMANCE_AUTODRIVE[p][ele]:\n+ if mertic == \"devices_io_raw\":\n+ for dev in PERFORMANCE_AUTODRIVE[p][ele][mertic]:\n+ print(f\"{tab}{tab}{tab}{dev}:\")\n+ for dev_metric in PERFORMANCE_AUTODRIVE[p][ele][mertic][dev]:\n+ avg = round(\n+ np.mean(PERFORMANCE_AUTODRIVE[p][ele][mertic][dev][dev_metric]), 2)\n+ percentile_90 = round(\n+ np.percentile(PERFORMANCE_AUTODRIVE[p][ele][mertic][dev][dev_metric], 90), 2)\n+ print(f\"{tab}{tab}{tab}{tab}{dev_metric}: \\t[avg: {avg}]\\t[90th: {percentile_90}]\")\n+ else:\n+ if len(PERFORMANCE_AUTODRIVE[p][ele][mertic]) == 0:\n+ continue\n+ avg = round(np.mean(PERFORMANCE_AUTODRIVE[p][ele][mertic]), 2)\n+ percentile_90 = round(np.percentile(PERFORMANCE_AUTODRIVE[p][ele][mertic], 90), 2)\n+ print(f\"{tab}{tab}{tab}{mertic}: \\t[avg: {avg}]\\t[90th: {percentile_90}]\")\n+\n+def main():\n+ \"\"\" Main Method\n+ \"\"\"\n+ global PERFORMANCE_FILE\n+\n+ parser = argparse.ArgumentParser(\n+ description='performance results parse and upload tool')\n+ parser.add_argument(\"-f\", \"--file\", required=True,\n+ nargs=1, type=str.lstrip, help=\"the performance file dumped by cyber_performance\")\n+\n+ args = parser.parse_args()\n+ \n+ PERFORMANCE_FILE = args.file[0]\n+\n+ parse_result()\n+\n+\n+if __name__ == '__main__':\n+ main()\n+\n"},"changed_files":{"kind":"list like","value":["cyber/tools/cyber_performance/cyber_performance.py","scripts/performance_parse.py"],"string":"[\n \"cyber/tools/cyber_performance/cyber_performance.py\",\n \"scripts/performance_parse.py\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":565,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15506,"string":"15,506"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"docs: Update path to demo record for cyber_recorder"},"pr_body":{"kind":"string","value":"Follow up on #15312 \r\n\r\nThe path for the subsequent command in the documentation did not get updated."},"base_sha":{"kind":"string","value":"baf7716e70ef9f0a9aa0ebc873c387ebc809c94e"},"head_sha":{"kind":"string","value":"d93a652d39a13f7a05a1f5ea745bc6ec7acaf84f"},"gold_diff":{"kind":"string","value":"diff --git a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md b/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\nindex 757fc13bf92..e8ea54d7022 100644\n--- a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\n+++ b/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\n@@ -63,7 +63,7 @@ cd docs/02_Quick\\ Start/demo_guide/\n python3 record_helper.py demo_3.5.record\n \n # You can now replay this demo \"record\" in a loop with the '-l' flag\n-cyber_recorder play -f docs/demo_guide/demo_3.5.record -l\n+cyber_recorder play -f docs/02_Quick\\ Start/demo_guide/demo_3.5.record -l\n ```\n \n Dreamview should show a running vehicle now. (The following image might be\n"},"changed_files":{"kind":"list like","value":["docs/01_Installation Instructions/how_to_launch_and_run_apollo.md"],"string":"[\n \"docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":566,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15468,"string":"15,468"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Apollo seyond lidar driver"},"pr_body":{"kind":"string","value":"1、新增Seyond激光雷达驱动；\r\n2、已经进行过功能测试；"},"base_sha":{"kind":"string","value":"6edbb1f8fcee5ad2e75109b89de799236971548e"},"head_sha":{"kind":"string","value":"c495bc9132d465c139d95a1bdf775853dc2a3349"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/cyberfile.xml b/modules/drivers/lidar/cyberfile.xml\nindex 54ba16237ac..3f66e824224 100644\n--- a/modules/drivers/lidar/cyberfile.xml\n+++ b/modules/drivers/lidar/cyberfile.xml\n@@ -34,6 +34,7 @@\n <depend>libpcap-dev</depend>\n <depend>rsdriver</depend>\n <depend>vanjee-driver</depend>\n+ <depend>seyond-driver</depend>\n \n <depend>bazel-extend-tools</depend>\n <depend expose=\"False\">3rd-rules-python</depend>\ndiff --git a/modules/drivers/lidar/seyond/BUILD b/modules/drivers/lidar/seyond/BUILD\nnew file mode 100755\nindex 00000000000..f7c061e9ea5\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/BUILD\n@@ -0,0 +1,41 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+SEYOND_COPTS = ['-DMODULE_NAME=\\\\\"seyond\\\\\"']\n+\n+filegroup(\n+ name = \"runtime_data\",\n+ srcs = glob([\n+ \"conf/*.txt\",\n+ \"conf/*.conf\",\n+ \"dag/*.dag\",\n+ \"launch/*.launch\",\n+ ]),\n+)\n+\n+apollo_component(\n+ name = \"libseyond_component.so\",\n+ srcs = [\n+ \"src/seyond_component.cpp\",\n+ \"src/seyond_driver.cpp\",\n+ ],\n+ hdrs = [\n+ \"src/seyond_component.h\",\n+ \"src/seyond_driver.h\",\n+ ],\n+ copts = SEYOND_COPTS + ['-std=c++17'],\n+ deps = [\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\n+ \"//modules/drivers/lidar/seyond/proto:seyond_config_proto\",\n+ \"//modules/drivers/lidar/seyond/proto:seyond_proto\",\n+ \"//modules/drivers/lidar/common:lidar_common\",\n+ ],\n+ linkopts = [\n+ \"-linnoclientsdk\",\n+ ]\n+)\n+\n+apollo_package()\n+cpplint()\ndiff --git a/modules/drivers/lidar/seyond/README_cn.md b/modules/drivers/lidar/seyond/README_cn.md\nnew file mode 100755\nindex 00000000000..73a88ea506d\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/README_cn.md\n@@ -0,0 +1,37 @@\n+# **Seyond Lidar Driver**\n+\n+## 1 工程简介\n+\n+ **seyond** 图达通-Apollo平台-激光雷达驱动。 支持*Falcon/Robin*系列雷达。 \n+\n+## 2 运行\n+\n+**所有驱动均需要在Apollo Docker环境下运行**\n+\n+```sh\n+cyber_launch start /apollo/modules/drivers/lidar/seyond/launch/seyond.launch\n+```\n+\n+或\n+\n+```sh\n+mainboard -d /apollo/modules/drivers/lidar/seyond/dag/seyond.dag\n+```\n+\n+默认话题名：\n+\n+- 点云 -- /apollo/sensor/seyond/PointCloud2\"\n+- Scan -- /apollo/sensor/seyond/Scan\n+\n+## 3 参数介绍\n+| 参数 | 默认值 | 描述 |\n+| :--------: | :---------: | :---------: |\n+| device_ip | 172.168.1.10 | 雷达 ip |\n+| port | 8010 | tcp 端口 |\n+| udp_port | 8010 | udp端口，若<0, 使用tcp传输 |\n+| reflectance_mode | true | false:强度模式 true:反射模式 |\n+| multiple_return | 1 | 回波模式 |\n+| coordinate_mode | 3 | 坐标转换模式, 0: 雷达默认配置, 3:WGS-84 |\n+| max_range | 2000.0 | 最大距离限制 (单位:m) |\n+| min_range | 0.4 | 最小距离限制 (单位:m) |\n+| log_level | \"info\" | 日志等级限制 (info warn error) |\ndiff --git a/modules/drivers/lidar/seyond/README_en.md b/modules/drivers/lidar/seyond/README_en.md\nnew file mode 100755\nindex 00000000000..b631dccac25\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/README_en.md\n@@ -0,0 +1,37 @@\n+# **Seyond Lidar Driver**\n+\n+## 1 Introduction\n+\n+ **seyond** Seyond-Apollo Lidar Driver. support *Falcon/Robin* lidar.\n+\n+## 2 Run\n+\n+**All the drivers need to be excuted in Apollo docker environment.**\n+\n+```sh\n+cyber_launch start /apollo/modules/drivers/lidar/seyond/launch/seyond.launch\n+```\n+\n+or\n+\n+```sh\n+mainboard -d /apollo/modules/drivers/lidar/seyond/dag/seyond.dag\n+```\n+\n+Default Topic：\n+\n+- PointCloud -- /apollo/sensor/seyond/PointCloud2\"\n+- Scan -- /apollo/sensor/seyond/Scan\n+\n+## 3 Parameters Intro\n+| Parameter | Default Value | description |\n+| :--------: | :---------: | :---------: |\n+| device_ip | 172.168.1.10 | lidar ip |\n+| port | 8010 | tcp port |\n+| udp_port | 8010 | udp port, if < 0, use tcp for transmission |\n+| reflectance_mode | true | false:intensiy mode true:reflectance_mode mode |\n+| multiple_return | 1 | lidar detection echo mode |\n+| coordinate_mode | 3 | convert the xyz direction of a point cloud, 0: lidar-default, 3:WGS-84 |\n+| max_range | 2000.0 | point cloud display maximum distance (unit:m) |\n+| min_range | 0.4 | point cloud display minimun distance (unit:m) |\n+| log_level | \"info\" | limit log from lidar, can choose from (info warn error) |\ndiff --git a/modules/drivers/lidar/seyond/conf/seyond.pb.txt b/modules/drivers/lidar/seyond/conf/seyond.pb.txt\nnew file mode 100755\nindex 00000000000..caed85b672c\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/conf/seyond.pb.txt\n@@ -0,0 +1,18 @@\n+config_base {\n+ scan_channel: \"/apollo/sensor/seyond/Scan\"\n+ point_cloud_channel: \"/apollo/sensor/seyond/PointCloud2\"\n+ frame_id: \"seyond\"\n+\n+ # sample ONLINE_LIDAR, RAW_PACKET\n+ source_type: ONLINE_LIDAR\n+}\n+\n+device_ip: \"172.168.1.10\"\n+port: 8010\n+udp_port: 8010\n+reflectance_mode: true\n+multiple_return: 1\n+coordinate_mode: 3\n+max_range: 2000.0\n+min_range: 0.4\n+log_level: \"info\"\ndiff --git a/modules/drivers/lidar/seyond/dag/seyond.dag b/modules/drivers/lidar/seyond/dag/seyond.dag\nnew file mode 100755\nindex 00000000000..9f6622e3faf\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/dag/seyond.dag\n@@ -0,0 +1,10 @@\n+module_config {\n+ module_library : \"modules/drivers/lidar/seyond/libseyond_component.so\"\n+ components {\n+ class_name : \"SeyondComponent\"\n+ config {\n+ name : \"Seyond_Driver\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/seyond/conf/seyond.pb.txt\"\n+ }\n+ }\n+}\ndiff --git a/modules/drivers/lidar/seyond/launch/seyond.launch b/modules/drivers/lidar/seyond/launch/seyond.launch\nnew file mode 100755\nindex 00000000000..8ddb55363b6\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/launch/seyond.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>seyond</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/seyond/dag/seyond.dag</dag_conf>\n+ <process_name>seyond</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/seyond/proto/BUILD b/modules/drivers/lidar/seyond/proto/BUILD\nnew file mode 100644\nindex 00000000000..6565b3605b2\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/proto/BUILD\n@@ -0,0 +1,22 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\")\n+load(\"//tools/proto:proto.bzl\", \"proto_library\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+proto_library(\n+ name = \"seyond_config_proto\",\n+ srcs = [\"seyond_config.proto\"],\n+ deps = [\n+ \"//modules/drivers/lidar/common/proto:lidar_config_base_proto\",\n+ ],\n+)\n+\n+proto_library(\n+ name = \"seyond_proto\",\n+ srcs = [\"seyond.proto\"],\n+ deps = [\n+ \"//modules/common_msgs/basic_msgs:header_proto\",\n+ ],\n+)\n+\n+apollo_package()\ndiff --git a/modules/drivers/lidar/seyond/proto/seyond.proto b/modules/drivers/lidar/seyond/proto/seyond.proto\nnew file mode 100644\nindex 00000000000..cded2b33958\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/proto/seyond.proto\n@@ -0,0 +1,17 @@\n+syntax = \"proto2\";\n+\n+package apollo.drivers.seyond;\n+\n+\n+\n+message SeyondPacket {\n+ optional bool table_exist = 1;\n+ optional bytes data = 2;\n+ optional bytes table = 3;\n+}\n+\n+message SeyondScan {\n+ optional uint64 timestamp = 1;\n+ optional double measurement_time = 2;\n+ repeated SeyondPacket packets = 3;\n+}\ndiff --git a/modules/drivers/lidar/seyond/proto/seyond_config.proto b/modules/drivers/lidar/seyond/proto/seyond_config.proto\nnew file mode 100644\nindex 00000000000..bc38b57f8d6\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/proto/seyond_config.proto\n@@ -0,0 +1,21 @@\n+syntax = \"proto2\";\n+\n+package apollo.drivers.seyond;\n+\n+import \"modules/drivers/lidar/common/proto/lidar_config_base.proto\";\n+\n+message Config {\n+\n+ // lidar base\n+ required apollo.drivers.lidar.LidarConfigBase config_base = 1;\n+\n+ optional string device_ip = 2 [default = \"172.168.1.10\"];\n+ optional uint32 port = 3 [default = 8010];\n+ optional int32 udp_port = 4 [default = 8010];\n+ optional bool reflectance_mode = 5 [default = false];\n+ optional uint32 multiple_return = 6 [default = 0];\n+ optional uint32 coordinate_mode = 7 [default = 3];\n+ optional double max_range = 8 [default = 2000.0];\n+ optional double min_range = 9 [default = 0.4];\n+ optional string log_level = 10 [default = \"info\"];\n+}\ndiff --git a/modules/drivers/lidar/seyond/src/seyond_component.cpp b/modules/drivers/lidar/seyond/src/seyond_component.cpp\nnew file mode 100644\nindex 00000000000..4f833267d9d\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/src/seyond_component.cpp\n@@ -0,0 +1,132 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#include \"modules/drivers/lidar/seyond/src/seyond_component.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+bool SeyondComponent::Init() {\n+ if (!GetProtoConfig(&conf_)) {\n+ AERROR << \"load config error, file:\" << config_file_path_;\n+ return false;\n+ }\n+\n+ this->InitBase(conf_.config_base());\n+\n+ driver_ptr_ = std::make_shared<SeyondDriver>();\n+\n+ SeyondParam driver_param;\n+ driver_param.device_ip = conf_.device_ip();\n+ driver_param.port = conf_.port();\n+ driver_param.udp_port = conf_.udp_port();\n+ driver_param.reflectance_mode = conf_.reflectance_mode();\n+ driver_param.multiple_return = conf_.multiple_return();\n+ driver_param.coordinate_mode = conf_.coordinate_mode();\n+ driver_param.max_range = conf_.max_range();\n+ driver_param.min_range = conf_.min_range();\n+ driver_param.log_level = conf_.log_level();\n+\n+ if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_RAW_PACKET) {\n+ driver_param.raw_packets_mode = true;\n+ }\n+\n+ driver_ptr_->register_log_callback(&SeyondComponent::SeyondLogCallback);\n+\n+ driver_ptr_->register_publish_packet_callback(\n+ std::bind(&SeyondComponent::SeyondPacketCallback, this,\n+ std::placeholders::_1, std::placeholders::_2));\n+\n+ driver_ptr_->register_publish_point_callback(\n+ std::bind(&SeyondComponent::SeyondCloudCallback, this,\n+ std::placeholders::_1),\n+ std::bind(&SeyondComponent::SeyondCloudAllocateCallback, this));\n+\n+ driver_param.print();\n+\n+ scan_packets_ptr_ = std::make_shared<seyond::SeyondScan>();\n+\n+ if (!driver_ptr_->init(driver_param)) {\n+ AERROR << \"seyond Driver init failed\";\n+ return false;\n+ }\n+\n+ if (!driver_ptr_->start()) {\n+ AERROR << \"seyond Driver start failed\";\n+ return false;\n+ }\n+ AINFO << \"seyond lidar init finished\";\n+ return true;\n+}\n+\n+void SeyondComponent::ReadScanCallback(\n+ const std::shared_ptr<seyond::SeyondScan>& scan_message) {\n+ driver_ptr_->process_scan_packet_(scan_message);\n+}\n+\n+void SeyondComponent::SeyondCloudCallback(std::shared_ptr<PointCloud> cloud) {\n+ WritePointCloud(cloud);\n+}\n+\n+std::shared_ptr<PointCloud> SeyondComponent::SeyondCloudAllocateCallback() {\n+ return AllocatePointCloud();\n+}\n+\n+void SeyondComponent::SeyondPacketCallback(const InnoDataPacket *pkt,\n+ bool is_next_frame) {\n+ if (is_next_frame) {\n+ frame_count_++;\n+ scan_packets_ptr_->set_timestamp(\n+ (static_cast<uint64_t>(pkt->common.ts_start_us)) * 1000);\n+ scan_packets_ptr_->set_measurement_time(pkt->common.ts_start_us * 1e-6);\n+ WriteScan(scan_packets_ptr_);\n+ scan_packets_ptr_ = std::make_shared<seyond::SeyondScan>();\n+ }\n+ seyond::SeyondPacket *scan_packet = scan_packets_ptr_->add_packets();\n+ uint64_t pkt_len = sizeof(InnoDataPacket) + pkt->item_number * pkt->item_size;\n+ scan_packet->mutable_data()->assign(reinterpret_cast<const char *>(pkt),\n+ pkt_len);\n+ scan_packet->set_table_exist(false);\n+ if (driver_ptr_->anglehv_table_init_ && (frame_count_ == table_send_hz_)) {\n+ frame_count_ = 0;\n+ scan_packet->set_table_exist(true);\n+ scan_packet->mutable_table()->assign(driver_ptr_->anglehv_table_.data(),\n+ driver_ptr_->anglehv_table_.size());\n+ }\n+}\n+\n+void SeyondComponent::SeyondLogCallback(int32_t level, const char *header,\n+ const char *msg) {\n+ switch (level) {\n+ case 0: // INNO_LOG_LEVEL_FATAL\n+ case 1: // INNO_LOG_LEVEL_CRITICAL\n+ case 2: // INNO_LOG_LEVEL_ERROR\n+ case 3: // INNO_LOG_LEVEL_TEMP\n+ AERROR << header << \" \" << msg;\n+ break;\n+ case 4: // INNO_LOG_LEVEL_WARNING\n+ case 5: // INNO_LOG_LEVEL_DEBUG\n+ AWARN << header << \" \" << msg;\n+ break;\n+ default:\n+ AINFO << header << \" \" << msg;\n+ }\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/seyond/src/seyond_component.h b/modules/drivers/lidar/seyond/src/seyond_component.h\nnew file mode 100644\nindex 00000000000..3c4cad00c9c\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/src/seyond_component.h\n@@ -0,0 +1,62 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#pragma once\n+\n+#include <memory>\n+\n+#include \"modules/drivers/lidar/seyond/src/seyond_driver.h\"\n+#include \"modules/drivers/lidar/seyond/proto/seyond.pb.h\"\n+#include \"modules/drivers/lidar/seyond/proto/seyond_config.pb.h\"\n+\n+#include \"modules/drivers/lidar/common/lidar_component_base.h\"\n+#include \"modules/drivers/lidar/common/sync_buffering.h\"\n+#include \"modules/drivers/lidar/common/util.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+class SeyondComponent\n+ : public LidarComponentBase<seyond::SeyondScan> {\n+ public:\n+ bool Init() override;\n+\n+ void ReadScanCallback(\n+ const std::shared_ptr<seyond::SeyondScan>& scan_message) override;\n+\n+ void SeyondCloudCallback(std::shared_ptr<PointCloud> cloud);\n+\n+ void SeyondPacketCallback(const InnoDataPacket *pkt, bool is_next_frame);\n+\n+ std::shared_ptr<PointCloud> SeyondCloudAllocateCallback();\n+\n+ static void SeyondLogCallback(int32_t level, const char *header,\n+ const char *msg);\n+\n+ private:\n+ std::shared_ptr<SeyondDriver> driver_ptr_;\n+ apollo::drivers::seyond::Config conf_;\n+\n+ std::shared_ptr<seyond::SeyondScan> scan_packets_ptr_{nullptr};\n+\n+ uint32_t table_send_hz_{10};\n+ uint32_t frame_count_{0};\n+};\n+CYBER_REGISTER_COMPONENT(SeyondComponent)\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/seyond/src/seyond_driver.cpp b/modules/drivers/lidar/seyond/src/seyond_driver.cpp\nnew file mode 100644\nindex 00000000000..95513999638\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/src/seyond_driver.cpp\n@@ -0,0 +1,387 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#include \"modules/drivers/lidar/seyond/src/seyond_driver.h\"\n+\n+static const uint32_t KBUF_SIZE = 1024 * 1024 * 10;\n+static const double us_in_second_c = 1000000.0;\n+static const double ten_us_in_second_c = 100000.0;\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+std::function<void(int32_t, const char *, const char *)>\n+ SeyondDriver::log_cb_s_ = nullptr;\n+\n+static void coordinate_transfer(PointXYZIT *point, uint32_t coordinate_mode,\n+ float x, float y, float z) {\n+ switch (coordinate_mode) {\n+ case 0:\n+ point->set_x(x); // up\n+ point->set_y(y); // right\n+ point->set_z(z); // forward\n+ break;\n+ case 1:\n+ point->set_x(y); // right\n+ point->set_y(z); // forward\n+ point->set_z(x); // up\n+ break;\n+ case 2:\n+ point->set_x(y); // right\n+ point->set_y(x); // up\n+ point->set_z(z); // forward\n+ break;\n+ case 3:\n+ point->set_x(z); // forward\n+ point->set_y(-y); // -right\n+ point->set_z(x); // up\n+ break;\n+ case 4:\n+ point->set_x(z); // forward\n+ point->set_y(x); // up\n+ point->set_z(y); // right\n+ break;\n+ default:\n+ point->set_x(x); // up\n+ point->set_y(y); // right\n+ point->set_z(z); // forward\n+ break;\n+ }\n+}\n+\n+SeyondDriver::SeyondDriver() {\n+ convert_buffer_.resize(KBUF_SIZE);\n+}\n+\n+SeyondDriver::~SeyondDriver() {\n+ stop();\n+}\n+\n+bool SeyondDriver::setup_lidar() {\n+ // setup read from live\n+ const char *ip_str = param_.device_ip.c_str();\n+ uint16_t lidar_udp_port = 0;\n+ enum InnoLidarProtocol protocol_;\n+ if (param_.udp_port >= 0) {\n+ protocol_ = INNO_LIDAR_PROTOCOL_PCS_UDP;\n+ lidar_udp_port = param_.udp_port;\n+ } else {\n+ protocol_ = INNO_LIDAR_PROTOCOL_PCS_TCP;\n+ }\n+ handle_ = inno_lidar_open_live(lidar_name_.c_str(), ip_str, param_.port,\n+ protocol_, lidar_udp_port);\n+ // get internal pcs enable status\n+ uint32_t is_internal_pcs = 1;\n+ char buf[20] = {'\\0'};\n+ int32_t ret =\n+ inno_lidar_get_attribute_string(handle_, \"enabled\", buf, sizeof(buf));\n+ if (ret != 0) {\n+ inno_log_error(\"cannot connect to lidar, please check the network\");\n+ return false;\n+ }\n+ std::string enable(buf);\n+ is_internal_pcs = atoi(buf);\n+ if (is_internal_pcs != 1) {\n+ inno_log_error(\"internal pcs: %u, please turn on the pcs\", is_internal_pcs);\n+ return false;\n+ }\n+ std::string cilent_set_key = \"\";\n+ cilent_set_key = \"LidarClient_Communication/get_conn_timeout_sec\";\n+ ret =\n+ inno_lidar_set_config_name_value(handle_, cilent_set_key.c_str(), \"5.0\");\n+ if (ret != 0) {\n+ inno_log_error(\"set lidar key %s failed %d\", cilent_set_key.c_str(), ret);\n+ }\n+\n+ // set misorder_correct_enable to 1, in case of point packet disorder\n+ cilent_set_key = \"LidarClient_StageClientRead/misorder_correct_enable\";\n+ ret = inno_lidar_set_config_name_value(handle_, cilent_set_key.c_str(), \"1\");\n+ if (ret != 0) {\n+ inno_log_error(\"set lidar key %s failed %d\", cilent_set_key.c_str(), ret);\n+ }\n+\n+ // set lidar reflectance mode\n+ enum InnoReflectanceMode m = param_.reflectance_mode\n+ ? INNO_REFLECTANCE_MODE_REFLECTIVITY\n+ : INNO_REFLECTANCE_MODE_INTENSITY;\n+ ret = inno_lidar_set_reflectance_mode(handle_, m);\n+ if (ret != 0) {\n+ inno_log_error(\"Lidar %s cannot set reflectance mode\", lidar_name_.c_str());\n+ }\n+\n+ // set lidar return mode\n+ ret = inno_lidar_set_return_mode(\n+ handle_, static_cast<InnoMultipleReturnMode>(param_.multiple_return));\n+ if (ret != 0) {\n+ inno_log_error(\"Lidar %s cannot set return mode\", lidar_name_.c_str());\n+ }\n+\n+ // set lidar callback\n+ ret = inno_lidar_set_callbacks(handle_, message_callback_s_, data_callback_s_,\n+ status_callback_s_, nullptr, this);\n+ if (ret != 0) {\n+ inno_log_error(\"Lidar %s set callbacks error\", lidar_name_.c_str());\n+ return false;\n+ }\n+\n+ return true;\n+}\n+\n+bool SeyondDriver::init(SeyondParam& param) {\n+ param_ = param;\n+ set_log_and_message_level();\n+ inno_lidar_set_logs(-1, -1, NULL, 0, 0, log_callback_s_, NULL, NULL, 0, 0, 1);\n+ return true;\n+}\n+\n+bool SeyondDriver::start() {\n+ if (handle_ <= 0) {\n+ if (param_.raw_packets_mode) {\n+ inno_log_info(\"waiting for record to replay...\");\n+ return true;\n+ }\n+ if (!setup_lidar()) {\n+ return false;\n+ }\n+ }\n+ inno_lidar_start(handle_);\n+ return true;\n+}\n+\n+bool SeyondDriver::pause() {\n+ if (handle_ > 0) {\n+ inno_lidar_stop(handle_);\n+ }\n+ return true;\n+}\n+\n+bool SeyondDriver::stop() {\n+ if (handle_ > 0) {\n+ inno_lidar_stop(handle_);\n+ inno_lidar_close(handle_);\n+ }\n+ handle_ = 0;\n+ current_frame_id_ = -1;\n+ return true;\n+}\n+\n+// callback group\n+void SeyondDriver::message_callback_(uint32_t from_remote,\n+ enum InnoMessageLevel level,\n+ enum InnoMessageCode code,\n+ const char *msg) {\n+ const char *remote = \"\";\n+ if (from_remote) {\n+ remote = \"REMOTE-\";\n+ }\n+\n+ if (level == INNO_MESSAGE_LEVEL_WARNING) {\n+ inno_log_warning(\"%s%s level=%d, code=%d, message=%s\", remote,\n+ inno_log_header_g[level], level, code, msg);\n+ } else if (level < INNO_MESSAGE_LEVEL_WARNING) {\n+ inno_log_error(\"%s%s level=%d, code=%d, message=%s\", remote,\n+ inno_log_header_g[level], level, code, msg);\n+ }\n+}\n+\n+int32_t SeyondDriver::status_callback_(const InnoStatusPacket *pkt) {\n+ // sanity check\n+ if (!inno_lidar_check_status_packet(pkt, 0)) {\n+ inno_log_error(\"corrupted pkt->idx = %\" PRI_SIZEU, pkt->idx);\n+ return -1;\n+ }\n+\n+ static uint64_t cnt = 0;\n+ if (cnt++ % 100 == 1) {\n+ constexpr uint64_t buf_size = 2048;\n+ char buf[buf_size]{0};\n+\n+ int32_t ret = inno_lidar_printf_status_packet(pkt, buf, buf_size);\n+ if ((ret > 0)) {\n+ inno_log_info(\"Received status packet %u: %s\", cnt, buf);\n+ } else if ((ret < 0)) {\n+ inno_log_warning(\"Received status packet %u: errorno: %d\", cnt, ret);\n+ }\n+ }\n+ return 0;\n+}\n+\n+int32_t SeyondDriver::data_callback_(const InnoDataPacket *pkt) {\n+ // get first frame id\n+ if (current_frame_id_ == -1) {\n+ current_frame_id_ = pkt->idx;\n+ inno_log_info(\"get first frame id: %lu\", current_frame_id_);\n+ return 0;\n+ }\n+\n+ if ((pkt->type == INNO_ROBINW_ITEM_TYPE_COMPACT_POINTCLOUD) &&\n+ (!anglehv_table_init_)) {\n+ anglehv_table_.resize(sizeof(InnoAngleHVTable) + sizeof(InnoDataPacket));\n+ int ret = inno_lidar_get_anglehv_table(\n+ handle_, reinterpret_cast<InnoDataPacket *>(anglehv_table_.data()));\n+ if (ret == 0) {\n+ anglehv_table_init_ = true;\n+ inno_log_info(\"Get RobinW Compact Table\");\n+ }\n+ }\n+ bool is_next_frame = false;\n+ if (current_frame_id_ != static_cast<int64_t>(pkt->idx)) {\n+ is_next_frame = true;\n+ }\n+\n+ packet_publish_cb_(pkt, is_next_frame);\n+\n+ if (is_next_frame) {\n+ point_cloud_ptr_->mutable_header()->set_lidar_timestamp(\n+ (static_cast<uint64_t>(pkt->common.ts_start_us)) * 1000);\n+ point_cloud_ptr_->set_measurement_time(pkt->common.ts_start_us * 1e-6);\n+ point_cloud_ptr_->set_height(1);\n+ point_cloud_ptr_->set_width(frame_points_width_);\n+ // data publish\n+ cloud_publish_cb_(point_cloud_ptr_);\n+ point_cloud_ptr_ = allocate_cloud_cb_();\n+ current_frame_id_ = pkt->idx;\n+ frame_points_width_ = 0;\n+ }\n+ convert_and_parse_(pkt);\n+\n+ return 0;\n+}\n+\n+int32_t SeyondDriver::process_scan_packet_(\n+ const std::shared_ptr<seyond::SeyondScan> &lidar_packets) {\n+ if (current_frame_id_ == -1) {\n+ current_frame_id_ = 0;\n+ inno_log_info(\"received first scan packet...\");\n+ return 0;\n+ }\n+ for (auto &packet : lidar_packets->packets()) {\n+ const InnoDataPacket *pkt =\n+ reinterpret_cast<const InnoDataPacket *>(packet.data().data());\n+ if ((param_.raw_packets_mode) && (!anglehv_table_init_) &&\n+ (pkt->type == INNO_ROBINW_ITEM_TYPE_COMPACT_POINTCLOUD)) {\n+ if (packet.table_exist()) {\n+ anglehv_table_init_ = true;\n+ anglehv_table_.resize(sizeof(InnoAngleHVTable) +\n+ sizeof(InnoDataPacket));\n+ std::memcpy(anglehv_table_.data(), packet.table().data(),\n+ sizeof(InnoAngleHVTable) + sizeof(InnoDataPacket));\n+ inno_log_info(\"Get RobinW Compact Table\");\n+ } else {\n+ return 0;\n+ }\n+ }\n+ convert_and_parse_(pkt);\n+ }\n+ point_cloud_ptr_->mutable_header()->set_lidar_timestamp(\n+ lidar_packets->timestamp());\n+ point_cloud_ptr_->set_measurement_time(lidar_packets->measurement_time());\n+ point_cloud_ptr_->set_height(1);\n+ point_cloud_ptr_->set_width(frame_points_width_);\n+ frame_points_width_ = 0;\n+ cloud_publish_cb_(point_cloud_ptr_);\n+ point_cloud_ptr_ = allocate_cloud_cb_();\n+\n+ return 0;\n+}\n+\n+void SeyondDriver::convert_and_parse_(const InnoDataPacket *pkt) {\n+ if (CHECK_SPHERE_POINTCLOUD_DATA(pkt->type)) {\n+ // convert sphere to xyz\n+ if (anglehv_table_init_) {\n+ inno_lidar_convert_to_xyz_pointcloud2(\n+ pkt, reinterpret_cast<InnoDataPacket *>(&convert_buffer_[0]),\n+ convert_buffer_.size(), false,\n+ reinterpret_cast<InnoDataPacket *>(anglehv_table_.data()));\n+ } else {\n+ inno_lidar_convert_to_xyz_pointcloud(\n+ pkt, reinterpret_cast<InnoDataPacket *>(&convert_buffer_[0]),\n+ convert_buffer_.size(), false);\n+ }\n+ process_data_packet_(\n+ reinterpret_cast<InnoDataPacket *>(&convert_buffer_[0]));\n+ } else if (CHECK_XYZ_POINTCLOUD_DATA(pkt->type)) {\n+ process_data_packet_(pkt);\n+ } else {\n+ inno_log_error(\"pkt type %d is not supported\", pkt->type);\n+ }\n+}\n+\n+int32_t SeyondDriver::process_data_packet_(const InnoDataPacket *pkt) {\n+ // calculate the point timestamp\n+ current_ts_start_ = pkt->common.ts_start_us / us_in_second_c;\n+ // adapt different data structures form different lidar\n+ if (CHECK_EN_XYZ_POINTCLOUD_DATA(pkt->type)) {\n+ const InnoEnXyzPoint *pt = reinterpret_cast<const InnoEnXyzPoint *>(\n+ reinterpret_cast<const char *>(pkt) + sizeof(InnoDataPacket));\n+ process_xyz_point_data_<const InnoEnXyzPoint *>(true, pkt->use_reflectance,\n+ pkt->item_number, pt);\n+ } else {\n+ const InnoXyzPoint *pt = reinterpret_cast<const InnoXyzPoint *>(\n+ reinterpret_cast<const char *>(pkt) + sizeof(InnoDataPacket));\n+ process_xyz_point_data_<const InnoXyzPoint *>(false, pkt->use_reflectance,\n+ pkt->item_number, pt);\n+ }\n+\n+ return 0;\n+}\n+\n+template <typename PointType>\n+void SeyondDriver::process_xyz_point_data_(bool is_en_data, bool is_use_refl,\n+ uint32_t point_num,\n+ PointType point_ptr) {\n+ for (uint32_t i = 0; i < point_num; i++, point_ptr++) {\n+ if (point_ptr->radius == 0 || point_ptr->radius > param_.max_range ||\n+ point_ptr->radius < param_.min_range) {\n+ continue;\n+ }\n+ PointXYZIT *point = point_cloud_ptr_->add_point();\n+\n+ if constexpr (std::is_same<PointType, const InnoEnXyzPoint *>::value) {\n+ if (is_use_refl) {\n+ point->set_intensity(static_cast<uint>(point_ptr->reflectance));\n+ } else {\n+ point->set_intensity(static_cast<uint>(point_ptr->intensity));\n+ }\n+ } else if constexpr (std::is_same<PointType, const InnoXyzPoint *>::value) {\n+ point->set_intensity(static_cast<uint>(point_ptr->refl));\n+ }\n+\n+ point->set_timestamp(static_cast<uint64_t>(\n+ point_ptr->ts_10us / ten_us_in_second_c + current_ts_start_));\n+ coordinate_transfer(point, param_.coordinate_mode, point_ptr->x,\n+ point_ptr->y, point_ptr->z);\n+\n+ frame_points_width_++;\n+ }\n+}\n+\n+void SeyondDriver::set_log_and_message_level() {\n+ InnoLogLevel tmp_log_level;\n+ if (param_.log_level.compare(\"info\") == 0) {\n+ tmp_log_level = INNO_LOG_LEVEL_INFO;\n+ } else if (param_.log_level.compare(\"warn\") == 0) {\n+ tmp_log_level = INNO_LOG_LEVEL_WARNING;\n+ } else if (param_.log_level.compare(\"error\") == 0) {\n+ tmp_log_level = INNO_LOG_LEVEL_ERROR;\n+ } else {\n+ tmp_log_level = INNO_LOG_LEVEL_INFO;\n+ }\n+ inno_lidar_set_log_level(tmp_log_level);\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/seyond/src/seyond_driver.h b/modules/drivers/lidar/seyond/src/seyond_driver.h\nnew file mode 100644\nindex 00000000000..2b04303c357\n--- /dev/null\n+++ b/modules/drivers/lidar/seyond/src/seyond_driver.h\n@@ -0,0 +1,170 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#pragma once\n+\n+#include <atomic>\n+#include <condition_variable>\n+#include <memory>\n+#include <mutex>\n+#include <string>\n+#include <thread>\n+#include <vector>\n+\n+#include \"modules/common_msgs/sensor_msgs/pointcloud.pb.h\"\n+#include \"modules/drivers/lidar/seyond/proto/seyond.pb.h\"\n+\n+#include \"seyond/sdk_common/inno_lidar_api.h\"\n+#include \"seyond/sdk_common/inno_lidar_other_api.h\"\n+#include \"seyond/sdk_common/inno_lidar_packet.h\"\n+#include \"seyond/sdk_common/inno_lidar_packet_utils.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::PointXYZIT;\n+\n+struct SeyondParam {\n+ std::string device_ip = \"\";\n+ uint32_t port;\n+ uint32_t udp_port;\n+ bool reflectance_mode;\n+ uint32_t multiple_return;\n+ uint32_t coordinate_mode;\n+ double max_range;\n+ double min_range;\n+ std::string log_level = \"\";\n+ bool raw_packets_mode = false;\n+\n+ void print() const {\n+ inno_log_info(\"------------------------------------------------------\");\n+ inno_log_info(\" Seyond Lidar Parameters \");\n+ inno_log_info(\"device_ip: %s\", device_ip.c_str());\n+ inno_log_info(\"port: %d\", port);\n+ inno_log_info(\"udp_port: %d\", udp_port);\n+ inno_log_info(\"reflectance_mode: %d\", reflectance_mode);\n+ inno_log_info(\"multiple_return: %d\", multiple_return);\n+ inno_log_info(\"coordinate_mode: %d\", coordinate_mode);\n+ inno_log_info(\"max_range: %f\", max_range);\n+ inno_log_info(\"min_range: %f\", min_range);\n+ inno_log_info(\"log_level: %s\", log_level.c_str());\n+ inno_log_info(\"raw_packets_mode: %d\", raw_packets_mode);\n+ inno_log_info(\"------------------------------------------------------\");\n+ }\n+};\n+\n+class SeyondDriver {\n+ public:\n+ SeyondDriver();\n+ ~SeyondDriver();\n+\n+ static int32_t data_callback_s_(int32_t handle_, void *ctx,\n+ const InnoDataPacket *pkt) {\n+ return (reinterpret_cast<SeyondDriver *>(ctx))->data_callback_(pkt);\n+ }\n+\n+ static void message_callback_s_(int32_t handle_, void *ctx,\n+ uint32_t from_remote,\n+ enum InnoMessageLevel level,\n+ enum InnoMessageCode code,\n+ const char *error_message) {\n+ (reinterpret_cast<SeyondDriver *>(ctx))\n+ ->message_callback_(from_remote, level, code, error_message);\n+ }\n+\n+ static int32_t status_callback_s_(int32_t handle_, void *ctx,\n+ const InnoStatusPacket *pkt) {\n+ return (reinterpret_cast<SeyondDriver *>(ctx))->status_callback_(pkt);\n+ }\n+\n+ static void log_callback_s_(void *ctx, enum InnoLogLevel level,\n+ const char *header1, const char *header2,\n+ const char *msg) {\n+ SeyondDriver::log_cb_s_(static_cast<int32_t>(level), header1, msg);\n+ }\n+\n+ // lidar configuration\n+ void register_publish_packet_callback(\n+ const std::function<void(const InnoDataPacket *, bool)>\n+ &callback) {\n+ packet_publish_cb_ = callback;\n+ }\n+ void register_publish_point_callback(\n+ const std::function<void(std::shared_ptr<PointCloud>)> &cloud_callback,\n+ const std::function<std::shared_ptr<PointCloud>()> &allocate_callback) {\n+ cloud_publish_cb_ = cloud_callback;\n+ allocate_cloud_cb_ = allocate_callback;\n+ point_cloud_ptr_ = allocate_cloud_cb_();\n+ }\n+ void register_log_callback(\n+ const std::function<void(int32_t, const char *, const char *)>\n+ &log_callback) {\n+ log_cb_s_ = log_callback;\n+ }\n+ bool setup_lidar();\n+ bool init(SeyondParam& param);\n+ bool start();\n+ bool pause();\n+ bool stop();\n+\n+ // callback group\n+ int32_t data_callback_(const InnoDataPacket *pkt);\n+ void message_callback_(uint32_t from_remote, enum InnoMessageLevel level,\n+ enum InnoMessageCode code, const char *msg);\n+ int32_t status_callback_(const InnoStatusPacket *pkt);\n+\n+ void set_log_and_message_level();\n+\n+ int32_t process_scan_packet_(\n+ const std::shared_ptr<seyond::SeyondScan> &lidar_packets);\n+ void convert_and_parse_(const InnoDataPacket *pkt);\n+ int32_t process_data_packet_(const InnoDataPacket *pkt);\n+ template <typename PointType>\n+ void process_xyz_point_data_(bool is_en_data, bool is_use_refl,\n+ uint32_t point_num, PointType point_ptr);\n+\n+ public:\n+ // for generic\n+ bool anglehv_table_init_{false};\n+ std::vector<char> anglehv_table_;\n+\n+ private:\n+ // apollo\n+ std::shared_ptr<PointCloud> point_cloud_ptr_{nullptr};\n+\n+ std::function<void(const InnoDataPacket *, bool)> packet_publish_cb_;\n+ std::function<void(std::shared_ptr<PointCloud>)> cloud_publish_cb_;\n+ std::function<std::shared_ptr<PointCloud>()> allocate_cloud_cb_;\n+\n+ static std::function<void(int32_t, const char*, const char*)> log_cb_s_;\n+\n+ // config\n+ SeyondParam param_;\n+ int32_t handle_{-1};\n+ std::string lidar_name_{\"seyond_lidar\"};\n+\n+ // frame status\n+ uint32_t packets_width_{0};\n+ int64_t current_frame_id_{-1};\n+ double current_ts_start_;\n+ uint64_t frame_points_width_;\n+ std::vector<uint8_t> convert_buffer_;\n+};\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\n"},"changed_files":{"kind":"list like","value":["modules/drivers/lidar/cyberfile.xml","modules/drivers/lidar/seyond/BUILD","modules/drivers/lidar/seyond/README_cn.md","modules/drivers/lidar/seyond/README_en.md","modules/drivers/lidar/seyond/conf/seyond.pb.txt","modules/drivers/lidar/seyond/dag/seyond.dag","modules/drivers/lidar/seyond/launch/seyond.launch","modules/drivers/lidar/seyond/proto/BUILD","modules/drivers/lidar/seyond/proto/seyond.proto","modules/drivers/lidar/seyond/proto/seyond_config.proto","modules/drivers/lidar/seyond/src/seyond_component.cpp","modules/drivers/lidar/seyond/src/seyond_component.h","modules/drivers/lidar/seyond/src/seyond_driver.cpp","modules/drivers/lidar/seyond/src/seyond_driver.h"],"string":"[\n \"modules/drivers/lidar/cyberfile.xml\",\n \"modules/drivers/lidar/seyond/BUILD\",\n \"modules/drivers/lidar/seyond/README_cn.md\",\n \"modules/drivers/lidar/seyond/README_en.md\",\n \"modules/drivers/lidar/seyond/conf/seyond.pb.txt\",\n \"modules/drivers/lidar/seyond/dag/seyond.dag\",\n \"modules/drivers/lidar/seyond/launch/seyond.launch\",\n \"modules/drivers/lidar/seyond/proto/BUILD\",\n \"modules/drivers/lidar/seyond/proto/seyond.proto\",\n \"modules/drivers/lidar/seyond/proto/seyond_config.proto\",\n \"modules/drivers/lidar/seyond/src/seyond_component.cpp\",\n \"modules/drivers/lidar/seyond/src/seyond_component.h\",\n \"modules/drivers/lidar/seyond/src/seyond_driver.cpp\",\n \"modules/drivers/lidar/seyond/src/seyond_driver.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":567,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15475,"string":"15,475"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Apollo vanjee lidar driver"},"pr_body":{"kind":"string","value":" 1.fix running errors with other lidar drivers."},"base_sha":{"kind":"string","value":"6edbb1f8fcee5ad2e75109b89de799236971548e"},"head_sha":{"kind":"string","value":"f8c120c9aa86b8323e75d2d014d430392e56d54b"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\nnew file mode 100644\nindex 00000000000..c8e42a1b551\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\n@@ -0,0 +1,38 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ ]\r\n+)\r\n+\r\n+filegroup(\r\n+ name = \"runtime_data\",\r\n+ srcs = glob([\r\n+ \"conf/*.txt\",\r\n+ \"conf/*.conf\",\r\n+ \"dag/*.dag\",\r\n+ \"launch/*.launch\",\r\n+ ]),\r\n+)\r\n+\r\n+apollo_package()\r\n+cpplint()\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/README.md b/modules/drivers/lidar/vanjeelidar/README.md\nnew file mode 100644\nindex 00000000000..d3ff3b8f989\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/README.md\n@@ -0,0 +1,29 @@\n+# **Vanjee LiDAR Driver**\r\n+\r\n+## 1 Introduction\r\n+\r\n+ **vanjee** is the lidar driver kit under Apollo platform. Now support *vanjee_720_16\",\"vanjee_720_32*.\r\n+\r\n+\r\n+## 2 Run\r\n+\r\n+**All the drivers need to be excuted in Apollo docker environment.**\r\n+\r\n+```sh\r\n+cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\r\n+```\r\n+\r\n+or\r\n+\r\n+```sh\r\n+mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\r\n+```\r\n+\r\n+default topic name：\r\n+\r\n+- raw point cloud -- /apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n+- Scan--/apollo/sensor/vanjeelidar/up/Scan\r\n+\r\n+## 3 Parameters Intro\r\n+\r\n+[Intro to parameters](doc/parameter_intro.md)\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/README_cn.md b/modules/drivers/lidar/vanjeelidar/README_cn.md\nnew file mode 100644\nindex 00000000000..70166104ac2\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/README_cn.md\n@@ -0,0 +1,28 @@\n+# **Vanjee LiDAR Driver**\r\n+\r\n+## 1 工程简介\r\n+\r\n+ **vanjee** 为万集科技在阿波罗平台上的雷达驱动集成包。 目前支持*vanjee_720_16\"、\"vanjee_720_32*型号的雷达。 \r\n+\r\n+## 2 运行\r\n+\r\n+**所有驱动均需要在Apollo Docker环境下运行**\r\n+\r\n+```sh\r\n+cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\r\n+```\r\n+\r\n+或\r\n+\r\n+```sh\r\n+mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\r\n+```\r\n+\r\n+默认话题名：\r\n+\r\n+- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n+- Scan--/apollo/sensor/vanjeelidar/up/Scan\r\n+\r\n+## 3 参数介绍\r\n+\r\n+[参数介绍](doc/parameter_intro.md)\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\nnew file mode 100644\nindex 00000000000..d54363fc9b5\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\n@@ -0,0 +1,26 @@\n+config_base {\r\n+ scan_channel: \"/apollo/sensor/vanjeelidar/up/Scan\"\r\n+ point_cloud_channel: \"/apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n+ frame_id: \"vanjeelidar_up\"\r\n+\r\n+ # sample ONLINE_LIDAR, RAW_PACKET\r\n+ source_type: ONLINE_LIDAR\r\n+}\r\n+\r\n+# sample: \"vanjee_720_16,vanjee_720_32\"\r\n+model: \"vanjee_720_16\"\r\n+connect_type: 1\r\n+host_msop_port: 3001\r\n+lidar_msop_port: 3333\r\n+host_address: \"192.168.2.88\"\r\n+lidar_address: \"192.168.2.86\"\r\n+publish_mode: 2\r\n+start_angle: 0\r\n+end_angle: 360\r\n+min_distance: 0.3\r\n+max_distance: 120\r\n+use_lidar_clock: false\r\n+dense_points: false\r\n+wait_for_difop: true\r\n+config_from_file: false\r\n+angle_path: \"/usr/local/include/vanjee_driver/param/Vanjee_720_16.csv\"\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag b/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\nnew file mode 100644\nindex 00000000000..9b5385b1766\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\n@@ -0,0 +1,10 @@\n+module_config {\r\n+ module_library : \"modules/drivers/lidar/vanjeelidar/libvanjeelidar_component.so\"\r\n+ components {\r\n+ class_name : \"VanjeelidarComponent\"\r\n+ config {\r\n+ name : \"VanjeeLiDAR_Driver\"\r\n+ config_file_path : \"/apollo/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\"\r\n+ }\r\n+ }\r\n+}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\nnew file mode 100755\nindex 00000000000..21adc4f16a8\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\n@@ -0,0 +1,90 @@\n+# Parameter Introduction\n+\n+This document will give you a introduction to each parameter in the configuration file. \n+\n+For convenient, we take vanjee_720_16 model as an example.\n+\n+```yaml\n+model: \"vanjee_720_16\"\n+connect_type: 1\n+host_msop_port: 3001\n+lidar_msop_port: 3333\n+host_address: \"192.168.2.88\"\n+lidar_address: \"192.168.2.86\"\n+publish_mode: 2\n+start_angle: 0\n+end_angle: 360\n+min_distance: 0.2\n+max_distance: 120\n+use_lidar_clock: false\n+dense_points: false\n+wait_for_difop: true\n+config_from_file: false\n+angle_path: \"\"\n+```\n+\n+**model**\n+\n+This is the lidar model, since this configuration file is for vanjee_720_16, we set the model=\"vanjee_720_16\".The parameter are as followed below:vanjee_720_16,vanjee_720_32.\n+\n+**connect_type**\n+\n+This is the net connection model,which is tcp or udp.Set the connect_type=\"1\" if the net connection mode is udp,otherwise set it as \"2\".\n+\n+**host_msop_port**\n+\n+This is the port number of host. The default value is 3001.Lidar would send the raw packet to this port.\n+\n+**lidar_msop_port**\n+\n+This is the port number of lidar. The default value is 3333.Lidar would send the raw packet from this port.\n+\n+**host_address**\n+\n+This is the host ip address. The default value is \"192.168.2.88\".Lidar would send the raw packet to this ip address.\n+\n+**lidar_address**\n+\n+This is the lidar ip address. The default value is \"192.168.2.86\".Lidar would send the raw packet from this ip address.\n+\n+**publish_mode**\n+\n+This is the publish mode of lidar point cloud. \"0\": publish the 1st echo ,\"1\":publish the 2nd echo ,\"2\":publish both the 1st and 2nd echos.\n+\n+**start_angle**\n+\n+The start angle of point cloud,unit:degree.\n+\n+**end_angle**\n+\n+The end angle of point cloud,unit:degree.The point cloud published would only include the azimuth between start_angle and end_angle.\n+\n+**min_distance**\n+\n+The minimum distance of point cloud,unit:m.\n+\n+**max_distance**\n+\n+The maximum distance of point cloud,unit:m.The point cloud published would only include the distance between min_distance and max_distance.\n+\n+**use_lidar_clock**\n+\n+ - true: The timestamp of lidar messages is the lidar clock.\n+\n+ - false: The timestamp of lidar messages is the PC system clock.\n+\n+**dense_point**\n+\n+The flag whether mark the invald point cloud as 'nan'. If you would not mark the invalid point as 'nan',set the dense_point=true,otherwise set it as false.\n+\n+**wait_for_difop**\n+\n+The flag whether need to request the angle information from the lidar firstly. Usually set wait_for_difop=true in ONLINE_LIDAR mode,otherwise set it as false.\n+\n+**config_from_file**\n+\n+The flag whether read the angle information from the configuration file .Usually set config_from_file=true in RAW_PACKET mode,otherwise set it as false.\n+\n+**angle_path**\n+\n+The path of angle configuration file.\ndiff --git a/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch b/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\nnew file mode 100644\nindex 00000000000..540bac60bef\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\n@@ -0,0 +1,7 @@\n+<cyber>\r\n+ <module>\r\n+ <name>vanjeelidar</name>\r\n+ <dag_conf>/apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag</dag_conf>\r\n+ <process_name>vanjeelidar</process_name>\r\n+ </module>\r\n+</cyber>\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/BUILD b/modules/drivers/lidar/vanjeelidar/proto/BUILD\nnew file mode 100644\nindex 00000000000..b41006c9878\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/proto/BUILD\n@@ -0,0 +1,23 @@\n+## Auto generated by `proto_build_generator.py`\r\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\")\r\n+load(\"//tools/proto:proto.bzl\", \"proto_library\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+proto_library(\r\n+ name = \"vanjeelidar_config_proto\",\r\n+ srcs = [\"vanjeelidar_config.proto\"],\r\n+ deps= [\r\n+ \"//modules/drivers/lidar/common/proto:lidar_config_base_proto\",\r\n+ ]\r\n+)\r\n+\r\n+proto_library(\r\n+ name = \"vanjeelidar_proto\",\r\n+ srcs = [\"vanjeelidar.proto\"],\r\n+ deps = [\r\n+ \"//modules/common_msgs/basic_msgs:header_proto\",\r\n+ ],\r\n+)\r\n+\r\n+apollo_package()\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\nnew file mode 100644\nindex 00000000000..37b945d9a55\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\n@@ -0,0 +1,16 @@\n+syntax = \"proto2\";\r\n+\r\n+package apollo.drivers.vanjee;\r\n+\r\n+import \"modules/common_msgs/basic_msgs/header.proto\";\r\n+\r\n+message VanjeeScanPacket {\r\n+ optional uint64 stamp = 1;\r\n+ optional bytes data = 2;\r\n+}\r\n+\r\n+message VanjeeScan {\r\n+ optional bool is_difop = 1;\r\n+ optional bool is_frame_begin = 2;\r\n+ optional bytes data = 3;\r\n+}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\nnew file mode 100644\nindex 00000000000..ee4b2e85388\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\n@@ -0,0 +1,33 @@\n+syntax = \"proto2\";\r\n+\r\n+package apollo.drivers.vanjee;\r\n+\r\n+import \"modules/drivers/lidar/common/proto/lidar_config_base.proto\";\r\n+\r\n+message Config {\r\n+\r\n+ // lidar base\r\n+ required apollo.drivers.lidar.LidarConfigBase config_base = 33;\r\n+\r\n+ // general param\r\n+ optional string model = 1;\r\n+ // Input Param\r\n+ optional uint32 connect_type = 2;\r\n+ optional uint32 host_msop_port = 3;\r\n+ optional uint32 lidar_msop_port = 4;\r\n+ // Decoder Param\r\n+ optional float start_angle = 5;\r\n+ optional float end_angle = 6;\r\n+ optional float min_distance = 7;\r\n+ optional float max_distance = 8;\r\n+ optional bool use_lidar_clock = 9 [default = false];\r\n+ // supplementary parameters of Decoder Param\r\n+ optional bool dense_points = 10 [default = false];\r\n+ optional bool wait_for_difop = 11 [default = true];\r\n+ optional bool config_from_file = 12 [default = false];\r\n+ optional string angle_path = 13 [default = \"\"];\r\n+ optional uint32 publish_mode = 14 [default = 2];\r\n+ // supplementary parameters of Input Param\r\n+ optional string host_address = 15 [default = \"0.0.0.0\"];\r\n+ optional string lidar_address = 16 [default = \"0.0.0.0\"];\r\n+}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\nnew file mode 100644\nindex 00000000000..4dca5fb7074\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\n@@ -0,0 +1,181 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include <vector>\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <vanjee_driver/driver/input/input.hpp>\n+#include <vanjee_driver/utility/buffer.hpp>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+bool VanjeelidarComponent::Init() {\n+ if (!GetProtoConfig(&conf_)) {\n+ AERROR << \"load config error, file:\" << config_file_path_;\n+ return false;\n+ }\n+\n+ this->InitBase(conf_.config_base());\n+\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\n+ cloud_buffer_->Init();\n+\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\n+\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\n+\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\n+ decoder_param.publish_mode = conf_.publish_mode();\n+ decoder_param.min_distance = conf_.min_distance();\n+ decoder_param.max_distance = conf_.max_distance();\n+ decoder_param.start_angle = conf_.start_angle();\n+ decoder_param.end_angle = conf_.end_angle();\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\n+ decoder_param.dense_points = conf_.dense_points();\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\n+ decoder_param.config_from_file = conf_.config_from_file();\n+ decoder_param.angle_path_ver = conf_.angle_path();\n+\n+ ::vanjee::lidar::WJInputParam input_param;\n+ input_param.connect_type = conf_.connect_type();\n+ input_param.host_msop_port = conf_.host_msop_port();\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\n+ input_param.host_address = conf_.host_address();\n+ input_param.lidar_address = conf_.lidar_address();\n+\n+ ::vanjee::lidar::WJDriverParam driver_param;\n+\n+ driver_param.input_param = input_param;\n+ driver_param.decoder_param = decoder_param;\n+\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\n+ if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_RAW_PACKET) {\n+ driver_param.input_type = InputType::RAW_PACKET;\n+ } else if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\n+ driver_ptr_->regPacketCallback(\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\n+ std::placeholders::_1));\n+ }\n+\n+ driver_ptr_->regPointCloudCallback(\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\n+ std::placeholders::_1));\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\n+ WJ_WARNING << code.toString() << WJ_REND;\n+ });\n+\n+ driver_param.print();\n+\n+ if (!driver_ptr_->init(driver_param)) {\n+ AERROR << \"vanjee Driver init failed\";\n+ return false;\n+ }\n+\n+ if (!driver_ptr_->start()) {\n+ AERROR << \"vanjee Driver start failed\";\n+ return false;\n+ }\n+ AINFO << \"vanjee lidar init finished\";\n+ return true;\n+}\n+\n+void VanjeelidarComponent::ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::vector<uint8_t> pkt_vector;\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\n+ pkt->setData(0, pkt_vector.size());\n+ driver_ptr_->putPacket(pkt);\n+}\n+\n+void VanjeelidarComponent::VanjeePacketCallback(\n+ const ::vanjee::lidar::Packet& lidar_packet) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\n+ std::make_shared<vanjee::VanjeeScanPacket>();\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\n+ lidar_packet.buf_.end());\n+ WriteScan(scan_packet);\n+}\n+\n+std::shared_ptr<PointCloudMsg>\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\n+ return cloud_buffer_->AllocateElement();\n+}\n+\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\n+ cloud_queue_.push(vanjee_cloud);\n+}\n+\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\n+ msg.set_height(1);\n+ msg.set_width(msg.point_size() / msg.height());\n+\n+ const auto timestamp =\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\n+ msg.set_measurement_time(\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\n+\n+ if (diff_time > 0.02) {\n+ AINFO << std::fixed << std::setprecision(16)\n+ << \"system time: \" << msg.header().timestamp_sec()\n+ << \", lidar time: \" << lidar_time << \", diff is:\" << diff_time;\n+ }\n+\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\n+}\n+\n+void VanjeelidarComponent::ProcessCloud() {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\n+ if (msg.get() == NULL) {\n+ continue;\n+ }\n+ auto apollo_pc = AllocatePointCloud();\n+\n+ for (auto p : msg->points) {\n+ PointXYZIT* point = apollo_pc->add_point();\n+ point->set_x(p.x);\n+ point->set_y(p.y);\n+ point->set_z(p.z);\n+ point->set_intensity(uint32_t(p.intensity));\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\n+ p.timestamp + msg->timestamp));\n+ }\n+ apollo_pc->set_is_dense(msg->is_dense);\n+ this->PreparePointsMsg(*apollo_pc);\n+ if (apollo_pc->point_size() != 0) {\n+ WritePointCloud(apollo_pc);\n+ }\n+ }\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\nnew file mode 100644\nindex 00000000000..f3ff5294b33\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\n@@ -0,0 +1,74 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#pragma once\n+\n+#include <memory>\n+\n+#include <vanjee_driver/api/lidar_driver.hpp>\n+#include <vanjee_driver/driver/driver_param.hpp>\n+#include <vanjee_driver/msg/packet.hpp>\n+#include <vanjee_driver/msg/point_cloud_msg.hpp>\n+\n+#include \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.pb.h\"\n+#include \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.pb.h\"\n+\n+#include \"modules/drivers/lidar/common/lidar_component_base.h\"\n+#include \"modules/drivers/lidar/common/sync_buffering.h\"\n+#include \"modules/drivers/lidar/common/util.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+typedef ::vanjee::lidar::PointXYZIRT PointT;\n+typedef ::vanjee::lidar::PointCloudT<PointT> PointCloudMsg;\n+\n+using ::vanjee::lidar::InputType;\n+\n+class VanjeelidarComponent\n+ : public LidarComponentBase<vanjee::VanjeeScanPacket> {\n+ public:\n+ bool Init() override;\n+\n+ void ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) override;\n+\n+ void VanjeePacketCallback(const ::vanjee::lidar::Packet& lidar_packet);\n+\n+ std::shared_ptr<PointCloudMsg> VanjeeCloudAllocateCallback();\n+\n+ void VanjeeCloudPutCallback(std::shared_ptr<PointCloudMsg> vanjee_cloud);\n+\n+ void PreparePointsMsg(PointCloud& msg);\n+\n+ void ProcessCloud();\n+\n+ private:\n+ std::shared_ptr<::vanjee::lidar::LidarDriver<PointCloudMsg>> driver_ptr_;\n+ apollo::drivers::vanjee::Config conf_;\n+\n+ ::vanjee::lidar::SyncQueue<std::shared_ptr<PointCloudMsg>> cloud_queue_;\n+ std::shared_ptr<SyncBuffering<PointCloudMsg>> cloud_buffer_;\n+\n+ std::thread cloud_handle_thread_;\n+\n+ int seq_ = 0;\n+};\n+CYBER_REGISTER_COMPONENT(VanjeelidarComponent)\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\n"},"changed_files":{"kind":"list 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\"modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\",\n \"modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\",\n \"modules/drivers/lidar/vanjeelidar/proto/BUILD\",\n \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\",\n \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\",\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\",\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":568,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14868,"string":"14,868"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"chore: fix the open mail address of Apollo"},"pr_body":{"kind":"string","value":"Change-Id: I2eb63d9acddca58f21784f58e207d22e80ce5221"},"base_sha":{"kind":"string","value":"cd07f3fd6d4ffb215f4a477355b41e928d3b0d7b"},"head_sha":{"kind":"string","value":"20641ccbcf159836ea45f5ebad121149b8a4eff7"},"gold_diff":{"kind":"string","value":"diff --git a/modules/canbus_vehicle/ch/cyberfile.xml b/modules/canbus_vehicle/ch/cyberfile.xml\nindex 774272031bd..3f0db5a4a11 100644\n--- a/modules/canbus_vehicle/ch/cyberfile.xml\n+++ b/modules/canbus_vehicle/ch/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus ch vehicle module\n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/devkit/cyberfile.xml b/modules/canbus_vehicle/devkit/cyberfile.xml\nindex e89490a477d..8b904f13194 100644\n--- a/modules/canbus_vehicle/devkit/cyberfile.xml\n+++ b/modules/canbus_vehicle/devkit/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus devkit vehicle module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/ge3/cyberfile.xml b/modules/canbus_vehicle/ge3/cyberfile.xml\nindex 5672ee76dba..7d01de073a1 100644\n--- a/modules/canbus_vehicle/ge3/cyberfile.xml\n+++ b/modules/canbus_vehicle/ge3/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus ge3 vehicle module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/gem/cyberfile.xml b/modules/canbus_vehicle/gem/cyberfile.xml\nindex 2c76fdfc947..f350bbdd925 100644\n--- a/modules/canbus_vehicle/gem/cyberfile.xml\n+++ b/modules/canbus_vehicle/gem/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus gem vehicle module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/lexus/cyberfile.xml b/modules/canbus_vehicle/lexus/cyberfile.xml\nindex 4251e580ff9..e8b5e87e713 100644\n--- a/modules/canbus_vehicle/lexus/cyberfile.xml\n+++ b/modules/canbus_vehicle/lexus/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus lexus vehicle module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/lincoln/cyberfile.xml b/modules/canbus_vehicle/lincoln/cyberfile.xml\nindex 6e0b6c3c1d6..b374bf2b62f 100644\n--- a/modules/canbus_vehicle/lincoln/cyberfile.xml\n+++ b/modules/canbus_vehicle/lincoln/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/neolix_edu/cyberfile.xml b/modules/canbus_vehicle/neolix_edu/cyberfile.xml\nindex f1795419483..c987a0838b6 100644\n--- a/modules/canbus_vehicle/neolix_edu/cyberfile.xml\n+++ b/modules/canbus_vehicle/neolix_edu/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/transit/cyberfile.xml b/modules/canbus_vehicle/transit/cyberfile.xml\nindex 1c2061a9d87..2606f15269a 100644\n--- a/modules/canbus_vehicle/transit/cyberfile.xml\n+++ b/modules/canbus_vehicle/transit/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/wey/cyberfile.xml b/modules/canbus_vehicle/wey/cyberfile.xml\nindex 3bba7b22128..3f4ef5edf5f 100644\n--- a/modules/canbus_vehicle/wey/cyberfile.xml\n+++ b/modules/canbus_vehicle/wey/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/modules/canbus_vehicle/zhongyun/cyberfile.xml b/modules/canbus_vehicle/zhongyun/cyberfile.xml\nindex cb8e6907407..f6ce612cc63 100644\n--- a/modules/canbus_vehicle/zhongyun/cyberfile.xml\n+++ b/modules/canbus_vehicle/zhongyun/cyberfile.xml\n@@ -5,7 +5,7 @@\n Dynamic loading for canbus module \n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/third_party/libtorch/cyberfile-cpu.xml b/third_party/libtorch/cyberfile-cpu.xml\nindex 0ce76980141..347f87c1e7f 100644\n--- a/third_party/libtorch/cyberfile-cpu.xml\n+++ b/third_party/libtorch/cyberfile-cpu.xml\n@@ -5,7 +5,7 @@\n Apollo packaged libtorch-cpu Lib.\n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/third_party/libtorch/cyberfile-gpu.xml b/third_party/libtorch/cyberfile-gpu.xml\nindex ba9eb1aab3a..059ae091870 100644\n--- a/third_party/libtorch/cyberfile-gpu.xml\n+++ b/third_party/libtorch/cyberfile-gpu.xml\n@@ -5,7 +5,7 @@\n Apollo packaged libtorch-gpu Lib.\n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\ndiff --git a/tools/cyberfile.xml b/tools/cyberfile.xml\nindex 4ac9aeba26f..67bbeff4e28 100644\n--- a/tools/cyberfile.xml\n+++ b/tools/cyberfile.xml\n@@ -5,7 +5,7 @@\n Some extend rules of bazel and scripts.\n </description>\n \n- <maintainer email=\"apollo-maintaner@baidu.com\">Apollo</maintainer>\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n <license>Apache License 2.0</license>\n <url type=\"website\">https://www.apollo.auto/</url>\n <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\n"},"changed_files":{"kind":"list like","value":["modules/canbus_vehicle/ch/cyberfile.xml","modules/canbus_vehicle/devkit/cyberfile.xml","modules/canbus_vehicle/ge3/cyberfile.xml","modules/canbus_vehicle/gem/cyberfile.xml","modules/canbus_vehicle/lexus/cyberfile.xml","modules/canbus_vehicle/lincoln/cyberfile.xml","modules/canbus_vehicle/neolix_edu/cyberfile.xml","modules/canbus_vehicle/transit/cyberfile.xml","modules/canbus_vehicle/wey/cyberfile.xml","modules/canbus_vehicle/zhongyun/cyberfile.xml","third_party/libtorch/cyberfile-cpu.xml","third_party/libtorch/cyberfile-gpu.xml","tools/cyberfile.xml"],"string":"[\n \"modules/canbus_vehicle/ch/cyberfile.xml\",\n \"modules/canbus_vehicle/devkit/cyberfile.xml\",\n \"modules/canbus_vehicle/ge3/cyberfile.xml\",\n \"modules/canbus_vehicle/gem/cyberfile.xml\",\n \"modules/canbus_vehicle/lexus/cyberfile.xml\",\n \"modules/canbus_vehicle/lincoln/cyberfile.xml\",\n \"modules/canbus_vehicle/neolix_edu/cyberfile.xml\",\n \"modules/canbus_vehicle/transit/cyberfile.xml\",\n \"modules/canbus_vehicle/wey/cyberfile.xml\",\n \"modules/canbus_vehicle/zhongyun/cyberfile.xml\",\n \"third_party/libtorch/cyberfile-cpu.xml\",\n \"third_party/libtorch/cyberfile-gpu.xml\",\n \"tools/cyberfile.xml\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":569,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15505,"string":"15,505"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"canbus: update recent canbus changes"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"ba32187d4f1879fb0a9b941ca501cd5717c680df"},"head_sha":{"kind":"string","value":"bbad8a7f17a85a2402f4ff628ec39997ee115dba"},"gold_diff":{"kind":"string","value":"diff --git a/modules/canbus/canbus_component.cc b/modules/canbus/canbus_component.cc\nindex a6665c14872..4871f851564 100644\n--- a/modules/canbus/canbus_component.cc\n+++ b/modules/canbus/canbus_component.cc\n@@ -88,30 +88,47 @@ bool CanbusComponent::Init() {\n chassis_cmd_reader_config.pending_queue_size =\n FLAGS_control_cmd_pending_queue_size;\n \n+ // init cmd reader\n if (FLAGS_receive_guardian) {\n guardian_cmd_reader_ = node_->CreateReader<GuardianCommand>(\n guardian_cmd_reader_config,\n [this](const std::shared_ptr<GuardianCommand> &cmd) {\n ADEBUG << \"Received guardian data: run canbus callback.\";\n+ const auto start_time = Time::Now().ToMicrosecond();\n OnGuardianCommand(*cmd);\n+ const auto end_time = Time::Now().ToMicrosecond();\n+ if ((end_time - start_time) * 1e-6 > FLAGS_guardian_period) {\n+ AWARN << \"Guardian callback time: \"\n+ << (end_time - start_time) * 1e-3 << \" ms.\";\n+ }\n });\n } else {\n control_command_reader_ = node_->CreateReader<ControlCommand>(\n control_cmd_reader_config,\n [this](const std::shared_ptr<ControlCommand> &cmd) {\n ADEBUG << \"Received control data: run canbus callback.\";\n+ const auto start_time = Time::Now().ToMicrosecond();\n OnControlCommand(*cmd);\n- });\n- chassis_command_reader_ = node_->CreateReader<ChassisCommand>(\n- chassis_cmd_reader_config,\n- [this](const std::shared_ptr<ChassisCommand> &cmd) {\n- ADEBUG << \"Received control data: run canbus callback.\";\n- OnChassisCommand(*cmd);\n+ const auto end_time = Time::Now().ToMicrosecond();\n+ if ((end_time - start_time) * 1e-6 > FLAGS_control_period) {\n+ AWARN << \"Control callback time: \" << (end_time - start_time) * 1e-3\n+ << \" ms.\";\n+ }\n });\n }\n \n+ // init chassis cmd reader\n+ chassis_command_reader_ = node_->CreateReader<ChassisCommand>(\n+ chassis_cmd_reader_config,\n+ [this](const std::shared_ptr<ChassisCommand> &cmd) {\n+ ADEBUG << \"Received control data: run canbus callback.\";\n+ OnChassisCommand(*cmd);\n+ });\n+\n+ // init chassis writer\n chassis_writer_ = node_->CreateWriter<Chassis>(FLAGS_chassis_topic);\n \n+ // start canbus vehicle\n if (!vehicle_object_->Start()) {\n AERROR << \"Fail to start canclient, cansender, canreceiver, canclient, \"\n \"vehicle controller.\";\n@@ -138,54 +155,155 @@ void CanbusComponent::PublishChassis() {\n ADEBUG << chassis.ShortDebugString();\n }\n \n-void CanbusComponent::CheckChassisCommunication() {\n+bool CanbusComponent::Proc() {\n+ const auto start_time = Time::Now().ToMicrosecond();\n+\n+ if (FLAGS_receive_guardian) {\n+ guardian_cmd_reader_->Observe();\n+ const auto &guardian_cmd_msg = guardian_cmd_reader_->GetLatestObserved();\n+ if (guardian_cmd_msg == nullptr) {\n+ AERROR << \"guardian cmd msg is not ready!\";\n+ } else {\n+ OnGuardianCommandCheck(*guardian_cmd_msg);\n+ }\n+ } else {\n+ control_command_reader_->Observe();\n+ const auto &control_cmd_msg = control_command_reader_->GetLatestObserved();\n+ if (control_cmd_msg == nullptr) {\n+ AERROR << \"control cmd msg is not ready!\";\n+ } else {\n+ OnControlCommandCheck(*control_cmd_msg);\n+ }\n+ }\n+\n+ // check can receiver msg lost\n if (vehicle_object_->CheckChassisCommunicationFault()) {\n AERROR << \"Can not get the chassis info, please check the chassis \"\n \"communication!\";\n- is_chassis_communicate_lost_ = true;\n- } else {\n- is_chassis_communicate_lost_ = false;\n }\n-}\n \n-bool CanbusComponent::Proc() {\n- CheckChassisCommunication();\n+ // publish \"/apollo/canbus/chassis\"\n PublishChassis();\n- if (!is_chassis_communicate_lost_) {\n- if (FLAGS_enable_chassis_detail_pub) {\n- vehicle_object_->PublishChassisDetail();\n- }\n+\n+ // publish \"/apollo/canbus/chassis_detail\"\n+ if (FLAGS_enable_chassis_detail_pub) {\n+ vehicle_object_->PublishChassisDetail();\n }\n+\n+ // publish \"/apollo/canbus/chassis_detail_sender\"\n+ if (FLAGS_enable_chassis_detail_sender_pub) {\n+ vehicle_object_->PublishChassisDetailSender();\n+ }\n+\n+ // update heartbeat in can sender\n vehicle_object_->UpdateHeartbeat();\n+\n+ const auto end_time = Time::Now().ToMicrosecond();\n+ const double time_diff_ms = (end_time - start_time) * 1e-3;\n+ if (time_diff_ms > (1 / FLAGS_chassis_freq * 1e3)) {\n+ AWARN << \"CanbusComponent::Proc() takes too much time: \" << time_diff_ms\n+ << \" ms\";\n+ }\n+\n return true;\n }\n \n void CanbusComponent::OnControlCommand(const ControlCommand &control_command) {\n- int64_t current_timestamp = Time::Now().ToMicrosecond();\n+ // us : microsecord = 1e-3 millisecond = 1e-6 second\n+ double current_timestamp = Time::Now().ToMicrosecond();\n // if command coming too soon, just ignore it.\n+ // us < 5 ms(millisecond) *1000 (=5000us microsecord)\n if (current_timestamp - last_timestamp_controlcmd_ <\n FLAGS_min_cmd_interval * 1000) {\n- ADEBUG << \"Control command comes too soon. Ignore.\\n Required \"\n+ ADEBUG << \"Control command comes too soon. Ignore. Required \"\n \"FLAGS_min_cmd_interval[\"\n- << FLAGS_min_cmd_interval << \"], actual time interval[\"\n- << current_timestamp - last_timestamp_controlcmd_ << \"].\";\n+ << FLAGS_min_cmd_interval << \"] ms, actual time interval[\"\n+ << (current_timestamp - last_timestamp_controlcmd_) * 1e-3\n+ << \"] ms.\";\n return;\n }\n-\n last_timestamp_controlcmd_ = current_timestamp;\n- ADEBUG << \"Control_sequence_number:\"\n- << control_command.header().sequence_num() << \", Time_of_delay:\"\n- << current_timestamp -\n- static_cast<int64_t>(control_command.header().timestamp_sec() *\n- 1e6)\n- << \" micro seconds\";\n \n- vehicle_object_->UpdateCommand(&control_command);\n+ if (!is_control_cmd_time_delay_) {\n+ vehicle_object_->UpdateCommand(&control_command);\n+ }\n+}\n+\n+void CanbusComponent::OnControlCommandCheck(\n+ const ControlCommand &control_command) {\n+ // us : microsecord = 1e-3 millisecond = 1e-6 second\n+ double current_timestamp = Time::Now().ToMicrosecond();\n+ // cmd_time_diff: s\n+ double cmd_time_diff =\n+ current_timestamp * 1e-6 - control_command.header().timestamp_sec();\n+ if (FLAGS_use_control_cmd_check &&\n+ (cmd_time_diff > (FLAGS_max_control_miss_num * FLAGS_control_period))) {\n+ AERROR << \"Control cmd timeout, sequence_number:\"\n+ << control_command.header().sequence_num()\n+ << \", Time_of_delay:\" << cmd_time_diff << \" s\"\n+ << \", time delay threshold: \"\n+ << (FLAGS_max_control_miss_num * FLAGS_control_period) << \" s\";\n+\n+ if (vehicle_object_->Driving_Mode() == Chassis::COMPLETE_AUTO_DRIVE ||\n+ vehicle_object_->Driving_Mode() == Chassis::AUTO_STEER_ONLY ||\n+ vehicle_object_->Driving_Mode() == Chassis::AUTO_SPEED_ONLY) {\n+ is_control_cmd_time_delay_ = true;\n+ GuardianCommand new_guardian_command;\n+ new_guardian_command.mutable_control_command()->CopyFrom(control_command);\n+ ProcessGuardianCmdTimeout(&new_guardian_command);\n+ ADEBUG << \"new_guardian_command is \"\n+ << new_guardian_command.ShortDebugString();\n+ vehicle_object_->UpdateCommand(&new_guardian_command.control_command());\n+ }\n+ } else {\n+ is_control_cmd_time_delay_ = false;\n+ }\n+}\n+\n+void CanbusComponent::OnGuardianCommand(\n+ const GuardianCommand &guardian_command) {\n+ if (!is_control_cmd_time_delay_) {\n+ OnControlCommand(guardian_command.control_command());\n+ }\n+}\n+\n+void CanbusComponent::OnGuardianCommandCheck(\n+ const GuardianCommand &guardian_command) {\n+ // us : microsecord = 1e-3 millisecond = 1e-6 second\n+ double current_timestamp = Time::Now().ToMicrosecond();\n+ // cmd_time_diff: s\n+ double guardian_cmd_time_diff =\n+ current_timestamp * 1e-6 - guardian_command.header().timestamp_sec();\n+ if (FLAGS_use_guardian_cmd_check &&\n+ (guardian_cmd_time_diff >\n+ (FLAGS_max_guardian_miss_num * FLAGS_guardian_period))) {\n+ AERROR << \"Guardain cmd timeout, sequence_number:\"\n+ << guardian_command.header().sequence_num()\n+ << \", Time_of_delay:\" << guardian_cmd_time_diff << \" s\"\n+ << \", time delay threshold: \"\n+ << (FLAGS_max_guardian_miss_num * FLAGS_guardian_period) << \" s\";\n+\n+ if (vehicle_object_->Driving_Mode() == Chassis::COMPLETE_AUTO_DRIVE ||\n+ vehicle_object_->Driving_Mode() == Chassis::AUTO_STEER_ONLY ||\n+ vehicle_object_->Driving_Mode() == Chassis::AUTO_SPEED_ONLY) {\n+ is_control_cmd_time_delay_ = true;\n+ GuardianCommand new_guardian_command;\n+ new_guardian_command.CopyFrom(guardian_command);\n+ ProcessGuardianCmdTimeout(&new_guardian_command);\n+ ADEBUG << \"new_guardian_command is \"\n+ << new_guardian_command.ShortDebugString();\n+ vehicle_object_->UpdateCommand(&new_guardian_command.control_command());\n+ }\n+ } else {\n+ is_control_cmd_time_delay_ = false;\n+ }\n }\n \n void CanbusComponent::OnChassisCommand(const ChassisCommand &chassis_command) {\n+ // us : microsecord = 1e-3 millisecond = 1e-6 second\n int64_t current_timestamp = Time::Now().ToMicrosecond();\n // if command coming too soon, just ignore it.\n+ // us < 5 ms(millisecond) *1000 (=5000us microsecord)\n if (current_timestamp - last_timestamp_chassiscmd_ <\n FLAGS_min_cmd_interval * 1000) {\n ADEBUG << \"Control command comes too soon. Ignore.\\n Required \"\n@@ -194,8 +312,8 @@ void CanbusComponent::OnChassisCommand(const ChassisCommand &chassis_command) {\n << current_timestamp - last_timestamp_chassiscmd_ << \"].\";\n return;\n }\n-\n last_timestamp_chassiscmd_ = current_timestamp;\n+\n ADEBUG << \"Control_sequence_number:\"\n << chassis_command.header().sequence_num() << \", Time_of_delay:\"\n << current_timestamp -\n@@ -206,15 +324,46 @@ void CanbusComponent::OnChassisCommand(const ChassisCommand &chassis_command) {\n vehicle_object_->UpdateCommand(&chassis_command);\n }\n \n-void CanbusComponent::OnGuardianCommand(\n- const GuardianCommand &guardian_command) {\n- OnControlCommand(guardian_command.control_command());\n-}\n-\n common::Status CanbusComponent::OnError(const std::string &error_msg) {\n monitor_logger_buffer_.ERROR(error_msg);\n return ::apollo::common::Status(ErrorCode::CANBUS_ERROR, error_msg);\n }\n \n+void CanbusComponent::ProcessTimeoutByClearCanSender() {\n+ if (vehicle_object_->Driving_Mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ vehicle_object_->Driving_Mode() != Chassis::AUTO_STEER_ONLY &&\n+ vehicle_object_->Driving_Mode() != Chassis::AUTO_SPEED_ONLY &&\n+ !FLAGS_chassis_debug_mode) {\n+ ADEBUG << \"The current driving mode does not need to check cmd timeout.\";\n+ if (vehicle_object_->IsSendProtocolClear()) {\n+ AINFO << \"send protocol is clear, ignore driving mode, need to recover \"\n+ \"send protol.\";\n+ vehicle_object_->AddSendProtocol();\n+ }\n+ return;\n+ }\n+\n+ if (!is_control_cmd_time_delay_previous_ && is_control_cmd_time_delay_) {\n+ AINFO << \"control cmd time latency delay, clear send protocol.\";\n+ vehicle_object_->ClearSendProtocol();\n+ } else if (is_control_cmd_time_delay_previous_ &&\n+ !is_control_cmd_time_delay_) {\n+ AINFO << \"control cmd time latency reover, add send protocol.\";\n+ if (vehicle_object_->IsSendProtocolClear()) {\n+ vehicle_object_->AddSendProtocol();\n+ }\n+ }\n+ is_control_cmd_time_delay_previous_ = is_control_cmd_time_delay_;\n+}\n+\n+void CanbusComponent::ProcessGuardianCmdTimeout(\n+ GuardianCommand *guardian_command) {\n+ AINFO << \"Into cmd timeout process, set estop.\";\n+ guardian_command->mutable_control_command()->set_throttle(0.0);\n+ guardian_command->mutable_control_command()->set_steering_target(0.0);\n+ guardian_command->mutable_control_command()->set_steering_rate(25.0);\n+ guardian_command->mutable_control_command()->set_brake(FLAGS_estop_brake);\n+}\n+\n } // namespace canbus\n } // namespace apollo\ndiff --git a/modules/canbus/canbus_component.h b/modules/canbus/canbus_component.h\nindex b8956a3cf85..b0de32e3cfd 100644\n--- a/modules/canbus/canbus_component.h\n+++ b/modules/canbus/canbus_component.h\n@@ -82,13 +82,18 @@ class CanbusComponent final : public apollo::cyber::TimerComponent {\n \n void PublishChassis();\n void OnControlCommand(const apollo::control::ControlCommand &control_command);\n+ void OnControlCommandCheck(\n+ const apollo::control::ControlCommand &control_command);\n void OnChassisCommand(\n const apollo::external_command::ChassisCommand &chassis_command);\n void OnGuardianCommand(\n const apollo::guardian::GuardianCommand &guardian_command);\n+ void OnGuardianCommandCheck(\n+ const apollo::guardian::GuardianCommand &guardian_command);\n apollo::common::Status OnError(const std::string &error_msg);\n- void RegisterCanClients();\n- void CheckChassisCommunication();\n+ void ProcessTimeoutByClearCanSender();\n+ void ProcessGuardianCmdTimeout(\n+ apollo::guardian::GuardianCommand *guardian_command);\n \n CanbusConf canbus_conf_;\n std::shared_ptr<::apollo::canbus::AbstractVehicleFactory> vehicle_object_ =\n@@ -99,11 +104,12 @@ class CanbusComponent final : public apollo::cyber::TimerComponent {\n control_command_reader_;\n std::shared_ptr<cyber::Reader<apollo::external_command::ChassisCommand>>\n chassis_command_reader_;\n- int64_t last_timestamp_controlcmd_ = 0;\n+ double last_timestamp_controlcmd_ = 0.0;\n int64_t last_timestamp_chassiscmd_ = 0;\n ::apollo::common::monitor::MonitorLogBuffer monitor_logger_buffer_;\n std::shared_ptr<cyber::Writer<Chassis>> chassis_writer_;\n- bool is_chassis_communicate_lost_ = false;\n+ bool is_control_cmd_time_delay_ = false;\n+ bool is_control_cmd_time_delay_previous_ = false;\n };\n \n CYBER_REGISTER_COMPONENT(CanbusComponent)\ndiff --git a/modules/canbus/common/canbus_gflags.cc b/modules/canbus/common/canbus_gflags.cc\nindex 7e74fb9b911..6fb3dab4d9e 100644\n--- a/modules/canbus/common/canbus_gflags.cc\n+++ b/modules/canbus/common/canbus_gflags.cc\n@@ -27,10 +27,24 @@ DEFINE_string(canbus_conf_file,\n \n // Canbus gflags\n DEFINE_double(chassis_freq, 100, \"Chassis feedback timer frequency.\");\n+\n+// cmd input check\n DEFINE_int64(min_cmd_interval, 5, \"Minimum control command interval in ms.\");\n+DEFINE_int64(pad_msg_delay_interval, 3,\n+ \"Minimum pad msg command delay interval in s.\");\n+DEFINE_int32(max_control_miss_num, 5, \"max control miss num.\");\n+DEFINE_double(control_period, 0.01, \"control period in s.\");\n+DEFINE_int32(max_guardian_miss_num, 5, \"max guardian miss num.\");\n+DEFINE_double(guardian_period, 0.01, \"control period in s.\");\n+DEFINE_bool(use_control_cmd_check, false, \"enable control cmd input check.\");\n+DEFINE_bool(use_guardian_cmd_check, false, \"nable guardian cmd input check.\");\n+DEFINE_double(estop_brake, 30.0, \"brake action when cmd input check error.\");\n \n // chassis_detail message publish\n-DEFINE_bool(enable_chassis_detail_pub, false, \"Chassis Detail message publish\");\n+DEFINE_bool(enable_chassis_detail_pub, true,\n+ \"Chassis Detail receive message publish\");\n+DEFINE_bool(enable_chassis_detail_sender_pub, true,\n+ \"Chassis Detail sender message publish\");\n \n // canbus test files\n DEFINE_string(canbus_test_file,\n@@ -48,8 +62,12 @@ DEFINE_int32(control_cmd_pending_queue_size, 10,\n \"Max control cmd pending queue size\");\n DEFINE_int32(chassis_cmd_pending_queue_size, 10,\n \"Max control cmd pending queue size\");\n+\n // enable forward Ultrasonic AEB\n-DEFINE_bool(enable_aeb, true, \"Enable forward Ultrasonic AEB\");\n+DEFINE_bool(enable_aeb, false, \"Enable forward Ultrasonic AEB\");\n+\n+// enabel chassis debug mode for such as ignore pad msg timestamp check\n+DEFINE_bool(chassis_debug_mode, false, \"Enable chassis in debug mode\");\n \n // vehicle factory dynamic library path and class name\n DEFINE_string(load_vehicle_library,\ndiff --git a/modules/canbus/common/canbus_gflags.h b/modules/canbus/common/canbus_gflags.h\nindex 573b25ea919..40e1324d80f 100644\n--- a/modules/canbus/common/canbus_gflags.h\n+++ b/modules/canbus/common/canbus_gflags.h\n@@ -27,10 +27,21 @@ DECLARE_string(canbus_conf_file);\n \n // Canbus gflags\n DECLARE_double(chassis_freq);\n+\n+// cmd input check\n DECLARE_int64(min_cmd_interval);\n+DECLARE_int64(pad_msg_delay_interval);\n+DECLARE_int32(max_control_miss_num);\n+DECLARE_double(control_period);\n+DECLARE_int32(max_guardian_miss_num);\n+DECLARE_double(guardian_period);\n+DECLARE_bool(use_control_cmd_check);\n+DECLARE_bool(use_guardian_cmd_check);\n+DECLARE_double(estop_brake);\n \n // chassis_detail message publish\n DECLARE_bool(enable_chassis_detail_pub);\n+DECLARE_bool(enable_chassis_detail_sender_pub);\n \n // canbus test files\n DECLARE_string(canbus_test_file);\n@@ -45,6 +56,9 @@ DECLARE_int32(chassis_cmd_pending_queue_size);\n // enable forward Ultrasonic AEB\n DECLARE_bool(enable_aeb);\n \n+// enabel chassis debug mode for such as ignore pad msg timestamp check\n+DECLARE_bool(chassis_debug_mode);\n+\n // vehicle factory dynamic library path and class name\n DECLARE_string(load_vehicle_library);\n DECLARE_string(load_vehicle_class_name);\ndiff --git a/modules/canbus/conf/canbus.conf b/modules/canbus/conf/canbus.conf\nindex d250d068d2c..5803b206b44 100644\n--- a/modules/canbus/conf/canbus.conf\n+++ b/modules/canbus/conf/canbus.conf\n@@ -2,5 +2,10 @@\n --canbus_conf_file=/apollo/modules/canbus/conf/canbus_conf.pb.txt\n --load_vehicle_library=/opt/apollo/neo/lib/modules/canbus_vehicle/lincoln/liblincoln_vehicle_factory_lib.so\n --load_vehicle_class_name=LincolnVehicleFactory\n---noenable_chassis_detail_pub\n+--enable_chassis_detail_pub\n+--enable_chassis_detail_sender_pub\n+--chassis_debug_mode=false\n+--use_control_cmd_check=false\n+--use_guardian_cmd_check=false\n --noreceive_guardian\n+--estop_brake=30.0\n\\ No newline at end of file\ndiff --git a/modules/canbus/conf/canbus_conf.pb.txt b/modules/canbus/conf/canbus_conf.pb.txt\nindex 671e45fe264..70236f935a8 100644\n--- a/modules/canbus/conf/canbus_conf.pb.txt\n+++ b/modules/canbus/conf/canbus_conf.pb.txt\n@@ -1,5 +1,4 @@\n vehicle_parameter {\n- brand: LINCOLN_MKZ\n max_enable_fail_attempt: 5\n driving_mode: COMPLETE_AUTO_DRIVE\n }\ndiff --git a/modules/canbus/vehicle/abstract_vehicle_factory.cc b/modules/canbus/vehicle/abstract_vehicle_factory.cc\nindex b5df304d77b..9a3c4ff1963 100644\n--- a/modules/canbus/vehicle/abstract_vehicle_factory.cc\n+++ b/modules/canbus/vehicle/abstract_vehicle_factory.cc\n@@ -21,8 +21,20 @@ namespace canbus {\n \n void AbstractVehicleFactory::UpdateHeartbeat() {}\n \n+void AbstractVehicleFactory::PublishChassisDetailSender() {}\n+\n bool AbstractVehicleFactory::CheckChassisCommunicationFault() { return false; }\n \n+void AbstractVehicleFactory::AddSendProtocol() {}\n+\n+void AbstractVehicleFactory::ClearSendProtocol() {}\n+\n+bool AbstractVehicleFactory::IsSendProtocolClear() { return false; }\n+\n+Chassis::DrivingMode AbstractVehicleFactory::Driving_Mode() {\n+ return Chassis::COMPLETE_MANUAL;\n+}\n+\n void AbstractVehicleFactory::SetVehicleParameter(\n const VehicleParameter &vehicle_parameter) {\n vehicle_parameter_ = vehicle_parameter;\ndiff --git a/modules/canbus/vehicle/abstract_vehicle_factory.h b/modules/canbus/vehicle/abstract_vehicle_factory.h\nindex de9d6388afe..6326923e6b0 100644\n--- a/modules/canbus/vehicle/abstract_vehicle_factory.h\n+++ b/modules/canbus/vehicle/abstract_vehicle_factory.h\n@@ -24,7 +24,6 @@\n \n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/class_loader/class_loader_register_macro.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n #include \"modules/drivers/canbus/can_comm/message_manager.h\"\n@@ -94,6 +93,11 @@ class AbstractVehicleFactory {\n */\n virtual void PublishChassisDetail() = 0;\n \n+ /**\n+ * @brief publish chassis for vehicle messages\n+ */\n+ virtual void PublishChassisDetailSender();\n+\n /**\n * @brief create cansender heartbeat\n */\n@@ -104,6 +108,26 @@ class AbstractVehicleFactory {\n */\n virtual bool CheckChassisCommunicationFault();\n \n+ /**\n+ * @brief add send protocol message\n+ */\n+ virtual void AddSendProtocol();\n+\n+ /**\n+ * @brief clear send protocol message, make a sender can error\n+ */\n+ virtual void ClearSendProtocol();\n+\n+ /**\n+ * @brief check send protocol message whether is clear or not\n+ */\n+ virtual bool IsSendProtocolClear();\n+\n+ /**\n+ * @brief get chassis driving mode\n+ */\n+ virtual Chassis::DrivingMode Driving_Mode();\n+\n private:\n VehicleParameter vehicle_parameter_;\n };\ndiff --git a/modules/canbus/vehicle/vehicle_controller.h b/modules/canbus/vehicle/vehicle_controller.h\nindex 42631664c19..3f1f31c48f8 100644\n--- a/modules/canbus/vehicle/vehicle_controller.h\n+++ b/modules/canbus/vehicle/vehicle_controller.h\n@@ -30,6 +30,8 @@\n #include \"modules/common_msgs/external_command_msgs/chassis_command.pb.h\"\n \n #include \"cyber/common/log.h\"\n+#include \"cyber/time/time.h\"\n+#include \"modules/canbus/common/canbus_gflags.h\"\n #include \"modules/common/configs/vehicle_config_helper.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n@@ -43,6 +45,7 @@\n namespace apollo {\n namespace canbus {\n \n+using apollo::cyber::Time;\n using ::apollo::drivers::canbus::CanReceiver;\n using ::apollo::drivers::canbus::CanSender;\n using ::apollo::drivers::canbus::MessageManager;\n@@ -66,7 +69,6 @@ class VehicleController {\n */\n virtual common::ErrorCode Init(\n const VehicleParameter ¶ms, CanSender<SensorType> *const can_sender,\n- CanReceiver<SensorType> *const can_receiver,\n MessageManager<SensorType> *const message_manager) = 0;\n \n /**\n@@ -94,6 +96,7 @@ class VehicleController {\n virtual common::ErrorCode Update(const control::ControlCommand &command);\n virtual common::ErrorCode Update(\n const external_command::ChassisCommand &command);\n+\n /**\n * @brief set vehicle to appointed driving mode.\n * @param driving mode to be appointed.\n@@ -102,6 +105,16 @@ class VehicleController {\n virtual common::ErrorCode SetDrivingMode(\n const Chassis::DrivingMode &driving_mode);\n \n+ virtual bool CheckChassisCommunicationError();\n+\n+ virtual void AddSendMessage();\n+\n+ virtual SensorType GetNewRecvChassisDetail();\n+\n+ virtual SensorType GetNewSenderChassisDetail();\n+\n+ virtual Chassis::DrivingMode driving_mode();\n+\n private:\n /*\n * @brief main logical function for operation the car enter or exit the auto\n@@ -192,7 +205,6 @@ class VehicleController {\n virtual bool VerifyID() = 0;\n \n protected:\n- virtual Chassis::DrivingMode driving_mode();\n virtual void set_driving_mode(const Chassis::DrivingMode &driving_mode);\n \n protected:\n@@ -207,12 +219,119 @@ class VehicleController {\n Chassis::DrivingMode driving_mode_ = Chassis::COMPLETE_MANUAL;\n bool is_reset_ = false; // reset command from control command\n std::mutex mode_mutex_; // only use in this base class\n+ uint32_t lost_chassis_reveive_detail_count_ = 0; // check chassis detail lost\n+ bool is_need_count_ = true; // check chassis detail lost\n+ size_t sender_data_size_previous_ = 0.0; // check apollo sender preiod\n+ int64_t start_time_ = 0; // check apollo sender preiod\n+ bool is_chassis_communication_error_ = false; // check chassis communication\n };\n \n using common::ErrorCode;\n using control::ControlCommand;\n using external_command::ChassisCommand;\n \n+template <typename SensorType>\n+bool VehicleController<SensorType>::CheckChassisCommunicationError() {\n+ SensorType chassis_detail_sender;\n+ if (message_manager_->GetSensorCheckSenderData(&chassis_detail_sender) !=\n+ ErrorCode::OK) {\n+ AERROR_EVERY(100) << \"Get \" << typeid(SensorType).name()\n+ << \" chassis receive detail failed.\";\n+ }\n+ size_t sender_data_size = chassis_detail_sender.ByteSizeLong();\n+ ADEBUG << \"check chassis detail sender_data_size is \" << sender_data_size;\n+ int64_t end_time = 0;\n+ if ((sender_data_size_previous_ < 2) && (sender_data_size > 2)) {\n+ end_time = ::apollo::cyber::Time::Now().ToMicrosecond();\n+ ADEBUG << \"end_time is \" << end_time;\n+ if (start_time_ > 0) {\n+ const double sender_diff = (end_time - start_time_) * 1e-3;\n+ ADEBUG << \"sender protocol preiod is \" << sender_diff;\n+ }\n+ } else if ((sender_data_size_previous_ > 2) && (sender_data_size < 2)) {\n+ start_time_ = ::apollo::cyber::Time::Now().ToMicrosecond();\n+ ADEBUG << \"start_time_ is \" << start_time_;\n+ }\n+ sender_data_size_previous_ = sender_data_size;\n+ message_manager_->ClearSensorCheckSenderData();\n+\n+ SensorType chassis_detail_receiver;\n+ if (message_manager_->GetSensorCheckRecvData(&chassis_detail_receiver) !=\n+ ErrorCode::OK) {\n+ AERROR_EVERY(100) << \"Get \" << typeid(SensorType).name()\n+ << \" chassis receive detail failed.\";\n+ }\n+ ADEBUG << \"chassis_detail_receiver is \"\n+ << chassis_detail_receiver.ShortDebugString();\n+ size_t receiver_data_size = chassis_detail_receiver.ByteSizeLong();\n+ ADEBUG << \"check chassis detail receiver_data_size is \" << receiver_data_size;\n+ // check receiver data is null\n+ if (receiver_data_size < 2) {\n+ if (is_need_count_) {\n+ lost_chassis_reveive_detail_count_++;\n+ }\n+ } else {\n+ lost_chassis_reveive_detail_count_ = 0;\n+ is_need_count_ = true;\n+ }\n+ ADEBUG << \"lost_chassis_reveive_detail_count_ is \"\n+ << lost_chassis_reveive_detail_count_;\n+ // check receive data lost threshold is (100 * 10)ms\n+ if (lost_chassis_reveive_detail_count_ > 100) {\n+ is_need_count_ = false;\n+ is_chassis_communication_error_ = true;\n+ AERROR << typeid(SensorType).name()\n+ << \" chassis detail is lost, please check the \"\n+ \"communication error.\";\n+ message_manager_->ClearSensorCheckRecvData();\n+ message_manager_->ResetSendMessages();\n+ return true;\n+ } else {\n+ is_chassis_communication_error_ = false;\n+ }\n+ message_manager_->ClearSensorCheckRecvData();\n+\n+ return false;\n+}\n+\n+template <typename SensorType>\n+void VehicleController<SensorType>::AddSendMessage() {}\n+\n+template <typename SensorType>\n+SensorType VehicleController<SensorType>::GetNewRecvChassisDetail() {\n+ SensorType receiver_chassis_detail;\n+ if (message_manager_->GetSensorRecvData(&receiver_chassis_detail) !=\n+ ErrorCode::OK) {\n+ AERROR_EVERY(100) << \"Get \" << typeid(SensorType).name()\n+ << \" chassis detail receiver failed.\";\n+ return receiver_chassis_detail;\n+ }\n+ ADEBUG << \"receiver_chassis_detail is \"\n+ << receiver_chassis_detail.ShortDebugString();\n+ if (is_chassis_communication_error_) {\n+ message_manager_->ClearSensorRecvData();\n+ }\n+ return receiver_chassis_detail;\n+}\n+\n+template <typename SensorType>\n+SensorType VehicleController<SensorType>::GetNewSenderChassisDetail() {\n+ SensorType sender_chassis_detail;\n+ if (message_manager_->GetSensorSenderData(&sender_chassis_detail) !=\n+ ErrorCode::OK) {\n+ AERROR_EVERY(100) << \"Get \" << typeid(SensorType).name()\n+ << \" chassis detail receiver failed.\";\n+ return sender_chassis_detail;\n+ }\n+ message_manager_->GetSensorSenderData(&sender_chassis_detail);\n+ ADEBUG << \"sender_chassis_detail is \"\n+ << sender_chassis_detail.ShortDebugString();\n+ if (can_sender_->IsMessageClear()) {\n+ message_manager_->ClearSensorSenderData();\n+ }\n+ return sender_chassis_detail;\n+}\n+\n template <typename SensorType>\n Chassis::DrivingMode VehicleController<SensorType>::driving_mode() {\n std::lock_guard<std::mutex> lock(mode_mutex_);\n@@ -291,38 +410,52 @@ ErrorCode VehicleController<SensorType>::Update(\n return ErrorCode::CANBUS_ERROR;\n }\n \n- // Execute action to transform driving mode\n if (control_command.has_pad_msg() && control_command.pad_msg().has_action()) {\n- AINFO << \"Canbus received pad msg: \"\n- << control_command.pad_msg().ShortDebugString();\n- if (control_command.pad_msg().action() == control::DrivingAction::VIN_REQ) {\n- if (!VerifyID()) {\n- AINFO << \"Response vid failed, please request again.\";\n- } else {\n- AINFO << \"Response vid success!\";\n- }\n- } else {\n- Chassis::DrivingMode mode = Chassis::COMPLETE_MANUAL;\n- switch (control_command.pad_msg().action()) {\n- case control::DrivingAction::START: {\n- mode = Chassis::COMPLETE_AUTO_DRIVE;\n- break;\n+ ADEBUG << \"Canbus received pad msg: \"\n+ << control_command.pad_msg().ShortDebugString();\n+ const double current_timestamp = Time::Now().ToSecond();\n+ // pad_msg_time_diff: s\n+ const double pad_msg_time_diff =\n+ current_timestamp - control_command.pad_msg().header().timestamp_sec();\n+ // Execute action to transform driving mode\n+ if ((FLAGS_chassis_debug_mode ||\n+ (pad_msg_time_diff < FLAGS_pad_msg_delay_interval)) &&\n+ !is_chassis_communication_error_) {\n+ if (control_command.pad_msg().action() ==\n+ control::DrivingAction::VIN_REQ) {\n+ if (!VerifyID()) {\n+ AINFO << \"Response vid failed, please request again.\";\n+ } else {\n+ AINFO << \"Response vid success!\";\n }\n- case control::DrivingAction::RESET: {\n- // In COMPLETE_MANUAL mode\n- break;\n+ } else {\n+ Chassis::DrivingMode mode = Chassis::COMPLETE_MANUAL;\n+ switch (control_command.pad_msg().action()) {\n+ case control::DrivingAction::START: {\n+ mode = Chassis::COMPLETE_AUTO_DRIVE;\n+ break;\n+ }\n+ case control::DrivingAction::RESET: {\n+ // In COMPLETE_MANUAL mode\n+ AINFO << \"Into the Reset action.\";\n+ break;\n+ }\n+ default: {\n+ AERROR << \"No response for this action.\";\n+ break;\n+ }\n }\n- default: {\n- AERROR << \"No response for this action.\";\n- break;\n+ auto error_code = SetDrivingMode(mode);\n+ if (error_code != ErrorCode::OK) {\n+ AERROR << \"Failed to set driving mode.\";\n+ } else {\n+ AINFO << \"Set driving mode success.\";\n }\n }\n- auto error_code = SetDrivingMode(mode);\n- if (error_code != ErrorCode::OK) {\n- AERROR << \"Failed to set driving mode.\";\n- } else {\n- AINFO << \"Set driving mode success.\";\n- }\n+ } else {\n+ ADEBUG << \"pad msg time out, current time interval is \"\n+ << pad_msg_time_diff << \" s, threshold is \"\n+ << FLAGS_pad_msg_delay_interval << \" s\";\n }\n }\n \ndiff --git a/modules/canbus_vehicle/ch/ch_controller.cc b/modules/canbus_vehicle/ch/ch_controller.cc\nindex a8ed33233f7..3413fd2dc80 100644\n--- a/modules/canbus_vehicle/ch/ch_controller.cc\n+++ b/modules/canbus_vehicle/ch/ch_controller.cc\n@@ -45,7 +45,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n ErrorCode ChController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Ch>* const can_sender,\n- CanReceiver<::apollo::canbus::Ch>* const can_receiver,\n MessageManager<::apollo::canbus::Ch>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"ChController has already been initiated.\";\n@@ -66,12 +65,6 @@ ErrorCode ChController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\n@@ -166,10 +159,9 @@ void ChController::Stop() {\n Chassis ChController::chassis() {\n chassis_.Clear();\n \n- Ch chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n+ Ch chassis_detail = GetNewRecvChassisDetail();\n \n- // 21, 22, previously 1, 2\n+ // 1, 2\n // if (driving_mode() == Chassis::EMERGENCY_MODE) {\n // set_chassis_error_code(Chassis::NO_ERROR);\n // }\n@@ -344,11 +336,12 @@ Chassis ChController::chassis() {\n \"Chassis has some fault, please check the chassis_detail.\");\n }\n \n+ // check the chassis detail lost\n if (is_chassis_communication_error_) {\n chassis_.mutable_engage_advice()->set_advice(\n apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n chassis_.mutable_engage_advice()->set_reason(\n- \"devkit chassis detail is lost! Please check the communication error.\");\n+ \"ch chassis detail is lost! Please check the communication error.\");\n set_chassis_error_code(Chassis::CHASSIS_CAN_LOST);\n set_driving_mode(Chassis::EMERGENCY_MODE);\n }\n@@ -584,67 +577,12 @@ void ChController::ResetVin() {\n \n void ChController::ResetProtocol() { message_manager_->ResetSendMessages(); }\n \n-bool ChController::CheckChassisCommunicationError() {\n- Ch chassis_detail_receiver;\n- ADEBUG << \"Can receiver finished recv once: \"\n- << can_receiver_->IsFinishRecvOnce();\n- if (message_manager_->GetSensorRecvData(&chassis_detail_receiver) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_receiver is \"\n- << chassis_detail_receiver.ShortDebugString();\n- size_t receiver_data_size = chassis_detail_receiver.ByteSizeLong();\n- ADEBUG << \"check chassis detail receiver_data_size is \" << receiver_data_size;\n- // check receiver data is null\n- if (receiver_data_size < 2) {\n- if (is_need_count_) {\n- lost_chassis_reveive_detail_count_++;\n- }\n- } else {\n- lost_chassis_reveive_detail_count_ = 0;\n- is_need_count_ = true;\n- }\n- ADEBUG << \"lost_chassis_reveive_detail_count_ is \"\n- << lost_chassis_reveive_detail_count_;\n- // check receive data lost threshold is (100 * 10)ms\n- if (lost_chassis_reveive_detail_count_ > 100) {\n- is_need_count_ = false;\n- is_chassis_communication_error_ = true;\n- AERROR << \"neolix chassis detail is lost, please check the communication \"\n- \"error.\";\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorData();\n- return true;\n- } else {\n- is_chassis_communication_error_ = false;\n- }\n-\n- Ch chassis_detail_sender;\n- if (message_manager_->GetSensorSenderData(&chassis_detail_sender) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_sender is \"\n- << chassis_detail_sender.ShortDebugString();\n- size_t sender_data_size = chassis_detail_sender.ByteSizeLong();\n- ADEBUG << \"check chassis detail sender_data_size is \" << sender_data_size;\n-\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorSenderData();\n- return false;\n-}\n-\n bool ChController::CheckChassisError() {\n if (is_chassis_communication_error_) {\n- AERROR_EVERY(100) << \"ChassisDetail has no ch vehicle info.\";\n+ AERROR_EVERY(100) << \"ChassisDetail has no devkit vehicle info.\";\n return false;\n }\n- Ch chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis detail failed.\";\n- }\n+ Ch chassis_detail = GetNewRecvChassisDetail();\n // steer motor fault\n if (chassis_detail.has_steer_status__512()) {\n if (Steer_status__512::STEER_ERR_STEER_MOTOR_ERR ==\n@@ -736,6 +674,7 @@ void ChController::SecurityDogThreadFunc() {\n can_sender_->Update();\n }\n \n+ // recove error code\n if (!emergency_mode && !is_chassis_communication_error_ &&\n mode == Chassis::EMERGENCY_MODE) {\n set_chassis_error_code(Chassis::NO_ERROR);\n@@ -760,10 +699,6 @@ bool ChController::CheckResponse(const int32_t flags, bool need_wait) {\n bool is_esp_online = false;\n \n do {\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"get chassis detail failed.\";\n- return false;\n- }\n bool check_ok = true;\n if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n is_eps_online = chassis_.has_check_response() &&\n@@ -793,9 +728,14 @@ bool ChController::CheckResponse(const int32_t flags, bool need_wait) {\n }\n } while (need_wait && retry_num);\n \n- AINFO << \"check_response fail: is_eps_online:\" << is_eps_online\n- << \", is_vcu_online:\" << is_vcu_online\n- << \", is_esp_online:\" << is_esp_online;\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ AERROR << \"steer check_response fail: is_eps_online:\" << is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ AERROR << \"speed check_response fail: \" << \"is_vcu_online:\" << is_vcu_online\n+ << \", is_esp_online:\" << is_esp_online;\n+ }\n \n return false;\n }\ndiff --git a/modules/canbus_vehicle/ch/ch_controller.h b/modules/canbus_vehicle/ch/ch_controller.h\nindex 16b8f50f951..708ed459ee2 100644\n--- a/modules/canbus_vehicle/ch/ch_controller.h\n+++ b/modules/canbus_vehicle/ch/ch_controller.h\n@@ -46,7 +46,6 @@ class ChController final : public VehicleController<::apollo::canbus::Ch> {\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Ch>* const can_sender,\n- CanReceiver<::apollo::canbus::Ch>* const can_receiver,\n MessageManager<::apollo::canbus::Ch>* const message_manager) override;\n \n bool Start() override;\n@@ -62,11 +61,6 @@ class ChController final : public VehicleController<::apollo::canbus::Ch> {\n */\n Chassis chassis() override;\n \n- /**\n- * @brief ccheck the chassis detail received or lost.\n- */\n- bool CheckChassisCommunicationError();\n-\n FRIEND_TEST(ChControllerTest, SetDrivingMode);\n FRIEND_TEST(ChControllerTest, Status);\n FRIEND_TEST(ChControllerTest, UpdateDrivingMode);\n@@ -146,9 +140,6 @@ class ChController final : public VehicleController<::apollo::canbus::Ch> {\n \n std::mutex chassis_mask_mutex_;\n int32_t chassis_error_mask_ = 0;\n- uint32_t lost_chassis_reveive_detail_count_ = 0;\n- bool is_need_count_ = true;\n- bool is_chassis_communication_error_ = false;\n };\n \n } // namespace ch\ndiff --git a/modules/canbus_vehicle/ch/ch_vehicle_factory.cc b/modules/canbus_vehicle/ch/ch_vehicle_factory.cc\nindex 4c64bed66cc..7aeccb02e1f 100644\n--- a/modules/canbus_vehicle/ch/ch_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/ch/ch_vehicle_factory.cc\n@@ -69,7 +69,6 @@ bool ChVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -84,6 +83,9 @@ bool ChVehicleFactory::Init(const CanbusConf *canbus_conf) {\n chassis_detail_writer_ =\n node_->CreateWriter<::apollo::canbus::Ch>(FLAGS_chassis_detail_topic);\n \n+ chassis_detail_sender_writer_ = node_->CreateWriter<::apollo::canbus::Ch>(\n+ FLAGS_chassis_detail_sender_topic);\n+\n return true;\n }\n \n@@ -152,12 +154,18 @@ Chassis ChVehicleFactory::publish_chassis() {\n }\n \n void ChVehicleFactory::PublishChassisDetail() {\n- Ch chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n- ADEBUG << chassis_detail.ShortDebugString();\n+ Ch chassis_detail = vehicle_controller_->GetNewRecvChassisDetail();\n+ ADEBUG << \"latest chassis_detail is \" << chassis_detail.ShortDebugString();\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n+void ChVehicleFactory::PublishChassisDetailSender() {\n+ Ch sender_chassis_detail = vehicle_controller_->GetNewSenderChassisDetail();\n+ ADEBUG << \"latest sender_chassis_detail is \"\n+ << sender_chassis_detail.ShortDebugString();\n+ chassis_detail_sender_writer_->Write(sender_chassis_detail);\n+}\n+\n bool ChVehicleFactory::CheckChassisCommunicationFault() {\n if (vehicle_controller_->CheckChassisCommunicationError()) {\n return true;\n@@ -165,8 +173,10 @@ bool ChVehicleFactory::CheckChassisCommunicationFault() {\n return false;\n }\n \n-std::unique_ptr<ch::ChController> ChVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<ch::ChController>(new ch::ChController());\n+std::unique_ptr<VehicleController<::apollo::canbus::Ch>>\n+ChVehicleFactory::CreateVehicleController() {\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Ch>>(\n+ new ch::ChController());\n }\n \n std::unique_ptr<MessageManager<::apollo::canbus::Ch>>\ndiff --git a/modules/canbus_vehicle/ch/ch_vehicle_factory.h b/modules/canbus_vehicle/ch/ch_vehicle_factory.h\nindex b3bdd99c795..99c788405cc 100644\n--- a/modules/canbus_vehicle/ch/ch_vehicle_factory.h\n+++ b/modules/canbus_vehicle/ch/ch_vehicle_factory.h\n@@ -94,14 +94,23 @@ class ChVehicleFactory : public AbstractVehicleFactory {\n */\n void PublishChassisDetail() override;\n \n- bool CheckChassisCommunicationFault();\n+ /**\n+ * @brief publish chassis for apollo sender messages\n+ */\n+ void PublishChassisDetailSender() override;\n+\n+ /**\n+ * @brief check chassis can receiver lost\n+ */\n+ bool CheckChassisCommunicationFault() override;\n \n private:\n /**\n * @brief create ch vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<ch::ChController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Ch>>\n+ CreateVehicleController();\n \n /**\n * @brief create ch message manager\n@@ -114,10 +123,12 @@ class ChVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Ch> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Ch> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Ch>> message_manager_;\n- std::unique_ptr<ch::ChController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Ch>> vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Ch>>\n chassis_detail_writer_;\n+ std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Ch>>\n+ chassis_detail_sender_writer_;\n };\n \n CYBER_REGISTER_VEHICLEFACTORY(ChVehicleFactory)\ndiff --git a/modules/canbus_vehicle/demo/BUILD b/modules/canbus_vehicle/demo/BUILD\nnew file mode 100644\nindex 00000000000..600a725051e\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/BUILD\n@@ -0,0 +1,92 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_cc_binary\", \"apollo_cc_library\", \"apollo_cc_test\", \"apollo_component\", \"apollo_package\")\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+CANBUS_COPTS = [\"-DMODULE_NAME=\\\\\\\"canbus\\\\\\\"\"]\n+\n+apollo_cc_library(\n+ name = \"apollo_canbus_vehicle_demo\",\n+ srcs = [\n+ \"demo_controller.cc\",\n+ \"demo_message_manager.cc\",\n+ \"demo_vehicle_factory.cc\",\n+ \"protocol/brake_command_101.cc\",\n+ \"protocol/gear_command_103.cc\",\n+ \"protocol/park_command_104.cc\",\n+ \"protocol/steering_command_102.cc\",\n+ \"protocol/throttle_command_100.cc\",\n+ \"protocol/vehicle_mode_command_105.cc\",\n+ \"protocol/bms_report_512.cc\",\n+ \"protocol/brake_report_501.cc\",\n+ \"protocol/gear_report_503.cc\",\n+ \"protocol/park_report_504.cc\",\n+ \"protocol/steering_report_502.cc\",\n+ \"protocol/throttle_report_500.cc\",\n+ \"protocol/ultr_sensor_1_507.cc\",\n+ \"protocol/ultr_sensor_2_508.cc\",\n+ \"protocol/ultr_sensor_3_509.cc\",\n+ \"protocol/ultr_sensor_4_510.cc\",\n+ \"protocol/ultr_sensor_5_511.cc\",\n+ \"protocol/vcu_report_505.cc\",\n+ \"protocol/vin_resp1_514.cc\",\n+ \"protocol/vin_resp2_515.cc\",\n+ \"protocol/vin_resp3_516.cc\",\n+ \"protocol/wheelspeed_report_506.cc\",\n+ ],\n+ hdrs = [\n+ \"demo_controller.h\",\n+ \"demo_message_manager.h\",\n+ \"demo_vehicle_factory.h\",\n+ \"protocol/brake_command_101.h\",\n+ \"protocol/gear_command_103.h\",\n+ \"protocol/park_command_104.h\",\n+ \"protocol/steering_command_102.h\",\n+ \"protocol/throttle_command_100.h\",\n+ \"protocol/vehicle_mode_command_105.h\",\n+ \"protocol/bms_report_512.h\",\n+ \"protocol/brake_report_501.h\",\n+ \"protocol/gear_report_503.h\",\n+ \"protocol/park_report_504.h\",\n+ \"protocol/steering_report_502.h\",\n+ \"protocol/throttle_report_500.h\",\n+ \"protocol/ultr_sensor_1_507.h\",\n+ \"protocol/ultr_sensor_2_508.h\",\n+ \"protocol/ultr_sensor_3_509.h\",\n+ \"protocol/ultr_sensor_4_510.h\",\n+ \"protocol/ultr_sensor_5_511.h\",\n+ \"protocol/vcu_report_505.h\",\n+ \"protocol/vin_resp1_514.h\",\n+ \"protocol/vin_resp2_515.h\",\n+ \"protocol/vin_resp3_516.h\",\n+ \"protocol/wheelspeed_report_506.h\",\n+ ],\n+ copts = CANBUS_COPTS,\n+ deps = [\n+ \"//modules/canbus:apollo_canbus\",\n+ \"//modules/canbus/proto:canbus_conf_cc_proto\",\n+ \"//modules/canbus/proto:vehicle_parameter_cc_proto\",\n+ \"//modules/canbus_vehicle/demo/proto:demo_proto\",\n+ \"//modules/common/adapters:adapter_gflags\",\n+ \"//modules/common/status\",\n+ \"//modules/common_msgs/basic_msgs:error_code_cc_proto\",\n+ \"//modules/common_msgs/chassis_msgs:chassis_cc_proto\",\n+ \"//modules/common_msgs/control_msgs:control_cmd_cc_proto\",\n+ \"//modules/drivers/canbus:apollo_drivers_canbus\",\n+ ],\n+)\n+\n+apollo_component(\n+ name = \"libdemo_vehicle_factory_lib.so\",\n+ deps = [\":apollo_canbus_vehicle_demo\"],\n+)\n+\n+filegroup(\n+ name = \"runtime_data\",\n+ srcs = glob([\n+ \"testdata/**\",\n+ ]),\n+)\n+\n+apollo_package()\n+cpplint()\ndiff --git a/modules/canbus_vehicle/demo/cyberfile.xml b/modules/canbus_vehicle/demo/cyberfile.xml\nnew file mode 100644\nindex 00000000000..8be8c74e071\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/cyberfile.xml\n@@ -0,0 +1,24 @@\n+<package format=\"2\">\n+ <name>canbus-vehicle-demo</name>\n+ <version>local</version>\n+ <description>\n+ Dynamic loading for canbus demo vehicle module\n+ </description>\n+\n+ <maintainer email=\"apollo-support@baidu.com\">Apollo</maintainer>\n+ <license>Apache License 2.0</license>\n+ <url type=\"website\">https://www.apollo.auto/</url>\n+ <url type=\"repository\">https://github.com/ApolloAuto/apollo</url>\n+ <url type=\"bugtracker\">https://github.com/ApolloAuto/apollo/issues</url>\n+\n+ <type>module</type>\n+ <src_path url=\"https://github.com/ApolloAuto/apollo\">//modules/canbus_vehicle/demo</src_path>\n+\n+ <depend type=\"binary\" repo_name=\"cyber\">cyber</depend>\n+ <depend type=\"binary\" repo_name=\"common\" lib_names=\"common\">common</depend>\n+ <depend type=\"binary\" repo_name=\"canbus\" lib_names=\"canbus\">canbus</depend>\n+ <depend type=\"binary\" repo_name=\"common-msgs\" lib_names=\"common-msgs\">common-msgs</depend>\n+ <depend type=\"binary\" repo_name=\"drivers-canbus\" lib_names=\"drivers-canbus\">drivers-canbus</depend>\n+ <depend repo_name=\"com_google_googletest\" lib_names=\"gtest,gtest_main\">3rd-gtest</depend>\n+\n+</package>\n\\ No newline at end of file\ndiff --git a/modules/canbus_vehicle/demo/demo_controller.cc b/modules/canbus_vehicle/demo/demo_controller.cc\nnew file mode 100644\nindex 00000000000..4224d8dac27\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/demo_controller.cc\n@@ -0,0 +1,782 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/demo_controller.h\"\n+\n+#include <string>\n+\n+#include \"modules/common_msgs/basic_msgs/vehicle_signal.pb.h\"\n+\n+#include \"cyber/common/log.h\"\n+#include \"cyber/time/time.h\"\n+#include \"modules/canbus/vehicle/vehicle_controller.h\"\n+#include \"modules/canbus_vehicle/demo/demo_message_manager.h\"\n+#include \"modules/drivers/canbus/can_comm/can_sender.h\"\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+using ::apollo::common::ErrorCode;\n+using ::apollo::common::VehicleSignal;\n+using ::apollo::control::ControlCommand;\n+using ::apollo::drivers::canbus::ProtocolData;\n+\n+namespace {\n+const int32_t kMaxFailAttempt = 10;\n+const int32_t CHECK_RESPONSE_STEER_UNIT_FLAG = 1;\n+const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n+\n+} // namespace\n+\n+void DemoController::AddSendMessage() {\n+ can_sender_->AddMessage(Brakecommand101::ID, brake_command_101_, false);\n+ can_sender_->AddMessage(Gearcommand103::ID, gear_command_103_, false);\n+ can_sender_->AddMessage(Parkcommand104::ID, park_command_104_, false);\n+ can_sender_->AddMessage(Steeringcommand102::ID, steering_command_102_, false);\n+ can_sender_->AddMessage(Throttlecommand100::ID, throttle_command_100_, false);\n+ can_sender_->AddMessage(Vehiclemodecommand105::ID, vehicle_mode_command_105_,\n+ false);\n+}\n+\n+ErrorCode DemoController::Init(\n+ const VehicleParameter& params,\n+ CanSender<::apollo::canbus::Demo>* const can_sender,\n+ MessageManager<::apollo::canbus::Demo>* const message_manager) {\n+ if (is_initialized_) {\n+ AINFO << \"DemoController has already been initiated.\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ vehicle_params_.CopyFrom(\n+ common::VehicleConfigHelper::Instance()->GetConfig().vehicle_param());\n+ params_.CopyFrom(params);\n+ if (!params_.has_driving_mode()) {\n+ AERROR << \"Vehicle conf pb not set driving_mode.\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ if (can_sender == nullptr) {\n+ AERROR << \"Canbus sender is null.\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ can_sender_ = can_sender;\n+\n+ if (message_manager == nullptr) {\n+ AERROR << \"protocol manager is null.\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ message_manager_ = message_manager;\n+\n+ // sender part\n+ brake_command_101_ = dynamic_cast<Brakecommand101*>(\n+ message_manager_->GetMutableProtocolDataById(Brakecommand101::ID));\n+ if (brake_command_101_ == nullptr) {\n+ AERROR << \"Brakecommand101 does not exist in the DemoMessageManager!\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ gear_command_103_ = dynamic_cast<Gearcommand103*>(\n+ message_manager_->GetMutableProtocolDataById(Gearcommand103::ID));\n+ if (gear_command_103_ == nullptr) {\n+ AERROR << \"Gearcommand103 does not exist in the DemoMessageManager!\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ park_command_104_ = dynamic_cast<Parkcommand104*>(\n+ message_manager_->GetMutableProtocolDataById(Parkcommand104::ID));\n+ if (park_command_104_ == nullptr) {\n+ AERROR << \"Parkcommand104 does not exist in the DemoMessageManager!\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ steering_command_102_ = dynamic_cast<Steeringcommand102*>(\n+ message_manager_->GetMutableProtocolDataById(Steeringcommand102::ID));\n+ if (steering_command_102_ == nullptr) {\n+ AERROR << \"Steeringcommand102 does not exist in the DemoMessageManager!\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ throttle_command_100_ = dynamic_cast<Throttlecommand100*>(\n+ message_manager_->GetMutableProtocolDataById(Throttlecommand100::ID));\n+ if (throttle_command_100_ == nullptr) {\n+ AERROR << \"Throttlecommand100 does not exist in the DemoMessageManager!\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ vehicle_mode_command_105_ = dynamic_cast<Vehiclemodecommand105*>(\n+ message_manager_->GetMutableProtocolDataById(Vehiclemodecommand105::ID));\n+ if (vehicle_mode_command_105_ == nullptr) {\n+ AERROR << \"Vehiclemodecommand105 does not exist in the DemoMessageManager!\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+\n+ AddSendMessage();\n+\n+ AINFO << \"DemoController is initialized.\";\n+\n+ is_initialized_ = true;\n+ return ErrorCode::OK;\n+}\n+\n+DemoController::~DemoController() {}\n+\n+bool DemoController::Start() {\n+ if (!is_initialized_) {\n+ AERROR << \"DemoController has NOT been initiated.\";\n+ return false;\n+ }\n+ const auto& update_func = [this] { SecurityDogThreadFunc(); };\n+ thread_.reset(new std::thread(update_func));\n+\n+ return true;\n+}\n+\n+void DemoController::Stop() {\n+ if (!is_initialized_) {\n+ AERROR << \"DemoController stops or starts improperly!\";\n+ return;\n+ }\n+\n+ if (thread_ != nullptr && thread_->joinable()) {\n+ thread_->join();\n+ thread_.reset();\n+ AINFO << \"DemoController stopped.\";\n+ }\n+}\n+\n+Chassis DemoController::chassis() {\n+ chassis_.Clear();\n+ Demo chassis_detail = GetNewRecvChassisDetail();\n+\n+ // 1, 2\n+ // if (driving_mode() == Chassis::EMERGENCY_MODE) {\n+ // set_chassis_error_code(Chassis::NO_ERROR);\n+ // }\n+ chassis_.set_driving_mode(driving_mode());\n+ chassis_.set_error_code(chassis_error_code());\n+\n+ // 3\n+ chassis_.set_engine_started(true);\n+\n+ // 4 chassis spd\n+ if (chassis_detail.has_vcu_report_505() &&\n+ chassis_detail.vcu_report_505().has_speed()) {\n+ chassis_.set_speed_mps(\n+ static_cast<float>(chassis_detail.vcu_report_505().speed()));\n+ } else {\n+ chassis_.set_speed_mps(0);\n+ }\n+\n+ // 5 throttle\n+ if (chassis_detail.has_throttle_report_500() &&\n+ chassis_detail.throttle_report_500().has_throttle_pedal_actual()) {\n+ chassis_.set_throttle_percentage(static_cast<float>(\n+ chassis_detail.throttle_report_500().throttle_pedal_actual()));\n+ } else {\n+ chassis_.set_throttle_percentage(0);\n+ }\n+\n+ // 6 brake\n+ if (chassis_detail.has_brake_report_501() &&\n+ chassis_detail.brake_report_501().has_brake_pedal_actual()) {\n+ chassis_.set_brake_percentage(static_cast<float>(\n+ chassis_detail.brake_report_501().brake_pedal_actual()));\n+ } else {\n+ chassis_.set_brake_percentage(0);\n+ }\n+\n+ // 7 gear\n+ if (chassis_detail.has_gear_report_503() &&\n+ chassis_detail.gear_report_503().has_gear_actual()) {\n+ Chassis::GearPosition gear_pos = Chassis::GEAR_INVALID;\n+\n+ if (chassis_detail.gear_report_503().gear_actual() ==\n+ Gear_report_503::GEAR_ACTUAL_NEUTRAL) {\n+ gear_pos = Chassis::GEAR_NEUTRAL;\n+ }\n+ if (chassis_detail.gear_report_503().gear_actual() ==\n+ Gear_report_503::GEAR_ACTUAL_REVERSE) {\n+ gear_pos = Chassis::GEAR_REVERSE;\n+ }\n+ if (chassis_detail.gear_report_503().gear_actual() ==\n+ Gear_report_503::GEAR_ACTUAL_DRIVE) {\n+ gear_pos = Chassis::GEAR_DRIVE;\n+ }\n+ if (chassis_detail.gear_report_503().gear_actual() ==\n+ Gear_report_503::GEAR_ACTUAL_PARK) {\n+ gear_pos = Chassis::GEAR_PARKING;\n+ }\n+\n+ chassis_.set_gear_location(gear_pos);\n+ } else {\n+ chassis_.set_gear_location(Chassis::GEAR_NONE);\n+ }\n+\n+ // 8 steer\n+ if (chassis_detail.has_steering_report_502() &&\n+ chassis_detail.steering_report_502().has_steer_angle_actual()) {\n+ chassis_.set_steering_percentage(static_cast<float>(\n+ chassis_detail.steering_report_502().steer_angle_actual() * 100.0 /\n+ vehicle_params_.max_steer_angle()));\n+ } else {\n+ chassis_.set_steering_percentage(0);\n+ }\n+\n+ // 9 checkresponse signal\n+ // 9 checkresponse signal\n+ // 9 checkresponse signal\n+ if (chassis_detail.has_brake_report_501() &&\n+ chassis_detail.brake_report_501().has_brake_en_state()) {\n+ chassis_.mutable_check_response()->set_is_esp_online(\n+ chassis_detail.brake_report_501().brake_en_state() == 1);\n+ }\n+\n+ if (chassis_detail.has_steering_report_502() &&\n+ chassis_detail.steering_report_502().has_steer_en_state()) {\n+ chassis_.mutable_check_response()->set_is_eps_online(\n+ chassis_detail.steering_report_502().steer_en_state() == 1);\n+ }\n+\n+ if (chassis_detail.has_throttle_report_500() &&\n+ chassis_detail.throttle_report_500().has_throttle_en_state()) {\n+ chassis_.mutable_check_response()->set_is_vcu_online(\n+ chassis_detail.throttle_report_500().throttle_en_state() == 1);\n+ }\n+\n+ // check chassis error\n+ if (CheckChassisError()) {\n+ chassis_.mutable_engage_advice()->set_advice(\n+ apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n+ chassis_.mutable_engage_advice()->set_reason(\n+ \"Chassis has some fault, please check the chassis_detail.\");\n+ }\n+\n+ // check the chassis detail lost\n+ if (is_chassis_communication_error_) {\n+ chassis_.mutable_engage_advice()->set_advice(\n+ apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n+ chassis_.mutable_engage_advice()->set_reason(\n+ \"demo chassis detail is lost! Please check the communication error.\");\n+ set_chassis_error_code(Chassis::CHASSIS_CAN_LOST);\n+ set_driving_mode(Chassis::EMERGENCY_MODE);\n+ }\n+\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ // 14 battery soc\n+ // 16 sonor list\n+ // 17 set vin\n+ // 18,19 bumper event\n+ // 20 add checkresponse signal\n+ */\n+\n+ return chassis_;\n+}\n+\n+void DemoController::Emergency() {\n+ set_driving_mode(Chassis::EMERGENCY_MODE);\n+ ResetProtocol();\n+}\n+\n+ErrorCode DemoController::EnableAutoMode() {\n+ if (driving_mode() == Chassis::COMPLETE_AUTO_DRIVE) {\n+ AINFO << \"already in COMPLETE_AUTO_DRIVE mode\";\n+ return ErrorCode::OK;\n+ }\n+ // set enable\n+ brake_command_101_->set_brake_en_ctrl(\n+ Brake_command_101::BRAKE_EN_CTRL_ENABLE);\n+\n+ gear_command_103_->set_gear_en_ctrl(Gear_command_103::GEAR_EN_CTRL_ENABLE);\n+\n+ steering_command_102_->set_steer_en_ctrl(\n+ Steering_command_102::STEER_EN_CTRL_ENABLE);\n+\n+ throttle_command_100_->set_throttle_en_ctrl(\n+ Throttle_command_100::THROTTLE_EN_CTRL_ENABLE);\n+\n+ can_sender_->Update();\n+ const int32_t flag =\n+ CHECK_RESPONSE_STEER_UNIT_FLAG | CHECK_RESPONSE_SPEED_UNIT_FLAG;\n+ if (!CheckResponse(flag, true)) {\n+ AERROR << \"Failed to switch to COMPLETE_AUTO_DRIVE mode. Please check the \"\n+ \"emergency button or chassis.\";\n+ Emergency();\n+ set_chassis_error_code(Chassis::CHASSIS_ERROR);\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n+ AINFO << \"Switch to COMPLETE_AUTO_DRIVE mode ok.\";\n+ return ErrorCode::OK;\n+}\n+\n+ErrorCode DemoController::DisableAutoMode() {\n+ ResetProtocol();\n+ can_sender_->Update();\n+ set_driving_mode(Chassis::COMPLETE_MANUAL);\n+ set_chassis_error_code(Chassis::NO_ERROR);\n+ AINFO << \"Switch to COMPLETE_MANUAL ok.\";\n+ return ErrorCode::OK;\n+}\n+\n+ErrorCode DemoController::EnableSteeringOnlyMode() {\n+ if (driving_mode() == Chassis::COMPLETE_AUTO_DRIVE ||\n+ driving_mode() == Chassis::AUTO_STEER_ONLY) {\n+ set_driving_mode(Chassis::AUTO_STEER_ONLY);\n+ AINFO << \"Already in AUTO_STEER_ONLY mode.\";\n+ return ErrorCode::OK;\n+ }\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ // TODO(ALL): CHECK YOUR VEHICLE WHETHER SUPPORT THIS MODE OR NOT\n+ // set enable\n+ brake_command_101_->set_brake_en_ctrl(\n+ Brake_command_101::BRAKE_EN_CTRL_DISABLE);\n+\n+ gear_command_103_->set_gear_en_ctrl(\n+ Gear_command_103::GEAR_EN_CTRL_DISABLE);\n+\n+ steering_command_102_->set_steer_en_ctrl(\n+ Steering_command_102::STEER_EN_CTRL_ENABLE);\n+\n+ throttle_command_100_->set_throttle_en_ctrl(\n+ Throttle_command_100::THROTTLE_EN_CTRL_DISABLE);\n+\n+\n+ can_sender_->Update();\n+ if (!CheckResponse(CHECK_RESPONSE_STEER_UNIT_FLAG, true)) {\n+ AERROR << \"Failed to switch to AUTO_STEER_ONLY mode.\";\n+ Emergency();\n+ set_chassis_error_code(Chassis::CHASSIS_ERROR);\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ set_driving_mode(Chassis::AUTO_STEER_ONLY);\n+ AINFO << \"Switch to AUTO_STEER_ONLY mode ok.\";\n+ return ErrorCode::OK;\n+ */\n+ return ErrorCode::OK;\n+}\n+\n+ErrorCode DemoController::EnableSpeedOnlyMode() {\n+ if (driving_mode() == Chassis::COMPLETE_AUTO_DRIVE ||\n+ driving_mode() == Chassis::AUTO_SPEED_ONLY) {\n+ set_driving_mode(Chassis::AUTO_SPEED_ONLY);\n+ AINFO << \"Already in AUTO_SPEED_ONLY mode\";\n+ return ErrorCode::OK;\n+ }\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ // TODO(ALL): CHECK YOUR VEHICLE WHETHER SUPPORT THIS MODE OR NOT\n+ // set enable\n+ brake_command_101_->set_brake_en_ctrl(\n+ Brake_command_101::BRAKE_EN_CTRL_ENABLE);\n+\n+ gear_command_103_->set_gear_en_ctrl(\n+ Gear_command_103::GEAR_EN_CTRL_ENABLE);\n+\n+ steering_command_102_->set_steer_en_ctrl(\n+ Steering_command_102::STEER_EN_CTRL_DISABLE);\n+\n+ throttle_command_100_->set_throttle_en_ctrl(\n+ Throttle_command_100::THROTTLE_EN_CTRL_ENABLE);\n+\n+\n+ can_sender_->Update();\n+ if (!CheckResponse(CHECK_RESPONSE_SPEED_UNIT_FLAG, true)) {\n+ AERROR << \"Failed to switch to AUTO_SPEED_ONLY mode.\";\n+ Emergency();\n+ set_chassis_error_code(Chassis::CHASSIS_ERROR);\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ set_driving_mode(Chassis::AUTO_SPEED_ONLY);\n+ AINFO << \"Switch to AUTO_SPEED_ONLY mode ok.\";\n+ return ErrorCode::OK;\n+ */\n+ return ErrorCode::OK;\n+}\n+\n+// NEUTRAL, REVERSE, DRIVE\n+void DemoController::Gear(Chassis::GearPosition gear_position) {\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_SPEED_ONLY) {\n+ AINFO << \"This drive mode no need to set gear.\";\n+ return;\n+ }\n+ switch (gear_position) {\n+ case Chassis::GEAR_NEUTRAL: {\n+ gear_command_103_->set_gear_target(Gear_command_103::GEAR_TARGET_NEUTRAL);\n+ break;\n+ }\n+ case Chassis::GEAR_REVERSE: {\n+ gear_command_103_->set_gear_target(Gear_command_103::GEAR_TARGET_REVERSE);\n+ break;\n+ }\n+ case Chassis::GEAR_DRIVE: {\n+ gear_command_103_->set_gear_target(Gear_command_103::GEAR_TARGET_DRIVE);\n+ break;\n+ }\n+ case Chassis::GEAR_PARKING: {\n+ gear_command_103_->set_gear_target(Gear_command_103::GEAR_TARGET_PARK);\n+ break;\n+ }\n+ case Chassis::GEAR_INVALID: {\n+ gear_command_103_->set_gear_target(Gear_command_103::GEAR_TARGET_NEUTRAL);\n+ break;\n+ }\n+ default: {\n+ gear_command_103_->set_gear_target(Gear_command_103::GEAR_TARGET_NEUTRAL);\n+ break;\n+ }\n+ }\n+}\n+\n+// brake with pedal\n+// pedal:0.00~99.99, unit:percentage\n+void DemoController::Brake(double pedal) {\n+ // double real_value = vehicle_params_.max_acceleration() * acceleration /\n+ // 100;\n+ // TODO(All) : Update brake value based on mode\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_SPEED_ONLY) {\n+ AINFO << \"The current drive mode does not need to set brake pedal.\";\n+ return;\n+ }\n+ brake_command_101_->set_brake_pedal_target(pedal);\n+}\n+\n+// drive with pedal\n+// pedal:0.0~99.9 unit:percentage\n+void DemoController::Throttle(double pedal) {\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_SPEED_ONLY) {\n+ AINFO << \"The current drive mode does not need to set throttle pedal.\";\n+ return;\n+ }\n+ throttle_command_100_->set_throttle_pedal_target(pedal);\n+}\n+\n+// confirm the car is driven by acceleration command instead of\n+// throttle/brake pedal drive with acceleration/deceleration acc:-7.0 ~ 5.0,\n+// unit:m/s^2\n+void DemoController::Acceleration(double acc) {\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_SPEED_ONLY) {\n+ AINFO << \"The current drive mode does not need to set acceleration.\";\n+ return;\n+ }\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ // TODO(ALL): CHECK YOUR VEHICLE WHETHER SUPPORT THIS DRIVE MODE\n+ */\n+}\n+\n+// confirm the car is driven by speed command\n+// speed:-xx.0~xx.0, unit:m/s\n+void DemoController::Speed(double speed) {\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_SPEED_ONLY) {\n+ AINFO << \"The current drive mode does not need to set speed.\";\n+ return;\n+ }\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ // TODO(ALL): CHECK YOUR VEHICLE WHETHER SUPPORT THIS DRIVE MODE\n+ */\n+}\n+\n+// demo default, +470 ~ -470 or other, left:+, right:-\n+// need to be compatible with control module, so reverse\n+// steering with steering angle\n+// angle:99.99~0.00~-99.99, unit:deg, left:+, right:-\n+void DemoController::Steer(double angle) {\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_STEER_ONLY) {\n+ AINFO << \"The current driving mode does not need to set steer.\";\n+ return;\n+ }\n+ const double real_angle =\n+ vehicle_params_.max_steer_angle() / M_PI * 180 * angle / 100.0;\n+ steering_command_102_->set_steer_angle_target(real_angle);\n+}\n+\n+// demo default, steering with new angle and angle speed\n+// angle:99.99~0.00~-99.99, unit:deg, left:+, right:-\n+// angle_spd:0.00~99.99, unit:deg/s\n+void DemoController::Steer(double angle, double angle_spd) {\n+ if (driving_mode() != Chassis::COMPLETE_AUTO_DRIVE &&\n+ driving_mode() != Chassis::AUTO_STEER_ONLY) {\n+ AINFO << \"The current driving mode does not need to set steer.\";\n+ return;\n+ }\n+ const double real_angle =\n+ vehicle_params_.max_steer_angle() / M_PI * 180 * angle / 100.0;\n+ steering_command_102_->set_steer_angle_target(real_angle);\n+}\n+\n+void DemoController::SetEpbBreak(const ControlCommand& command) {\n+ if (command.parking_brake()) {\n+ // None\n+ } else {\n+ // None\n+ }\n+}\n+\n+void DemoController::SetBeam(const VehicleSignal& vehicle_signal) {\n+ if (vehicle_signal.high_beam()) {\n+ // None\n+ } else if (vehicle_signal.low_beam()) {\n+ // None\n+ } else {\n+ // None\n+ }\n+}\n+\n+void DemoController::SetHorn(const VehicleSignal& vehicle_signal) {\n+ if (vehicle_signal.horn()) {\n+ // None\n+ } else {\n+ // None\n+ }\n+}\n+\n+void DemoController::SetTurningSignal(const VehicleSignal& vehicle_signal) {\n+ // Set Turn Signal\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ auto signal = vehicle_signal.turn_signal();\n+ if (signal == common::VehicleSignal::TURN_LEFT) {\n+\n+ } else if (signal == common::VehicleSignal::TURN_RIGHT) {\n+\n+ } else {\n+\n+ }\n+ */\n+}\n+\n+ErrorCode DemoController::HandleCustomOperation(\n+ const external_command::ChassisCommand& command) {\n+ return ErrorCode::OK;\n+}\n+\n+bool DemoController::VerifyID() {\n+ if (!CheckVin()) {\n+ AERROR << \"Failed to get the vin. Get vin again.\";\n+ GetVin();\n+ return false;\n+ } else {\n+ ResetVin();\n+ return true;\n+ }\n+}\n+\n+bool DemoController::CheckVin() {\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ if (chassis_.vehicle_id().vin().size() >= 7) {\n+ AINFO << \"Vin check success! Vehicel vin is \"\n+ << chassis_.vehicle_id().vin();\n+ return true;\n+ } else {\n+ AINFO << \"Vin check failed! Current vin size is \"\n+ << chassis_.vehicle_id().vin().size();\n+ return false;\n+ }\n+ */\n+ return false;\n+}\n+\n+void DemoController::GetVin() {\n+ // Get vin from vehicle if exist\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ vehicle_mode_command_116_->set_vin_req_cmd(\n+ Vehicle_mode_command_116::VIN_REQ_CMD_VIN_REQ_ENABLE);\n+ AINFO << \"Get vin\";\n+ can_sender_->Update();\n+ */\n+}\n+\n+void DemoController::ResetVin() {\n+ // Reset vin from vehicle if exist\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ vehicle_mode_command_116_->set_vin_req_cmd(\n+ Vehicle_mode_command_116::VIN_REQ_CMD_VIN_REQ_DISABLE);\n+ AINFO << \"Reset vin\";\n+ can_sender_->Update();\n+ */\n+}\n+\n+void DemoController::ResetProtocol() { message_manager_->ResetSendMessages(); }\n+\n+bool DemoController::CheckChassisError() {\n+ if (is_chassis_communication_error_) {\n+ AERROR_EVERY(100) << \"ChassisDetail has no demo vehicle info.\";\n+ return false;\n+ }\n+\n+ /* ADD YOUR OWN CAR CHASSIS OPERATION\n+ // steer fault\n+ // drive fault\n+ // brake fault\n+ */\n+ return false;\n+}\n+\n+void DemoController::SecurityDogThreadFunc() {\n+ int32_t vertical_ctrl_fail = 0;\n+ int32_t horizontal_ctrl_fail = 0;\n+\n+ if (can_sender_ == nullptr) {\n+ AERROR << \"Failed to run SecurityDogThreadFunc() because can_sender_ is \"\n+ \"nullptr.\";\n+ return;\n+ }\n+ while (!can_sender_->IsRunning()) {\n+ std::this_thread::yield();\n+ }\n+\n+ std::chrono::duration<double, std::micro> default_period{50000};\n+ int64_t start = 0;\n+ int64_t end = 0;\n+ while (can_sender_->IsRunning()) {\n+ start = ::apollo::cyber::Time::Now().ToMicrosecond();\n+ const Chassis::DrivingMode mode = driving_mode();\n+ bool emergency_mode = false;\n+\n+ // 1. horizontal control check\n+ if ((mode == Chassis::COMPLETE_AUTO_DRIVE ||\n+ mode == Chassis::AUTO_STEER_ONLY) &&\n+ !CheckResponse(CHECK_RESPONSE_STEER_UNIT_FLAG, false)) {\n+ ++horizontal_ctrl_fail;\n+ if (horizontal_ctrl_fail >= kMaxFailAttempt) {\n+ emergency_mode = true;\n+ AERROR << \"Driving_mode is into emergency by steer manual intervention\";\n+ set_chassis_error_code(Chassis::MANUAL_INTERVENTION);\n+ }\n+ } else {\n+ horizontal_ctrl_fail = 0;\n+ }\n+\n+ // 2. vertical control check\n+ if ((mode == Chassis::COMPLETE_AUTO_DRIVE ||\n+ mode == Chassis::AUTO_SPEED_ONLY) &&\n+ !CheckResponse(CHECK_RESPONSE_SPEED_UNIT_FLAG, false)) {\n+ ++vertical_ctrl_fail;\n+ if (vertical_ctrl_fail >= kMaxFailAttempt) {\n+ emergency_mode = true;\n+ AERROR << \"Driving_mode is into emergency by speed manual intervention\";\n+ set_chassis_error_code(Chassis::MANUAL_INTERVENTION);\n+ }\n+ } else {\n+ vertical_ctrl_fail = 0;\n+ }\n+\n+ // 3. chassis fault check\n+ if (CheckChassisError()) {\n+ set_chassis_error_code(Chassis::CHASSIS_ERROR);\n+ emergency_mode = true;\n+ }\n+\n+ // process emergency_mode\n+ if (emergency_mode && mode != Chassis::EMERGENCY_MODE) {\n+ set_driving_mode(Chassis::EMERGENCY_MODE);\n+ message_manager_->ResetSendMessages();\n+ can_sender_->Update();\n+ }\n+\n+ // recove error code\n+ if (!emergency_mode && !is_chassis_communication_error_ &&\n+ mode == Chassis::EMERGENCY_MODE) {\n+ set_chassis_error_code(Chassis::NO_ERROR);\n+ }\n+\n+ end = ::apollo::cyber::Time::Now().ToMicrosecond();\n+ std::chrono::duration<double, std::micro> elapsed{end - start};\n+ if (elapsed < default_period) {\n+ std::this_thread::sleep_for(default_period - elapsed);\n+ } else {\n+ AERROR << \"Too much time consumption in DemoController looping process:\"\n+ << elapsed.count();\n+ }\n+ }\n+}\n+\n+bool DemoController::CheckResponse(const int32_t flags, bool need_wait) {\n+ int32_t retry_num = 20;\n+ bool is_eps_online = false;\n+ bool is_vcu_online = false;\n+ bool is_esp_online = false;\n+\n+ do {\n+ bool check_ok = true;\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ is_eps_online = chassis_.has_check_response() &&\n+ chassis_.check_response().has_is_eps_online() &&\n+ chassis_.check_response().is_eps_online();\n+ check_ok = check_ok && is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ is_vcu_online = chassis_.has_check_response() &&\n+ chassis_.check_response().has_is_vcu_online() &&\n+ chassis_.check_response().is_vcu_online();\n+ is_esp_online = chassis_.has_check_response() &&\n+ chassis_.check_response().has_is_esp_online() &&\n+ chassis_.check_response().is_esp_online();\n+ check_ok = check_ok && is_vcu_online && is_esp_online;\n+ }\n+ if (check_ok) {\n+ return true;\n+ } else {\n+ AINFO << \"Need to check response again.\";\n+ }\n+ if (need_wait) {\n+ --retry_num;\n+ std::this_thread::sleep_for(\n+ std::chrono::duration<double, std::milli>(20));\n+ }\n+ } while (need_wait && retry_num);\n+\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ AERROR << \"steer check_response fail: is_eps_online:\" << is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ AERROR << \"speed check_response fail: \" << \"is_vcu_online:\" << is_vcu_online\n+ << \", is_esp_online:\" << is_esp_online;\n+ }\n+\n+ return false;\n+}\n+\n+void DemoController::set_chassis_error_mask(const int32_t mask) {\n+ std::lock_guard<std::mutex> lock(chassis_mask_mutex_);\n+ chassis_error_mask_ = mask;\n+}\n+\n+int32_t DemoController::chassis_error_mask() {\n+ std::lock_guard<std::mutex> lock(chassis_mask_mutex_);\n+ return chassis_error_mask_;\n+}\n+\n+Chassis::ErrorCode DemoController::chassis_error_code() {\n+ std::lock_guard<std::mutex> lock(chassis_error_code_mutex_);\n+ return chassis_error_code_;\n+}\n+\n+void DemoController::set_chassis_error_code(\n+ const Chassis::ErrorCode& error_code) {\n+ std::lock_guard<std::mutex> lock(chassis_error_code_mutex_);\n+ chassis_error_code_ = error_code;\n+}\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/demo_controller.h b/modules/canbus_vehicle/demo/demo_controller.h\nnew file mode 100644\nindex 00000000000..7abcd354b84\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/demo_controller.h\n@@ -0,0 +1,154 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <memory>\n+#include <thread>\n+\n+#include \"modules/canbus/proto/canbus_conf.pb.h\"\n+#include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n+#include \"modules/common_msgs/basic_msgs/error_code.pb.h\"\n+#include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n+#include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n+\n+#include \"modules/canbus/vehicle/vehicle_controller.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/brake_command_101.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/gear_command_103.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/park_command_104.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/steering_command_102.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/throttle_command_100.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class DemoController final : public VehicleController<::apollo::canbus::Demo> {\n+ public:\n+ DemoController() {}\n+\n+ virtual ~DemoController();\n+\n+ ::apollo::common::ErrorCode Init(\n+ const VehicleParameter& params,\n+ CanSender<::apollo::canbus::Demo>* const can_sender,\n+ MessageManager<::apollo::canbus::Demo>* const message_manager) override;\n+\n+ bool Start() override;\n+\n+ /**\n+ * @brief stop the vehicle controller.\n+ */\n+ void Stop() override;\n+\n+ /**\n+ * @brief calculate and return the chassis.\n+ * @returns a copy of chassis. Use copy here to avoid multi-thread issues.\n+ */\n+ Chassis chassis() override;\n+\n+ /**\n+ * @brief add the sender message.\n+ */\n+ void AddSendMessage() override;\n+\n+ private:\n+ // main logical function for operation the car enter or exit the auto driving\n+ void Emergency() override;\n+ ::apollo::common::ErrorCode EnableAutoMode() override;\n+ ::apollo::common::ErrorCode DisableAutoMode() override;\n+ ::apollo::common::ErrorCode EnableSteeringOnlyMode() override;\n+ ::apollo::common::ErrorCode EnableSpeedOnlyMode() override;\n+\n+ // NEUTRAL, REVERSE, DRIVE\n+ void Gear(Chassis::GearPosition state) override;\n+\n+ // brake with new acceleration\n+ // acceleration:0.00~99.99, unit:\n+ // acceleration_spd: 60 ~ 100, suggest: 90\n+ void Brake(double acceleration) override;\n+\n+ // drive with old acceleration\n+ // gas:0.00~99.99 unit:\n+ void Throttle(double throttle) override;\n+\n+ // drive with acceleration/deceleration\n+ // acc:-7.0~5.0 unit:m/s^2\n+ void Acceleration(double acc) override;\n+\n+ // drive with speed\n+ // speed:-xx.0~xx.0 unit:m/s\n+ void Speed(double speed);\n+\n+ // steering with old angle speed\n+ // angle:-99.99~0.00~99.99, unit:, left:+, right:-\n+ void Steer(double angle) override;\n+\n+ // steering with new angle speed\n+ // angle:-99.99~0.00~99.99, unit:, left:+, right:-\n+ // angle_spd:0.00~99.99, unit:deg/s\n+ void Steer(double angle, double angle_spd) override;\n+\n+ // set Electrical Park Brake\n+ void SetEpbBreak(const control::ControlCommand& command) override;\n+ void SetBeam(const common::VehicleSignal& vehicle_signal) override;\n+ void SetHorn(const common::VehicleSignal& vehicle_signal) override;\n+ void SetTurningSignal(const common::VehicleSignal& vehicle_signal) override;\n+\n+ // set Chassis Command\n+ common::ErrorCode HandleCustomOperation(\n+ const external_command::ChassisCommand& command) override;\n+\n+ // response vid\n+ bool VerifyID() override;\n+ bool CheckVin();\n+ void GetVin();\n+ void ResetVin();\n+ void ResetProtocol();\n+ bool CheckChassisError();\n+\n+ private:\n+ void SecurityDogThreadFunc();\n+ virtual bool CheckResponse(const int32_t flags, bool need_wait);\n+ void set_chassis_error_mask(const int32_t mask);\n+ int32_t chassis_error_mask();\n+ Chassis::ErrorCode chassis_error_code();\n+ void set_chassis_error_code(const Chassis::ErrorCode& error_code);\n+\n+ private:\n+ // control protocol\n+ Brakecommand101* brake_command_101_ = nullptr;\n+ Gearcommand103* gear_command_103_ = nullptr;\n+ Parkcommand104* park_command_104_ = nullptr;\n+ Steeringcommand102* steering_command_102_ = nullptr;\n+ Throttlecommand100* throttle_command_100_ = nullptr;\n+ Vehiclemodecommand105* vehicle_mode_command_105_ = nullptr;\n+\n+ Chassis chassis_;\n+ std::unique_ptr<std::thread> thread_;\n+ bool is_chassis_error_ = false;\n+\n+ std::mutex chassis_error_code_mutex_;\n+ Chassis::ErrorCode chassis_error_code_ = Chassis::NO_ERROR;\n+\n+ std::mutex chassis_mask_mutex_;\n+ int32_t chassis_error_mask_ = 0;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/demo_message_manager.cc b/modules/canbus_vehicle/demo/demo_message_manager.cc\nnew file mode 100644\nindex 00000000000..bae4e30fe05\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/demo_message_manager.cc\n@@ -0,0 +1,78 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/demo_message_manager.h\"\n+\n+#include \"modules/canbus_vehicle/demo/protocol/brake_command_101.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/gear_command_103.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/park_command_104.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/steering_command_102.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/throttle_command_100.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/bms_report_512.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/brake_report_501.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/gear_report_503.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/park_report_504.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/steering_report_502.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/throttle_report_500.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/vcu_report_505.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/vin_resp1_514.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/vin_resp2_515.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/vin_resp3_516.h\"\n+#include \"modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+DemoMessageManager::DemoMessageManager() {\n+ // Control Messages\n+ AddSendProtocolData<Brakecommand101, true>();\n+ AddSendProtocolData<Gearcommand103, true>();\n+ AddSendProtocolData<Parkcommand104, true>();\n+ AddSendProtocolData<Steeringcommand102, true>();\n+ AddSendProtocolData<Throttlecommand100, true>();\n+ AddSendProtocolData<Vehiclemodecommand105, true>();\n+\n+ // Report Messages\n+ AddRecvProtocolData<Bmsreport512, true>();\n+ AddRecvProtocolData<Brakereport501, true>();\n+ AddRecvProtocolData<Gearreport503, true>();\n+ AddRecvProtocolData<Parkreport504, true>();\n+ AddRecvProtocolData<Steeringreport502, true>();\n+ AddRecvProtocolData<Throttlereport500, true>();\n+ AddRecvProtocolData<Ultrsensor1507, true>();\n+ AddRecvProtocolData<Ultrsensor2508, true>();\n+ AddRecvProtocolData<Ultrsensor3509, true>();\n+ AddRecvProtocolData<Ultrsensor4510, true>();\n+ AddRecvProtocolData<Ultrsensor5511, true>();\n+ AddRecvProtocolData<Vcureport505, true>();\n+ AddRecvProtocolData<Vinresp1514, true>();\n+ AddRecvProtocolData<Vinresp2515, true>();\n+ AddRecvProtocolData<Vinresp3516, true>();\n+ AddRecvProtocolData<Wheelspeedreport506, true>();\n+}\n+\n+DemoMessageManager::~DemoMessageManager() {}\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/demo_message_manager.h b/modules/canbus_vehicle/demo/demo_message_manager.h\nnew file mode 100644\nindex 00000000000..c377f041531\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/demo_message_manager.h\n@@ -0,0 +1,42 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/**\n+ * @file demo_message_manager.h\n+ * @brief the class of DemoMessageManager\n+ */\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/message_manager.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::MessageManager;\n+\n+class DemoMessageManager : public MessageManager<::apollo::canbus::Demo> {\n+ public:\n+ DemoMessageManager();\n+ virtual ~DemoMessageManager();\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/demo_vehicle_factory.cc b/modules/canbus_vehicle/demo/demo_vehicle_factory.cc\nnew file mode 100644\nindex 00000000000..be93952b3fa\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/demo_vehicle_factory.cc\n@@ -0,0 +1,208 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/demo_vehicle_factory.h\"\n+\n+#include \"cyber/common/log.h\"\n+#include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/common/adapters/adapter_gflags.h\"\n+#include \"modules/common/util/util.h\"\n+#include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n+\n+using apollo::common::ErrorCode;\n+using apollo::control::ControlCommand;\n+using apollo::drivers::canbus::CanClientFactory;\n+\n+namespace apollo {\n+namespace canbus {\n+\n+bool DemoVehicleFactory::Init(const CanbusConf *canbus_conf) {\n+ // Init can client\n+ auto can_factory = CanClientFactory::Instance();\n+ can_factory->RegisterCanClients();\n+ can_client_ = can_factory->CreateCANClient(canbus_conf->can_card_parameter());\n+ if (!can_client_) {\n+ AERROR << \"Failed to create can client.\";\n+ return false;\n+ }\n+ AINFO << \"Can client is successfully created.\";\n+\n+ message_manager_ = this->CreateMessageManager();\n+ if (message_manager_ == nullptr) {\n+ AERROR << \"Failed to create message manager.\";\n+ return false;\n+ }\n+ AINFO << \"Message manager is successfully created.\";\n+\n+ if (can_receiver_.Init(can_client_.get(), message_manager_.get(),\n+ canbus_conf->enable_receiver_log()) != ErrorCode::OK) {\n+ AERROR << \"Failed to init can receiver.\";\n+ return false;\n+ }\n+ AINFO << \"The can receiver is successfully initialized.\";\n+\n+ if (can_sender_.Init(can_client_.get(), message_manager_.get(),\n+ canbus_conf->enable_sender_log()) != ErrorCode::OK) {\n+ AERROR << \"Failed to init can sender.\";\n+ return false;\n+ }\n+ AINFO << \"The can sender is successfully initialized.\";\n+\n+ vehicle_controller_ = CreateVehicleController();\n+ if (vehicle_controller_ == nullptr) {\n+ AERROR << \"Failed to create vehicle controller.\";\n+ return false;\n+ }\n+ AINFO << \"The vehicle controller is successfully created.\";\n+\n+ if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n+ message_manager_.get()) != ErrorCode::OK) {\n+ AERROR << \"Failed to init vehicle controller.\";\n+ return false;\n+ }\n+\n+ AINFO << \"The vehicle controller is successfully\"\n+ << \" initialized with canbus conf as : \"\n+ << canbus_conf->vehicle_parameter().ShortDebugString();\n+\n+ node_ = ::apollo::cyber::CreateNode(\"chassis_detail\");\n+\n+ chassis_detail_writer_ =\n+ node_->CreateWriter<::apollo::canbus::Demo>(FLAGS_chassis_detail_topic);\n+\n+ chassis_detail_sender_writer_ = node_->CreateWriter<::apollo::canbus::Demo>(\n+ FLAGS_chassis_detail_sender_topic);\n+\n+ return true;\n+}\n+\n+bool DemoVehicleFactory::Start() {\n+ // 1. init and start the can card hardware\n+ if (can_client_->Start() != ErrorCode::OK) {\n+ AERROR << \"Failed to start can client\";\n+ return false;\n+ }\n+ AINFO << \"Can client is started.\";\n+\n+ // 2. start receive first then send\n+ if (can_receiver_.Start() != ErrorCode::OK) {\n+ AERROR << \"Failed to start can receiver.\";\n+ return false;\n+ }\n+ AINFO << \"Can receiver is started.\";\n+\n+ // 3. start send\n+ if (can_sender_.Start() != ErrorCode::OK) {\n+ AERROR << \"Failed to start can sender.\";\n+ return false;\n+ }\n+\n+ // 4. start controller\n+ if (!vehicle_controller_->Start()) {\n+ AERROR << \"Failed to start vehicle controller.\";\n+ return false;\n+ }\n+\n+ return true;\n+}\n+\n+void DemoVehicleFactory::Stop() {\n+ can_sender_.Stop();\n+ can_receiver_.Stop();\n+ can_client_->Stop();\n+ vehicle_controller_->Stop();\n+ AINFO << \"Cleanup cansender, canreceiver, canclient, vehicle controller.\";\n+}\n+\n+void DemoVehicleFactory::UpdateCommand(\n+ const apollo::control::ControlCommand *control_command) {\n+ if (vehicle_controller_->Update(*control_command) != ErrorCode::OK) {\n+ AERROR << \"Failed to process callback function OnControlCommand because \"\n+ \"vehicle_controller_->Update error.\";\n+ return;\n+ }\n+ can_sender_.Update();\n+}\n+\n+void DemoVehicleFactory::UpdateCommand(\n+ const apollo::external_command::ChassisCommand *chassis_command) {\n+ if (vehicle_controller_->Update(*chassis_command) != ErrorCode::OK) {\n+ AERROR << \"Failed to process callback function OnControlCommand because \"\n+ \"vehicle_controller_->Update error.\";\n+ return;\n+ }\n+ can_sender_.Update();\n+}\n+\n+Chassis DemoVehicleFactory::publish_chassis() {\n+ Chassis chassis = vehicle_controller_->chassis();\n+ ADEBUG << chassis.ShortDebugString();\n+ return chassis;\n+}\n+\n+void DemoVehicleFactory::PublishChassisDetail() {\n+ Demo chassis_detail = vehicle_controller_->GetNewRecvChassisDetail();\n+ ADEBUG << \"latest chassis_detail is \" << chassis_detail.ShortDebugString();\n+ chassis_detail_writer_->Write(chassis_detail);\n+}\n+\n+void DemoVehicleFactory::PublishChassisDetailSender() {\n+ Demo sender_chassis_detail = vehicle_controller_->GetNewSenderChassisDetail();\n+ ADEBUG << \"latest sender_chassis_detail is \"\n+ << sender_chassis_detail.ShortDebugString();\n+ chassis_detail_sender_writer_->Write(sender_chassis_detail);\n+}\n+\n+void DemoVehicleFactory::UpdateHeartbeat() { can_sender_.Update_Heartbeat(); }\n+\n+bool DemoVehicleFactory::CheckChassisCommunicationFault() {\n+ if (vehicle_controller_->CheckChassisCommunicationError()) {\n+ return true;\n+ }\n+ return false;\n+}\n+\n+void DemoVehicleFactory::AddSendProtocol() {\n+ vehicle_controller_->AddSendMessage();\n+}\n+\n+void DemoVehicleFactory::ClearSendProtocol() { can_sender_.ClearMessage(); }\n+\n+bool DemoVehicleFactory::IsSendProtocolClear() {\n+ if (can_sender_.IsMessageClear()) {\n+ return true;\n+ }\n+ return false;\n+}\n+\n+Chassis::DrivingMode DemoVehicleFactory::Driving_Mode() {\n+ return vehicle_controller_->driving_mode();\n+}\n+\n+std::unique_ptr<VehicleController<::apollo::canbus::Demo>>\n+DemoVehicleFactory::CreateVehicleController() {\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Demo>>(\n+ new demo::DemoController());\n+}\n+\n+std::unique_ptr<MessageManager<::apollo::canbus::Demo>>\n+DemoVehicleFactory::CreateMessageManager() {\n+ return std::unique_ptr<MessageManager<::apollo::canbus::Demo>>(\n+ new demo::DemoMessageManager());\n+}\n+\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/demo_vehicle_factory.h b/modules/canbus_vehicle/demo/demo_vehicle_factory.h\nnew file mode 100644\nindex 00000000000..24eadb7558c\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/demo_vehicle_factory.h\n@@ -0,0 +1,164 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/**\n+ * @file demo_vehicle_factory.h\n+ */\n+\n+#pragma once\n+\n+#include <memory>\n+\n+#include \"modules/canbus/proto/canbus_conf.pb.h\"\n+#include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+#include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n+#include \"modules/canbus/vehicle/vehicle_controller.h\"\n+#include \"modules/canbus_vehicle/demo/demo_controller.h\"\n+#include \"modules/canbus_vehicle/demo/demo_message_manager.h\"\n+#include \"modules/common/status/status.h\"\n+#include \"modules/drivers/canbus/can_client/can_client.h\"\n+#include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n+#include \"modules/drivers/canbus/can_comm/can_sender.h\"\n+#include \"modules/drivers/canbus/can_comm/message_manager.h\"\n+\n+/**\n+ * @namespace apollo::canbus\n+ * @brief apollo::canbus\n+ */\n+namespace apollo {\n+namespace canbus {\n+\n+/**\n+ * @class DemoVehicleFactory\n+ *\n+ * @brief this class is inherited from AbstractVehicleFactory. It can be used to\n+ * create controller and message manager for demo vehicle.\n+ */\n+class DemoVehicleFactory : public AbstractVehicleFactory {\n+ public:\n+ /**\n+ * @brief destructor\n+ */\n+ virtual ~DemoVehicleFactory() = default;\n+\n+ /**\n+ * @brief init vehicle factory\n+ * @returns true if successfully initialized\n+ */\n+ bool Init(const CanbusConf *canbus_conf) override;\n+\n+ /**\n+ * @brief start canclient, cansender, canreceiver, vehicle controller\n+ * @returns true if successfully started\n+ */\n+ bool Start() override;\n+\n+ /**\n+ * @brief stop canclient, cansender, canreceiver, vehicle controller\n+ */\n+ void Stop() override;\n+\n+ /**\n+ * @brief update control command\n+ */\n+ void UpdateCommand(\n+ const apollo::control::ControlCommand *control_command) override;\n+\n+ void UpdateCommand(\n+ const apollo::external_command::ChassisCommand *chassis_command) override;\n+\n+ /**\n+ * @brief publish chassis messages\n+ */\n+ Chassis publish_chassis() override;\n+\n+ /**\n+ * @brief create cansender heartbeat\n+ */\n+ void UpdateHeartbeat() override;\n+\n+ /**\n+ * @brief publish chassis for vehicle messages\n+ */\n+ void PublishChassisDetail() override;\n+\n+ /**\n+ * @brief publish chassis for apollo sender messages\n+ */\n+ void PublishChassisDetailSender() override;\n+\n+ /**\n+ * @brief check chassis can receiver lost\n+ */\n+ bool CheckChassisCommunicationFault() override;\n+\n+ /**\n+ * @brief add the can sender messages\n+ */\n+ void AddSendProtocol() override;\n+\n+ /**\n+ * @brief clear the can sender messages\n+ */\n+ void ClearSendProtocol() override;\n+\n+ /**\n+ * @brief check the sender message clear or not\n+ */\n+ bool IsSendProtocolClear() override;\n+\n+ /**\n+ * @brief get the latest chassis driving mode\n+ */\n+ Chassis::DrivingMode Driving_Mode() override;\n+\n+ private:\n+ /**\n+ * @brief create demo vehicle controller\n+ * @returns a unique_ptr that points to the created controller\n+ */\n+ std::unique_ptr<VehicleController<::apollo::canbus::Demo>>\n+ CreateVehicleController();\n+\n+ /**\n+ * @brief create demo message manager\n+ * @returns a unique_ptr that points to the created message manager\n+ */\n+ std::unique_ptr<MessageManager<::apollo::canbus::Demo>>\n+ CreateMessageManager();\n+\n+ std::unique_ptr<::apollo::cyber::Node> node_ = nullptr;\n+ std::unique_ptr<apollo::drivers::canbus::CanClient> can_client_;\n+ CanSender<::apollo::canbus::Demo> can_sender_;\n+ apollo::drivers::canbus::CanReceiver<::apollo::canbus::Demo> can_receiver_;\n+ std::unique_ptr<MessageManager<::apollo::canbus::Demo>> message_manager_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Demo>>\n+ vehicle_controller_;\n+\n+ std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Demo>>\n+ chassis_detail_writer_;\n+ std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Demo>>\n+ chassis_detail_sender_writer_;\n+};\n+\n+CYBER_REGISTER_VEHICLEFACTORY(DemoVehicleFactory)\n+\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/proto/BUILD b/modules/canbus_vehicle/demo/proto/BUILD\nnew file mode 100644\nindex 00000000000..c5b1f7f98ba\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/proto/BUILD\n@@ -0,0 +1,12 @@\n+## Auto generated by `proto_build_generator.py`\n+load(\"//tools/proto:proto.bzl\", \"proto_library\")\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+proto_library(\n+ name = \"demo_proto\",\n+ srcs = [\"demo.proto\"],\n+)\n+\n+apollo_package()\ndiff --git a/modules/canbus_vehicle/demo/proto/demo.proto b/modules/canbus_vehicle/demo/proto/demo.proto\nnew file mode 100644\nindex 00000000000..f7c3fe3a513\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/proto/demo.proto\n@@ -0,0 +1,496 @@\n+syntax = \"proto2\";\n+\n+package apollo.canbus;\n+\n+message Throttle_command_100 {\n+// Control Message\n+ enum Throttle_en_ctrlType {\n+ THROTTLE_EN_CTRL_DISABLE = 0;\n+ THROTTLE_EN_CTRL_ENABLE = 1;\n+ }\n+ // [] [0|15]\n+ optional int32 heartbeat_100 = 1;\n+ // [m/s] [0|40.95]\n+ optional double speed_target = 2;\n+ // [m/s^2] [0|10]\n+ optional double throttle_acc = 3;\n+ // [] [0|255]\n+ optional int32 checksum_100 = 4;\n+ // command [%] [0|100]\n+ optional double throttle_pedal_target = 5;\n+ // enable [] [0|1]\n+ optional Throttle_en_ctrlType throttle_en_ctrl = 6;\n+}\n+\n+message Brake_command_101 {\n+// Control Message\n+ enum Aeb_en_ctrlType {\n+ AEB_EN_CTRL_DISABLE_AEB = 0;\n+ AEB_EN_CTRL_ENABLE_AEB = 1;\n+ }\n+ enum Brake_en_ctrlType {\n+ BRAKE_EN_CTRL_DISABLE = 0;\n+ BRAKE_EN_CTRL_ENABLE = 1;\n+ }\n+ // [] [0|15]\n+ optional int32 heartbeat_101 = 1;\n+ // [] [0|0]\n+ optional Aeb_en_ctrlType aeb_en_ctrl = 2;\n+ // [m/s^2] [0|10]\n+ optional double brake_dec = 3;\n+ // [] [0|255]\n+ optional int32 checksum_101 = 4;\n+ // command [%] [0|100]\n+ optional double brake_pedal_target = 5;\n+ // enable [] [0|1]\n+ optional Brake_en_ctrlType brake_en_ctrl = 6;\n+}\n+\n+message Steering_command_102 {\n+// Control Message\n+ enum Steer_en_ctrlType {\n+ STEER_EN_CTRL_DISABLE = 0;\n+ STEER_EN_CTRL_ENABLE = 1;\n+ }\n+ // [] [0|15]\n+ optional int32 heartbeat_102 = 1;\n+ // enable [] [0|1]\n+ optional Steer_en_ctrlType steer_en_ctrl = 2;\n+ // command [deg] [-500|500]\n+ optional int32 steer_angle_target = 3;\n+ // [deg/s] [0|250]\n+ optional int32 steer_angle_spd_target = 4;\n+ // [] [0|255]\n+ optional int32 checksum_102 = 5;\n+}\n+\n+message Gear_command_103 {\n+// Control Message\n+ enum Gear_targetType {\n+ GEAR_TARGET_INVALID = 0;\n+ GEAR_TARGET_PARK = 1;\n+ GEAR_TARGET_REVERSE = 2;\n+ GEAR_TARGET_NEUTRAL = 3;\n+ GEAR_TARGET_DRIVE = 4;\n+ }\n+ enum Gear_en_ctrlType {\n+ GEAR_EN_CTRL_DISABLE = 0;\n+ GEAR_EN_CTRL_ENABLE = 1;\n+ }\n+ // [] [0|15]\n+ optional int32 heartbeat_103 = 1;\n+ // command [] [0|4]\n+ optional Gear_targetType gear_target = 2;\n+ // enable [] [0|1]\n+ optional Gear_en_ctrlType gear_en_ctrl = 3;\n+ // [] [0|255]\n+ optional int32 checksum_103 = 4;\n+}\n+\n+message Park_command_104 {\n+// Control Message\n+ enum Park_targetType {\n+ PARK_TARGET_RELEASE = 0;\n+ PARK_TARGET_PARKING_TRIGGER = 1;\n+ }\n+ enum Park_en_ctrlType {\n+ PARK_EN_CTRL_DISABLE = 0;\n+ PARK_EN_CTRL_ENABLE = 1;\n+ }\n+ // [] [0|15]\n+ optional int32 heartbeat_104 = 1;\n+ // [] [0|255]\n+ optional int32 checksum_104 = 2;\n+ // command [] [0|1]\n+ optional Park_targetType park_target = 3;\n+ // enable [] [0|1]\n+ optional Park_en_ctrlType park_en_ctrl = 4;\n+}\n+\n+message Vehicle_mode_command_105 {\n+// Control Message\n+ enum Turn_light_ctrlType {\n+ TURN_LIGHT_CTRL_TURNLAMP_OFF = 0;\n+ TURN_LIGHT_CTRL_LEFT_TURNLAMP_ON = 1;\n+ TURN_LIGHT_CTRL_RIGHT_TURNLAMP_ON = 2;\n+ TURN_LIGHT_CTRL_HAZARD_WARNING_LAMPSTS_ON = 3;\n+ }\n+ enum Vin_reqType {\n+ VIN_REQ_VIN_REQ_DISABLE = 0;\n+ VIN_REQ_VIN_REQ_ENABLE = 1;\n+ }\n+ enum Drive_mode_ctrlType {\n+ DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE = 0;\n+ DRIVE_MODE_CTRL_SPEED_DRIVE = 1;\n+ }\n+ enum Steer_mode_ctrlType {\n+ STEER_MODE_CTRL_STANDARD_STEER = 0;\n+ STEER_MODE_CTRL_NON_DIRECTION_STEER = 1;\n+ STEER_MODE_CTRL_SYNC_DIRECTION_STEER = 2;\n+ }\n+ // [] [0|15]\n+ optional int32 heartbeat_105 = 1;\n+ // [] [0|255]\n+ optional int32 checksum_105 = 2;\n+ // [] [0|7]\n+ optional Turn_light_ctrlType turn_light_ctrl = 3;\n+ // [] [0|1]\n+ optional Vin_reqType vin_req = 4;\n+ // [] [0|7]\n+ optional Drive_mode_ctrlType drive_mode_ctrl = 5;\n+ // [] [0|7]\n+ optional Steer_mode_ctrlType steer_mode_ctrl = 6;\n+}\n+\n+message Throttle_report_500 {\n+// Report Message\n+ enum Throttle_flt2Type {\n+ THROTTLE_FLT2_NO_FAULT = 0;\n+ THROTTLE_FLT2_DRIVE_SYSTEM_COMUNICATION_FAULT = 1;\n+ }\n+ enum Throttle_flt1Type {\n+ THROTTLE_FLT1_NO_FAULT = 0;\n+ THROTTLE_FLT1_DRIVE_SYSTEM_HARDWARE_FAULT = 1;\n+ }\n+ enum Throttle_en_stateType {\n+ THROTTLE_EN_STATE_MANUAL = 0;\n+ THROTTLE_EN_STATE_AUTO = 1;\n+ THROTTLE_EN_STATE_TAKEOVER = 2;\n+ THROTTLE_EN_STATE_STANDBY = 3;\n+ }\n+ // command [%] [0|100]\n+ optional double throttle_pedal_actual = 1;\n+ // Drive system communication fault [] [0|1]\n+ optional Throttle_flt2Type throttle_flt2 = 2;\n+ // Drive system hardware fault [] [0|1]\n+ optional Throttle_flt1Type throttle_flt1 = 3;\n+ // enable [] [0|2]\n+ optional Throttle_en_stateType throttle_en_state = 4;\n+}\n+\n+message Brake_report_501 {\n+// Report Message\n+ enum Brake_flt2Type {\n+ BRAKE_FLT2_NO_FAULT = 0;\n+ BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT = 1;\n+ }\n+ enum Brake_flt1Type {\n+ BRAKE_FLT1_NO_FAULT = 0;\n+ BRAKE_FLT1_BRAKE_SYSTEM_HARDWARE_FAULT = 1;\n+ }\n+ enum Brake_en_stateType {\n+ BRAKE_EN_STATE_MANUAL = 0;\n+ BRAKE_EN_STATE_AUTO = 1;\n+ BRAKE_EN_STATE_TAKEOVER = 2;\n+ BRAKE_EN_STATE_STANDBY = 3;\n+ }\n+ // command [%] [0|100]\n+ optional double brake_pedal_actual = 1;\n+ // Brake system communication fault [] [0|1]\n+ optional Brake_flt2Type brake_flt2 = 2;\n+ // Brake system hardware fault [] [0|1]\n+ optional Brake_flt1Type brake_flt1 = 3;\n+ // enable [] [0|2]\n+ optional Brake_en_stateType brake_en_state = 4;\n+}\n+\n+message Steering_report_502 {\n+// Report Message\n+ enum Steer_flt2Type {\n+ STEER_FLT2_NO_FAULT = 0;\n+ STEER_FLT2_STEER_SYSTEM_COMUNICATION_FAULT = 1;\n+ }\n+ enum Steer_flt1Type {\n+ STEER_FLT1_NO_FAULT = 0;\n+ STEER_FLT1_STEER_SYSTEM_HARDWARE_FAULT = 1;\n+ }\n+ enum Steer_en_stateType {\n+ STEER_EN_STATE_MANUAL = 0;\n+ STEER_EN_STATE_AUTO = 1;\n+ STEER_EN_STATE_TAKEOVER = 2;\n+ STEER_EN_STATE_STANDBY = 3;\n+ }\n+ // [deg] [-500|500]\n+ optional int32 steer_angle_rear_actual = 1;\n+ // [deg/s] [0|0]\n+ optional int32 steer_angle_spd_actual = 2;\n+ // Steer system communication fault [] [0|255]\n+ optional Steer_flt2Type steer_flt2 = 3;\n+ // Steer system hardware fault [] [0|255]\n+ optional Steer_flt1Type steer_flt1 = 4;\n+ // enable [] [0|2]\n+ optional Steer_en_stateType steer_en_state = 5;\n+ // command [deg] [-500|500]\n+ optional int32 steer_angle_actual = 6;\n+}\n+\n+message Gear_report_503 {\n+// Report Message\n+ enum Gear_fltType {\n+ GEAR_FLT_NO_FAULT = 0;\n+ GEAR_FLT_FAULT = 1;\n+ }\n+ enum Gear_actualType {\n+ GEAR_ACTUAL_INVALID = 0;\n+ GEAR_ACTUAL_PARK = 1;\n+ GEAR_ACTUAL_REVERSE = 2;\n+ GEAR_ACTUAL_NEUTRAL = 3;\n+ GEAR_ACTUAL_DRIVE = 4;\n+ }\n+ // fault [] [0|1]\n+ optional Gear_fltType gear_flt = 1;\n+ // command [] [0|4]\n+ optional Gear_actualType gear_actual = 2;\n+}\n+\n+message Park_report_504 {\n+// Report Message\n+ enum Parking_actualType {\n+ PARKING_ACTUAL_RELEASE = 0;\n+ PARKING_ACTUAL_PARKING_TRIGGER = 1;\n+ }\n+ enum Park_fltType {\n+ PARK_FLT_NO_FAULT = 0;\n+ PARK_FLT_FAULT = 1;\n+ }\n+ // command [] [0|1]\n+ optional Parking_actualType parking_actual = 1;\n+ // fault [] [0|1]\n+ optional Park_fltType park_flt = 2;\n+}\n+\n+message Vcu_report_505 {\n+// Report Message\n+ enum Vehicle_mode_stateType {\n+ VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE = 0;\n+ VEHICLE_MODE_STATE_AUTO_MODE = 1;\n+ VEHICLE_MODE_STATE_EMERGENCY_MODE = 2;\n+ VEHICLE_MODE_STATE_STANDBY_MODE = 3;\n+ }\n+ enum Aeb_modeType {\n+ AEB_MODE_DISABLE = 0;\n+ AEB_MODE_ENABLE = 1;\n+ }\n+ enum Brake_light_actualType {\n+ BRAKE_LIGHT_ACTUAL_BRAKELIGHT_OFF = 0;\n+ BRAKE_LIGHT_ACTUAL_BRAKELIGHT_ON = 1;\n+ }\n+ enum Turn_light_actualType {\n+ TURN_LIGHT_ACTUAL_TURNLAMPSTS_OFF = 0;\n+ TURN_LIGHT_ACTUAL_LEFT_TURNLAMPSTS_ON = 1;\n+ TURN_LIGHT_ACTUAL_RIGHT_TURNLAMPSTS_ON = 2;\n+ TURN_LIGHT_ACTUAL_HAZARD_WARNING_LAMPSTS_ON = 3;\n+ }\n+ enum Drive_mode_stsType {\n+ DRIVE_MODE_STS_THROTTLE_PADDLE_DRIVE_MODE = 0;\n+ DRIVE_MODE_STS_SPEED_DRIVE_MODE = 1;\n+ }\n+ enum Steer_mode_stsType {\n+ STEER_MODE_STS_STANDARD_STEER_MODE = 0;\n+ STEER_MODE_STS_NON_DIRECTION_STEER_MODE = 1;\n+ STEER_MODE_STS_SYNC_DIRECTION_STEER_MODE = 2;\n+ }\n+ enum Frontcrash_stateType {\n+ FRONTCRASH_STATE_NO_EVENT = 0;\n+ FRONTCRASH_STATE_CRASH_EVENT = 1;\n+ }\n+ enum Backcrash_stateType {\n+ BACKCRASH_STATE_NO_EVENT = 0;\n+ BACKCRASH_STATE_CRASH_EVENT = 1;\n+ }\n+ enum Aeb_brake_stateType {\n+ AEB_BRAKE_STATE_INACTIVE = 0;\n+ AEB_BRAKE_STATE_ACTIVE = 1;\n+ }\n+ // [] [0|0]\n+ optional Vehicle_mode_stateType vehicle_mode_state = 1;\n+ // describle the vehicle AEB mode whether was set [] [0|1]\n+ optional Aeb_modeType aeb_mode = 2;\n+ // [] [0|1]\n+ optional Brake_light_actualType brake_light_actual = 3;\n+ // [] [0|0]\n+ optional Turn_light_actualType turn_light_actual = 4;\n+ // [] [0|255]\n+ optional int32 chassis_errcode = 5;\n+ // [] [0|7]\n+ optional Drive_mode_stsType drive_mode_sts = 6;\n+ // [] [0|7]\n+ optional Steer_mode_stsType steer_mode_sts = 7;\n+ // [] [0|0]\n+ optional Frontcrash_stateType frontcrash_state = 8;\n+ // [] [0|0]\n+ optional Backcrash_stateType backcrash_state = 9;\n+ // describe the vehicle e-brake command whether was triggered by AEB [] [0|0]\n+ optional Aeb_brake_stateType aeb_brake_state = 10;\n+ // [m/s^2] [-10|10]\n+ optional double acc = 11;\n+ // speed [m/s] [-32.768|32.767]\n+ optional double speed = 12;\n+}\n+\n+message Wheelspeed_report_506 {\n+// Report Message\n+ // [m/s] [0|65.535]\n+ optional double rr = 1;\n+ // [m/s] [0|65.535]\n+ optional double rl = 2;\n+ // [m/s] [0|65.535]\n+ optional double fr = 3;\n+ // [m/s] [0|65.535]\n+ optional double fl = 4;\n+}\n+\n+message Ultr_sensor_1_507 {\n+// Report Message\n+ // [cm] [0|65535]\n+ optional double uiuss9_tof_direct = 1;\n+ // [cm] [0|65535]\n+ optional double uiuss8_tof_direct = 2;\n+ // [cm] [0|65535]\n+ optional double uiuss11_tof_direct = 3;\n+ // [cm] [0|65535]\n+ optional double uiuss10_tof_direct = 4;\n+}\n+\n+message Ultr_sensor_2_508 {\n+// Report Message\n+ // [cm] [0|65535]\n+ optional double uiuss9_tof_indirect = 1;\n+ // [cm] [0|65535]\n+ optional double uiuss8_tof_indirect = 2;\n+ // [cm] [0|65535]\n+ optional double uiuss11_tof_indirect = 3;\n+ // [cm] [0|65535]\n+ optional double uiuss10_tof_indirect = 4;\n+}\n+\n+message Ultr_sensor_3_509 {\n+// Report Message\n+ // [cm] [0|65535]\n+ optional double uiuss5_tof_direct = 1;\n+ // [cm] [0|65535]\n+ optional double uiuss4_tof_direct = 2;\n+ // [cm] [0|65535]\n+ optional double uiuss3_tof_direct = 3;\n+ // [cm] [0|65535]\n+ optional double uiuss2_tof_direct = 4;\n+}\n+\n+message Ultr_sensor_4_510 {\n+// Report Message\n+ // [cm] [0|65535]\n+ optional double uiuss5_tof_indirect = 1;\n+ // [cm] [0|65535]\n+ optional double uiuss4_tof_indirect = 2;\n+ // [cm] [0|65535]\n+ optional double uiuss3_tof_indirect = 3;\n+ // [cm] [0|65535]\n+ optional double uiuss2_tof_indirect = 4;\n+}\n+\n+message Ultr_sensor_5_511 {\n+// Report Message\n+ // [cm] [0|65535]\n+ optional double uiuss7_tof_direct = 1;\n+ // [cm] [0|65535]\n+ optional double uiuss6_tof_direct = 2;\n+ // [cm] [0|65535]\n+ optional double uiuss1_tof_direct = 3;\n+ // [cm] [0|65535]\n+ optional double uiuss0_tof_direct = 4;\n+}\n+\n+message Bms_report_512 {\n+// Report Message\n+ enum Battery_flt_overtempType {\n+ BATTERY_FLT_OVERTEMP_NO = 0;\n+ BATTERY_FLT_OVERTEMP_FAULT = 1;\n+ }\n+ enum Battery_flt_lowtempType {\n+ BATTERY_FLT_LOWTEMP_NO = 0;\n+ BATTERY_FLT_LOWTEMP_FAULT = 1;\n+ }\n+ // [] [0|15]\n+ optional Battery_flt_overtempType battery_flt_overtemp = 1;\n+ // [] [0|15]\n+ optional Battery_flt_lowtempType battery_flt_lowtemp = 2;\n+ // Battery Total Voltage [] [-40|215]\n+ optional int32 battery_inside_temperature = 3;\n+ // Battery Total Current [A] [-3200|3353.5]\n+ optional double battery_current = 4;\n+ // Battery Total Voltage [V] [0|300]\n+ optional double battery_voltage = 5;\n+ // Battery Soc percentage [%] [0|100]\n+ optional int32 battery_soc = 6;\n+}\n+\n+message Vin_resp1_514 {\n+// Report Message\n+ // [] [0|255]\n+ optional int32 vin07 = 1;\n+ // [] [0|255]\n+ optional int32 vin06 = 2;\n+ // [] [0|255]\n+ optional int32 vin05 = 3;\n+ // [] [0|255]\n+ optional int32 vin04 = 4;\n+ // [] [0|255]\n+ optional int32 vin03 = 5;\n+ // [] [0|255]\n+ optional int32 vin02 = 6;\n+ // [] [0|255]\n+ optional int32 vin01 = 7;\n+ // [] [0|255]\n+ optional int32 vin00 = 8;\n+}\n+\n+message Vin_resp2_515 {\n+// Report Message\n+ // [] [0|255]\n+ optional int32 vin15 = 1;\n+ // [] [0|255]\n+ optional int32 vin14 = 2;\n+ // [] [0|255]\n+ optional int32 vin13 = 3;\n+ // [] [0|255]\n+ optional int32 vin12 = 4;\n+ // [] [0|255]\n+ optional int32 vin11 = 5;\n+ // [] [0|255]\n+ optional int32 vin10 = 6;\n+ // [] [0|255]\n+ optional int32 vin09 = 7;\n+ // [] [0|255]\n+ optional int32 vin08 = 8;\n+}\n+\n+message Vin_resp3_516 {\n+// Report Message\n+ // [] [0|255]\n+ optional int32 vin16 = 1;\n+}\n+\n+message Demo {\n+ optional Throttle_command_100 throttle_command_100 = 1; // control message\n+ optional Brake_command_101 brake_command_101 = 2; // control message\n+ optional Steering_command_102 steering_command_102 = 3; // control message\n+ optional Gear_command_103 gear_command_103 = 4; // control message\n+ optional Park_command_104 park_command_104 = 5; // control message\n+ optional Vehicle_mode_command_105 vehicle_mode_command_105 = 6; // control message\n+ optional Throttle_report_500 throttle_report_500 = 7; // report message\n+ optional Brake_report_501 brake_report_501 = 8; // report message\n+ optional Steering_report_502 steering_report_502 = 9; // report message\n+ optional Gear_report_503 gear_report_503 = 10; // report message\n+ optional Park_report_504 park_report_504 = 11; // report message\n+ optional Vcu_report_505 vcu_report_505 = 12; // report message\n+ optional Wheelspeed_report_506 wheelspeed_report_506 = 13; // report message\n+ optional Ultr_sensor_1_507 ultr_sensor_1_507 = 14; // report message\n+ optional Ultr_sensor_2_508 ultr_sensor_2_508 = 15; // report message\n+ optional Ultr_sensor_3_509 ultr_sensor_3_509 = 16; // report message\n+ optional Ultr_sensor_4_510 ultr_sensor_4_510 = 17; // report message\n+ optional Ultr_sensor_5_511 ultr_sensor_5_511 = 18; // report message\n+ optional Bms_report_512 bms_report_512 = 19; // report message\n+ optional Vin_resp1_514 vin_resp1_514 = 20; // report message\n+ optional Vin_resp2_515 vin_resp2_515 = 21; // report message\n+ optional Vin_resp3_516 vin_resp3_516 = 22; // report message\n+}\ndiff --git a/modules/canbus_vehicle/demo/protocol/bms_report_512.cc b/modules/canbus_vehicle/demo/protocol/bms_report_512.cc\nnew file mode 100644\nindex 00000000000..edc43c8e2f2\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/bms_report_512.cc\n@@ -0,0 +1,139 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/bms_report_512.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Bmsreport512::Bmsreport512() {}\n+const int32_t Bmsreport512::ID = 0x512;\n+\n+void Bmsreport512::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_bms_report_512()->set_battery_flt_overtemp(\n+ battery_flt_overtemp(bytes, length));\n+ chassis->mutable_bms_report_512()->set_battery_flt_lowtemp(\n+ battery_flt_lowtemp(bytes, length));\n+ chassis->mutable_bms_report_512()->set_battery_inside_temperature(\n+ battery_inside_temperature(bytes, length));\n+ chassis->mutable_bms_report_512()->set_battery_current(\n+ battery_current(bytes, length));\n+ chassis->mutable_bms_report_512()->set_battery_voltage(\n+ battery_voltage(bytes, length));\n+ chassis->mutable_bms_report_512()->set_battery_soc(\n+ battery_soc(bytes, length));\n+}\n+\n+// config detail: {'bit': 49, 'enum': {0: 'BATTERY_FLT_OVERTEMP_NO', 1:\n+// 'BATTERY_FLT_OVERTEMP_FAULT'}, 'is_signed_var': False, 'len': 1, 'name':\n+// 'battery_flt_overtemp', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Bms_report_512::Battery_flt_overtempType Bmsreport512::battery_flt_overtemp(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(1, 1);\n+\n+ Bms_report_512::Battery_flt_overtempType ret =\n+ static_cast<Bms_report_512::Battery_flt_overtempType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 48, 'enum': {0: 'BATTERY_FLT_LOWTEMP_NO', 1:\n+// 'BATTERY_FLT_LOWTEMP_FAULT'}, 'is_signed_var': False, 'len': 1, 'name':\n+// 'battery_flt_lowtemp', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Bms_report_512::Battery_flt_lowtempType Bmsreport512::battery_flt_lowtemp(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Bms_report_512::Battery_flt_lowtempType ret =\n+ static_cast<Bms_report_512::Battery_flt_lowtempType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 47, 'description': 'Battery Total Voltage',\n+// 'is_signed_var': False, 'len': 8, 'name': 'battery_inside_temperature',\n+// 'offset': -40.0, 'order': 'motorola', 'physical_range': '[-40|215]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Bmsreport512::battery_inside_temperature(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 5);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x + -40.000000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'description': 'Battery Total Current',\n+// 'is_signed_var': False, 'len': 16, 'name': 'battery_current', 'offset':\n+// -3200.0, 'order': 'motorola', 'physical_range': '[-3200|3353.5]',\n+// 'physical_unit': 'A', 'precision': 0.1, 'type': 'double'}\n+double Bmsreport512::battery_current(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.100000 + -3200.000000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'description': 'Battery Total Voltage',\n+// 'is_signed_var': False, 'len': 16, 'name': 'battery_voltage', 'offset': 0.0,\n+// 'order': 'motorola', 'physical_range': '[0|300]', 'physical_unit': 'V',\n+// 'precision': 0.01, 'type': 'double'}\n+double Bmsreport512::battery_voltage(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.010000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'description': 'Battery Soc percentage',\n+// 'is_signed_var': False, 'len': 8, 'name': 'battery_soc', 'offset': 0.0,\n+// 'order': 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%',\n+// 'precision': 1.0, 'type': 'int'}\n+int Bmsreport512::battery_soc(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/bms_report_512.h b/modules/canbus_vehicle/demo/protocol/bms_report_512.h\nnew file mode 100644\nindex 00000000000..c4a83e7e375\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/bms_report_512.h\n@@ -0,0 +1,80 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Bmsreport512\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Bmsreport512();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 49, 'enum': {0: 'BATTERY_FLT_OVERTEMP_NO', 1:\n+ // 'BATTERY_FLT_OVERTEMP_FAULT'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'Battery_Flt_OverTemp', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Bms_report_512::Battery_flt_overtempType battery_flt_overtemp(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 48, 'enum': {0: 'BATTERY_FLT_LOWTEMP_NO', 1:\n+ // 'BATTERY_FLT_LOWTEMP_FAULT'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'Battery_Flt_LowTemp', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Bms_report_512::Battery_flt_lowtempType battery_flt_lowtemp(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 47, 'description': 'Battery Total Voltage',\n+ // 'is_signed_var': False, 'len': 8, 'name': 'Battery_Inside_Temperature',\n+ // 'offset': -40.0, 'order': 'motorola', 'physical_range': '[-40|215]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int battery_inside_temperature(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'description': 'Battery Total Current',\n+ // 'is_signed_var': False, 'len': 16, 'name': 'Battery_Current', 'offset':\n+ // -3200.0, 'order': 'motorola', 'physical_range': '[-3200|3353.5]',\n+ // 'physical_unit': 'A', 'precision': 0.1, 'type': 'double'}\n+ double battery_current(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'description': 'Battery Total Voltage',\n+ // 'is_signed_var': False, 'len': 16, 'name': 'Battery_Voltage', 'offset':\n+ // 0.0, 'order': 'motorola', 'physical_range': '[0|300]', 'physical_unit':\n+ // 'V', 'precision': 0.01, 'type': 'double'}\n+ double battery_voltage(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'description': 'Battery Soc percentage',\n+ // 'is_signed_var': False, 'len': 8, 'name': 'Battery_Soc', 'offset': 0.0,\n+ // 'order': 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%',\n+ // 'precision': 1.0, 'type': 'int'}\n+ int battery_soc(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/brake_command_101.cc b/modules/canbus_vehicle/demo/protocol/brake_command_101.cc\nnew file mode 100644\nindex 00000000000..ae2e7c29def\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/brake_command_101.cc\n@@ -0,0 +1,267 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/brake_command_101.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+const int32_t Brakecommand101::ID = 0x101;\n+\n+// public\n+Brakecommand101::Brakecommand101() { Reset(); }\n+\n+uint32_t Brakecommand101::GetPeriod() const {\n+ // TODO(All) : modify every protocol's period manually\n+ static const uint32_t PERIOD = 20 * 1000;\n+ return PERIOD;\n+}\n+\n+void Brakecommand101::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_brake_command_101()->set_heartbeat_101(\n+ heartbeat_101(bytes, length));\n+ chassis->mutable_brake_command_101()->set_aeb_en_ctrl(\n+ aeb_en_ctrl(bytes, length));\n+ chassis->mutable_brake_command_101()->set_brake_dec(brake_dec(bytes, length));\n+ chassis->mutable_brake_command_101()->set_checksum_101(\n+ checksum_101(bytes, length));\n+ chassis->mutable_brake_command_101()->set_brake_pedal_target(\n+ brake_pedal_target(bytes, length));\n+ chassis->mutable_brake_command_101()->set_brake_en_ctrl(\n+ brake_en_ctrl(bytes, length));\n+}\n+\n+void Brakecommand101::UpdateData_Heartbeat(uint8_t* data) {\n+ // TODO(All) : you should add the heartbeat manually\n+ ++heartbeat_101_;\n+ heartbeat_101_ = (heartbeat_101_) % 16;\n+ set_p_heartbeat_101(data, heartbeat_101_);\n+ checksum_101_ =\n+ data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];\n+ set_p_checksum_101(data, checksum_101_);\n+}\n+\n+void Brakecommand101::UpdateData(uint8_t* data) {\n+ set_p_aeb_en_ctrl(data, aeb_en_ctrl_);\n+ set_p_brake_dec(data, brake_dec_);\n+ set_p_brake_pedal_target(data, brake_pedal_target_);\n+ set_p_brake_en_ctrl(data, brake_en_ctrl_);\n+}\n+\n+void Brakecommand101::Reset() {\n+ // TODO(All) : you should check this manually\n+ heartbeat_101_ = 0;\n+ aeb_en_ctrl_ = Brake_command_101::AEB_EN_CTRL_DISABLE_AEB;\n+ brake_dec_ = 0.0;\n+ checksum_101_ = 0;\n+ brake_pedal_target_ = 0.0;\n+ brake_en_ctrl_ = Brake_command_101::BRAKE_EN_CTRL_DISABLE;\n+}\n+\n+Brakecommand101* Brakecommand101::set_heartbeat_101(int heartbeat_101) {\n+ heartbeat_101_ = heartbeat_101;\n+ return this;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+// 'Heartbeat_101', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Brakecommand101::set_p_heartbeat_101(uint8_t* data, int heartbeat_101) {\n+ heartbeat_101 = ProtocolData::BoundedValue(0, 15, heartbeat_101);\n+ int x = heartbeat_101;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 4, 4);\n+}\n+\n+Brakecommand101* Brakecommand101::set_aeb_en_ctrl(\n+ Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl) {\n+ aeb_en_ctrl_ = aeb_en_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 1, 'enum': {0: 'AEB_EN_CTRL_DISABLE_AEB', 1:\n+// 'AEB_EN_CTRL_ENABLE_AEB'}, 'is_signed_var': False, 'len': 1, 'name':\n+// 'AEB_EN_CTRL', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|0]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+void Brakecommand101::set_p_aeb_en_ctrl(\n+ uint8_t* data, Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl) {\n+ int x = aeb_en_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 1, 1);\n+}\n+\n+Brakecommand101* Brakecommand101::set_brake_dec(double brake_dec) {\n+ brake_dec_ = brake_dec;\n+ return this;\n+}\n+\n+// config detail: {'bit': 15, 'is_signed_var': False, 'len': 10, 'name':\n+// 'Brake_Dec', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|10]',\n+// 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+void Brakecommand101::set_p_brake_dec(uint8_t* data, double brake_dec) {\n+ brake_dec = ProtocolData::BoundedValue(0.0, 10.0, brake_dec);\n+ int x = brake_dec / 0.010000;\n+ uint8_t t = 0;\n+\n+ t = x & 0x3;\n+ Byte to_set0(data + 2);\n+ to_set0.set_value(t, 6, 2);\n+ x >>= 2;\n+\n+ t = x & 0xFF;\n+ Byte to_set1(data + 1);\n+ to_set1.set_value(t, 0, 8);\n+}\n+\n+Brakecommand101* Brakecommand101::set_checksum_101(int checksum_101) {\n+ checksum_101_ = checksum_101;\n+ return this;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'CheckSum_101', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Brakecommand101::set_p_checksum_101(uint8_t* data, int checksum_101) {\n+ checksum_101 = ProtocolData::BoundedValue(0, 255, checksum_101);\n+ int x = checksum_101;\n+\n+ Byte to_set(data + 7);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+Brakecommand101* Brakecommand101::set_brake_pedal_target(\n+ double brake_pedal_target) {\n+ brake_pedal_target_ = brake_pedal_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 31, 'description': 'command', 'is_signed_var': False,\n+// 'len': 16, 'name': 'Brake_Pedal_Target', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|100]', 'physical_unit': '%', 'precision': 0.1,\n+// 'signal_type': 'command', 'type': 'double'}\n+void Brakecommand101::set_p_brake_pedal_target(uint8_t* data,\n+ double brake_pedal_target) {\n+ brake_pedal_target =\n+ ProtocolData::BoundedValue(0.0, 100.0, brake_pedal_target);\n+ int x = brake_pedal_target / 0.100000;\n+ uint8_t t = 0;\n+\n+ t = x & 0xFF;\n+ Byte to_set0(data + 4);\n+ to_set0.set_value(t, 0, 8);\n+ x >>= 8;\n+\n+ t = x & 0xFF;\n+ Byte to_set1(data + 3);\n+ to_set1.set_value(t, 0, 8);\n+}\n+\n+Brakecommand101* Brakecommand101::set_brake_en_ctrl(\n+ Brake_command_101::Brake_en_ctrlType brake_en_ctrl) {\n+ brake_en_ctrl_ = brake_en_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+// 'BRAKE_EN_CTRL_DISABLE', 1: 'BRAKE_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+// 'len': 1, 'name': 'Brake_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range':\n+// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'signal_type': 'enable',\n+// 'type': 'enum'}\n+void Brakecommand101::set_p_brake_en_ctrl(\n+ uint8_t* data, Brake_command_101::Brake_en_ctrlType brake_en_ctrl) {\n+ int x = brake_en_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+int Brakecommand101::heartbeat_101(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(4, 4);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+Brake_command_101::Aeb_en_ctrlType Brakecommand101::aeb_en_ctrl(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(1, 1);\n+\n+ Brake_command_101::Aeb_en_ctrlType ret =\n+ static_cast<Brake_command_101::Aeb_en_ctrlType>(x);\n+ return ret;\n+}\n+\n+double Brakecommand101::brake_dec(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 2);\n+ int32_t t = t1.get_byte(6, 2);\n+ x <<= 2;\n+ x |= t;\n+\n+ double ret = x * 0.010000;\n+ return ret;\n+}\n+\n+int Brakecommand101::checksum_101(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+double Brakecommand101::brake_pedal_target(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 4);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.100000;\n+ return ret;\n+}\n+\n+Brake_command_101::Brake_en_ctrlType Brakecommand101::brake_en_ctrl(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Brake_command_101::Brake_en_ctrlType ret =\n+ static_cast<Brake_command_101::Brake_en_ctrlType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/brake_command_101.h b/modules/canbus_vehicle/demo/protocol/brake_command_101.h\nnew file mode 100644\nindex 00000000000..a0ae3190111\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/brake_command_101.h\n@@ -0,0 +1,144 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Brakecommand101\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+\n+ Brakecommand101();\n+\n+ uint32_t GetPeriod() const override;\n+\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ void UpdateData_Heartbeat(uint8_t* data) override;\n+\n+ void UpdateData(uint8_t* data) override;\n+\n+ void Reset() override;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_101', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Brakecommand101* set_heartbeat_101(int heartbeat_101);\n+\n+ // config detail: {'bit': 1, 'enum': {0: 'AEB_EN_CTRL_DISABLE_AEB', 1:\n+ // 'AEB_EN_CTRL_ENABLE_AEB'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'AEB_EN_CTRL', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+ Brakecommand101* set_aeb_en_ctrl(\n+ Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl);\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 10, 'name':\n+ // 'Brake_Dec', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|10]', 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+ Brakecommand101* set_brake_dec(double brake_dec);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_101', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Brakecommand101* set_checksum_101(int checksum_101);\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Brake_Pedal_Target', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+ // 0.1, 'signal_type': 'command', 'type': 'double'}\n+ Brakecommand101* set_brake_pedal_target(double brake_pedal_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'BRAKE_EN_CTRL_DISABLE', 1: 'BRAKE_EN_CTRL_ENABLE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Brake_EN_CTRL', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ Brakecommand101* set_brake_en_ctrl(\n+ Brake_command_101::Brake_en_ctrlType brake_en_ctrl);\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_101', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_heartbeat_101(uint8_t* data, int heartbeat_101);\n+\n+ // config detail: {'bit': 1, 'enum': {0: 'AEB_EN_CTRL_DISABLE_AEB', 1:\n+ // 'AEB_EN_CTRL_ENABLE_AEB'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'AEB_EN_CTRL', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+ void set_p_aeb_en_ctrl(uint8_t* data,\n+ Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl);\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 10, 'name':\n+ // 'Brake_Dec', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|10]', 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+ void set_p_brake_dec(uint8_t* data, double brake_dec);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_101', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_checksum_101(uint8_t* data, int checksum_101);\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Brake_Pedal_Target', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+ // 0.1, 'signal_type': 'command', 'type': 'double'}\n+ void set_p_brake_pedal_target(uint8_t* data, double brake_pedal_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'BRAKE_EN_CTRL_DISABLE', 1: 'BRAKE_EN_CTRL_ENABLE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Brake_EN_CTRL', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ void set_p_brake_en_ctrl(uint8_t* data,\n+ Brake_command_101::Brake_en_ctrlType brake_en_ctrl);\n+\n+ int heartbeat_101(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ double brake_dec(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ int checksum_101(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ double brake_pedal_target(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ Brake_command_101::Brake_en_ctrlType brake_en_ctrl(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ private:\n+ int heartbeat_101_;\n+ Brake_command_101::Aeb_en_ctrlType aeb_en_ctrl_;\n+ double brake_dec_;\n+ int checksum_101_;\n+ double brake_pedal_target_;\n+ Brake_command_101::Brake_en_ctrlType brake_en_ctrl_;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/brake_report_501.cc b/modules/canbus_vehicle/demo/protocol/brake_report_501.cc\nnew file mode 100644\nindex 00000000000..476d10ab049\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/brake_report_501.cc\n@@ -0,0 +1,111 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/brake_report_501.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Brakereport501::Brakereport501() {}\n+const int32_t Brakereport501::ID = 0x501;\n+\n+void Brakereport501::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_brake_report_501()->set_brake_pedal_actual(\n+ brake_pedal_actual(bytes, length));\n+ chassis->mutable_brake_report_501()->set_brake_flt2(\n+ brake_flt2(bytes, length));\n+ chassis->mutable_brake_report_501()->set_brake_flt1(\n+ brake_flt1(bytes, length));\n+ chassis->mutable_brake_report_501()->set_brake_en_state(\n+ brake_en_state(bytes, length));\n+}\n+\n+// config detail: {'bit': 31, 'description': 'command', 'is_signed_var': False,\n+// 'len': 16, 'name': 'brake_pedal_actual', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|100]', 'physical_unit': '%', 'precision': 0.1,\n+// 'signal_type': 'command', 'type': 'double'}\n+double Brakereport501::brake_pedal_actual(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 4);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.100000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'description': 'Brake system communication fault',\n+// 'enum': {0: 'BRAKE_FLT2_NO_FAULT', 1:\n+// 'BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT'}, 'is_signed_var': False, 'len':\n+// 8, 'name': 'brake_flt2', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Brake_report_501::Brake_flt2Type Brakereport501::brake_flt2(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Brake_report_501::Brake_flt2Type ret =\n+ static_cast<Brake_report_501::Brake_flt2Type>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 15, 'description': 'Brake system hardware fault',\n+// 'enum': {0: 'BRAKE_FLT1_NO_FAULT', 1:\n+// 'BRAKE_FLT1_BRAKE_SYSTEM_HARDWARE_FAULT'}, 'is_signed_var': False, 'len': 8,\n+// 'name': 'brake_flt1', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Brake_report_501::Brake_flt1Type Brakereport501::brake_flt1(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Brake_report_501::Brake_flt1Type ret =\n+ static_cast<Brake_report_501::Brake_flt1Type>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 1, 'description': 'enable', 'enum': {0:\n+// 'BRAKE_EN_STATE_MANUAL', 1: 'BRAKE_EN_STATE_AUTO', 2:\n+// 'BRAKE_EN_STATE_TAKEOVER', 3: 'BRAKE_EN_STATE_STANDBY'}, 'is_signed_var':\n+// False, 'len': 2, 'name': 'brake_en_state', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|2]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'enable', 'type': 'enum'}\n+Brake_report_501::Brake_en_stateType Brakereport501::brake_en_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 2);\n+\n+ Brake_report_501::Brake_en_stateType ret =\n+ static_cast<Brake_report_501::Brake_en_stateType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/brake_report_501.h b/modules/canbus_vehicle/demo/protocol/brake_report_501.h\nnew file mode 100644\nindex 00000000000..39e207ed05d\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/brake_report_501.h\n@@ -0,0 +1,73 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Brakereport501\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Brakereport501();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Brake_Pedal_Actual', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+ // 0.1, 'signal_type': 'command', 'type': 'double'}\n+ double brake_pedal_actual(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'description': 'Brake system communication\n+ // fault', 'enum': {0: 'BRAKE_FLT2_NO_FAULT', 1:\n+ // 'BRAKE_FLT2_BRAKE_SYSTEM_COMUNICATION_FAULT'}, 'is_signed_var': False,\n+ // 'len': 8, 'name': 'Brake_FLT2', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Brake_report_501::Brake_flt2Type brake_flt2(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 15, 'description': 'Brake system hardware fault',\n+ // 'enum': {0: 'BRAKE_FLT1_NO_FAULT', 1:\n+ // 'BRAKE_FLT1_BRAKE_SYSTEM_HARDWARE_FAULT'}, 'is_signed_var': False, 'len':\n+ // 8, 'name': 'Brake_FLT1', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Brake_report_501::Brake_flt1Type brake_flt1(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 1, 'description': 'enable', 'enum': {0:\n+ // 'BRAKE_EN_STATE_MANUAL', 1: 'BRAKE_EN_STATE_AUTO', 2:\n+ // 'BRAKE_EN_STATE_TAKEOVER', 3: 'BRAKE_EN_STATE_STANDBY'}, 'is_signed_var':\n+ // False, 'len': 2, 'name': 'Brake_EN_state', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|2]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ Brake_report_501::Brake_en_stateType brake_en_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/gear_command_103.cc b/modules/canbus_vehicle/demo/protocol/gear_command_103.cc\nnew file mode 100644\nindex 00000000000..e877004994a\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/gear_command_103.cc\n@@ -0,0 +1,184 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/gear_command_103.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+const int32_t Gearcommand103::ID = 0x103;\n+\n+// public\n+Gearcommand103::Gearcommand103() { Reset(); }\n+\n+uint32_t Gearcommand103::GetPeriod() const {\n+ // TODO(All) : modify every protocol's period manually\n+ static const uint32_t PERIOD = 20 * 1000;\n+ return PERIOD;\n+}\n+\n+void Gearcommand103::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_gear_command_103()->set_heartbeat_103(\n+ heartbeat_103(bytes, length));\n+ chassis->mutable_gear_command_103()->set_gear_target(\n+ gear_target(bytes, length));\n+ chassis->mutable_gear_command_103()->set_gear_en_ctrl(\n+ gear_en_ctrl(bytes, length));\n+ chassis->mutable_gear_command_103()->set_checksum_103(\n+ checksum_103(bytes, length));\n+}\n+\n+void Gearcommand103::UpdateData_Heartbeat(uint8_t* data) {\n+ // TODO(All) : you should add the heartbeat manually\n+ ++heartbeat_103_;\n+ heartbeat_103_ = (heartbeat_103_) % 16;\n+ set_p_heartbeat_103(data, heartbeat_103_);\n+ checksum_103_ =\n+ data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];\n+ set_p_checksum_103(data, checksum_103_);\n+}\n+\n+void Gearcommand103::UpdateData(uint8_t* data) {\n+ set_p_gear_target(data, gear_target_);\n+ set_p_gear_en_ctrl(data, gear_en_ctrl_);\n+}\n+\n+void Gearcommand103::Reset() {\n+ // TODO(All) : you should check this manually\n+ heartbeat_103_ = 0;\n+ gear_target_ = Gear_command_103::GEAR_TARGET_INVALID;\n+ gear_en_ctrl_ = Gear_command_103::GEAR_EN_CTRL_DISABLE;\n+ checksum_103_ = 0;\n+}\n+\n+Gearcommand103* Gearcommand103::set_heartbeat_103(int heartbeat_103) {\n+ heartbeat_103_ = heartbeat_103;\n+ return this;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+// 'Heartbeat_103', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Gearcommand103::set_p_heartbeat_103(uint8_t* data, int heartbeat_103) {\n+ heartbeat_103 = ProtocolData::BoundedValue(0, 15, heartbeat_103);\n+ int x = heartbeat_103;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 4, 4);\n+}\n+\n+Gearcommand103* Gearcommand103::set_gear_target(\n+ Gear_command_103::Gear_targetType gear_target) {\n+ gear_target_ = gear_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 10, 'description': 'command', 'enum': {0:\n+// 'GEAR_TARGET_INVALID', 1: 'GEAR_TARGET_PARK', 2: 'GEAR_TARGET_REVERSE', 3:\n+// 'GEAR_TARGET_NEUTRAL', 4: 'GEAR_TARGET_DRIVE'}, 'is_signed_var': False,\n+// 'len': 3, 'name': 'Gear_Target', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|4]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'command', 'type': 'enum'}\n+void Gearcommand103::set_p_gear_target(\n+ uint8_t* data, Gear_command_103::Gear_targetType gear_target) {\n+ int x = gear_target;\n+\n+ Byte to_set(data + 1);\n+ to_set.set_value(x, 0, 3);\n+}\n+\n+Gearcommand103* Gearcommand103::set_gear_en_ctrl(\n+ Gear_command_103::Gear_en_ctrlType gear_en_ctrl) {\n+ gear_en_ctrl_ = gear_en_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+// 'GEAR_EN_CTRL_DISABLE', 1: 'GEAR_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+// 'len': 1, 'name': 'Gear_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range':\n+// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'signal_type': 'enable',\n+// 'type': 'enum'}\n+void Gearcommand103::set_p_gear_en_ctrl(\n+ uint8_t* data, Gear_command_103::Gear_en_ctrlType gear_en_ctrl) {\n+ int x = gear_en_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+Gearcommand103* Gearcommand103::set_checksum_103(int checksum_103) {\n+ checksum_103_ = checksum_103;\n+ return this;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'CheckSum_103', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Gearcommand103::set_p_checksum_103(uint8_t* data, int checksum_103) {\n+ checksum_103 = ProtocolData::BoundedValue(0, 255, checksum_103);\n+ int x = checksum_103;\n+\n+ Byte to_set(data + 7);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+int Gearcommand103::heartbeat_103(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(4, 4);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+Gear_command_103::Gear_targetType Gearcommand103::gear_target(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 3);\n+\n+ Gear_command_103::Gear_targetType ret =\n+ static_cast<Gear_command_103::Gear_targetType>(x);\n+ return ret;\n+}\n+\n+Gear_command_103::Gear_en_ctrlType Gearcommand103::gear_en_ctrl(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Gear_command_103::Gear_en_ctrlType ret =\n+ static_cast<Gear_command_103::Gear_en_ctrlType>(x);\n+ return ret;\n+}\n+\n+int Gearcommand103::checksum_103(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/gear_command_103.h b/modules/canbus_vehicle/demo/protocol/gear_command_103.h\nnew file mode 100644\nindex 00000000000..20914c4c19e\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/gear_command_103.h\n@@ -0,0 +1,119 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Gearcommand103\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+\n+ Gearcommand103();\n+\n+ uint32_t GetPeriod() const override;\n+\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ void UpdateData_Heartbeat(uint8_t* data) override;\n+\n+ void UpdateData(uint8_t* data) override;\n+\n+ void Reset() override;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_103', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Gearcommand103* set_heartbeat_103(int heartbeat_103);\n+\n+ // config detail: {'bit': 10, 'description': 'command', 'enum': {0:\n+ // 'GEAR_TARGET_INVALID', 1: 'GEAR_TARGET_PARK', 2: 'GEAR_TARGET_REVERSE', 3:\n+ // 'GEAR_TARGET_NEUTRAL', 4: 'GEAR_TARGET_DRIVE'}, 'is_signed_var': False,\n+ // 'len': 3, 'name': 'Gear_Target', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|4]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'command', 'type': 'enum'}\n+ Gearcommand103* set_gear_target(\n+ Gear_command_103::Gear_targetType gear_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'GEAR_EN_CTRL_DISABLE', 1: 'GEAR_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+ // 'len': 1, 'name': 'Gear_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'enable', 'type': 'enum'}\n+ Gearcommand103* set_gear_en_ctrl(\n+ Gear_command_103::Gear_en_ctrlType gear_en_ctrl);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_103', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Gearcommand103* set_checksum_103(int checksum_103);\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_103', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_heartbeat_103(uint8_t* data, int heartbeat_103);\n+\n+ // config detail: {'bit': 10, 'description': 'command', 'enum': {0:\n+ // 'GEAR_TARGET_INVALID', 1: 'GEAR_TARGET_PARK', 2: 'GEAR_TARGET_REVERSE', 3:\n+ // 'GEAR_TARGET_NEUTRAL', 4: 'GEAR_TARGET_DRIVE'}, 'is_signed_var': False,\n+ // 'len': 3, 'name': 'Gear_Target', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|4]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'command', 'type': 'enum'}\n+ void set_p_gear_target(uint8_t* data,\n+ Gear_command_103::Gear_targetType gear_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'GEAR_EN_CTRL_DISABLE', 1: 'GEAR_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+ // 'len': 1, 'name': 'Gear_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'enable', 'type': 'enum'}\n+ void set_p_gear_en_ctrl(uint8_t* data,\n+ Gear_command_103::Gear_en_ctrlType gear_en_ctrl);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_103', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_checksum_103(uint8_t* data, int checksum_103);\n+\n+ int heartbeat_103(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Gear_command_103::Gear_targetType gear_target(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ Gear_command_103::Gear_en_ctrlType gear_en_ctrl(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ int checksum_103(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ private:\n+ int heartbeat_103_;\n+ Gear_command_103::Gear_targetType gear_target_;\n+ Gear_command_103::Gear_en_ctrlType gear_en_ctrl_;\n+ int checksum_103_;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/gear_report_503.cc b/modules/canbus_vehicle/demo/protocol/gear_report_503.cc\nnew file mode 100644\nindex 00000000000..a34c674d9d9\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/gear_report_503.cc\n@@ -0,0 +1,71 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/gear_report_503.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Gearreport503::Gearreport503() {}\n+const int32_t Gearreport503::ID = 0x503;\n+\n+void Gearreport503::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_gear_report_503()->set_gear_flt(gear_flt(bytes, length));\n+ chassis->mutable_gear_report_503()->set_gear_actual(\n+ gear_actual(bytes, length));\n+}\n+\n+// config detail: {'bit': 15, 'description': 'fault', 'enum': {0:\n+// 'GEAR_FLT_NO_FAULT', 1: 'GEAR_FLT_FAULT'}, 'is_signed_var': False, 'len': 8,\n+// 'name': 'gear_flt', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Gear_report_503::Gear_fltType Gearreport503::gear_flt(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Gear_report_503::Gear_fltType ret =\n+ static_cast<Gear_report_503::Gear_fltType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 2, 'description': 'command', 'enum': {0:\n+// 'GEAR_ACTUAL_INVALID', 1: 'GEAR_ACTUAL_PARK', 2: 'GEAR_ACTUAL_REVERSE', 3:\n+// 'GEAR_ACTUAL_NEUTRAL', 4: 'GEAR_ACTUAL_DRIVE'}, 'is_signed_var': False,\n+// 'len': 3, 'name': 'gear_actual', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|4]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'command', 'type': 'enum'}\n+Gear_report_503::Gear_actualType Gearreport503::gear_actual(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 3);\n+\n+ Gear_report_503::Gear_actualType ret =\n+ static_cast<Gear_report_503::Gear_actualType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/gear_report_503.h b/modules/canbus_vehicle/demo/protocol/gear_report_503.h\nnew file mode 100644\nindex 00000000000..8fe49d20c21\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/gear_report_503.h\n@@ -0,0 +1,56 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Gearreport503\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Gearreport503();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 15, 'description': 'fault', 'enum': {0:\n+ // 'GEAR_FLT_NO_FAULT', 1: 'GEAR_FLT_FAULT'}, 'is_signed_var': False, 'len':\n+ // 8, 'name': 'Gear_FLT', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Gear_report_503::Gear_fltType gear_flt(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 2, 'description': 'command', 'enum': {0:\n+ // 'GEAR_ACTUAL_INVALID', 1: 'GEAR_ACTUAL_PARK', 2: 'GEAR_ACTUAL_REVERSE', 3:\n+ // 'GEAR_ACTUAL_NEUTRAL', 4: 'GEAR_ACTUAL_DRIVE'}, 'is_signed_var': False,\n+ // 'len': 3, 'name': 'Gear_Actual', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|4]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'command', 'type': 'enum'}\n+ Gear_report_503::Gear_actualType gear_actual(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/park_command_104.cc b/modules/canbus_vehicle/demo/protocol/park_command_104.cc\nnew file mode 100644\nindex 00000000000..d139aa2467c\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/park_command_104.cc\n@@ -0,0 +1,182 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/park_command_104.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+const int32_t Parkcommand104::ID = 0x104;\n+\n+// public\n+Parkcommand104::Parkcommand104() { Reset(); }\n+\n+uint32_t Parkcommand104::GetPeriod() const {\n+ // TODO(All) : modify every protocol's period manually\n+ static const uint32_t PERIOD = 20 * 1000;\n+ return PERIOD;\n+}\n+\n+void Parkcommand104::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_park_command_104()->set_heartbeat_104(\n+ heartbeat_104(bytes, length));\n+ chassis->mutable_park_command_104()->set_checksum_104(\n+ checksum_104(bytes, length));\n+ chassis->mutable_park_command_104()->set_park_target(\n+ park_target(bytes, length));\n+ chassis->mutable_park_command_104()->set_park_en_ctrl(\n+ park_en_ctrl(bytes, length));\n+}\n+\n+void Parkcommand104::UpdateData_Heartbeat(uint8_t* data) {\n+ // TODO(All) : you should add the heartbeat manually\n+ ++heartbeat_104_;\n+ heartbeat_104_ = (heartbeat_104_) % 16;\n+ set_p_heartbeat_104(data, heartbeat_104_);\n+ checksum_104_ =\n+ data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];\n+ set_p_checksum_104(data, checksum_104_);\n+}\n+\n+void Parkcommand104::UpdateData(uint8_t* data) {\n+ set_p_park_target(data, park_target_);\n+ set_p_park_en_ctrl(data, park_en_ctrl_);\n+}\n+\n+void Parkcommand104::Reset() {\n+ // TODO(All) : you should check this manually\n+ heartbeat_104_ = 0;\n+ checksum_104_ = 0;\n+ park_target_ = Park_command_104::PARK_TARGET_RELEASE;\n+ park_en_ctrl_ = Park_command_104::PARK_EN_CTRL_DISABLE;\n+}\n+\n+Parkcommand104* Parkcommand104::set_heartbeat_104(int heartbeat_104) {\n+ heartbeat_104_ = heartbeat_104;\n+ return this;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+// 'Heartbeat_104', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Parkcommand104::set_p_heartbeat_104(uint8_t* data, int heartbeat_104) {\n+ heartbeat_104 = ProtocolData::BoundedValue(0, 15, heartbeat_104);\n+ int x = heartbeat_104;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 4, 4);\n+}\n+\n+Parkcommand104* Parkcommand104::set_checksum_104(int checksum_104) {\n+ checksum_104_ = checksum_104;\n+ return this;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'CheckSum_104', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Parkcommand104::set_p_checksum_104(uint8_t* data, int checksum_104) {\n+ checksum_104 = ProtocolData::BoundedValue(0, 255, checksum_104);\n+ int x = checksum_104;\n+\n+ Byte to_set(data + 7);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+Parkcommand104* Parkcommand104::set_park_target(\n+ Park_command_104::Park_targetType park_target) {\n+ park_target_ = park_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 8, 'description': 'command', 'enum': {0:\n+// 'PARK_TARGET_RELEASE', 1: 'PARK_TARGET_PARKING_TRIGGER'}, 'is_signed_var':\n+// False, 'len': 1, 'name': 'Park_Target', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'command', 'type': 'enum'}\n+void Parkcommand104::set_p_park_target(\n+ uint8_t* data, Park_command_104::Park_targetType park_target) {\n+ int x = park_target;\n+\n+ Byte to_set(data + 1);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+Parkcommand104* Parkcommand104::set_park_en_ctrl(\n+ Park_command_104::Park_en_ctrlType park_en_ctrl) {\n+ park_en_ctrl_ = park_en_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+// 'PARK_EN_CTRL_DISABLE', 1: 'PARK_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+// 'len': 1, 'name': 'Park_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'enable', 'type': 'enum'}\n+void Parkcommand104::set_p_park_en_ctrl(\n+ uint8_t* data, Park_command_104::Park_en_ctrlType park_en_ctrl) {\n+ int x = park_en_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+int Parkcommand104::heartbeat_104(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(4, 4);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+int Parkcommand104::checksum_104(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+Park_command_104::Park_targetType Parkcommand104::park_target(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Park_command_104::Park_targetType ret =\n+ static_cast<Park_command_104::Park_targetType>(x);\n+ return ret;\n+}\n+\n+Park_command_104::Park_en_ctrlType Parkcommand104::park_en_ctrl(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Park_command_104::Park_en_ctrlType ret =\n+ static_cast<Park_command_104::Park_en_ctrlType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/park_command_104.h b/modules/canbus_vehicle/demo/protocol/park_command_104.h\nnew file mode 100644\nindex 00000000000..fa7c472ef98\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/park_command_104.h\n@@ -0,0 +1,117 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Parkcommand104\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+\n+ Parkcommand104();\n+\n+ uint32_t GetPeriod() const override;\n+\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ void UpdateData_Heartbeat(uint8_t* data) override;\n+\n+ void UpdateData(uint8_t* data) override;\n+\n+ void Reset() override;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_104', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Parkcommand104* set_heartbeat_104(int heartbeat_104);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_104', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Parkcommand104* set_checksum_104(int checksum_104);\n+\n+ // config detail: {'bit': 8, 'description': 'command', 'enum': {0:\n+ // 'PARK_TARGET_RELEASE', 1: 'PARK_TARGET_PARKING_TRIGGER'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Park_Target', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'command', 'type': 'enum'}\n+ Parkcommand104* set_park_target(\n+ Park_command_104::Park_targetType park_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'PARK_EN_CTRL_DISABLE', 1: 'PARK_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+ // 'len': 1, 'name': 'Park_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'enable', 'type': 'enum'}\n+ Parkcommand104* set_park_en_ctrl(\n+ Park_command_104::Park_en_ctrlType park_en_ctrl);\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_104', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_heartbeat_104(uint8_t* data, int heartbeat_104);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_104', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_checksum_104(uint8_t* data, int checksum_104);\n+\n+ // config detail: {'bit': 8, 'description': 'command', 'enum': {0:\n+ // 'PARK_TARGET_RELEASE', 1: 'PARK_TARGET_PARKING_TRIGGER'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Park_Target', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'command', 'type': 'enum'}\n+ void set_p_park_target(uint8_t* data,\n+ Park_command_104::Park_targetType park_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'PARK_EN_CTRL_DISABLE', 1: 'PARK_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+ // 'len': 1, 'name': 'Park_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+ // 'signal_type': 'enable', 'type': 'enum'}\n+ void set_p_park_en_ctrl(uint8_t* data,\n+ Park_command_104::Park_en_ctrlType park_en_ctrl);\n+\n+ int heartbeat_104(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ int checksum_104(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Park_command_104::Park_targetType park_target(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ Park_command_104::Park_en_ctrlType park_en_ctrl(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ private:\n+ int heartbeat_104_;\n+ int checksum_104_;\n+ Park_command_104::Park_targetType park_target_;\n+ Park_command_104::Park_en_ctrlType park_en_ctrl_;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/park_report_504.cc b/modules/canbus_vehicle/demo/protocol/park_report_504.cc\nnew file mode 100644\nindex 00000000000..98b2473764e\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/park_report_504.cc\n@@ -0,0 +1,70 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/park_report_504.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Parkreport504::Parkreport504() {}\n+const int32_t Parkreport504::ID = 0x504;\n+\n+void Parkreport504::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_park_report_504()->set_parking_actual(\n+ parking_actual(bytes, length));\n+ chassis->mutable_park_report_504()->set_park_flt(park_flt(bytes, length));\n+}\n+\n+// config detail: {'bit': 0, 'description': 'command', 'enum': {0:\n+// 'PARKING_ACTUAL_RELEASE', 1: 'PARKING_ACTUAL_PARKING_TRIGGER'},\n+// 'is_signed_var': False, 'len': 1, 'name': 'parking_actual', 'offset': 0.0,\n+// 'order': 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+// 'precision': 1.0, 'signal_type': 'command', 'type': 'enum'}\n+Park_report_504::Parking_actualType Parkreport504::parking_actual(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Park_report_504::Parking_actualType ret =\n+ static_cast<Park_report_504::Parking_actualType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 15, 'description': 'fault', 'enum': {0:\n+// 'PARK_FLT_NO_FAULT', 1: 'PARK_FLT_FAULT'}, 'is_signed_var': False, 'len': 8,\n+// 'name': 'park_flt', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Park_report_504::Park_fltType Parkreport504::park_flt(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Park_report_504::Park_fltType ret =\n+ static_cast<Park_report_504::Park_fltType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/park_report_504.h b/modules/canbus_vehicle/demo/protocol/park_report_504.h\nnew file mode 100644\nindex 00000000000..1c51a4374ad\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/park_report_504.h\n@@ -0,0 +1,55 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Parkreport504\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Parkreport504();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 0, 'description': 'command', 'enum': {0:\n+ // 'PARKING_ACTUAL_RELEASE', 1: 'PARKING_ACTUAL_PARKING_TRIGGER'},\n+ // 'is_signed_var': False, 'len': 1, 'name': 'Parking_actual', 'offset': 0.0,\n+ // 'order': 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'command', 'type': 'enum'}\n+ Park_report_504::Parking_actualType parking_actual(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 15, 'description': 'fault', 'enum': {0:\n+ // 'PARK_FLT_NO_FAULT', 1: 'PARK_FLT_FAULT'}, 'is_signed_var': False, 'len':\n+ // 8, 'name': 'Park_FLT', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Park_report_504::Park_fltType park_flt(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/steering_command_102.cc b/modules/canbus_vehicle/demo/protocol/steering_command_102.cc\nnew file mode 100644\nindex 00000000000..b4c0c72ad11\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/steering_command_102.cc\n@@ -0,0 +1,228 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/steering_command_102.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+const int32_t Steeringcommand102::ID = 0x102;\n+\n+// public\n+Steeringcommand102::Steeringcommand102() { Reset(); }\n+\n+uint32_t Steeringcommand102::GetPeriod() const {\n+ // TODO(All) : modify every protocol's period manually\n+ static const uint32_t PERIOD = 20 * 1000;\n+ return PERIOD;\n+}\n+\n+void Steeringcommand102::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_steering_command_102()->set_heartbeat_102(\n+ heartbeat_102(bytes, length));\n+ chassis->mutable_steering_command_102()->set_steer_en_ctrl(\n+ steer_en_ctrl(bytes, length));\n+ chassis->mutable_steering_command_102()->set_steer_angle_target(\n+ steer_angle_target(bytes, length));\n+ chassis->mutable_steering_command_102()->set_steer_angle_spd_target(\n+ steer_angle_spd_target(bytes, length));\n+ chassis->mutable_steering_command_102()->set_checksum_102(\n+ checksum_102(bytes, length));\n+}\n+\n+void Steeringcommand102::UpdateData_Heartbeat(uint8_t* data) {\n+ // TODO(All) : you should add the heartbeat manually\n+ ++heartbeat_102_;\n+ heartbeat_102_ = (heartbeat_102_) % 16;\n+ set_p_heartbeat_102(data, heartbeat_102_);\n+ checksum_102_ =\n+ data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];\n+ set_p_checksum_102(data, checksum_102_);\n+}\n+\n+void Steeringcommand102::UpdateData(uint8_t* data) {\n+ set_p_steer_en_ctrl(data, steer_en_ctrl_);\n+ set_p_steer_angle_target(data, steer_angle_target_);\n+ set_p_steer_angle_spd_target(data, steer_angle_spd_target_);\n+}\n+\n+void Steeringcommand102::Reset() {\n+ // TODO(All) : you should check this manually\n+ heartbeat_102_ = 0;\n+ steer_en_ctrl_ = Steering_command_102::STEER_EN_CTRL_DISABLE;\n+ steer_angle_target_ = 0;\n+ steer_angle_spd_target_ = 0;\n+ checksum_102_ = 0;\n+}\n+\n+Steeringcommand102* Steeringcommand102::set_heartbeat_102(int heartbeat_102) {\n+ heartbeat_102_ = heartbeat_102;\n+ return this;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+// 'Heartbeat_102', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Steeringcommand102::set_p_heartbeat_102(uint8_t* data, int heartbeat_102) {\n+ heartbeat_102 = ProtocolData::BoundedValue(0, 15, heartbeat_102);\n+ int x = heartbeat_102;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 4, 4);\n+}\n+\n+Steeringcommand102* Steeringcommand102::set_steer_en_ctrl(\n+ Steering_command_102::Steer_en_ctrlType steer_en_ctrl) {\n+ steer_en_ctrl_ = steer_en_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+// 'STEER_EN_CTRL_DISABLE', 1: 'STEER_EN_CTRL_ENABLE'}, 'is_signed_var': False,\n+// 'len': 1, 'name': 'Steer_EN_CTRL', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range':\n+// '[0|1]', 'physical_unit': '', 'precision': 1.0, 'signal_type': 'enable',\n+// 'type': 'enum'}\n+void Steeringcommand102::set_p_steer_en_ctrl(\n+ uint8_t* data, Steering_command_102::Steer_en_ctrlType steer_en_ctrl) {\n+ int x = steer_en_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+Steeringcommand102* Steeringcommand102::set_steer_angle_target(\n+ int steer_angle_target) {\n+ steer_angle_target_ = steer_angle_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 31, 'description': 'command', 'is_signed_var': False,\n+// 'len': 16, 'name': 'Steer_ANGLE_Target', 'offset': -500.0, 'order':\n+// 'motorola', 'physical_range': '[-500|500]', 'physical_unit': 'deg',\n+// 'precision': 1.0, 'signal_type': 'command', 'type': 'int'}\n+void Steeringcommand102::set_p_steer_angle_target(uint8_t* data,\n+ int steer_angle_target) {\n+ steer_angle_target =\n+ ProtocolData::BoundedValue(-500, 500, steer_angle_target);\n+ int x = (steer_angle_target - -500.000000);\n+ uint8_t t = 0;\n+\n+ t = x & 0xFF;\n+ Byte to_set0(data + 4);\n+ to_set0.set_value(t, 0, 8);\n+ x >>= 8;\n+\n+ t = x & 0xFF;\n+ Byte to_set1(data + 3);\n+ to_set1.set_value(t, 0, 8);\n+}\n+\n+Steeringcommand102* Steeringcommand102::set_steer_angle_spd_target(\n+ int steer_angle_spd_target) {\n+ steer_angle_spd_target_ = steer_angle_spd_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name':\n+// 'Steer_ANGLE_SPD_Target', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|250]', 'physical_unit': 'deg/s', 'precision': 1.0,\n+// 'type': 'int'}\n+void Steeringcommand102::set_p_steer_angle_spd_target(\n+ uint8_t* data, int steer_angle_spd_target) {\n+ steer_angle_spd_target =\n+ ProtocolData::BoundedValue(0, 250, steer_angle_spd_target);\n+ int x = steer_angle_spd_target;\n+\n+ Byte to_set(data + 1);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+Steeringcommand102* Steeringcommand102::set_checksum_102(int checksum_102) {\n+ checksum_102_ = checksum_102;\n+ return this;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'CheckSum_102', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Steeringcommand102::set_p_checksum_102(uint8_t* data, int checksum_102) {\n+ checksum_102 = ProtocolData::BoundedValue(0, 255, checksum_102);\n+ int x = checksum_102;\n+\n+ Byte to_set(data + 7);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+int Steeringcommand102::heartbeat_102(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(4, 4);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+Steering_command_102::Steer_en_ctrlType Steeringcommand102::steer_en_ctrl(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Steering_command_102::Steer_en_ctrlType ret =\n+ static_cast<Steering_command_102::Steer_en_ctrlType>(x);\n+ return ret;\n+}\n+\n+int Steeringcommand102::steer_angle_target(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 4);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ int ret = x + -500.000000;\n+ return ret;\n+}\n+\n+int Steeringcommand102::steer_angle_spd_target(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+int Steeringcommand102::checksum_102(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/steering_command_102.h b/modules/canbus_vehicle/demo/protocol/steering_command_102.h\nnew file mode 100644\nindex 00000000000..90100d12d48\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/steering_command_102.h\n@@ -0,0 +1,128 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Steeringcommand102\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+\n+ Steeringcommand102();\n+\n+ uint32_t GetPeriod() const override;\n+\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ void UpdateData_Heartbeat(uint8_t* data) override;\n+\n+ void UpdateData(uint8_t* data) override;\n+\n+ void Reset() override;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_102', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Steeringcommand102* set_heartbeat_102(int heartbeat_102);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'STEER_EN_CTRL_DISABLE', 1: 'STEER_EN_CTRL_ENABLE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Steer_EN_CTRL', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ Steeringcommand102* set_steer_en_ctrl(\n+ Steering_command_102::Steer_en_ctrlType steer_en_ctrl);\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Steer_ANGLE_Target', 'offset': -500.0, 'order':\n+ // 'motorola', 'physical_range': '[-500|500]', 'physical_unit': 'deg',\n+ // 'precision': 1.0, 'signal_type': 'command', 'type': 'int'}\n+ Steeringcommand102* set_steer_angle_target(int steer_angle_target);\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'Steer_ANGLE_SPD_Target', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|250]', 'physical_unit': 'deg/s', 'precision': 1.0,\n+ // 'type': 'int'}\n+ Steeringcommand102* set_steer_angle_spd_target(int steer_angle_spd_target);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_102', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Steeringcommand102* set_checksum_102(int checksum_102);\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_102', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_heartbeat_102(uint8_t* data, int heartbeat_102);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'STEER_EN_CTRL_DISABLE', 1: 'STEER_EN_CTRL_ENABLE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Steer_EN_CTRL', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ void set_p_steer_en_ctrl(\n+ uint8_t* data, Steering_command_102::Steer_en_ctrlType steer_en_ctrl);\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Steer_ANGLE_Target', 'offset': -500.0, 'order':\n+ // 'motorola', 'physical_range': '[-500|500]', 'physical_unit': 'deg',\n+ // 'precision': 1.0, 'signal_type': 'command', 'type': 'int'}\n+ void set_p_steer_angle_target(uint8_t* data, int steer_angle_target);\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'Steer_ANGLE_SPD_Target', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|250]', 'physical_unit': 'deg/s', 'precision': 1.0,\n+ // 'type': 'int'}\n+ void set_p_steer_angle_spd_target(uint8_t* data, int steer_angle_spd_target);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_102', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_checksum_102(uint8_t* data, int checksum_102);\n+\n+ int heartbeat_102(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Steering_command_102::Steer_en_ctrlType steer_en_ctrl(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ int steer_angle_target(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ int steer_angle_spd_target(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ int checksum_102(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ private:\n+ int heartbeat_102_;\n+ Steering_command_102::Steer_en_ctrlType steer_en_ctrl_;\n+ int steer_angle_target_;\n+ int steer_angle_spd_target_;\n+ int checksum_102_;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/steering_report_502.cc b/modules/canbus_vehicle/demo/protocol/steering_report_502.cc\nnew file mode 100644\nindex 00000000000..639e1963acf\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/steering_report_502.cc\n@@ -0,0 +1,146 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/steering_report_502.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Steeringreport502::Steeringreport502() {}\n+const int32_t Steeringreport502::ID = 0x502;\n+\n+void Steeringreport502::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_steering_report_502()->set_steer_angle_rear_actual(\n+ steer_angle_rear_actual(bytes, length));\n+ chassis->mutable_steering_report_502()->set_steer_angle_spd_actual(\n+ steer_angle_spd_actual(bytes, length));\n+ chassis->mutable_steering_report_502()->set_steer_flt2(\n+ steer_flt2(bytes, length));\n+ chassis->mutable_steering_report_502()->set_steer_flt1(\n+ steer_flt1(bytes, length));\n+ chassis->mutable_steering_report_502()->set_steer_en_state(\n+ steer_en_state(bytes, length));\n+ chassis->mutable_steering_report_502()->set_steer_angle_actual(\n+ steer_angle_actual(bytes, length));\n+}\n+\n+// config detail: {'bit': 47, 'is_signed_var': False, 'len': 16, 'name':\n+// 'steer_angle_rear_actual', 'offset': -500.0, 'order': 'motorola',\n+// 'physical_range': '[-500|500]', 'physical_unit': 'deg', 'precision': 1.0,\n+// 'type': 'int'}\n+int Steeringreport502::steer_angle_rear_actual(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 5);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 6);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ int ret = x + -500.000000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'steer_angle_spd_actual', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|0]', 'physical_unit': 'deg/s', 'precision': 1.0,\n+// 'type': 'int'}\n+int Steeringreport502::steer_angle_spd_actual(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'description': 'Steer system communication fault',\n+// 'enum': {0: 'STEER_FLT2_NO_FAULT', 1:\n+// 'STEER_FLT2_STEER_SYSTEM_COMUNICATION_FAULT'}, 'is_signed_var': False, 'len':\n+// 8, 'name': 'steer_flt2', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Steering_report_502::Steer_flt2Type Steeringreport502::steer_flt2(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Steering_report_502::Steer_flt2Type ret =\n+ static_cast<Steering_report_502::Steer_flt2Type>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 15, 'description': 'Steer system hardware fault',\n+// 'enum': {0: 'STEER_FLT1_NO_FAULT', 1:\n+// 'STEER_FLT1_STEER_SYSTEM_HARDWARE_FAULT'}, 'is_signed_var': False, 'len': 8,\n+// 'name': 'steer_flt1', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Steering_report_502::Steer_flt1Type Steeringreport502::steer_flt1(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Steering_report_502::Steer_flt1Type ret =\n+ static_cast<Steering_report_502::Steer_flt1Type>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 1, 'description': 'enable', 'enum': {0:\n+// 'STEER_EN_STATE_MANUAL', 1: 'STEER_EN_STATE_AUTO', 2:\n+// 'STEER_EN_STATE_TAKEOVER', 3: 'STEER_EN_STATE_STANDBY'}, 'is_signed_var':\n+// False, 'len': 2, 'name': 'steer_en_state', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|2]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'enable', 'type': 'enum'}\n+Steering_report_502::Steer_en_stateType Steeringreport502::steer_en_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 2);\n+\n+ Steering_report_502::Steer_en_stateType ret =\n+ static_cast<Steering_report_502::Steer_en_stateType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 31, 'description': 'command', 'is_signed_var': False,\n+// 'len': 16, 'name': 'steer_angle_actual', 'offset': -500.0, 'order':\n+// 'motorola', 'physical_range': '[-500|500]', 'physical_unit': 'deg',\n+// 'precision': 1.0, 'signal_type': 'command', 'type': 'int'}\n+int Steeringreport502::steer_angle_actual(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 4);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ int ret = x + -500.000000;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/steering_report_502.h b/modules/canbus_vehicle/demo/protocol/steering_report_502.h\nnew file mode 100644\nindex 00000000000..ce020252973\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/steering_report_502.h\n@@ -0,0 +1,86 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Steeringreport502\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Steeringreport502();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 47, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'Steer_ANGLE_Rear_Actual', 'offset': -500.0, 'order': 'motorola',\n+ // 'physical_range': '[-500|500]', 'physical_unit': 'deg', 'precision': 1.0,\n+ // 'type': 'int'}\n+ int steer_angle_rear_actual(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'Steer_ANGLE_SPD_Actual', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|0]', 'physical_unit': 'deg/s', 'precision': 1.0,\n+ // 'type': 'int'}\n+ int steer_angle_spd_actual(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'description': 'Steer system communication\n+ // fault', 'enum': {0: 'STEER_FLT2_NO_FAULT', 1:\n+ // 'STEER_FLT2_STEER_SYSTEM_COMUNICATION_FAULT'}, 'is_signed_var': False,\n+ // 'len': 8, 'name': 'Steer_FLT2', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Steering_report_502::Steer_flt2Type steer_flt2(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 15, 'description': 'Steer system hardware fault',\n+ // 'enum': {0: 'STEER_FLT1_NO_FAULT', 1:\n+ // 'STEER_FLT1_STEER_SYSTEM_HARDWARE_FAULT'}, 'is_signed_var': False, 'len':\n+ // 8, 'name': 'Steer_FLT1', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Steering_report_502::Steer_flt1Type steer_flt1(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 1, 'description': 'enable', 'enum': {0:\n+ // 'STEER_EN_STATE_MANUAL', 1: 'STEER_EN_STATE_AUTO', 2:\n+ // 'STEER_EN_STATE_TAKEOVER', 3: 'STEER_EN_STATE_STANDBY'}, 'is_signed_var':\n+ // False, 'len': 2, 'name': 'Steer_EN_state', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|2]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ Steering_report_502::Steer_en_stateType steer_en_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Steer_ANGLE_Actual', 'offset': -500.0, 'order':\n+ // 'motorola', 'physical_range': '[-500|500]', 'physical_unit': 'deg',\n+ // 'precision': 1.0, 'signal_type': 'command', 'type': 'int'}\n+ int steer_angle_actual(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/throttle_command_100.cc b/modules/canbus_vehicle/demo/protocol/throttle_command_100.cc\nnew file mode 100644\nindex 00000000000..abd606f8367\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/throttle_command_100.cc\n@@ -0,0 +1,279 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/throttle_command_100.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+const int32_t Throttlecommand100::ID = 0x100;\n+\n+// public\n+Throttlecommand100::Throttlecommand100() { Reset(); }\n+\n+uint32_t Throttlecommand100::GetPeriod() const {\n+ // TODO(All) : modify every protocol's period manually\n+ static const uint32_t PERIOD = 20 * 1000;\n+ return PERIOD;\n+}\n+\n+void Throttlecommand100::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_throttle_command_100()->set_heartbeat_100(\n+ heartbeat_100(bytes, length));\n+ chassis->mutable_throttle_command_100()->set_speed_target(\n+ speed_target(bytes, length));\n+ chassis->mutable_throttle_command_100()->set_throttle_acc(\n+ throttle_acc(bytes, length));\n+ chassis->mutable_throttle_command_100()->set_checksum_100(\n+ checksum_100(bytes, length));\n+ chassis->mutable_throttle_command_100()->set_throttle_pedal_target(\n+ throttle_pedal_target(bytes, length));\n+ chassis->mutable_throttle_command_100()->set_throttle_en_ctrl(\n+ throttle_en_ctrl(bytes, length));\n+}\n+\n+void Throttlecommand100::UpdateData_Heartbeat(uint8_t* data) {\n+ // TODO(All) : you should add the heartbeat manually\n+ ++heartbeat_100_;\n+ heartbeat_100_ = (heartbeat_100_) % 16;\n+ set_p_heartbeat_100(data, heartbeat_100_);\n+ checksum_100_ =\n+ data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];\n+ set_p_checksum_100(data, checksum_100_);\n+}\n+\n+void Throttlecommand100::UpdateData(uint8_t* data) {\n+ set_p_heartbeat_100(data, heartbeat_100_);\n+ set_p_throttle_acc(data, throttle_acc_);\n+ set_p_throttle_pedal_target(data, throttle_pedal_target_);\n+ set_p_throttle_en_ctrl(data, throttle_en_ctrl_);\n+}\n+\n+void Throttlecommand100::Reset() {\n+ // TODO(All) : you should check this manually\n+ heartbeat_100_ = 0;\n+ speed_target_ = 0.0;\n+ throttle_acc_ = 0.0;\n+ checksum_100_ = 0;\n+ throttle_pedal_target_ = 0.0;\n+ throttle_en_ctrl_ = Throttle_command_100::THROTTLE_EN_CTRL_DISABLE;\n+}\n+\n+Throttlecommand100* Throttlecommand100::set_heartbeat_100(int heartbeat_100) {\n+ heartbeat_100_ = heartbeat_100;\n+ return this;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+// 'Heartbeat_100', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Throttlecommand100::set_p_heartbeat_100(uint8_t* data, int heartbeat_100) {\n+ heartbeat_100 = ProtocolData::BoundedValue(0, 15, heartbeat_100);\n+ int x = heartbeat_100;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 4, 4);\n+}\n+\n+Throttlecommand100* Throttlecommand100::set_speed_target(double speed_target) {\n+ speed_target_ = speed_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 47, 'is_signed_var': False, 'len': 12, 'name':\n+// 'Speed_Target', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|40.95]', 'physical_unit': 'm/s', 'precision': 0.01, 'type': 'double'}\n+void Throttlecommand100::set_p_speed_target(uint8_t* data,\n+ double speed_target) {\n+ speed_target = ProtocolData::BoundedValue(0.0, 40.95, speed_target);\n+ int x = speed_target / 0.010000;\n+ uint8_t t = 0;\n+\n+ t = x & 0xF;\n+ Byte to_set0(data + 6);\n+ to_set0.set_value(t, 4, 4);\n+ x >>= 4;\n+\n+ t = x & 0xFF;\n+ Byte to_set1(data + 5);\n+ to_set1.set_value(t, 0, 8);\n+}\n+\n+Throttlecommand100* Throttlecommand100::set_throttle_acc(double throttle_acc) {\n+ throttle_acc_ = throttle_acc;\n+ return this;\n+}\n+\n+// config detail: {'bit': 15, 'is_signed_var': False, 'len': 10, 'name':\n+// 'Throttle_Acc', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|10]', 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+void Throttlecommand100::set_p_throttle_acc(uint8_t* data,\n+ double throttle_acc) {\n+ throttle_acc = ProtocolData::BoundedValue(0.0, 10.0, throttle_acc);\n+ int x = throttle_acc / 0.010000;\n+ uint8_t t = 0;\n+\n+ t = x & 0x3;\n+ Byte to_set0(data + 2);\n+ to_set0.set_value(t, 6, 2);\n+ x >>= 2;\n+\n+ t = x & 0xFF;\n+ Byte to_set1(data + 1);\n+ to_set1.set_value(t, 0, 8);\n+}\n+\n+Throttlecommand100* Throttlecommand100::set_checksum_100(int checksum_100) {\n+ checksum_100_ = checksum_100;\n+ return this;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'CheckSum_100', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Throttlecommand100::set_p_checksum_100(uint8_t* data, int checksum_100) {\n+ checksum_100 = ProtocolData::BoundedValue(0, 255, checksum_100);\n+ int x = checksum_100;\n+\n+ Byte to_set(data + 7);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+Throttlecommand100* Throttlecommand100::set_throttle_pedal_target(\n+ double throttle_pedal_target) {\n+ throttle_pedal_target_ = throttle_pedal_target;\n+ return this;\n+}\n+\n+// config detail: {'bit': 31, 'description': 'command', 'is_signed_var': False,\n+// 'len': 16, 'name': 'Throttle_Pedal_Target', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+// 0.1, 'signal_type': 'command', 'type': 'double'}\n+void Throttlecommand100::set_p_throttle_pedal_target(\n+ uint8_t* data, double throttle_pedal_target) {\n+ throttle_pedal_target =\n+ ProtocolData::BoundedValue(0.0, 100.0, throttle_pedal_target);\n+ int x = throttle_pedal_target / 0.100000;\n+ uint8_t t = 0;\n+\n+ t = x & 0xFF;\n+ Byte to_set0(data + 4);\n+ to_set0.set_value(t, 0, 8);\n+ x >>= 8;\n+\n+ t = x & 0xFF;\n+ Byte to_set1(data + 3);\n+ to_set1.set_value(t, 0, 8);\n+}\n+\n+Throttlecommand100* Throttlecommand100::set_throttle_en_ctrl(\n+ Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl) {\n+ throttle_en_ctrl_ = throttle_en_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+// 'THROTTLE_EN_CTRL_DISABLE', 1: 'THROTTLE_EN_CTRL_ENABLE'}, 'is_signed_var':\n+// False, 'len': 1, 'name': 'Throttle_EN_CTRL', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'enable', 'type': 'enum'}\n+void Throttlecommand100::set_p_throttle_en_ctrl(\n+ uint8_t* data,\n+ Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl) {\n+ int x = throttle_en_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+int Throttlecommand100::heartbeat_100(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(4, 4);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+double Throttlecommand100::speed_target(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 5);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 6);\n+ int32_t t = t1.get_byte(4, 4);\n+ x <<= 4;\n+ x |= t;\n+\n+ double ret = x * 0.010000;\n+ return ret;\n+}\n+\n+double Throttlecommand100::throttle_acc(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 2);\n+ int32_t t = t1.get_byte(6, 2);\n+ x <<= 2;\n+ x |= t;\n+\n+ double ret = x * 0.010000;\n+ return ret;\n+}\n+\n+int Throttlecommand100::checksum_100(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+double Throttlecommand100::throttle_pedal_target(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 4);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.100000;\n+ return ret;\n+}\n+\n+Throttle_command_100::Throttle_en_ctrlType Throttlecommand100::throttle_en_ctrl(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Throttle_command_100::Throttle_en_ctrlType ret =\n+ static_cast<Throttle_command_100::Throttle_en_ctrlType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/throttle_command_100.h b/modules/canbus_vehicle/demo/protocol/throttle_command_100.h\nnew file mode 100644\nindex 00000000000..ae6052b7d71\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/throttle_command_100.h\n@@ -0,0 +1,140 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Throttlecommand100\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+\n+ Throttlecommand100();\n+\n+ uint32_t GetPeriod() const override;\n+\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ void UpdateData_Heartbeat(uint8_t* data) override;\n+\n+ void UpdateData(uint8_t* data) override;\n+\n+ void Reset() override;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_100', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Throttlecommand100* set_heartbeat_100(int heartbeat_100);\n+\n+ // config detail: {'bit': 47, 'is_signed_var': False, 'len': 12, 'name':\n+ // 'Speed_Target', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|40.95]', 'physical_unit': 'm/s', 'precision': 0.01, 'type': 'double'}\n+ Throttlecommand100* set_speed_target(double speed_target);\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 10, 'name':\n+ // 'Throttle_Acc', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|10]', 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+ Throttlecommand100* set_throttle_acc(double throttle_acc);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_100', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Throttlecommand100* set_checksum_100(int checksum_100);\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Throttle_Pedal_Target', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+ // 0.1, 'signal_type': 'command', 'type': 'double'}\n+ Throttlecommand100* set_throttle_pedal_target(double throttle_pedal_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'THROTTLE_EN_CTRL_DISABLE', 1: 'THROTTLE_EN_CTRL_ENABLE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Throttle_EN_CTRL', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ Throttlecommand100* set_throttle_en_ctrl(\n+ Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl);\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_100', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_heartbeat_100(uint8_t* data, int heartbeat_100);\n+\n+ // config detail: {'bit': 47, 'is_signed_var': False, 'len': 12, 'name':\n+ // 'Speed_Target', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|40.95]', 'physical_unit': 'm/s', 'precision': 0.01, 'type': 'double'}\n+ void set_p_speed_target(uint8_t* data, double speed_target);\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 10, 'name':\n+ // 'Throttle_Acc', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|10]', 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+ void set_p_throttle_acc(uint8_t* data, double throttle_acc);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_100', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_checksum_100(uint8_t* data, int checksum_100);\n+\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Throttle_Pedal_Target', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+ // 0.1, 'signal_type': 'command', 'type': 'double'}\n+ void set_p_throttle_pedal_target(uint8_t* data, double throttle_pedal_target);\n+\n+ // config detail: {'bit': 0, 'description': 'enable', 'enum': {0:\n+ // 'THROTTLE_EN_CTRL_DISABLE', 1: 'THROTTLE_EN_CTRL_ENABLE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'Throttle_EN_CTRL', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ void set_p_throttle_en_ctrl(\n+ uint8_t* data,\n+ Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl);\n+\n+ int heartbeat_100(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ double speed_target(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ double throttle_acc(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ int checksum_100(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ double throttle_pedal_target(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ private:\n+ int heartbeat_100_;\n+ double speed_target_;\n+ double throttle_acc_;\n+ int checksum_100_;\n+ double throttle_pedal_target_;\n+ Throttle_command_100::Throttle_en_ctrlType throttle_en_ctrl_;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/throttle_report_500.cc b/modules/canbus_vehicle/demo/protocol/throttle_report_500.cc\nnew file mode 100644\nindex 00000000000..bf25a5c8c61\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/throttle_report_500.cc\n@@ -0,0 +1,112 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/throttle_report_500.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Throttlereport500::Throttlereport500() {}\n+const int32_t Throttlereport500::ID = 0x500;\n+\n+void Throttlereport500::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_throttle_report_500()->set_throttle_pedal_actual(\n+ throttle_pedal_actual(bytes, length));\n+ chassis->mutable_throttle_report_500()->set_throttle_flt2(\n+ throttle_flt2(bytes, length));\n+ chassis->mutable_throttle_report_500()->set_throttle_flt1(\n+ throttle_flt1(bytes, length));\n+ chassis->mutable_throttle_report_500()->set_throttle_en_state(\n+ throttle_en_state(bytes, length));\n+}\n+\n+// config detail: {'bit': 31, 'description': 'command', 'is_signed_var': False,\n+// 'len': 16, 'name': 'throttle_pedal_actual', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+// 0.1, 'signal_type': 'command', 'type': 'double'}\n+double Throttlereport500::throttle_pedal_actual(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 4);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.100000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'description': 'Drive system communication fault',\n+// 'enum': {0: 'THROTTLE_FLT2_NO_FAULT', 1:\n+// 'THROTTLE_FLT2_DRIVE_SYSTEM_COMUNICATION_FAULT'}, 'is_signed_var': False,\n+// 'len': 8, 'name': 'throttle_flt2', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Throttle_report_500::Throttle_flt2Type Throttlereport500::throttle_flt2(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Throttle_report_500::Throttle_flt2Type ret =\n+ static_cast<Throttle_report_500::Throttle_flt2Type>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 15, 'description': 'Drive system hardware fault',\n+// 'enum': {0: 'THROTTLE_FLT1_NO_FAULT', 1:\n+// 'THROTTLE_FLT1_DRIVE_SYSTEM_HARDWARE_FAULT'}, 'is_signed_var': False, 'len':\n+// 8, 'name': 'throttle_flt1', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Throttle_report_500::Throttle_flt1Type Throttlereport500::throttle_flt1(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Throttle_report_500::Throttle_flt1Type ret =\n+ static_cast<Throttle_report_500::Throttle_flt1Type>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 1, 'description': 'enable', 'enum': {0:\n+// 'THROTTLE_EN_STATE_MANUAL', 1: 'THROTTLE_EN_STATE_AUTO', 2:\n+// 'THROTTLE_EN_STATE_TAKEOVER', 3: 'THROTTLE_EN_STATE_STANDBY'},\n+// 'is_signed_var': False, 'len': 2, 'name': 'throttle_en_state', 'offset': 0.0,\n+// 'order': 'motorola', 'physical_range': '[0|2]', 'physical_unit': '',\n+// 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+Throttle_report_500::Throttle_en_stateType Throttlereport500::throttle_en_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 2);\n+\n+ Throttle_report_500::Throttle_en_stateType ret =\n+ static_cast<Throttle_report_500::Throttle_en_stateType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/throttle_report_500.h b/modules/canbus_vehicle/demo/protocol/throttle_report_500.h\nnew file mode 100644\nindex 00000000000..b4045c902e0\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/throttle_report_500.h\n@@ -0,0 +1,73 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Throttlereport500\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Throttlereport500();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 31, 'description': 'command', 'is_signed_var':\n+ // False, 'len': 16, 'name': 'Throttle_Pedal_Actual', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|100]', 'physical_unit': '%', 'precision':\n+ // 0.1, 'signal_type': 'command', 'type': 'double'}\n+ double throttle_pedal_actual(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'description': 'Drive system communication\n+ // fault', 'enum': {0: 'THROTTLE_FLT2_NO_FAULT', 1:\n+ // 'THROTTLE_FLT2_DRIVE_SYSTEM_COMUNICATION_FAULT'}, 'is_signed_var': False,\n+ // 'len': 8, 'name': 'Throttle_FLT2', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Throttle_report_500::Throttle_flt2Type throttle_flt2(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 15, 'description': 'Drive system hardware fault',\n+ // 'enum': {0: 'THROTTLE_FLT1_NO_FAULT', 1:\n+ // 'THROTTLE_FLT1_DRIVE_SYSTEM_HARDWARE_FAULT'}, 'is_signed_var': False,\n+ // 'len': 8, 'name': 'Throttle_FLT1', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Throttle_report_500::Throttle_flt1Type throttle_flt1(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 1, 'description': 'enable', 'enum': {0:\n+ // 'THROTTLE_EN_STATE_MANUAL', 1: 'THROTTLE_EN_STATE_AUTO', 2:\n+ // 'THROTTLE_EN_STATE_TAKEOVER', 3: 'THROTTLE_EN_STATE_STANDBY'},\n+ // 'is_signed_var': False, 'len': 2, 'name': 'Throttle_EN_state', 'offset':\n+ // 0.0, 'order': 'motorola', 'physical_range': '[0|2]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'enable', 'type': 'enum'}\n+ Throttle_report_500::Throttle_en_stateType throttle_en_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.cc b/modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.cc\nnew file mode 100644\nindex 00000000000..41dd737af75\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.cc\n@@ -0,0 +1,114 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Ultrsensor1507::Ultrsensor1507() {}\n+const int32_t Ultrsensor1507::ID = 0x507;\n+\n+void Ultrsensor1507::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_ultr_sensor_1_507()->set_uiuss9_tof_direct(\n+ uiuss9_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_1_507()->set_uiuss8_tof_direct(\n+ uiuss8_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_1_507()->set_uiuss11_tof_direct(\n+ uiuss11_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_1_507()->set_uiuss10_tof_direct(\n+ uiuss10_tof_direct(bytes, length));\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss9_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor1507::uiuss9_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss8_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor1507::uiuss8_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss11_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor1507::uiuss11_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 7);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss10_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor1507::uiuss10_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 5);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h b/modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h\nnew file mode 100644\nindex 00000000000..5644de9a4a4\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h\n@@ -0,0 +1,63 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Ultrsensor1507\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Ultrsensor1507();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS9_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss9_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS8_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss8_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS11_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss11_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS10_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss10_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.cc b/modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.cc\nnew file mode 100644\nindex 00000000000..06f03859de6\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.cc\n@@ -0,0 +1,114 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Ultrsensor2508::Ultrsensor2508() {}\n+const int32_t Ultrsensor2508::ID = 0x508;\n+\n+void Ultrsensor2508::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_ultr_sensor_2_508()->set_uiuss9_tof_indirect(\n+ uiuss9_tof_indirect(bytes, length));\n+ chassis->mutable_ultr_sensor_2_508()->set_uiuss8_tof_indirect(\n+ uiuss8_tof_indirect(bytes, length));\n+ chassis->mutable_ultr_sensor_2_508()->set_uiuss11_tof_indirect(\n+ uiuss11_tof_indirect(bytes, length));\n+ chassis->mutable_ultr_sensor_2_508()->set_uiuss10_tof_indirect(\n+ uiuss10_tof_indirect(bytes, length));\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss9_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor2508::uiuss9_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss8_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor2508::uiuss8_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss11_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor2508::uiuss11_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 7);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss10_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor2508::uiuss10_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 5);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h b/modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h\nnew file mode 100644\nindex 00000000000..296e0b037fe\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h\n@@ -0,0 +1,67 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Ultrsensor2508\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Ultrsensor2508();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS9_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss9_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS8_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss8_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS11_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss11_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS10_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss10_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.cc b/modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.cc\nnew file mode 100644\nindex 00000000000..b20f17a2e94\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.cc\n@@ -0,0 +1,114 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Ultrsensor3509::Ultrsensor3509() {}\n+const int32_t Ultrsensor3509::ID = 0x509;\n+\n+void Ultrsensor3509::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_ultr_sensor_3_509()->set_uiuss5_tof_direct(\n+ uiuss5_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_3_509()->set_uiuss4_tof_direct(\n+ uiuss4_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_3_509()->set_uiuss3_tof_direct(\n+ uiuss3_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_3_509()->set_uiuss2_tof_direct(\n+ uiuss2_tof_direct(bytes, length));\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss5_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor3509::uiuss5_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 7);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss4_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor3509::uiuss4_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 5);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss3_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor3509::uiuss3_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss2_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor3509::uiuss2_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h b/modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h\nnew file mode 100644\nindex 00000000000..53615589659\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h\n@@ -0,0 +1,63 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Ultrsensor3509\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Ultrsensor3509();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS5_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss5_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS4_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss4_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS3_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss3_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS2_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss2_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.cc b/modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.cc\nnew file mode 100644\nindex 00000000000..01949953d9c\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.cc\n@@ -0,0 +1,114 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Ultrsensor4510::Ultrsensor4510() {}\n+const int32_t Ultrsensor4510::ID = 0x510;\n+\n+void Ultrsensor4510::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_ultr_sensor_4_510()->set_uiuss5_tof_indirect(\n+ uiuss5_tof_indirect(bytes, length));\n+ chassis->mutable_ultr_sensor_4_510()->set_uiuss4_tof_indirect(\n+ uiuss4_tof_indirect(bytes, length));\n+ chassis->mutable_ultr_sensor_4_510()->set_uiuss3_tof_indirect(\n+ uiuss3_tof_indirect(bytes, length));\n+ chassis->mutable_ultr_sensor_4_510()->set_uiuss2_tof_indirect(\n+ uiuss2_tof_indirect(bytes, length));\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss5_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor4510::uiuss5_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 7);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss4_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor4510::uiuss4_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 5);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss3_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor4510::uiuss3_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss2_tof_indirect', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor4510::uiuss2_tof_indirect(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h b/modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h\nnew file mode 100644\nindex 00000000000..96ebfc156d4\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h\n@@ -0,0 +1,67 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Ultrsensor4510\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Ultrsensor4510();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS5_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss5_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS4_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss4_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS3_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss3_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS2_ToF_Indirect', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724,\n+ // 'type': 'double'}\n+ double uiuss2_tof_indirect(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.cc b/modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.cc\nnew file mode 100644\nindex 00000000000..81a364e66f8\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.cc\n@@ -0,0 +1,114 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Ultrsensor5511::Ultrsensor5511() {}\n+const int32_t Ultrsensor5511::ID = 0x511;\n+\n+void Ultrsensor5511::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_ultr_sensor_5_511()->set_uiuss7_tof_direct(\n+ uiuss7_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_5_511()->set_uiuss6_tof_direct(\n+ uiuss6_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_5_511()->set_uiuss1_tof_direct(\n+ uiuss1_tof_direct(bytes, length));\n+ chassis->mutable_ultr_sensor_5_511()->set_uiuss0_tof_direct(\n+ uiuss0_tof_direct(bytes, length));\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss7_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor5511::uiuss7_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 7);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss6_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor5511::uiuss6_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 5);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss1_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor5511::uiuss1_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+// 'uiuss0_tof_direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+double Ultrsensor5511::uiuss0_tof_direct(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.017240;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h b/modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h\nnew file mode 100644\nindex 00000000000..3debaad0439\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h\n@@ -0,0 +1,63 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Ultrsensor5511\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Ultrsensor5511();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS7_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss7_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS6_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss6_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS1_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss1_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name':\n+ // 'uiUSS0_ToF_Direct', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|65535]', 'physical_unit': 'cm', 'precision': 0.01724, 'type': 'double'}\n+ double uiuss0_tof_direct(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vcu_report_505.cc b/modules/canbus_vehicle/demo/protocol/vcu_report_505.cc\nnew file mode 100644\nindex 00000000000..5a1c4a2c0b6\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vcu_report_505.cc\n@@ -0,0 +1,248 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/vcu_report_505.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Vcureport505::Vcureport505() {}\n+const int32_t Vcureport505::ID = 0x505;\n+\n+void Vcureport505::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_vcu_report_505()->set_vehicle_mode_state(\n+ vehicle_mode_state(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_aeb_mode(aeb_mode(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_brake_light_actual(\n+ brake_light_actual(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_turn_light_actual(\n+ turn_light_actual(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_chassis_errcode(\n+ chassis_errcode(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_drive_mode_sts(\n+ drive_mode_sts(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_steer_mode_sts(\n+ steer_mode_sts(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_frontcrash_state(\n+ frontcrash_state(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_backcrash_state(\n+ backcrash_state(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_aeb_brake_state(\n+ aeb_brake_state(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_acc(acc(bytes, length));\n+ chassis->mutable_vcu_report_505()->set_speed(speed(bytes, length));\n+}\n+\n+// config detail: {'bit': 36, 'enum': {0:\n+// 'VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE', 1: 'VEHICLE_MODE_STATE_AUTO_MODE',\n+// 2: 'VEHICLE_MODE_STATE_EMERGENCY_MODE', 3:\n+// 'VEHICLE_MODE_STATE_STANDBY_MODE'}, 'is_signed_var': False, 'len': 2, 'name':\n+// 'vehicle_mode_state', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Vcu_report_505::Vehicle_mode_stateType Vcureport505::vehicle_mode_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(3, 2);\n+\n+ Vcu_report_505::Vehicle_mode_stateType ret =\n+ static_cast<Vcu_report_505::Vehicle_mode_stateType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 58, 'description': 'describle the vehicle AEB mode\n+// whether was set', 'enum': {0: 'AEB_MODE_DISABLE', 1: 'AEB_MODE_ENABLE'},\n+// 'is_signed_var': False, 'len': 1, 'name': 'aeb_mode', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0,\n+// 'type': 'enum'}\n+Vcu_report_505::Aeb_modeType Vcureport505::aeb_mode(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(2, 1);\n+\n+ Vcu_report_505::Aeb_modeType ret =\n+ static_cast<Vcu_report_505::Aeb_modeType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 11, 'enum': {0: 'BRAKE_LIGHT_ACTUAL_BRAKELIGHT_OFF',\n+// 1: 'BRAKE_LIGHT_ACTUAL_BRAKELIGHT_ON'}, 'is_signed_var': False, 'len': 1,\n+// 'name': 'brake_light_actual', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Vcu_report_505::Brake_light_actualType Vcureport505::brake_light_actual(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(3, 1);\n+\n+ Vcu_report_505::Brake_light_actualType ret =\n+ static_cast<Vcu_report_505::Brake_light_actualType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 57, 'enum': {0: 'TURN_LIGHT_ACTUAL_TURNLAMPSTS_OFF',\n+// 1: 'TURN_LIGHT_ACTUAL_LEFT_TURNLAMPSTS_ON', 2:\n+// 'TURN_LIGHT_ACTUAL_RIGHT_TURNLAMPSTS_ON', 3:\n+// 'TURN_LIGHT_ACTUAL_HAZARD_WARNING_LAMPSTS_ON'}, 'is_signed_var': False,\n+// 'len': 2, 'name': 'turn_light_actual', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Vcu_report_505::Turn_light_actualType Vcureport505::turn_light_actual(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 2);\n+\n+ Vcu_report_505::Turn_light_actualType ret =\n+ static_cast<Vcu_report_505::Turn_light_actualType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 47, 'is_signed_var': False, 'len': 8, 'name':\n+// 'chassis_errcode', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vcureport505::chassis_errcode(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 5);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'enum': {0:\n+// 'DRIVE_MODE_STS_THROTTLE_PADDLE_DRIVE_MODE', 1:\n+// 'DRIVE_MODE_STS_SPEED_DRIVE_MODE'}, 'is_signed_var': False, 'len': 3, 'name':\n+// 'drive_mode_sts', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Vcu_report_505::Drive_mode_stsType Vcureport505::drive_mode_sts(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(5, 3);\n+\n+ Vcu_report_505::Drive_mode_stsType ret =\n+ static_cast<Vcu_report_505::Drive_mode_stsType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 10, 'enum': {0: 'STEER_MODE_STS_STANDARD_STEER_MODE',\n+// 1: 'STEER_MODE_STS_NON_DIRECTION_STEER_MODE', 2:\n+// 'STEER_MODE_STS_SYNC_DIRECTION_STEER_MODE'}, 'is_signed_var': False, 'len':\n+// 3, 'name': 'steer_mode_sts', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+Vcu_report_505::Steer_mode_stsType Vcureport505::steer_mode_sts(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 3);\n+\n+ Vcu_report_505::Steer_mode_stsType ret =\n+ static_cast<Vcu_report_505::Steer_mode_stsType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 33, 'enum': {0: 'FRONTCRASH_STATE_NO_EVENT', 1:\n+// 'FRONTCRASH_STATE_CRASH_EVENT'}, 'is_signed_var': False, 'len': 1, 'name':\n+// 'frontcrash_state', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Vcu_report_505::Frontcrash_stateType Vcureport505::frontcrash_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(1, 1);\n+\n+ Vcu_report_505::Frontcrash_stateType ret =\n+ static_cast<Vcu_report_505::Frontcrash_stateType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 34, 'enum': {0: 'BACKCRASH_STATE_NO_EVENT', 1:\n+// 'BACKCRASH_STATE_CRASH_EVENT'}, 'is_signed_var': False, 'len': 1, 'name':\n+// 'backcrash_state', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+Vcu_report_505::Backcrash_stateType Vcureport505::backcrash_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(2, 1);\n+\n+ Vcu_report_505::Backcrash_stateType ret =\n+ static_cast<Vcu_report_505::Backcrash_stateType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 32, 'description': 'describe the vehicle e-brake\n+// command whether was triggered by AEB', 'enum': {0:\n+// 'AEB_BRAKE_STATE_INACTIVE', 1: 'AEB_BRAKE_STATE_ACTIVE'}, 'is_signed_var':\n+// False, 'len': 1, 'name': 'aeb_brake_state', 'offset': 0.0, 'order':\n+// 'motorola', 'physical_range': '[0|0]', 'physical_unit': '', 'precision': 1.0,\n+// 'signal_type': 'command', 'type': 'enum'}\n+Vcu_report_505::Aeb_brake_stateType Vcureport505::aeb_brake_state(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Vcu_report_505::Aeb_brake_stateType ret =\n+ static_cast<Vcu_report_505::Aeb_brake_stateType>(x);\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': True, 'len': 12, 'name': 'acc',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[-10|10]',\n+// 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+double Vcureport505::acc(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(4, 4);\n+ x <<= 4;\n+ x |= t;\n+\n+ x <<= 20;\n+ x >>= 20;\n+\n+ double ret = x * 0.010000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'description': 'speed', 'is_signed_var': True,\n+// 'len': 16, 'name': 'speed', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[-32.768|32.767]', 'physical_unit': 'm/s', 'precision':\n+// 0.001, 'signal_type': 'speed', 'type': 'double'}\n+double Vcureport505::speed(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ x <<= 16;\n+ x >>= 16;\n+\n+ double ret = x * 0.001000;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vcu_report_505.h b/modules/canbus_vehicle/demo/protocol/vcu_report_505.h\nnew file mode 100644\nindex 00000000000..4e63b0b02e9\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vcu_report_505.h\n@@ -0,0 +1,133 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Vcureport505\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Vcureport505();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 36, 'enum': {0:\n+ // 'VEHICLE_MODE_STATE_MANUAL_REMOTE_MODE', 1: 'VEHICLE_MODE_STATE_AUTO_MODE',\n+ // 2: 'VEHICLE_MODE_STATE_EMERGENCY_MODE', 3:\n+ // 'VEHICLE_MODE_STATE_STANDBY_MODE'}, 'is_signed_var': False, 'len': 2,\n+ // 'name': 'Vehicle_Mode_State', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vcu_report_505::Vehicle_mode_stateType vehicle_mode_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 58, 'description': 'describle the vehicle AEB mode\n+ // whether was set', 'enum': {0: 'AEB_MODE_DISABLE', 1: 'AEB_MODE_ENABLE'},\n+ // 'is_signed_var': False, 'len': 1, 'name': 'AEB_Mode', 'offset': 0.0,\n+ // 'order': 'motorola', 'physical_range': '[0|1]', 'physical_unit': '',\n+ // 'precision': 1.0, 'type': 'enum'}\n+ Vcu_report_505::Aeb_modeType aeb_mode(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 11, 'enum': {0: 'BRAKE_LIGHT_ACTUAL_BRAKELIGHT_OFF',\n+ // 1: 'BRAKE_LIGHT_ACTUAL_BRAKELIGHT_ON'}, 'is_signed_var': False, 'len': 1,\n+ // 'name': 'Brake_Light_Actual', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|1]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vcu_report_505::Brake_light_actualType brake_light_actual(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 57, 'enum': {0: 'TURN_LIGHT_ACTUAL_TURNLAMPSTS_OFF',\n+ // 1: 'TURN_LIGHT_ACTUAL_LEFT_TURNLAMPSTS_ON', 2:\n+ // 'TURN_LIGHT_ACTUAL_RIGHT_TURNLAMPSTS_ON', 3:\n+ // 'TURN_LIGHT_ACTUAL_HAZARD_WARNING_LAMPSTS_ON'}, 'is_signed_var': False,\n+ // 'len': 2, 'name': 'Turn_Light_Actual', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vcu_report_505::Turn_light_actualType turn_light_actual(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 47, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'Chassis_errcode', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int chassis_errcode(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'enum': {0:\n+ // 'DRIVE_MODE_STS_THROTTLE_PADDLE_DRIVE_MODE', 1:\n+ // 'DRIVE_MODE_STS_SPEED_DRIVE_MODE'}, 'is_signed_var': False, 'len': 3,\n+ // 'name': 'Drive_Mode_STS', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vcu_report_505::Drive_mode_stsType drive_mode_sts(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 10, 'enum': {0:\n+ // 'STEER_MODE_STS_STANDARD_STEER_MODE', 1:\n+ // 'STEER_MODE_STS_NON_DIRECTION_STEER_MODE', 2:\n+ // 'STEER_MODE_STS_SYNC_DIRECTION_STEER_MODE'}, 'is_signed_var': False, 'len':\n+ // 3, 'name': 'Steer_Mode_STS', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vcu_report_505::Steer_mode_stsType steer_mode_sts(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ // config detail: {'bit': 33, 'enum': {0: 'FRONTCRASH_STATE_NO_EVENT', 1:\n+ // 'FRONTCRASH_STATE_CRASH_EVENT'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'FrontCrash_State', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+ Vcu_report_505::Frontcrash_stateType frontcrash_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 34, 'enum': {0: 'BACKCRASH_STATE_NO_EVENT', 1:\n+ // 'BACKCRASH_STATE_CRASH_EVENT'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'BackCrash_State', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|0]', 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+ Vcu_report_505::Backcrash_stateType backcrash_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 32, 'description': 'describe the vehicle e-brake\n+ // command whether was triggered by AEB', 'enum': {0:\n+ // 'AEB_BRAKE_STATE_INACTIVE', 1: 'AEB_BRAKE_STATE_ACTIVE'}, 'is_signed_var':\n+ // False, 'len': 1, 'name': 'AEB_Brake_State', 'offset': 0.0, 'order':\n+ // 'motorola', 'physical_range': '[0|0]', 'physical_unit': '',\n+ // 'precision': 1.0, 'signal_type': 'command', 'type': 'enum'}\n+ Vcu_report_505::Aeb_brake_stateType aeb_brake_state(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': True, 'len': 12, 'name': 'ACC',\n+ // 'offset': 0.0, 'order': 'motorola', 'physical_range': '[-10|10]',\n+ // 'physical_unit': 'm/s^2', 'precision': 0.01, 'type': 'double'}\n+ double acc(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'description': 'speed', 'is_signed_var': True,\n+ // 'len': 16, 'name': 'SPEED', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[-32.768|32.767]', 'physical_unit': 'm/s', 'precision':\n+ // 0.001, 'signal_type': 'speed', 'type': 'double'}\n+ double speed(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.cc b/modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.cc\nnew file mode 100644\nindex 00000000000..e5f971672d1\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.cc\n@@ -0,0 +1,260 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+const int32_t Vehiclemodecommand105::ID = 0x105;\n+\n+// public\n+Vehiclemodecommand105::Vehiclemodecommand105() { Reset(); }\n+\n+uint32_t Vehiclemodecommand105::GetPeriod() const {\n+ // TODO(All) : modify every protocol's period manually\n+ static const uint32_t PERIOD = 20 * 1000;\n+ return PERIOD;\n+}\n+\n+void Vehiclemodecommand105::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_vehicle_mode_command_105()->set_heartbeat_105(\n+ heartbeat_105(bytes, length));\n+ chassis->mutable_vehicle_mode_command_105()->set_checksum_105(\n+ checksum_105(bytes, length));\n+ chassis->mutable_vehicle_mode_command_105()->set_turn_light_ctrl(\n+ turn_light_ctrl(bytes, length));\n+ chassis->mutable_vehicle_mode_command_105()->set_vin_req(\n+ vin_req(bytes, length));\n+ chassis->mutable_vehicle_mode_command_105()->set_drive_mode_ctrl(\n+ drive_mode_ctrl(bytes, length));\n+ chassis->mutable_vehicle_mode_command_105()->set_steer_mode_ctrl(\n+ steer_mode_ctrl(bytes, length));\n+}\n+\n+void Vehiclemodecommand105::UpdateData_Heartbeat(uint8_t* data) {\n+ // TODO(All) : you should add the heartbeat manually\n+ ++heartbeat_105_;\n+ heartbeat_105_ = (heartbeat_105_) % 16;\n+ set_p_heartbeat_105(data, heartbeat_105_);\n+ checksum_105_ =\n+ data[0] ^ data[1] ^ data[2] ^ data[3] ^ data[4] ^ data[5] ^ data[6];\n+ set_p_checksum_105(data, checksum_105_);\n+}\n+\n+void Vehiclemodecommand105::UpdateData(uint8_t* data) {\n+ set_p_turn_light_ctrl(data, turn_light_ctrl_);\n+ set_p_vin_req(data, vin_req_);\n+ set_p_drive_mode_ctrl(data, drive_mode_ctrl_);\n+ set_p_steer_mode_ctrl(data, steer_mode_ctrl_);\n+}\n+\n+void Vehiclemodecommand105::Reset() {\n+ // TODO(All) : you should check this manually\n+ heartbeat_105_ = 0;\n+ checksum_105_ = 0;\n+ turn_light_ctrl_ = Vehicle_mode_command_105::TURN_LIGHT_CTRL_TURNLAMP_OFF;\n+ vin_req_ = Vehicle_mode_command_105::VIN_REQ_VIN_REQ_DISABLE;\n+ drive_mode_ctrl_ =\n+ Vehicle_mode_command_105::DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE;\n+ steer_mode_ctrl_ = Vehicle_mode_command_105::STEER_MODE_CTRL_STANDARD_STEER;\n+}\n+\n+Vehiclemodecommand105* Vehiclemodecommand105::set_heartbeat_105(\n+ int heartbeat_105) {\n+ heartbeat_105_ = heartbeat_105;\n+ return this;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+// 'Heartbeat_105', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Vehiclemodecommand105::set_p_heartbeat_105(uint8_t* data,\n+ int heartbeat_105) {\n+ heartbeat_105 = ProtocolData::BoundedValue(0, 15, heartbeat_105);\n+ int x = heartbeat_105;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 4, 4);\n+}\n+\n+Vehiclemodecommand105* Vehiclemodecommand105::set_checksum_105(\n+ int checksum_105) {\n+ checksum_105_ = checksum_105;\n+ return this;\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+// 'CheckSum_105', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+// '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+void Vehiclemodecommand105::set_p_checksum_105(uint8_t* data,\n+ int checksum_105) {\n+ checksum_105 = ProtocolData::BoundedValue(0, 255, checksum_105);\n+ int x = checksum_105;\n+\n+ Byte to_set(data + 7);\n+ to_set.set_value(x, 0, 8);\n+}\n+\n+Vehiclemodecommand105* Vehiclemodecommand105::set_turn_light_ctrl(\n+ Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl) {\n+ turn_light_ctrl_ = turn_light_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 17, 'enum': {0: 'TURN_LIGHT_CTRL_TURNLAMP_OFF', 1:\n+// 'TURN_LIGHT_CTRL_LEFT_TURNLAMP_ON', 2: 'TURN_LIGHT_CTRL_RIGHT_TURNLAMP_ON',\n+// 3: 'TURN_LIGHT_CTRL_HAZARD_WARNING_LAMPSTS_ON'}, 'is_signed_var': False,\n+// 'len': 2, 'name': 'Turn_Light_CTRL', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+void Vehiclemodecommand105::set_p_turn_light_ctrl(\n+ uint8_t* data,\n+ Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl) {\n+ int x = turn_light_ctrl;\n+\n+ Byte to_set(data + 2);\n+ to_set.set_value(x, 0, 2);\n+}\n+\n+Vehiclemodecommand105* Vehiclemodecommand105::set_vin_req(\n+ Vehicle_mode_command_105::Vin_reqType vin_req) {\n+ vin_req_ = vin_req;\n+ return this;\n+}\n+\n+// config detail: {'bit': 24, 'enum': {0: 'VIN_REQ_VIN_REQ_DISABLE', 1:\n+// 'VIN_REQ_VIN_REQ_ENABLE'}, 'is_signed_var': False, 'len': 1, 'name':\n+// 'VIN_Req', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|1]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+void Vehiclemodecommand105::set_p_vin_req(\n+ uint8_t* data, Vehicle_mode_command_105::Vin_reqType vin_req) {\n+ int x = vin_req;\n+\n+ Byte to_set(data + 3);\n+ to_set.set_value(x, 0, 1);\n+}\n+\n+Vehiclemodecommand105* Vehiclemodecommand105::set_drive_mode_ctrl(\n+ Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl) {\n+ drive_mode_ctrl_ = drive_mode_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 10, 'enum': {0:\n+// 'DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE', 1: 'DRIVE_MODE_CTRL_SPEED_DRIVE'},\n+// 'is_signed_var': False, 'len': 3, 'name': 'Drive_Mode_CTRL', 'offset': 0.0,\n+// 'order': 'motorola', 'physical_range': '[0|7]', 'physical_unit': '',\n+// 'precision': 1.0, 'type': 'enum'}\n+void Vehiclemodecommand105::set_p_drive_mode_ctrl(\n+ uint8_t* data,\n+ Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl) {\n+ int x = drive_mode_ctrl;\n+\n+ Byte to_set(data + 1);\n+ to_set.set_value(x, 0, 3);\n+}\n+\n+Vehiclemodecommand105* Vehiclemodecommand105::set_steer_mode_ctrl(\n+ Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_ctrl) {\n+ steer_mode_ctrl_ = steer_mode_ctrl;\n+ return this;\n+}\n+\n+// config detail: {'bit': 2, 'enum': {0: 'STEER_MODE_CTRL_STANDARD_STEER', 1:\n+// 'STEER_MODE_CTRL_NON_DIRECTION_STEER', 2:\n+// 'STEER_MODE_CTRL_SYNC_DIRECTION_STEER'}, 'is_signed_var': False, 'len': 3,\n+// 'name': 'Steer_Mode_CTRL', 'offset': 0.0, 'order': 'motorola',\n+// 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+// 'enum'}\n+void Vehiclemodecommand105::set_p_steer_mode_ctrl(\n+ uint8_t* data,\n+ Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_ctrl) {\n+ int x = steer_mode_ctrl;\n+\n+ Byte to_set(data + 0);\n+ to_set.set_value(x, 0, 3);\n+}\n+\n+int Vehiclemodecommand105::heartbeat_105(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(4, 4);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+int Vehiclemodecommand105::checksum_105(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+Vehicle_mode_command_105::Turn_light_ctrlType\n+Vehiclemodecommand105::turn_light_ctrl(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 2);\n+\n+ Vehicle_mode_command_105::Turn_light_ctrlType ret =\n+ static_cast<Vehicle_mode_command_105::Turn_light_ctrlType>(x);\n+ return ret;\n+}\n+\n+Vehicle_mode_command_105::Vin_reqType Vehiclemodecommand105::vin_req(\n+ const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ Vehicle_mode_command_105::Vin_reqType ret =\n+ static_cast<Vehicle_mode_command_105::Vin_reqType>(x);\n+ return ret;\n+}\n+\n+Vehicle_mode_command_105::Drive_mode_ctrlType\n+Vehiclemodecommand105::drive_mode_ctrl(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 3);\n+\n+ Vehicle_mode_command_105::Drive_mode_ctrlType ret =\n+ static_cast<Vehicle_mode_command_105::Drive_mode_ctrlType>(x);\n+ return ret;\n+}\n+\n+Vehicle_mode_command_105::Steer_mode_ctrlType\n+Vehiclemodecommand105::steer_mode_ctrl(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 3);\n+\n+ Vehicle_mode_command_105::Steer_mode_ctrlType ret =\n+ static_cast<Vehicle_mode_command_105::Steer_mode_ctrlType>(x);\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h b/modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h\nnew file mode 100644\nindex 00000000000..26795c4fc75\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h\n@@ -0,0 +1,162 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Vehiclemodecommand105\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+\n+ Vehiclemodecommand105();\n+\n+ uint32_t GetPeriod() const override;\n+\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ void UpdateData_Heartbeat(uint8_t* data) override;\n+\n+ void UpdateData(uint8_t* data) override;\n+\n+ void Reset() override;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_105', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Vehiclemodecommand105* set_heartbeat_105(int heartbeat_105);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_105', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ Vehiclemodecommand105* set_checksum_105(int checksum_105);\n+\n+ // config detail: {'bit': 17, 'enum': {0: 'TURN_LIGHT_CTRL_TURNLAMP_OFF', 1:\n+ // 'TURN_LIGHT_CTRL_LEFT_TURNLAMP_ON', 2: 'TURN_LIGHT_CTRL_RIGHT_TURNLAMP_ON',\n+ // 3: 'TURN_LIGHT_CTRL_HAZARD_WARNING_LAMPSTS_ON'}, 'is_signed_var': False,\n+ // 'len': 2, 'name': 'Turn_Light_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vehiclemodecommand105* set_turn_light_ctrl(\n+ Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl);\n+\n+ // config detail: {'bit': 24, 'enum': {0: 'VIN_REQ_VIN_REQ_DISABLE', 1:\n+ // 'VIN_REQ_VIN_REQ_ENABLE'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'VIN_Req', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|1]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+ Vehiclemodecommand105* set_vin_req(\n+ Vehicle_mode_command_105::Vin_reqType vin_req);\n+\n+ // config detail: {'bit': 10, 'enum': {0:\n+ // 'DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE', 1: 'DRIVE_MODE_CTRL_SPEED_DRIVE'},\n+ // 'is_signed_var': False, 'len': 3, 'name': 'Drive_Mode_CTRL', 'offset': 0.0,\n+ // 'order': 'motorola', 'physical_range': '[0|7]', 'physical_unit': '',\n+ // 'precision': 1.0, 'type': 'enum'}\n+ Vehiclemodecommand105* set_drive_mode_ctrl(\n+ Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl);\n+\n+ // config detail: {'bit': 2, 'enum': {0: 'STEER_MODE_CTRL_STANDARD_STEER', 1:\n+ // 'STEER_MODE_CTRL_NON_DIRECTION_STEER', 2:\n+ // 'STEER_MODE_CTRL_SYNC_DIRECTION_STEER'}, 'is_signed_var': False, 'len': 3,\n+ // 'name': 'Steer_Mode_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ Vehiclemodecommand105* set_steer_mode_ctrl(\n+ Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_ctrl);\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 4, 'name':\n+ // 'Heartbeat_105', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|15]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_heartbeat_105(uint8_t* data, int heartbeat_105);\n+\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'CheckSum_105', 'offset': 0.0, 'order': 'motorola', 'physical_range':\n+ // '[0|255]', 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ void set_p_checksum_105(uint8_t* data, int checksum_105);\n+\n+ // config detail: {'bit': 17, 'enum': {0: 'TURN_LIGHT_CTRL_TURNLAMP_OFF', 1:\n+ // 'TURN_LIGHT_CTRL_LEFT_TURNLAMP_ON', 2: 'TURN_LIGHT_CTRL_RIGHT_TURNLAMP_ON',\n+ // 3: 'TURN_LIGHT_CTRL_HAZARD_WARNING_LAMPSTS_ON'}, 'is_signed_var': False,\n+ // 'len': 2, 'name': 'Turn_Light_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ void set_p_turn_light_ctrl(\n+ uint8_t* data,\n+ Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl);\n+\n+ // config detail: {'bit': 24, 'enum': {0: 'VIN_REQ_VIN_REQ_DISABLE', 1:\n+ // 'VIN_REQ_VIN_REQ_ENABLE'}, 'is_signed_var': False, 'len': 1, 'name':\n+ // 'VIN_Req', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|1]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'enum'}\n+ void set_p_vin_req(uint8_t* data,\n+ Vehicle_mode_command_105::Vin_reqType vin_req);\n+\n+ // config detail: {'bit': 10, 'enum': {0:\n+ // 'DRIVE_MODE_CTRL_THROTTLE_PADDLE_DRIVE', 1: 'DRIVE_MODE_CTRL_SPEED_DRIVE'},\n+ // 'is_signed_var': False, 'len': 3, 'name': 'Drive_Mode_CTRL', 'offset': 0.0,\n+ // 'order': 'motorola', 'physical_range': '[0|7]', 'physical_unit': '',\n+ // 'precision': 1.0, 'type': 'enum'}\n+ void set_p_drive_mode_ctrl(\n+ uint8_t* data,\n+ Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl);\n+\n+ // config detail: {'bit': 2, 'enum': {0: 'STEER_MODE_CTRL_STANDARD_STEER', 1:\n+ // 'STEER_MODE_CTRL_NON_DIRECTION_STEER', 2:\n+ // 'STEER_MODE_CTRL_SYNC_DIRECTION_STEER'}, 'is_signed_var': False, 'len': 3,\n+ // 'name': 'Steer_Mode_CTRL', 'offset': 0.0, 'order': 'motorola',\n+ // 'physical_range': '[0|7]', 'physical_unit': '', 'precision': 1.0, 'type':\n+ // 'enum'}\n+ void set_p_steer_mode_ctrl(\n+ uint8_t* data,\n+ Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_ctrl);\n+\n+ int heartbeat_105(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ int checksum_105(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Vehicle_mode_command_105::Vin_reqType vin_req(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n+ Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_ctrl(\n+ const std::uint8_t* bytes, const int32_t length) const;\n+\n+ private:\n+ int heartbeat_105_;\n+ int checksum_105_;\n+ Vehicle_mode_command_105::Turn_light_ctrlType turn_light_ctrl_;\n+ Vehicle_mode_command_105::Vin_reqType vin_req_;\n+ Vehicle_mode_command_105::Drive_mode_ctrlType drive_mode_ctrl_;\n+ Vehicle_mode_command_105::Steer_mode_ctrlType steer_mode_ctrl_;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vin_resp1_514.cc b/modules/canbus_vehicle/demo/protocol/vin_resp1_514.cc\nnew file mode 100644\nindex 00000000000..4b4fb1b9c49\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vin_resp1_514.cc\n@@ -0,0 +1,134 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/vin_resp1_514.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Vinresp1514::Vinresp1514() {}\n+const int32_t Vinresp1514::ID = 0x514;\n+\n+void Vinresp1514::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_vin_resp1_514()->set_vin07(vin07(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin06(vin06(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin05(vin05(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin04(vin04(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin03(vin03(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin02(vin02(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin01(vin01(bytes, length));\n+ chassis->mutable_vin_resp1_514()->set_vin00(vin00(bytes, length));\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name': 'vin07',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin07(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 8, 'name': 'vin06',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin06(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 47, 'is_signed_var': False, 'len': 8, 'name': 'vin05',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin05(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 5);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 8, 'name': 'vin04',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin04(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 31, 'is_signed_var': False, 'len': 8, 'name': 'vin03',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin03(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 8, 'name': 'vin02',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin02(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name': 'vin01',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin01(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 8, 'name': 'vin00',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp1514::vin00(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vin_resp1_514.h b/modules/canbus_vehicle/demo/protocol/vin_resp1_514.h\nnew file mode 100644\nindex 00000000000..2bdec396d70\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vin_resp1_514.h\n@@ -0,0 +1,79 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Vinresp1514\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Vinresp1514();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN07', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin07(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN06', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin06(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 47, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN05', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin05(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN04', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin04(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 31, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN03', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin03(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN02', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin02(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN01', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin01(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN00', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin00(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vin_resp2_515.cc b/modules/canbus_vehicle/demo/protocol/vin_resp2_515.cc\nnew file mode 100644\nindex 00000000000..374e7f5f77f\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vin_resp2_515.cc\n@@ -0,0 +1,134 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/vin_resp2_515.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Vinresp2515::Vinresp2515() {}\n+const int32_t Vinresp2515::ID = 0x515;\n+\n+void Vinresp2515::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_vin_resp2_515()->set_vin15(vin15(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin14(vin14(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin13(vin13(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin12(vin12(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin11(vin11(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin10(vin10(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin09(vin09(bytes, length));\n+ chassis->mutable_vin_resp2_515()->set_vin08(vin08(bytes, length));\n+}\n+\n+// config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name': 'vin15',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin15(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 7);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 8, 'name': 'vin14',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin14(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 47, 'is_signed_var': False, 'len': 8, 'name': 'vin13',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin13(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 5);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 8, 'name': 'vin12',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin12(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 31, 'is_signed_var': False, 'len': 8, 'name': 'vin11',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin11(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 8, 'name': 'vin10',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin10(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name': 'vin09',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin09(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 8, 'name': 'vin08',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp2515::vin08(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vin_resp2_515.h b/modules/canbus_vehicle/demo/protocol/vin_resp2_515.h\nnew file mode 100644\nindex 00000000000..0a82ad5bd4c\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vin_resp2_515.h\n@@ -0,0 +1,79 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Vinresp2515\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Vinresp2515();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 63, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN15', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin15(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN14', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin14(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 47, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN13', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin13(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN12', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin12(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 31, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN11', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin11(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN10', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin10(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 15, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN09', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin09(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN08', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin08(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vin_resp3_516.cc b/modules/canbus_vehicle/demo/protocol/vin_resp3_516.cc\nnew file mode 100644\nindex 00000000000..204cc7ccbd2\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vin_resp3_516.cc\n@@ -0,0 +1,50 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/vin_resp3_516.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Vinresp3516::Vinresp3516() {}\n+const int32_t Vinresp3516::ID = 0x516;\n+\n+void Vinresp3516::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_vin_resp3_516()->set_vin16(vin16(bytes, length));\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 8, 'name': 'vin16',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+// 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+int Vinresp3516::vin16(const std::uint8_t* bytes, int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int ret = x;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/vin_resp3_516.h b/modules/canbus_vehicle/demo/protocol/vin_resp3_516.h\nnew file mode 100644\nindex 00000000000..d84327bc3e5\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/vin_resp3_516.h\n@@ -0,0 +1,44 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Vinresp3516\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Vinresp3516();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 8, 'name':\n+ // 'VIN16', 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|255]',\n+ // 'physical_unit': '', 'precision': 1.0, 'type': 'int'}\n+ int vin16(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.cc b/modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.cc\nnew file mode 100644\nindex 00000000000..2a7db0b34cf\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.cc\n@@ -0,0 +1,110 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h\"\n+\n+#include \"glog/logging.h\"\n+\n+#include \"modules/drivers/canbus/common/byte.h\"\n+#include \"modules/drivers/canbus/common/canbus_consts.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+using ::apollo::drivers::canbus::Byte;\n+\n+Wheelspeedreport506::Wheelspeedreport506() {}\n+const int32_t Wheelspeedreport506::ID = 0x506;\n+\n+void Wheelspeedreport506::Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const {\n+ chassis->mutable_wheelspeed_report_506()->set_rr(rr(bytes, length));\n+ chassis->mutable_wheelspeed_report_506()->set_rl(rl(bytes, length));\n+ chassis->mutable_wheelspeed_report_506()->set_fr(fr(bytes, length));\n+ chassis->mutable_wheelspeed_report_506()->set_fl(fl(bytes, length));\n+}\n+\n+// config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name': 'rr',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+// 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+double Wheelspeedreport506::rr(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 6);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 7);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.001000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name': 'rl',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+// 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+double Wheelspeedreport506::rl(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 4);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 5);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.001000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name': 'fr',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+// 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+double Wheelspeedreport506::fr(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.001000;\n+ return ret;\n+}\n+\n+// config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name': 'fl',\n+// 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+// 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+double Wheelspeedreport506::fl(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 0);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 1);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = x * 0.001000;\n+ return ret;\n+}\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h b/modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h\nnew file mode 100644\nindex 00000000000..46f363ec8be\n--- /dev/null\n+++ b/modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h\n@@ -0,0 +1,59 @@\n+/******************************************************************************\n+ * Copyright 2023 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include \"modules/canbus_vehicle/demo/proto/demo.pb.h\"\n+\n+#include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n+\n+namespace apollo {\n+namespace canbus {\n+namespace demo {\n+\n+class Wheelspeedreport506\n+ : public ::apollo::drivers::canbus::ProtocolData<::apollo::canbus::Demo> {\n+ public:\n+ static const int32_t ID;\n+ Wheelspeedreport506();\n+ void Parse(const std::uint8_t* bytes, int32_t length,\n+ Demo* chassis) const override;\n+\n+ private:\n+ // config detail: {'bit': 55, 'is_signed_var': False, 'len': 16, 'name': 'RR',\n+ // 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+ // 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+ double rr(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 39, 'is_signed_var': False, 'len': 16, 'name': 'RL',\n+ // 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+ // 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+ double rl(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 23, 'is_signed_var': False, 'len': 16, 'name': 'FR',\n+ // 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+ // 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+ double fr(const std::uint8_t* bytes, const int32_t length) const;\n+\n+ // config detail: {'bit': 7, 'is_signed_var': False, 'len': 16, 'name': 'FL',\n+ // 'offset': 0.0, 'order': 'motorola', 'physical_range': '[0|65.535]',\n+ // 'physical_unit': 'm/s', 'precision': 0.001, 'type': 'double'}\n+ double fl(const std::uint8_t* bytes, const int32_t length) const;\n+};\n+\n+} // namespace demo\n+} // namespace canbus\n+} // namespace apollo\ndiff --git a/modules/canbus_vehicle/devkit/devkit_controller.cc b/modules/canbus_vehicle/devkit/devkit_controller.cc\nindex 5f4bb19f3ff..59232d0c747 100644\n--- a/modules/canbus_vehicle/devkit/devkit_controller.cc\n+++ b/modules/canbus_vehicle/devkit/devkit_controller.cc\n@@ -45,10 +45,19 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n bool emergency_brake = false;\n } // namespace\n \n+void DevkitController::AddSendMessage() {\n+ can_sender_->AddMessage(Throttlecommand100::ID, throttle_command_100_, false);\n+ can_sender_->AddMessage(Brakecommand101::ID, brake_command_101_, false);\n+ can_sender_->AddMessage(Gearcommand103::ID, gear_command_103_, false);\n+ can_sender_->AddMessage(Parkcommand104::ID, park_command_104_, false);\n+ can_sender_->AddMessage(Steeringcommand102::ID, steering_command_102_, false);\n+ can_sender_->AddMessage(Vehiclemodecommand105::ID, vehicle_mode_command_105_,\n+ false);\n+}\n+\n ErrorCode DevkitController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Devkit>* const can_sender,\n- CanReceiver<::apollo::canbus::Devkit>* const can_receiver,\n MessageManager<::apollo::canbus::Devkit>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"DevkitController has already been initiated.\";\n@@ -68,12 +77,6 @@ ErrorCode DevkitController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\n@@ -124,15 +127,8 @@ ErrorCode DevkitController::Init(\n return ErrorCode::CANBUS_ERROR;\n }\n \n- can_sender_->AddMessage(Throttlecommand100::ID, throttle_command_100_, false);\n- can_sender_->AddMessage(Brakecommand101::ID, brake_command_101_, false);\n- can_sender_->AddMessage(Gearcommand103::ID, gear_command_103_, false);\n- can_sender_->AddMessage(Parkcommand104::ID, park_command_104_, false);\n- can_sender_->AddMessage(Steeringcommand102::ID, steering_command_102_, false);\n- can_sender_->AddMessage(Vehiclemodecommand105::ID, vehicle_mode_command_105_,\n- false);\n+ AddSendMessage();\n \n- // need sleep to ensure all messages received\n AINFO << \"DevkitController is initialized.\";\n \n is_initialized_ = true;\n@@ -168,10 +164,9 @@ void DevkitController::Stop() {\n Chassis DevkitController::chassis() {\n chassis_.Clear();\n \n- Devkit chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n+ Devkit chassis_detail = GetNewRecvChassisDetail();\n \n- // 21, 22, previously 1, 2\n+ // 1, 2\n // if (driving_mode() == Chassis::EMERGENCY_MODE) {\n // set_chassis_error_code(Chassis::NO_ERROR);\n // }\n@@ -309,16 +304,17 @@ Chassis DevkitController::chassis() {\n chassis_detail.bms_report_512().has_battery_soc_percentage()) {\n chassis_.set_battery_soc_percentage(\n chassis_detail.bms_report_512().battery_soc_percentage());\n+ // 15 give engage_advice based on battery low soc warn\n+ if (chassis_detail.bms_report_512().is_battery_soc_low()) {\n+ chassis_.mutable_engage_advice()->set_advice(\n+ apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n+ chassis_.mutable_engage_advice()->set_reason(\n+ \"Battery soc percentage is lower than 15%, please charge it \"\n+ \"quickly!\");\n+ }\n } else {\n chassis_.set_battery_soc_percentage(0);\n }\n- // 15 give engage_advice based on battery low soc warn\n- if (chassis_.battery_soc_percentage() <= 15) {\n- chassis_.mutable_engage_advice()->set_advice(\n- apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n- chassis_.mutable_engage_advice()->set_reason(\n- \"Battery soc percentage is lower than 15%, please charge it quickly!\");\n- }\n // 16 sonor list\n // to do(ALL):check your vehicle type, confirm your sonar position because of\n // every vhechle has different sonars assembly.\n@@ -451,6 +447,7 @@ Chassis DevkitController::chassis() {\n \"Chassis has some fault, please check the chassis_detail.\");\n }\n \n+ // check the chassis detail lost\n if (is_chassis_communication_error_) {\n chassis_.mutable_engage_advice()->set_advice(\n apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n@@ -751,68 +748,13 @@ void DevkitController::ResetProtocol() {\n message_manager_->ResetSendMessages();\n }\n \n-bool DevkitController::CheckChassisCommunicationError() {\n- Devkit chassis_detail_receiver;\n- ADEBUG << \"Can receiver finished recv once: \"\n- << can_receiver_->IsFinishRecvOnce();\n- if (message_manager_->GetSensorRecvData(&chassis_detail_receiver) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_receiver is \"\n- << chassis_detail_receiver.ShortDebugString();\n- size_t receiver_data_size = chassis_detail_receiver.ByteSizeLong();\n- ADEBUG << \"check chassis detail receiver_data_size is \" << receiver_data_size;\n- // check receiver data is null\n- if (receiver_data_size < 2) {\n- if (is_need_count_) {\n- lost_chassis_reveive_detail_count_++;\n- }\n- } else {\n- lost_chassis_reveive_detail_count_ = 0;\n- is_need_count_ = true;\n- }\n- ADEBUG << \"lost_chassis_reveive_detail_count_ is \"\n- << lost_chassis_reveive_detail_count_;\n- // check receive data lost threshold is (100 * 10)ms\n- if (lost_chassis_reveive_detail_count_ > 100) {\n- is_need_count_ = false;\n- is_chassis_communication_error_ = true;\n- AERROR << \"neolix chassis detail is lost, please check the communication \"\n- \"error.\";\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorData();\n- return true;\n- } else {\n- is_chassis_communication_error_ = false;\n- }\n-\n- Devkit chassis_detail_sender;\n- if (message_manager_->GetSensorSenderData(&chassis_detail_sender) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_sender is \"\n- << chassis_detail_sender.ShortDebugString();\n- size_t sender_data_size = chassis_detail_sender.ByteSizeLong();\n- ADEBUG << \"check chassis detail sender_data_size is \" << sender_data_size;\n-\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorSenderData();\n- return false;\n-}\n-\n bool DevkitController::CheckChassisError() {\n if (is_chassis_communication_error_) {\n AERROR_EVERY(100) << \"ChassisDetail has no devkit vehicle info.\";\n return false;\n }\n- Devkit chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis detail failed.\";\n- }\n \n+ Devkit chassis_detail = GetNewRecvChassisDetail();\n // steer fault\n if (chassis_detail.has_steering_report_502()) {\n if (Steering_report_502::STEER_FLT1_STEER_SYSTEM_HARDWARE_FAULT ==\n@@ -937,6 +879,7 @@ void DevkitController::SecurityDogThreadFunc() {\n emergency_brake = false;\n }\n \n+ // recove error code\n if (!emergency_mode && !is_chassis_communication_error_ &&\n mode == Chassis::EMERGENCY_MODE) {\n set_chassis_error_code(Chassis::NO_ERROR);\n@@ -962,10 +905,6 @@ bool DevkitController::CheckResponse(const int32_t flags, bool need_wait) {\n bool is_esp_online = false;\n \n do {\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"get chassis detail failed.\";\n- return false;\n- }\n bool check_ok = true;\n if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n is_eps_online = chassis_.has_check_response() &&\n@@ -995,9 +934,14 @@ bool DevkitController::CheckResponse(const int32_t flags, bool need_wait) {\n }\n } while (need_wait && retry_num);\n \n- AINFO << \"check_response fail: is_eps_online:\" << is_eps_online\n- << \", is_vcu_online:\" << is_vcu_online\n- << \", is_esp_online:\" << is_esp_online;\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ AERROR << \"steer check_response fail: is_eps_online:\" << is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ AERROR << \"speed check_response fail: \" << \"is_vcu_online:\" << is_vcu_online\n+ << \", is_esp_online:\" << is_esp_online;\n+ }\n \n return false;\n }\ndiff --git a/modules/canbus_vehicle/devkit/devkit_controller.h b/modules/canbus_vehicle/devkit/devkit_controller.h\nindex 3d0aac182a8..bd1ca36c97d 100755\n--- a/modules/canbus_vehicle/devkit/devkit_controller.h\n+++ b/modules/canbus_vehicle/devkit/devkit_controller.h\n@@ -47,7 +47,6 @@ class DevkitController final\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Devkit>* const can_sender,\n- CanReceiver<::apollo::canbus::Devkit>* const can_receiver,\n MessageManager<::apollo::canbus::Devkit>* const message_manager) override;\n \n bool Start() override;\n@@ -64,9 +63,9 @@ class DevkitController final\n Chassis chassis() override;\n \n /**\n- * @brief ccheck the chassis detail received or lost.\n+ * @brief add the sender message.\n */\n- bool CheckChassisCommunicationError();\n+ void AddSendMessage() override;\n \n /**\n * for test\n@@ -154,9 +153,6 @@ class DevkitController final\n \n std::mutex chassis_mask_mutex_;\n int32_t chassis_error_mask_ = 0;\n- uint32_t lost_chassis_reveive_detail_count_ = 0;\n- bool is_need_count_ = true;\n- bool is_chassis_communication_error_ = false;\n };\n \n } // namespace devkit\ndiff --git a/modules/canbus_vehicle/devkit/devkit_vehicle_factory.cc b/modules/canbus_vehicle/devkit/devkit_vehicle_factory.cc\nindex 48766ce8667..90e3d649241 100755\n--- a/modules/canbus_vehicle/devkit/devkit_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/devkit/devkit_vehicle_factory.cc\n@@ -69,7 +69,6 @@ bool DevkitVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -84,6 +83,9 @@ bool DevkitVehicleFactory::Init(const CanbusConf *canbus_conf) {\n chassis_detail_writer_ =\n node_->CreateWriter<::apollo::canbus::Devkit>(FLAGS_chassis_detail_topic);\n \n+ chassis_detail_sender_writer_ = node_->CreateWriter<::apollo::canbus::Devkit>(\n+ FLAGS_chassis_detail_sender_topic);\n+\n return true;\n }\n \n@@ -152,12 +154,21 @@ Chassis DevkitVehicleFactory::publish_chassis() {\n }\n \n void DevkitVehicleFactory::PublishChassisDetail() {\n- Devkit chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n- ADEBUG << chassis_detail.ShortDebugString();\n+ Devkit chassis_detail = vehicle_controller_->GetNewRecvChassisDetail();\n+ ADEBUG << \"latest chassis_detail is \" << chassis_detail.ShortDebugString();\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n+void DevkitVehicleFactory::PublishChassisDetailSender() {\n+ Devkit sender_chassis_detail =\n+ vehicle_controller_->GetNewSenderChassisDetail();\n+ ADEBUG << \"latest sender_chassis_detail is \"\n+ << sender_chassis_detail.ShortDebugString();\n+ chassis_detail_sender_writer_->Write(sender_chassis_detail);\n+}\n+\n+void DevkitVehicleFactory::UpdateHeartbeat() { can_sender_.Update_Heartbeat(); }\n+\n bool DevkitVehicleFactory::CheckChassisCommunicationFault() {\n if (vehicle_controller_->CheckChassisCommunicationError()) {\n return true;\n@@ -165,9 +176,26 @@ bool DevkitVehicleFactory::CheckChassisCommunicationFault() {\n return false;\n }\n \n-std::unique_ptr<devkit::DevkitController>\n+void DevkitVehicleFactory::AddSendProtocol() {\n+ vehicle_controller_->AddSendMessage();\n+}\n+\n+void DevkitVehicleFactory::ClearSendProtocol() { can_sender_.ClearMessage(); }\n+\n+bool DevkitVehicleFactory::IsSendProtocolClear() {\n+ if (can_sender_.IsMessageClear()) {\n+ return true;\n+ }\n+ return false;\n+}\n+\n+Chassis::DrivingMode DevkitVehicleFactory::Driving_Mode() {\n+ return vehicle_controller_->driving_mode();\n+}\n+\n+std::unique_ptr<VehicleController<::apollo::canbus::Devkit>>\n DevkitVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<devkit::DevkitController>(\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Devkit>>(\n new devkit::DevkitController());\n }\n \ndiff --git a/modules/canbus_vehicle/devkit/devkit_vehicle_factory.h b/modules/canbus_vehicle/devkit/devkit_vehicle_factory.h\nindex 95b6982c870..cd819fc071f 100755\n--- a/modules/canbus_vehicle/devkit/devkit_vehicle_factory.h\n+++ b/modules/canbus_vehicle/devkit/devkit_vehicle_factory.h\n@@ -90,19 +90,53 @@ class DevkitVehicleFactory : public AbstractVehicleFactory {\n */\n Chassis publish_chassis() override;\n \n+ /**\n+ * @brief create cansender heartbeat\n+ */\n+ void UpdateHeartbeat() override;\n+\n /**\n * @brief publish chassis for vehicle messages\n */\n void PublishChassisDetail() override;\n \n- bool CheckChassisCommunicationFault();\n+ /**\n+ * @brief publish chassis for apollo sender messages\n+ */\n+ void PublishChassisDetailSender() override;\n+\n+ /**\n+ * @brief check chassis can receiver lost\n+ */\n+ bool CheckChassisCommunicationFault() override;\n+\n+ /**\n+ * @brief add the can sender messages\n+ */\n+ void AddSendProtocol() override;\n+\n+ /**\n+ * @brief clear the can sender messages\n+ */\n+ void ClearSendProtocol() override;\n+\n+ /**\n+ * @brief check the sender message clear or not\n+ */\n+ bool IsSendProtocolClear() override;\n+\n+ /**\n+ * @brief get the latest chassis driving mode\n+ */\n+ Chassis::DrivingMode Driving_Mode() override;\n \n private:\n /**\n * @brief create devkit vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<devkit::DevkitController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Devkit>>\n+ CreateVehicleController();\n \n /**\n * @brief create devkit message manager\n@@ -116,10 +150,13 @@ class DevkitVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Devkit> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Devkit> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Devkit>> message_manager_;\n- std::unique_ptr<devkit::DevkitController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Devkit>>\n+ vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Devkit>>\n chassis_detail_writer_;\n+ std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Devkit>>\n+ chassis_detail_sender_writer_;\n };\n \n CYBER_REGISTER_VEHICLEFACTORY(DevkitVehicleFactory)\ndiff --git a/modules/canbus_vehicle/ge3/ge3_controller.cc b/modules/canbus_vehicle/ge3/ge3_controller.cc\nindex dd50e54ec06..a686fd28b84 100644\n--- a/modules/canbus_vehicle/ge3/ge3_controller.cc\n+++ b/modules/canbus_vehicle/ge3/ge3_controller.cc\n@@ -42,7 +42,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n \n ErrorCode Ge3Controller::Init(\n const VehicleParameter& params, CanSender<Ge3>* const can_sender,\n- CanReceiver<Ge3>* const can_receiver,\n MessageManager<::apollo::canbus::Ge3>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"Ge3Controller has already been initiated.\";\n@@ -63,12 +62,6 @@ ErrorCode Ge3Controller::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/ge3/ge3_controller.h b/modules/canbus_vehicle/ge3/ge3_controller.h\nindex 328a14768ec..a55f23776ca 100644\n--- a/modules/canbus_vehicle/ge3/ge3_controller.h\n+++ b/modules/canbus_vehicle/ge3/ge3_controller.h\n@@ -43,7 +43,6 @@ class Ge3Controller final : public VehicleController<::apollo::canbus::Ge3> {\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Ge3>* const can_sender,\n- CanReceiver<Ge3>* const can_receiver,\n MessageManager<::apollo::canbus::Ge3>* const message_manager) override;\n \n bool Start() override;\ndiff --git a/modules/canbus_vehicle/ge3/ge3_vehicle_factory.cc b/modules/canbus_vehicle/ge3/ge3_vehicle_factory.cc\nindex a73129f4fca..407a172633e 100644\n--- a/modules/canbus_vehicle/ge3/ge3_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/ge3/ge3_vehicle_factory.cc\n@@ -18,6 +18,8 @@\n \n #include \"cyber/common/log.h\"\n #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/ge3/ge3_controller.h\"\n+#include \"modules/canbus_vehicle/ge3/ge3_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -69,7 +71,6 @@ bool Ge3VehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -158,9 +159,10 @@ void Ge3VehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<ge3::Ge3Controller>\n+std::unique_ptr<VehicleController<::apollo::canbus::Ge3>>\n Ge3VehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<ge3::Ge3Controller>(new ge3::Ge3Controller());\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Ge3>>(\n+ new ge3::Ge3Controller());\n }\n \n std::unique_ptr<MessageManager<::apollo::canbus::Ge3>>\ndiff --git a/modules/canbus_vehicle/ge3/ge3_vehicle_factory.h b/modules/canbus_vehicle/ge3/ge3_vehicle_factory.h\nindex 1051296722f..34d5d7f6d8f 100644\n--- a/modules/canbus_vehicle/ge3/ge3_vehicle_factory.h\n+++ b/modules/canbus_vehicle/ge3/ge3_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/ge3/proto/ge3.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/ge3/ge3_controller.h\"\n-#include \"modules/canbus_vehicle/ge3/ge3_message_manager.h\"\n #include \"modules/common/status/status.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n@@ -100,7 +97,8 @@ class Ge3VehicleFactory : public AbstractVehicleFactory {\n * @brief create ge3 vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<ge3::Ge3Controller> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Ge3>>\n+ CreateVehicleController();\n \n /**\n * @brief create ge3 message manager\n@@ -113,7 +111,7 @@ class Ge3VehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Ge3> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Ge3> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Ge3>> message_manager_;\n- std::unique_ptr<ge3::Ge3Controller> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Ge3>> vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Ge3>>\n chassis_detail_writer_;\ndiff --git a/modules/canbus_vehicle/gem/gem_controller.cc b/modules/canbus_vehicle/gem/gem_controller.cc\nindex fb47d215bc1..5233fca0044 100644\n--- a/modules/canbus_vehicle/gem/gem_controller.cc\n+++ b/modules/canbus_vehicle/gem/gem_controller.cc\n@@ -48,7 +48,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n ErrorCode GemController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Gem>* const can_sender,\n- CanReceiver<::apollo::canbus::Gem>* const can_receiver,\n MessageManager<::apollo::canbus::Gem>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"GemController has already been initialized.\";\n@@ -68,12 +67,6 @@ ErrorCode GemController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"Protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/gem/gem_controller.h b/modules/canbus_vehicle/gem/gem_controller.h\nindex d3bd774a2a3..9c454b223c4 100644\n--- a/modules/canbus_vehicle/gem/gem_controller.h\n+++ b/modules/canbus_vehicle/gem/gem_controller.h\n@@ -47,7 +47,6 @@ class GemController final : public VehicleController<::apollo::canbus::Gem> {\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Gem>* const can_sender,\n- CanReceiver<::apollo::canbus::Gem>* const can_receiver,\n MessageManager<::apollo::canbus::Gem>* const message_manager) override;\n \n bool Start() override;\ndiff --git a/modules/canbus_vehicle/gem/gem_vehicle_factory.cc b/modules/canbus_vehicle/gem/gem_vehicle_factory.cc\nindex 6a7c14bc90f..6287b6481f6 100644\n--- a/modules/canbus_vehicle/gem/gem_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/gem/gem_vehicle_factory.cc\n@@ -17,6 +17,9 @@\n #include \"modules/canbus_vehicle/gem/gem_vehicle_factory.h\"\n \n #include \"cyber/common/log.h\"\n+// #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/gem/gem_controller.h\"\n+#include \"modules/canbus_vehicle/gem/gem_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -68,7 +71,6 @@ bool GemVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -157,9 +159,10 @@ void GemVehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<gem::GemController>\n+std::unique_ptr<VehicleController<::apollo::canbus::Gem>>\n GemVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<gem::GemController>(new gem::GemController());\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Gem>>(\n+ new gem::GemController());\n }\n \n std::unique_ptr<MessageManager<::apollo::canbus::Gem>>\ndiff --git a/modules/canbus_vehicle/gem/gem_vehicle_factory.h b/modules/canbus_vehicle/gem/gem_vehicle_factory.h\nindex b1b685e50e5..8989c334ad1 100644\n--- a/modules/canbus_vehicle/gem/gem_vehicle_factory.h\n+++ b/modules/canbus_vehicle/gem/gem_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/gem/proto/gem.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/gem/gem_controller.h\"\n-#include \"modules/canbus_vehicle/gem/gem_message_manager.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n@@ -99,7 +96,8 @@ class GemVehicleFactory : public AbstractVehicleFactory {\n * @brief create Gem vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<gem::GemController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Gem>>\n+ CreateVehicleController();\n \n /**\n * @brief create Gem message manager\n@@ -112,7 +110,7 @@ class GemVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Gem> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Gem> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Gem>> message_manager_;\n- std::unique_ptr<gem::GemController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Gem>> vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Gem>>\n chassis_detail_writer_;\ndiff --git a/modules/canbus_vehicle/lexus/lexus_controller.cc b/modules/canbus_vehicle/lexus/lexus_controller.cc\nindex 4ea7797a5a1..f7f099fd3b7 100644\n--- a/modules/canbus_vehicle/lexus/lexus_controller.cc\n+++ b/modules/canbus_vehicle/lexus/lexus_controller.cc\n@@ -44,7 +44,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n ErrorCode LexusController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Lexus>* const can_sender,\n- CanReceiver<::apollo::canbus::Lexus>* const can_receiver,\n MessageManager<::apollo::canbus::Lexus>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"LexusController has already been initiated.\";\n@@ -64,12 +63,6 @@ ErrorCode LexusController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"Protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/lexus/lexus_controller.h b/modules/canbus_vehicle/lexus/lexus_controller.h\nindex 50c1177e05f..dc8ad032d6c 100644\n--- a/modules/canbus_vehicle/lexus/lexus_controller.h\n+++ b/modules/canbus_vehicle/lexus/lexus_controller.h\n@@ -52,7 +52,6 @@ class LexusController final\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Lexus>* const can_sender,\n- CanReceiver<::apollo::canbus::Lexus>* const can_receiver,\n MessageManager<::apollo::canbus::Lexus>* const message_manager) override;\n \n bool Start() override;\ndiff --git a/modules/canbus_vehicle/lexus/lexus_vehicle_factory.cc b/modules/canbus_vehicle/lexus/lexus_vehicle_factory.cc\nindex f49414c96fa..4a79bebef32 100644\n--- a/modules/canbus_vehicle/lexus/lexus_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/lexus/lexus_vehicle_factory.cc\n@@ -18,6 +18,8 @@\n \n #include \"cyber/common/log.h\"\n #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/lexus/lexus_controller.h\"\n+#include \"modules/canbus_vehicle/lexus/lexus_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -69,7 +71,6 @@ bool LexusVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -158,9 +159,10 @@ void LexusVehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<lexus::LexusController>\n+std::unique_ptr<VehicleController<::apollo::canbus::Lexus>>\n LexusVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<lexus::LexusController>(new lexus::LexusController());\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Lexus>>(\n+ new lexus::LexusController());\n }\n \n std::unique_ptr<MessageManager<::apollo::canbus::Lexus>>\ndiff --git a/modules/canbus_vehicle/lexus/lexus_vehicle_factory.h b/modules/canbus_vehicle/lexus/lexus_vehicle_factory.h\nindex 1bcc15c1c49..53c86083a2d 100644\n--- a/modules/canbus_vehicle/lexus/lexus_vehicle_factory.h\n+++ b/modules/canbus_vehicle/lexus/lexus_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/lexus/proto/lexus.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/lexus/lexus_controller.h\"\n-#include \"modules/canbus_vehicle/lexus/lexus_message_manager.h\"\n #include \"modules/common/status/status.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n@@ -100,7 +97,8 @@ class LexusVehicleFactory : public AbstractVehicleFactory {\n * @brief create lexus vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<lexus::LexusController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Lexus>>\n+ CreateVehicleController();\n \n /**\n * @brief create lexus message manager\n@@ -114,7 +112,8 @@ class LexusVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Lexus> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Lexus> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Lexus>> message_manager_;\n- std::unique_ptr<lexus::LexusController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Lexus>>\n+ vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Lexus>>\n chassis_detail_writer_;\ndiff --git a/modules/canbus_vehicle/lincoln/lincoln_controller.cc b/modules/canbus_vehicle/lincoln/lincoln_controller.cc\nindex 32d5f813450..592999da22f 100644\n--- a/modules/canbus_vehicle/lincoln/lincoln_controller.cc\n+++ b/modules/canbus_vehicle/lincoln/lincoln_controller.cc\n@@ -50,7 +50,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n ErrorCode LincolnController::Init(\n const VehicleParameter ¶ms,\n CanSender<::apollo::canbus::Lincoln> *const can_sender,\n- CanReceiver<::apollo::canbus::Lincoln> *const can_receiver,\n MessageManager<::apollo::canbus::Lincoln> *const message_manager) {\n if (is_initialized_) {\n AINFO << \"LincolnController has already been initiated.\";\n@@ -70,12 +69,6 @@ ErrorCode LincolnController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"Protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/lincoln/lincoln_controller.h b/modules/canbus_vehicle/lincoln/lincoln_controller.h\nindex 42b49667821..89c9b8b7cb4 100644\n--- a/modules/canbus_vehicle/lincoln/lincoln_controller.h\n+++ b/modules/canbus_vehicle/lincoln/lincoln_controller.h\n@@ -61,12 +61,10 @@ class LincolnController final\n * @brief initialize the lincoln vehicle controller.\n * @return init error_code\n */\n- common::ErrorCode Init(\n- const VehicleParameter ¶ms,\n- CanSender<::apollo::canbus::Lincoln> *const can_sender,\n- CanReceiver<::apollo::canbus::Lincoln> *const can_receiver,\n- MessageManager<::apollo::canbus::Lincoln> *const message_manager)\n- override;\n+ common::ErrorCode Init(const VehicleParameter ¶ms,\n+ CanSender<::apollo::canbus::Lincoln> *const can_sender,\n+ MessageManager<::apollo::canbus::Lincoln>\n+ *const message_manager) override;\n \n /**\n * @brief start the vehicle controller.\ndiff --git a/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc b/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc\nindex b66c9075080..9056dbe3122 100644\n--- a/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc\n@@ -18,6 +18,8 @@\n \n #include \"cyber/common/log.h\"\n #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/lincoln/lincoln_controller.h\"\n+#include \"modules/canbus_vehicle/lincoln/lincoln_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -69,7 +71,6 @@ bool LincolnVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -158,9 +159,9 @@ void LincolnVehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<lincoln::LincolnController>\n+std::unique_ptr<VehicleController<::apollo::canbus::Lincoln>>\n LincolnVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<lincoln::LincolnController>(\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Lincoln>>(\n new lincoln::LincolnController());\n }\n \ndiff --git a/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.h b/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.h\nindex 438315872b4..b21bb159aa2 100644\n--- a/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.h\n+++ b/modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/lincoln/proto/lincoln.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/lincoln/lincoln_controller.h\"\n-#include \"modules/canbus_vehicle/lincoln/lincoln_message_manager.h\"\n #include \"modules/common/status/status.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n@@ -100,7 +97,8 @@ class LincolnVehicleFactory : public AbstractVehicleFactory {\n * @brief create Lincoln vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<lincoln::LincolnController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Lincoln>>\n+ CreateVehicleController();\n \n /**\n * @brief create lincoln message manager\n@@ -114,7 +112,8 @@ class LincolnVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Lincoln> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Lincoln> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Lincoln>> message_manager_;\n- std::unique_ptr<lincoln::LincolnController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Lincoln>>\n+ vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Lincoln>>\n chassis_detail_writer_;\ndiff --git a/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.cc b/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.cc\nindex d31f7ec05e3..26b1e8f18a5 100644\n--- a/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.cc\n+++ b/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.cc\n@@ -41,10 +41,18 @@ const int32_t CHECK_RESPONSE_STEER_UNIT_FLAG = 1;\n const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n } // namespace\n \n+void Neolix_eduController::AddSendMessage() {\n+ can_sender_->AddMessage(Adsbrakecommand46::ID, ads_brake_command_46_, false);\n+ can_sender_->AddMessage(Adsdiagnosis628::ID, ads_diagnosis_628_, false);\n+ can_sender_->AddMessage(Adsdrivecommand50::ID, ads_drive_command_50_, false);\n+ can_sender_->AddMessage(Adsepscommand56::ID, ads_eps_command_56_, false);\n+ can_sender_->AddMessage(Adslighthorncommand310::ID,\n+ ads_light_horn_command_310_, false);\n+}\n+\n ErrorCode Neolix_eduController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Neolix_edu>* const can_sender,\n- CanReceiver<::apollo::canbus::Neolix_edu>* const can_receiver,\n MessageManager<::apollo::canbus::Neolix_edu>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"Neolix_eduController has already been initiated.\";\n@@ -64,12 +72,6 @@ ErrorCode Neolix_eduController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\n@@ -115,14 +117,8 @@ ErrorCode Neolix_eduController::Init(\n return ErrorCode::CANBUS_ERROR;\n }\n \n- can_sender_->AddMessage(Adsbrakecommand46::ID, ads_brake_command_46_, false);\n- can_sender_->AddMessage(Adsdiagnosis628::ID, ads_diagnosis_628_, false);\n- can_sender_->AddMessage(Adsdrivecommand50::ID, ads_drive_command_50_, false);\n- can_sender_->AddMessage(Adsepscommand56::ID, ads_eps_command_56_, false);\n- can_sender_->AddMessage(Adslighthorncommand310::ID,\n- ads_light_horn_command_310_, false);\n+ AddSendMessage();\n \n- // need sleep to ensure all messages received\n AINFO << \"Neolix_eduController is initialized.\";\n \n is_initialized_ = true;\n@@ -158,10 +154,9 @@ void Neolix_eduController::Stop() {\n Chassis Neolix_eduController::chassis() {\n chassis_.Clear();\n \n- Neolix_edu chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n+ Neolix_edu chassis_detail = GetNewRecvChassisDetail();\n \n- // 21, 22, previously 1, 2\n+ // 1, 2\n // if (driving_mode() == Chassis::EMERGENCY_MODE) {\n // set_chassis_error_code(Chassis::NO_ERROR);\n // }\n@@ -301,6 +296,7 @@ Chassis Neolix_eduController::chassis() {\n \"Chassis has some fault, please check the chassis_detail.\");\n }\n \n+ // check the chassis detail lost\n if (is_chassis_communication_error_) {\n chassis_.mutable_engage_advice()->set_advice(\n apollo::common::EngageAdvice::DISALLOW_ENGAGE);\n@@ -508,57 +504,6 @@ void Neolix_eduController::ResetProtocol() {\n message_manager_->ResetSendMessages();\n }\n \n-bool Neolix_eduController::CheckChassisCommunicationError() {\n- Neolix_edu chassis_detail_receiver;\n- ADEBUG << \"Can receiver finished recv once: \"\n- << can_receiver_->IsFinishRecvOnce();\n- if (message_manager_->GetSensorRecvData(&chassis_detail_receiver) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_receiver is \"\n- << chassis_detail_receiver.ShortDebugString();\n- size_t receiver_data_size = chassis_detail_receiver.ByteSizeLong();\n- ADEBUG << \"check chassis detail receiver_data_size is \" << receiver_data_size;\n- // check receiver data is null\n- if (receiver_data_size < 2) {\n- if (is_need_count_) {\n- lost_chassis_reveive_detail_count_++;\n- }\n- } else {\n- lost_chassis_reveive_detail_count_ = 0;\n- is_need_count_ = true;\n- }\n- ADEBUG << \"lost_chassis_reveive_detail_count_ is \"\n- << lost_chassis_reveive_detail_count_;\n- // check receive data lost threshold is (100 * 10)ms\n- if (lost_chassis_reveive_detail_count_ > 100) {\n- is_need_count_ = false;\n- is_chassis_communication_error_ = true;\n- AERROR << \"neolix chassis detail is lost, please check the communication \"\n- \"error.\";\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorData();\n- return true;\n- } else {\n- is_chassis_communication_error_ = false;\n- }\n-\n- Neolix_edu chassis_detail_sender;\n- if (message_manager_->GetSensorSenderData(&chassis_detail_sender) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_sender is \"\n- << chassis_detail_sender.ShortDebugString();\n- size_t sender_data_size = chassis_detail_sender.ByteSizeLong();\n- ADEBUG << \"check chassis detail sender_data_size is \" << sender_data_size;\n-\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorSenderData();\n- return false;\n-}\n-\n bool Neolix_eduController::CheckChassisError() {\n if (is_chassis_communication_error_) {\n AERROR_EVERY(100) << \"ChassisDetail has no neolix vehicle info.\";\n@@ -630,6 +575,7 @@ void Neolix_eduController::SecurityDogThreadFunc() {\n can_sender_->Update();\n }\n \n+ // recove error code\n if (!emergency_mode && !is_chassis_communication_error_ &&\n mode == Chassis::EMERGENCY_MODE) {\n set_chassis_error_code(Chassis::NO_ERROR);\n@@ -653,13 +599,8 @@ bool Neolix_eduController::CheckResponse(const int32_t flags, bool need_wait) {\n bool is_eps_online = false;\n bool is_vcu_online = false;\n bool is_esp_online = false;\n- Chassis chassis = Chassis();\n \n do {\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"get chassis detail failed.\";\n- return false;\n- }\n bool check_ok = true;\n if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n is_eps_online = chassis_.has_check_response() &&\n@@ -689,9 +630,14 @@ bool Neolix_eduController::CheckResponse(const int32_t flags, bool need_wait) {\n }\n } while (need_wait && retry_num);\n \n- AINFO << \"check_response fail: is_eps_online:\" << is_eps_online\n- << \", is_vcu_online:\" << is_vcu_online\n- << \", is_esp_online:\" << is_esp_online;\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ AERROR << \"steer check_response fail: is_eps_online:\" << is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ AERROR << \"speed check_response fail: \" << \"is_vcu_online:\" << is_vcu_online\n+ << \", is_esp_online:\" << is_esp_online;\n+ }\n \n return false;\n }\ndiff --git a/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.h b/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.h\nindex 9f97196400c..1b33d0a1775 100644\n--- a/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.h\n+++ b/modules/canbus_vehicle/neolix_edu/neolix_edu_controller.h\n@@ -44,7 +44,6 @@ class Neolix_eduController final\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Neolix_edu>* const can_sender,\n- CanReceiver<::apollo::canbus::Neolix_edu>* const can_receiver,\n MessageManager<::apollo::canbus::Neolix_edu>* const message_manager)\n override;\n \n@@ -60,12 +59,19 @@ class Neolix_eduController final\n * @returns a copy of chassis. Use copy here to avoid multi-thread issues.\n */\n Chassis chassis() override;\n+\n+ /**\n+ * @brief add the sender message.\n+ */\n+ void AddSendMessage() override;\n+\n+ /**\n+ * for test\n+ */\n FRIEND_TEST(Neolix_eduControllerTest, SetDrivingMode);\n FRIEND_TEST(Neolix_eduControllerTest, Status);\n FRIEND_TEST(Neolix_eduControllerTest, UpdateDrivingMode);\n \n- bool CheckChassisCommunicationError();\n-\n private:\n // main logical function for operation the car enter or exit the auto driving\n void Emergency() override;\n@@ -136,9 +142,6 @@ class Neolix_eduController final\n \n std::mutex chassis_mask_mutex_;\n int32_t chassis_error_mask_ = 0;\n- uint32_t lost_chassis_reveive_detail_count_ = 0;\n- bool is_need_count_ = true;\n- bool is_chassis_communication_error_ = false;\n };\n \n } // namespace neolix_edu\ndiff --git a/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc b/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc\nindex 0195e626406..b8ad55c2bc2 100644\n--- a/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc\n@@ -69,7 +69,6 @@ bool Neolix_eduVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -84,6 +83,10 @@ bool Neolix_eduVehicleFactory::Init(const CanbusConf *canbus_conf) {\n chassis_detail_writer_ = node_->CreateWriter<::apollo::canbus::Neolix_edu>(\n FLAGS_chassis_detail_topic);\n \n+ chassis_detail_sender_writer_ =\n+ node_->CreateWriter<::apollo::canbus::Neolix_edu>(\n+ FLAGS_chassis_detail_sender_topic);\n+\n return true;\n }\n \n@@ -152,12 +155,23 @@ Chassis Neolix_eduVehicleFactory::publish_chassis() {\n }\n \n void Neolix_eduVehicleFactory::PublishChassisDetail() {\n- Neolix_edu chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n- ADEBUG << chassis_detail.ShortDebugString();\n+ Neolix_edu chassis_detail = vehicle_controller_->GetNewRecvChassisDetail();\n+ ADEBUG << \"latest chassis_detail is \" << chassis_detail.ShortDebugString();\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n+void Neolix_eduVehicleFactory::PublishChassisDetailSender() {\n+ Neolix_edu sender_chassis_detail =\n+ vehicle_controller_->GetNewSenderChassisDetail();\n+ ADEBUG << \"latest sender_chassis_detail is \"\n+ << sender_chassis_detail.ShortDebugString();\n+ chassis_detail_sender_writer_->Write(sender_chassis_detail);\n+}\n+\n+void Neolix_eduVehicleFactory::UpdateHeartbeat() {\n+ can_sender_.Update_Heartbeat();\n+}\n+\n bool Neolix_eduVehicleFactory::CheckChassisCommunicationFault() {\n if (vehicle_controller_->CheckChassisCommunicationError()) {\n return true;\n@@ -165,9 +179,28 @@ bool Neolix_eduVehicleFactory::CheckChassisCommunicationFault() {\n return false;\n }\n \n-std::unique_ptr<neolix_edu::Neolix_eduController>\n+void Neolix_eduVehicleFactory::AddSendProtocol() {\n+ vehicle_controller_->AddSendMessage();\n+}\n+\n+void Neolix_eduVehicleFactory::ClearSendProtocol() {\n+ can_sender_.ClearMessage();\n+}\n+\n+bool Neolix_eduVehicleFactory::IsSendProtocolClear() {\n+ if (can_sender_.IsMessageClear()) {\n+ return true;\n+ }\n+ return false;\n+}\n+\n+Chassis::DrivingMode Neolix_eduVehicleFactory::Driving_Mode() {\n+ return vehicle_controller_->driving_mode();\n+}\n+\n+std::unique_ptr<VehicleController<::apollo::canbus::Neolix_edu>>\n Neolix_eduVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<neolix_edu::Neolix_eduController>(\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Neolix_edu>>(\n new neolix_edu::Neolix_eduController());\n }\n \ndiff --git a/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h b/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h\nindex 7eb9609c88d..60a36fe7190 100644\n--- a/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h\n+++ b/modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h\n@@ -90,19 +90,53 @@ class Neolix_eduVehicleFactory : public AbstractVehicleFactory {\n */\n Chassis publish_chassis() override;\n \n+ /**\n+ * @brief create cansender heartbeat\n+ */\n+ void UpdateHeartbeat() override;\n+\n /**\n * @brief publish chassis for vehicle messages\n */\n void PublishChassisDetail() override;\n \n- bool CheckChassisCommunicationFault();\n+ /**\n+ * @brief publish chassis for apollo sender messages\n+ */\n+ void PublishChassisDetailSender() override;\n+\n+ /**\n+ * @brief check chassis can receiver lost\n+ */\n+ bool CheckChassisCommunicationFault() override;\n+\n+ /**\n+ * @brief add the can sender messages\n+ */\n+ void AddSendProtocol() override;\n+\n+ /**\n+ * @brief clear the can sender messages\n+ */\n+ void ClearSendProtocol() override;\n+\n+ /**\n+ * @brief check the sender message clear or not\n+ */\n+ bool IsSendProtocolClear() override;\n+\n+ /**\n+ * @brief get the latest chassis driving mode\n+ */\n+ Chassis::DrivingMode Driving_Mode() override;\n \n private:\n /**\n * @brief create Neolix_edu vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<neolix_edu::Neolix_eduController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Neolix_edu>>\n+ CreateVehicleController();\n \n /**\n * @brief create Neolix_edu message manager\n@@ -118,10 +152,13 @@ class Neolix_eduVehicleFactory : public AbstractVehicleFactory {\n can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Neolix_edu>>\n message_manager_;\n- std::unique_ptr<neolix_edu::Neolix_eduController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Neolix_edu>>\n+ vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Neolix_edu>>\n chassis_detail_writer_;\n+ std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Neolix_edu>>\n+ chassis_detail_sender_writer_;\n };\n \n CYBER_REGISTER_VEHICLEFACTORY(Neolix_eduVehicleFactory)\ndiff --git a/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.cc b/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.cc\nindex cbc6b393f79..26aec65493a 100644\n--- a/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.cc\n+++ b/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.cc\n@@ -36,9 +36,13 @@ uint32_t Adsbrakecommand46::GetPeriod() const {\n }\n \n void Adsbrakecommand46::Parse(const std::uint8_t* bytes, int32_t length,\n- Neolix_edu* chassis) const {\n+ Neolix_edu* chassis) const {\n chassis->mutable_ads_brake_command_46()->set_drive_enable(\n drive_enable(bytes, length));\n+ chassis->mutable_ads_brake_command_46()->set_auto_brake_command(\n+ auto_brake_command(bytes, length));\n+ chassis->mutable_ads_brake_command_46()->set_auto_parking_command(\n+ auto_parking_command(bytes, length));\n }\n \n void Adsbrakecommand46::UpdateData(uint8_t* data) {\n@@ -80,8 +84,8 @@ void Adsbrakecommand46::set_p_drive_enable(uint8_t* data, bool drive_enable) {\n to_set.set_value(x, 0, 1);\n }\n \n-bool Adsbrakecommand46::drive_enable(\n- const std::uint8_t* bytes, int32_t length) const {\n+bool Adsbrakecommand46::drive_enable(const std::uint8_t* bytes,\n+ int32_t length) const {\n Byte t0(bytes + 0);\n int32_t x = t0.get_byte(0, 1);\n \n@@ -107,6 +111,15 @@ void Adsbrakecommand46::set_p_auto_brake_command(uint8_t* data,\n to_set.set_value(x, 0, 8);\n }\n \n+int32_t Adsbrakecommand46::auto_brake_command(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ int32_t ret = x;\n+ return ret;\n+}\n+\n Adsbrakecommand46* Adsbrakecommand46::set_auto_parking_command(\n bool auto_parking_command) {\n auto_parking_command_ = auto_parking_command;\n@@ -125,6 +138,15 @@ void Adsbrakecommand46::set_p_auto_parking_command(uint8_t* data,\n to_set.set_value(x, 0, 1);\n }\n \n+bool Adsbrakecommand46::auto_parking_command(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 3);\n+ int32_t x = t0.get_byte(0, 1);\n+\n+ bool ret = x;\n+ return ret;\n+}\n+\n Adsbrakecommand46* Adsbrakecommand46::set_epb_rampauxiliarycommand(\n bool epb_rampauxiliarycommand) {\n epb_rampauxiliarycommand_ = epb_rampauxiliarycommand;\ndiff --git a/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.h b/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.h\nindex 0a430c6c368..b5cc50072a1 100644\n--- a/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.h\n+++ b/modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.h\n@@ -17,6 +17,7 @@\n #pragma once\n \n #include \"modules/canbus_vehicle/neolix_edu/proto/neolix_edu.pb.h\"\n+\n #include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n \n namespace apollo {\n@@ -119,6 +120,10 @@ class Adsbrakecommand46 : public ::apollo::drivers::canbus::ProtocolData<\n \n bool drive_enable(const std::uint8_t* bytes, const int32_t length) const;\n \n+ bool auto_parking_command(const std::uint8_t* bytes, int32_t length) const;\n+\n+ int32_t auto_brake_command(const std::uint8_t* bytes, int32_t length) const;\n+\n private:\n bool drive_enable_;\n int auto_brake_command_;\ndiff --git a/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.cc b/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.cc\nindex 835c733314d..010e5294e63 100644\n--- a/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.cc\n+++ b/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.cc\n@@ -36,9 +36,13 @@ uint32_t Adsdrivecommand50::GetPeriod() const {\n }\n \n void Adsdrivecommand50::Parse(const std::uint8_t* bytes, int32_t length,\n- Neolix_edu* chassis) const {\n+ Neolix_edu* chassis) const {\n chassis->mutable_ads_drive_command_50()->set_drive_enable(\n drive_enable(bytes, length));\n+ chassis->mutable_ads_drive_command_50()->set_auto_shift_command(\n+ auto_shift_command(bytes, length));\n+ chassis->mutable_ads_drive_command_50()->set_auto_drive_torque(\n+ auto_drive_torque(bytes, length));\n }\n \n void Adsdrivecommand50::UpdateData(uint8_t* data) {\n@@ -78,8 +82,8 @@ void Adsdrivecommand50::set_p_drive_enable(uint8_t* data, bool drive_enable) {\n to_set.set_value(x, 0, 1);\n }\n \n-bool Adsdrivecommand50::drive_enable(\n- const std::uint8_t* bytes, int32_t length) const {\n+bool Adsdrivecommand50::drive_enable(const std::uint8_t* bytes,\n+ int32_t length) const {\n Byte t0(bytes + 0);\n int32_t x = t0.get_byte(0, 1);\n \n@@ -108,6 +112,17 @@ void Adsdrivecommand50::set_p_auto_shift_command(\n to_set.set_value(x, 0, 2);\n }\n \n+Ads_drive_command_50::Auto_shift_commandType\n+Adsdrivecommand50::auto_shift_command(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 1);\n+ int32_t x = t0.get_byte(0, 2);\n+\n+ Ads_drive_command_50::Auto_shift_commandType ret =\n+ static_cast<Ads_drive_command_50::Auto_shift_commandType>(x);\n+ return ret;\n+}\n+\n Adsdrivecommand50* Adsdrivecommand50::set_auto_drive_torque(\n double auto_drive_torque) {\n auto_drive_torque_ = auto_drive_torque;\n@@ -133,6 +148,20 @@ void Adsdrivecommand50::set_p_auto_drive_torque(uint8_t* data,\n to_set1.set_value(t, 0, 8);\n }\n \n+double Adsdrivecommand50::auto_drive_torque(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = (x * 0.020000) + -665.000000;\n+ return ret;\n+}\n+\n Adsdrivecommand50* Adsdrivecommand50::set_auto_drivercmd_alivecounter(\n int auto_drivercmd_alivecounter) {\n auto_drivercmd_alivecounter_ = auto_drivercmd_alivecounter;\ndiff --git a/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.h b/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.h\nindex dc6f5c219e4..fdccad4e290 100644\n--- a/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.h\n+++ b/modules/canbus_vehicle/neolix_edu/protocol/ads_drive_command_50.h\n@@ -17,6 +17,7 @@\n #pragma once\n \n #include \"modules/canbus_vehicle/neolix_edu/proto/neolix_edu.pb.h\"\n+\n #include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n \n namespace apollo {\n@@ -110,6 +111,11 @@ class Adsdrivecommand50 : public ::apollo::drivers::canbus::ProtocolData<\n \n bool drive_enable(const std::uint8_t* bytes, const int32_t length) const;\n \n+ Ads_drive_command_50::Auto_shift_commandType auto_shift_command(\n+ const std::uint8_t* bytes, int32_t length) const;\n+\n+ double auto_drive_torque(const std::uint8_t* bytes, int32_t length) const;\n+\n private:\n bool drive_enable_;\n Ads_drive_command_50::Auto_shift_commandType auto_shift_command_;\ndiff --git a/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.cc b/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.cc\nindex 05fb23565b8..1909f7d7244 100644\n--- a/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.cc\n+++ b/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.cc\n@@ -36,9 +36,11 @@ uint32_t Adsepscommand56::GetPeriod() const {\n }\n \n void Adsepscommand56::Parse(const std::uint8_t* bytes, int32_t length,\n- Neolix_edu* chassis) const {\n+ Neolix_edu* chassis) const {\n chassis->mutable_ads_eps_command_56()->set_drive_enable(\n drive_enable(bytes, length));\n+ chassis->mutable_ads_eps_command_56()->set_auto_target_angle(\n+ auto_target_angle(bytes, length));\n }\n \n void Adsepscommand56::UpdateData(uint8_t* data) {\n@@ -76,8 +78,8 @@ void Adsepscommand56::set_p_drive_enable(uint8_t* data, bool drive_enable) {\n to_set.set_value(x, 0, 1);\n }\n \n-bool Adsepscommand56::drive_enable(\n- const std::uint8_t* bytes, int32_t length) const {\n+bool Adsepscommand56::drive_enable(const std::uint8_t* bytes,\n+ int32_t length) const {\n Byte t0(bytes + 0);\n int32_t x = t0.get_byte(0, 1);\n \n@@ -111,6 +113,20 @@ void Adsepscommand56::set_p_auto_target_angle(uint8_t* data,\n to_set1.set_value(t, 0, 8);\n }\n \n+double Adsepscommand56::auto_target_angle(const std::uint8_t* bytes,\n+ int32_t length) const {\n+ Byte t0(bytes + 2);\n+ int32_t x = t0.get_byte(0, 8);\n+\n+ Byte t1(bytes + 3);\n+ int32_t t = t1.get_byte(0, 8);\n+ x <<= 8;\n+ x |= t;\n+\n+ double ret = 0.0625 * x + -2048;\n+ return ret;\n+}\n+\n Adsepscommand56* Adsepscommand56::set_auto_drivercmd_alivecounter(\n int auto_drivercmd_alivecounter) {\n auto_drivercmd_alivecounter_ = auto_drivercmd_alivecounter;\ndiff --git a/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.h b/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.h\nindex 08f49da09f6..356e943fa72 100644\n--- a/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.h\n+++ b/modules/canbus_vehicle/neolix_edu/protocol/ads_eps_command_56.h\n@@ -17,6 +17,7 @@\n #pragma once\n \n #include \"modules/canbus_vehicle/neolix_edu/proto/neolix_edu.pb.h\"\n+\n #include \"modules/drivers/canbus/can_comm/protocol_data.h\"\n \n namespace apollo {\n@@ -93,6 +94,9 @@ class Adsepscommand56 : public ::apollo::drivers::canbus::ProtocolData<\n \n bool drive_enable(const std::uint8_t* bytes, const int32_t length) const;\n \n+ double auto_target_angle(const std::uint8_t* bytes,\n+ const int32_t length) const;\n+\n private:\n bool drive_enable_;\n double auto_target_angle_;\ndiff --git a/modules/canbus_vehicle/transit/transit_controller.cc b/modules/canbus_vehicle/transit/transit_controller.cc\nindex ba35be17184..a0e8f47b227 100644\n--- a/modules/canbus_vehicle/transit/transit_controller.cc\n+++ b/modules/canbus_vehicle/transit/transit_controller.cc\n@@ -45,7 +45,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n ErrorCode TransitController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Transit>* const can_sender,\n- CanReceiver<::apollo::canbus::Transit>* const can_receiver,\n MessageManager<::apollo::canbus::Transit>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"TransitController has already been initialized.\";\n@@ -67,12 +66,6 @@ ErrorCode TransitController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/transit/transit_controller.h b/modules/canbus_vehicle/transit/transit_controller.h\nindex 086c8996edb..09ac67849c8 100644\n--- a/modules/canbus_vehicle/transit/transit_controller.h\n+++ b/modules/canbus_vehicle/transit/transit_controller.h\n@@ -47,7 +47,6 @@ class TransitController final\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Transit>* const can_sender,\n- CanReceiver<::apollo::canbus::Transit>* const can_receiver,\n MessageManager<::apollo::canbus::Transit>* const message_manager)\n override;\n \ndiff --git a/modules/canbus_vehicle/transit/transit_vehicle_factory.cc b/modules/canbus_vehicle/transit/transit_vehicle_factory.cc\nindex 44c9fca3f3d..2beec9c771e 100644\n--- a/modules/canbus_vehicle/transit/transit_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/transit/transit_vehicle_factory.cc\n@@ -18,6 +18,8 @@\n \n #include \"cyber/common/log.h\"\n #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/transit/transit_controller.h\"\n+#include \"modules/canbus_vehicle/transit/transit_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -69,7 +71,6 @@ bool TransitVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -158,9 +159,9 @@ void TransitVehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<transit::TransitController>\n+std::unique_ptr<VehicleController<::apollo::canbus::Transit>>\n TransitVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<transit::TransitController>(\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Transit>>(\n new transit::TransitController());\n }\n \ndiff --git a/modules/canbus_vehicle/transit/transit_vehicle_factory.h b/modules/canbus_vehicle/transit/transit_vehicle_factory.h\nindex e7b82ed2622..b196d5232d5 100644\n--- a/modules/canbus_vehicle/transit/transit_vehicle_factory.h\n+++ b/modules/canbus_vehicle/transit/transit_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/transit/proto/transit.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/transit/transit_controller.h\"\n-#include \"modules/canbus_vehicle/transit/transit_message_manager.h\"\n #include \"modules/common/status/status.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n@@ -100,7 +97,8 @@ class TransitVehicleFactory : public AbstractVehicleFactory {\n * @brief create transit vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<transit::TransitController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Transit>>\n+ CreateVehicleController();\n \n /**\n * @brief create transit message manager\n@@ -114,7 +112,8 @@ class TransitVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Transit> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Transit> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Transit>> message_manager_;\n- std::unique_ptr<transit::TransitController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Transit>>\n+ vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Transit>>\n chassis_detail_writer_;\ndiff --git a/modules/canbus_vehicle/wey/wey_controller.cc b/modules/canbus_vehicle/wey/wey_controller.cc\nindex 74594be4e71..278d27917b4 100644\n--- a/modules/canbus_vehicle/wey/wey_controller.cc\n+++ b/modules/canbus_vehicle/wey/wey_controller.cc\n@@ -43,7 +43,6 @@ double angle_init = 0;\n ErrorCode WeyController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Wey>* const can_sender,\n- CanReceiver<::apollo::canbus::Wey>* const can_receiver,\n MessageManager<::apollo::canbus::Wey>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"WeyController has already been initialized.\";\n@@ -63,12 +62,6 @@ ErrorCode WeyController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"Protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/wey/wey_controller.h b/modules/canbus_vehicle/wey/wey_controller.h\nindex 272246bc682..e4b30eb5588 100644\n--- a/modules/canbus_vehicle/wey/wey_controller.h\n+++ b/modules/canbus_vehicle/wey/wey_controller.h\n@@ -45,7 +45,6 @@ class WeyController final : public VehicleController<::apollo::canbus::Wey> {\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Wey>* const can_sender,\n- CanReceiver<::apollo::canbus::Wey>* const can_receiver,\n MessageManager<::apollo::canbus::Wey>* const message_manager) override;\n \n bool Start() override;\ndiff --git a/modules/canbus_vehicle/wey/wey_vehicle_factory.cc b/modules/canbus_vehicle/wey/wey_vehicle_factory.cc\nindex 6dc4e51a10e..bfb137f0940 100644\n--- a/modules/canbus_vehicle/wey/wey_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/wey/wey_vehicle_factory.cc\n@@ -18,6 +18,8 @@\n \n #include \"cyber/common/log.h\"\n #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/wey/wey_controller.h\"\n+#include \"modules/canbus_vehicle/wey/wey_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -69,7 +71,6 @@ bool WeyVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -158,9 +159,10 @@ void WeyVehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<wey::WeyController>\n+std::unique_ptr<VehicleController<::apollo::canbus::Wey>>\n WeyVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<wey::WeyController>(new wey::WeyController());\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Wey>>(\n+ new wey::WeyController());\n }\n \n std::unique_ptr<MessageManager<::apollo::canbus::Wey>>\ndiff --git a/modules/canbus_vehicle/wey/wey_vehicle_factory.h b/modules/canbus_vehicle/wey/wey_vehicle_factory.h\nindex 8dda89a2a21..6abbe2a79ea 100644\n--- a/modules/canbus_vehicle/wey/wey_vehicle_factory.h\n+++ b/modules/canbus_vehicle/wey/wey_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/wey/proto/wey.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/wey/wey_controller.h\"\n-#include \"modules/canbus_vehicle/wey/wey_message_manager.h\"\n #include \"modules/common/status/status.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n@@ -100,7 +97,8 @@ class WeyVehicleFactory : public AbstractVehicleFactory {\n * @brief create wey vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<wey::WeyController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Wey>>\n+ CreateVehicleController();\n \n /**\n * @brief create wey message manager\n@@ -113,7 +111,7 @@ class WeyVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::Wey> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Wey> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Wey>> message_manager_;\n- std::unique_ptr<wey::WeyController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Wey>> vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Wey>>\n chassis_detail_writer_;\ndiff --git a/modules/canbus_vehicle/zhongyun/zhongyun_controller.cc b/modules/canbus_vehicle/zhongyun/zhongyun_controller.cc\nindex 0562a79bf24..0aa3b9c0f12 100644\n--- a/modules/canbus_vehicle/zhongyun/zhongyun_controller.cc\n+++ b/modules/canbus_vehicle/zhongyun/zhongyun_controller.cc\n@@ -42,7 +42,6 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n ErrorCode ZhongyunController::Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Zhongyun>* const can_sender,\n- CanReceiver<::apollo::canbus::Zhongyun>* const can_receiver,\n MessageManager<::apollo::canbus::Zhongyun>* const message_manager) {\n if (is_initialized_) {\n AINFO << \"ZhongyunController has already been initialized.\";\n@@ -62,12 +61,6 @@ ErrorCode ZhongyunController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"Protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\ndiff --git a/modules/canbus_vehicle/zhongyun/zhongyun_controller.h b/modules/canbus_vehicle/zhongyun/zhongyun_controller.h\nindex 6386f28891b..7340d2d8529 100644\n--- a/modules/canbus_vehicle/zhongyun/zhongyun_controller.h\n+++ b/modules/canbus_vehicle/zhongyun/zhongyun_controller.h\n@@ -46,7 +46,6 @@ class ZhongyunController final\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::Zhongyun>* const can_sender,\n- CanReceiver<::apollo::canbus::Zhongyun>* const can_receiver,\n MessageManager<::apollo::canbus::Zhongyun>* const message_manager)\n override;\n \ndiff --git a/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.cc b/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.cc\nindex 52db011c145..09588ddcd6f 100644\n--- a/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.cc\n+++ b/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.cc\n@@ -18,6 +18,8 @@\n \n #include \"cyber/common/log.h\"\n #include \"modules/canbus/common/canbus_gflags.h\"\n+#include \"modules/canbus_vehicle/zhongyun/zhongyun_controller.h\"\n+#include \"modules/canbus_vehicle/zhongyun/zhongyun_message_manager.h\"\n #include \"modules/common/adapters/adapter_gflags.h\"\n #include \"modules/common/util/util.h\"\n #include \"modules/drivers/canbus/can_client/can_client_factory.h\"\n@@ -69,7 +71,6 @@ bool ZhongyunVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -158,9 +159,9 @@ void ZhongyunVehicleFactory::PublishChassisDetail() {\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n-std::unique_ptr<zhongyun::ZhongyunController>\n+std::unique_ptr<VehicleController<::apollo::canbus::Zhongyun>>\n ZhongyunVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<zhongyun::ZhongyunController>(\n+ return std::unique_ptr<VehicleController<::apollo::canbus::Zhongyun>>(\n new zhongyun::ZhongyunController());\n }\n \ndiff --git a/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.h b/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.h\nindex 223c26734b2..213261a97c8 100644\n--- a/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.h\n+++ b/modules/canbus_vehicle/zhongyun/zhongyun_vehicle_factory.h\n@@ -26,12 +26,9 @@\n #include \"modules/canbus/proto/vehicle_parameter.pb.h\"\n #include \"modules/canbus_vehicle/zhongyun/proto/zhongyun.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/cyber.h\"\n #include \"modules/canbus/vehicle/abstract_vehicle_factory.h\"\n #include \"modules/canbus/vehicle/vehicle_controller.h\"\n-#include \"modules/canbus_vehicle/zhongyun/zhongyun_controller.h\"\n-#include \"modules/canbus_vehicle/zhongyun/zhongyun_message_manager.h\"\n #include \"modules/common/status/status.h\"\n #include \"modules/drivers/canbus/can_client/can_client.h\"\n #include \"modules/drivers/canbus/can_comm/can_receiver.h\"\n@@ -100,7 +97,8 @@ class ZhongyunVehicleFactory : public AbstractVehicleFactory {\n * @brief create zhongyun vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<zhongyun::ZhongyunController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::Zhongyun>>\n+ CreateVehicleController();\n \n /**\n * @brief create zhongyun message manager\n@@ -115,7 +113,8 @@ class ZhongyunVehicleFactory : public AbstractVehicleFactory {\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::Zhongyun>\n can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::Zhongyun>> message_manager_;\n- std::unique_ptr<zhongyun::ZhongyunController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::Zhongyun>>\n+ vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::Zhongyun>>\n chassis_detail_writer_;\ndiff --git a/modules/common/adapters/adapter_gflags.cc b/modules/common/adapters/adapter_gflags.cc\nindex 1cf46de6d75..c144b701ca0 100644\n--- a/modules/common/adapters/adapter_gflags.cc\n+++ b/modules/common/adapters/adapter_gflags.cc\n@@ -27,6 +27,9 @@ DEFINE_string(audio_detection_topic, \"/apollo/audio_detection\",\n DEFINE_string(chassis_topic, \"/apollo/canbus/chassis\", \"chassis topic name\");\n DEFINE_string(chassis_detail_topic, \"/apollo/canbus/chassis_detail\",\n \"chassis detail topic name\");\n+DEFINE_string(chassis_detail_sender_topic,\n+ \"/apollo/canbus/chassis_detail_sender\",\n+ \"chassis detail sender_topic name\");\n DEFINE_string(chassis_command_topic, \"/apollo/chassis_control\",\n \"chassis command topic name\");\n DEFINE_string(localization_topic, \"/apollo/localization/pose\",\ndiff --git a/modules/common/adapters/adapter_gflags.h b/modules/common/adapters/adapter_gflags.h\nindex 7a653dc5241..98d22192329 100644\n--- a/modules/common/adapters/adapter_gflags.h\n+++ b/modules/common/adapters/adapter_gflags.h\n@@ -25,6 +25,7 @@ DECLARE_string(raw_imu_topic);\n DECLARE_string(audio_detection_topic);\n DECLARE_string(chassis_topic);\n DECLARE_string(chassis_detail_topic);\n+DECLARE_string(chassis_detail_sender_topic);\n DECLARE_string(chassis_command_topic);\n DECLARE_string(localization_topic);\n DECLARE_string(planning_learning_data_topic);\ndiff --git a/modules/drivers/canbus/BUILD b/modules/drivers/canbus/BUILD\nindex acc15fb453b..8c60ff151be 100644\n--- a/modules/drivers/canbus/BUILD\n+++ b/modules/drivers/canbus/BUILD\n@@ -13,7 +13,7 @@ apollo_cc_library(\n \"can_client/hermes_can/hermes_can_client.cc\",\n \"can_client/socket/socket_can_client_raw.cc\",\n \"common/byte.cc\",\n- ] + if_esd_can([\"can_client/esd/esd_can_client.cc\",]),\n+ ],\n hdrs = [\n \"sensor_gflags.h\",\n \"can_client/can_client.h\",\n@@ -30,8 +30,7 @@ apollo_cc_library(\n \"common/byte.cc\",\n \"common/byte.h\",\n \"common/canbus_consts.h\",\n- ] + if_esd_can([\"can_client/esd/esd_can_client.h\",]),\n- copts = copts_if_esd_can(),\n+ ],\n deps = [\n \"//cyber\",\n \"//modules/common/util:common_util\",\n@@ -41,9 +40,7 @@ apollo_cc_library(\n \"//third_party/can_card_library/hermes_can\",\n \"@com_github_gflags_gflags//:gflags\",\n \"@com_google_googletest//:gtest\",\n- ] + if_esd_can([\n- \"//third_party/can_card_library/esd_can\",\n- ]),\n+ ],\n )\n \n apollo_cc_test(\ndiff --git a/modules/drivers/canbus/can_comm/can_receiver.h b/modules/drivers/canbus/can_comm/can_receiver.h\nindex d8f9b42a57c..04eff75a062 100644\n--- a/modules/drivers/canbus/can_comm/can_receiver.h\n+++ b/modules/drivers/canbus/can_comm/can_receiver.h\n@@ -178,12 +178,11 @@ void CanReceiver<SensorType>::RecvThreadFunc() {\n }\n receive_none_count = 0;\n \n- bool is_recv_prase = true;\n for (const auto &frame : buf) {\n uint8_t len = frame.len;\n uint32_t uid = frame.id;\n const uint8_t *data = frame.data;\n- pt_manager_->Parse(uid, data, len, is_recv_prase);\n+ pt_manager_->Parse(uid, data, len);\n if (enable_log_) {\n AINFO << \"recv_can_frame#\" << frame.CanFrameString();\n }\ndiff --git a/modules/drivers/canbus/can_comm/can_sender.h b/modules/drivers/canbus/can_comm/can_sender.h\nindex bea18e82b6b..ca717a4ac1d 100644\n--- a/modules/drivers/canbus/can_comm/can_sender.h\n+++ b/modules/drivers/canbus/can_comm/can_sender.h\n@@ -169,6 +169,10 @@ class CanSender {\n void AddMessage(uint32_t message_id, ProtocolData<SensorType> *protocol_data,\n bool init_with_one = false);\n \n+ void ClearMessage();\n+\n+ bool IsMessageClear();\n+\n /**\n * @brief Start the CAN sender.\n * @return The error code indicating the status of this action.\n@@ -336,11 +340,10 @@ void CanSender<SensorType>::PowerSendThreadFunc() {\n AINFO << \"send_can_frame#\" << can_frame.CanFrameString();\n }\n {\n- bool is_recv_prase = false;\n uint32_t uid = can_frame.id;\n const uint8_t *data = can_frame.data;\n uint8_t len = can_frame.len;\n- pt_manager_->Parse(uid, data, len, is_recv_prase);\n+ pt_manager_->ParseSender(uid, data, len);\n }\n }\n delta_period = new_delta_period;\n@@ -421,6 +424,19 @@ void CanSender<SensorType>::Update() {\n }\n }\n \n+template <typename SensorType>\n+void CanSender<SensorType>::ClearMessage() {\n+ send_messages_.clear();\n+}\n+\n+template <typename SensorType>\n+bool CanSender<SensorType>::IsMessageClear() {\n+ if (send_messages_.empty()) {\n+ return true;\n+ }\n+ return false;\n+}\n+\n template <typename SensorType>\n void CanSender<SensorType>::Stop() {\n if (is_running_) {\ndiff --git a/modules/drivers/canbus/can_comm/message_manager.h b/modules/drivers/canbus/can_comm/message_manager.h\nindex 8fce226598c..d0ab5b51fa3 100644\n--- a/modules/drivers/canbus/can_comm/message_manager.h\n+++ b/modules/drivers/canbus/can_comm/message_manager.h\n@@ -78,17 +78,28 @@ class MessageManager {\n virtual ~MessageManager() = default;\n \n /**\n- * @brief parse data and store parsed info in protocol data\n+ * @brief parse data and store parsed info in receive protocol data\n * @param message_id the id of the message\n * @param data a pointer to the data array to be parsed\n * @param length the length of data array\n */\n virtual void Parse(const uint32_t message_id, const uint8_t *data,\n- int32_t length, bool is_recv_prase);\n+ int32_t length);\n+\n+ /**\n+ * @brief parse data and store parsed info in send protocol data\n+ * @param message_id the id of the message\n+ * @param data a pointer to the data array to be parsed\n+ * @param length the length of data array\n+ */\n+ virtual void ParseSender(const uint32_t message_id, const uint8_t *data,\n+ int32_t length);\n \n void ClearSensorData();\n void ClearSensorRecvData();\n+ void ClearSensorCheckRecvData();\n void ClearSensorSenderData();\n+ void ClearSensorCheckSenderData();\n \n std::condition_variable *GetMutableCVar();\n \n@@ -114,6 +125,13 @@ class MessageManager {\n */\n common::ErrorCode GetSensorRecvData(SensorType *const sensor_recv_data);\n \n+ /**\n+ * @brief get chassis recv detail. used lock_guard in this function to avoid\n+ * concurrent read/write issue.\n+ * @param chassis_detail chassis_detail to be filled.\n+ */\n+ common::ErrorCode GetSensorCheckRecvData(SensorType *const sensor_recv_data);\n+\n /**\n * @brief get chassis sender detail. used lock_guard in this function to avoid\n * concurrent read/write issue.\n@@ -121,6 +139,14 @@ class MessageManager {\n */\n common::ErrorCode GetSensorSenderData(SensorType *const sensor_sender_data);\n \n+ /**\n+ * @brief get chassis sender detail. used lock_guard in this function to avoid\n+ * concurrent read/write issue.\n+ * @param chassis_detail chassis_detail to be filled.\n+ */\n+ common::ErrorCode GetSensorCheckSenderData(\n+ SensorType *const sensor_sender_data);\n+\n /*\n * @brief reset send messages\n */\n@@ -149,8 +175,12 @@ class MessageManager {\n SensorType sensor_data_;\n std::mutex sensor_data_recv_mutex_;\n SensorType sensor_recv_data_;\n+ std::mutex sensor_data_check_recv_mutex_;\n+ SensorType sensor_check_recv_data_;\n std::mutex sensor_data_sender_mutex_;\n SensorType sensor_sender_data_;\n+ std::mutex sensor_data_check_sender_mutex_;\n+ SensorType sensor_check_sender_data_;\n bool is_received_on_time_ = false;\n \n std::condition_variable cvar_;\n@@ -207,8 +237,7 @@ MessageManager<SensorType>::GetMutableProtocolDataById(\n \n template <typename SensorType>\n void MessageManager<SensorType>::Parse(const uint32_t message_id,\n- const uint8_t *data, int32_t length,\n- bool is_recv_prase) {\n+ const uint8_t *data, int32_t length) {\n ProtocolData<SensorType> *protocol_data =\n GetMutableProtocolDataById(message_id);\n if (protocol_data == nullptr) {\n@@ -219,26 +248,62 @@ void MessageManager<SensorType>::Parse(const uint32_t message_id,\n std::lock_guard<std::mutex> lock(sensor_data_mutex_);\n protocol_data->Parse(data, length, &sensor_data_);\n }\n- if (is_recv_prase) {\n- // parse revceiver\n- {\n- std::lock_guard<std::mutex> lock(sensor_data_recv_mutex_);\n- protocol_data->Parse(data, length, &sensor_recv_data_);\n- }\n- if (recv_protocol_data_map_.find(message_id) ==\n- recv_protocol_data_map_.end()) {\n- AERROR << \"Failed to get recv data, \" << \"message is \" << message_id;\n- }\n- } else {\n- // parse sender\n- {\n- std::lock_guard<std::mutex> lock(sensor_data_sender_mutex_);\n- protocol_data->Parse(data, length, &sensor_sender_data_);\n- }\n- if (sender_protocol_data_map_.find(message_id) ==\n- sender_protocol_data_map_.end()) {\n- AERROR << \"Failed to get recv data, \" << \"message is \" << message_id;\n+\n+ // parse revceiver\n+ {\n+ std::lock_guard<std::mutex> lock(sensor_data_recv_mutex_);\n+ protocol_data->Parse(data, length, &sensor_recv_data_);\n+ }\n+ {\n+ std::lock_guard<std::mutex> lock(sensor_data_check_recv_mutex_);\n+ protocol_data->Parse(data, length, &sensor_check_recv_data_);\n+ }\n+ if (recv_protocol_data_map_.find(message_id) ==\n+ recv_protocol_data_map_.end()) {\n+ AERROR << \"Failed to get recv data, \" << \"message is \" << message_id;\n+ }\n+\n+ received_ids_.insert(message_id);\n+ // check if need to check period\n+ const auto it = check_ids_.find(message_id);\n+ if (it != check_ids_.end()) {\n+ const int64_t time = Time::Now().ToNanosecond() / 1e3;\n+ it->second.real_period = time - it->second.last_time;\n+ // if period 1.5 large than base period, inc error_count\n+ const double period_multiplier = 1.5;\n+ if (static_cast<double>(it->second.real_period) >\n+ (static_cast<double>(it->second.period) * period_multiplier)) {\n+ it->second.error_count += 1;\n+ } else {\n+ it->second.error_count = 0;\n }\n+ it->second.last_time = time;\n+ }\n+}\n+\n+template <typename SensorType>\n+void MessageManager<SensorType>::ParseSender(const uint32_t message_id,\n+ const uint8_t *data,\n+ int32_t length) {\n+ ProtocolData<SensorType> *protocol_data =\n+ GetMutableProtocolDataById(message_id);\n+ if (protocol_data == nullptr) {\n+ return;\n+ }\n+\n+ // parse sender\n+ {\n+ std::lock_guard<std::mutex> lock(sensor_data_sender_mutex_);\n+ protocol_data->Parse(data, length, &sensor_sender_data_);\n+ }\n+ {\n+ std::lock_guard<std::mutex> lock(sensor_data_check_sender_mutex_);\n+ protocol_data->Parse(data, length, &sensor_check_sender_data_);\n+ }\n+ if (sender_protocol_data_map_.find(message_id) ==\n+ sender_protocol_data_map_.end()) {\n+ AERROR << \"Failed to get prase sender data, \" << \"message is \"\n+ << message_id;\n }\n \n received_ids_.insert(message_id);\n@@ -271,12 +336,24 @@ void MessageManager<SensorType>::ClearSensorRecvData() {\n sensor_recv_data_.Clear();\n }\n \n+template <typename SensorType>\n+void MessageManager<SensorType>::ClearSensorCheckRecvData() {\n+ std::lock_guard<std::mutex> lock(sensor_data_check_recv_mutex_);\n+ sensor_check_recv_data_.Clear();\n+}\n+\n template <typename SensorType>\n void MessageManager<SensorType>::ClearSensorSenderData() {\n std::lock_guard<std::mutex> lock(sensor_data_sender_mutex_);\n sensor_sender_data_.Clear();\n }\n \n+template <typename SensorType>\n+void MessageManager<SensorType>::ClearSensorCheckSenderData() {\n+ std::lock_guard<std::mutex> lock(sensor_data_check_sender_mutex_);\n+ sensor_check_sender_data_.Clear();\n+}\n+\n template <typename SensorType>\n std::condition_variable *MessageManager<SensorType>::GetMutableCVar() {\n return &cvar_;\n@@ -306,6 +383,18 @@ ErrorCode MessageManager<SensorType>::GetSensorRecvData(\n return ErrorCode::OK;\n }\n \n+template <typename SensorType>\n+ErrorCode MessageManager<SensorType>::GetSensorCheckRecvData(\n+ SensorType *const sensor_recv_data) {\n+ if (sensor_recv_data == nullptr) {\n+ AERROR << \"Failed to get receiver data due to nullptr.\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ std::lock_guard<std::mutex> lock(sensor_data_check_recv_mutex_);\n+ sensor_recv_data->CopyFrom(sensor_check_recv_data_);\n+ return ErrorCode::OK;\n+}\n+\n template <typename SensorType>\n ErrorCode MessageManager<SensorType>::GetSensorSenderData(\n SensorType *const sensor_sender_data) {\n@@ -318,6 +407,18 @@ ErrorCode MessageManager<SensorType>::GetSensorSenderData(\n return ErrorCode::OK;\n }\n \n+template <typename SensorType>\n+ErrorCode MessageManager<SensorType>::GetSensorCheckSenderData(\n+ SensorType *const sensor_sender_data) {\n+ if (sensor_sender_data == nullptr) {\n+ AERROR << \"Failed to get sender data due to nullptr.\";\n+ return ErrorCode::CANBUS_ERROR;\n+ }\n+ std::lock_guard<std::mutex> lock(sensor_data_check_sender_mutex_);\n+ sensor_sender_data->CopyFrom(sensor_check_sender_data_);\n+ return ErrorCode::OK;\n+}\n+\n template <typename SensorType>\n void MessageManager<SensorType>::ResetSendMessages() {\n for (auto &protocol_data : send_protocol_data_) {\ndiff --git a/modules/tools/gen_vehicle_protocol/apollo_demo.dbc b/modules/tools/gen_vehicle_protocol/apollo_demo.dbc\nnew file mode 100644\nindex 00000000000..f7128c148af\n--- /dev/null\n+++ b/modules/tools/gen_vehicle_protocol/apollo_demo.dbc\n@@ -0,0 +1,438 @@\n+VERSION \"\"\r\n+\r\n+\r\n+NS_ : \r\n+\tNS_DESC_\r\n+\tCM_\r\n+\tBA_DEF_\r\n+\tBA_\r\n+\tVAL_\r\n+\tCAT_DEF_\r\n+\tCAT_\r\n+\tFILTER\r\n+\tBA_DEF_DEF_\r\n+\tEV_DATA_\r\n+\tENVVAR_DATA_\r\n+\tSGTYPE_\r\n+\tSGTYPE_VAL_\r\n+\tBA_DEF_SGTYPE_\r\n+\tBA_SGTYPE_\r\n+\tSIG_TYPE_REF_\r\n+\tVAL_TABLE_\r\n+\tSIG_GROUP_\r\n+\tSIG_VALTYPE_\r\n+\tSIGTYPE_VALTYPE_\r\n+\tBO_TX_BU_\r\n+\tBA_DEF_REL_\r\n+\tBA_REL_\r\n+\tBA_DEF_DEF_REL_\r\n+\tBU_SG_REL_\r\n+\tBU_EV_REL_\r\n+\tBU_BO_REL_\r\n+\tSG_MUL_VAL_\r\n+\r\n+BS_:\r\n+\r\n+BU_: ACU VCU\r\n+VAL_TABLE_ Battery_Flt_SocLow 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Flt_InsulationLow 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Flt_UnderVoltage 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Flt_OverCurrent 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Flt_OverVoltage 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Flt_OverTemp 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Flt_LowTemp 1 \"Fault\" 0 \"No\" ;\r\n+VAL_TABLE_ Battery_Fault 2 \"Low Temperature Warning\" 1 \"High Temperature Warning\" 0 \"No Fault\" ;\r\n+VAL_TABLE_ AEB_Mode 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_TABLE_ Brake_Light_Actual 1 \"BrakeLight_ON\" 0 \"BrakeLight_OFF\" ;\r\n+VAL_TABLE_ Turn_Light_Actual 3 \"Hazard_Warning_Lampsts_ON\" 2 \"Right_Turnlampsts_ON\" 1 \"Left_Turnlampsts_ON\" 0 \"Turnlampsts_OFF\" ;\r\n+VAL_TABLE_ VIN_Req 1 \"Vin_req_enable\" 0 \"Vin_req_disable\" ;\r\n+VAL_TABLE_ Drive_Mode_STS 1 \"Speed Drive Mode\" 0 \"Throttle Paddle Drive Mode\" ;\r\n+VAL_TABLE_ Steer_Mode_STS 2 \"Sync Direction Steer Mode\" 1 \"Non Direction Steer Mode\" 0 \"Standard Steer Mode\" ;\r\n+VAL_TABLE_ Steer_Mode_CTRL 2 \"Sync Direction Steer\" 1 \"Non Direction Steer\" 0 \"Standard Steer\" ;\r\n+VAL_TABLE_ Drive_Mode_CTRL 1 \"Speed Drive\" 0 \"Throttle Paddle Drive\" ;\r\n+VAL_TABLE_ AEB_EN_CTRL 1 \"Enable AEB\" 0 \"Disable AEB\" ;\r\n+VAL_TABLE_ Vehicle_Mode_State 3 \"Standby Mode\" 2 \"Emergency Mode\" 1 \"Auto Mode\" 0 \"Manual Remote Mode\" ;\r\n+VAL_TABLE_ BackCrash_State 1 \"Crash Event\" 0 \"No Event\" ;\r\n+VAL_TABLE_ FrontCrash_State 1 \"Crash Event\" 0 \"No Event\" ;\r\n+VAL_TABLE_ AEB_State 1 \"Active\" 0 \"Inctive\" ;\r\n+VAL_TABLE_ Brake_FLT2 1 \"Brake system comunication fault\" 0 \"No fault \" ;\r\n+VAL_TABLE_ Brake_FLT1 1 \"Brake system hardware fault\" 0 \"No fault\" ;\r\n+VAL_TABLE_ Brake_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_TABLE_ Brake_EN_state 3 \"Standby\" 2 \"Takeover\" 1 \"Auto\" 0 \"Manual\" ;\r\n+VAL_TABLE_ Park_FLT 1 \"Fault\" 0 \"No Fault\" ;\r\n+VAL_TABLE_ Parking_actual 1 \"Parking_trigger\" 0 \"Release\" ;\r\n+VAL_TABLE_ Park_Target 1 \"Parking_trigger\" 0 \"Release\" ;\r\n+VAL_TABLE_ Park_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_TABLE_ Gear_FLT 1 \"Fault\" 0 \"No Fault\" ;\r\n+VAL_TABLE_ Gear_Actual 4 \"D\" 3 \"N\" 2 \"R\" 1 \"P\" 0 \"Invaild\" ;\r\n+VAL_TABLE_ Gear_Target 4 \"D\" 3 \"N\" 2 \"R\" 1 \"P\" 0 \"Invalid\" ;\r\n+VAL_TABLE_ Gear_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_TABLE_ Throttle_EN_state 3 \"Standby\" 2 \"Takeover\" 1 \"Auto\" 0 \"Manual\" ;\r\n+VAL_TABLE_ Throttle_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_TABLE_ Steer_EN_state 3 \"Standby\" 2 \"Takeover\" 1 \"Auto\" 0 \"Manual\" ;\r\n+VAL_TABLE_ Steer_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_TABLE_ Throttle_FLT2 1 \"Drive system comunication fault\" 0 \"No fault\" ;\r\n+VAL_TABLE_ Throttle_FLT1 1 \"Drive system hardware fault\" 0 \"No fault\" ;\r\n+VAL_TABLE_ Steer_FLT2 1 \"Steer system comunication fault\" 0 \"No fault\" ;\r\n+VAL_TABLE_ Steer_FLT1 1 \"Steer system hardware fault\" 0 \"No fault\" ;\r\n+\r\n+\r\n+BO_ 1302 VIN_Resp3: 8 Vector__XXX\r\n+ SG_ VIN16 : 7|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+\r\n+BO_ 1301 VIN_Resp2: 8 Vector__XXX\r\n+ SG_ VIN15 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN14 : 55|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN13 : 47|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN12 : 39|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN11 : 31|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN10 : 23|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN09 : 15|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN08 : 7|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+\r\n+BO_ 1300 VIN_Resp1: 8 Vector__XXX\r\n+ SG_ VIN07 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN06 : 55|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN05 : 47|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN04 : 39|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN03 : 31|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN02 : 23|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN01 : 15|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ VIN00 : 7|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+\r\n+BO_ 261 Vehicle_Mode_Command: 8 ACU\r\n+ SG_ Heartbeat_105 : 7|4@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ CheckSum_105 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ Turn_Light_CTRL : 17|2@0+ (1,0) [0|7] \"\" Vector__XXX\r\n+ SG_ VIN_Req : 24|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+ SG_ Drive_Mode_CTRL : 10|3@0+ (1,0) [0|7] \"\" Vector__XXX\r\n+ SG_ Steer_Mode_CTRL : 2|3@0+ (1,0) [0|7] \"\" Vector__XXX\r\n+\r\n+BO_ 1298 BMS_Report: 8 Vector__XXX\r\n+ SG_ Battery_Flt_OverTemp : 49|1@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ Battery_Flt_LowTemp : 48|1@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ Battery_Inside_Temperature : 47|8@0+ (1,-40) [-40|215] \"\" Vector__XXX\r\n+ SG_ Battery_Current : 23|16@0+ (0.1,-3200) [-3200|3353.5] \"A\" Vector__XXX\r\n+ SG_ Battery_Voltage : 7|16@0+ (0.01,0) [0|300] \"V\" Vector__XXX\r\n+ SG_ Battery_Soc : 39|8@0+ (1,0) [0|100] \"%\" Vector__XXX\r\n+\r\n+BO_ 1297 ULTR_Sensor_5: 8 Vector__XXX\r\n+ SG_ uiUSS7_ToF_Direct : 55|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS6_ToF_Direct : 39|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS1_ToF_Direct : 23|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS0_ToF_Direct : 7|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+\r\n+BO_ 1296 ULTR_Sensor_4: 8 Vector__XXX\r\n+ SG_ uiUSS5_ToF_Indirect : 55|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS4_ToF_Indirect : 39|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS3_ToF_Indirect : 23|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS2_ToF_Indirect : 7|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+\r\n+BO_ 1289 ULTR_Sensor_3: 8 Vector__XXX\r\n+ SG_ uiUSS5_ToF_Direct : 55|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS4_ToF_Direct : 39|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS3_ToF_Direct : 23|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS2_ToF_Direct : 7|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+\r\n+BO_ 1288 ULTR_Sensor_2: 8 Vector__XXX\r\n+ SG_ uiUSS9_ToF_Indirect : 23|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS8_ToF_Indirect : 7|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS11_ToF_Indirect : 55|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS10_ToF_Indirect : 39|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+\r\n+BO_ 1287 ULTR_Sensor_1: 8 Vector__XXX\r\n+ SG_ uiUSS9_ToF_Direct : 23|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS8_ToF_Direct : 7|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS11_ToF_Direct : 55|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+ SG_ uiUSS10_ToF_Direct : 39|16@0+ (0.01724,0) [0|65535] \"cm\" ACU\r\n+\r\n+BO_ 260 Park_Command: 8 ACU\r\n+ SG_ Heartbeat_104 : 7|4@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ CheckSum_104 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ Park_Target : 8|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+ SG_ Park_EN_CTRL : 0|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+\r\n+BO_ 1286 WheelSpeed_Report: 8 Vector__XXX\r\n+ SG_ RR : 55|16@0+ (0.001,0) [0|65.535] \"m/s\" ACU\r\n+ SG_ RL : 39|16@0+ (0.001,0) [0|65.535] \"m/s\" ACU\r\n+ SG_ FR : 23|16@0+ (0.001,0) [0|65.535] \"m/s\" ACU\r\n+ SG_ FL : 7|16@0+ (0.001,0) [0|65.535] \"m/s\" ACU\r\n+\r\n+BO_ 1285 VCU_Report: 8 Vector__XXX\r\n+ SG_ Vehicle_Mode_State : 36|2@0+ (1,0) [0|0] \"\" Vector__XXX\r\n+ SG_ AEB_Mode : 58|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+ SG_ Brake_Light_Actual : 11|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+ SG_ Turn_Light_Actual : 57|2@0+ (1,0) [0|0] \"\" Vector__XXX\r\n+ SG_ Chassis_errcode : 47|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ Drive_Mode_STS : 39|3@0+ (1,0) [0|7] \"\" Vector__XXX\r\n+ SG_ Steer_Mode_STS : 10|3@0+ (1,0) [0|7] \"\" Vector__XXX\r\n+ SG_ FrontCrash_State : 33|1@0+ (1,0) [0|0] \"\" Vector__XXX\r\n+ SG_ BackCrash_State : 34|1@0+ (1,0) [0|0] \"\" Vector__XXX\r\n+ SG_ AEB_Brake_State : 32|1@0+ (1,0) [0|0] \"\" Vector__XXX\r\n+ SG_ ACC : 7|12@0- (0.01,0) [-10|10] \"m/s^2\" ACU\r\n+ SG_ SPEED : 23|16@0- (0.001,0) [-32.768|32.767] \"m/s\" ACU\r\n+\r\n+BO_ 1284 Park_Report: 8 Vector__XXX\r\n+ SG_ Parking_actual : 0|1@0+ (1,0) [0|1] \"\" ACU\r\n+ SG_ Park_FLT : 15|8@0+ (1,0) [0|1] \"\" ACU\r\n+\r\n+BO_ 1283 Gear_Report: 8 Vector__XXX\r\n+ SG_ Gear_FLT : 15|8@0+ (1,0) [0|1] \"\" ACU\r\n+ SG_ Gear_Actual : 2|3@0+ (1,0) [0|4] \"\" ACU\r\n+\r\n+BO_ 1281 Brake_Report: 8 Vector__XXX\r\n+ SG_ Brake_Pedal_Actual : 31|16@0+ (0.1,0) [0|100] \"%\" ACU\r\n+ SG_ Brake_FLT2 : 23|8@0+ (1,0) [0|1] \"\" ACU\r\n+ SG_ Brake_FLT1 : 15|8@0+ (1,0) [0|1] \"\" ACU\r\n+ SG_ Brake_EN_state : 1|2@0+ (1,0) [0|2] \"\" ACU\r\n+\r\n+BO_ 1280 Throttle_Report: 8 Vector__XXX\r\n+ SG_ Throttle_Pedal_Actual : 31|16@0+ (0.1,0) [0|100] \"%\" ACU\r\n+ SG_ Throttle_FLT2 : 23|8@0+ (1,0) [0|1] \"\" ACU\r\n+ SG_ Throttle_FLT1 : 15|8@0+ (1,0) [0|1] \"\" ACU\r\n+ SG_ Throttle_EN_state : 1|2@0+ (1,0) [0|2] \"\" ACU\r\n+\r\n+BO_ 1282 Steering_Report: 8 Vector__XXX\r\n+ SG_ Steer_ANGLE_Rear_Actual : 47|16@0+ (1,-500) [-500|500] \"deg\" Vector__XXX\r\n+ SG_ Steer_ANGLE_SPD_Actual : 63|8@0+ (1,0) [0|0] \"deg/s\" ACU\r\n+ SG_ Steer_FLT2 : 23|8@0+ (1,0) [0|255] \"\" ACU\r\n+ SG_ Steer_FLT1 : 15|8@0+ (1,0) [0|255] \"\" ACU\r\n+ SG_ Steer_EN_state : 1|2@0+ (1,0) [0|2] \"\" ACU\r\n+ SG_ Steer_ANGLE_Actual : 31|16@0+ (1,-500) [-500|500] \"deg\" ACU\r\n+\r\n+BO_ 259 Gear_Command: 8 ACU\r\n+ SG_ Heartbeat_103 : 7|4@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ Gear_Target : 10|3@0+ (1,0) [0|4] \"\" Vector__XXX\r\n+ SG_ Gear_EN_CTRL : 0|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+ SG_ CheckSum_103 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+\r\n+BO_ 258 Steering_Command: 8 ACU\r\n+ SG_ Heartbeat_102 : 7|4@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ Steer_EN_CTRL : 0|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+ SG_ Steer_ANGLE_Target : 31|16@0+ (1,-500) [-500|500] \"deg\" Vector__XXX\r\n+ SG_ Steer_ANGLE_SPD_Target : 15|8@0+ (1,0) [0|250] \"deg/s\" Vector__XXX\r\n+ SG_ CheckSum_102 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+\r\n+BO_ 257 Brake_Command: 8 ACU\r\n+ SG_ Heartbeat_101 : 7|4@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ AEB_EN_CTRL : 1|1@0+ (1,0) [0|0] \"\" Vector__XXX\r\n+ SG_ Brake_Dec : 15|10@0+ (0.01,0) [0|10] \"m/s^2\" Vector__XXX\r\n+ SG_ CheckSum_101 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ Brake_Pedal_Target : 31|16@0+ (0.1,0) [0|100] \"%\" Vector__XXX\r\n+ SG_ Brake_EN_CTRL : 0|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+\r\n+BO_ 256 Throttle_Command: 8 ACU\r\n+ SG_ Heartbeat_100 : 7|4@0+ (1,0) [0|15] \"\" Vector__XXX\r\n+ SG_ Speed_Target : 47|12@0+ (0.01,0) [0|40.95] \"m/s\" Vector__XXX\r\n+ SG_ Throttle_Acc : 15|10@0+ (0.01,0) [0|10] \"m/s^2\" Vector__XXX\r\n+ SG_ CheckSum_100 : 63|8@0+ (1,0) [0|255] \"\" Vector__XXX\r\n+ SG_ Throttle_Pedal_Target : 31|16@0+ (0.1,0) [0|100] \"%\" Vector__XXX\r\n+ SG_ Throttle_EN_CTRL : 0|1@0+ (1,0) [0|1] \"\" Vector__XXX\r\n+\r\n+\r\n+\r\n+CM_ SG_ 1298 Battery_Inside_Temperature \"Battery Total Voltage\";\r\n+CM_ SG_ 1298 Battery_Current \"Battery Total Current\";\r\n+CM_ SG_ 1298 Battery_Voltage \"Battery Total Voltage\";\r\n+CM_ SG_ 1298 Battery_Soc \"Battery Soc percentage\";\r\n+CM_ SG_ 260 Park_Target \"command\";\r\n+CM_ SG_ 260 Park_EN_CTRL \"enable\";\r\n+CM_ SG_ 1285 AEB_Mode \"describle the vehicle AEB mode whether was set\";\r\n+CM_ SG_ 1285 AEB_Brake_State \"describe the vehicle e-brake command whether was triggered by AEB\";\r\n+CM_ SG_ 1285 SPEED \"speed\";\r\n+CM_ SG_ 1284 Parking_actual \"command\";\r\n+CM_ SG_ 1284 Park_FLT \"fault\";\r\n+CM_ SG_ 1283 Gear_FLT \"fault\";\r\n+CM_ SG_ 1283 Gear_Actual \"command\";\r\n+CM_ SG_ 1281 Brake_Pedal_Actual \"command\";\r\n+CM_ SG_ 1281 Brake_FLT2 \"Brake system communication fault\";\r\n+CM_ SG_ 1281 Brake_FLT1 \"Brake system hardware fault\";\r\n+CM_ SG_ 1281 Brake_EN_state \"enable\";\r\n+CM_ SG_ 1280 Throttle_Pedal_Actual \"command\";\r\n+CM_ SG_ 1280 Throttle_FLT2 \"Drive system communication fault\";\r\n+CM_ SG_ 1280 Throttle_FLT1 \"Drive system hardware fault\";\r\n+CM_ SG_ 1280 Throttle_EN_state \"enable\";\r\n+CM_ SG_ 1282 Steer_FLT2 \"Steer system communication fault\";\r\n+CM_ SG_ 1282 Steer_FLT1 \"Steer system hardware fault\";\r\n+CM_ SG_ 1282 Steer_EN_state \"enable\";\r\n+CM_ SG_ 1282 Steer_ANGLE_Actual \"command\";\r\n+CM_ SG_ 259 Gear_Target \"command\";\r\n+CM_ SG_ 259 Gear_EN_CTRL \"enable\";\r\n+CM_ SG_ 258 Steer_EN_CTRL \"enable\";\r\n+CM_ SG_ 258 Steer_ANGLE_Target \"command\";\r\n+CM_ SG_ 257 Brake_Pedal_Target \"command\";\r\n+CM_ SG_ 257 Brake_EN_CTRL \"enable\";\r\n+CM_ SG_ 256 Throttle_Pedal_Target \"command\";\r\n+CM_ SG_ 256 Throttle_EN_CTRL \"enable\";\r\n+BA_DEF_ \"BusType\" STRING ;\r\n+BA_DEF_ BU_ \"NmStationAddress\" HEX 0 0;\r\n+BA_DEF_ \"GenNWMApBusSleep\" STRING ;\r\n+BA_DEF_ \"GenNWMApCanNormal\" STRING ;\r\n+BA_DEF_ \"GenNWMApCanOff\" STRING ;\r\n+BA_DEF_ \"GenNWMApCanOn\" STRING ;\r\n+BA_DEF_ \"GenNWMApCanSleep\" STRING ;\r\n+BA_DEF_ \"GenNWMApCanWakeUp\" STRING ;\r\n+BA_DEF_ \"GenNWMGotoMode_Awake\" STRING ;\r\n+BA_DEF_ \"GenNWMGotoMode_BusSleep\" STRING ;\r\n+BA_DEF_ \"GenNWMSleepTime\" INT 0 1000000;\r\n+BA_DEF_ \"GenNWMTalkNM\" STRING ;\r\n+BA_DEF_ BU_ \"GenNodSleepTime\" INT 0 1000000;\r\n+BA_DEF_ BO_ \"NmMessage\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ BU_ \"NmNode\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ SG_ \"NWM-WakeupAllowed\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ BU_ \"NodeLayerModules\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgCycleTime\" INT 2 50000;\r\n+BA_DEF_ BO_ \"GenMsgDelayTime\" INT 1 1000;\r\n+BA_DEF_ BO_ \"GenMsgNrOfRepetitions\" INT 1 999999;\r\n+BA_DEF_ BO_ \"GenMsgSendType\" ENUM \"cyclic\",\"spontaneous\",\"cyclicIfActive\",\"spontaneousWithDelay\",\"cyclicAndSpontaneous\",\"cyclicAndSpontaneousWithDelay\",\"spontaneousWithRepetition\",\"cyclicIfActiveAndSpontaneousWD\";\r\n+BA_DEF_ SG_ \"GenSigInactiveValue\" INT 0 100000;\r\n+BA_DEF_ SG_ \"GenSigSendType\" ENUM \"spontaneous\";\r\n+BA_DEF_ SG_ \"GenSigStartValue\" FLOAT 0 100000000000;\r\n+BA_DEF_ EV_ \"GenEnvControlType\" ENUM \"NoControl\",\"SliderHoriz\",\"SliderVert\",\"PushButton\",\"Edit\",\"BitmapSwitch\";\r\n+BA_DEF_ EV_ \"GenEnvMsgName\" STRING ;\r\n+BA_DEF_ EV_ \"GenEnvMsgOffset\" INT 0 999999999;\r\n+BA_DEF_ EV_ \"GenEnvAutoGenCtrl\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ \"GenEnvVarEndingDsp\" STRING ;\r\n+BA_DEF_ \"GenEnvVarEndingSnd\" STRING ;\r\n+BA_DEF_ \"GenEnvVarPrefix\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgAltSetting\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgAutoGenDsp\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ BO_ \"GenMsgAutoGenSnd\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ BO_ \"GenMsgConditionalSend\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgEVName\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgPostIfSetting\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgPostSetting\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgPreIfSetting\" STRING ;\r\n+BA_DEF_ BO_ \"GenMsgPreSetting\" STRING ;\r\n+BA_DEF_ BU_ \"GenNodAutoGenSnd\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ SG_ \"GenSigAltSetting\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigAssignSetting\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigAutoGenDsp\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ SG_ \"GenSigAutoGenSnd\" ENUM \"No\",\"Yes\";\r\n+BA_DEF_ SG_ \"GenSigConditionalSend\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigEnvVarType\" ENUM \"int\",\"float\",\"undef\";\r\n+BA_DEF_ SG_ \"GenSigEVName\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigPostIfSetting\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigPostSetting\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigPreIfSetting\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigPreSetting\" STRING ;\r\n+BA_DEF_ SG_ \"GenSigReceiveSetting\" STRING ;\r\n+BA_DEF_DEF_ \"BusType\" \"CAN\";\r\n+BA_DEF_DEF_ \"NmStationAddress\" 0;\r\n+BA_DEF_DEF_ \"GenNWMApBusSleep\" \"apBusSleep()\";\r\n+BA_DEF_DEF_ \"GenNWMApCanNormal\" \"apCanNormal()\";\r\n+BA_DEF_DEF_ \"GenNWMApCanOff\" \"apCanOff()\";\r\n+BA_DEF_DEF_ \"GenNWMApCanOn\" \"apCanOn()\";\r\n+BA_DEF_DEF_ \"GenNWMApCanSleep\" \"apCanSleep()\";\r\n+BA_DEF_DEF_ \"GenNWMApCanWakeUp\" \"apCanWakeUp()\";\r\n+BA_DEF_DEF_ \"GenNWMGotoMode_Awake\" \"GotoMode_Awake()\";\r\n+BA_DEF_DEF_ \"GenNWMGotoMode_BusSleep\" \"GotoMode_BusSleep()\";\r\n+BA_DEF_DEF_ \"GenNWMSleepTime\" 0;\r\n+BA_DEF_DEF_ \"GenNWMTalkNM\" \"TalkNM()\";\r\n+BA_DEF_DEF_ \"GenNodSleepTime\" 0;\r\n+BA_DEF_DEF_ \"NmMessage\" \"No\";\r\n+BA_DEF_DEF_ \"NmNode\" \"No\";\r\n+BA_DEF_DEF_ \"NWM-WakeupAllowed\" \"\";\r\n+BA_DEF_DEF_ \"NodeLayerModules\" \"CANoeILNLVector.dll\";\r\n+BA_DEF_DEF_ \"GenMsgCycleTime\" 100;\r\n+BA_DEF_DEF_ \"GenMsgDelayTime\" 1;\r\n+BA_DEF_DEF_ \"GenMsgNrOfRepetitions\" 1;\r\n+BA_DEF_DEF_ \"GenMsgSendType\" \"\";\r\n+BA_DEF_DEF_ \"GenSigInactiveValue\" 0;\r\n+BA_DEF_DEF_ \"GenSigSendType\" \"\";\r\n+BA_DEF_DEF_ \"GenSigStartValue\" 0;\r\n+BA_DEF_DEF_ \"GenEnvControlType\" \"\";\r\n+BA_DEF_DEF_ \"GenEnvMsgName\" \"\";\r\n+BA_DEF_DEF_ \"GenEnvMsgOffset\" 0;\r\n+BA_DEF_DEF_ \"GenEnvAutoGenCtrl\" \"No\";\r\n+BA_DEF_DEF_ \"GenEnvVarEndingDsp\" \"Dsp_\";\r\n+BA_DEF_DEF_ \"GenEnvVarEndingSnd\" \"_\";\r\n+BA_DEF_DEF_ \"GenEnvVarPrefix\" \"Env\";\r\n+BA_DEF_DEF_ \"GenMsgAltSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgAutoGenDsp\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgAutoGenSnd\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgConditionalSend\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgEVName\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgPostIfSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgPostSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgPreIfSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenMsgPreSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenNodAutoGenSnd\" \"\";\r\n+BA_DEF_DEF_ \"GenSigAltSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenSigAssignSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenSigAutoGenDsp\" \"\";\r\n+BA_DEF_DEF_ \"GenSigAutoGenSnd\" \"\";\r\n+BA_DEF_DEF_ \"GenSigConditionalSend\" \"\";\r\n+BA_DEF_DEF_ \"GenSigEnvVarType\" \"undef\";\r\n+BA_DEF_DEF_ \"GenSigEVName\" \"\";\r\n+BA_DEF_DEF_ \"GenSigPostIfSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenSigPostSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenSigPreIfSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenSigPreSetting\" \"\";\r\n+BA_DEF_DEF_ \"GenSigReceiveSetting\" \"\";\r\n+BA_ \"GenMsgCycleTime\" BO_ 1302 500;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1301 500;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1300 500;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1298 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1297 130;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1296 130;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1289 130;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1288 130;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1287 130;\r\n+BA_ \"GenMsgCycleTime\" BO_ 260 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1286 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1285 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1284 50;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1283 50;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1281 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1280 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 1282 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 259 50;\r\n+BA_ \"GenMsgCycleTime\" BO_ 258 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 257 20;\r\n+BA_ \"GenMsgCycleTime\" BO_ 256 20;\r\n+BA_ \"GenSigStartValue\" SG_ 1298 Battery_Current 32000;\r\n+BA_ \"GenSigStartValue\" SG_ 1285 ACC 0;\r\n+BA_ \"GenSigStartValue\" SG_ 1282 Steer_ANGLE_Rear_Actual 500;\r\n+BA_ \"GenSigStartValue\" SG_ 1282 Steer_ANGLE_SPD_Actual 0;\r\n+BA_ \"GenSigStartValue\" SG_ 1282 Steer_ANGLE_Actual 500;\r\n+BA_ \"GenSigStartValue\" SG_ 258 Steer_ANGLE_Target 500;\r\n+BA_ \"GenSigStartValue\" SG_ 257 Brake_Dec 0;\r\n+BA_ \"GenSigStartValue\" SG_ 256 Throttle_Acc 0;\r\n+VAL_ 261 Turn_Light_CTRL 3 \"Hazard_Warning_Lampsts_ON\" 2 \"Right_Turnlamp_ON\" 1 \"Left_Turnlamp_ON\" 0 \"Turnlamp_OFF\" ;\r\n+VAL_ 261 VIN_Req 1 \"Vin_req_enable\" 0 \"Vin_req_disable\" ;\r\n+VAL_ 261 Drive_Mode_CTRL 1 \"Speed Drive\" 0 \"Throttle Paddle Drive\" ;\r\n+VAL_ 261 Steer_Mode_CTRL 2 \"Sync Direction Steer\" 1 \"Non Direction Steer\" 0 \"Standard Steer\" ;\r\n+VAL_ 1298 Battery_Flt_OverTemp 1 \"Fault\" 0 \"No\" ;\r\n+VAL_ 1298 Battery_Flt_LowTemp 1 \"Fault\" 0 \"No\" ;\r\n+VAL_ 260 Park_Target 1 \"Parking_trigger\" 0 \"Release\" ;\r\n+VAL_ 260 Park_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_ 1285 Vehicle_Mode_State 3 \"Standby Mode\" 2 \"Emergency Mode\" 1 \"Auto Mode\" 0 \"Manual Remote Mode\" ;\r\n+VAL_ 1285 AEB_Mode 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_ 1285 Brake_Light_Actual 1 \"BrakeLight_ON\" 0 \"BrakeLight_OFF\" ;\r\n+VAL_ 1285 Turn_Light_Actual 3 \"Hazard_Warning_Lampsts_ON\" 2 \"Right_Turnlampsts_ON\" 1 \"Left_Turnlampsts_ON\" 0 \"Turnlampsts_OFF\" ;\r\n+VAL_ 1285 Drive_Mode_STS 1 \"Speed Drive Mode\" 0 \"Throttle Paddle Drive Mode\" ;\r\n+VAL_ 1285 Steer_Mode_STS 2 \"Sync Direction Steer Mode\" 1 \"Non Direction Steer Mode\" 0 \"Standard Steer Mode\" ;\r\n+VAL_ 1285 FrontCrash_State 1 \"Crash Event\" 0 \"No Event\" ;\r\n+VAL_ 1285 BackCrash_State 1 \"Crash Event\" 0 \"No Event\" ;\r\n+VAL_ 1285 AEB_Brake_State 1 \"Active\" 0 \"Inactive\" ;\r\n+VAL_ 1284 Parking_actual 1 \"Parking_trigger\" 0 \"Release\" ;\r\n+VAL_ 1284 Park_FLT 1 \"Fault\" 0 \"No Fault\" ;\r\n+VAL_ 1283 Gear_FLT 1 \"Fault\" 0 \"No Fault\" ;\r\n+VAL_ 1283 Gear_Actual 4 \"DRIVE\" 3 \"NEUTRAL\" 2 \"REVERSE\" 1 \"PARK\" 0 \"INVALID\" ;\r\n+VAL_ 1281 Brake_FLT2 1 \"Brake system comunication fault\" 0 \"No fault \" ;\r\n+VAL_ 1281 Brake_FLT1 1 \"Brake system hardware fault\" 0 \"No fault\" ;\r\n+VAL_ 1281 Brake_EN_state 3 \"Standby\" 2 \"Takeover\" 1 \"Auto\" 0 \"Manual\" ;\r\n+VAL_ 1280 Throttle_FLT2 1 \"Drive system comunication fault\" 0 \"No fault\" ;\r\n+VAL_ 1280 Throttle_FLT1 1 \"Drive system hardware fault\" 0 \"No fault\" ;\r\n+VAL_ 1280 Throttle_EN_state 3 \"Standby\" 2 \"Takeover\" 1 \"Auto\" 0 \"Manual\" ;\r\n+VAL_ 1282 Steer_FLT2 1 \"Steer system comunication fault\" 0 \"No fault\" ;\r\n+VAL_ 1282 Steer_FLT1 1 \"Steer system hardware fault\" 0 \"No fault\" ;\r\n+VAL_ 1282 Steer_EN_state 3 \"Standby\" 2 \"Takeover\" 1 \"Auto\" 0 \"Manual\" ;\r\n+VAL_ 259 Gear_Target 4 \"DRIVE\" 3 \"NEUTRAL\" 2 \"REVERSE\" 1 \"PARK\" 0 \"INVALID\" ;\r\n+VAL_ 259 Gear_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_ 258 Steer_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_ 257 AEB_EN_CTRL 1 \"Enable AEB\" 0 \"Disable AEB\" ;\r\n+VAL_ 257 Brake_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+VAL_ 256 Throttle_EN_CTRL 1 \"Enable\" 0 \"Disable\" ;\r\n+\r\ndiff --git a/modules/tools/gen_vehicle_protocol/template/canbus_aem.conf.tpl b/modules/tools/gen_vehicle_protocol/template/canbus_aem.conf.tpl\nindex a61b24f4257..5398e66f307 100644\n--- a/modules/tools/gen_vehicle_protocol/template/canbus_aem.conf.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/canbus_aem.conf.tpl\n@@ -3,4 +3,9 @@\n --load_vehicle_library=/opt/apollo/neo/lib/modules/canbus_vehicle/%(car_type_lower)s/lib%(car_type_lower)s_vehicle_factory_lib.so\n --load_vehicle_class_name=%(car_type_cap)sVehicleFactory\n --enable_chassis_detail_pub\n---noreceive_guardian\n\\ No newline at end of file\n+--enable_chassis_detail_sender_pub\n+--chassis_debug_mode=false\n+--use_control_cmd_check=false\n+--use_guardian_cmd_check=false\n+--noreceive_guardian\n+--estop_brake=30.0\ndiff --git a/modules/tools/gen_vehicle_protocol/template/canbus_conf.pb.tpl b/modules/tools/gen_vehicle_protocol/template/canbus_conf.pb.tpl\nindex 6399f165118..1748e6d2117 100644\n--- a/modules/tools/gen_vehicle_protocol/template/canbus_conf.pb.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/canbus_conf.pb.tpl\n@@ -12,4 +12,4 @@ can_card_parameter {\n \n enable_debug_mode: false\n enable_receiver_log: false\n-enable_sender_log: true\n\\ No newline at end of file\n+enable_sender_log: false\ndiff --git a/modules/tools/gen_vehicle_protocol/template/canbus_source.conf.tpl b/modules/tools/gen_vehicle_protocol/template/canbus_source.conf.tpl\nindex 7b43cd92ed2..5fbed4ca302 100644\n--- a/modules/tools/gen_vehicle_protocol/template/canbus_source.conf.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/canbus_source.conf.tpl\n@@ -3,4 +3,9 @@\n --load_vehicle_library=/apollo/bazel-bin/modules/canbus_vehicle/%(car_type_lower)s/lib%(car_type_lower)s_vehicle_factory_lib.so\n --load_vehicle_class_name=%(car_type_cap)sVehicleFactory\n --enable_chassis_detail_pub\n---noreceive_guardian\n\\ No newline at end of file\n+--enable_chassis_detail_sender_pub\n+--chassis_debug_mode=false\n+--use_control_cmd_check=false\n+--use_guardian_cmd_check=false\n+--noreceive_guardian\n+--estop_brake=30.0\ndiff --git a/modules/tools/gen_vehicle_protocol/template/control_protocol.cc.tpl b/modules/tools/gen_vehicle_protocol/template/control_protocol.cc.tpl\nindex 191ef7a2618..4e02b00c19a 100644\n--- a/modules/tools/gen_vehicle_protocol/template/control_protocol.cc.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/control_protocol.cc.tpl\n@@ -30,7 +30,7 @@ const int32_t %(classname)s::ID = 0x%(id_upper)s;\n %(classname)s::%(classname)s() { Reset(); }\n \n uint32_t %(classname)s::GetPeriod() const {\n- // TODO(All) : modify every protocol's period manually\n+ // TODO(All) : modify every protocol's period manually\n static const uint32_t PERIOD = 20 * 1000;\n return PERIOD;\n }\n@@ -41,7 +41,7 @@ void %(classname)s::Parse(const std::uint8_t* bytes, int32_t length,\n }\n \n void %(classname)s::UpdateData_Heartbeat(uint8_t* data) {\n- // TODO(All) : you should add the heartbeat manually\n+ // TODO(All) : you should add the heartbeat manually\n }\n \n void %(classname)s::UpdateData(uint8_t* data) {\ndiff --git a/modules/tools/gen_vehicle_protocol/template/controller.cc.tpl b/modules/tools/gen_vehicle_protocol/template/controller.cc.tpl\nindex beee9032d1c..482bd7aa482 100644\n--- a/modules/tools/gen_vehicle_protocol/template/controller.cc.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/controller.cc.tpl\n@@ -42,10 +42,13 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n \n } // namespace\n \n+void %(car_type_cap)sController::AddSendMessage() {\n+%(protocol_add_list)s\n+}\n+\n ErrorCode %(car_type_cap)sController::Init(\n \tconst VehicleParameter& params,\n \tCanSender<::apollo::canbus::%(car_type_cap)s> *const can_sender,\n- CanReceiver<::apollo::canbus::%(car_type_cap)s>* const can_receiver,\n MessageManager<::apollo::canbus::%(car_type_cap)s> *const message_manager) {\n if (is_initialized_) {\n AINFO << \"%(car_type_cap)sController has already been initiated.\";\n@@ -66,12 +69,6 @@ ErrorCode %(car_type_cap)sController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- AERROR << \"Canbus receiver is null.\";\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\n@@ -80,9 +77,8 @@ ErrorCode %(car_type_cap)sController::Init(\n \n // sender part\n %(protocol_ptr_get_list)s\n-%(protocol_add_list)s\n+ AddSendMessage();\n \n- // need sleep to ensure all messages received\n AINFO << \"%(car_type_cap)sController is initialized.\";\n \n is_initialized_ = true;\n@@ -117,19 +113,19 @@ void %(car_type_cap)sController::Stop() {\n \n Chassis %(car_type_cap)sController::chassis() {\n chassis_.Clear();\n+ %(car_type_cap)s chassis_detail = GetNewRecvChassisDetail();;\n \n- %(car_type_cap)s chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n-\n- // 21, 22, previously 1, 2\n+ // 1, 2\n // if (driving_mode() == Chassis::EMERGENCY_MODE) {\n // set_chassis_error_code(Chassis::NO_ERROR);\n // }\n \n chassis_.set_driving_mode(driving_mode());\n chassis_.set_error_code(chassis_error_code());\n+\n // 3\n chassis_.set_engine_started(true);\n+\n // check chassis error\n if (CheckChassisError()) {\n chassis_.mutable_engage_advice()->set_advice(\n@@ -137,6 +133,7 @@ Chassis %(car_type_cap)sController::chassis() {\n chassis_.mutable_engage_advice()->set_reason(\n \"Chassis has some fault, please check the chassis_detail.\");\n }\n+\n // check the chassis detail lost\n if (is_chassis_communication_error_) {\n chassis_.mutable_engage_advice()->set_advice(\n@@ -447,66 +444,11 @@ void %(car_type_cap)sController::ResetProtocol() {\n message_manager_->ResetSendMessages();\n }\n \n-bool %(car_type_cap)sController::CheckChassisCommunicationError() {\n- %(car_type_cap)s chassis_detail_receiver;\n- ADEBUG << \"Can receiver finished recv once: \"\n- << can_receiver_->IsFinishRecvOnce();\n- if (message_manager_->GetSensorRecvData(&chassis_detail_receiver) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_receiver is \"\n- << chassis_detail_receiver.ShortDebugString();\n- size_t receiver_data_size = chassis_detail_receiver.ByteSizeLong();\n- ADEBUG << \"check chassis detail receiver_data_size is \" << receiver_data_size;\n- // check receiver data is null\n- if (receiver_data_size < 2) {\n- if (is_need_count_) {\n- lost_chassis_reveive_detail_count_++;\n- }\n- } else {\n- lost_chassis_reveive_detail_count_ = 0;\n- is_need_count_ = true;\n- }\n- ADEBUG << \"lost_chassis_reveive_detail_count_ is \"\n- << lost_chassis_reveive_detail_count_;\n- // check receive data lost threshold is (100 * 10)ms\n- if (lost_chassis_reveive_detail_count_ > 100) {\n- is_need_count_ = false;\n- is_chassis_communication_error_ = true;\n- AERROR << \"neolix chassis detail is lost, please check the communication \"\n- \"error.\";\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorData();\n- return true;\n- } else {\n- is_chassis_communication_error_ = false;\n- }\n-\n- %(car_type_cap)s chassis_detail_sender;\n- if (message_manager_->GetSensorSenderData(&chassis_detail_sender) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_sender is \"\n- << chassis_detail_sender.ShortDebugString();\n- size_t sender_data_size = chassis_detail_sender.ByteSizeLong();\n- ADEBUG << \"check chassis detail sender_data_size is \" << sender_data_size;\n-\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorSenderData();\n- return false;\n-}\n-\n bool %(car_type_cap)sController::CheckChassisError() {\n if (is_chassis_communication_error_) {\n AERROR_EVERY(100) << \"ChassisDetail has no %(car_type_lower)s vehicle info.\";\n return false;\n }\n- %(car_type_cap)s chassis_detail;\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis detail failed.\";\n- }\n \n /* ADD YOUR OWN CAR CHASSIS OPERATION\n // steer fault\n@@ -631,9 +573,14 @@ bool %(car_type_cap)sController::CheckResponse(const int32_t flags, bool need_wa\n }\n } while (need_wait && retry_num);\n \n- AERROR << \"check_response fail: is_eps_online:\" << is_eps_online\n- << \", is_vcu_online:\" << is_vcu_online\n- << \", is_esp_online:\" << is_esp_online;\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ AERROR << \"steer check_response fail: is_eps_online:\" << is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ AERROR << \"speed check_response fail: \" << \"is_vcu_online:\" << is_vcu_online\n+ << \", is_esp_online:\" << is_esp_online;\n+ }\n \n return false;\n }\ndiff --git a/modules/tools/gen_vehicle_protocol/template/controller.h.tpl b/modules/tools/gen_vehicle_protocol/template/controller.h.tpl\nindex 039d42a2cf6..37cfb072390 100644\n--- a/modules/tools/gen_vehicle_protocol/template/controller.h.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/controller.h.tpl\n@@ -24,8 +24,8 @@\n #include \"modules/common_msgs/basic_msgs/error_code.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-#include \"modules/canbus/vehicle/vehicle_controller.h\"\n \n+#include \"modules/canbus/vehicle/vehicle_controller.h\"\n %(control_protocol_include_list)s\n \n namespace apollo {\n@@ -42,7 +42,6 @@ class %(car_type_cap)sController final : public VehicleController<::apollo::canb\n ::apollo::common::ErrorCode Init(\n const VehicleParameter& params,\n CanSender<::apollo::canbus::%(car_type_cap)s> *const can_sender,\n- CanReceiver<::apollo::canbus::%(car_type_cap)s>* const can_receiver,\n MessageManager<::apollo::canbus::%(car_type_cap)s> *const message_manager) override;\n \n bool Start() override;\n@@ -59,9 +58,9 @@ class %(car_type_cap)sController final : public VehicleController<::apollo::canb\n Chassis chassis() override;\n \n /**\n- * @brief check the chassis detail received or lost.\n+ * @brief add the sender message.\n */\n- bool CheckChassisCommunicationError();\n+ void AddSendMessage() override;\n \n private:\n // main logical function for operation the car enter or exit the auto driving\n@@ -139,9 +138,6 @@ class %(car_type_cap)sController final : public VehicleController<::apollo::canb\n \n std::mutex chassis_mask_mutex_;\n int32_t chassis_error_mask_ = 0;\n- uint32_t lost_chassis_reveive_detail_count_ = 0;\n- bool is_need_count_ = true;\n- bool is_chassis_communication_error_ = false;\n };\n \n } // namespace %(car_type_lower)s\ndiff --git a/modules/tools/gen_vehicle_protocol/template/controllerdemo.cc.tpl b/modules/tools/gen_vehicle_protocol/template/controllerdemo.cc.tpl\nindex acdeb686f48..8d50de5b9ca 100644\n--- a/modules/tools/gen_vehicle_protocol/template/controllerdemo.cc.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/controllerdemo.cc.tpl\n@@ -42,10 +42,13 @@ const int32_t CHECK_RESPONSE_SPEED_UNIT_FLAG = 2;\n \n } // namespace\n \n+void %(car_type_cap)sController::AddSendMessage() {\n+%(protocol_add_list)s\n+}\n+\n ErrorCode %(car_type_cap)sController::Init(\n \tconst VehicleParameter& params,\n \tCanSender<::apollo::canbus::%(car_type_cap)s> *const can_sender,\n- CanReceiver<::apollo::canbus::%(car_type_cap)s>* const can_receiver,\n MessageManager<::apollo::canbus::%(car_type_cap)s> *const message_manager) {\n if (is_initialized_) {\n AINFO << \"%(car_type_cap)sController has already been initiated.\";\n@@ -66,11 +69,6 @@ ErrorCode %(car_type_cap)sController::Init(\n }\n can_sender_ = can_sender;\n \n- if (can_receiver == nullptr) {\n- return ErrorCode::CANBUS_ERROR;\n- }\n- can_receiver_ = can_receiver;\n-\n if (message_manager == nullptr) {\n AERROR << \"protocol manager is null.\";\n return ErrorCode::CANBUS_ERROR;\n@@ -79,9 +77,8 @@ ErrorCode %(car_type_cap)sController::Init(\n \n // sender part\n %(protocol_ptr_get_list)s\n-%(protocol_add_list)s\n+ AddSendMessage();\n \n- // need sleep to ensure all messages received\n AINFO << \"%(car_type_cap)sController is initialized.\";\n \n is_initialized_ = true;\n@@ -116,20 +113,21 @@ void %(car_type_cap)sController::Stop() {\n \n Chassis %(car_type_cap)sController::chassis() {\n chassis_.Clear();\n+ %(car_type_cap)s chassis_detail = GetNewRecvChassisDetail();;\n \n- %(car_type_cap)s chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n-\n- // 21, 22, previously 1, 2\n+ // 1, 2\n // if (driving_mode() == Chassis::EMERGENCY_MODE) {\n // set_chassis_error_code(Chassis::NO_ERROR);\n // }\n \n chassis_.set_driving_mode(driving_mode());\n chassis_.set_error_code(chassis_error_code());\n+\n // 3\n chassis_.set_engine_started(true);\n+\n %(protocol_chassis_get_list)s\n+\n // check chassis error\n if (CheckChassisError()) {\n chassis_.mutable_engage_advice()->set_advice(\n@@ -137,6 +135,7 @@ Chassis %(car_type_cap)sController::chassis() {\n chassis_.mutable_engage_advice()->set_reason(\n \"Chassis has some fault, please check the chassis_detail.\");\n }\n+\n // check the chassis detail lost\n if (is_chassis_communication_error_) {\n chassis_.mutable_engage_advice()->set_advice(\n@@ -364,11 +363,11 @@ void %(car_type_cap)sController::SetTurningSignal(const VehicleSignal& vehicle_s\n /* ADD YOUR OWN CAR CHASSIS OPERATION\n auto signal = vehicle_signal.turn_signal();\n if (signal == common::VehicleSignal::TURN_LEFT) {\n- turnsignal_68_->set_turn_left();\n+\n } else if (signal == common::VehicleSignal::TURN_RIGHT) {\n- turnsignal_68_->set_turn_right();\n+\n } else {\n- turnsignal_68_->set_turn_none();\n+\n }\n */\n }\n@@ -428,66 +427,11 @@ void %(car_type_cap)sController::ResetProtocol() {\n message_manager_->ResetSendMessages();\n }\n \n-bool %(car_type_cap)sController::CheckChassisCommunicationError() {\n- %(car_type_cap)s chassis_detail_receiver;\n- ADEBUG << \"Can receiver finished recv once: \"\n- << can_receiver_->IsFinishRecvOnce();\n- if (message_manager_->GetSensorRecvData(&chassis_detail_receiver) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_receiver is \"\n- << chassis_detail_receiver.ShortDebugString();\n- size_t receiver_data_size = chassis_detail_receiver.ByteSizeLong();\n- ADEBUG << \"check chassis detail receiver_data_size is \" << receiver_data_size;\n- // check receiver data is null\n- if (receiver_data_size < 2) {\n- if (is_need_count_) {\n- lost_chassis_reveive_detail_count_++;\n- }\n- } else {\n- lost_chassis_reveive_detail_count_ = 0;\n- is_need_count_ = true;\n- }\n- ADEBUG << \"lost_chassis_reveive_detail_count_ is \"\n- << lost_chassis_reveive_detail_count_;\n- // check receive data lost threshold is (100 * 10)ms\n- if (lost_chassis_reveive_detail_count_ > 100) {\n- is_need_count_ = false;\n- is_chassis_communication_error_ = true;\n- AERROR << \"neolix chassis detail is lost, please check the communication \"\n- \"error.\";\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorData();\n- return true;\n- } else {\n- is_chassis_communication_error_ = false;\n- }\n-\n- %(car_type_cap)s chassis_detail_sender;\n- if (message_manager_->GetSensorSenderData(&chassis_detail_sender) !=\n- ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis receive detail failed.\";\n- }\n- ADEBUG << \"chassis_detail_sender is \"\n- << chassis_detail_sender.ShortDebugString();\n- size_t sender_data_size = chassis_detail_sender.ByteSizeLong();\n- ADEBUG << \"check chassis detail sender_data_size is \" << sender_data_size;\n-\n- message_manager_->ClearSensorRecvData();\n- message_manager_->ClearSensorSenderData();\n- return false;\n-}\n-\n bool %(car_type_cap)sController::CheckChassisError() {\n if (is_chassis_communication_error_) {\n AERROR_EVERY(100) << \"ChassisDetail has no %(car_type_lower)s vehicle info.\";\n return false;\n }\n- %(car_type_cap)s chassis_detail;\n- if (message_manager_->GetSensorData(&chassis_detail) != ErrorCode::OK) {\n- AERROR_EVERY(100) << \"Get chassis detail failed.\";\n- }\n \n /* ADD YOUR OWN CAR CHASSIS OPERATION\n // steer fault\n@@ -581,24 +525,23 @@ bool %(car_type_cap)sController::CheckResponse(const int32_t flags, bool need_wa\n bool is_eps_online = false;\n bool is_vcu_online = false;\n bool is_esp_online = false;\n- Chassis chassis = Chassis();\n \n do {\n bool check_ok = true;\n if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n- is_eps_online = chassis.has_check_response() &&\n- chassis.check_response().has_is_eps_online() &&\n- chassis.check_response().is_eps_online();\n+ is_eps_online = chassis_.has_check_response() &&\n+ chassis_.check_response().has_is_eps_online() &&\n+ chassis_.check_response().is_eps_online();\n check_ok = check_ok && is_eps_online;\n }\n \n if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n- is_vcu_online = chassis.has_check_response() &&\n- chassis.check_response().has_is_vcu_online() &&\n- chassis.check_response().is_vcu_online();\n- is_esp_online = chassis.has_check_response() &&\n- chassis.check_response().has_is_esp_online() &&\n- chassis.check_response().is_esp_online();\n+ is_vcu_online = chassis_.has_check_response() &&\n+ chassis_.check_response().has_is_vcu_online() &&\n+ chassis_.check_response().is_vcu_online();\n+ is_esp_online = chassis_.has_check_response() &&\n+ chassis_.check_response().has_is_esp_online() &&\n+ chassis_.check_response().is_esp_online();\n check_ok = check_ok && is_vcu_online && is_esp_online;\n }\n if (check_ok) {\n@@ -613,9 +556,14 @@ bool %(car_type_cap)sController::CheckResponse(const int32_t flags, bool need_wa\n }\n } while (need_wait && retry_num);\n \n- AERROR << \"check_response fail: is_eps_online:\" << is_eps_online\n- << \", is_vcu_online:\" << is_vcu_online\n- << \", is_esp_online:\" << is_esp_online;\n+ if (flags & CHECK_RESPONSE_STEER_UNIT_FLAG) {\n+ AERROR << \"steer check_response fail: is_eps_online:\" << is_eps_online;\n+ }\n+\n+ if (flags & CHECK_RESPONSE_SPEED_UNIT_FLAG) {\n+ AERROR << \"speed check_response fail: \" << \"is_vcu_online:\" << is_vcu_online\n+ << \", is_esp_online:\" << is_esp_online;\n+ }\n \n return false;\n }\ndiff --git a/modules/tools/gen_vehicle_protocol/template/vehicle_factory.cc.tpl b/modules/tools/gen_vehicle_protocol/template/vehicle_factory.cc.tpl\nindex 3cecec44aaa..bd621b70255 100644\n--- a/modules/tools/gen_vehicle_protocol/template/vehicle_factory.cc.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/vehicle_factory.cc.tpl\n@@ -69,7 +69,6 @@ bool %(car_type_cap)sVehicleFactory::Init(const CanbusConf *canbus_conf) {\n AINFO << \"The vehicle controller is successfully created.\";\n \n if (vehicle_controller_->Init(canbus_conf->vehicle_parameter(), &can_sender_,\n- &can_receiver_,\n message_manager_.get()) != ErrorCode::OK) {\n AERROR << \"Failed to init vehicle controller.\";\n return false;\n@@ -84,6 +83,9 @@ bool %(car_type_cap)sVehicleFactory::Init(const CanbusConf *canbus_conf) {\n chassis_detail_writer_ =\n node_->CreateWriter<::apollo::canbus::%(car_type_cap)s>(FLAGS_chassis_detail_topic);\n \n+ chassis_detail_sender_writer_ = node_->CreateWriter<::apollo::canbus::%(car_type_cap)s>(\n+ FLAGS_chassis_detail_sender_topic);\n+\n return true;\n }\n \n@@ -152,12 +154,18 @@ Chassis %(car_type_cap)sVehicleFactory::publish_chassis() {\n }\n \n void %(car_type_cap)sVehicleFactory::PublishChassisDetail() {\n- %(car_type_cap)s chassis_detail;\n- message_manager_->GetSensorData(&chassis_detail);\n- ADEBUG << chassis_detail.ShortDebugString();\n+ %(car_type_cap)s chassis_detail = vehicle_controller_->GetNewRecvChassisDetail();\n+ ADEBUG << \"latest chassis_detail is \" << chassis_detail.ShortDebugString();\n chassis_detail_writer_->Write(chassis_detail);\n }\n \n+void %(car_type_cap)sVehicleFactory::PublishChassisDetailSender() {\n+ %(car_type_cap)s sender_chassis_detail = vehicle_controller_->GetNewSenderChassisDetail();\n+ ADEBUG << \"latest sender_chassis_detail is \"\n+ << sender_chassis_detail.ShortDebugString();\n+ chassis_detail_sender_writer_->Write(sender_chassis_detail);\n+}\n+\n void %(car_type_cap)sVehicleFactory::UpdateHeartbeat() {\n can_sender_.Update_Heartbeat();\n }\n@@ -169,9 +177,28 @@ bool %(car_type_cap)sVehicleFactory::CheckChassisCommunicationFault() {\n return false;\n }\n \n-std::unique_ptr<%(car_type_lower)s::%(car_type_cap)sController>\n+void %(car_type_cap)sVehicleFactory::AddSendProtocol() {\n+ vehicle_controller_->AddSendMessage();\n+}\n+\n+void %(car_type_cap)sVehicleFactory::ClearSendProtocol() {\n+ can_sender_.ClearMessage();\n+}\n+\n+bool %(car_type_cap)sVehicleFactory::IsSendProtocolClear() {\n+ if (can_sender_.IsMessageClear()) {\n+ return true;\n+ }\n+ return false;\n+}\n+\n+Chassis::DrivingMode %(car_type_cap)sVehicleFactory::Driving_Mode() {\n+ return vehicle_controller_->driving_mode();\n+}\n+\n+std::unique_ptr<VehicleController<::apollo::canbus::%(car_type_cap)s>>\n %(car_type_cap)sVehicleFactory::CreateVehicleController() {\n- return std::unique_ptr<%(car_type_lower)s::%(car_type_cap)sController>(\n+ return std::unique_ptr<VehicleController<::apollo::canbus::%(car_type_cap)s>>(\n new %(car_type_lower)s::%(car_type_cap)sController());\n }\n \ndiff --git a/modules/tools/gen_vehicle_protocol/template/vehicle_factory.h.tpl b/modules/tools/gen_vehicle_protocol/template/vehicle_factory.h.tpl\nindex 398afd13e80..804c8a737b2 100644\n--- a/modules/tools/gen_vehicle_protocol/template/vehicle_factory.h.tpl\n+++ b/modules/tools/gen_vehicle_protocol/template/vehicle_factory.h.tpl\n@@ -89,27 +89,53 @@ class %(car_type_cap)sVehicleFactory : public AbstractVehicleFactory {\n */\n Chassis publish_chassis() override;\n \n+ /**\n+ * @brief create cansender heartbeat\n+ */\n+ void UpdateHeartbeat() override;\n+\n /**\n * @brief publish chassis for vehicle messages\n */\n void PublishChassisDetail() override;\n \n /**\n- * @brief create cansender heartbeat\n+ * @brief publish chassis for apollo sender messages\n+ */\n+ void PublishChassisDetailSender() override;\n+\n+ /**\n+ * @brief check chassis can receiver lost\n+ */\n+ bool CheckChassisCommunicationFault() override;\n+\n+ /**\n+ * @brief add the can sender messages\n+ */\n+ void AddSendProtocol() override;\n+\n+ /**\n+ * @brief clear the can sender messages\n */\n- void UpdateHeartbeat();\n+ void ClearSendProtocol() override;\n \n /**\n- * @brief check the chassis detail can receive lost\n+ * @brief check the sender message clear or not\n */\n- bool CheckChassisCommunicationFault();\n+ bool IsSendProtocolClear() override;\n+\n+ /**\n+ * @brief get the latest chassis driving mode\n+ */\n+ Chassis::DrivingMode Driving_Mode() override;\n \n private:\n /**\n * @brief create %(car_type_lower)s vehicle controller\n * @returns a unique_ptr that points to the created controller\n */\n- std::unique_ptr<%(car_type_lower)s::%(car_type_cap)sController> CreateVehicleController();\n+ std::unique_ptr<VehicleController<::apollo::canbus::%(car_type_cap)s>>\n+ CreateVehicleController();\n \n /**\n * @brief create %(car_type_lower)s message manager\n@@ -122,10 +148,12 @@ class %(car_type_cap)sVehicleFactory : public AbstractVehicleFactory {\n CanSender<::apollo::canbus::%(car_type_cap)s> can_sender_;\n apollo::drivers::canbus::CanReceiver<::apollo::canbus::%(car_type_cap)s> can_receiver_;\n std::unique_ptr<MessageManager<::apollo::canbus::%(car_type_cap)s>> message_manager_;\n- std::unique_ptr<%(car_type_lower)s::%(car_type_cap)sController> vehicle_controller_;\n+ std::unique_ptr<VehicleController<::apollo::canbus::%(car_type_cap)s>> vehicle_controller_;\n \n std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::%(car_type_cap)s>>\n chassis_detail_writer_;\n+ std::shared_ptr<::apollo::cyber::Writer<::apollo::canbus::%(car_type_cap)s>>\n+ chassis_detail_sender_writer_;\n };\n \n CYBER_REGISTER_VEHICLEFACTORY(%(car_type_cap)sVehicleFactory)\n"},"changed_files":{"kind":"list like","value":["modules/canbus/canbus_component.cc","modules/canbus/canbus_component.h","modules/canbus/common/canbus_gflags.cc","modules/canbus/common/canbus_gflags.h","modules/canbus/conf/canbus.conf","modules/canbus/conf/canbus_conf.pb.txt","modules/canbus/vehicle/abstract_vehicle_factory.cc","modules/canbus/vehicle/abstract_vehicle_factory.h","modules/canbus/vehicle/vehicle_controller.h","modules/canbus_vehicle/ch/ch_controller.cc","modules/canbus_vehicle/ch/ch_controller.h","modules/canbus_vehicle/ch/ch_controller_test.cc","modules/canbus_vehicle/ch/ch_vehicle_factory.cc","modules/canbus_vehicle/ch/ch_vehicle_factory.h","modules/canbus_vehicle/demo/BUILD","modules/canbus_vehicle/demo/cyberfile.xml","modules/canbus_vehicle/demo/demo_controller.cc","modules/canbus_vehicle/demo/demo_controller.h","modules/canbus_vehicle/demo/demo_message_manager.cc","modules/canbus_vehicle/demo/demo_message_manager.h","modules/canbus_vehicle/demo/demo_vehicle_factory.cc","modules/canbus_vehicle/demo/demo_vehicle_factory.h","modules/canbus_vehicle/demo/proto/BUILD","modules/canbus_vehicle/demo/proto/demo.proto","modules/canbus_vehicle/demo/protocol/bms_report_512.cc","modules/canbus_vehicle/demo/protocol/bms_report_512.h","modules/canbus_vehicle/demo/protocol/brake_command_101.cc","modules/canbus_vehicle/demo/protocol/brake_command_101.h","modules/canbus_vehicle/demo/protocol/brake_report_501.cc","modules/canbus_vehicle/demo/protocol/brake_report_501.h","modules/canbus_vehicle/demo/protocol/gear_command_103.cc","modules/canbus_vehicle/demo/protocol/gear_command_103.h","modules/canbus_vehicle/demo/protocol/gear_report_503.cc","modules/canbus_vehicle/demo/protocol/gear_report_503.h","modules/canbus_vehicle/demo/protocol/park_command_104.cc","modules/canbus_vehicle/demo/protocol/park_command_104.h","modules/canbus_vehicle/demo/protocol/park_report_504.cc","modules/canbus_vehicle/demo/protocol/park_report_504.h","modules/canbus_vehicle/demo/protocol/steering_command_102.cc","modules/canbus_vehicle/demo/protocol/steering_command_102.h","modules/canbus_vehicle/demo/protocol/steering_report_502.cc","modules/canbus_vehicle/demo/protocol/steering_report_502.h","modules/canbus_vehicle/demo/protocol/throttle_command_100.cc","modules/canbus_vehicle/demo/protocol/throttle_command_100.h","modules/canbus_vehicle/demo/protocol/throttle_report_500.cc","modules/canbus_vehicle/demo/protocol/throttle_report_500.h","modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.cc","modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h","modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.cc","modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h","modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.cc","modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h","modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.cc","modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h","modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.cc","modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h","modules/canbus_vehicle/demo/protocol/vcu_report_505.cc","modules/canbus_vehicle/demo/protocol/vcu_report_505.h","modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.cc","modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h","modules/canbus_vehicle/demo/protocol/vin_resp1_514.cc","modules/canbus_vehicle/demo/protocol/vin_resp1_514.h","modules/canbus_vehicle/demo/protocol/vin_resp2_515.cc","modules/canbus_vehicle/demo/protocol/vin_resp2_515.h","modules/canbus_vehicle/demo/protocol/vin_resp3_516.cc","modules/canbus_vehicle/demo/protocol/vin_resp3_516.h","modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.cc","modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h","modules/canbus_vehicle/devkit/devkit_controller.cc","modules/canbus_vehicle/devkit/devkit_controller.h","modules/canbus_vehicle/devkit/devkit_controller_test.cc","modules/canbus_vehicle/devkit/devkit_vehicle_factory.cc","modules/canbus_vehicle/devkit/devkit_vehicle_factory.h","modules/canbus_vehicle/ge3/ge3_controller.cc","modules/canbus_vehicle/ge3/ge3_controller.h","modules/canbus_vehicle/ge3/ge3_controller_test.cc","modules/canbus_vehicle/ge3/ge3_vehicle_factory.cc","modules/canbus_vehicle/ge3/ge3_vehicle_factory.h","modules/canbus_vehicle/gem/gem_controller.cc","modules/canbus_vehicle/gem/gem_controller.h","modules/canbus_vehicle/gem/gem_controller_test.cc","modules/canbus_vehicle/gem/gem_vehicle_factory.cc","modules/canbus_vehicle/gem/gem_vehicle_factory.h","modules/canbus_vehicle/lexus/lexus_controller.cc","modules/canbus_vehicle/lexus/lexus_controller.h","modules/canbus_vehicle/lexus/lexus_controller_test.cc","modules/canbus_vehicle/lexus/lexus_vehicle_factory.cc","modules/canbus_vehicle/lexus/lexus_vehicle_factory.h","modules/canbus_vehicle/lincoln/lincoln_controller.cc","modules/canbus_vehicle/lincoln/lincoln_controller.h","modules/canbus_vehicle/lincoln/lincoln_controller_test.cc","modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc","modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.h","modules/canbus_vehicle/neolix_edu/neolix_edu_controller.cc","modules/canbus_vehicle/neolix_edu/neolix_edu_controller.h","modules/canbus_vehicle/neolix_edu/neolix_edu_controller_test.cc","modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc","modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h","modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.cc","modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.h"],"string":"[\n \"modules/canbus/canbus_component.cc\",\n \"modules/canbus/canbus_component.h\",\n \"modules/canbus/common/canbus_gflags.cc\",\n \"modules/canbus/common/canbus_gflags.h\",\n \"modules/canbus/conf/canbus.conf\",\n \"modules/canbus/conf/canbus_conf.pb.txt\",\n \"modules/canbus/vehicle/abstract_vehicle_factory.cc\",\n \"modules/canbus/vehicle/abstract_vehicle_factory.h\",\n \"modules/canbus/vehicle/vehicle_controller.h\",\n \"modules/canbus_vehicle/ch/ch_controller.cc\",\n \"modules/canbus_vehicle/ch/ch_controller.h\",\n \"modules/canbus_vehicle/ch/ch_controller_test.cc\",\n \"modules/canbus_vehicle/ch/ch_vehicle_factory.cc\",\n \"modules/canbus_vehicle/ch/ch_vehicle_factory.h\",\n \"modules/canbus_vehicle/demo/BUILD\",\n \"modules/canbus_vehicle/demo/cyberfile.xml\",\n \"modules/canbus_vehicle/demo/demo_controller.cc\",\n \"modules/canbus_vehicle/demo/demo_controller.h\",\n \"modules/canbus_vehicle/demo/demo_message_manager.cc\",\n \"modules/canbus_vehicle/demo/demo_message_manager.h\",\n \"modules/canbus_vehicle/demo/demo_vehicle_factory.cc\",\n \"modules/canbus_vehicle/demo/demo_vehicle_factory.h\",\n \"modules/canbus_vehicle/demo/proto/BUILD\",\n \"modules/canbus_vehicle/demo/proto/demo.proto\",\n \"modules/canbus_vehicle/demo/protocol/bms_report_512.cc\",\n \"modules/canbus_vehicle/demo/protocol/bms_report_512.h\",\n \"modules/canbus_vehicle/demo/protocol/brake_command_101.cc\",\n \"modules/canbus_vehicle/demo/protocol/brake_command_101.h\",\n \"modules/canbus_vehicle/demo/protocol/brake_report_501.cc\",\n \"modules/canbus_vehicle/demo/protocol/brake_report_501.h\",\n \"modules/canbus_vehicle/demo/protocol/gear_command_103.cc\",\n \"modules/canbus_vehicle/demo/protocol/gear_command_103.h\",\n \"modules/canbus_vehicle/demo/protocol/gear_report_503.cc\",\n \"modules/canbus_vehicle/demo/protocol/gear_report_503.h\",\n \"modules/canbus_vehicle/demo/protocol/park_command_104.cc\",\n \"modules/canbus_vehicle/demo/protocol/park_command_104.h\",\n \"modules/canbus_vehicle/demo/protocol/park_report_504.cc\",\n \"modules/canbus_vehicle/demo/protocol/park_report_504.h\",\n \"modules/canbus_vehicle/demo/protocol/steering_command_102.cc\",\n \"modules/canbus_vehicle/demo/protocol/steering_command_102.h\",\n \"modules/canbus_vehicle/demo/protocol/steering_report_502.cc\",\n \"modules/canbus_vehicle/demo/protocol/steering_report_502.h\",\n \"modules/canbus_vehicle/demo/protocol/throttle_command_100.cc\",\n \"modules/canbus_vehicle/demo/protocol/throttle_command_100.h\",\n \"modules/canbus_vehicle/demo/protocol/throttle_report_500.cc\",\n \"modules/canbus_vehicle/demo/protocol/throttle_report_500.h\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.cc\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_1_507.h\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.cc\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_2_508.h\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.cc\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_3_509.h\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.cc\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_4_510.h\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.cc\",\n \"modules/canbus_vehicle/demo/protocol/ultr_sensor_5_511.h\",\n \"modules/canbus_vehicle/demo/protocol/vcu_report_505.cc\",\n \"modules/canbus_vehicle/demo/protocol/vcu_report_505.h\",\n \"modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.cc\",\n \"modules/canbus_vehicle/demo/protocol/vehicle_mode_command_105.h\",\n \"modules/canbus_vehicle/demo/protocol/vin_resp1_514.cc\",\n \"modules/canbus_vehicle/demo/protocol/vin_resp1_514.h\",\n \"modules/canbus_vehicle/demo/protocol/vin_resp2_515.cc\",\n \"modules/canbus_vehicle/demo/protocol/vin_resp2_515.h\",\n \"modules/canbus_vehicle/demo/protocol/vin_resp3_516.cc\",\n \"modules/canbus_vehicle/demo/protocol/vin_resp3_516.h\",\n \"modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.cc\",\n \"modules/canbus_vehicle/demo/protocol/wheelspeed_report_506.h\",\n \"modules/canbus_vehicle/devkit/devkit_controller.cc\",\n \"modules/canbus_vehicle/devkit/devkit_controller.h\",\n \"modules/canbus_vehicle/devkit/devkit_controller_test.cc\",\n \"modules/canbus_vehicle/devkit/devkit_vehicle_factory.cc\",\n \"modules/canbus_vehicle/devkit/devkit_vehicle_factory.h\",\n \"modules/canbus_vehicle/ge3/ge3_controller.cc\",\n \"modules/canbus_vehicle/ge3/ge3_controller.h\",\n \"modules/canbus_vehicle/ge3/ge3_controller_test.cc\",\n \"modules/canbus_vehicle/ge3/ge3_vehicle_factory.cc\",\n \"modules/canbus_vehicle/ge3/ge3_vehicle_factory.h\",\n \"modules/canbus_vehicle/gem/gem_controller.cc\",\n \"modules/canbus_vehicle/gem/gem_controller.h\",\n \"modules/canbus_vehicle/gem/gem_controller_test.cc\",\n \"modules/canbus_vehicle/gem/gem_vehicle_factory.cc\",\n \"modules/canbus_vehicle/gem/gem_vehicle_factory.h\",\n \"modules/canbus_vehicle/lexus/lexus_controller.cc\",\n \"modules/canbus_vehicle/lexus/lexus_controller.h\",\n \"modules/canbus_vehicle/lexus/lexus_controller_test.cc\",\n \"modules/canbus_vehicle/lexus/lexus_vehicle_factory.cc\",\n \"modules/canbus_vehicle/lexus/lexus_vehicle_factory.h\",\n \"modules/canbus_vehicle/lincoln/lincoln_controller.cc\",\n \"modules/canbus_vehicle/lincoln/lincoln_controller.h\",\n \"modules/canbus_vehicle/lincoln/lincoln_controller_test.cc\",\n \"modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.cc\",\n \"modules/canbus_vehicle/lincoln/lincoln_vehicle_factory.h\",\n \"modules/canbus_vehicle/neolix_edu/neolix_edu_controller.cc\",\n \"modules/canbus_vehicle/neolix_edu/neolix_edu_controller.h\",\n \"modules/canbus_vehicle/neolix_edu/neolix_edu_controller_test.cc\",\n \"modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.cc\",\n \"modules/canbus_vehicle/neolix_edu/neolix_edu_vehicle_factory.h\",\n \"modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.cc\",\n \"modules/canbus_vehicle/neolix_edu/protocol/ads_brake_command_46.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":"diff --git a/modules/canbus_vehicle/ch/ch_controller_test.cc b/modules/canbus_vehicle/ch/ch_controller_test.cc\nindex 48f2f468e1a..3b711165b02 100644\n--- a/modules/canbus_vehicle/ch/ch_controller_test.cc\n+++ b/modules/canbus_vehicle/ch/ch_controller_test.cc\n@@ -53,15 +53,13 @@ class ChControllerTest : public ::testing::Test {\n ControlCommand control_cmd_;\n VehicleSignal vehicle_signal_;\n CanSender<::apollo::canbus::Ch> sender_;\n- CanReceiver<::apollo::canbus::Ch> receiver_;\n ChMessageManager msg_manager_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n };\n \n TEST_F(ChControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -69,14 +67,14 @@ TEST_F(ChControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()), ErrorCode::OK);\n }\n \n TEST_F(ChControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n controller_.SetHorn(control_cmd_.signal());\n@@ -86,7 +84,7 @@ TEST_F(ChControllerTest, Status) {\n }\n \n TEST_F(ChControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\n ErrorCode::OK);\ndiff --git a/modules/canbus_vehicle/devkit/devkit_controller_test.cc b/modules/canbus_vehicle/devkit/devkit_controller_test.cc\nindex 0da83aa4160..cadaec34873 100755\n--- a/modules/canbus_vehicle/devkit/devkit_controller_test.cc\n+++ b/modules/canbus_vehicle/devkit/devkit_controller_test.cc\n@@ -53,15 +53,13 @@ class DevkitControllerTest : public ::testing::Test {\n ControlCommand control_cmd_;\n VehicleSignal vehicle_signal_;\n CanSender<::apollo::canbus::Devkit> sender_;\n- CanReceiver<::apollo::canbus::Devkit>* receiver_;\n DevkitMessageManager msg_manager_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n };\n \n TEST_F(DevkitControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -69,14 +67,14 @@ TEST_F(DevkitControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()), ErrorCode::OK);\n }\n \n TEST_F(DevkitControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n controller_.SetHorn(control_cmd_.signal());\n@@ -86,7 +84,7 @@ TEST_F(DevkitControllerTest, Status) {\n }\n \n TEST_F(DevkitControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\n ErrorCode::OK);\ndiff --git a/modules/canbus_vehicle/ge3/ge3_controller_test.cc b/modules/canbus_vehicle/ge3/ge3_controller_test.cc\nindex ae09fef1bb8..ff5225dcd85 100644\n--- a/modules/canbus_vehicle/ge3/ge3_controller_test.cc\n+++ b/modules/canbus_vehicle/ge3/ge3_controller_test.cc\n@@ -19,12 +19,10 @@\n #include <string>\n \n #include \"gtest/gtest.h\"\n-\n #include \"modules/canbus/proto/canbus_conf.pb.h\"\n #include \"modules/canbus_vehicle/ge3/proto/ge3.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/common/file.h\"\n #include \"modules/canbus_vehicle/ge3/ge3_message_manager.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n@@ -48,7 +46,6 @@ class Ge3ControllerTest : public ::testing::Test {\n protected:\n Ge3Controller controller_;\n CanSender<::apollo::canbus::Ge3> sender_;\n- CanReceiver<::apollo::canbus::Ge3> receiver_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n Ge3MessageManager msg_manager_;\n@@ -56,8 +53,7 @@ class Ge3ControllerTest : public ::testing::Test {\n };\n \n TEST_F(Ge3ControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -65,7 +61,7 @@ TEST_F(Ge3ControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n@@ -73,7 +69,7 @@ TEST_F(Ge3ControllerTest, SetDrivingMode) {\n }\n \n TEST_F(Ge3ControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n@@ -85,7 +81,7 @@ TEST_F(Ge3ControllerTest, Status) {\n }\n \n TEST_F(Ge3ControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\ndiff --git a/modules/canbus_vehicle/gem/gem_controller_test.cc b/modules/canbus_vehicle/gem/gem_controller_test.cc\nindex 9efe80ec364..4c67d13a9bd 100644\n--- a/modules/canbus_vehicle/gem/gem_controller_test.cc\n+++ b/modules/canbus_vehicle/gem/gem_controller_test.cc\n@@ -47,7 +47,6 @@ class GemControllerTest : public ::testing::Test {\n protected:\n GemController controller_;\n CanSender<::apollo::canbus::Gem> sender_;\n- CanReceiver<::apollo::canbus::Gem> receiver_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n GemMessageManager msg_manager_;\n@@ -55,8 +54,7 @@ class GemControllerTest : public ::testing::Test {\n };\n \n TEST_F(GemControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -64,7 +62,7 @@ TEST_F(GemControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n@@ -72,7 +70,7 @@ TEST_F(GemControllerTest, SetDrivingMode) {\n }\n \n TEST_F(GemControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n@@ -84,7 +82,7 @@ TEST_F(GemControllerTest, Status) {\n }\n \n TEST_F(GemControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\ndiff --git a/modules/canbus_vehicle/lexus/lexus_controller_test.cc b/modules/canbus_vehicle/lexus/lexus_controller_test.cc\nindex f7184ea22e0..67aa0417708 100644\n--- a/modules/canbus_vehicle/lexus/lexus_controller_test.cc\n+++ b/modules/canbus_vehicle/lexus/lexus_controller_test.cc\n@@ -16,14 +16,13 @@\n #include \"modules/canbus_vehicle/lexus/lexus_controller.h\"\n \n #include \"gtest/gtest.h\"\n+#include \"cyber/common/file.h\"\n \n #include \"modules/canbus/proto/canbus_conf.pb.h\"\n #include \"modules/canbus_vehicle/lexus/proto/lexus.pb.h\"\n #include \"modules/common_msgs/basic_msgs/vehicle_signal.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n-#include \"cyber/common/file.h\"\n #include \"modules/canbus_vehicle/lexus/lexus_message_manager.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n \n@@ -53,15 +52,13 @@ class LexusControllerTest : public ::testing::Test {\n ControlCommand control_cmd_;\n VehicleSignal vehicle_signal_;\n CanSender<::apollo::canbus::Lexus> sender_;\n- CanReceiver<::apollo::canbus::Lexus> receiver_;\n LexusMessageManager msg_manager_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n };\n \n TEST_F(LexusControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -69,14 +66,14 @@ TEST_F(LexusControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()), ErrorCode::OK);\n }\n \n TEST_F(LexusControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n controller_.SetHorn(control_cmd_.signal());\n@@ -87,7 +84,7 @@ TEST_F(LexusControllerTest, Status) {\n }\n \n TEST_F(LexusControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\n ErrorCode::OK);\ndiff --git a/modules/canbus_vehicle/lincoln/lincoln_controller_test.cc b/modules/canbus_vehicle/lincoln/lincoln_controller_test.cc\nindex adb50df3a6c..1d335f5d6a9 100644\n--- a/modules/canbus_vehicle/lincoln/lincoln_controller_test.cc\n+++ b/modules/canbus_vehicle/lincoln/lincoln_controller_test.cc\n@@ -17,14 +17,13 @@\n #include \"modules/canbus_vehicle/lincoln/lincoln_controller.h\"\n \n #include \"gtest/gtest.h\"\n+#include \"cyber/common/file.h\"\n \n #include \"modules/canbus/proto/canbus_conf.pb.h\"\n #include \"modules/canbus_vehicle/lincoln/proto/lincoln.pb.h\"\n #include \"modules/common_msgs/basic_msgs/vehicle_signal.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n-#include \"cyber/common/file.h\"\n #include \"modules/canbus_vehicle/lincoln/lincoln_message_manager.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n \n@@ -54,15 +53,13 @@ class LincolnControllerTest : public ::testing::Test {\n ControlCommand control_cmd_;\n VehicleSignal vehicle_signal_;\n CanSender<::apollo::canbus::Lincoln> sender_;\n- CanReceiver<::apollo::canbus::Lincoln> receiver_;\n LincolnMessageManager msg_manager_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n };\n \n TEST_F(LincolnControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -70,14 +67,14 @@ TEST_F(LincolnControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()), ErrorCode::OK);\n }\n \n TEST_F(LincolnControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n controller_.SetHorn(control_cmd_.signal());\n@@ -88,7 +85,7 @@ TEST_F(LincolnControllerTest, Status) {\n }\n \n TEST_F(LincolnControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\n ErrorCode::OK);\ndiff --git a/modules/canbus_vehicle/neolix_edu/neolix_edu_controller_test.cc b/modules/canbus_vehicle/neolix_edu/neolix_edu_controller_test.cc\nindex 459704f78ae..af8577da96e 100644\n--- a/modules/canbus_vehicle/neolix_edu/neolix_edu_controller_test.cc\n+++ b/modules/canbus_vehicle/neolix_edu/neolix_edu_controller_test.cc\n@@ -54,15 +54,13 @@ class Neolix_eduControllerTest : public ::testing::Test {\n ControlCommand control_cmd_;\n VehicleSignal vehicle_signal_;\n CanSender<::apollo::canbus::Neolix_edu> sender_;\n- CanReceiver<::apollo::canbus::Neolix_edu> receiver_;\n Neolix_eduMessageManager msg_manager_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n };\n \n TEST_F(Neolix_eduControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -70,14 +68,14 @@ TEST_F(Neolix_eduControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n EXPECT_EQ(controller_.SetDrivingMode(chassis.driving_mode()), ErrorCode::OK);\n }\n \n TEST_F(Neolix_eduControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n controller_.SetHorn(control_cmd_.signal());\n@@ -88,7 +86,7 @@ TEST_F(Neolix_eduControllerTest, Status) {\n }\n \n TEST_F(Neolix_eduControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\n ErrorCode::OK);\ndiff --git a/modules/canbus_vehicle/transit/transit_controller_test.cc b/modules/canbus_vehicle/transit/transit_controller_test.cc\nindex 11536c0ba16..8358fa66a4f 100644\n--- a/modules/canbus_vehicle/transit/transit_controller_test.cc\n+++ b/modules/canbus_vehicle/transit/transit_controller_test.cc\n@@ -19,12 +19,11 @@\n #include <string>\n \n #include \"gtest/gtest.h\"\n+#include \"cyber/common/file.h\"\n \n #include \"modules/canbus/proto/canbus_conf.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n-#include \"cyber/common/file.h\"\n #include \"modules/canbus_vehicle/transit/transit_message_manager.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n \n@@ -47,7 +46,6 @@ class TransitControllerTest : public ::testing::Test {\n protected:\n TransitController controller_;\n CanSender<::apollo::canbus::Transit> sender_;\n- CanReceiver<::apollo::canbus::Transit> receiver_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n TransitMessageManager msg_manager_;\n@@ -55,8 +53,7 @@ class TransitControllerTest : public ::testing::Test {\n };\n \n TEST_F(TransitControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -64,7 +61,7 @@ TEST_F(TransitControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n@@ -72,7 +69,7 @@ TEST_F(TransitControllerTest, SetDrivingMode) {\n }\n \n TEST_F(TransitControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n@@ -84,7 +81,7 @@ TEST_F(TransitControllerTest, Status) {\n }\n \n TEST_F(TransitControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\ndiff --git a/modules/canbus_vehicle/wey/wey_controller_test.cc b/modules/canbus_vehicle/wey/wey_controller_test.cc\nindex 26e52245f14..ea61a3beaca 100644\n--- a/modules/canbus_vehicle/wey/wey_controller_test.cc\n+++ b/modules/canbus_vehicle/wey/wey_controller_test.cc\n@@ -19,13 +19,12 @@\n #include <string>\n \n #include \"gtest/gtest.h\"\n+#include \"cyber/common/file.h\"\n \n #include \"modules/canbus/proto/canbus_conf.pb.h\"\n #include \"modules/canbus_vehicle/wey/proto/wey.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n-#include \"cyber/common/file.h\"\n #include \"modules/canbus_vehicle/wey/wey_message_manager.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n \n@@ -48,7 +47,6 @@ class WeyControllerTest : public ::testing::Test {\n protected:\n WeyController controller_;\n CanSender<::apollo::canbus::Wey> sender_;\n- CanReceiver<::apollo::canbus::Wey> receiver_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n WeyMessageManager msg_manager_;\n@@ -56,8 +54,7 @@ class WeyControllerTest : public ::testing::Test {\n };\n \n TEST_F(WeyControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -65,7 +62,7 @@ TEST_F(WeyControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n@@ -73,7 +70,7 @@ TEST_F(WeyControllerTest, SetDrivingMode) {\n }\n \n TEST_F(WeyControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n@@ -85,7 +82,7 @@ TEST_F(WeyControllerTest, Status) {\n }\n \n TEST_F(WeyControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\ndiff --git a/modules/canbus_vehicle/zhongyun/zhongyun_controller_test.cc b/modules/canbus_vehicle/zhongyun/zhongyun_controller_test.cc\nindex 0bf1781e60c..f5bf21061e3 100644\n--- a/modules/canbus_vehicle/zhongyun/zhongyun_controller_test.cc\n+++ b/modules/canbus_vehicle/zhongyun/zhongyun_controller_test.cc\n@@ -14,8 +14,6 @@\n * limitations under the License.\n *****************************************************************************/\n \n-#include \"modules/canbus_vehicle/zhongyun/zhongyun_controller.h\"\n-\n #include <string>\n \n #include \"gtest/gtest.h\"\n@@ -24,8 +22,8 @@\n #include \"modules/canbus_vehicle/zhongyun/proto/zhongyun.pb.h\"\n #include \"modules/common_msgs/chassis_msgs/chassis.pb.h\"\n #include \"modules/common_msgs/control_msgs/control_cmd.pb.h\"\n-\n #include \"cyber/common/file.h\"\n+#include \"modules/canbus_vehicle/zhongyun/zhongyun_controller.h\"\n #include \"modules/canbus_vehicle/zhongyun/zhongyun_message_manager.h\"\n #include \"modules/drivers/canbus/can_comm/can_sender.h\"\n \n@@ -48,7 +46,6 @@ class ZhongyunControllerTest : public ::testing::Test {\n protected:\n ZhongyunController controller_;\n CanSender<Zhongyun> sender_;\n- CanReceiver<Zhongyun> receiver_;\n CanbusConf canbus_conf_;\n VehicleParameter params_;\n ZhongyunMessageManager msg_manager_;\n@@ -56,8 +53,7 @@ class ZhongyunControllerTest : public ::testing::Test {\n };\n \n TEST_F(ZhongyunControllerTest, Init) {\n- ErrorCode ret =\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ ErrorCode ret = controller_.Init(params_, &sender_, &msg_manager_);\n EXPECT_EQ(ret, ErrorCode::OK);\n }\n \n@@ -65,7 +61,7 @@ TEST_F(ZhongyunControllerTest, SetDrivingMode) {\n Chassis chassis;\n chassis.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n \n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(chassis.driving_mode());\n EXPECT_EQ(controller_.driving_mode(), chassis.driving_mode());\n@@ -73,7 +69,7 @@ TEST_F(ZhongyunControllerTest, SetDrivingMode) {\n }\n \n TEST_F(ZhongyunControllerTest, Status) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.Update(control_cmd_), ErrorCode::OK);\n@@ -85,7 +81,7 @@ TEST_F(ZhongyunControllerTest, Status) {\n }\n \n TEST_F(ZhongyunControllerTest, UpdateDrivingMode) {\n- controller_.Init(params_, &sender_, &receiver_, &msg_manager_);\n+ controller_.Init(params_, &sender_, &msg_manager_);\n \n controller_.set_driving_mode(Chassis::COMPLETE_AUTO_DRIVE);\n EXPECT_EQ(controller_.SetDrivingMode(Chassis::COMPLETE_MANUAL),\n"},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":570,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15312,"string":"15,312"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Update how_to_launch_and_run_apollo.md"},"pr_body":{"kind":"string","value":"Corrected path of demo_guide"},"base_sha":{"kind":"string","value":"43922a04d0ecbdb2da4bf2d77b445fd11017e563"},"head_sha":{"kind":"string","value":"1d6e0ad5d648cc09b701afb5a988a1c3682892b1"},"gold_diff":{"kind":"string","value":"diff --git a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md b/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\nindex 1d02567ad02..757fc13bf92 100644\n--- a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\n+++ b/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\n@@ -59,7 +59,7 @@ To see if the system works, use the demo record to \"feed\" the system.\n \n ```\n # You need to download the demo record using the following commands\n-cd docs/demo_guide/\n+cd docs/02_Quick\\ Start/demo_guide/\n python3 record_helper.py demo_3.5.record\n \n # You can now replay this demo \"record\" in a loop with the '-l' flag\n"},"changed_files":{"kind":"list like","value":["docs/01_Installation Instructions/how_to_launch_and_run_apollo.md"],"string":"[\n \"docs/01_Installation Instructions/how_to_launch_and_run_apollo.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":571,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15369,"string":"15,369"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Fix apollo_6_0_quick_start_cn.md link"},"pr_body":{"kind":"string","value":"Fix broken link (Apollo 3.5 硬件与系统安装指南)\r\n修复损坏的404链接"},"base_sha":{"kind":"string","value":"0ac55bbdbd4485e83fac8030cde006bef34a9374"},"head_sha":{"kind":"string","value":"cea92b97b50b0ea5b50f0367fcd07efa5e945d91"},"gold_diff":{"kind":"string","value":"diff --git a/docs/02_Quick Start/apollo_6_0_quick_start_cn.md b/docs/02_Quick Start/apollo_6_0_quick_start_cn.md\nindex 36753bb8aaf..14615a14823 100644\n--- a/docs/02_Quick Start/apollo_6_0_quick_start_cn.md\n+++ b/docs/02_Quick Start/apollo_6_0_quick_start_cn.md\n@@ -19,7 +19,7 @@ Apollo集成了新的深度学习模型，包括使用PointPillars进行障碍\n \n ## 硬件和软件安装\n \n-Apollo 6.0的硬件设置与Apollo 3.5相同，请参阅[Apollo 3.5 硬件与系统安装指南](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)获取安装硬件组件的步骤，参阅[Apollo软件安装指南](../01_Installation%20Instructions/apollo_software_installation_guide_cn.md)获取软件安装步骤。\n+Apollo 6.0的硬件设置与Apollo 3.5相同，请参阅[Apollo 3.5 硬件与系统安装指南](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)获取安装硬件组件的步骤，参阅[Apollo软件安装指南](../01_Installation%20Instructions/apollo_software_installation_guide_cn.md)获取软件安装步骤。\n \n ## Dreamview的使用\n \n"},"changed_files":{"kind":"list like","value":["docs/02_Quick Start/apollo_6_0_quick_start_cn.md"],"string":"[\n \"docs/02_Quick Start/apollo_6_0_quick_start_cn.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":572,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15413,"string":"15,413"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: fix broken links in documentation"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"54c820207c1ed4b0a485e7267aea4fadf19b84d6"},"head_sha":{"kind":"string","value":"482b5381d93d300f4ff61a2a2f9583f64db8bb30"},"gold_diff":{"kind":"string","value":"diff --git a/docs/02_Quick Start/README.md b/docs/02_Quick Start/README.md\nindex 4e17c6c2a62..8378146777b 100644\n--- a/docs/02_Quick Start/README.md\n+++ b/docs/02_Quick Start/README.md\n@@ -5,7 +5,7 @@\n - [Apollo 8.0 quick start](./apollo_8_0_quick_start.md)\n - [Apollo software installation guide - package method](../01_Installation%20Instructions/apollo_software_installation_guide_package_method.md)\n New method to install apollo\n-- [Apollo 3.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n+- [Apollo 3.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n Since there are no changes in our Hardware setup, please refer to the Apollo\n 3.5 guide\n \n@@ -13,14 +13,14 @@\n \n - [Apollo 6.0 quick start](./apollo_6_0_quick_start.md)\n - [Apollo 6.0 quick start cn](./apollo_6_0_quick_start_cn.md)\n-- [Apollo 3.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n+- [Apollo 3.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n Since there are no changes in our Hardware setup, please refer to the Apollo\n 3.5 guide\n \n ## Apollo 5.5\n \n - [Apollo 5.5 quick start](./apollo_5_5_quick_start.md)\n-- [Apollo 3.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n+- [Apollo 3.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n Since there are no changes in our Hardware setup, please refer to the Apollo\n 3.5 guide\n - [Apollo 5.5 technical guide](../14_Others/%E7%89%88%E6%9C%AC%E4%BB%8B%E7%BB%8D/apollo_5.5_technical_tutorial.md) -\n@@ -29,7 +29,7 @@\n ## Apollo 5.0\n \n - [Apollo 5.0 quick start](./apollo_5_0_quick_start.md)\n-- [Apollo 3.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n+- [Apollo 3.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md) -\n Since there are no changes in our Hardware setup, please refer to the Apollo\n 3.5 guide\n - [Apollo 5.0 technical guide](../14_Others/%E7%89%88%E6%9C%AC%E4%BB%8B%E7%BB%8D/apollo_5.0_technical_tutorial.md) -\n@@ -38,7 +38,7 @@\n ## Apollo 3.5\n \n - [Apollo 3.5 quick start](./apollo_3_5_quick_start.md)\n-- [Apollo 3.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n+- [Apollo 3.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n - [Apollo 3.5 map collection guide](../12_Map%20acquisition/apollo_3_5_map_collection_guidelines.md)\n - [Apollo 3.5 technical guide](../14_Others/%E7%89%88%E6%9C%AC%E4%BB%8B%E7%BB%8D/apollo_3.5_technical_tutorial.md) -\n Everything you need to know about Apollo 3.5\n@@ -46,7 +46,7 @@\n ## Apollo 3.0\n \n - [Apollo 3.0 quick start](./apollo_3_0_quick_start.md)\n-- [Apollo 3.0 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_0_hardware_system_installation_guide.md)\n+- [Apollo 3.0 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_0_hardware_system_installation_guide.md)\n - [Apollo 3.0 calibration guide](../06_Perception/multiple_lidar_gnss_calibration_guide.md)\n - [Apollo 3.0 technical guide](../14_Others/%E7%89%88%E6%9C%AC%E4%BB%8B%E7%BB%8D/apollo_3.0_technical_tutorial.md) -\n Everything you need to know about Apollo 3.0\n@@ -55,7 +55,7 @@\n \n - [Apollo 2.5 quick start](./apollo_2_5_quick_start.md)\n - [Apollo 2.5 quick start cn](./apollo_2_5_quick_start_cn.md)\n-- [Apollo 2.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n+- [Apollo 2.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n - [Apollo 2.5 map collection guide](../12_Map%20acquisition/apollo_2_5_map_collection_guide.md)\n - [Apollo 2.5 map collection guide cn](../12_Map%20acquisition/apollo_2_5_map_collection_guide_cn.md)\n - [Apollo 2.5 technical guide](../14_Others/%E7%89%88%E6%9C%AC%E4%BB%8B%E7%BB%8D/apollo_2.5_technical_tutorial.md) -\n@@ -65,24 +65,24 @@\n \n - [Apollo 2.0 quick start](./apollo_2_0_quick_start.md)\n - [Apollo 2.0 quick start cn](./apollo_2_0_quick_start_cn.md)\n-- [Apollo 2.0 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md)\n-- [Apollo 2.0 sensor calibration guide](../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide.md)\n-- [Apollo 2.0 sensor calibration guide cn](../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide_cn.md)\n+- [Apollo 2.0 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md)\n+- [Apollo 2.0 sensor calibration guide](../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide.md)\n+- [Apollo 2.0 sensor calibration guide cn](../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide_cn.md)\n \n ## Apollo 1.5\n \n - [Apollo 1.5 quick start](./apollo_1_5_quick_start.md)\n - [Apollo 1.5 quick start cn](./apollo_1_5_quick_start_cn.md)\n-- [Apollo 1.5 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide.md)\n-- [Apollo 1.5 hardware system installation guide cn](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide_cn.md)\n-- [Apollo 1.5 lidar calibration guide](../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_lidar_imu_calibration_guide.md)\n-- [Apollo 1.5 lidar calibration guide cn](../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_1_5_lidar_calibration_guide_cn.md)\n+- [Apollo 1.5 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide.md)\n+- [Apollo 1.5 hardware system installation guide cn](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide_cn.md)\n+- [Apollo 1.5 lidar calibration guide](../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_lidar_imu_calibration_guide.md)\n+- [Apollo 1.5 lidar calibration guide cn](../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_1_5_lidar_calibration_guide_cn.md)\n \n ## Apollo 1.0\n \n - [Apollo 1.0 quick start](./apollo_1_0_quick_start.md)\n - [Apollo 1.0 quick start cn](./apollo_1_0_quick_start_cn.md)\n-- [Apollo 1.0 hardware system installation guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_0_hardware_system_installation_guide.md)\n+- [Apollo 1.0 hardware system installation guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_0_hardware_system_installation_guide.md)\n - [Apollo 1.0 quick start developer](../02_Quick%20Start/apollo_1_0_quick_start_developer.md)\n \n ## Others\ndiff --git a/docs/02_Quick Start/apollo_3_5_quick_start.md b/docs/02_Quick Start/apollo_3_5_quick_start.md\nindex 70852d29912..05cf350b0d8 100644\n--- a/docs/02_Quick Start/apollo_3_5_quick_start.md\n+++ b/docs/02_Quick Start/apollo_3_5_quick_start.md\n@@ -18,13 +18,13 @@ The Apollo 3.5 Quick Start Guide focuses on new features available in Apollo\n \n For the vehicle's onboard testing make sure you have calibrated all the sensors.\n For sensor calibration, please refer to\n-[Apollo 2.0 Sensor Calibration Guide](../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide.md)\n+[Apollo 2.0 Sensor Calibration Guide](../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide.md)\n before you proceed.\n \n ## Hardware and Software Installation\n \n Please refer to\n-[Apollo 3.5 Hardware and System Installation Guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n+[Apollo 3.5 Hardware and System Installation Guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n for the steps to install the hardware components and the system software, as\n well as\n [Apollo Software Installation Guide](../01_Installation%20Instructions/apollo_software_installation_guide.md).\ndiff --git a/docs/02_Quick Start/apollo_5_0_quick_start.md b/docs/02_Quick Start/apollo_5_0_quick_start.md\nindex 85222ff5b29..c0a1f2a68ae 100644\n--- a/docs/02_Quick Start/apollo_5_0_quick_start.md\n+++ b/docs/02_Quick Start/apollo_5_0_quick_start.md\n@@ -19,7 +19,7 @@ Apollo currently offers a robust calibration service to support your calibration\n ## Hardware and Software Installation\n \n The Hardware setup for Apollo 5.0 remains the same as Apollo 3.5, please refer to\n-[Apollo 3.5 Hardware and System Installation Guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n+[Apollo 3.5 Hardware and System Installation Guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n for the steps to install the hardware components and the system software, as well as\n [Apollo Software Installation Guide](../01_Installation%20Instructions/apollo_software_installation_guide.md).\n \ndiff --git a/docs/02_Quick Start/apollo_5_5_quick_start.md b/docs/02_Quick Start/apollo_5_5_quick_start.md\nindex be2b378f726..f408d6f1b0d 100644\n--- a/docs/02_Quick Start/apollo_5_5_quick_start.md\n+++ b/docs/02_Quick Start/apollo_5_5_quick_start.md\n@@ -19,7 +19,7 @@ Apollo currently offers a robust calibration service to support your calibration\n ## Hardware and Software Installation\n \n The Hardware setup for Apollo 5.5 remains the same as Apollo 3.5, please refer to\n-[Apollo 3.5 Hardware and System Installation Guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n+[Apollo 3.5 Hardware and System Installation Guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n for the steps to install the hardware components and the system software, as well as\n [Apollo Software Installation Guide](../01_Installation%20Instructions/apollo_software_installation_guide.md).\n \ndiff --git a/docs/02_Quick Start/apollo_6_0_quick_start.md b/docs/02_Quick Start/apollo_6_0_quick_start.md\nindex e04122210b3..3c8d0dcddcf 100644\n--- a/docs/02_Quick Start/apollo_6_0_quick_start.md\n+++ b/docs/02_Quick Start/apollo_6_0_quick_start.md\n@@ -27,7 +27,7 @@ Apollo integrates new deep learning models including obstacle detection with Poi\n ## Hardware and Software Installation\n \n The Hardware setup for Apollo 6.0 remains the same as Apollo 3.5, please refer to\n-[Apollo 3.5 Hardware and System Installation Guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n+[Apollo 3.5 Hardware and System Installation Guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)\n for the steps to install the hardware components and the system software, as well as\n [Apollo Software Installation Guide](../01_Installation%20Instructions/apollo_software_installation_guide.md).\n \ndiff --git a/docs/02_Quick Start/apollo_6_0_quick_start_cn.md b/docs/02_Quick Start/apollo_6_0_quick_start_cn.md\nindex 36753bb8aaf..14615a14823 100644\n--- a/docs/02_Quick Start/apollo_6_0_quick_start_cn.md\n+++ b/docs/02_Quick Start/apollo_6_0_quick_start_cn.md\n@@ -19,7 +19,7 @@ Apollo集成了新的深度学习模型，包括使用PointPillars进行障碍\n \n ## 硬件和软件安装\n \n-Apollo 6.0的硬件设置与Apollo 3.5相同，请参阅[Apollo 3.5 硬件与系统安装指南](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)获取安装硬件组件的步骤，参阅[Apollo软件安装指南](../01_Installation%20Instructions/apollo_software_installation_guide_cn.md)获取软件安装步骤。\n+Apollo 6.0的硬件设置与Apollo 3.5相同，请参阅[Apollo 3.5 硬件与系统安装指南](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_3_5_hardware_system_installation_guide.md)获取安装硬件组件的步骤，参阅[Apollo软件安装指南](../01_Installation%20Instructions/apollo_software_installation_guide_cn.md)获取软件安装步骤。\n \n ## Dreamview的使用\n \ndiff --git a/docs/10_Control/how_to_tune_control_parameters.md b/docs/10_Control/how_to_tune_control_parameters.md\nindex a53dc74723f..fe7dd1813db 100644\n--- a/docs/10_Control/how_to_tune_control_parameters.md\n+++ b/docs/10_Control/how_to_tune_control_parameters.md\n@@ -96,7 +96,7 @@ lat_controller_conf {\n ### Longitudinal Controller Tuning\n The longitudinal controller is composed of Cascaded PID controllers that include one station controller and a high/low speed controller with different gains for different speeds. Apollo manages tuning in open loop and closed loop by:\n \n-- OpenLoop: Calibration table generation. Please refer to [how_to_update_vehicle_calibration.md](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E6%A0%87%E5%AE%9A/how_to_update_vehicle_calibration.md) for detailed steps.\n+- OpenLoop: Calibration table generation. Please refer to [how_to_update_vehicle_calibration.md](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E6%A0%87%E5%AE%9A/how_to_update_vehicle_calibration.md) for detailed steps.\n - Closeloop: Based on the order of High Speed Controller -> Low Speed Controller -> Station Controller.\n \n #### High/Low Speed Controller Tuning\ndiff --git a/docs/10_Control/how_to_tune_control_parameters_cn.md b/docs/10_Control/how_to_tune_control_parameters_cn.md\nindex 76ecc1a051b..1cb2ff5d403 100644\n--- a/docs/10_Control/how_to_tune_control_parameters_cn.md\n+++ b/docs/10_Control/how_to_tune_control_parameters_cn.md\n@@ -95,7 +95,7 @@ lat_controller_conf {\n ### 纵控制器的调谐\n 纵向控制器由级联的PID控制器组成，该控制器包括一个站控制器和一个具有不同速度增益的高速/低速控制器。Apollo管理开环和闭环的调谐通过：\n \n-- 开环: 校准表生成。请参阅[how_to_update_vehicle_calibration.md](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E6%A0%87%E5%AE%9A/how_to_update_vehicle_calibration.md)的详细步骤\n+- 开环: 校准表生成。请参阅[how_to_update_vehicle_calibration.md](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E6%A0%87%E5%AE%9A/how_to_update_vehicle_calibration.md)的详细步骤\n - 闭环: 基于高速控制器->低速控制器->站控制器的顺序。\n \n #### 高/低速控制器的调谐\ndiff --git \"a/docs/11_Hardware Integration and Calibration/\\344\\274\\240\\346\\204\\237\\345\\231\\250\\346\\240\\207\\345\\256\\232/apollo_2_0_sensor_calibration_guide.md\" \"b/docs/11_Hardware Integration and Calibration/\\344\\274\\240\\346\\204\\237\\345\\231\\250\\346\\240\\207\\345\\256\\232/apollo_2_0_sensor_calibration_guide.md\"\nindex bdadfa71be5..add42afb23a 100644\ndiff --git \"a/docs/11_Hardware Integration and Calibration/\\344\\274\\240\\346\\204\\237\\345\\231\\250\\346\\240\\207\\345\\256\\232/apollo_2_0_sensor_calibration_guide.md\" \"b/docs/11_Hardware Integration and Calibration/\\344\\274\\240\\346\\204\\237\\345\\231\\250\\346\\240\\207\\345\\256\\232/apollo_2_0_sensor_calibration_guide.md\"\nindex bdadfa71be5..add42afb23a 100644\n--- \"a/docs/11_Hardware Integration and Calibration/\\344\\274\\240\\346\\204\\237\\345\\231\\250\\346\\240\\207\\345\\256\\232/apollo_2_0_sensor_calibration_guide.md\"\n+++ \"b/docs/11_Hardware Integration and Calibration/\\344\\274\\240\\346\\204\\237\\345\\231\\250\\346\\240\\207\\345\\256\\232/apollo_2_0_sensor_calibration_guide.md\"\n@@ -19,7 +19,7 @@ This guide provides the following information:\n \n ## Overview\n \n-The new calibration tools in Apollo 2.0 (Camera-to-Camera Calibration, Camera-to-LiDAR Calibration, and Radar-to-Camera Calibration) are provided by an onboard executable program.For LiDAR-GNSS calibration, please refer to the [LiDAR-IMU calibration guide](../../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_lidar_imu_calibration_guide.md). Velodyne HDL-64 users can also use the calibration service in Apollo 1.5.\n+The new calibration tools in Apollo 2.0 (Camera-to-Camera Calibration, Camera-to-LiDAR Calibration, and Radar-to-Camera Calibration) are provided by an onboard executable program.For LiDAR-GNSS calibration, please refer to the [LiDAR-IMU calibration guide](../../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_lidar_imu_calibration_guide.md). Velodyne HDL-64 users can also use the calibration service in Apollo 1.5.\n The benefit in using these tools is that they reduce the amount of work that the user must do. The user only has to start the corresponding calibration program, and the calibration work is performed and completes in real time. The user can then verify the calibration results, which are provided as `.yaml` files.\n \n ## Preparation\ndiff --git \"a/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\" \"b/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\"\nindex d793c75d2fc..1164c0cfa15 100644\ndiff --git \"a/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\" \"b/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\"\nindex d793c75d2fc..1164c0cfa15 100644\n--- \"a/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\"\n+++ \"b/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\"\n@@ -42,16 +42,16 @@\n \n - **车辆**：\n \n- - [工业级PC](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/IPC/Nuvo-6108GC_Installation_Guide_cn.md)\n- - [全球定位系统（GPS）](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README_cn.md)\n- - [惯性计算单元（IMU）](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README_cn.md)\n+ - [工业级PC](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/IPC/Nuvo-6108GC_Installation_Guide_cn.md)\n+ - [全球定位系统（GPS）](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README_cn.md)\n+ - [惯性计算单元（IMU）](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README_cn.md)\n - 区域网络控制卡（CAN）\n - GPS天线\n - GPS接收器\n- - [激光雷达（LiDAR）](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Lidar/README.md)\n- - [摄像机](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Camera/README.md)\n- - [雷达](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Radar/README.md)\n- - [Apollo传感器单元（ASU）](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide_cn.md)\n+ - [激光雷达（LiDAR）](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Lidar/README.md)\n+ - [摄像机](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Camera/README.md)\n+ - [雷达](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Radar/README.md)\n+ - [Apollo传感器单元（ASU）](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide_cn.md)\n \n - **Software**: \n - Ubuntu Linux\ndiff --git \"a/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_5_hardware_system_installation_guide.md\" \"b/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_5_hardware_system_installation_guide.md\"\nindex 612280f88ec..1519250ee5e 100644\ndiff --git \"a/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_5_hardware_system_installation_guide.md\" \"b/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_5_hardware_system_installation_guide.md\"\nindex 612280f88ec..1519250ee5e 100644\n--- \"a/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_5_hardware_system_installation_guide.md\"\n+++ \"b/docs/11_Hardware Integration and Calibration/\\350\\275\\246\\350\\276\\206\\351\\233\\206\\346\\210\\220/\\347\\241\\254\\344\\273\\266\\345\\256\\211\\350\\243\\205hardware installation/apollo_3_5_hardware_system_installation_guide.md\"\n@@ -53,16 +53,16 @@ The following set of documentation describes Apollo 3.0:\n \n - **Vehicle**:\n \n- - [Industrial PC (IPC)](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/IPC/Nuvo-6108GC_Installation_Guide.md)\n- - [Global Positioning System (GPS)](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README.md)\n- - [Inertial Measurement Unit (IMU)](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README.md)\n+ - [Industrial PC (IPC)](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/IPC/Nuvo-6108GC_Installation_Guide.md)\n+ - [Global Positioning System (GPS)](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README.md)\n+ - [Inertial Measurement Unit (IMU)](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Navigation/README.md)\n - Controller Area Network (CAN) card\n - GPS Antenna\n - GPS Receiver\n- - [Light Detection and Ranging System (LiDAR)](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Lidar/README.md)\n- - [Camera](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Camera/README.md)\n- - [Radar](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Radar/README.md)\n- - [Apollo Sensor Unit (ASU)](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md)\n+ - [Light Detection and Ranging System (LiDAR)](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Lidar/README.md)\n+ - [Camera](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Camera/README.md)\n+ - [Radar](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Radar/README.md)\n+ - [Apollo Sensor Unit (ASU)](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Apollo_Sensor_Unit/Apollo_Sensor_Unit_Installation_Guide.md)\n - Apollo Extension Unit (AXU)\n \n - **Software**: Refer to the\n@@ -91,7 +91,7 @@ The key hardware components to install include:\n - Navtech NV-GI120\n - Light Detection and Ranging System (LiDAR) ─ You can select one of the\n following options, please note Apollo master uses VLS-128 LiDAR:\n- - [Velodyne VLS-128](../../../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installationLidar/VLS_128_Installation_Guide.md)\n+ - [Velodyne VLS-128](../../../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installationLidar/VLS_128_Installation_Guide.md)\n - Velodyne HDL-64E S3\n - Velodyne Puck series\n - Innovusion LiDAR\ndiff --git a/docs/12_Map acquisition/apollo_2_5_map_collection_guide.md b/docs/12_Map acquisition/apollo_2_5_map_collection_guide.md\nindex 7493c1365a6..b11523eeb3c 100644\n--- a/docs/12_Map acquisition/apollo_2_5_map_collection_guide.md\n+++ b/docs/12_Map acquisition/apollo_2_5_map_collection_guide.md\n@@ -4,7 +4,7 @@ This guide is mainly used to explain how to use map collection in Apollo 2.5.\n \n ## Hardware and Software Requirement\n 1. Please refer to\n-[Apollo 2.5 Hardware and System Installation Guide](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n+[Apollo 2.5 Hardware and System Installation Guide](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n for the steps to install the hardware components.\n \n 2. Please refer to\ndiff --git a/docs/12_Map acquisition/apollo_2_5_map_collection_guide_cn.md b/docs/12_Map acquisition/apollo_2_5_map_collection_guide_cn.md\nindex 9c44bbefbf8..23d0efcce5c 100644\n--- a/docs/12_Map acquisition/apollo_2_5_map_collection_guide_cn.md\n+++ b/docs/12_Map acquisition/apollo_2_5_map_collection_guide_cn.md\n@@ -6,7 +6,7 @@\n ## 软硬件环境准备\n \n 1、硬件安装方法参\n-见[Apollo 2.5 硬件安装指南](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n+见[Apollo 2.5 硬件安装指南](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n \n 2、软件安装方法参\n 见[Apollo 软件安装指南](../01_Installation%20Instructions/apollo_software_installation_guide.md)\ndiff --git a/docs/15_FAQS/Hardware_FAQs.md b/docs/15_FAQS/Hardware_FAQs.md\nindex b49b2569130..ad66820b6d1 100644\n--- a/docs/15_FAQS/Hardware_FAQs.md\n+++ b/docs/15_FAQS/Hardware_FAQs.md\n@@ -5,10 +5,10 @@\n The required hardware for each version of Apollo can be found at the following\n links:\n \n-- [Hardware for Apollo 1.0](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_0_hardware_system_installation_guide.md)\n-- [Hardware for Apollo 1.5](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide.md)\n-- [Hardware for Apollo 2.0](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md)\n-- [Hardware for Apollo 2.5](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n+- [Hardware for Apollo 1.0](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_0_hardware_system_installation_guide.md)\n+- [Hardware for Apollo 1.5](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide.md)\n+- [Hardware for Apollo 2.0](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md)\n+- [Hardware for Apollo 2.5](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n \n ---\n \n@@ -16,7 +16,7 @@ links:\n \n Currently, the Apollo control algorithm is configured for our default vehicle,\n which is a Lincoln MKZ. If you would like to use a different vehicle type,\n-please visit [this](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%80%82%E9%85%8D/how_to_add_a_new_vehicle.md) page.\n+please visit [this](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%80%82%E9%85%8D/how_to_add_a_new_vehicle.md) page.\n \n ---\n \ndiff --git a/docs/15_FAQS/Hardware_FAQs_cn.md b/docs/15_FAQS/Hardware_FAQs_cn.md\nindex 32d4a23938a..f92776a4671 100644\n--- a/docs/15_FAQS/Hardware_FAQs_cn.md\n+++ b/docs/15_FAQS/Hardware_FAQs_cn.md\n@@ -4,15 +4,15 @@\n \n Apollo 各个版本所必须用的硬件可以在一下的链接中找到：\n \n-- [Hardware for Apollo 1.0](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_0_hardware_system_installation_guide.md)\n-- [Hardware for Apollo 1.5](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide.md)\n-- [Hardware for Apollo 2.0](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md)\n-- [Hardware for Apollo 2.5](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n+- [Hardware for Apollo 1.0](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_0_hardware_system_installation_guide.md)\n+- [Hardware for Apollo 1.5](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_1_5_hardware_system_installation_guide.md)\n+- [Hardware for Apollo 2.0](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_0_hardware_system_installation_guide_v1.md)\n+- [Hardware for Apollo 2.5](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E7%A1%AC%E4%BB%B6%E5%AE%89%E8%A3%85hardware%20installation/apollo_2_5_hardware_system_installation_guide_v1.md)\n \n ## Apollo 可以在什么样的车上使用？\n \n 目前，Apollo 的控制算法只在林肯 MKZ 中配置（我们的默认车辆）。如果你想使用不同的\n-车辆类型，请访问[这里](../11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%80%82%E9%85%8D/how_to_add_a_new_vehicle.md).\n+车辆类型，请访问[这里](../11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%80%82%E9%85%8D/how_to_add_a_new_vehicle.md).\n \n ## Apollo 支持哪种 LiDAR？\n \ndiff --git a/docs/15_FAQS/Perception_FAQs.md b/docs/15_FAQS/Perception_FAQs.md\nindex 440bfe6042d..07b69b53361 100644\n--- a/docs/15_FAQS/Perception_FAQs.md\n+++ b/docs/15_FAQS/Perception_FAQs.md\n@@ -11,7 +11,7 @@ There are 5 types of calibration:\n - IMU - Vehicle\n \n For additional information on Sensor Calibration, please refer to our\n-[calibration guide](../11Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide.md)\n+[calibration guide](../11_Hardware%20Integration%20and%20Calibration/%E4%BC%A0%E6%84%9F%E5%99%A8%E6%A0%87%E5%AE%9A/apollo_2_0_sensor_calibration_guide.md)\n \n For additional information on LiDAR - GNSS calibration please refer to our\n [LiDAR - GNSS calibration guide](https://github.com/ApolloAuto/apollo/blob/r1.5.0/docs/quickstart/apollo_1_5_lidar_calibration_guide.md)\ndiff --git a/docs/README.md b/docs/README.md\nindex 7ab4c5e0649..e98e710b585 100644\n--- a/docs/README.md\n+++ b/docs/README.md\n@@ -14,7 +14,7 @@\n \n ## Specs\n \n-[README](./11Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Lidar/README.md) - A Deep dive into Apollo's Hardware and Software specifications (only recommended for expert level developers that have successfully installed and launched Apollo)\n+[README](./11_Hardware%20Integration%20and%20Calibration/%E8%BD%A6%E8%BE%86%E9%9B%86%E6%88%90/%E4%BC%A0%E6%84%9F%E5%99%A8%E5%AE%89%E8%A3%85%20sensor%20installation/Lidar/README.md) - A Deep dive into Apollo's Hardware and Software specifications (only recommended for expert level developers that have successfully installed and launched Apollo)\n \n ## Howto Guides\n \n"},"changed_files":{"kind":"list like","value":["docs/02_Quick Start/README.md","docs/02_Quick Start/apollo_3_5_quick_start.md","docs/02_Quick Start/apollo_5_0_quick_start.md","docs/02_Quick Start/apollo_5_5_quick_start.md","docs/02_Quick Start/apollo_6_0_quick_start.md","docs/02_Quick Start/apollo_6_0_quick_start_cn.md","docs/10_Control/how_to_tune_control_parameters.md","docs/10_Control/how_to_tune_control_parameters_cn.md","docs/11_Hardware Integration and Calibration/传感器标定/apollo_2_0_sensor_calibration_guide.md","docs/11_Hardware Integration and Calibration/车辆集成/硬件安装hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md","docs/11_Hardware Integration and Calibration/车辆集成/硬件安装hardware installation/apollo_3_5_hardware_system_installation_guide.md","docs/12_Map acquisition/apollo_2_5_map_collection_guide.md","docs/12_Map acquisition/apollo_2_5_map_collection_guide_cn.md","docs/15_FAQS/Hardware_FAQs.md","docs/15_FAQS/Hardware_FAQs_cn.md","docs/15_FAQS/Perception_FAQs.md","docs/README.md"],"string":"[\n \"docs/02_Quick Start/README.md\",\n \"docs/02_Quick Start/apollo_3_5_quick_start.md\",\n \"docs/02_Quick Start/apollo_5_0_quick_start.md\",\n \"docs/02_Quick Start/apollo_5_5_quick_start.md\",\n \"docs/02_Quick Start/apollo_6_0_quick_start.md\",\n \"docs/02_Quick Start/apollo_6_0_quick_start_cn.md\",\n \"docs/10_Control/how_to_tune_control_parameters.md\",\n \"docs/10_Control/how_to_tune_control_parameters_cn.md\",\n \"docs/11_Hardware Integration and Calibration/传感器标定/apollo_2_0_sensor_calibration_guide.md\",\n \"docs/11_Hardware Integration and Calibration/车辆集成/硬件安装hardware installation/apollo_3_0_hardware_system_installation_guide_cn.md\",\n \"docs/11_Hardware Integration and Calibration/车辆集成/硬件安装hardware installation/apollo_3_5_hardware_system_installation_guide.md\",\n \"docs/12_Map acquisition/apollo_2_5_map_collection_guide.md\",\n \"docs/12_Map acquisition/apollo_2_5_map_collection_guide_cn.md\",\n \"docs/15_FAQS/Hardware_FAQs.md\",\n \"docs/15_FAQS/Hardware_FAQs_cn.md\",\n \"docs/15_FAQS/Perception_FAQs.md\",\n \"docs/README.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":573,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15474,"string":"15,474"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Fix typos"},"pr_body":{"kind":"string","value":"Fix typos"},"base_sha":{"kind":"string","value":"6edbb1f8fcee5ad2e75109b89de799236971548e"},"head_sha":{"kind":"string","value":"335a789b6553f263f589abd4cb3ec91de5c5d5f9"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/examples/service.cc b/cyber/examples/service.cc\nindex babe651c41e..8aaf561ec15 100644\n--- a/cyber/examples/service.cc\n+++ b/cyber/examples/service.cc\n@@ -40,7 +40,7 @@ int main(int argc, char* argv[]) {\n while (apollo::cyber::OK()) {\n auto res = client->SendRequest(driver_msg);\n if (res != nullptr) {\n- AINFO << \"client: responese: \" << res->ShortDebugString();\n+ AINFO << \"client: response: \" << res->ShortDebugString();\n } else {\n AINFO << \"client: service may not ready.\";\n }\ndiff --git a/cyber/mainboard/module_argument.cc b/cyber/mainboard/module_argument.cc\nindex f1695831131..483b2cf946a 100644\n--- a/cyber/mainboard/module_argument.cc\n+++ b/cyber/mainboard/module_argument.cc\n@@ -37,7 +37,7 @@ void ModuleArgument::DisplayUsage() {\n << \" --plugin=plugin_description_file_path: the description file of \"\n \"plugin\\n\"\n << \" --disable_plugin_autoload : default enable autoload \"\n- \"mode of plugins, use disable_plugin_autoload to ingore autoload\\n\"\n+ \"mode of plugins, use disable_plugin_autoload to ignore autoload\\n\"\n << \"Example:\\n\"\n << \" \" << binary_name_ << \" -h\\n\"\n << \" \" << binary_name_ << \" -d dag_conf_file1 -d dag_conf_file2 \"\ndiff --git a/cyber/node/node.h b/cyber/node/node.h\nindex 87a3def4b60..3c6898f6a61 100644\n--- a/cyber/node/node.h\n+++ b/cyber/node/node.h\n@@ -39,7 +39,7 @@ class TimerComponent;\n * A module can have different types of communication by defining\n * read/write and/or service/client in a node.\n * @warning Duplicate name is not allowed in topo objects, such as node,\n- * reader/writer, service/clinet in the topo.\n+ * reader/writer, service/client in the topo.\n */\n class Node {\n public:\ndiff --git a/cyber/node/reader_base.h b/cyber/node/reader_base.h\nindex 57e393f31a7..ae5caafc691 100644\n--- a/cyber/node/reader_base.h\n+++ b/cyber/node/reader_base.h\n@@ -158,7 +158,7 @@ class ReaderBase {\n /**\n * @brief One Channel is related to one Receiver.\n * ReceiverManager is in charge of attaching one Receiver to its responding\n- * Channel. We pass a DataDispatche's callback func to this Receiver so when a\n+ * Channel. We pass a DataDispatcher's callback func to this Receiver so when a\n * message is received, it will be push to the `ChannelBuffer`, and\n * `DataVisitor` will `Fetch` data and pass to `Reader`'s callback func\n *\ndiff --git a/cyber/parameter/parameter_client.h b/cyber/parameter/parameter_client.h\nindex c0345f38410..5c29701ff77 100644\n--- a/cyber/parameter/parameter_client.h\n+++ b/cyber/parameter/parameter_client.h\n@@ -69,7 +69,7 @@ class ParameterClient {\n * @brief Set the Parameter object\n *\n * @param parameter parameter to be set\n- * @return true set parameter succues\n+ * @return true set parameter success\n * @return false 1. call service timeout\n * 2. parameter not exists\n * The corresponding log will be recorded at the same time\n"},"changed_files":{"kind":"list like","value":["cyber/examples/service.cc","cyber/mainboard/module_argument.cc","cyber/node/node.h","cyber/node/reader_base.h","cyber/parameter/parameter_client.h"],"string":"[\n \"cyber/examples/service.cc\",\n \"cyber/mainboard/module_argument.cc\",\n \"cyber/node/node.h\",\n \"cyber/node/reader_base.h\",\n \"cyber/parameter/parameter_client.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":574,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15446,"string":"15,446"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix : fix README_cn.md ;The “planning” in the document was misspelled as “lanning”."},"pr_body":{"kind":"string","value":"The “planning” in the document was misspelled as “lanning”."},"base_sha":{"kind":"string","value":"3e175e04610cc1aa08fc1e86869fb5f5970c0414"},"head_sha":{"kind":"string","value":"e4972cf30000b40450578c3b1e3a527d521de1b1"},"gold_diff":{"kind":"string","value":"diff --git a/modules/planning/planning_component/README_cn.md b/modules/planning/planning_component/README_cn.md\nindex 5f5e2d21de1..66228a3d83b 100644\n--- a/modules/planning/planning_component/README_cn.md\n+++ b/modules/planning/planning_component/README_cn.md\n@@ -15,9 +15,9 @@ planning模块由以下几个目录构成：\n - **planning_base**: 包含planning的基础数据结构和算法库。\n - **planner**: 包含planning模块的几种规划器子类插件。\n - **pnc_map**: 生成参考线基于的pnc_map类，根据输入的planning导航命令或地图等信息，生成参考线数据，作为planning局部路径规划的路线参考。\n-- **scenarios**: lanning模块支持的场景插件，每个目录下包含一个独立的场景插件包，包含scenario和stage类的定义。\n-- **tasks**: lanning模块中支持的任务插件，每个目录下包含一个独立的任务插件包，包含task类的定义。\n-- **traffic_rules**: lanning模块支持的通用交通规则插件，每个目录下包含一个独立的traffic rule插件包，traffic rules作用于所有运行的场景中。\n+- **scenarios**: planning模块支持的场景插件，每个目录下包含一个独立的场景插件包，包含scenario和stage类的定义。\n+- **tasks**: planning模块中支持的任务插件，每个目录下包含一个独立的任务插件包，包含task类的定义。\n+- **traffic_rules**: planning模块支持的通用交通规则插件，每个目录下包含一个独立的traffic rule插件包，traffic rules作用于所有运行的场景中。\n \n ### planning框架介绍\n \n"},"changed_files":{"kind":"list like","value":["modules/planning/planning_component/README_cn.md"],"string":"[\n \"modules/planning/planning_component/README_cn.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":575,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15438,"string":"15,438"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Apollo vanjee lidar driver"},"pr_body":{"kind":"string","value":"1、添加万集激光雷达驱动；\r\n2、已经进行过功能测试；"},"base_sha":{"kind":"string","value":"dff5e80beb524e38959377205fb9ef62c93afb1e"},"head_sha":{"kind":"string","value":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\nnew file mode 100644\nindex 00000000000..c8e42a1b551\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\n@@ -0,0 +1,38 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ ]\r\n+)\r\n+\r\n+filegroup(\r\n+ name = \"runtime_data\",\r\n+ srcs = glob([\r\n+ \"conf/*.txt\",\r\n+ \"conf/*.conf\",\r\n+ \"dag/*.dag\",\r\n+ \"launch/*.launch\",\r\n+ ]),\r\n+)\r\n+\r\n+apollo_package()\r\n+cpplint()\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/README.md b/modules/drivers/lidar/vanjeelidar/README.md\nnew file mode 100644\nindex 00000000000..715e9072620\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/README.md\n@@ -0,0 +1,29 @@\n+# **Vanjee LiDAR Driver**\r\n+\r\n+## 1 Introduction\r\n+\r\n+ **vanjee** is the lidar driver kit under Apollo platform. Now support *vanjee_720_16 vanjee_720d_16 vanjee_720_32* . \r\n+\r\n+\r\n+## 2 Run\r\n+\r\n+**All the drivers need to be excuted in Apollo docker environment.**\r\n+\r\n+```sh\r\n+cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\r\n+```\r\n+\r\n+或\r\n+\r\n+```sh\r\n+mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\r\n+```\r\n+\r\n+默认话题名：\r\n+\r\n+- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n+- Scan--/apollo/sensor/vanjeelidar/up/Scan\r\n+\r\n+## 3 Parameters Intro\r\n+\r\n+[Intro to parameters](doc/parameter_intro.md)\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/README_cn.md b/modules/drivers/lidar/vanjeelidar/README_cn.md\nnew file mode 100644\nindex 00000000000..0cb8dea8f75\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/README_cn.md\n@@ -0,0 +1,28 @@\n+# **Vanjee LiDAR Driver**\r\n+\r\n+## 1 工程简介\r\n+\r\n+ **vanjee** 为万集科技在阿波罗平台上的雷达驱动集成包。 目前支持*vanjee_720_16 vanjee_720d_16 vanjee_720_32*型号的雷达。 \r\n+\r\n+## 2 运行\r\n+\r\n+**所有驱动均需要在Apollo Docker环境下运行**\r\n+\r\n+```sh\r\n+cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\r\n+```\r\n+\r\n+或\r\n+\r\n+```sh\r\n+mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\r\n+```\r\n+\r\n+默认话题名：\r\n+\r\n+- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n+- Scan--/apollo/sensor/vanjeelidar/up/Scan\r\n+\r\n+## 3 参数介绍\r\n+\r\n+[参数介绍](doc/parameter_intro.md)\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\nnew file mode 100644\nindex 00000000000..967299d7b54\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\n@@ -0,0 +1,26 @@\n+config_base {\r\n+ scan_channel: \"/apollo/sensor/vanjeelidar/up/Scan\"\r\n+ point_cloud_channel: \"/apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n+ frame_id: \"vanjeelidar_up\"\r\n+\r\n+ # sample ONLINE_LIDAR, RAW_PACKET\r\n+ source_type: ONLINE_LIDAR\r\n+}\r\n+\r\n+# sample: \"vanjee_720_16,vanjee_720d_16,vanjee_720_32\"\r\n+model: \"vanjee_720_16\"\r\n+connect_type: 1\r\n+host_msop_port: 3001\r\n+lidar_msop_port: 3333\r\n+host_address: \"192.168.2.88\"\r\n+lidar_address: \"192.168.2.86\"\r\n+publish_mode: 2\r\n+start_angle: 0\r\n+end_angle: 360\r\n+min_distance: 0.3\r\n+max_distance: 120\r\n+use_lidar_clock: false\r\n+dense_points: false\r\n+wait_for_difop: true\r\n+config_from_file: false\r\n+angle_path: \"\"\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag b/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\nnew file mode 100644\nindex 00000000000..9b5385b1766\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\n@@ -0,0 +1,10 @@\n+module_config {\r\n+ module_library : \"modules/drivers/lidar/vanjeelidar/libvanjeelidar_component.so\"\r\n+ components {\r\n+ class_name : \"VanjeelidarComponent\"\r\n+ config {\r\n+ name : \"VanjeeLiDAR_Driver\"\r\n+ config_file_path : \"/apollo/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\"\r\n+ }\r\n+ }\r\n+}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\nnew file mode 100755\nindex 00000000000..d37eb21de8d\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\n@@ -0,0 +1,108 @@\n+# Parameter Introduction\n+\n+\n+\n+This document will give you a introduction to each parameter in the configuration file. \n+\n+For convenient, we take vanjee_720_16 model as an example.\n+\n+```yaml\n+model: \"vanjee_720_16\"\n+connect_type: 1\n+host_msop_port: 3001\n+lidar_msop_port: 3333\n+host_address: \"192.168.2.88\"\n+lidar_address: \"192.168.2.86\"\n+publish_mode: 2\n+start_angle: 0\n+end_angle: 360\n+min_distance: 0.2\n+max_distance: 120\n+use_lidar_clock: false\n+dense_points: false\n+wait_for_difop: true\n+config_from_file: false\n+angle_path: \"\"\n+```\n+\n+**model**\n+\n+This is the lidar model, since this configuration file is for vanjee_720_16, we set the model=\"vanjee_720_16\".\n+The parameter are as followed below:\n+ vanjee_720_16/vanjee_720d_16/vanjee_720_32\n+\n+\n+**connect_type**\n+\n+This is the net connection model,which is tcp or udp.Set the connect_type=\"1\" if the net connection mode is udp,otherwise set it as \"2\".\n+\n+\n+**host_msop_port**\n+\n+This is the port number of host. The default value is 3001.Lidar would send the raw packet to this port.\n+\n+\n+**lidar_msop_port**\n+\n+This is the port number of lidar. The default value is 3333.Lidar would send the raw packet from this port.\n+\n+\n+**host_address**\n+\n+This is the host ip address. The default value is \"192.168.2.88\".Lidar would send the raw packet to this ip address.\n+\n+\n+**lidar_address**\n+\n+This is the lidar ip address. The default value is \"192.168.2.86\".Lidar would send the raw packet from this ip address.\n+\n+\n+**publish_mode**\n+\n+This is the publish mode of lidar point cloud. \"0\": publish the 1st echo ,\"1\":publish the 2nd echo ,\"2\":publish both the 1st and 2nd echos.\n+\n+\n+**start_angle**\n+\n+The start angle of point cloud,unit:degree.\n+\n+\n+**end_angle**\n+\n+The end angle of point cloud,unit:degree.The point cloud published would only include the azimuth between start_angle and end_angle.\n+\n+\n+**min_distance**\n+\n+The minimum distance of point cloud,unit:m.\n+\n+\n+**max_distance**\n+\n+The maximum distance of point cloud,unit:m.The point cloud published would only include the distance between min_distance and max_distance.\n+\n+\n+**use_lidar_clock**\n+\n+ - true: The timestamp of lidar messages is the lidar clock.\n+\n+ - false: The timestamp of lidar messages is the PC system clock.\n+\n+\n+**dense_point**\n+\n+The flag whether mark the invald point cloud as 'nan'. If you would not mark the invalid point as 'nan',set the dense_point=true,otherwise set it as false.\n+\n+\n+**wait_for_difop**\n+\n+The flag whether need to request the angle information from the lidar firstly. Usually set wait_for_difop=true in ONLINE_LIDAR mode,otherwise set it as false.\n+\n+\n+**config_from_file**\n+\n+The flag whether read the angle information from the configuration file .Usually set config_from_file=true in RAW_PACKET mode,otherwise set it as false.\n+\n+**angle_path**\n+\n+The path of angle configuration file .\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch b/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\nnew file mode 100644\nindex 00000000000..540bac60bef\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\n@@ -0,0 +1,7 @@\n+<cyber>\r\n+ <module>\r\n+ <name>vanjeelidar</name>\r\n+ <dag_conf>/apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag</dag_conf>\r\n+ <process_name>vanjeelidar</process_name>\r\n+ </module>\r\n+</cyber>\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/BUILD b/modules/drivers/lidar/vanjeelidar/proto/BUILD\nnew file mode 100644\nindex 00000000000..b41006c9878\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/proto/BUILD\n@@ -0,0 +1,23 @@\n+## Auto generated by `proto_build_generator.py`\r\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\")\r\n+load(\"//tools/proto:proto.bzl\", \"proto_library\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+proto_library(\r\n+ name = \"vanjeelidar_config_proto\",\r\n+ srcs = [\"vanjeelidar_config.proto\"],\r\n+ deps= [\r\n+ \"//modules/drivers/lidar/common/proto:lidar_config_base_proto\",\r\n+ ]\r\n+)\r\n+\r\n+proto_library(\r\n+ name = \"vanjeelidar_proto\",\r\n+ srcs = [\"vanjeelidar.proto\"],\r\n+ deps = [\r\n+ \"//modules/common_msgs/basic_msgs:header_proto\",\r\n+ ],\r\n+)\r\n+\r\n+apollo_package()\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\nnew file mode 100644\nindex 00000000000..37b945d9a55\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\n@@ -0,0 +1,16 @@\n+syntax = \"proto2\";\r\n+\r\n+package apollo.drivers.vanjee;\r\n+\r\n+import \"modules/common_msgs/basic_msgs/header.proto\";\r\n+\r\n+message VanjeeScanPacket {\r\n+ optional uint64 stamp = 1;\r\n+ optional bytes data = 2;\r\n+}\r\n+\r\n+message VanjeeScan {\r\n+ optional bool is_difop = 1;\r\n+ optional bool is_frame_begin = 2;\r\n+ optional bytes data = 3;\r\n+}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\nnew file mode 100644\nindex 00000000000..ee4b2e85388\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\n@@ -0,0 +1,33 @@\n+syntax = \"proto2\";\r\n+\r\n+package apollo.drivers.vanjee;\r\n+\r\n+import \"modules/drivers/lidar/common/proto/lidar_config_base.proto\";\r\n+\r\n+message Config {\r\n+\r\n+ // lidar base\r\n+ required apollo.drivers.lidar.LidarConfigBase config_base = 33;\r\n+\r\n+ // general param\r\n+ optional string model = 1;\r\n+ // Input Param\r\n+ optional uint32 connect_type = 2;\r\n+ optional uint32 host_msop_port = 3;\r\n+ optional uint32 lidar_msop_port = 4;\r\n+ // Decoder Param\r\n+ optional float start_angle = 5;\r\n+ optional float end_angle = 6;\r\n+ optional float min_distance = 7;\r\n+ optional float max_distance = 8;\r\n+ optional bool use_lidar_clock = 9 [default = false];\r\n+ // supplementary parameters of Decoder Param\r\n+ optional bool dense_points = 10 [default = false];\r\n+ optional bool wait_for_difop = 11 [default = true];\r\n+ optional bool config_from_file = 12 [default = false];\r\n+ optional string angle_path = 13 [default = \"\"];\r\n+ optional uint32 publish_mode = 14 [default = 2];\r\n+ // supplementary parameters of Input Param\r\n+ optional string host_address = 15 [default = \"0.0.0.0\"];\r\n+ optional string lidar_address = 16 [default = \"0.0.0.0\"];\r\n+}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\nnew file mode 100644\nindex 00000000000..dfce9b34f8f\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\n@@ -0,0 +1,182 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#include <vector>\n+\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <vanjee_driver/driver/input/input.hpp>\n+#include <vanjee_driver/utility/buffer.hpp>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+bool VanjeelidarComponent::Init() {\n+ if (!GetProtoConfig(&conf_)) {\n+ AERROR << \"load config error, file:\" << config_file_path_;\n+ return false;\n+ }\n+\n+ this->InitBase(conf_.config_base());\n+\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\n+ cloud_buffer_->Init();\n+\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\n+\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\n+\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\n+ decoder_param.publish_mode = conf_.publish_mode();\n+ decoder_param.min_distance = conf_.min_distance();\n+ decoder_param.max_distance = conf_.max_distance();\n+ decoder_param.start_angle = conf_.start_angle();\n+ decoder_param.end_angle = conf_.end_angle();\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\n+ decoder_param.dense_points = conf_.dense_points();\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\n+ decoder_param.config_from_file = conf_.config_from_file();\n+ decoder_param.angle_path_ver = conf_.angle_path();\n+\n+ ::vanjee::lidar::WJInputParam input_param;\n+ input_param.connect_type = conf_.connect_type();\n+ input_param.host_msop_port = conf_.host_msop_port();\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\n+ input_param.host_address = conf_.host_address();\n+ input_param.lidar_address = conf_.lidar_address();\n+\n+ ::vanjee::lidar::WJDriverParam driver_param;\n+\n+ driver_param.input_param = input_param;\n+ driver_param.decoder_param = decoder_param;\n+\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\n+ driver_param.decoder_param.lidar_type = driver_param.lidar_type;\n+ if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_RAW_PACKET) {\n+ driver_param.input_type = InputType::RAW_PACKET;\n+ } else if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\n+ driver_ptr_->regPacketCallback(\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\n+ std::placeholders::_1));\n+ }\n+\n+ driver_ptr_->regPointCloudCallback(\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\n+ std::placeholders::_1));\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\n+ WJ_WARNING << code.toString() << WJ_REND;\n+ });\n+\n+ driver_param.print();\n+\n+ if (!driver_ptr_->init(driver_param)) {\n+ AERROR << \"vanjee Driver init failed\";\n+ return false;\n+ }\n+\n+ if (!driver_ptr_->start()) {\n+ AERROR << \"vanjee Driver start failed\";\n+ return false;\n+ }\n+ AINFO << \"vanjee lidar init finished\";\n+ return true;\n+}\n+\n+void VanjeelidarComponent::ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::vector<uint8_t> pkt_vector;\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\n+ pkt->setData(0, pkt_vector.size());\n+ driver_ptr_->putPacket(pkt);\n+}\n+\n+void VanjeelidarComponent::VanjeePacketCallback(\n+ const ::vanjee::lidar::Packet& lidar_packet) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\n+ std::make_shared<vanjee::VanjeeScanPacket>();\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\n+ lidar_packet.buf_.end());\n+ WriteScan(scan_packet);\n+}\n+\n+std::shared_ptr<PointCloudMsg>\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\n+ return cloud_buffer_->AllocateElement();\n+}\n+\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\n+ cloud_queue_.push(vanjee_cloud);\n+}\n+\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\n+ msg.set_height(1);\n+ msg.set_width(msg.point_size() / msg.height());\n+\n+ const auto timestamp =\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\n+ msg.set_measurement_time(\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\n+\n+ if (diff_time > 0.02) {\n+ AINFO << std::fixed << std::setprecision(16)\n+ << \"system time: \" << msg.header().timestamp_sec()\n+ << \", lidar time: \" << lidar_time << \", diff is:\" << diff_time;\n+ }\n+\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\n+}\n+\n+void VanjeelidarComponent::ProcessCloud() {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\n+ if (msg.get() == NULL) {\n+ continue;\n+ }\n+ auto apollo_pc = AllocatePointCloud();\n+\n+ for (auto p : msg->points) {\n+ PointXYZIT* point = apollo_pc->add_point();\n+ point->set_x(p.x);\n+ point->set_y(p.y);\n+ point->set_z(p.z);\n+ point->set_intensity(uint32_t(p.intensity));\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\n+ p.timestamp + msg->timestamp));\n+ }\n+ apollo_pc->set_is_dense(msg->is_dense);\n+ this->PreparePointsMsg(*apollo_pc);\n+ if (apollo_pc->point_size() != 0) {\n+ WritePointCloud(apollo_pc);\n+ }\n+ }\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\nnew file mode 100644\nindex 00000000000..80e22380459\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\n@@ -0,0 +1,74 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#pragma once\n+\n+#include <memory>\n+\n+#include <vanjee_driver/api/lidar_driver.hpp>\n+#include <vanjee_driver/driver/driver_param.hpp>\n+#include <vanjee_driver/msg/packet.hpp>\n+#include <vanjee_driver/msg/point_cloud_msg.hpp>\n+\n+#include \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.pb.h\"\n+#include \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.pb.h\"\n+\n+#include \"modules/drivers/lidar/common/lidar_component_base.h\"\n+#include \"modules/drivers/lidar/common/sync_buffering.h\"\n+#include \"modules/drivers/lidar/common/util.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+typedef PointXYZIRT PointT;\n+typedef PointCloudT<PointT> PointCloudMsg;\n+\n+using ::vanjee::lidar::InputType;\n+\n+class VanjeelidarComponent\n+ : public LidarComponentBase<vanjee::VanjeeScanPacket> {\n+ public:\n+ bool Init() override;\n+\n+ void ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) override;\n+\n+ void VanjeePacketCallback(const ::vanjee::lidar::Packet& lidar_packet);\n+\n+ std::shared_ptr<PointCloudMsg> VanjeeCloudAllocateCallback();\n+\n+ void VanjeeCloudPutCallback(std::shared_ptr<PointCloudMsg> vanjee_cloud);\n+\n+ void PreparePointsMsg(PointCloud& msg);\n+\n+ void ProcessCloud();\n+\n+ private:\n+ std::shared_ptr<::vanjee::lidar::LidarDriver<PointCloudMsg>> driver_ptr_;\n+ apollo::drivers::vanjee::Config conf_;\n+\n+ ::vanjee::lidar::SyncQueue<std::shared_ptr<PointCloudMsg>> cloud_queue_;\n+ std::shared_ptr<SyncBuffering<PointCloudMsg>> cloud_buffer_;\n+\n+ std::thread cloud_handle_thread_;\n+\n+ int seq_ = 0;\n+};\n+CYBER_REGISTER_COMPONENT(VanjeelidarComponent)\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\n"},"changed_files":{"kind":"list like","value":["modules/drivers/lidar/vanjeelidar/BUILD","modules/drivers/lidar/vanjeelidar/README.md","modules/drivers/lidar/vanjeelidar/README_cn.md","modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt","modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag","modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md","modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch","modules/drivers/lidar/vanjeelidar/proto/BUILD","modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto","modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto","modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp","modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h"],"string":"[\n \"modules/drivers/lidar/vanjeelidar/BUILD\",\n \"modules/drivers/lidar/vanjeelidar/README.md\",\n \"modules/drivers/lidar/vanjeelidar/README_cn.md\",\n \"modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\",\n \"modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\",\n \"modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\",\n \"modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\",\n \"modules/drivers/lidar/vanjeelidar/proto/BUILD\",\n \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\",\n \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\",\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\",\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"Is pcap required?","path":"modules/drivers/lidar/vanjeelidar/BUILD","hunk":"@@ -0,0 +1,39 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ \"-lpcap\",\r","resolving_sha":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87","resolving_diff":"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\nnew file mode 100644\nindex 00000000000..c8e42a1b551\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\n@@ -0,0 +1,38 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ ]\r\n+)\r\n+\r\n+filegroup(\r\n+ name = \"runtime_data\",\r\n+ srcs = glob([\r\n+ \"conf/*.txt\",\r\n+ \"conf/*.conf\",\r\n+ \"dag/*.dag\",\r\n+ \"launch/*.launch\",\r\n+ ]),\r\n+)\r\n+\r\n+apollo_package()\r\n+cpplint()\r\n"},{"comment":"Where are the files? If have source code, you can add in the code","path":"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp","hunk":"@@ -0,0 +1,183 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <string>\n+\n+#include <vanjee_driver/driver/input/input.hpp>","resolving_sha":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87","resolving_diff":"diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\nnew file mode 100644\nindex 00000000000..dfce9b34f8f\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\n@@ -0,0 +1,182 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#include <vector>\n+\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <vanjee_driver/driver/input/input.hpp>\n+#include <vanjee_driver/utility/buffer.hpp>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+bool VanjeelidarComponent::Init() {\n+ if (!GetProtoConfig(&conf_)) {\n+ AERROR << \"load config error, file:\" << config_file_path_;\n+ return false;\n+ }\n+\n+ this->InitBase(conf_.config_base());\n+\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\n+ cloud_buffer_->Init();\n+\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\n+\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\n+\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\n+ decoder_param.publish_mode = conf_.publish_mode();\n+ decoder_param.min_distance = conf_.min_distance();\n+ decoder_param.max_distance = conf_.max_distance();\n+ decoder_param.start_angle = conf_.start_angle();\n+ decoder_param.end_angle = conf_.end_angle();\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\n+ decoder_param.dense_points = conf_.dense_points();\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\n+ decoder_param.config_from_file = conf_.config_from_file();\n+ decoder_param.angle_path_ver = conf_.angle_path();\n+\n+ ::vanjee::lidar::WJInputParam input_param;\n+ input_param.connect_type = conf_.connect_type();\n+ input_param.host_msop_port = conf_.host_msop_port();\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\n+ input_param.host_address = conf_.host_address();\n+ input_param.lidar_address = conf_.lidar_address();\n+\n+ ::vanjee::lidar::WJDriverParam driver_param;\n+\n+ driver_param.input_param = input_param;\n+ driver_param.decoder_param = decoder_param;\n+\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\n+ driver_param.decoder_param.lidar_type = driver_param.lidar_type;\n+ if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_RAW_PACKET) {\n+ driver_param.input_type = InputType::RAW_PACKET;\n+ } else if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\n+ driver_ptr_->regPacketCallback(\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\n+ std::placeholders::_1));\n+ }\n+\n+ driver_ptr_->regPointCloudCallback(\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\n+ std::placeholders::_1));\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\n+ WJ_WARNING << code.toString() << WJ_REND;\n+ });\n+\n+ driver_param.print();\n+\n+ if (!driver_ptr_->init(driver_param)) {\n+ AERROR << \"vanjee Driver init failed\";\n+ return false;\n+ }\n+\n+ if (!driver_ptr_->start()) {\n+ AERROR << \"vanjee Driver start failed\";\n+ return false;\n+ }\n+ AINFO << \"vanjee lidar init finished\";\n+ return true;\n+}\n+\n+void VanjeelidarComponent::ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::vector<uint8_t> pkt_vector;\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\n+ pkt->setData(0, pkt_vector.size());\n+ driver_ptr_->putPacket(pkt);\n+}\n+\n+void VanjeelidarComponent::VanjeePacketCallback(\n+ const ::vanjee::lidar::Packet& lidar_packet) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\n+ std::make_shared<vanjee::VanjeeScanPacket>();\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\n+ lidar_packet.buf_.end());\n+ WriteScan(scan_packet);\n+}\n+\n+std::shared_ptr<PointCloudMsg>\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\n+ return cloud_buffer_->AllocateElement();\n+}\n+\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\n+ cloud_queue_.push(vanjee_cloud);\n+}\n+\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\n+ msg.set_height(1);\n+ msg.set_width(msg.point_size() / msg.height());\n+\n+ const auto timestamp =\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\n+ msg.set_measurement_time(\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\n+\n+ if (diff_time > 0.02) {\n+ AINFO << std::fixed << std::setprecision(16)\n+ << \"system time: \" << msg.header().timestamp_sec()\n+ << \", lidar time: \" << lidar_time << \", diff is:\" << diff_time;\n+ }\n+\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\n+}\n+\n+void VanjeelidarComponent::ProcessCloud() {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\n+ if (msg.get() == NULL) {\n+ continue;\n+ }\n+ auto apollo_pc = AllocatePointCloud();\n+\n+ for (auto p : msg->points) {\n+ PointXYZIT* point = apollo_pc->add_point();\n+ point->set_x(p.x);\n+ point->set_y(p.y);\n+ point->set_z(p.z);\n+ point->set_intensity(uint32_t(p.intensity));\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\n+ p.timestamp + msg->timestamp));\n+ }\n+ apollo_pc->set_is_dense(msg->is_dense);\n+ this->PreparePointsMsg(*apollo_pc);\n+ if (apollo_pc->point_size() != 0) {\n+ WritePointCloud(apollo_pc);\n+ }\n+ }\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\n"}],"string":"[\n {\n \"comment\": \"Is pcap required?\",\n \"path\": \"modules/drivers/lidar/vanjeelidar/BUILD\",\n \"hunk\": \"@@ -0,0 +1,39 @@\\n+load(\\\"//tools:apollo_package.bzl\\\", \\\"apollo_package\\\", \\\"apollo_cc_library\\\", \\\"apollo_component\\\")\\r\\n+load(\\\"//tools:cpplint.bzl\\\", \\\"cpplint\\\")\\r\\n+\\r\\n+package(default_visibility = [\\\"//visibility:public\\\"])\\r\\n+\\r\\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\\\\\\\"vanjeelidar\\\\\\\\\\\"']\\r\\n+\\r\\n+apollo_component(\\r\\n+ name = \\\"libvanjeelidar_component.so\\\",\\r\\n+ copts = VANJEE_COPTS,\\r\\n+ srcs = [\\r\\n+ \\\"src/vanjeelidar_component.cpp\\\",\\r\\n+ ],\\r\\n+ hdrs = [\\r\\n+ \\\"src/vanjeelidar_component.h\\\",\\r\\n+ ],\\r\\n+ deps = [\\r\\n+ \\\"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/common:lidar_common\\\",\\r\\n+ ],\\r\\n+ linkopts = [\\r\\n+ \\\"-lpcap\\\",\\r\",\n \"resolving_sha\": \"0eb4f9f5fe75d444f2260d492e7620bc864a9f87\",\n \"resolving_diff\": \"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\\nnew file mode 100644\\nindex 00000000000..c8e42a1b551\\n--- /dev/null\\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\\n@@ -0,0 +1,38 @@\\n+load(\\\"//tools:apollo_package.bzl\\\", \\\"apollo_package\\\", \\\"apollo_cc_library\\\", \\\"apollo_component\\\")\\r\\n+load(\\\"//tools:cpplint.bzl\\\", \\\"cpplint\\\")\\r\\n+\\r\\n+package(default_visibility = [\\\"//visibility:public\\\"])\\r\\n+\\r\\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\\\\\\\"vanjeelidar\\\\\\\\\\\"']\\r\\n+\\r\\n+apollo_component(\\r\\n+ name = \\\"libvanjeelidar_component.so\\\",\\r\\n+ copts = VANJEE_COPTS,\\r\\n+ srcs = [\\r\\n+ \\\"src/vanjeelidar_component.cpp\\\",\\r\\n+ ],\\r\\n+ hdrs = [\\r\\n+ \\\"src/vanjeelidar_component.h\\\",\\r\\n+ ],\\r\\n+ deps = [\\r\\n+ \\\"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/common:lidar_common\\\",\\r\\n+ ],\\r\\n+ linkopts = [\\r\\n+ ]\\r\\n+)\\r\\n+\\r\\n+filegroup(\\r\\n+ name = \\\"runtime_data\\\",\\r\\n+ srcs = glob([\\r\\n+ \\\"conf/*.txt\\\",\\r\\n+ \\\"conf/*.conf\\\",\\r\\n+ \\\"dag/*.dag\\\",\\r\\n+ \\\"launch/*.launch\\\",\\r\\n+ ]),\\r\\n+)\\r\\n+\\r\\n+apollo_package()\\r\\n+cpplint()\\r\\n\"\n },\n {\n \"comment\": \"Where are the files? If have source code, you can add in the code\",\n \"path\": \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\",\n \"hunk\": \"@@ -0,0 +1,183 @@\\n+/******************************************************************************\\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+\\n+#include \\\"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\\\"\\n+\\n+#include <string>\\n+\\n+#include <vanjee_driver/driver/input/input.hpp>\",\n \"resolving_sha\": \"0eb4f9f5fe75d444f2260d492e7620bc864a9f87\",\n \"resolving_diff\": \"diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\\nnew file mode 100644\\nindex 00000000000..dfce9b34f8f\\n--- /dev/null\\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\\n@@ -0,0 +1,182 @@\\n+/******************************************************************************\\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+#include <vector>\\n+\\n+#include \\\"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\\\"\\n+\\n+#include <vanjee_driver/driver/input/input.hpp>\\n+#include <vanjee_driver/utility/buffer.hpp>\\n+\\n+namespace apollo {\\n+namespace drivers {\\n+namespace lidar {\\n+\\n+bool VanjeelidarComponent::Init() {\\n+ if (!GetProtoConfig(&conf_)) {\\n+ AERROR << \\\"load config error, file:\\\" << config_file_path_;\\n+ return false;\\n+ }\\n+\\n+ this->InitBase(conf_.config_base());\\n+\\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\\n+ cloud_buffer_->Init();\\n+\\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\\n+\\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\\n+\\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\\n+ decoder_param.publish_mode = conf_.publish_mode();\\n+ decoder_param.min_distance = conf_.min_distance();\\n+ decoder_param.max_distance = conf_.max_distance();\\n+ decoder_param.start_angle = conf_.start_angle();\\n+ decoder_param.end_angle = conf_.end_angle();\\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\\n+ decoder_param.dense_points = conf_.dense_points();\\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\\n+ decoder_param.config_from_file = conf_.config_from_file();\\n+ decoder_param.angle_path_ver = conf_.angle_path();\\n+\\n+ ::vanjee::lidar::WJInputParam input_param;\\n+ input_param.connect_type = conf_.connect_type();\\n+ input_param.host_msop_port = conf_.host_msop_port();\\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\\n+ input_param.host_address = conf_.host_address();\\n+ input_param.lidar_address = conf_.lidar_address();\\n+\\n+ ::vanjee::lidar::WJDriverParam driver_param;\\n+\\n+ driver_param.input_param = input_param;\\n+ driver_param.decoder_param = decoder_param;\\n+\\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\\n+ driver_param.decoder_param.lidar_type = driver_param.lidar_type;\\n+ if (conf_.config_base().source_type() ==\\n+ LidarConfigBase_SourceType_RAW_PACKET) {\\n+ driver_param.input_type = InputType::RAW_PACKET;\\n+ } else if (conf_.config_base().source_type() ==\\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\\n+ driver_ptr_->regPacketCallback(\\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\\n+ std::placeholders::_1));\\n+ }\\n+\\n+ driver_ptr_->regPointCloudCallback(\\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\\n+ std::placeholders::_1));\\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\\n+ WJ_WARNING << code.toString() << WJ_REND;\\n+ });\\n+\\n+ driver_param.print();\\n+\\n+ if (!driver_ptr_->init(driver_param)) {\\n+ AERROR << \\\"vanjee Driver init failed\\\";\\n+ return false;\\n+ }\\n+\\n+ if (!driver_ptr_->start()) {\\n+ AERROR << \\\"vanjee Driver start failed\\\";\\n+ return false;\\n+ }\\n+ AINFO << \\\"vanjee lidar init finished\\\";\\n+ return true;\\n+}\\n+\\n+void VanjeelidarComponent::ReadScanCallback(\\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\\n+ ADEBUG << __FUNCTION__ << \\\" start\\\";\\n+ std::vector<uint8_t> pkt_vector;\\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\\n+ pkt->setData(0, pkt_vector.size());\\n+ driver_ptr_->putPacket(pkt);\\n+}\\n+\\n+void VanjeelidarComponent::VanjeePacketCallback(\\n+ const ::vanjee::lidar::Packet& lidar_packet) {\\n+ ADEBUG << __FUNCTION__ << \\\" start\\\";\\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\\n+ std::make_shared<vanjee::VanjeeScanPacket>();\\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\\n+ lidar_packet.buf_.end());\\n+ WriteScan(scan_packet);\\n+}\\n+\\n+std::shared_ptr<PointCloudMsg>\\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\\n+ return cloud_buffer_->AllocateElement();\\n+}\\n+\\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\\n+ cloud_queue_.push(vanjee_cloud);\\n+}\\n+\\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\\n+ msg.set_height(1);\\n+ msg.set_width(msg.point_size() / msg.height());\\n+\\n+ const auto timestamp =\\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\\n+ msg.set_measurement_time(\\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\\n+\\n+ if (diff_time > 0.02) {\\n+ AINFO << std::fixed << std::setprecision(16)\\n+ << \\\"system time: \\\" << msg.header().timestamp_sec()\\n+ << \\\", lidar time: \\\" << lidar_time << \\\", diff is:\\\" << diff_time;\\n+ }\\n+\\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\\n+}\\n+\\n+void VanjeelidarComponent::ProcessCloud() {\\n+ while (!cyber::IsShutdown()) {\\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\\n+ if (msg.get() == NULL) {\\n+ continue;\\n+ }\\n+ auto apollo_pc = AllocatePointCloud();\\n+\\n+ for (auto p : msg->points) {\\n+ PointXYZIT* point = apollo_pc->add_point();\\n+ point->set_x(p.x);\\n+ point->set_y(p.y);\\n+ point->set_z(p.z);\\n+ point->set_intensity(uint32_t(p.intensity));\\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\\n+ p.timestamp + msg->timestamp));\\n+ }\\n+ apollo_pc->set_is_dense(msg->is_dense);\\n+ this->PreparePointsMsg(*apollo_pc);\\n+ if (apollo_pc->point_size() != 0) {\\n+ WritePointCloud(apollo_pc);\\n+ }\\n+ }\\n+}\\n+\\n+} // namespace lidar\\n+} // namespace drivers\\n+} // namespace apollo\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":576,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15438,"string":"15,438"},"task_type":{"kind":"string","value":"comment_to_fix"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Apollo vanjee lidar driver"},"pr_body":{"kind":"string","value":"Is pcap required?"},"base_sha":{"kind":"string","value":"dff5e80beb524e38959377205fb9ef62c93afb1e"},"head_sha":{"kind":"string","value":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\nnew file mode 100644\nindex 00000000000..c8e42a1b551\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\n@@ -0,0 +1,38 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ ]\r\n+)\r\n+\r\n+filegroup(\r\n+ name = \"runtime_data\",\r\n+ srcs = glob([\r\n+ \"conf/*.txt\",\r\n+ \"conf/*.conf\",\r\n+ \"dag/*.dag\",\r\n+ \"launch/*.launch\",\r\n+ ]),\r\n+)\r\n+\r\n+apollo_package()\r\n+cpplint()\r\n"},"changed_files":{"kind":"list like","value":["modules/drivers/lidar/vanjeelidar/BUILD"],"string":"[\n \"modules/drivers/lidar/vanjeelidar/BUILD\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"Is pcap required?","path":"modules/drivers/lidar/vanjeelidar/BUILD","hunk":"@@ -0,0 +1,39 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ \"-lpcap\",\r","resolving_sha":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87","resolving_diff":"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\nnew file mode 100644\nindex 00000000000..c8e42a1b551\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\n@@ -0,0 +1,38 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"//visibility:public\"])\r\n+\r\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n+\r\n+apollo_component(\r\n+ name = \"libvanjeelidar_component.so\",\r\n+ copts = VANJEE_COPTS,\r\n+ srcs = [\r\n+ \"src/vanjeelidar_component.cpp\",\r\n+ ],\r\n+ hdrs = [\r\n+ \"src/vanjeelidar_component.h\",\r\n+ ],\r\n+ deps = [\r\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n+ \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n+ \"//modules/drivers/lidar/common:lidar_common\",\r\n+ ],\r\n+ linkopts = [\r\n+ ]\r\n+)\r\n+\r\n+filegroup(\r\n+ name = \"runtime_data\",\r\n+ srcs = glob([\r\n+ \"conf/*.txt\",\r\n+ \"conf/*.conf\",\r\n+ \"dag/*.dag\",\r\n+ \"launch/*.launch\",\r\n+ ]),\r\n+)\r\n+\r\n+apollo_package()\r\n+cpplint()\r\n"}],"string":"[\n {\n \"comment\": \"Is pcap required?\",\n \"path\": \"modules/drivers/lidar/vanjeelidar/BUILD\",\n \"hunk\": \"@@ -0,0 +1,39 @@\\n+load(\\\"//tools:apollo_package.bzl\\\", \\\"apollo_package\\\", \\\"apollo_cc_library\\\", \\\"apollo_component\\\")\\r\\n+load(\\\"//tools:cpplint.bzl\\\", \\\"cpplint\\\")\\r\\n+\\r\\n+package(default_visibility = [\\\"//visibility:public\\\"])\\r\\n+\\r\\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\\\\\\\"vanjeelidar\\\\\\\\\\\"']\\r\\n+\\r\\n+apollo_component(\\r\\n+ name = \\\"libvanjeelidar_component.so\\\",\\r\\n+ copts = VANJEE_COPTS,\\r\\n+ srcs = [\\r\\n+ \\\"src/vanjeelidar_component.cpp\\\",\\r\\n+ ],\\r\\n+ hdrs = [\\r\\n+ \\\"src/vanjeelidar_component.h\\\",\\r\\n+ ],\\r\\n+ deps = [\\r\\n+ \\\"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/common:lidar_common\\\",\\r\\n+ ],\\r\\n+ linkopts = [\\r\\n+ \\\"-lpcap\\\",\\r\",\n \"resolving_sha\": \"0eb4f9f5fe75d444f2260d492e7620bc864a9f87\",\n \"resolving_diff\": \"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\\nnew file mode 100644\\nindex 00000000000..c8e42a1b551\\n--- /dev/null\\n+++ b/modules/drivers/lidar/vanjeelidar/BUILD\\n@@ -0,0 +1,38 @@\\n+load(\\\"//tools:apollo_package.bzl\\\", \\\"apollo_package\\\", \\\"apollo_cc_library\\\", \\\"apollo_component\\\")\\r\\n+load(\\\"//tools:cpplint.bzl\\\", \\\"cpplint\\\")\\r\\n+\\r\\n+package(default_visibility = [\\\"//visibility:public\\\"])\\r\\n+\\r\\n+VANJEE_COPTS = ['-DMODULE_NAME=\\\\\\\\\\\"vanjeelidar\\\\\\\\\\\"']\\r\\n+\\r\\n+apollo_component(\\r\\n+ name = \\\"libvanjeelidar_component.so\\\",\\r\\n+ copts = VANJEE_COPTS,\\r\\n+ srcs = [\\r\\n+ \\\"src/vanjeelidar_component.cpp\\\",\\r\\n+ ],\\r\\n+ hdrs = [\\r\\n+ \\\"src/vanjeelidar_component.h\\\",\\r\\n+ ],\\r\\n+ deps = [\\r\\n+ \\\"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\\\",\\r\\n+ \\\"//modules/drivers/lidar/common:lidar_common\\\",\\r\\n+ ],\\r\\n+ linkopts = [\\r\\n+ ]\\r\\n+)\\r\\n+\\r\\n+filegroup(\\r\\n+ name = \\\"runtime_data\\\",\\r\\n+ srcs = glob([\\r\\n+ \\\"conf/*.txt\\\",\\r\\n+ \\\"conf/*.conf\\\",\\r\\n+ \\\"dag/*.dag\\\",\\r\\n+ \\\"launch/*.launch\\\",\\r\\n+ ]),\\r\\n+)\\r\\n+\\r\\n+apollo_package()\\r\\n+cpplint()\\r\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":577,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15438,"string":"15,438"},"task_type":{"kind":"string","value":"comment_to_fix"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Apollo vanjee lidar driver"},"pr_body":{"kind":"string","value":"Where are the files? If have source code, you can add in the code"},"base_sha":{"kind":"string","value":"dff5e80beb524e38959377205fb9ef62c93afb1e"},"head_sha":{"kind":"string","value":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\nnew file mode 100644\nindex 00000000000..dfce9b34f8f\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\n@@ -0,0 +1,182 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#include <vector>\n+\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <vanjee_driver/driver/input/input.hpp>\n+#include <vanjee_driver/utility/buffer.hpp>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+bool VanjeelidarComponent::Init() {\n+ if (!GetProtoConfig(&conf_)) {\n+ AERROR << \"load config error, file:\" << config_file_path_;\n+ return false;\n+ }\n+\n+ this->InitBase(conf_.config_base());\n+\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\n+ cloud_buffer_->Init();\n+\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\n+\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\n+\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\n+ decoder_param.publish_mode = conf_.publish_mode();\n+ decoder_param.min_distance = conf_.min_distance();\n+ decoder_param.max_distance = conf_.max_distance();\n+ decoder_param.start_angle = conf_.start_angle();\n+ decoder_param.end_angle = conf_.end_angle();\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\n+ decoder_param.dense_points = conf_.dense_points();\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\n+ decoder_param.config_from_file = conf_.config_from_file();\n+ decoder_param.angle_path_ver = conf_.angle_path();\n+\n+ ::vanjee::lidar::WJInputParam input_param;\n+ input_param.connect_type = conf_.connect_type();\n+ input_param.host_msop_port = conf_.host_msop_port();\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\n+ input_param.host_address = conf_.host_address();\n+ input_param.lidar_address = conf_.lidar_address();\n+\n+ ::vanjee::lidar::WJDriverParam driver_param;\n+\n+ driver_param.input_param = input_param;\n+ driver_param.decoder_param = decoder_param;\n+\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\n+ driver_param.decoder_param.lidar_type = driver_param.lidar_type;\n+ if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_RAW_PACKET) {\n+ driver_param.input_type = InputType::RAW_PACKET;\n+ } else if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\n+ driver_ptr_->regPacketCallback(\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\n+ std::placeholders::_1));\n+ }\n+\n+ driver_ptr_->regPointCloudCallback(\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\n+ std::placeholders::_1));\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\n+ WJ_WARNING << code.toString() << WJ_REND;\n+ });\n+\n+ driver_param.print();\n+\n+ if (!driver_ptr_->init(driver_param)) {\n+ AERROR << \"vanjee Driver init failed\";\n+ return false;\n+ }\n+\n+ if (!driver_ptr_->start()) {\n+ AERROR << \"vanjee Driver start failed\";\n+ return false;\n+ }\n+ AINFO << \"vanjee lidar init finished\";\n+ return true;\n+}\n+\n+void VanjeelidarComponent::ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::vector<uint8_t> pkt_vector;\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\n+ pkt->setData(0, pkt_vector.size());\n+ driver_ptr_->putPacket(pkt);\n+}\n+\n+void VanjeelidarComponent::VanjeePacketCallback(\n+ const ::vanjee::lidar::Packet& lidar_packet) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\n+ std::make_shared<vanjee::VanjeeScanPacket>();\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\n+ lidar_packet.buf_.end());\n+ WriteScan(scan_packet);\n+}\n+\n+std::shared_ptr<PointCloudMsg>\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\n+ return cloud_buffer_->AllocateElement();\n+}\n+\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\n+ cloud_queue_.push(vanjee_cloud);\n+}\n+\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\n+ msg.set_height(1);\n+ msg.set_width(msg.point_size() / msg.height());\n+\n+ const auto timestamp =\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\n+ msg.set_measurement_time(\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\n+\n+ if (diff_time > 0.02) {\n+ AINFO << std::fixed << std::setprecision(16)\n+ << \"system time: \" << msg.header().timestamp_sec()\n+ << \", lidar time: \" << lidar_time << \", diff is:\" << diff_time;\n+ }\n+\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\n+}\n+\n+void VanjeelidarComponent::ProcessCloud() {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\n+ if (msg.get() == NULL) {\n+ continue;\n+ }\n+ auto apollo_pc = AllocatePointCloud();\n+\n+ for (auto p : msg->points) {\n+ PointXYZIT* point = apollo_pc->add_point();\n+ point->set_x(p.x);\n+ point->set_y(p.y);\n+ point->set_z(p.z);\n+ point->set_intensity(uint32_t(p.intensity));\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\n+ p.timestamp + msg->timestamp));\n+ }\n+ apollo_pc->set_is_dense(msg->is_dense);\n+ this->PreparePointsMsg(*apollo_pc);\n+ if (apollo_pc->point_size() != 0) {\n+ WritePointCloud(apollo_pc);\n+ }\n+ }\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\n"},"changed_files":{"kind":"list like","value":["modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp"],"string":"[\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"Where are the files? If have source code, you can add in the code","path":"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp","hunk":"@@ -0,0 +1,183 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <string>\n+\n+#include <vanjee_driver/driver/input/input.hpp>","resolving_sha":"0eb4f9f5fe75d444f2260d492e7620bc864a9f87","resolving_diff":"diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\nnew file mode 100644\nindex 00000000000..dfce9b34f8f\n--- /dev/null\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\n@@ -0,0 +1,182 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#include <vector>\n+\n+#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n+\n+#include <vanjee_driver/driver/input/input.hpp>\n+#include <vanjee_driver/utility/buffer.hpp>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lidar {\n+\n+bool VanjeelidarComponent::Init() {\n+ if (!GetProtoConfig(&conf_)) {\n+ AERROR << \"load config error, file:\" << config_file_path_;\n+ return false;\n+ }\n+\n+ this->InitBase(conf_.config_base());\n+\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\n+ cloud_buffer_->Init();\n+\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\n+\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\n+\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\n+ decoder_param.publish_mode = conf_.publish_mode();\n+ decoder_param.min_distance = conf_.min_distance();\n+ decoder_param.max_distance = conf_.max_distance();\n+ decoder_param.start_angle = conf_.start_angle();\n+ decoder_param.end_angle = conf_.end_angle();\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\n+ decoder_param.dense_points = conf_.dense_points();\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\n+ decoder_param.config_from_file = conf_.config_from_file();\n+ decoder_param.angle_path_ver = conf_.angle_path();\n+\n+ ::vanjee::lidar::WJInputParam input_param;\n+ input_param.connect_type = conf_.connect_type();\n+ input_param.host_msop_port = conf_.host_msop_port();\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\n+ input_param.host_address = conf_.host_address();\n+ input_param.lidar_address = conf_.lidar_address();\n+\n+ ::vanjee::lidar::WJDriverParam driver_param;\n+\n+ driver_param.input_param = input_param;\n+ driver_param.decoder_param = decoder_param;\n+\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\n+ driver_param.decoder_param.lidar_type = driver_param.lidar_type;\n+ if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_RAW_PACKET) {\n+ driver_param.input_type = InputType::RAW_PACKET;\n+ } else if (conf_.config_base().source_type() ==\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\n+ driver_ptr_->regPacketCallback(\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\n+ std::placeholders::_1));\n+ }\n+\n+ driver_ptr_->regPointCloudCallback(\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\n+ std::placeholders::_1));\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\n+ WJ_WARNING << code.toString() << WJ_REND;\n+ });\n+\n+ driver_param.print();\n+\n+ if (!driver_ptr_->init(driver_param)) {\n+ AERROR << \"vanjee Driver init failed\";\n+ return false;\n+ }\n+\n+ if (!driver_ptr_->start()) {\n+ AERROR << \"vanjee Driver start failed\";\n+ return false;\n+ }\n+ AINFO << \"vanjee lidar init finished\";\n+ return true;\n+}\n+\n+void VanjeelidarComponent::ReadScanCallback(\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::vector<uint8_t> pkt_vector;\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\n+ pkt->setData(0, pkt_vector.size());\n+ driver_ptr_->putPacket(pkt);\n+}\n+\n+void VanjeelidarComponent::VanjeePacketCallback(\n+ const ::vanjee::lidar::Packet& lidar_packet) {\n+ ADEBUG << __FUNCTION__ << \" start\";\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\n+ std::make_shared<vanjee::VanjeeScanPacket>();\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\n+ lidar_packet.buf_.end());\n+ WriteScan(scan_packet);\n+}\n+\n+std::shared_ptr<PointCloudMsg>\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\n+ return cloud_buffer_->AllocateElement();\n+}\n+\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\n+ cloud_queue_.push(vanjee_cloud);\n+}\n+\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\n+ msg.set_height(1);\n+ msg.set_width(msg.point_size() / msg.height());\n+\n+ const auto timestamp =\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\n+ msg.set_measurement_time(\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\n+\n+ if (diff_time > 0.02) {\n+ AINFO << std::fixed << std::setprecision(16)\n+ << \"system time: \" << msg.header().timestamp_sec()\n+ << \", lidar time: \" << lidar_time << \", diff is:\" << diff_time;\n+ }\n+\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\n+}\n+\n+void VanjeelidarComponent::ProcessCloud() {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\n+ if (msg.get() == NULL) {\n+ continue;\n+ }\n+ auto apollo_pc = AllocatePointCloud();\n+\n+ for (auto p : msg->points) {\n+ PointXYZIT* point = apollo_pc->add_point();\n+ point->set_x(p.x);\n+ point->set_y(p.y);\n+ point->set_z(p.z);\n+ point->set_intensity(uint32_t(p.intensity));\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\n+ p.timestamp + msg->timestamp));\n+ }\n+ apollo_pc->set_is_dense(msg->is_dense);\n+ this->PreparePointsMsg(*apollo_pc);\n+ if (apollo_pc->point_size() != 0) {\n+ WritePointCloud(apollo_pc);\n+ }\n+ }\n+}\n+\n+} // namespace lidar\n+} // namespace drivers\n+} // namespace apollo\n"}],"string":"[\n {\n \"comment\": \"Where are the files? If have source code, you can add in the code\",\n \"path\": \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\",\n \"hunk\": \"@@ -0,0 +1,183 @@\\n+/******************************************************************************\\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+\\n+#include \\\"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\\\"\\n+\\n+#include <string>\\n+\\n+#include <vanjee_driver/driver/input/input.hpp>\",\n \"resolving_sha\": \"0eb4f9f5fe75d444f2260d492e7620bc864a9f87\",\n \"resolving_diff\": \"diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\\nnew file mode 100644\\nindex 00000000000..dfce9b34f8f\\n--- /dev/null\\n+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\\n@@ -0,0 +1,182 @@\\n+/******************************************************************************\\n+ * Copyright 2024 The Apollo Authors. All Rights Reserved.\\n+ *\\n+ * Licensed under the Apache License, Version 2.0 (the \\\"License\\\");\\n+ * you may not use this file except in compliance with the License.\\n+ * You may obtain a copy of the License at\\n+ *\\n+ * http://www.apache.org/licenses/LICENSE-2.0\\n+ *\\n+ * Unless required by applicable law or agreed to in writing, software\\n+ * distributed under the License is distributed on an \\\"AS IS\\\" BASIS,\\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\\n+ * See the License for the specific language governing permissions and\\n+ * limitations under the License.\\n+ *****************************************************************************/\\n+#include <vector>\\n+\\n+#include \\\"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\\\"\\n+\\n+#include <vanjee_driver/driver/input/input.hpp>\\n+#include <vanjee_driver/utility/buffer.hpp>\\n+\\n+namespace apollo {\\n+namespace drivers {\\n+namespace lidar {\\n+\\n+bool VanjeelidarComponent::Init() {\\n+ if (!GetProtoConfig(&conf_)) {\\n+ AERROR << \\\"load config error, file:\\\" << config_file_path_;\\n+ return false;\\n+ }\\n+\\n+ this->InitBase(conf_.config_base());\\n+\\n+ cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\\n+ cloud_buffer_->Init();\\n+\\n+ cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\\n+\\n+ driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\\n+\\n+ ::vanjee::lidar::WJDecoderParam decoder_param;\\n+ decoder_param.publish_mode = conf_.publish_mode();\\n+ decoder_param.min_distance = conf_.min_distance();\\n+ decoder_param.max_distance = conf_.max_distance();\\n+ decoder_param.start_angle = conf_.start_angle();\\n+ decoder_param.end_angle = conf_.end_angle();\\n+ decoder_param.use_lidar_clock = conf_.use_lidar_clock();\\n+ decoder_param.dense_points = conf_.dense_points();\\n+ decoder_param.wait_for_difop = conf_.wait_for_difop();\\n+ decoder_param.config_from_file = conf_.config_from_file();\\n+ decoder_param.angle_path_ver = conf_.angle_path();\\n+\\n+ ::vanjee::lidar::WJInputParam input_param;\\n+ input_param.connect_type = conf_.connect_type();\\n+ input_param.host_msop_port = conf_.host_msop_port();\\n+ input_param.lidar_msop_port = conf_.lidar_msop_port();\\n+ input_param.host_address = conf_.host_address();\\n+ input_param.lidar_address = conf_.lidar_address();\\n+\\n+ ::vanjee::lidar::WJDriverParam driver_param;\\n+\\n+ driver_param.input_param = input_param;\\n+ driver_param.decoder_param = decoder_param;\\n+\\n+ driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\\n+ driver_param.decoder_param.lidar_type = driver_param.lidar_type;\\n+ if (conf_.config_base().source_type() ==\\n+ LidarConfigBase_SourceType_RAW_PACKET) {\\n+ driver_param.input_type = InputType::RAW_PACKET;\\n+ } else if (conf_.config_base().source_type() ==\\n+ LidarConfigBase_SourceType_ONLINE_LIDAR) {\\n+ driver_param.input_type = InputType::ONLINE_LIDAR;\\n+ driver_ptr_->regPacketCallback(\\n+ std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\\n+ std::placeholders::_1));\\n+ }\\n+\\n+ driver_ptr_->regPointCloudCallback(\\n+ std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\\n+ std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\\n+ std::placeholders::_1));\\n+ driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\\n+ WJ_WARNING << code.toString() << WJ_REND;\\n+ });\\n+\\n+ driver_param.print();\\n+\\n+ if (!driver_ptr_->init(driver_param)) {\\n+ AERROR << \\\"vanjee Driver init failed\\\";\\n+ return false;\\n+ }\\n+\\n+ if (!driver_ptr_->start()) {\\n+ AERROR << \\\"vanjee Driver start failed\\\";\\n+ return false;\\n+ }\\n+ AINFO << \\\"vanjee lidar init finished\\\";\\n+ return true;\\n+}\\n+\\n+void VanjeelidarComponent::ReadScanCallback(\\n+ const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\\n+ ADEBUG << __FUNCTION__ << \\\" start\\\";\\n+ std::vector<uint8_t> pkt_vector;\\n+ pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\\n+ std::shared_ptr<::vanjee::lidar::Buffer> pkt =\\n+ std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\\n+ memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\\n+ pkt->setData(0, pkt_vector.size());\\n+ driver_ptr_->putPacket(pkt);\\n+}\\n+\\n+void VanjeelidarComponent::VanjeePacketCallback(\\n+ const ::vanjee::lidar::Packet& lidar_packet) {\\n+ ADEBUG << __FUNCTION__ << \\\" start\\\";\\n+ std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\\n+ std::make_shared<vanjee::VanjeeScanPacket>();\\n+ scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\\n+ scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\\n+ lidar_packet.buf_.end());\\n+ WriteScan(scan_packet);\\n+}\\n+\\n+std::shared_ptr<PointCloudMsg>\\n+VanjeelidarComponent::VanjeeCloudAllocateCallback() {\\n+ return cloud_buffer_->AllocateElement();\\n+}\\n+\\n+void VanjeelidarComponent::VanjeeCloudPutCallback(\\n+ std::shared_ptr<PointCloudMsg> vanjee_cloud) {\\n+ cloud_queue_.push(vanjee_cloud);\\n+}\\n+\\n+void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\\n+ msg.set_height(1);\\n+ msg.set_width(msg.point_size() / msg.height());\\n+\\n+ const auto timestamp =\\n+ msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\\n+ msg.set_measurement_time(\\n+ GetSecondTimestampFromNanosecondTimestamp(timestamp));\\n+ double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\\n+ double diff_time = msg.header().timestamp_sec() - lidar_time;\\n+\\n+ if (diff_time > 0.02) {\\n+ AINFO << std::fixed << std::setprecision(16)\\n+ << \\\"system time: \\\" << msg.header().timestamp_sec()\\n+ << \\\", lidar time: \\\" << lidar_time << \\\", diff is:\\\" << diff_time;\\n+ }\\n+\\n+ msg.mutable_header()->set_lidar_timestamp(timestamp);\\n+}\\n+\\n+void VanjeelidarComponent::ProcessCloud() {\\n+ while (!cyber::IsShutdown()) {\\n+ std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\\n+ if (msg.get() == NULL) {\\n+ continue;\\n+ }\\n+ auto apollo_pc = AllocatePointCloud();\\n+\\n+ for (auto p : msg->points) {\\n+ PointXYZIT* point = apollo_pc->add_point();\\n+ point->set_x(p.x);\\n+ point->set_y(p.y);\\n+ point->set_z(p.z);\\n+ point->set_intensity(uint32_t(p.intensity));\\n+ point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\\n+ p.timestamp + msg->timestamp));\\n+ }\\n+ apollo_pc->set_is_dense(msg->is_dense);\\n+ this->PreparePointsMsg(*apollo_pc);\\n+ if (apollo_pc->point_size() != 0) {\\n+ WritePointCloud(apollo_pc);\\n+ }\\n+ }\\n+}\\n+\\n+} // namespace lidar\\n+} // namespace drivers\\n+} // namespace apollo\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":578,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15449,"string":"15,449"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Revert \"Apollo vanjee lidar driver\""},"pr_body":{"kind":"string","value":"Reverts ApolloAuto/apollo#15438"},"base_sha":{"kind":"string","value":"3e175e04610cc1aa08fc1e86869fb5f5970c0414"},"head_sha":{"kind":"string","value":"c49033b0ec8e6fd2a28b3f7f3dcabc053baf2d5f"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD\ndeleted file mode 100644\nindex c8e42a1b551..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/BUILD\n+++ /dev/null\n@@ -1,38 +0,0 @@\n-load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n-load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n-\r\n-package(default_visibility = [\"//visibility:public\"])\r\n-\r\n-VANJEE_COPTS = ['-DMODULE_NAME=\\\\\"vanjeelidar\\\\\"']\r\n-\r\n-apollo_component(\r\n- name = \"libvanjeelidar_component.so\",\r\n- copts = VANJEE_COPTS,\r\n- srcs = [\r\n- \"src/vanjeelidar_component.cpp\",\r\n- ],\r\n- hdrs = [\r\n- \"src/vanjeelidar_component.h\",\r\n- ],\r\n- deps = [\r\n- \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\r\n- \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_config_proto\",\r\n- \"//modules/drivers/lidar/vanjeelidar/proto:vanjeelidar_proto\",\r\n- \"//modules/drivers/lidar/common:lidar_common\",\r\n- ],\r\n- linkopts = [\r\n- ]\r\n-)\r\n-\r\n-filegroup(\r\n- name = \"runtime_data\",\r\n- srcs = glob([\r\n- \"conf/*.txt\",\r\n- \"conf/*.conf\",\r\n- \"dag/*.dag\",\r\n- \"launch/*.launch\",\r\n- ]),\r\n-)\r\n-\r\n-apollo_package()\r\n-cpplint()\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/README.md b/modules/drivers/lidar/vanjeelidar/README.md\ndeleted file mode 100644\nindex 715e9072620..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/README.md\n+++ /dev/null\n@@ -1,29 +0,0 @@\n-# **Vanjee LiDAR Driver**\r\n-\r\n-## 1 Introduction\r\n-\r\n- **vanjee** is the lidar driver kit under Apollo platform. Now support *vanjee_720_16 vanjee_720d_16 vanjee_720_32* . \r\n-\r\n-\r\n-## 2 Run\r\n-\r\n-**All the drivers need to be excuted in Apollo docker environment.**\r\n-\r\n-```sh\r\n-cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\r\n-```\r\n-\r\n-或\r\n-\r\n-```sh\r\n-mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\r\n-```\r\n-\r\n-默认话题名：\r\n-\r\n-- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n-- Scan--/apollo/sensor/vanjeelidar/up/Scan\r\n-\r\n-## 3 Parameters Intro\r\n-\r\n-[Intro to parameters](doc/parameter_intro.md)\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/README_cn.md b/modules/drivers/lidar/vanjeelidar/README_cn.md\ndeleted file mode 100644\nindex 0cb8dea8f75..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/README_cn.md\n+++ /dev/null\n@@ -1,28 +0,0 @@\n-# **Vanjee LiDAR Driver**\r\n-\r\n-## 1 工程简介\r\n-\r\n- **vanjee** 为万集科技在阿波罗平台上的雷达驱动集成包。 目前支持*vanjee_720_16 vanjee_720d_16 vanjee_720_32*型号的雷达。 \r\n-\r\n-## 2 运行\r\n-\r\n-**所有驱动均需要在Apollo Docker环境下运行**\r\n-\r\n-```sh\r\n-cyber_launch start /apollo/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\r\n-```\r\n-\r\n-或\r\n-\r\n-```sh\r\n-mainboard -d /apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\r\n-```\r\n-\r\n-默认话题名：\r\n-\r\n-- 原始点云 -- /apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n-- Scan--/apollo/sensor/vanjeelidar/up/Scan\r\n-\r\n-## 3 参数介绍\r\n-\r\n-[参数介绍](doc/parameter_intro.md)\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt b/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\ndeleted file mode 100644\nindex 967299d7b54..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\n+++ /dev/null\n@@ -1,26 +0,0 @@\n-config_base {\r\n- scan_channel: \"/apollo/sensor/vanjeelidar/up/Scan\"\r\n- point_cloud_channel: \"/apollo/sensor/vanjeelidar/up/PointCloud2\"\r\n- frame_id: \"vanjeelidar_up\"\r\n-\r\n- # sample ONLINE_LIDAR, RAW_PACKET\r\n- source_type: ONLINE_LIDAR\r\n-}\r\n-\r\n-# sample: \"vanjee_720_16,vanjee_720d_16,vanjee_720_32\"\r\n-model: \"vanjee_720_16\"\r\n-connect_type: 1\r\n-host_msop_port: 3001\r\n-lidar_msop_port: 3333\r\n-host_address: \"192.168.2.88\"\r\n-lidar_address: \"192.168.2.86\"\r\n-publish_mode: 2\r\n-start_angle: 0\r\n-end_angle: 360\r\n-min_distance: 0.3\r\n-max_distance: 120\r\n-use_lidar_clock: false\r\n-dense_points: false\r\n-wait_for_difop: true\r\n-config_from_file: false\r\n-angle_path: \"\"\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag b/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\ndeleted file mode 100644\nindex 9b5385b1766..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\n+++ /dev/null\n@@ -1,10 +0,0 @@\n-module_config {\r\n- module_library : \"modules/drivers/lidar/vanjeelidar/libvanjeelidar_component.so\"\r\n- components {\r\n- class_name : \"VanjeelidarComponent\"\r\n- config {\r\n- name : \"VanjeeLiDAR_Driver\"\r\n- config_file_path : \"/apollo/modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\"\r\n- }\r\n- }\r\n-}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md b/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\ndeleted file mode 100755\nindex d37eb21de8d..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\n+++ /dev/null\n@@ -1,108 +0,0 @@\n-# Parameter Introduction\n-\n-\n-\n-This document will give you a introduction to each parameter in the configuration file. \n-\n-For convenient, we take vanjee_720_16 model as an example.\n-\n-```yaml\n-model: \"vanjee_720_16\"\n-connect_type: 1\n-host_msop_port: 3001\n-lidar_msop_port: 3333\n-host_address: \"192.168.2.88\"\n-lidar_address: \"192.168.2.86\"\n-publish_mode: 2\n-start_angle: 0\n-end_angle: 360\n-min_distance: 0.2\n-max_distance: 120\n-use_lidar_clock: false\n-dense_points: false\n-wait_for_difop: true\n-config_from_file: false\n-angle_path: \"\"\n-```\n-\n-**model**\n-\n-This is the lidar model, since this configuration file is for vanjee_720_16, we set the model=\"vanjee_720_16\".\n-The parameter are as followed below:\n- vanjee_720_16/vanjee_720d_16/vanjee_720_32\n-\n-\n-**connect_type**\n-\n-This is the net connection model,which is tcp or udp.Set the connect_type=\"1\" if the net connection mode is udp,otherwise set it as \"2\".\n-\n-\n-**host_msop_port**\n-\n-This is the port number of host. The default value is 3001.Lidar would send the raw packet to this port.\n-\n-\n-**lidar_msop_port**\n-\n-This is the port number of lidar. The default value is 3333.Lidar would send the raw packet from this port.\n-\n-\n-**host_address**\n-\n-This is the host ip address. The default value is \"192.168.2.88\".Lidar would send the raw packet to this ip address.\n-\n-\n-**lidar_address**\n-\n-This is the lidar ip address. The default value is \"192.168.2.86\".Lidar would send the raw packet from this ip address.\n-\n-\n-**publish_mode**\n-\n-This is the publish mode of lidar point cloud. \"0\": publish the 1st echo ,\"1\":publish the 2nd echo ,\"2\":publish both the 1st and 2nd echos.\n-\n-\n-**start_angle**\n-\n-The start angle of point cloud,unit:degree.\n-\n-\n-**end_angle**\n-\n-The end angle of point cloud,unit:degree.The point cloud published would only include the azimuth between start_angle and end_angle.\n-\n-\n-**min_distance**\n-\n-The minimum distance of point cloud,unit:m.\n-\n-\n-**max_distance**\n-\n-The maximum distance of point cloud,unit:m.The point cloud published would only include the distance between min_distance and max_distance.\n-\n-\n-**use_lidar_clock**\n-\n- - true: The timestamp of lidar messages is the lidar clock.\n-\n- - false: The timestamp of lidar messages is the PC system clock.\n-\n-\n-**dense_point**\n-\n-The flag whether mark the invald point cloud as 'nan'. If you would not mark the invalid point as 'nan',set the dense_point=true,otherwise set it as false.\n-\n-\n-**wait_for_difop**\n-\n-The flag whether need to request the angle information from the lidar firstly. Usually set wait_for_difop=true in ONLINE_LIDAR mode,otherwise set it as false.\n-\n-\n-**config_from_file**\n-\n-The flag whether read the angle information from the configuration file .Usually set config_from_file=true in RAW_PACKET mode,otherwise set it as false.\n-\n-**angle_path**\n-\n-The path of angle configuration file .\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch b/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\ndeleted file mode 100644\nindex 540bac60bef..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\n+++ /dev/null\n@@ -1,7 +0,0 @@\n-<cyber>\r\n- <module>\r\n- <name>vanjeelidar</name>\r\n- <dag_conf>/apollo/modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag</dag_conf>\r\n- <process_name>vanjeelidar</process_name>\r\n- </module>\r\n-</cyber>\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/BUILD b/modules/drivers/lidar/vanjeelidar/proto/BUILD\ndeleted file mode 100644\nindex b41006c9878..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/proto/BUILD\n+++ /dev/null\n@@ -1,23 +0,0 @@\n-## Auto generated by `proto_build_generator.py`\r\n-load(\"//tools:apollo_package.bzl\", \"apollo_package\")\r\n-load(\"//tools/proto:proto.bzl\", \"proto_library\")\r\n-\r\n-package(default_visibility = [\"//visibility:public\"])\r\n-\r\n-proto_library(\r\n- name = \"vanjeelidar_config_proto\",\r\n- srcs = [\"vanjeelidar_config.proto\"],\r\n- deps= [\r\n- \"//modules/drivers/lidar/common/proto:lidar_config_base_proto\",\r\n- ]\r\n-)\r\n-\r\n-proto_library(\r\n- name = \"vanjeelidar_proto\",\r\n- srcs = [\"vanjeelidar.proto\"],\r\n- deps = [\r\n- \"//modules/common_msgs/basic_msgs:header_proto\",\r\n- ],\r\n-)\r\n-\r\n-apollo_package()\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\ndeleted file mode 100644\nindex 37b945d9a55..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\n+++ /dev/null\n@@ -1,16 +0,0 @@\n-syntax = \"proto2\";\r\n-\r\n-package apollo.drivers.vanjee;\r\n-\r\n-import \"modules/common_msgs/basic_msgs/header.proto\";\r\n-\r\n-message VanjeeScanPacket {\r\n- optional uint64 stamp = 1;\r\n- optional bytes data = 2;\r\n-}\r\n-\r\n-message VanjeeScan {\r\n- optional bool is_difop = 1;\r\n- optional bool is_frame_begin = 2;\r\n- optional bytes data = 3;\r\n-}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto b/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\ndeleted file mode 100644\nindex ee4b2e85388..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\n+++ /dev/null\n@@ -1,33 +0,0 @@\n-syntax = \"proto2\";\r\n-\r\n-package apollo.drivers.vanjee;\r\n-\r\n-import \"modules/drivers/lidar/common/proto/lidar_config_base.proto\";\r\n-\r\n-message Config {\r\n-\r\n- // lidar base\r\n- required apollo.drivers.lidar.LidarConfigBase config_base = 33;\r\n-\r\n- // general param\r\n- optional string model = 1;\r\n- // Input Param\r\n- optional uint32 connect_type = 2;\r\n- optional uint32 host_msop_port = 3;\r\n- optional uint32 lidar_msop_port = 4;\r\n- // Decoder Param\r\n- optional float start_angle = 5;\r\n- optional float end_angle = 6;\r\n- optional float min_distance = 7;\r\n- optional float max_distance = 8;\r\n- optional bool use_lidar_clock = 9 [default = false];\r\n- // supplementary parameters of Decoder Param\r\n- optional bool dense_points = 10 [default = false];\r\n- optional bool wait_for_difop = 11 [default = true];\r\n- optional bool config_from_file = 12 [default = false];\r\n- optional string angle_path = 13 [default = \"\"];\r\n- optional uint32 publish_mode = 14 [default = 2];\r\n- // supplementary parameters of Input Param\r\n- optional string host_address = 15 [default = \"0.0.0.0\"];\r\n- optional string lidar_address = 16 [default = \"0.0.0.0\"];\r\n-}\r\ndiff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\ndeleted file mode 100644\nindex dfce9b34f8f..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\n+++ /dev/null\n@@ -1,182 +0,0 @@\n-/******************************************************************************\n- * Copyright 2024 The Apollo Authors. All Rights Reserved.\n- *\n- * Licensed under the Apache License, Version 2.0 (the \"License\");\n- * you may not use this file except in compliance with the License.\n- * You may obtain a copy of the License at\n- *\n- * http://www.apache.org/licenses/LICENSE-2.0\n- *\n- * Unless required by applicable law or agreed to in writing, software\n- * distributed under the License is distributed on an \"AS IS\" BASIS,\n- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n- * See the License for the specific language governing permissions and\n- * limitations under the License.\n- *****************************************************************************/\n-#include <vector>\n-\n-#include \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n-\n-#include <vanjee_driver/driver/input/input.hpp>\n-#include <vanjee_driver/utility/buffer.hpp>\n-\n-namespace apollo {\n-namespace drivers {\n-namespace lidar {\n-\n-bool VanjeelidarComponent::Init() {\n- if (!GetProtoConfig(&conf_)) {\n- AERROR << \"load config error, file:\" << config_file_path_;\n- return false;\n- }\n-\n- this->InitBase(conf_.config_base());\n-\n- cloud_buffer_ = std::make_shared<SyncBuffering<PointCloudMsg>>();\n- cloud_buffer_->Init();\n-\n- cloud_handle_thread_ = std::thread(&VanjeelidarComponent::ProcessCloud, this);\n-\n- driver_ptr_ = std::make_shared<::vanjee::lidar::LidarDriver<PointCloudMsg>>();\n-\n- ::vanjee::lidar::WJDecoderParam decoder_param;\n- decoder_param.publish_mode = conf_.publish_mode();\n- decoder_param.min_distance = conf_.min_distance();\n- decoder_param.max_distance = conf_.max_distance();\n- decoder_param.start_angle = conf_.start_angle();\n- decoder_param.end_angle = conf_.end_angle();\n- decoder_param.use_lidar_clock = conf_.use_lidar_clock();\n- decoder_param.dense_points = conf_.dense_points();\n- decoder_param.wait_for_difop = conf_.wait_for_difop();\n- decoder_param.config_from_file = conf_.config_from_file();\n- decoder_param.angle_path_ver = conf_.angle_path();\n-\n- ::vanjee::lidar::WJInputParam input_param;\n- input_param.connect_type = conf_.connect_type();\n- input_param.host_msop_port = conf_.host_msop_port();\n- input_param.lidar_msop_port = conf_.lidar_msop_port();\n- input_param.host_address = conf_.host_address();\n- input_param.lidar_address = conf_.lidar_address();\n-\n- ::vanjee::lidar::WJDriverParam driver_param;\n-\n- driver_param.input_param = input_param;\n- driver_param.decoder_param = decoder_param;\n-\n- driver_param.lidar_type = ::vanjee::lidar::strToLidarType(conf_.model());\n- driver_param.decoder_param.lidar_type = driver_param.lidar_type;\n- if (conf_.config_base().source_type() ==\n- LidarConfigBase_SourceType_RAW_PACKET) {\n- driver_param.input_type = InputType::RAW_PACKET;\n- } else if (conf_.config_base().source_type() ==\n- LidarConfigBase_SourceType_ONLINE_LIDAR) {\n- driver_param.input_type = InputType::ONLINE_LIDAR;\n- driver_ptr_->regPacketCallback(\n- std::bind(&VanjeelidarComponent::VanjeePacketCallback, this,\n- std::placeholders::_1));\n- }\n-\n- driver_ptr_->regPointCloudCallback(\n- std::bind(&VanjeelidarComponent::VanjeeCloudAllocateCallback, this),\n- std::bind(&VanjeelidarComponent::VanjeeCloudPutCallback, this,\n- std::placeholders::_1));\n- driver_ptr_->regExceptionCallback([](const ::vanjee::lidar::Error& code) {\n- WJ_WARNING << code.toString() << WJ_REND;\n- });\n-\n- driver_param.print();\n-\n- if (!driver_ptr_->init(driver_param)) {\n- AERROR << \"vanjee Driver init failed\";\n- return false;\n- }\n-\n- if (!driver_ptr_->start()) {\n- AERROR << \"vanjee Driver start failed\";\n- return false;\n- }\n- AINFO << \"vanjee lidar init finished\";\n- return true;\n-}\n-\n-void VanjeelidarComponent::ReadScanCallback(\n- const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) {\n- ADEBUG << __FUNCTION__ << \" start\";\n- std::vector<uint8_t> pkt_vector;\n- pkt_vector.assign(scan_message->data().begin(), scan_message->data().end());\n- std::shared_ptr<::vanjee::lidar::Buffer> pkt =\n- std::make_shared<::vanjee::lidar::Buffer>(pkt_vector.size());\n- memcpy(pkt->data(), pkt_vector.data(), pkt_vector.size());\n- pkt->setData(0, pkt_vector.size());\n- driver_ptr_->putPacket(pkt);\n-}\n-\n-void VanjeelidarComponent::VanjeePacketCallback(\n- const ::vanjee::lidar::Packet& lidar_packet) {\n- ADEBUG << __FUNCTION__ << \" start\";\n- std::shared_ptr<vanjee::VanjeeScanPacket> scan_packet =\n- std::make_shared<vanjee::VanjeeScanPacket>();\n- scan_packet->set_stamp(cyber::Time::Now().ToNanosecond());\n- scan_packet->mutable_data()->assign(lidar_packet.buf_.begin(),\n- lidar_packet.buf_.end());\n- WriteScan(scan_packet);\n-}\n-\n-std::shared_ptr<PointCloudMsg>\n-VanjeelidarComponent::VanjeeCloudAllocateCallback() {\n- return cloud_buffer_->AllocateElement();\n-}\n-\n-void VanjeelidarComponent::VanjeeCloudPutCallback(\n- std::shared_ptr<PointCloudMsg> vanjee_cloud) {\n- cloud_queue_.push(vanjee_cloud);\n-}\n-\n-void VanjeelidarComponent::PreparePointsMsg(PointCloud& msg) {\n- msg.set_height(1);\n- msg.set_width(msg.point_size() / msg.height());\n-\n- const auto timestamp =\n- msg.point(static_cast<int>(msg.point_size()) - 1).timestamp();\n- msg.set_measurement_time(\n- GetSecondTimestampFromNanosecondTimestamp(timestamp));\n- double lidar_time = GetSecondTimestampFromNanosecondTimestamp(timestamp);\n- double diff_time = msg.header().timestamp_sec() - lidar_time;\n-\n- if (diff_time > 0.02) {\n- AINFO << std::fixed << std::setprecision(16)\n- << \"system time: \" << msg.header().timestamp_sec()\n- << \", lidar time: \" << lidar_time << \", diff is:\" << diff_time;\n- }\n-\n- msg.mutable_header()->set_lidar_timestamp(timestamp);\n-}\n-\n-void VanjeelidarComponent::ProcessCloud() {\n- while (!cyber::IsShutdown()) {\n- std::shared_ptr<PointCloudMsg> msg = cloud_queue_.popWait();\n- if (msg.get() == NULL) {\n- continue;\n- }\n- auto apollo_pc = AllocatePointCloud();\n-\n- for (auto p : msg->points) {\n- PointXYZIT* point = apollo_pc->add_point();\n- point->set_x(p.x);\n- point->set_y(p.y);\n- point->set_z(p.z);\n- point->set_intensity(uint32_t(p.intensity));\n- point->set_timestamp(GetNanosecondTimestampFromSecondTimestamp(\n- p.timestamp + msg->timestamp));\n- }\n- apollo_pc->set_is_dense(msg->is_dense);\n- this->PreparePointsMsg(*apollo_pc);\n- if (apollo_pc->point_size() != 0) {\n- WritePointCloud(apollo_pc);\n- }\n- }\n-}\n-\n-} // namespace lidar\n-} // namespace drivers\n-} // namespace apollo\ndiff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\ndeleted file mode 100644\nindex 80e22380459..00000000000\n--- a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\n+++ /dev/null\n@@ -1,74 +0,0 @@\n-/******************************************************************************\n- * Copyright 2024 The Apollo Authors. All Rights Reserved.\n- *\n- * Licensed under the Apache License, Version 2.0 (the \"License\");\n- * you may not use this file except in compliance with the License.\n- * You may obtain a copy of the License at\n- *\n- * http://www.apache.org/licenses/LICENSE-2.0\n- *\n- * Unless required by applicable law or agreed to in writing, software\n- * distributed under the License is distributed on an \"AS IS\" BASIS,\n- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n- * See the License for the specific language governing permissions and\n- * limitations under the License.\n- *****************************************************************************/\n-#pragma once\n-\n-#include <memory>\n-\n-#include <vanjee_driver/api/lidar_driver.hpp>\n-#include <vanjee_driver/driver/driver_param.hpp>\n-#include <vanjee_driver/msg/packet.hpp>\n-#include <vanjee_driver/msg/point_cloud_msg.hpp>\n-\n-#include \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.pb.h\"\n-#include \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.pb.h\"\n-\n-#include \"modules/drivers/lidar/common/lidar_component_base.h\"\n-#include \"modules/drivers/lidar/common/sync_buffering.h\"\n-#include \"modules/drivers/lidar/common/util.h\"\n-\n-namespace apollo {\n-namespace drivers {\n-namespace lidar {\n-\n-typedef PointXYZIRT PointT;\n-typedef PointCloudT<PointT> PointCloudMsg;\n-\n-using ::vanjee::lidar::InputType;\n-\n-class VanjeelidarComponent\n- : public LidarComponentBase<vanjee::VanjeeScanPacket> {\n- public:\n- bool Init() override;\n-\n- void ReadScanCallback(\n- const std::shared_ptr<vanjee::VanjeeScanPacket>& scan_message) override;\n-\n- void VanjeePacketCallback(const ::vanjee::lidar::Packet& lidar_packet);\n-\n- std::shared_ptr<PointCloudMsg> VanjeeCloudAllocateCallback();\n-\n- void VanjeeCloudPutCallback(std::shared_ptr<PointCloudMsg> vanjee_cloud);\n-\n- void PreparePointsMsg(PointCloud& msg);\n-\n- void ProcessCloud();\n-\n- private:\n- std::shared_ptr<::vanjee::lidar::LidarDriver<PointCloudMsg>> driver_ptr_;\n- apollo::drivers::vanjee::Config conf_;\n-\n- ::vanjee::lidar::SyncQueue<std::shared_ptr<PointCloudMsg>> cloud_queue_;\n- std::shared_ptr<SyncBuffering<PointCloudMsg>> cloud_buffer_;\n-\n- std::thread cloud_handle_thread_;\n-\n- int seq_ = 0;\n-};\n-CYBER_REGISTER_COMPONENT(VanjeelidarComponent)\n-\n-} // namespace lidar\n-} // namespace drivers\n-} // namespace apollo\n"},"changed_files":{"kind":"list like","value":["modules/drivers/lidar/vanjeelidar/BUILD","modules/drivers/lidar/vanjeelidar/README.md","modules/drivers/lidar/vanjeelidar/README_cn.md","modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt","modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag","modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md","modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch","modules/drivers/lidar/vanjeelidar/proto/BUILD","modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto","modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto","modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp","modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h"],"string":"[\n \"modules/drivers/lidar/vanjeelidar/BUILD\",\n \"modules/drivers/lidar/vanjeelidar/README.md\",\n \"modules/drivers/lidar/vanjeelidar/README_cn.md\",\n \"modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt\",\n \"modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag\",\n \"modules/drivers/lidar/vanjeelidar/doc/parameter_intro.md\",\n \"modules/drivers/lidar/vanjeelidar/launch/vanjeelidar.launch\",\n \"modules/drivers/lidar/vanjeelidar/proto/BUILD\",\n \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar.proto\",\n \"modules/drivers/lidar/vanjeelidar/proto/vanjeelidar_config.proto\",\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp\",\n \"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":579,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15408,"string":"15,408"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"road test pass. modify Enbroad gnss driver code and improve compatibility and restore gnss_conf.pb.txt"},"pr_body":{"kind":"string","value":"路测通过，并在z客户apollo上使用。具体详细说明，参考《亿波达组合惯导接入Apollol设计方案》"},"base_sha":{"kind":"string","value":"54c820207c1ed4b0a485e7267aea4fadf19b84d6"},"head_sha":{"kind":"string","value":"6e01ee011b2002d2a4490ee107c439ba9244d679"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h b/modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h\nnew file mode 100755\nindex 00000000000..e481607b0c1\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h\n@@ -0,0 +1,220 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+// This defines enums and structures for parsing ENS binary messages. Please\n+// refer to ENS's\n+// documents for details about these messages.\n+\n+#pragma once\n+\n+#include <cstdint>\n+#include <limits>\n+\n+#include \"modules/drivers/gnss/proto/config.pb.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace gnss {\n+namespace enbroad {\n+\n+enum EFUSHIONSTATUS {\n+ E_FUNSION_NONE = 0,\n+ E_FUNSION_GPS = 1,\n+ E_FUNSION_WHEEL = 2,\n+ E_FUNSION_MOTION = 3,\n+ E_FUNSION_TOTAL = 4,\n+};\n+\n+enum ENAVSTANDARDFLAGSTATUS {\n+ E_NAV_STANDARD_NO_PROCCSS = 0,\n+ E_NAV_STANDARD_PROCCSSING = 1,\n+ E_NAV_STANDARD_PROCCSSED = 2,\n+ E_NAV_STANDARD_TOTAL = 3,\n+};\n+\n+enum ENAVSTATUS {\n+ E_NAV_STATUS_START = 0,\n+ E_NAV_STATUS_ROUTH_ALIGN = 1,\n+ E_NAV_STATUS_SINS_KF_INITIAL = 2,\n+ E_NAV_STATUS_SYSTEM_STANDARD = 3,\n+ E_NAV_STATUS_IN_NAV = 4,\n+ E_NAV_STATUS_STOP = 5,\n+ E_NAV_STATUS_TOTAL = 6,\n+};\n+\n+enum EGPSRTKSTATUS {\n+ E_GPS_RTK_INVALID = 0,\n+ E_GPS_RTK_SPP = 1,\n+ E_GPS_RTK_DGPS = 2,\n+ E_GPS_RTK_FIXED = 4,\n+ E_GPS_RTK_FLOAT = 5,\n+ E_GPS_RTK_TOTAL = 6,\n+};\n+\n+enum EPOLLDATATYPE {\n+ E_POLL_DEV_TEMP = 0,\n+ E_POLL_GNSS_STATE = 20,\n+ E_POLL_IMU_STATE = 40,\n+ E_POLL_CAN_STATE = 60,\n+ E_POLL_INS_STATE = 80,\n+ E_POLL_GNSS2_STATE = 100,\n+ E_POLL_DATA_TOTAL = 120,\n+};\n+\n+enum MessageId : uint16_t {\n+ BIN_NAV_DATA = 0x01AA,\n+ BIN_SINS_DATA = 0x02AA,\n+ BIN_IMU_DATA = 0x03AA,\n+ BIN_GNSS_DATA = 0x04AA,\n+};\n+\n+// Every binary message has 32-bit CRC performed on all data including the\n+// header.\n+\n+#pragma pack(push, 1) // Turn off struct padding.\n+\n+enum class DatumId : uint32_t {\n+ // We only use WGS-84.\n+ WGS84 = 61,\n+};\n+\n+enum SyncHeadByte : uint8_t {\n+ SYNC_HEAD_0 = 0xA5,\n+ SYNC_HEAD_1 = 0x5A,\n+ SYNC_HEAD_2 = 0x5A,\n+};\n+\n+enum SyncTailByte : uint8_t {\n+ SYNC_TAIL_0 = 0xA5,\n+ SYNC_Tail_1 = 0x5A,\n+ SYNC_Tail_2 = 0x5A,\n+};\n+\n+struct FrameHeader {\n+ SyncHeadByte sync_head[3];\n+ uint8_t src_id;\n+ uint8_t dst_id;\n+ MessageId message_id;\n+ uint8_t rsp;\n+ uint16_t SN;\n+ uint16_t reserved;\n+ uint16_t message_length;\n+};\n+static_assert(sizeof(FrameHeader) == 14, \"Incorrect FrameHeader\");\n+struct NAV_DATA_TypeDef {\n+ uint32_t gps_week; // GPS Week number.\n+ uint32_t gps_millisecs; // Milliseconds of week.\n+ int16_t pitch;\n+ int16_t roll;\n+ int16_t head;\n+ int16_t gyroX;\n+ int16_t gyroY;\n+ int16_t gyroZ;\n+ int16_t accX;\n+ int16_t accY;\n+ int16_t accZ;\n+ int16_t magnetX;\n+ int16_t magnetY;\n+ int16_t magentZ;\n+ int64_t lat;\n+ int64_t lon;\n+ int32_t alt;\n+ int16_t ve;\n+ int16_t vn;\n+ int16_t vu;\n+ uint8_t poll_type;\n+ int16_t poll_frame1;\n+ int16_t poll_frame2;\n+ int16_t poll_frame3;\n+};\n+static_assert(sizeof(NAV_DATA_TypeDef) == 65, \"Incorrect NAV_DATA_TypeDef\");\n+\n+struct NAV_SINS_TypeDef {\n+ uint32_t gps_week; // GPS Week number.\n+ uint32_t gpssecond; // Milliseconds of week.\n+ uint8_t navStatus;\n+ uint8_t fusion; // 0:valid;1:gps;2:wheel;3:motion\n+ float pitch;\n+ float roll; // unit degree\n+ float heading; // unit degree\n+ float ve; // East velocity, unit m/s\n+ float vn; // North velocity,unit m/s\n+ float vu; // up velocity,unit m/s\n+ double latitude; // unit degree\n+ double longitude; // unit degree\n+ float altitude; // unit m\n+ float xigema_ve; // East velocity std unit m/s\n+ float xigema_vn; // North velocity std unit m/s\n+ float xigema_vu; // up velocity std unit m/s\n+ float xigema_lat; // North pos std unit m\n+ float xigema_lon; // East pos std unit m\n+ float xigema_alt; // up pos std unit m\n+ float xigema_pitch; // pitch std unit degree\n+ float xigema_roll; // roll std unit degree\n+ float xigema_head; // heading std unit degree\n+};\n+static_assert(sizeof(NAV_SINS_TypeDef) == 90, \"Incorrect NAV_SINS_TypeDef\");\n+\n+struct NAV_IMU_TypeDef {\n+ uint32_t gps_week; // GPS Week number.\n+ uint32_t gpssecond; // Milliseconds of week.\n+ float sensorTemp; // unit degree\n+ uint8_t gyroFlag; // gyro state,0:abnormal,1:normal\n+ double gyroX; // unit degree/s\n+ double gyroY; // unit degree/s\n+ double gyroZ; // unit degree/s\n+ uint8_t accFlag; // acc state,0:abnormal,1:normal\n+ double accX; // unit m/s2\n+ double accY; // unit m/s2\n+ double accZ; // unit m/s2\n+ uint8_t magnetFlag; // magnet state,0:abnormal,1:normal\n+ double magnetX; // unit mGauss\n+ double magnetY; // unit mGauss\n+ double magnetZ; // unit mGauss\n+};\n+static_assert(sizeof(NAV_IMU_TypeDef) == 87, \"Incorrect NAV_IMU_TypeDef\");\n+\n+struct NAV_GNSS_TypeDef {\n+ uint32_t gps_week; // GPS Week number.\n+ uint32_t gpssecond; // Milliseconds of week.\n+ uint8_t satsNum; // num of sats\n+ float age;\n+ uint8_t rtkStatus; // 0:invalid;1:SPP;2:DGPS;4:FIXED;5:FLOAT\n+ double latitude; // unit degree\n+ double longitude; // unit degree\n+ float altitude; // unit m\n+ uint8_t headingStatus; // 0:invalid;4:FIXED;5:FLOAT\n+ float baseline; // unit m\n+ float heading; // unit degree\n+ uint8_t velStatus; // 0:normal\n+ float ve; // East velocity, unit m/s\n+ float vn; // North velocity,unit m/s\n+ float vu; // up velocity,unit m/s\n+ float xigema_ve; // East velocity std unit m/s\n+ float xigema_vn; // North velocity std unit m/s\n+ float xigema_vu; // up velocity std unit m/s\n+ float xigema_lat; // North pos std unit m\n+ float xigema_lon; // East pos std unit m\n+ float xigema_alt; // up pos std unit m\n+};\n+static_assert(sizeof(NAV_GNSS_TypeDef) == 80, \"Incorrect NAV_GNSS_TypeDef\");\n+\n+#pragma pack(pop)\n+\n+} // namespace enbroad\n+} // namespace gnss\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc b/modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc\nnew file mode 100755\nindex 00000000000..80d9e2f4aa9\n--- /dev/null\n+++ b/modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc\n@@ -0,0 +1,526 @@\n+/******************************************************************************\r\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\r\n+ *\r\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\r\n+ * you may not use this file except in compliance with the License.\r\n+ * You may obtain a copy of the License at\r\n+ *\r\n+ * http://www.apache.org/licenses/LICENSE-2.0\r\n+ *\r\n+ * Unless required by applicable law or agreed to in writing, software\r\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\r\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\r\n+ * See the License for the specific language governing permissions and\r\n+ * limitations under the License.\r\n+ *****************************************************************************/\r\n+// An parser for decoding binary messages from a ENS receiver. The following\r\n+// messages must be\r\n+// logged in order for this parser to work properly.\r\n+\r\n+#include <cmath>\r\n+#include <iostream>\r\n+#include <limits>\r\n+#include <memory>\r\n+#include <vector>\r\n+\r\n+#include \"modules/common_msgs/sensor_msgs/gnss.pb.h\"\r\n+#include \"modules/common_msgs/sensor_msgs/gnss_best_pose.pb.h\"\r\n+#include \"modules/common_msgs/sensor_msgs/gnss_raw_observation.pb.h\"\r\n+#include \"modules/common_msgs/sensor_msgs/heading.pb.h\"\r\n+#include \"modules/common_msgs/sensor_msgs/imu.pb.h\"\r\n+#include \"modules/common_msgs/sensor_msgs/ins.pb.h\"\r\n+\r\n+#include \"cyber/cyber.h\"\r\n+#include \"modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h\"\r\n+#include \"modules/drivers/gnss/parser/parser.h\"\r\n+#include \"modules/drivers/gnss/parser/parser_common.h\"\r\n+\r\n+namespace apollo {\r\n+namespace drivers {\r\n+namespace gnss {\r\n+\r\n+// Encoding and decoding protocol scaling factor setting\r\n+#define Coder_Accel_Scale 12.0\r\n+#define Coder_Rate_Scale 300.0\r\n+#define Coder_MAG_Scale 1.0\r\n+#define Coder_IFof_Rate_Scale 600.0\r\n+#define Coder_Angle_Scale 360.0\r\n+#define Coder_Temp_Scale 200.0\r\n+#define Coder_Sensor_Scale 32768.0\r\n+#define Coder_IFof_Sensor_Scale 2147483648.0\r\n+#define Coder_EXP_E 2.718282.0\r\n+#define Coder_Vel_Scale 100.0\r\n+#define Coder_Pos_Scale 10000000000.0\r\n+\r\n+constexpr size_t BUFFER_SIZE = 256;\r\n+\r\n+class EnbroadParse : public Parser {\r\n+ public:\r\n+ EnbroadParse();\r\n+ explicit EnbroadParse(const config::Config& config);\r\n+\r\n+ virtual void GetMessages(MessageInfoVec* messages);\r\n+\r\n+ private:\r\n+ bool PrepareMessage();\r\n+ bool check_sum();\r\n+ bool HandleNavData(const enbroad::NAV_DATA_TypeDef* pNavData);\r\n+ bool HandleSINSData(const enbroad::NAV_SINS_TypeDef* pSinsData);\r\n+ bool HandleIMUData(const enbroad::NAV_IMU_TypeDef* pImuData);\r\n+ bool HandleGNSSData(const enbroad::NAV_GNSS_TypeDef* pGnssData);\r\n+\r\n+ size_t header_length_ = 0;\r\n+ size_t total_length_ = 0;\r\n+ std::vector<uint8_t> buffer_;\r\n+\r\n+ GnssBestPose bestpos_;\r\n+ Imu imu_;\r\n+ Heading heading_;\r\n+ Ins ins_;\r\n+ InsStat ins_stat_;\r\n+};\r\n+\r\n+Parser* Parser::CreateEnbroad(const config::Config& config) {\r\n+ return new EnbroadParse(config);\r\n+}\r\n+\r\n+EnbroadParse::EnbroadParse() { buffer_.reserve(BUFFER_SIZE); }\r\n+\r\n+EnbroadParse::EnbroadParse(const config::Config& config) {\r\n+ buffer_.reserve(BUFFER_SIZE);\r\n+}\r\n+\r\n+void EnbroadParse::GetMessages(MessageInfoVec* messages) {\r\n+ if (data_ == nullptr) {\r\n+ return;\r\n+ }\r\n+ while (data_ < data_end_) {\r\n+ if (buffer_.empty()) { // Looking for SYNC_HEAD_0\r\n+ if (*data_ == enbroad::SYNC_HEAD_0) {\r\n+ buffer_.push_back(*data_);\r\n+ }\r\n+ ++data_;\r\n+ } else if (buffer_.size() == 1) { // Looking for SYNC_HEAD_1\r\n+ if (*data_ == enbroad::SYNC_HEAD_1) {\r\n+ buffer_.push_back(*data_++);\r\n+ } else {\r\n+ buffer_.clear();\r\n+ }\r\n+ } else if (buffer_.size() == 2) { // Looking for SYNC_HEAD_2\r\n+ if (*data_ == enbroad::SYNC_HEAD_2) {\r\n+ buffer_.push_back(*data_++);\r\n+ header_length_ = sizeof(enbroad::FrameHeader);\r\n+ } else {\r\n+ buffer_.clear();\r\n+ }\r\n+ } else if (header_length_ > 0) { // Working on header.\r\n+ if (buffer_.size() < header_length_) {\r\n+ buffer_.push_back(*data_++);\r\n+ } else {\r\n+ total_length_ = header_length_ +\r\n+ reinterpret_cast<enbroad::FrameHeader*>(buffer_.data())\r\n+ ->message_length +\r\n+ 1 + 2;\r\n+ header_length_ = 0;\r\n+ }\r\n+ } else if (total_length_ > 0) {\r\n+ if (buffer_.size() < total_length_) { // Working on body.\r\n+ buffer_.push_back(*data_++);\r\n+ continue;\r\n+ }\r\n+ if (!PrepareMessage()) {\r\n+ buffer_.clear();\r\n+ total_length_ = 0;\r\n+ } else {\r\n+ buffer_.clear();\r\n+ total_length_ = 0;\r\n+ messages->push_back(\r\n+ MessageInfo{MessageType::BEST_GNSS_POS,\r\n+ reinterpret_cast<MessagePtr>(&bestpos_)});\r\n+ messages->push_back(\r\n+ MessageInfo{MessageType::IMU, reinterpret_cast<MessagePtr>(&imu_)});\r\n+ messages->push_back(MessageInfo{\r\n+ MessageType::HEADING, reinterpret_cast<MessagePtr>(&heading_)});\r\n+ messages->push_back(\r\n+ MessageInfo{MessageType::INS, reinterpret_cast<MessagePtr>(&ins_)});\r\n+ messages->push_back(MessageInfo{\r\n+ MessageType::INS_STAT, reinterpret_cast<MessagePtr>(&ins_stat_)});\r\n+ }\r\n+ }\r\n+ }\r\n+}\r\n+double normalizeAngleTo180(double angle) {\r\n+ while (angle > 180.0) {\r\n+ angle -= 360.0;\r\n+ }\r\n+ while (angle <= -180.0) {\r\n+ angle += 360.0;\r\n+ }\r\n+ return angle;\r\n+}\r\n+bool EnbroadParse::check_sum() {\r\n+ char checksum = 0;\r\n+ char compare = 0;\r\n+ size_t len = buffer_.size() - 3;\r\n+ size_t i = 0;\r\n+ while (len--) {\r\n+ checksum += *reinterpret_cast<int8_t*>(buffer_.data() + i);\r\n+ i++;\r\n+ }\r\n+ checksum = ~checksum;\r\n+ checksum = checksum | 0x30;\r\n+ compare = *reinterpret_cast<char*>(buffer_.data() + buffer_.size() - 3);\r\n+ if (checksum == compare) {\r\n+ return true;\r\n+ } else {\r\n+ return false;\r\n+ }\r\n+}\r\n+\r\n+bool EnbroadParse::PrepareMessage() {\r\n+ if (!check_sum()) {\r\n+ AWARN << \"check sum failed. bad frame ratio\";\r\n+ return false;\r\n+ }\r\n+ uint8_t* message = nullptr;\r\n+ enbroad::MessageId message_id;\r\n+ uint16_t message_length;\r\n+ auto header = reinterpret_cast<const enbroad::FrameHeader*>(buffer_.data());\r\n+ message = buffer_.data() + sizeof(enbroad::FrameHeader);\r\n+ message_id = header->message_id;\r\n+ message_length = header->message_length;\r\n+ switch (message_id) {\r\n+ case enbroad::BIN_NAV_DATA:\r\n+ if (message_length != sizeof(enbroad::NAV_DATA_TypeDef)) {\r\n+ AWARN << \"Incorrect message_length\";\r\n+ break;\r\n+ }\r\n+ if (!HandleNavData(\r\n+ reinterpret_cast<enbroad::NAV_DATA_TypeDef*>(message))) {\r\n+ AWARN << \"HandleNavData fail\";\r\n+ return false;\r\n+ }\r\n+ break;\r\n+ case enbroad::BIN_SINS_DATA:\r\n+ if (message_length != sizeof(enbroad::NAV_SINS_TypeDef)) {\r\n+ AWARN << \"Incorrect message_length\";\r\n+ break;\r\n+ }\r\n+ if (!HandleSINSData(\r\n+ reinterpret_cast<enbroad::NAV_SINS_TypeDef*>(message))) {\r\n+ AWARN << \"HandleSINSData fail\";\r\n+ return false;\r\n+ }\r\n+ break;\r\n+ case enbroad::BIN_IMU_DATA:\r\n+ if (message_length != sizeof(enbroad::NAV_IMU_TypeDef)) {\r\n+ AWARN << \"Incorrect message_length\";\r\n+ break;\r\n+ }\r\n+ if (!HandleIMUData(\r\n+ reinterpret_cast<enbroad::NAV_IMU_TypeDef*>(message))) {\r\n+ AWARN << \"HandleIMUData fail\";\r\n+ return false;\r\n+ }\r\n+ break;\r\n+ case enbroad::BIN_GNSS_DATA:\r\n+ if (message_length != sizeof(enbroad::NAV_GNSS_TypeDef)) {\r\n+ AWARN << \"Incorrect message_length\";\r\n+ break;\r\n+ }\r\n+ if (!HandleGNSSData(\r\n+ reinterpret_cast<enbroad::NAV_GNSS_TypeDef*>(message))) {\r\n+ return false;\r\n+ }\r\n+ break;\r\n+ default:\r\n+ return false;\r\n+ }\r\n+ return true;\r\n+}\r\n+\r\n+bool EnbroadParse::HandleSINSData(const enbroad::NAV_SINS_TypeDef* pSinsData) {\r\n+ double seconds =\r\n+ pSinsData->gps_week * SECONDS_PER_WEEK + pSinsData->gpssecond * 1e-3;\r\n+ ins_.set_measurement_time(seconds);\r\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\r\n+ ins_.mutable_euler_angles()->set_x(pSinsData->roll * DEG_TO_RAD);\r\n+ ins_.mutable_euler_angles()->set_y(pSinsData->pitch * DEG_TO_RAD);\r\n+ // enbroad set northwest as right direction, Here northeast as right direction\r\n+ ins_.mutable_euler_angles()->set_z(\r\n+ azimuth_deg_to_yaw_rad(normalizeAngleTo180(-pSinsData->heading)));\r\n+ ins_.mutable_position()->set_lon(pSinsData->longitude);\r\n+ ins_.mutable_position()->set_lat(pSinsData->latitude);\r\n+ ins_.mutable_position()->set_height(pSinsData->altitude);\r\n+ ins_.mutable_linear_velocity()->set_x(pSinsData->ve);\r\n+ ins_.mutable_linear_velocity()->set_y(pSinsData->vn);\r\n+ ins_.mutable_linear_velocity()->set_z(pSinsData->vu);\r\n+ if (enbroad::E_NAV_STATUS_IN_NAV == pSinsData->navStatus) {\r\n+ ins_.set_type(Ins::GOOD);\r\n+ } else if (enbroad::E_NAV_STATUS_SYSTEM_STANDARD == pSinsData->navStatus) {\r\n+ ins_.set_type(Ins::CONVERGING);\r\n+ } else {\r\n+ ins_.set_type(Ins::INVALID);\r\n+ }\r\n+\r\n+ bestpos_.set_measurement_time(seconds);\r\n+ bestpos_.set_longitude(pSinsData->longitude);\r\n+ bestpos_.set_latitude(pSinsData->latitude);\r\n+ bestpos_.set_height_msl(pSinsData->altitude);\r\n+ // bestpos_.set_undulation(0.0);//undulation = height_wgs84 - height_msl\r\n+ // datum id number.WGS84\r\n+ bestpos_.set_datum_id(\r\n+ static_cast<apollo::drivers::gnss::DatumId>(enbroad::DatumId::WGS84));\r\n+ // sins standard deviation\r\n+ bestpos_.set_latitude_std_dev(pSinsData->xigema_lat);\r\n+ bestpos_.set_longitude_std_dev(pSinsData->xigema_lon);\r\n+ bestpos_.set_height_std_dev(pSinsData->xigema_alt);\r\n+\r\n+ ins_stat_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\r\n+ // ins pos type define as follows\r\n+ // fusion GPS as INS_RTKFIXED,\r\n+ // fusion wheel as INS_RTKFLOAT,fusion motion as SINGLE,others as NONE\r\n+ if (enbroad::E_FUNSION_GPS == pSinsData->fusion) {\r\n+ ins_stat_.set_pos_type(SolutionType::INS_RTKFIXED);\r\n+ bestpos_.set_sol_type(SolutionType::INS_RTKFIXED);\r\n+ } else {\r\n+ ins_stat_.set_pos_type(SolutionType::NONE);\r\n+ bestpos_.set_sol_type(SolutionType::NONE);\r\n+ }\r\n+\r\n+ if (enbroad::E_NAV_STATUS_IN_NAV == pSinsData->navStatus) {\r\n+ ins_stat_.set_ins_status(SolutionStatus::SOL_COMPUTED);\r\n+ bestpos_.set_sol_status(SolutionStatus::SOL_COMPUTED);\r\n+ } else if (enbroad::E_NAV_STATUS_SYSTEM_STANDARD == pSinsData->navStatus) {\r\n+ ins_stat_.set_ins_status(SolutionStatus::COLD_START);\r\n+ bestpos_.set_sol_status(SolutionStatus::COLD_START);\r\n+ } else {\r\n+ ins_stat_.set_ins_status(SolutionStatus::INSUFFICIENT_OBS);\r\n+ bestpos_.set_sol_status(SolutionStatus::INSUFFICIENT_OBS);\r\n+ }\r\n+ return true;\r\n+}\r\n+bool EnbroadParse::HandleIMUData(const enbroad::NAV_IMU_TypeDef* pImuData) {\r\n+ float imu_measurement_span = 1.0f / 100.0f;\r\n+ double seconds =\r\n+ pImuData->gps_week * SECONDS_PER_WEEK + pImuData->gpssecond * 1e-3;\r\n+\r\n+ imu_.set_measurement_time(seconds);\r\n+ imu_.set_measurement_span(imu_measurement_span);\r\n+ imu_.mutable_linear_acceleration()->set_x(pImuData->accX);\r\n+ imu_.mutable_linear_acceleration()->set_y(pImuData->accY);\r\n+ imu_.mutable_linear_acceleration()->set_z(pImuData->accZ);\r\n+ imu_.mutable_angular_velocity()->set_x(pImuData->gyroX * DEG_TO_RAD);\r\n+ imu_.mutable_angular_velocity()->set_y(pImuData->gyroY * DEG_TO_RAD);\r\n+ imu_.mutable_angular_velocity()->set_z(pImuData->gyroZ * DEG_TO_RAD);\r\n+ return true;\r\n+}\r\n+bool EnbroadParse::HandleGNSSData(const enbroad::NAV_GNSS_TypeDef* pGnssData) {\r\n+ double seconds =\r\n+ pGnssData->gps_week * SECONDS_PER_WEEK + pGnssData->gpssecond * 1e-3;\r\n+ // bestpos_.set_base_station_id(\"0\"); // base station id\r\n+ bestpos_.set_solution_age(pGnssData->age); // solution age (sec)\r\n+ bestpos_.set_num_sats_tracked(pGnssData->satsNum);\r\n+ bestpos_.set_num_sats_in_solution(pGnssData->satsNum);\r\n+ bestpos_.set_num_sats_in_solution(pGnssData->satsNum);\r\n+ bestpos_.set_num_sats_multi(pGnssData->satsNum);\r\n+ // bestpos_.set_galileo_beidou_used_mask(0);\r\n+ // bestpos_.set_gps_glonass_used_mask(0);\r\n+\r\n+ heading_.set_measurement_time(seconds);\r\n+ heading_.set_heading(pGnssData->heading);\r\n+ heading_.set_baseline_length(pGnssData->baseline);\r\n+ heading_.set_reserved(0);\r\n+ // heading_.set_heading_std_dev(0.0);\r\n+ // heading_.set_pitch_std_dev(0.0);\r\n+ // heading_.set_station_id(\"0\");\r\n+ heading_.set_satellite_tracked_number(pGnssData->satsNum);\r\n+ heading_.set_satellite_soulution_number(pGnssData->satsNum);\r\n+ heading_.set_satellite_number_obs(pGnssData->satsNum);\r\n+ heading_.set_satellite_number_multi(pGnssData->satsNum);\r\n+ // heading_.set_solution_source(0);\r\n+ // heading_.set_extended_solution_status(0);\r\n+ // heading_.set_galileo_beidou_sig_mask(0);\r\n+ // heading_.set_gps_glonass_sig_mask(0);\r\n+ if (enbroad::E_GPS_RTK_FIXED == pGnssData->headingStatus) {\r\n+ heading_.set_position_type(SolutionType::INS_RTKFIXED);\r\n+ } else if (enbroad::E_GPS_RTK_FLOAT == pGnssData->headingStatus) {\r\n+ heading_.set_position_type(SolutionType::INS_RTKFLOAT);\r\n+ } else if (enbroad::E_GPS_RTK_SPP == pGnssData->headingStatus ||\r\n+ enbroad::E_GPS_RTK_DGPS == pGnssData->headingStatus) {\r\n+ heading_.set_position_type(SolutionType::SINGLE);\r\n+ } else {\r\n+ heading_.set_position_type(SolutionType::NONE);\r\n+ }\r\n+ return true;\r\n+}\r\n+bool EnbroadParse::HandleNavData(const enbroad::NAV_DATA_TypeDef* pNavData) {\r\n+ static uint16_t rtkStatus;\r\n+ static uint16_t Nav_Standard_flag;\r\n+ static uint16_t Sate_Num;\r\n+ static float baseline;\r\n+ float imu_measurement_span = 1.0f / 100.0f;\r\n+ double seconds =\r\n+ pNavData->gps_week * SECONDS_PER_WEEK + pNavData->gps_millisecs * 1e-3;\r\n+ ins_.set_measurement_time(seconds);\r\n+ ins_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\r\n+ ins_.mutable_euler_angles()->set_x(static_cast<double>(\r\n+ pNavData->roll * Coder_Angle_Scale / Coder_Sensor_Scale * DEG_TO_RAD));\r\n+ ins_.mutable_euler_angles()->set_y(static_cast<double>(\r\n+ pNavData->pitch * Coder_Angle_Scale / Coder_Sensor_Scale * DEG_TO_RAD));\r\n+ // enbroad set northwest as right direction, Here northeast as right direction\r\n+ ins_.mutable_euler_angles()->set_z(azimuth_deg_to_yaw_rad(normalizeAngleTo180(\r\n+ -pNavData->head * Coder_Angle_Scale / Coder_Sensor_Scale)));\r\n+ ins_.mutable_position()->set_lon(\r\n+ static_cast<double>(pNavData->lon / Coder_Pos_Scale));\r\n+ ins_.mutable_position()->set_lat(\r\n+ static_cast<double>(pNavData->lat / Coder_Pos_Scale));\r\n+ ins_.mutable_position()->set_height(\r\n+ static_cast<double>(pNavData->alt / 1000.0));\r\n+ ins_.mutable_linear_acceleration()->set_x(static_cast<double>(\r\n+ pNavData->accX * Coder_Accel_Scale / Coder_Sensor_Scale));\r\n+ ins_.mutable_linear_acceleration()->set_y(static_cast<double>(\r\n+ pNavData->accY * Coder_Accel_Scale / Coder_Sensor_Scale));\r\n+ ins_.mutable_linear_acceleration()->set_z(static_cast<double>(\r\n+ pNavData->accZ * Coder_Accel_Scale / Coder_Sensor_Scale));\r\n+ ins_.mutable_angular_velocity()->set_x(\r\n+ static_cast<double>(pNavData->gyroX * Coder_Rate_Scale /\r\n+ Coder_Sensor_Scale) *\r\n+ DEG_TO_RAD);\r\n+ ins_.mutable_angular_velocity()->set_y(\r\n+ static_cast<double>(pNavData->gyroY * Coder_Rate_Scale /\r\n+ Coder_Sensor_Scale) *\r\n+ DEG_TO_RAD);\r\n+ ins_.mutable_angular_velocity()->set_z(\r\n+ static_cast<double>(pNavData->gyroZ * Coder_Rate_Scale /\r\n+ Coder_Sensor_Scale) *\r\n+ DEG_TO_RAD);\r\n+ ins_.mutable_linear_velocity()->set_x(\r\n+ static_cast<double>(pNavData->ve * Coder_Vel_Scale / Coder_Sensor_Scale));\r\n+ ins_.mutable_linear_velocity()->set_y(\r\n+ static_cast<double>(pNavData->vn * Coder_Vel_Scale / Coder_Sensor_Scale));\r\n+ ins_.mutable_linear_velocity()->set_z(\r\n+ static_cast<double>(pNavData->vu * Coder_Vel_Scale / Coder_Sensor_Scale));\r\n+ ins_.set_type(Ins::GOOD);\r\n+ switch (pNavData->poll_type) {\r\n+ case enbroad::E_POLL_DEV_TEMP:\r\n+ break;\r\n+ case enbroad::E_POLL_GNSS_STATE:\r\n+ rtkStatus = pNavData->poll_frame1;\r\n+ break;\r\n+ case enbroad::E_POLL_CAN_STATE:\r\n+ break;\r\n+ case enbroad::E_POLL_INS_STATE:\r\n+ Nav_Standard_flag = pNavData->poll_frame1;\r\n+ break;\r\n+ case enbroad::E_POLL_GNSS2_STATE:\r\n+ Sate_Num = pNavData->poll_frame1;\r\n+ baseline = pNavData->poll_frame2 / 1000.0;\r\n+ break;\r\n+ default:\r\n+ break;\r\n+ }\r\n+ imu_.set_measurement_time(seconds);\r\n+ imu_.set_measurement_span(imu_measurement_span);\r\n+ imu_.mutable_linear_acceleration()->set_x(static_cast<double>(\r\n+ pNavData->accX * Coder_Accel_Scale / Coder_Sensor_Scale));\r\n+ imu_.mutable_linear_acceleration()->set_y(static_cast<double>(\r\n+ pNavData->accY * Coder_Accel_Scale / Coder_Sensor_Scale));\r\n+ imu_.mutable_linear_acceleration()->set_z(static_cast<double>(\r\n+ pNavData->accZ * Coder_Accel_Scale / Coder_Sensor_Scale));\r\n+ imu_.mutable_angular_velocity()->set_x(\r\n+ static_cast<double>(pNavData->gyroX * Coder_Rate_Scale /\r\n+ Coder_Sensor_Scale) *\r\n+ DEG_TO_RAD);\r\n+ imu_.mutable_angular_velocity()->set_y(\r\n+ static_cast<double>(pNavData->gyroY * Coder_Rate_Scale /\r\n+ Coder_Sensor_Scale) *\r\n+ DEG_TO_RAD);\r\n+ imu_.mutable_angular_velocity()->set_z(\r\n+ static_cast<double>(pNavData->gyroZ * Coder_Rate_Scale /\r\n+ Coder_Sensor_Scale) *\r\n+ DEG_TO_RAD);\r\n+ bestpos_.set_measurement_time(seconds);\r\n+ bestpos_.set_longitude(static_cast<double>(pNavData->lon / Coder_Pos_Scale));\r\n+ bestpos_.set_latitude(static_cast<double>(pNavData->lat / Coder_Pos_Scale));\r\n+ bestpos_.set_height_msl(static_cast<double>(pNavData->alt / 1000.0));\r\n+ bestpos_.set_undulation(0.0); // undulation = height_wgs84 - height_msl\r\n+ bestpos_.set_datum_id(\r\n+ static_cast<apollo::drivers::gnss::DatumId>(enbroad::DatumId::WGS84));\r\n+ bestpos_.set_latitude_std_dev(0.0);\r\n+ bestpos_.set_longitude_std_dev(0.0);\r\n+ bestpos_.set_height_std_dev(0.0);\r\n+ bestpos_.set_base_station_id(\"0\");\r\n+ bestpos_.set_solution_age(0.0); // solution age (sec)\r\n+ bestpos_.set_num_sats_tracked(Sate_Num);\r\n+ bestpos_.set_num_sats_in_solution(Sate_Num);\r\n+ bestpos_.set_num_sats_in_solution(Sate_Num);\r\n+ bestpos_.set_num_sats_multi(Sate_Num);\r\n+ bestpos_.set_extended_solution_status(SolutionType::INS_RTKFIXED);\r\n+ bestpos_.set_galileo_beidou_used_mask(0);\r\n+ bestpos_.set_gps_glonass_used_mask(0);\r\n+ heading_.set_measurement_time(seconds);\r\n+ heading_.set_pitch(static_cast<double>(pNavData->pitch * Coder_Angle_Scale /\r\n+ Coder_Sensor_Scale));\r\n+ // enbroad set northwest as right direction,\r\n+ // Here northeast as right direction\r\n+ heading_.set_heading(normalizeAngleTo180(-pNavData->head * Coder_Angle_Scale /\r\n+ Coder_Sensor_Scale));\r\n+ heading_.set_baseline_length(baseline);\r\n+ heading_.set_reserved(0);\r\n+ heading_.set_heading_std_dev(0.0);\r\n+ heading_.set_pitch_std_dev(0.0);\r\n+ heading_.set_station_id(\"0\");\r\n+ heading_.set_satellite_tracked_number(Sate_Num);\r\n+ heading_.set_satellite_soulution_number(Sate_Num);\r\n+ heading_.set_satellite_number_obs(Sate_Num);\r\n+ heading_.set_satellite_number_multi(Sate_Num);\r\n+ heading_.set_solution_source(0);\r\n+ heading_.set_extended_solution_status(0);\r\n+ heading_.set_galileo_beidou_sig_mask(0);\r\n+ heading_.set_gps_glonass_sig_mask(0);\r\n+ ins_stat_.mutable_header()->set_timestamp_sec(cyber::Time::Now().ToSecond());\r\n+ // According to the RTK state:\r\n+ // fixed as \"INS-RTKFIXED\",float as \"INS-RTKFLOAT\",\r\n+ // single or RTD as \"SINGLE\",no solution as \"NONE\"\r\n+ if (enbroad::E_GPS_RTK_FIXED == rtkStatus) {\r\n+ ins_stat_.set_pos_type(SolutionType::INS_RTKFIXED);\r\n+ bestpos_.set_sol_type(SolutionType::INS_RTKFIXED);\r\n+ heading_.set_position_type(SolutionType::INS_RTKFIXED);\r\n+ } else if (enbroad::E_GPS_RTK_FLOAT == rtkStatus) {\r\n+ ins_stat_.set_pos_type(SolutionType::INS_RTKFLOAT);\r\n+ bestpos_.set_sol_type(SolutionType::INS_RTKFLOAT);\r\n+ heading_.set_position_type(SolutionType::INS_RTKFLOAT);\r\n+ } else if (enbroad::E_GPS_RTK_SPP == rtkStatus ||\r\n+ enbroad::E_GPS_RTK_DGPS == rtkStatus) {\r\n+ ins_stat_.set_pos_type(SolutionType::SINGLE);\r\n+ bestpos_.set_sol_type(SolutionType::SINGLE);\r\n+ heading_.set_position_type(SolutionType::SINGLE);\r\n+ } else {\r\n+ ins_stat_.set_pos_type(SolutionType::NONE);\r\n+ bestpos_.set_sol_type(SolutionType::NONE);\r\n+ heading_.set_position_type(SolutionType::NONE);\r\n+ }\r\n+ // According to sins calibration status:\r\n+ // no calibration as \"SOL_COMPUTED\",\r\n+ // during calibration as \"SOL_COMPUTED\",\r\n+ // completing calibration as \"SOL_COMPUTED\"\r\n+ if (enbroad::E_NAV_STANDARD_PROCCSSED == Nav_Standard_flag) {\r\n+ ins_stat_.set_ins_status(SolutionStatus::SOL_COMPUTED);\r\n+ bestpos_.set_sol_status(SolutionStatus::SOL_COMPUTED);\r\n+ heading_.set_solution_status(SolutionStatus::SOL_COMPUTED);\r\n+ } else if (enbroad::E_NAV_STANDARD_PROCCSSING == Nav_Standard_flag) {\r\n+ ins_stat_.set_ins_status(SolutionStatus::COLD_START);\r\n+ bestpos_.set_sol_status(SolutionStatus::COLD_START);\r\n+ heading_.set_solution_status(SolutionStatus::COLD_START);\r\n+ } else {\r\n+ ins_stat_.set_ins_status(SolutionStatus::INSUFFICIENT_OBS);\r\n+ bestpos_.set_sol_status(SolutionStatus::INSUFFICIENT_OBS);\r\n+ heading_.set_solution_status(SolutionStatus::INSUFFICIENT_OBS);\r\n+ }\r\n+ return true;\r\n+}\r\n+\r\n+} // namespace gnss\r\n+} // namespace drivers\r\n+} // namespace apollo\r\ndiff --git a/modules/drivers/gnss/parser/parser.h b/modules/drivers/gnss/parser/parser.h\nindex 6041c74fa54..8a1215ddf6a 100644\n--- a/modules/drivers/gnss/parser/parser.h\n+++ b/modules/drivers/gnss/parser/parser.h\n@@ -82,6 +82,7 @@ class Parser {\n static Parser *CreateHuaCeText(const config::Config &config);\n static Parser *CreateAsensing(const config::Config &config);\n static Parser *CreateBroadGnssText(const config::Config &config);\n+ static Parser *CreateEnbroad(const config::Config &config);\n \n static Parser *CreateParser(const config::Config &config) {\n switch (config.data().format()) {\n@@ -93,6 +94,8 @@ class Parser {\n return Parser::CreateAsensing(config);\n case config::Stream::BROADGNSS_TEXT:\n return Parser::CreateBroadGnssText(config);\n+ case config::Stream::ENBROAD_BINARY:\n+ return Parser::CreateEnbroad(config);\n default:\n return nullptr;\n }\ndiff --git a/modules/drivers/gnss/proto/config.proto b/modules/drivers/gnss/proto/config.proto\nindex fbc6de8aad8..dd2299d7f77 100644\n--- a/modules/drivers/gnss/proto/config.proto\n+++ b/modules/drivers/gnss/proto/config.proto\n@@ -25,6 +25,10 @@ message Stream {\n \n BROADGNSS_TEXT = 30;\n BROADGNSS_BINARY = 31;\n+\n+ ENBROAD_TEXT = 40;\n+ ENBROAD_BINARY = 41;\n+\n }\n optional Format format = 1;\n \n"},"changed_files":{"kind":"list like","value":["modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h","modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc","modules/drivers/gnss/parser/parser.h","modules/drivers/gnss/proto/config.proto"],"string":"[\n \"modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h\",\n \"modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc\",\n \"modules/drivers/gnss/parser/parser.h\",\n \"modules/drivers/gnss/proto/config.proto\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":580,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15317,"string":"15,317"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":"reeds_shepp_path cost computation bug\n\ntag v9.0.0，modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc,\r\nline 124&127: cost += cost + traj_gear_switch_penalty_;\r\ncost added two times."},"pr_title":{"kind":"string","value":"fix(planning): del redundant add for cost (#15316)"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"43922a04d0ecbdb2da4bf2d77b445fd11017e563"},"head_sha":{"kind":"string","value":"88914fd001982c9b94def70d58858fd5752f9d00"},"gold_diff":{"kind":"string","value":"diff --git a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc b/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\nindex a164fbf4765..f18f8809aa9 100644\n--- a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\n+++ b/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\n@@ -121,10 +121,10 @@ bool ReedShepp::ShortestRSP(const std::shared_ptr<Node3d> start_node,\n }\n \n if (j > 0 && path.segs_lengths[j] * path.segs_lengths[j - 1] < 0) {\n- cost += cost + traj_gear_switch_penalty_;\n+ cost += traj_gear_switch_penalty_;\n }\n if (j == 0 && start_dire * path.segs_lengths[j] < 0) {\n- cost += cost + traj_gear_switch_penalty_;\n+ cost += traj_gear_switch_penalty_;\n }\n }\n if (cost < min_cost) {\n"},"changed_files":{"kind":"list like","value":["modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc"],"string":"[\n \"modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":581,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15316,"string":"15,316"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix(planning): del redundant add for cost"},"pr_body":{"kind":"string","value":"del redundant add for cost in \"ShortestRSP\""},"base_sha":{"kind":"string","value":"43922a04d0ecbdb2da4bf2d77b445fd11017e563"},"head_sha":{"kind":"string","value":"28e377a971ead8931436e15df70d7549f75bc441"},"gold_diff":{"kind":"string","value":"diff --git a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc b/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\nindex a164fbf4765..f18f8809aa9 100644\n--- a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\n+++ b/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\n@@ -121,10 +121,10 @@ bool ReedShepp::ShortestRSP(const std::shared_ptr<Node3d> start_node,\n }\n \n if (j > 0 && path.segs_lengths[j] * path.segs_lengths[j - 1] < 0) {\n- cost += cost + traj_gear_switch_penalty_;\n+ cost += traj_gear_switch_penalty_;\n }\n if (j == 0 && start_dire * path.segs_lengths[j] < 0) {\n- cost += cost + traj_gear_switch_penalty_;\n+ cost += traj_gear_switch_penalty_;\n }\n }\n if (cost < min_cost) {\n"},"changed_files":{"kind":"list like","value":["modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc"],"string":"[\n \"modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":582,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15234,"string":"15,234"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":"Launching Dreamview+\n\nI am interested in trying out Dreamview 2.0 (Dreamview+), and noticed documentation suggests starting it using `aem`\r\n\r\n```\r\naem bootstrap start --plus\r\n```\r\n\r\nIs there a way to launch Dreamview 2.0 without `aem`? For example, in older versions we do\r\n```\r\nbash docker/scripts/dev_start.sh\r\nbash docker/scripts/dev_into.sh\r\n# Now we are in the container\r\nbash scripts/bootstrap.sh\r\n```\r\n\r\nCan we do something similar to launch the newest version of Dreamview?\r\n\r\nI tried `bash scripts/bootstrap.sh --plus` according to the [documentation](https://github.com/ApolloAuto/apollo/tree/master/modules/dreamview_plus) in `dreamview_plus` but it looks like the original Dreamview.\r\n\r\nLooks like the correct command should be `bash scripts/bootstrap.sh start_plus`"},"pr_title":{"kind":"string","value":"fix: dreamview_plus documentation"},"pr_body":{"kind":"string","value":"Resolves #15233"},"base_sha":{"kind":"string","value":"803170c79e5ef12bafd0adb1b39273b576e4589a"},"head_sha":{"kind":"string","value":"a8167aa5f9af13908b4f501b68b9a5f8b12af304"},"gold_diff":{"kind":"string","value":"diff --git a/modules/dreamview_plus/README.md b/modules/dreamview_plus/README.md\nindex 84cb5e85f21..e8416fb7aa5 100644\n--- a/modules/dreamview_plus/README.md\n+++ b/modules/dreamview_plus/README.md\n@@ -53,7 +53,7 @@ modules/dreamview_plus\n 1. Build apollo in source env or install `dreamview-plus` and `monitor` package in package management env\n 2. in source env:\n ```shell\n-bash scripts/bootstrap.sh --plus\n+bash scripts/bootstrap.sh start_plus\n ```\n \n in package management env:\n"},"changed_files":{"kind":"list like","value":["modules/dreamview_plus/README.md"],"string":"[\n \"modules/dreamview_plus/README.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":583,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15180,"string":"15,180"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: fix a typo in apollo_package.bzl"},"pr_body":{"kind":"string","value":"fix a typo in apollo_package.bzl"},"base_sha":{"kind":"string","value":"5d989367890518e4b8ae44ef22b6e283a79ce0d5"},"head_sha":{"kind":"string","value":"4472f228f6df90005d4fffdee6729ecf652d8b82"},"gold_diff":{"kind":"string","value":"diff --git a/tools/apollo_package.bzl b/tools/apollo_package.bzl\nindex 7e0deecee61..6847c641e7b 100644\n--- a/tools/apollo_package.bzl\n+++ b/tools/apollo_package.bzl\n@@ -334,7 +334,7 @@ def apollo_component(**kwargs):\n if not kwargs[\"name\"].startswith(\"lib\") or not kwargs[\"name\"].endswith(\".so\"):\n fail(\"name must start with 'lib' and end with '.so'\")\n if \"alwayslink\" in kwargs:\n- fail(\"'apollo_component' macro has not 'alwayslink' attrbute\")\n+ fail(\"'apollo_component' macro has not 'alwayslink' attribute\")\n \n internal_lib_name = \"{}_lib\".format(kwargs[\"name\"][3: len(kwargs[\"name\"])-3])\n \n"},"changed_files":{"kind":"list like","value":["tools/apollo_package.bzl"],"string":"[\n \"tools/apollo_package.bzl\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":584,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15153,"string":"15,153"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Fix broken link to Jointly Prediction Planning Evaluator from Prediction README.md"},"pr_body":{"kind":"string","value":"I tried to figure out which document was the correct link. Can someone please verify?"},"base_sha":{"kind":"string","value":"a3c851fc5844e0684b9c5108231fcc2c15cebb8e"},"head_sha":{"kind":"string","value":"e49bb994c93ee1de011cb3fbff1dcb701094d830"},"gold_diff":{"kind":"string","value":"diff --git a/modules/prediction/README.md b/modules/prediction/README.md\nindex cd72085dbce..7df2dc7ae6a 100644\n--- a/modules/prediction/README.md\n+++ b/modules/prediction/README.md\n@@ -70,7 +70,7 @@ The list of available evaluators include:\n \n * **Vectornet LSTM evaluator**: this evaluator is used in place of Semantic LSTM evaluator to generate short term trajectory points for \"Caution\" tagged obstacles. More detail is in [vectornet lstm evaluator readme](https://github.com/ApolloAuto/apollo/docs/technical_documents/vectornet_lstm_evaluator.md).\n \n-* **Jointly prediction planning evaluator**: this evaluator is used in the new Interactive Obstacle(vehicle-type) model to generate short term trajectory points which are calculated using Vectornet and LSTM. By considering ADC's trajectory info, the obstacle trajectory prediction can be more accurate under interaction scenario. Please refer [jointly prediction planning evaluator](https://github.com/ApolloAuto/apollo/blob/master/docs/technical_documents/jointly_prediction_planning_evaluator.md).\n+* **Jointly prediction planning evaluator**: this evaluator is used in the new Interactive Obstacle(vehicle-type) model to generate short term trajectory points which are calculated using Vectornet and LSTM. By considering ADC's trajectory info, the obstacle trajectory prediction can be more accurate under interaction scenario. Please refer [jointly prediction planning evaluator](https://github.com/ApolloAuto/apollo/blob/master/docs/07_Prediction/jointly_prediction_planning_evaluator.md).\n \n ### Predictor\n \n"},"changed_files":{"kind":"list like","value":["modules/prediction/README.md"],"string":"[\n \"modules/prediction/README.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":585,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15113,"string":"15,113"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix(docker): limit amodel version, and check if pip3 exist"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"5a7c5d05f911d11bf4c2ad389571814027ae50a7"},"head_sha":{"kind":"string","value":"8a27f0dbbbdf701d2d8166a5e3a4c20b40041587"},"gold_diff":{"kind":"string","value":"diff --git a/docker/scripts/dev_start.sh b/docker/scripts/dev_start.sh\nindex b02c75482dd..a9ca8a3268d 100755\n--- a/docker/scripts/dev_start.sh\n+++ b/docker/scripts/dev_start.sh\n@@ -53,7 +53,7 @@ MAP_VOLUMES_CONF=\n # Install python tools\n source docker/setup_host/host_env.sh\n DEFAULT_PYTHON_TOOLS=(\n- amodel\n+ amodel~=0.1.0\n )\n \n # Model\n@@ -353,7 +353,8 @@ function install_python_tools() {\n \n for tool in ${DEFAULT_PYTHON_TOOLS[@]}; do\n info \"Install python tool ${tool} ...\"\n- pip3 install --user \"${tool}\"\n+ # Use /usr/bin/pip3 because native python is used in the container.\n+ /usr/bin/pip3 install --user \"${tool}\"\n if [ $? -ne 0 ]; then\n error \"Failed to install ${tool}\"\n exit 1\n@@ -408,11 +409,17 @@ function main() {\n \n mount_map_volumes\n \n- info \"Installing python tools ...\"\n- install_python_tools\n+ if ! [ -x \"$(command -v pip3)\" ]; then\n+ warning \"Skip install perception models!!! \" \\\n+ \"Need pip3 to install Apollo model management tool!\" \\\n+ \"Try \\\"sudo apt install python3-pip\\\" \"\n+ else\n+ info \"Installing python tools ...\"\n+ install_python_tools\n \n- info \"Installing perception models ...\"\n- install_perception_models\n+ info \"Installing perception models ...\"\n+ install_perception_models\n+ fi\n \n info \"Starting Docker container \\\"${DEV_CONTAINER}\\\" ...\"\n \n"},"changed_files":{"kind":"list like","value":["docker/scripts/dev_start.sh"],"string":"[\n \"docker/scripts/dev_start.sh\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":586,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15103,"string":"15,103"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix(cyber):cyber_monitor no message bug fix"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"0b4cbec317bb66636bd1615288ee890e423da4b1"},"head_sha":{"kind":"string","value":"083df0e75d4ccff98d231bef551bfaa649f867b4"},"gold_diff":{"kind":"string","value":"diff --git a/cyber/message/protobuf_factory.cc b/cyber/message/protobuf_factory.cc\nindex e6a67745880..dcacec29ca0 100644\n--- a/cyber/message/protobuf_factory.cc\n+++ b/cyber/message/protobuf_factory.cc\n@@ -47,15 +47,28 @@ bool ProtobufFactory::RegisterMessage(const Descriptor& desc) {\n }\n \n bool ProtobufFactory::RegisterMessage(const ProtoDesc& proto_desc) {\n+ FileDescriptorProto file_desc_proto;\n+ file_desc_proto.ParseFromString(proto_desc.desc());\n+\n+ // If the message in this proto file has been registered, return true.\n+ if (FindMessageTypeByFile(file_desc_proto)) {\n+ return true;\n+ }\n for (int i = 0; i < proto_desc.dependencies_size(); ++i) {\n auto dep = proto_desc.dependencies(i);\n if (!RegisterMessage(dep)) {\n return false;\n }\n+ FileDescriptorProto dep_file_desc_proto;\n+ dep_file_desc_proto.ParseFromString(dep.desc());\n+ const google::protobuf::Descriptor* descriptor =\n+ FindMessageTypeByFile(dep_file_desc_proto);\n+\n+ // If descriptor is found, replace the dependency with registered path.\n+ if (descriptor != nullptr) {\n+ file_desc_proto.set_dependency(i, descriptor->file()->name());\n+ }\n }\n-\n- FileDescriptorProto file_desc_proto;\n- file_desc_proto.ParseFromString(proto_desc.desc());\n return RegisterMessage(file_desc_proto);\n }\n \n@@ -207,6 +220,18 @@ const google::protobuf::ServiceDescriptor* ProtobufFactory::FindServiceByName(\n return pool_->FindServiceByName(name);\n }\n \n+const Descriptor* ProtobufFactory::FindMessageTypeByFile(\n+ const FileDescriptorProto& file_desc_proto) {\n+ const std::string& scope = file_desc_proto.package();\n+ std::string type;\n+ if (file_desc_proto.message_type_size()) {\n+ type = scope + \".\" + file_desc_proto.message_type(0).name();\n+ }\n+ const google::protobuf::Descriptor* descriptor =\n+ pool_->FindMessageTypeByName(type);\n+ return descriptor;\n+}\n+\n void ErrorCollector::AddError(const std::string& filename,\n const std::string& element_name,\n const google::protobuf::Message* descriptor,\ndiff --git a/cyber/message/protobuf_factory.h b/cyber/message/protobuf_factory.h\nindex a3418ca597e..d9f1b7a59df 100644\n--- a/cyber/message/protobuf_factory.h\n+++ b/cyber/message/protobuf_factory.h\n@@ -87,6 +87,10 @@ class ProtobufFactory {\n google::protobuf::Message* GenerateMessageByType(\n const std::string& type) const;\n \n+ // Find a descriptor by FileDescriptorProto. Returns nullptr if not found.\n+ const Descriptor* FindMessageTypeByFile(\n+ const FileDescriptorProto& file_desc_proto);\n+\n // Find a top-level message type by name. Returns nullptr if not found.\n const Descriptor* FindMessageTypeByName(const std::string& type) const;\n \n"},"changed_files":{"kind":"list like","value":["cyber/message/protobuf_factory.cc","cyber/message/protobuf_factory.h"],"string":"[\n \"cyber/message/protobuf_factory.cc\",\n \"cyber/message/protobuf_factory.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":587,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":13868,"string":"13,868"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"[bridge]解决了接收多个帧时无法将数据发布给相应的话题"},"pr_body":{"kind":"string","value":"当我使用Apollo的bridge模块测试数据的接收与发送时，发现了一个问题：当客户端发送单帧数据时，服务端可以顺利解析并发布到相关的话题，但是当protobuf数据过大，需要客户端将protobuf数据分为多帧进行发送时，服务端却无法将接收数据并发送至相关话题。\r\n经过排查，发现`BridgeProtoDiserializedBuf`的数据成员`sequence_num_`和`proto_name_`没有进行初始化，导致`BridgeProtoDiserializedBuf<T>::IsTheProto`函数无法判断该帧属于哪个protobuf数据，因此需要在`BridgeProtoDiserializedBuf<T>::Initialize`当中对其进行初始化，这样就可以接收多帧的数据并将其发送至相关话题。"},"base_sha":{"kind":"string","value":"37e3365fd0ad383e1be1991d8eee90f88b628d60"},"head_sha":{"kind":"string","value":"08971ac75b637aa23da67901c312ff5882139db2"},"gold_diff":{"kind":"string","value":"diff --git a/modules/bridge/common/bridge_proto_diserialized_buf.h b/modules/bridge/common/bridge_proto_diserialized_buf.h\nindex b88559837c3..cd87299dd01 100644\n--- a/modules/bridge/common/bridge_proto_diserialized_buf.h\n+++ b/modules/bridge/common/bridge_proto_diserialized_buf.h\n@@ -137,6 +137,8 @@ template <typename T>\n bool BridgeProtoDiserializedBuf<T>::Initialize(const BridgeHeader &header) {\n total_size_ = header.GetMsgSize();\n total_frames_ = header.GetTotalFrames();\n+ proto_name_ = header.GetMsgName();\n+ sequence_num_ = header.GetMsgID();\n if (total_frames_ == 0) {\n return false;\n }\n"},"changed_files":{"kind":"list like","value":["modules/bridge/common/bridge_proto_diserialized_buf.h"],"string":"[\n \"modules/bridge/common/bridge_proto_diserialized_buf.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":588,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":4741,"string":"4,741"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"planning: fix bug in cubic polynomial"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"b849f3c90a400d67ab1369861bb769691e026f9e"},"head_sha":{"kind":"string","value":"95d1588bfdcd4a0dc09301606d50731256e15301"},"gold_diff":{"kind":"string","value":"diff --git a/modules/planning/constraint_checker/constraint_checker1d.cc b/modules/planning/constraint_checker/constraint_checker1d.cc\nindex 82ad89fa046..539c85e4ea7 100644\n--- a/modules/planning/constraint_checker/constraint_checker1d.cc\n+++ b/modules/planning/constraint_checker/constraint_checker1d.cc\n@@ -28,12 +28,9 @@ namespace planning {\n \n namespace {\n \n-bool fuzzy_within(const double v, const double lower, const double upper,\n- const double e = 1.0e-4) {\n- if (v < lower - e || v > upper + e) {\n- return false;\n- }\n- return true;\n+inline bool fuzzy_within(const double v, const double lower, const double upper,\n+ const double e = 1.0e-4) {\n+ return v > lower - e && v < upper + e;\n }\n } // namespace\n \ndiff --git a/modules/planning/math/curve1d/cubic_polynomial_curve1d.cc b/modules/planning/math/curve1d/cubic_polynomial_curve1d.cc\nindex 888d7d35c9b..a24dfd73be2 100644\n--- a/modules/planning/math/curve1d/cubic_polynomial_curve1d.cc\n+++ b/modules/planning/math/curve1d/cubic_polynomial_curve1d.cc\n@@ -43,13 +43,6 @@ CubicPolynomialCurve1d::CubicPolynomialCurve1d(const double x0,\n end_condition_ = x1;\n }\n \n-CubicPolynomialCurve1d::CubicPolynomialCurve1d(\n- const CubicPolynomialCurve1d& other) {\n- param_ = other.param_;\n- start_condition_ = other.start_condition_;\n- end_condition_ = other.end_condition_;\n-}\n-\n double CubicPolynomialCurve1d::Evaluate(const std::uint32_t order,\n const double p) const {\n switch (order) {\n@@ -86,7 +79,7 @@ void CubicPolynomialCurve1d::ComputeCoefficients(const double x0,\n coef_[0] = x0;\n coef_[1] = dx0;\n coef_[2] = 0.5 * ddx0;\n- coef_[3] = (x1 - coef_[3] - coef_[2] * param - coef_[1] * param * param) / p3;\n+ coef_[3] = (x1 - x0 - dx0 * param - coef_[2] * p2) / p3;\n }\n \n } // namespace planning\ndiff --git a/modules/planning/math/curve1d/cubic_polynomial_curve1d.h b/modules/planning/math/curve1d/cubic_polynomial_curve1d.h\nindex 1d66fb8176b..71143292e45 100644\n--- a/modules/planning/math/curve1d/cubic_polynomial_curve1d.h\n+++ b/modules/planning/math/curve1d/cubic_polynomial_curve1d.h\n@@ -37,11 +37,15 @@ class CubicPolynomialCurve1d : public PolynomialCurve1d {\n CubicPolynomialCurve1d(const std::array<double, 3>& start, const double end,\n const double param);\n \n+ /**\n+ * x0 is the value when f(x = 0);\n+ * dx0 is the value when f'(x = 0);\n+ * ddx0 is the value when f''(x = 0);\n+ * f(x = param) = x1\n+ */\n CubicPolynomialCurve1d(const double x0, const double dx0, const double ddx0,\n const double x1, const double param);\n \n- CubicPolynomialCurve1d(const CubicPolynomialCurve1d& other);\n-\n double Evaluate(const std::uint32_t order, const double p) const override;\n \n double ParamLength() const { return param_; }\n"},"changed_files":{"kind":"list like","value":["modules/planning/constraint_checker/constraint_checker1d.cc","modules/planning/math/curve1d/cubic_polynomial_curve1d.cc","modules/planning/math/curve1d/cubic_polynomial_curve1d.h"],"string":"[\n \"modules/planning/constraint_checker/constraint_checker1d.cc\",\n \"modules/planning/math/curve1d/cubic_polynomial_curve1d.cc\",\n \"modules/planning/math/curve1d/cubic_polynomial_curve1d.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":589,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15033,"string":"15,033"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Add lslidar driver for Apollo platform"},"pr_body":{"kind":"string","value":"Add lslidar driver for Apollo platform，230706"},"base_sha":{"kind":"string","value":"d5f88cb390d01cc15bc11d9af484d8e5a34d218f"},"head_sha":{"kind":"string","value":"c70f99a22da82fa554b9880d021dc3b9c83ab17b"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/BUILD b/modules/drivers/lidar/BUILD\nindex 1f289ba7b35..81d04bf37bc 100644\n--- a/modules/drivers/lidar/BUILD\n+++ b/modules/drivers/lidar/BUILD\n@@ -18,6 +18,7 @@ install(\n \"//modules/drivers/lidar/hesai:install\",\n \"//modules/drivers/lidar/robosense:install\",\n \"//modules/drivers/lidar/velodyne:install\",\n+ \"//modules/drivers/lidar/lslidar:install\",\n ]\n )\n \ndiff --git a/modules/drivers/lidar/lslidar/BUILD b/modules/drivers/lidar/lslidar/BUILD\nnew file mode 100644\nindex 00000000000..a1d723e72f6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/BUILD\n@@ -0,0 +1,27 @@\n+load(\"//tools/install:install.bzl\", \"install\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+install(\n+ name = \"install\",\n+ data_dest = \"drivers/addition_data/lidar/lslidar\",\n+ library_dest = \"drivers/lib/lidar/lslidar\",\n+ data = [\n+ \":runtime_data\",\n+ ],\n+ targets = [\n+ \"//modules/drivers/lidar/lslidar/driver:liblslidar_driver_component.so\",\n+ \"//modules/drivers/lidar/lslidar/parser:liblslidar_convert_component.so\",\n+ ],\n+)\n+\n+filegroup(\n+ name = \"runtime_data\",\n+ srcs = glob([\n+ \"conf/*.txt\",\n+ \"conf/*.conf\",\n+ \"dag/*.dag\",\n+ \"launch/*.launch\",\n+ \"params/*.yaml\",\n+ ]),\n+)\ndiff --git a/modules/drivers/lidar/lslidar/README_cn.md b/modules/drivers/lidar/lslidar/README_cn.md\nnew file mode 100644\nindex 00000000000..5f7fc59ad16\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/README_cn.md\n@@ -0,0 +1,140 @@\n+# **Lslidar LiDAR Driver**\n+\n+\n+\n+## 1、 工程简介\n+\n+ **lslidar** 为镭神在Apollo 8.0平台的雷达驱动集成包。 目前支持*C16，C32，CH16，CH32，CH64，CH64w，CH120，CH128,CH128X1*等型号的雷达。 \n+\n+\n+\n+## 2、 驱动运行示例\n+\n+#### 2.1 C16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidar16/PointCloud2\n+- Scan--/apollo/sensor/lslidar16/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidar16/compensator/PointCloud2\n+\n+\n+#### 2.2 C32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidar32/PointCloud2\n+- Scan--/apollo/sensor/lslidar32/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidar32/compensator/PointCloud2\n+\n+\n+#### 2.3 N401(删除)\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidar401/PointCloud2\n+- Scan--/apollo/sensor/lslidar401/Scan\n+\n+#### 2.4 CH16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH16/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH16/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH16/compensator/PointCloud2\n+\n+#### 2.5 CH32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH32/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH32/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH32/compensator/PointCloud2\n+\n+#### 2.6 CH64\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH64/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH64/compensator/PointCloud2\n+\n+#### 2.7 CH64w\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH64w/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64w/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2\n+\n+#### 2.8 CH120\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH120/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH120/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH120/compensator/PointCloud2\n+\n+#### 2.9 CH128\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH128/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH128/compensator/PointCloud2\n+\n+#### 2.10 CH128X1\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH128X1/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128X1/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2\n+\n+\n+\n+### 常见问题\n+\n+- 打印“[lslidar]lslidar poll() timeout, port: 2368‘’ 表示计算平台与雷达网络不通。\n+\n+ 可用wireshark查看是否有雷达数据；以及雷达ip和端口号参数设置是否正确。\ndiff --git a/modules/drivers/lidar/lslidar/README_en.md b/modules/drivers/lidar/lslidar/README_en.md\nnew file mode 100644\nindex 00000000000..db01baa5c5f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/README_en.md\n@@ -0,0 +1,142 @@\n+# **Lslidar LiDAR Driver**\n+\n+\n+\n+## 1. Overview\n+\n+**lslidar** is a lidar driver integration package from LenShen Intelligent System Co. Ltd. for the Apollo 8.0 platform. Currently the *C16, C32, CH16, CH32, CH64, CH64w, CH120, CH128,CH128X1* lidar models are supported. \n+\n+\n+\n+## 2. Example of driver running\n+\n+#### 2.1 C16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidar16/PointCloud2\n+- Scan--/apollo/sensor/lslidar16/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidar16/compensator/PointCloud2\n+\n+\n+#### 2.2 C32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidar32/PointCloud2\n+- Scan--/apollo/sensor/lslidar32/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidar32/compensator/PointCloud2\n+\n+\n+#### 2.3 N401(delete)\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidar401/PointCloud2\n+- Scan--/apollo/sensor/lslidar401/Scan\n+\n+#### 2.4 CH16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH16/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH16/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH16/compensator/PointCloud2\n+\n+#### 2.5 CH32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH32/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH32/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH32/compensator/PointCloud2\n+\n+#### 2.6 CH64\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH64/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64/compensator/PointCloud2\n+\n+#### 2.7 CH64w\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH64w/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64w/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2\n+\n+#### 2.8 CH120\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH120/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH120/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH120/compensator/PointCloud2\n+\n+#### 2.9 CH128\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH128/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128/compensator/PointCloud2\n+\n+#### 2.10 CH128X1\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH128X1/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128X1/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2\n+\n+\n+\n+### Frequently asked questions\n+\n+- The printout \"[lslidar]lslidar poll() timeout, port: 2368\" indicates that the computing platform is not connected to the lidar network.\n+\n+ You can use Wireshark to see if lidar data is available; and if the lidar IP and port number parameters are set correctly.\n+ \n+ \ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..d4e6fe57241\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar16/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\nnew file mode 100644\nindex 00000000000..a50e65ad037\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\n@@ -0,0 +1,30 @@\n+model: LSLIDAR16P\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀2度校准两列 1://均匀1.33度校准两列\n+distance_unit: 0.25\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm\n+convert_channel_name: \"/apollo/sensor/lslidar16/PointCloud2\"\n+frame_id: \"lslidar16\"\n+scan_channel: \"/apollo/sensor/lslidar16/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\"\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\n+\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..c39c7999594\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar16v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..9d9ba201fef\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\n@@ -0,0 +1,26 @@\n+model: LSLIDAR_C16_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar16v4/PointCloud2\"\n+frame_id: \"lslidar16v4\"\n+scan_channel: \"/apollo/sensor/lslidar16v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..27bea1faf9c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar1v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..7adef29d323\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\n@@ -0,0 +1,26 @@\n+model: LSLIDAR_C1_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar1v4/PointCloud2\"\n+frame_id: \"lslidar1v4\"\n+scan_channel: \"/apollo/sensor/lslidar1v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..7dfa5270b15\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar32/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\nnew file mode 100644\nindex 00000000000..369c5c2cd18\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\n@@ -0,0 +1,29 @@\n+model: LSLIDAR32P\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm\n+convert_channel_name: \"/apollo/sensor/lslidar32/PointCloud2\"\n+frame_id: \"lslidar32\"\n+scan_channel: \"/apollo/sensor/lslidar32/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\"\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..baa74ccea53\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar32v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..29b16fd8bb2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\n@@ -0,0 +1,27 @@\n+model: LSLIDAR_C32_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+vertical_angle: 32 # 雷达垂直角度： 32度，70度，90度\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar32v4/PointCloud2\"\n+frame_id: \"lslidar32v4\"\n+scan_channel: \"/apollo/sensor/lslidar32v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..a521ce085b1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar401/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt\nnew file mode 100644\nindex 00000000000..24d42231a22\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt\n@@ -0,0 +1,16 @@\n+model: LSLIDAR401\n+device_ip: \"192.168.1.222\"\n+msop_port: 2368\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar401/PointCloud2\"\n+frame_id: \"lslidar401\"\n+scan_channel: \"/apollo/sensor/lslidar401/Scan\"\n+min_range: 0.3\n+max_range: 100.0\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..b5ce000184e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar8v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..9c67b80cef8\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\n@@ -0,0 +1,26 @@\n+model: LSLIDAR_C8_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar8v4/PointCloud2\"\n+frame_id: \"lslidar8v4\"\n+scan_channel: \"/apollo/sensor/lslidar8v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..d4ce6cce742\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH120/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt\nnew file mode 100644\nindex 00000000000..540c5ac402c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH120\n+device_ip: \"192.168.1.210\"\n+msop_port: 2378\n+difop_port: 2379\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH120/PointCloud2\"\n+frame_id: \"lslidarCH120\"\n+scan_channel: \"/apollo/sensor/lslidarCH120/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..8e4620ea7af\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH128X1/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\nnew file mode 100644\nindex 00000000000..111ff7cd154\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH128X1\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH128X1/PointCloud2\"\n+frame_id: \"lslidarCH128X1\"\n+scan_channel: \"/apollo/sensor/lslidarCH128X1/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..97d429d96bf\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH128/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\nnew file mode 100644\nindex 00000000000..23463b1866b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH128\n+device_ip: \"192.168.1.102\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH128/PointCloud2\"\n+frame_id: \"lslidarCH128\"\n+scan_channel: \"/apollo/sensor/lslidarCH128/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..0388fc68d79\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH16/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\nnew file mode 100644\nindex 00000000000..0c28b79be6a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH16\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH16/PointCloud2\"\n+frame_id: \"lslidarCH16\"\n+scan_channel: \"/apollo/sensor/lslidarCH16/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..8e014527658\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH32/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\nnew file mode 100644\nindex 00000000000..4b2e024c01b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\n@@ -0,0 +1,24 @@\n+model: LSLIDAR_CH32\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+degree_mode: 1\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH32/PointCloud2\"\n+frame_id: \"lslidarCH32\"\n+scan_channel: \"/apollo/sensor/lslidarCH32/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..f046c14ac9a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH64/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\nnew file mode 100644\nindex 00000000000..f7fddab63d1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH64\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH64/PointCloud2\"\n+frame_id: \"lslidarCH64\"\n+scan_channel: \"/apollo/sensor/lslidarCH64/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: true\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..b25c8a2a5ac\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH64w/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\nnew file mode 100644\nindex 00000000000..6c3f9268887\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH64w\n+device_ip: \"192.168.1.200\"\n+msop_port: 2370\n+difop_port: 2371\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH64w/PointCloud2\"\n+frame_id: \"lslidarCH64w\"\n+scan_channel: \"/apollo/sensor/lslidarCH64w/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"/ch64w_201.pcap\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..7c26fdbd1f6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarLS128S2/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\nnew file mode 100644\nindex 00000000000..bc69023cbab\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\n@@ -0,0 +1,25 @@\n+model: LSLIDAR_LS128S2\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarLS128S2/PointCloud2\"\n+frame_id: \"lslidarLS128S2\"\n+scan_channel: \"/apollo/sensor/lslidarLS128S2/Scan\"\n+min_range: 0.15\n+max_range: 500.0\n+scan_start_angle: -60.0\n+scan_end_angle: 60.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS128S2_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16.dag b/modules/drivers/lidar/lslidar/dag/lslidar16.dag\nnew file mode 100644\nindex 00000000000..9456fb17527\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {\n+\t channel: \"/apollo/sensor/lslidar16/Scan\"\n+\t}\n+ }\n+ }\n+}\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag\nnew file mode 100644\nindex 00000000000..83e7b720e38\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag\n@@ -0,0 +1,123 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch128x1\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch128x1\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag\nnew file mode 100644\nindex 00000000000..dfa2e2e1275\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag\n@@ -0,0 +1,122 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32w\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32v4/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_c32v4\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32v4/PointCloud2\"}\n+# }\n+# }\n+#}\n+#\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag\nnew file mode 100644\nindex 00000000000..2d7daa3841b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag\n@@ -0,0 +1,122 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch64w\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch64w\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag\nnew file mode 100644\nindex 00000000000..5a187c3890f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag\n@@ -0,0 +1,161 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch64w\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch64w\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch128x1\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch128x1\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag\nnew file mode 100644\nindex 00000000000..777cec747c4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag\n@@ -0,0 +1,28 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\"\n+ readers {\n+ \t channel: \"/apollo/sensor/lslidar16v4/Scan\"\n+ \t}\n+ }\n+ }\n+}\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag\nnew file mode 100644\nindex 00000000000..fc63fc77165\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c1_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c1_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar1v4/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar32.dag b/modules/drivers/lidar/lslidar/dag/lslidar32.dag\nnew file mode 100644\nindex 00000000000..8e1545640a3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar32.dag\n@@ -0,0 +1,26 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag\nnew file mode 100644\nindex 00000000000..65e9eae55ab\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag\n@@ -0,0 +1,29 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ readers {\n+\t channel: \"/apollo/sensor/lslidar32v4/Scan\"\n+\t}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag\nnew file mode 100644\nindex 00000000000..0e018c01c0c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag\n@@ -0,0 +1,26 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c8_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c8_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar8v4/Scan\"}\n+ }\n+ }\n+}\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\nnew file mode 100644\nindex 00000000000..95d0339fff5\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH128/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\nnew file mode 100644\nindex 00000000000..0c968ffddfd\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH128X1/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\nnew file mode 100644\nindex 00000000000..db18e4550f1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\n@@ -0,0 +1,28 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH16/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\nnew file mode 100644\nindex 00000000000..20e18f84bc3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH32/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\nnew file mode 100644\nindex 00000000000..65f99a39982\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\nnew file mode 100644\nindex 00000000000..9af6b6b859f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag b/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag\nnew file mode 100644\nindex 00000000000..9ba0075a0df\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ls128s2\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ls128s2\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarLS128S2/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag b/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag\nnew file mode 100644\nindex 00000000000..c9fb0c5c9e9\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag\n@@ -0,0 +1,33 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\n+\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/driver/BUILD b/modules/drivers/lidar/lslidar/driver/BUILD\nnew file mode 100755\nindex 00000000000..3e1e04f1bfa\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/BUILD\n@@ -0,0 +1,59 @@\n+load(\"@rules_cc//cc:defs.bzl\", \"cc_binary\", \"cc_library\")\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\n+load(\"//tools/install:install.bzl\", \"install\")\n+\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+\n+\n+install(\n+ name = \"install\",\n+ library_dest = \"drivers/lib/lidar/lslidar/driver\",\n+ targets = [\n+ \":liblslidar_driver_component.so\",\n+ ],\n+)\n+\n+cc_binary(\n+ name = \"liblslidar_driver_component.so\",\n+ linkshared = True,\n+ linkstatic = True,\n+ deps = [\":lslidar_driver_component_lib\"],\n+)\n+\n+cc_library(\n+ name = \"lslidar_driver_component_lib\",\n+ srcs = [\"lslidar_driver_component.cc\"],\n+ hdrs = [\"lslidar_driver_component.h\"],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/common/util:util_tool\",\n+ \"//modules/drivers/lidar/lslidar/driver\",\n+ ],\n+ alwayslink = True,\n+)\n+\n+cc_library(\n+ name = \"driver\",\n+ srcs = [\n+ \"driver.cc\",\n+ \"input.cc\",\n+ ],\n+ hdrs = [\n+ \"driver.h\",\n+ \"input.h\",\n+ ],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ linkopts = [\n+ \"-lpcap\",\n+ ],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/common/util:util_tool\",\n+ \"//modules/drivers/lidar/lslidar/proto:config_cc_proto\",\n+ ],\n+)\n+\n+cpplint()\ndiff --git a/modules/drivers/lidar/lslidar/driver/driver.cc b/modules/drivers/lidar/lslidar/driver/driver.cc\nnew file mode 100755\nindex 00000000000..1333c33cdd0\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/driver.cc\n@@ -0,0 +1,473 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/driver/driver.h\"\n+\n+#include <cmath>\n+#include <ctime>\n+#include <string>\n+#include <thread>\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+namespace apollo {\n+ namespace drivers {\n+ namespace lslidar {\n+\n+ LslidarDriver::~LslidarDriver() {\n+ if (difop_thread_.joinable()) {\n+ difop_thread_.join();\n+ }\n+ }\n+\n+ void LslidarDriver::Init() {\n+ int packets_rate;\n+\n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR_C16_V4) {\n+ packets_rate = 840;\n+ } else if (config_.model() == LSLIDAR_C8_V4) {\n+ packets_rate = 420;\n+ } else if (config_.model() == LSLIDAR_C1_V4) {\n+ packets_rate = 420;\n+ } else if (config_.model() == LSLIDAR_C32_V4) {\n+ packets_rate = 1693; //64000/384\n+ } else if (config_.model() == LSLIDAR32P) {\n+ if (1 == config_.degree_mode())\n+ packets_rate = 1693; //65000/384\n+ if (2 == config_.degree_mode())\n+ packets_rate = 1700; //64000/384\n+ } else if (config_.model() == LSLIDAR_CH16)\n+ packets_rate = 3571;\n+ else if (config_.model() == LSLIDAR_CH32)\n+ packets_rate = 3512;\n+ else if (config_.model() == LSLIDAR_CH64)\n+ packets_rate = 3388;\n+ else if (config_.model() == LSLIDAR_CH64w)\n+ packets_rate = 11228;\n+ else if (config_.model() == LSLIDAR_CH128)\n+ packets_rate = 3571;\n+ else if (config_.model() == LSLIDAR_CH128X1)\n+ packets_rate = 6720;\n+ else if (config_.model() == LSLIDAR_LS128S2)\n+ packets_rate = 12440;\n+ else\n+ packets_rate = 4561;\n+\n+ // default number of packets for each scan is a single revolution\n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P || config_.model() == LSLIDAR_C32_V4\n+ || config_.model() == LSLIDAR_C16_V4 || config_.model() == LSLIDAR_C8_V4 ||\n+ config_.model() == LSLIDAR_C1_V4)\n+ config_.set_npackets(\n+ static_cast<int>(ceil(packets_rate * 60 / config_.rpm()) * config_.return_mode() * 1.1));\n+ else\n+ config_.set_npackets(static_cast<int>(ceil(packets_rate * 60 / config_.rpm() * 1.1)));\n+\n+ AERROR << \"config_.pcap_path(): \" << config_.pcap_path();\n+\n+ if (!config_.pcap_path().empty()) {\n+ if (config_.model() == LSLIDAR_C32_V4 || config_.model() == LSLIDAR_C16_V4 ||\n+ config_.model() == LSLIDAR_C8_V4 || config_.model() == LSLIDAR_C1_V4) {\n+ // open Lslidar input device\n+\n+ input_.reset(new InputPCAP(config_.msop_port(), config_.device_ip(), config_.packet_size(),\n+ packets_rate, config_.pcap_path())); //数据包\n+ positioning_input_.reset(new InputPCAP(config_.difop_port(), config_.device_ip(), 1206, 1,\n+ config_.pcap_path())); //设备包\n+ } else {\n+ // open Lslidar input device\n+ input_.reset(new InputPCAP(config_.msop_port(), config_.device_ip(), config_.packet_size(),\n+ packets_rate, config_.pcap_path())); //数据包\n+ positioning_input_.reset(\n+ new InputPCAP(config_.difop_port(), config_.device_ip(), config_.packet_size(), 1,\n+ config_.pcap_path())); //设备包\n+ }\n+ } else {\n+ if (config_.model() == LSLIDAR_C32_V4 || config_.model() == LSLIDAR_C16_V4 ||\n+ config_.model() == LSLIDAR_C8_V4 || config_.model() == LSLIDAR_C1_V4) {\n+ // open Lslidar input device\n+ input_.reset(new InputSocket(config_.msop_port(), config_.device_ip(),\n+ config_.packet_size())); //数据包\n+ positioning_input_.reset(\n+ new InputSocket(config_.difop_port(), config_.device_ip(), 1206)); //设备包\n+ } else {\n+ // open Lslidar input device\n+ input_.reset(new InputSocket(config_.msop_port(), config_.device_ip(),\n+ config_.packet_size())); //数据包\n+ positioning_input_.reset(new InputSocket(config_.difop_port(), config_.device_ip(),\n+ config_.packet_size())); //设备包\n+ }\n+ }\n+ difop_thread_ = std::thread(&LslidarDriver::difopPoll, this);\n+ }\n+\n+/** poll the device\n+ *\n+ * @returns true unless end of file reached\n+ */\n+ bool LslidarDriver::Poll(const std::shared_ptr <apollo::drivers::lslidar::LslidarScan> &scan) {\n+ // Allocate a new shared pointer for zero-copy sharing with other nodelets.\n+ int poll_result = PollStandard(scan);\n+ if (poll_result < 0) return false;\n+\n+ if (scan->firing_pkts().empty()) {\n+ AINFO << \"Get an empty scan from port: \" << config_.msop_port();\n+ return false;\n+ }\n+ // publish message using time of last packet read\n+ ADEBUG << \"Publishing a full Lslidar scan.\";\n+ LslidarPacket *packet = scan->add_difop_pkts();\n+ std::unique_lock <std::mutex> lock(mutex_);\n+ packet->set_data(bytes, FIRING_DATA_PACKET_SIZE);\n+ scan->mutable_header()->set_timestamp_sec(gps_time);\n+ ADEBUG << \"**************************************************************GPS time: \" << gps_time;\n+ scan->mutable_header()->set_frame_id(config_.frame_id());\n+ scan->set_model(config_.model());\n+ scan->set_basetime(gps_time);\n+ scan->mutable_header()->set_timestamp_sec(gps_time);\n+ return true;\n+ }\n+\n+ int LslidarDriver::PollStandard(std::shared_ptr <apollo::drivers::lslidar::LslidarScan> scan) {\n+ // Since the lslidar delivers data at a very high rate, keep reading and\n+ // publishing scans as fast as possible.\n+\n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P || config_.model() == LSLIDAR_C32_V4\n+ || config_.model() == LSLIDAR_C16_V4 || config_.model() == LSLIDAR_C8_V4 ||\n+ config_.model() == LSLIDAR_C1_V4) {\n+ // Find the 0 degree packet, in order to fix the 0 degree angle position\n+ if (scan_fill) {\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ int PKT_DATA_LENGTH = 1212;\n+ void *data_ptr = malloc(PKT_DATA_LENGTH);\n+ memcpy(data_ptr, reinterpret_cast<uint8_t *>(const_cast<char *>(scan_start.data().c_str())),\n+ PKT_DATA_LENGTH);\n+ packet->set_data(data_ptr, PKT_DATA_LENGTH);\n+ packet->set_stamp((scan_start.stamp()));\n+ AINFO << \"scan->firing_pkts_size(): \" << scan->firing_pkts_size();\n+ }\n+\n+ scan_fill = false;\n+ int i = 1;\n+ while (scan->firing_pkts_size() < config_.npackets()) {\n+ //config_.npackets()\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ while (true) {\n+ // keep reading until full packet received\n+ int rc = input_->GetPacket(packet);\n+\n+ if (rc == 0) {\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ packet_time_ns_ = 0;\n+ gps_time = apollo::cyber::Time().Now().ToNanosecond();\n+ } else {\n+ uint8_t *data = reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ if (config_.packet_size() == 1212) { //1212字节雷达\n+ if (0xff == data[1200]) { //ptp授时\n+ //std::cout << \"ptp\";\n+ basetime_ = (data[1201] * pow(2, 32) + data[1202] * pow(2, 24) +\n+ data[1203] * pow(2, 16) +\n+ data[1204] * pow(2, 8) + data[1205] * pow(2, 0));\n+ packet_time_ns_ = (static_cast<uint16_t>(data[1206]) +\n+ static_cast<uint16_t>(data[1207]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1208]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1209]) * pow(2, 24));\n+ } else { //gps授时\n+ current_time.tm_year = static_cast<uint16_t>(data[1200]) + 2000 - 1900;\n+ current_time.tm_mon = static_cast<uint16_t>(data[1201]) - 1;\n+ current_time.tm_mday = static_cast<uint16_t>(data[1202]);\n+ current_time.tm_hour = static_cast<uint16_t>(data[1203]);\n+ current_time.tm_min = static_cast<uint16_t>(data[1204]);\n+ \n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P) {\n+ current_time.tm_sec = static_cast<uint16_t>(data[1205]) + 1;\n+ packet_time_ns_ = (static_cast<uint16_t>(data[1206]) +\n+ static_cast<uint16_t>(data[1207]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1208]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1209]) * pow(2, 24)) *\n+ 1e3; //ns\n+ } else if (config_.model() == LSLIDAR_C32_V4 ||\n+ config_.model() == LSLIDAR_C16_V4\n+ || config_.model() == LSLIDAR_C8_V4 ||\n+ config_.model() == LSLIDAR_C1_V4) {\n+ current_time.tm_sec = static_cast<uint16_t>(data[1205]);\n+ packet_time_ns_ = (static_cast<uint16_t>(data[1206]) +\n+ static_cast<uint16_t>(data[1207]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1208]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1209]) * pow(2, 24));\n+ }\n+ basetime_ = static_cast<uint64_t>(timegm(¤t_time));\n+ }\n+ } else { //1206字节雷达，V3.0\n+ uint8_t *data = reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ packet_time_ns_ = (static_cast<uint16_t>(data[1200]) +\n+ static_cast<uint16_t>(data[1201]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1202]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1203]) * pow(2, 24)) * 1e3; //ns\n+ basetime_ = static_cast<uint64_t>(timegm(¤t_time));\n+\n+ }\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ }\n+ packet->set_stamp(gps_time);\n+ break;\n+ } else if (rc < 0) {\n+ return rc;\n+ }\n+ }\n+ packet->set_stamp(gps_time); //設置包的時間\n+\n+ uint8_t *data =\n+ reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ int azi1 =\n+ 256 * static_cast<uint16_t>(data[3]) + static_cast<uint16_t>(data[2]);\n+ int azi2 = 256 * static_cast<uint16_t>(data[1103]) +\n+ static_cast<uint16_t>(data[1102]);\n+\n+ if (((azi1 > 35000 && azi2 < 1000) ||\n+ (azi1 < 500 && i > config_.npackets() / 2))) {\n+ scan_fill = true;\n+ scan_start = *packet;\n+ break;\n+ }\n+ i++;\n+ } \n+ } else if (config_.model() == LSLIDAR_LS128S2) { //LS128S2\n+ // Find the 0 degree packet, in order to fix the 0 degree angle position\n+ scan_fill = false;\n+ int i = 1;\n+ bool is_found_frame_header = false;\n+ while (scan->firing_pkts_size() < config_.npackets() && !is_found_frame_header) {\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ while (true) {\n+ // keep reading until full packet received\n+ int rc = input_->GetPacket(packet);\n+ AINFO << \"[debug ] line: \" << __LINE__ << \" file: \" << __FILE__;\n+ if (rc == 0) {\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ gps_time = apollo::cyber::Time().Now().ToNanosecond();\n+ } else {\n+ uint8_t *data = reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ if (0xff == static_cast<uint16_t>(data[1194])) { //ptp授时\n+ basetime_ = (static_cast<uint16_t>(data[1195]) * 0 + (static_cast<uint16_t>(data[1196]) << 24) +\n+ (static_cast<uint16_t>(data[1197]) << 16) + (static_cast<uint16_t>(data[1198]) << 8) + static_cast<uint16_t>(data[1199]) * pow(2, 0));\n+ packet_time_ns_ = (static_cast<uint16_t>(data[1200]) << 24) + (static_cast<uint16_t>(data[1201]) << 16) +\n+ (static_cast<uint16_t>(data[1202]) << 8) + (static_cast<uint16_t>(data[1203]));\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ } else { //gps授时\n+ struct tm cur_time{};\n+ memset(&cur_time, 0, sizeof(cur_time));\n+ cur_time.tm_sec = static_cast<uint16_t>(data[1199]);\n+ cur_time.tm_min = static_cast<uint16_t>(data[1198]);\n+ cur_time.tm_hour = static_cast<uint16_t>(data[1197]);\n+ cur_time.tm_mday = static_cast<uint16_t>(data[1196]);\n+ cur_time.tm_mon = static_cast<uint16_t>(data[1195]) - 1;\n+ cur_time.tm_year = static_cast<uint16_t>(data[1194]) + 2000 - 1900;\n+ basetime_ = static_cast<uint64_t>(timegm(&cur_time));\n+ packet_time_ns_ = static_cast<uint16_t>(data[1203]) +\n+ (static_cast<uint16_t>(data[1202]) << 8) +\n+ (static_cast<uint16_t>(data[1201]) << 16) +\n+ (static_cast<uint16_t>(data[1200]) << 24); //ns\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ }\n+ }\n+ break;\n+ } else if (rc < 0) {\n+ return rc;\n+ }\n+ }\n+ packet->set_stamp(gps_time); //設置包的時間\n+ uint8_t *data = reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ int return_mode = static_cast<uint16_t>(data[1205]);\n+ \n+ if(return_mode == 1) {\n+ for (size_t point_idx = 0; point_idx < LS_POINTS_PER_PACKET_SINGLE_ECHO;point_idx += 8) { //一圈\n+ if ((static_cast<uint16_t>(data[point_idx]) == 0xff) && (static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&\n+ (static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) && (static_cast<uint16_t>(data[point_idx + 3]) == 0xcc)\n+ && (static_cast<uint16_t>(data[point_idx + 4]) == 0xdd)) {\n+ scan_fill = false;\n+ is_found_frame_header = true;\n+ \n+ break;\n+ }\n+ }\n+ }\n+ else {\n+ for (size_t point_idx = 0; point_idx < LS_POINTS_PER_PACKET_DOUBLE_ECHO;point_idx += 12) { //一圈\n+ if ((static_cast<uint16_t>(data[point_idx]) == 0xff) && (static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&\n+ (static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) && (static_cast<uint16_t>(data[point_idx + 3]) == 0xcc)\n+ && (static_cast<uint16_t>(data[point_idx + 4]) == 0xdd)) {\n+ scan_fill = false;\n+ is_found_frame_header = true;\n+ AERROR << \"\\none circle! scan->firing_pkts_size(): \" << scan->firing_pkts_size();\n+ break;\n+ }\n+ }\n+ }\n+ i++;\n+ } \n+ } else { // ch系列\n+ // Find the 0 degree packet, in order to fix the 0 degree angle position\n+ scan_fill = false;\n+ int i = 1;\n+ bool is_found_frame_header = false;\n+ while (scan->firing_pkts_size() < config_.npackets() && !is_found_frame_header) {\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ while (true) {\n+ // keep reading until full packet received\n+ int rc = input_->GetPacket(packet);\n+ AINFO << \"[debug ] line: \" << __LINE__ << \" file: \" << __FILE__;\n+ if (rc == 0) {\n+ if (config_.model() == LSLIDAR_CH64w ||\n+ config_.model() == LSLIDAR_CH120 ||\n+ config_.model() == LSLIDAR_CH128X1 || config_.model() == LSLIDAR_CH32) {\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ gps_time = apollo::cyber::Time().Now().ToNanosecond();\n+ } else {\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ current_time.tm_hour = static_cast<uint16_t>(data[1197]);\n+ current_time.tm_min = static_cast<uint16_t>(data[1198]);\n+ current_time.tm_sec = static_cast<uint16_t>(data[1199]);\n+ basetime_ = static_cast<uint64_t>(timegm(¤t_time));\n+ if (time_service_mode == \"gps\") {\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1203]) +\n+ static_cast<uint16_t>(data[1202]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1201]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1200]) * pow(2, 24)) *\n+ 1e3; // ns\n+ } else if (time_service_mode == \"gptp\") {\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1203]) +\n+ static_cast<uint16_t>(data[1202]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1201]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1200]) * pow(2, 24)); // ns\n+ }\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ }\n+ }\n+ break;\n+ } else if (rc < 0) {\n+ return rc;\n+ }\n+ }\n+ packet->set_stamp(gps_time); //設置包的時間\n+ uint8_t *data = reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET;\n+ point_idx += 7) { //一圈\n+ if ((static_cast<uint16_t>(data[point_idx]) == 0xff) && (static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&\n+ (static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) && (static_cast<uint16_t>(data[point_idx + 3]) == 0xcc)) {\n+ scan_fill = false;\n+ is_found_frame_header = true;\n+ AERROR << \"\\none circle! scan->firing_pkts_size(): \" << scan->firing_pkts_size();\n+ break;\n+ }\n+ }\n+ i++;\n+ } \n+ }\n+ return 0;\n+ }\n+\n+ void LslidarDriver::difopPoll(void) {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr <apollo::drivers::lslidar::LslidarScan> scans = std::make_shared<apollo::drivers::lslidar::LslidarScan>();\n+ std::shared_ptr <LslidarPacket> packet = std::make_shared<LslidarPacket>();\n+ while (!cyber::IsShutdown()) {\n+ int rc = positioning_input_->GetPacket(packet.get());\n+ if (rc == 0) {\n+ break; // got a full packet\n+ }\n+ if (rc < 0) {\n+ return;\n+ }\n+ }\n+ uint8_t *data = reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ {\n+ std::unique_lock <std::mutex> lock(mutex_);\n+ memcpy(bytes, data, FIRING_DATA_PACKET_SIZE);\n+ }\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ } else {\n+ if (data[0] == 0xA5 && data[1] == 0xFF && data[2] == 0x00 && data[3] == 0x5A) {\n+ if (config_.model() == LSLIDAR_CH16 || config_.model() == LSLIDAR_CH32\n+ || config_.model() == LSLIDAR_CH128 || config_.model() == LSLIDAR_CH64) {\n+ current_time.tm_year = static_cast<uint16_t>(data[36] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[37] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[38]);\n+ current_time.tm_hour = static_cast<uint16_t>(data[39]);\n+ current_time.tm_min = static_cast<uint16_t>(data[40]);\n+ current_time.tm_sec = static_cast<uint16_t>(data[41]);\n+ } else if (config_.model() == LSLIDAR_CH64w) {\n+ current_time.tm_year = static_cast<uint16_t>(data[52] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[54]);\n+ if (data[44] == 0x00) { //gps授时\n+ time_service_mode = \"gps\";\n+ } else if (data[44] == 0x01) { //ptp授时\n+ time_service_mode = \"gptp\";\n+ }\n+ } else if (config_.model() == LSLIDAR_CH120) {\n+ current_time.tm_year = static_cast<uint16_t>(data[36] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[37] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[38]);\n+ } else if (config_.model() == LSLIDAR_CH128X1) {\n+ current_time.tm_year = static_cast<uint16_t>(data[52] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[54]);\n+ if (data[44] == 0x00) { //gps授时\n+ time_service_mode = \"gps\";\n+ } else if (data[44] == 0x01) { //ptp授时\n+ time_service_mode = \"gptp\";\n+ }\n+ } else if (config_.packet_size() == 1206 &&\n+ (config_.model() == LSLIDAR32P || config_.model() == LSLIDAR16P)) {\n+ current_time.tm_year = static_cast<uint16_t>(data[52] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[54]);\n+ current_time.tm_hour = static_cast<uint16_t>(data[55]);\n+ current_time.tm_min = static_cast<uint16_t>(data[56]);\n+ current_time.tm_sec = static_cast<uint16_t>(data[57]);\n+ }\n+ }\n+ }\n+ }\n+ }\n+\n+ LslidarDriver *LslidarDriverFactory::CreateDriver(const Config &config) {\n+ LslidarDriver *driver = nullptr;\n+ driver = new LslidarDriver(config);\n+ return driver;\n+ }\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/driver.h b/modules/drivers/lidar/lslidar/driver/driver.h\nnew file mode 100755\nindex 00000000000..3f72d6261bd\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/driver.h\n@@ -0,0 +1,96 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <memory>\n+#include <string>\n+#include <mutex>\n+#include <atomic>\n+#include \"modules/drivers/lidar/lslidar/driver/input.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ constexpr int BLOCKS_PER_PACKET = 12;\n+ constexpr int BLOCK_SIZE = 100;\n+\n+ static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;\n+ static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;\n+ static const int POINTS_PER_PACKET = 171 * 7; // ch系列\n+ static const int LS_POINTS_PER_PACKET_SINGLE_ECHO = 149 * 8; // LS 1550nm系列 单回波\n+ static const int LS_POINTS_PER_PACKET_DOUBLE_ECHO = 99 * 12; // LS 1550nm系列 单回波\n+\n+ class LslidarDriver\n+ {\n+ public:\n+ explicit LslidarDriver(const Config &config) : config_(config)\n+ {\n+ // scan_start = new LslidarPacket();\n+ }\n+ ~LslidarDriver();\n+\n+ bool Poll(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan);\n+ void Init();\n+ void difopPoll();\n+ void SetPacketRate(const double packet_rate) { packet_rate_ = packet_rate; }\n+ int npackets;\n+ struct tm current_time;\n+\n+ protected:\n+ Config config_;\n+ std::unique_ptr<Input> input_ = nullptr;\n+ std::unique_ptr<Input> positioning_input_ = nullptr;\n+ std::string topic_;\n+ double packet_rate_ = 0.0;\n+ bool scan_fill = false;\n+ uint64_t gps_time = 0;\n+ uint64_t last_gps_time = 0;\n+\n+ uint64_t basetime_ = 0;\n+ uint64_t packet_time_ns_ = 0;\n+\n+ uint32_t last_gps_time_ = 0;\n+ uint64_t last_count_ = 0;\n+ static uint64_t sync_counter;\n+\n+ std::thread difop_thread_;\n+ int PollStandard(std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan);\n+ LslidarPacket scan_start;\n+ LslidarPacket last_scan_start;\n+\n+ LslidarPacket scan_start1;\n+ LslidarPacket scan_start2;\n+ std::mutex mutex_;\n+ uint8_t bytes[FIRING_DATA_PACKET_SIZE] = {0x00};\n+ std::string time_service_mode = {\"gps\"};\n+ };\n+\n+ class LslidarDriverFactory\n+ {\n+ public:\n+ static LslidarDriver *CreateDriver(const Config &config);\n+ };\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/input.cc b/modules/drivers/lidar/lslidar/driver/input.cc\nnew file mode 100755\nindex 00000000000..4b286870357\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/input.cc\n@@ -0,0 +1,264 @@\n+/******************************************************************************\n+ * Copyright 2020 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/driver/input.h\"\n+#include <arpa/inet.h>\n+#include <fcntl.h>\n+#include <poll.h>\n+#include <sys/file.h>\n+#include <sys/socket.h>\n+#include <cerrno>\n+#include <cstring>\n+#include <sstream>\n+#include \"cyber/cyber.h\"\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ Input::Input(uint16_t port, std::string lidar_ip, int packet_size)\n+ {\n+ packet_size_ = packet_size;\n+ inet_aton(lidar_ip.c_str(), &devip_);\n+ }\n+\n+ int Input::GetPacket(LslidarPacket *pkt)\n+ {\n+ return 0;\n+ }\n+\n+ Input::~Input(void)\n+ {\n+ (void)close(sockfd_);\n+ }\n+\n+ InputSocket::InputSocket(uint16_t port, std::string lidar_ip, int packet_size) : Input(port, lidar_ip, packet_size)\n+ {\n+ port_ = port;\n+ sockfd_ = -1;\n+ sockfd_ = socket(PF_INET, SOCK_DGRAM, 0);\n+ if (-1 == sockfd_)\n+ {\n+ AERROR << \"socket open error\";\n+ return;\n+ }\n+\n+ inet_aton(lidar_ip.c_str(), &devip_);\n+ sockaddr_in myAddress; // my address information\n+ memset(&myAddress, 0, sizeof(myAddress)); // initialize to zeros\n+ myAddress.sin_family = AF_INET; // host byte order\n+ myAddress.sin_port = htons(port); // port in network byte order\n+ myAddress.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP\n+\n+ if (bind(sockfd_, reinterpret_cast<sockaddr *>(&myAddress),\n+ sizeof(sockaddr)) == -1)\n+ {\n+ AERROR << \"bind error, port:\" << port;\n+ return;\n+ }\n+\n+ if (fcntl(sockfd_, F_SETFL, O_NONBLOCK | FASYNC) < 0)\n+ {\n+ AERROR << \"fcntl error\";\n+ return;\n+ }\n+ }\n+\n+ InputSocket::~InputSocket(void)\n+ {\n+ (void)close(sockfd_);\n+ }\n+\n+ int InputSocket::GetPacket(LslidarPacket *pkt)\n+ {\n+ double time1 = apollo::cyber::Time().Now().ToSecond();\n+ struct pollfd fds[1];\n+ fds[0].fd = sockfd_;\n+ fds[0].events = POLLIN;\n+ static const int POLL_TIMEOUT = 3000; // one second (in msec)\n+\n+ sockaddr_in sender_address;\n+ socklen_t sender_address_len = sizeof(sender_address);\n+\n+ while (true)\n+ {\n+ // Receive packets that should now be available from the\n+ // socket using a blocking read.\n+ // poll() until input available\n+ do\n+ {\n+ int retval = poll(fds, 1, POLL_TIMEOUT);\n+ if (retval < 0) // poll() error?\n+ {\n+ if (errno != EINTR)\n+ AERROR << \"poll() error: \" << strerror(errno);\n+\n+ return 1;\n+ }\n+ if (retval == 0) // poll() timeout?\n+ {\n+ AERROR << \"lslidar poll() timeout, port: \" << port_;\n+ return 1;\n+ }\n+ if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) || (fds[0].revents & POLLNVAL)) // device error?\n+ {\n+ AWARN << \"poll() reports lslidar error\";\n+ return 1;\n+ }\n+ } while ((fds[0].revents & POLLIN) == 0);\n+\n+ uint8_t bytes[packet_size_];\n+ ssize_t nbytes = recvfrom(sockfd_, bytes, packet_size_, 0, (sockaddr *)&sender_address, &sender_address_len);\n+\n+ if (nbytes < 0)\n+ {\n+ if (errno != EWOULDBLOCK)\n+ {\n+ AERROR << \"recvfail\";\n+ return 1;\n+ }\n+ }\n+ else if ((size_t)nbytes == size_t(packet_size_))\n+ {\n+ if (sender_address.sin_addr.s_addr != devip_.s_addr)\n+ {\n+ AERROR << \"lidar IP parameter set error,please reset in config file\";\n+ continue;\n+ }\n+ else\n+ {\n+ pkt->set_data(bytes, packet_size_);\n+ break;\n+ }\n+ }\n+\n+ AERROR << \"incomplete lslidar packet read: \" << nbytes << \" bytes\";\n+ }\n+\n+ // Average the times at which we begin and end reading. Use that to\n+ // estimate when the scan occurred.\n+ double time2 = apollo::cyber::Time().Now().ToSecond();\n+ AINFO << apollo::cyber::Time((time2 + time1) / 2.0).ToNanosecond();\n+ return 0;\n+ }\n+\n+ InputPCAP::InputPCAP(uint16_t port, std::string lidar_ip, int packet_size, double packet_rate, std::string filename,\n+ bool read_once, bool read_fast, double repeat_delay)\n+ : Input(port, lidar_ip, packet_size), packet_rate_(packet_rate), filename_(filename)\n+ {\n+ pcap_ = NULL;\n+ empty_ = true;\n+ packet_rate_ = packet_rate;\n+ lidar_ip_ = lidar_ip;\n+ // get parameters using private node handle\n+ read_once_ = read_once;\n+ read_fast_ = read_fast;\n+ repeat_delay_ = repeat_delay;\n+\n+ if (read_once_)\n+ AINFO << \"Read input file only once.\";\n+ if (read_fast_)\n+ AINFO << \"Read input file as quickly as possible.\";\n+ if (repeat_delay_ > 0.0)\n+ AINFO << \"Delay %.3f seconds before repeating input file.\" << repeat_delay_;\n+\n+ // Open the PCAP dump file\n+ AERROR << \"Opening PCAP file \" << filename_;\n+ if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL)\n+ {\n+ AERROR << \"Error opening lslidar socket dump file.\";\n+ return;\n+ }\n+\n+ std::stringstream filter;\n+ if (lidar_ip != \"\") // using specific IP?\n+ {\n+ filter << \"src host \" << lidar_ip << \" && \";\n+ }\n+ filter << \"udp dst port \" << port;\n+ pcap_compile(pcap_, &pcap_packet_filter_, filter.str().c_str(), 1, PCAP_NETMASK_UNKNOWN);\n+ }\n+\n+ /** destructor */\n+ InputPCAP::~InputPCAP(void)\n+ {\n+ pcap_close(pcap_);\n+ }\n+\n+ /** @brief Get one lslidar packet. */\n+ int InputPCAP::GetPacket(LslidarPacket *pkt)\n+ {\n+ struct pcap_pkthdr *header;\n+ const u_char *pkt_data;\n+\n+ // while (flag == 1)\n+ while (!apollo::cyber::IsShutdown())\n+ {\n+ int res;\n+ if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0)\n+ {\n+ // Skip packets not for the correct port and from the\n+ // selected IP address.\n+ if (!lidar_ip_.empty() && (0 == pcap_offline_filter(&pcap_packet_filter_, header, pkt_data)))\n+ continue;\n+\n+ // Keep the reader from blowing through the file.\n+ if (read_fast_ == false)\n+ usleep(int(1000 * 1000 / packet_rate_ / 1.1));\n+\n+ uint8_t bytes[packet_size_];\n+ memcpy(bytes, pkt_data + 42, packet_size_);\n+ pkt->set_data(bytes, packet_size_);\n+ empty_ = false;\n+ return 0; // success\n+ }\n+\n+ if (empty_) // no data in file?\n+ {\n+ AINFO << \"Error \" << res << \" reading lslidar packet: \" << pcap_geterr(pcap_);\n+ return -1;\n+ }\n+\n+ if (read_once_)\n+ {\n+ AINFO << \"end of file reached -- done reading.\";\n+ return -1;\n+ }\n+\n+ if (repeat_delay_ > 0.0)\n+ {\n+ AINFO << \"end of file reached -- delaying\" << repeat_delay_ << \"seconds.\";\n+ usleep(rint(repeat_delay_ * 1000000.0));\n+ }\n+\n+ AINFO << \"replaying lslidar dump file\";\n+\n+ // I can't figure out how to rewind the file, because it\n+ // starts with some kind of header. So, close the file\n+ // and reopen it with pcap.\n+ pcap_close(pcap_);\n+ pcap_ = pcap_open_offline(filename_.c_str(), errbuf_);\n+ empty_ = true; // maybe the file disappeared?\n+ } // loop back and try again\n+ return 0;\n+ }\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/input.h b/modules/drivers/lidar/lslidar/driver/input.h\nnew file mode 100755\nindex 00000000000..e0c09a3686d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/input.h\n@@ -0,0 +1,97 @@\n+/******************************************************************************\n+ * Copyright 2020 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#ifndef LIDAR_LSLIDAR_SRC_INPUT_H_\n+#define LIDAR_LSLIDAR_SRC_INPUT_H_\n+\n+#include <cstdint>\n+#include <unistd.h>\n+#include <cstdio>\n+#include <memory>\n+#include <string>\n+#include \"cyber/cyber.h\"\n+\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+#include <pcap.h>\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ static const size_t FIRING_DATA_PACKET_SIZE = 1212;\n+ static uint16_t MSOP_DATA_PORT_NUMBER = 2368; // lslidar default data port on PC\n+\n+ class Input\n+ {\n+ public:\n+ Input(uint16_t portport = MSOP_DATA_PORT_NUMBER, std::string lidar_ip = \"192.168.1.200\", int packet_size = 1212);\n+ virtual ~Input();\n+ virtual int GetPacket(LslidarPacket *pkt);\n+\n+ protected:\n+ int port_;\n+ int sockfd_;\n+ uint64_t pointcloudTimeStamp;\n+ in_addr devip_;\n+ int packet_size_;\n+ };\n+\n+ /** @brief Live lslidar input from socket. */\n+ class InputSocket : public Input\n+ {\n+ public:\n+ InputSocket(uint16_t port = MSOP_DATA_PORT_NUMBER, std::string lidar_ip = \"192.168.1.200\", int packet_size = 1212);\n+\n+ virtual ~InputSocket();\n+\n+ virtual int GetPacket(LslidarPacket *pkt);\n+ };\n+\n+ /** @brief lslidar input from PCAP dump file.\n+ *\n+ * Dump files can be grabbed by libpcap\n+ */\n+ class InputPCAP : public Input\n+ {\n+ public:\n+ InputPCAP(uint16_t port = MSOP_DATA_PORT_NUMBER, std::string lidar_ip = \"192.168.1.200\", int packet_size = 1212, double packet_rate = 0.0,\n+ std::string filename = \"\", bool read_once = false, bool read_fast = false, double repeat_delay = 0.0);\n+\n+ virtual ~InputPCAP();\n+\n+ virtual int GetPacket(LslidarPacket *pkt);\n+\n+ private:\n+ double packet_rate_;\n+ std::string filename_;\n+ pcap_t *pcap_;\n+ bpf_program pcap_packet_filter_;\n+ char errbuf_[PCAP_ERRBUF_SIZE];\n+ bool empty_;\n+ bool read_once_;\n+ bool read_fast_;\n+ double repeat_delay_;\n+ std::string lidar_ip_;\n+ };\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\n+\n+#endif // SRC_INPUT_H_\ndiff --git a/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc\nnew file mode 100755\nindex 00000000000..3ee5cc0a6c4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc\n@@ -0,0 +1,96 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include <memory>\n+#include <string>\n+#include <thread>\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/common/util/message_util.h\"\n+#include \"modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\"\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ static void my_handler(int sig)\n+ {\n+ exit(-1);\n+ }\n+\n+ bool LslidarDriverComponent::Init()\n+ {\n+ signal(SIGINT, my_handler);\n+ AINFO << \"Lslidar driver component init\";\n+ Config lslidar_config;\n+ if (!GetProtoConfig(&lslidar_config))\n+ {\n+ return false;\n+ }\n+\n+ // start the driver\n+ writer_ = node_->CreateWriter<apollo::drivers::lslidar::LslidarScan>(lslidar_config.scan_channel());\n+ LslidarDriver *driver = LslidarDriverFactory::CreateDriver(lslidar_config);\n+ if (driver == nullptr)\n+ {\n+ return false;\n+ }\n+ dvr_.reset(driver);\n+ dvr_->Init();\n+ // spawn device poll thread\n+ runing_ = true;\n+ device_thread_ = std::shared_ptr<std::thread>(\n+ new std::thread(std::bind(&LslidarDriverComponent::device_poll, this)));\n+ device_thread_->detach();\n+\n+ return true;\n+ }\n+\n+ /** @brief Device poll thread main loop. */\n+ void LslidarDriverComponent::device_poll()\n+ {\n+ signal(SIGINT, my_handler);\n+ while (!apollo::cyber::IsShutdown())\n+ {\n+ // poll device until end of file\n+ std::shared_ptr<LslidarScan> scan = std::make_shared<apollo::drivers::lslidar::LslidarScan>();\n+\n+ bool ret = dvr_->Poll(scan);\n+ if (ret)\n+ {\n+ common::util::FillHeader(\"lslidar\", scan.get());\n+ AINFO << \"publish scan!\";\n+ double time1 = apollo::cyber::Time().Now().ToSecond();\n+ writer_->Write(scan);\n+ double time2 = apollo::cyber::Time().Now().ToSecond();\n+ AINFO << \"apollo::cyber::Time((time2 - time1)\" << apollo::cyber::Time((time2 - time1) / 2.0).ToNanosecond();\n+ }\n+ else\n+ {\n+ AWARN << \"device poll failed\";\n+ }\n+ }\n+\n+ AERROR << \"CompLslidarDriver thread exit\";\n+ runing_ = false;\n+ }\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\nnew file mode 100755\nindex 00000000000..c905bcdc657\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\n@@ -0,0 +1,60 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#pragma once\n+\n+#include <memory>\n+#include <string>\n+#include <thread>\n+\n+#include \"cyber/cyber.h\"\n+\n+#include \"modules/drivers/lidar/lslidar/driver/driver.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::cyber::Component;\n+using apollo::cyber::Reader;\n+using apollo::cyber::Writer;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+class LslidarDriverComponent : public Component<> {\n+ public:\n+ ~LslidarDriverComponent() {\n+ if (device_thread_->joinable()) {\n+ device_thread_->join();\n+ }\n+ }\n+ bool Init() override;\n+\n+ private:\n+\n+ void device_poll();\n+ volatile bool runing_; ///< device thread is running\n+ uint32_t seq_ = 0;\n+ std::shared_ptr<std::thread> device_thread_;\n+ std::shared_ptr<LslidarDriver> dvr_; ///< driver implementation class\n+ std::shared_ptr<apollo::cyber::Writer<apollo::drivers::lslidar::LslidarScan>> writer_;\n+};\n+\n+CYBER_REGISTER_COMPONENT(LslidarDriverComponent)\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16.launch b/modules/drivers/lidar/lslidar/launch/lslidar16.launch\nnew file mode 100644\nindex 00000000000..363bcca53e1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch\nnew file mode 100644\nindex 00000000000..8996d283f8e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_128X1</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch\nnew file mode 100644\nindex 00000000000..7e86ea49d0a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_32w</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch\nnew file mode 100644\nindex 00000000000..5b53b0d97c2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_64w</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch\nnew file mode 100644\nindex 00000000000..cd1618c49b0\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_64w_ch128X1</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch\nnew file mode 100644\nindex 00000000000..798e33fe6c6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch\nnew file mode 100644\nindex 00000000000..5272bcfef1a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar1v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar32.launch b/modules/drivers/lidar/lslidar/launch/lslidar32.launch\nnew file mode 100644\nindex 00000000000..3ab784f6422\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar32.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar32</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch\nnew file mode 100644\nindex 00000000000..f222f4bb5de\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar32v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar401.launch b/modules/drivers/lidar/lslidar/launch/lslidar401.launch\nnew file mode 100644\nindex 00000000000..002a736870a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar401.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar401</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch\nnew file mode 100644\nindex 00000000000..41300b7b66d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar8v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\nnew file mode 100644\nindex 00000000000..94200c526fd\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH120</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\nnew file mode 100644\nindex 00000000000..8d6eed0cf05\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH128</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\nnew file mode 100644\nindex 00000000000..b6d952ee5a6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH128X1</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\nnew file mode 100644\nindex 00000000000..3311d28a629\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH16</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\nnew file mode 100644\nindex 00000000000..268ffc9aa0d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH32</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\nnew file mode 100644\nindex 00000000000..45f85aa434c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH64</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\nnew file mode 100644\nindex 00000000000..e94b56a8df4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH64w</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch b/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch\nnew file mode 100644\nindex 00000000000..ff4d51c805a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarLS128S2</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml b/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\nnew file mode 100644\nindex 00000000000..bb6212576f2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\n@@ -0,0 +1,51 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0,\n+ vert_correction: -0.2617993877991494, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0,\n+ vert_correction: 0.017453292519943295, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0,\n+ vert_correction: -0.22689280275926285, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0,\n+ vert_correction: 0.05235987755982989, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0,\n+ vert_correction: -0.19198621771937624, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0,\n+ vert_correction: 0.08726646259971647, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0,\n+ vert_correction: -0.15707963267948966, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0,\n+ vert_correction: 0.12217304763960307, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0,\n+ vert_correction: -0.12217304763960307, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0,\n+ vert_correction: 0.15707963267948966, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0,\n+ vert_correction: -0.08726646259971647, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0,\n+ vert_correction: 0.19198621771937624, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0,\n+ vert_correction: -0.05235987755982989, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0,\n+ vert_correction: 0.22689280275926285, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0,\n+ vert_correction: -0.017453292519943295, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0,\n+ vert_correction: 0.2617993877991494, vert_offset_correction: 0.0}\n+num_lasers: 16\n+\ndiff --git a/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml b/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\nnew file mode 100644\nindex 00000000000..e3e5c67cc4d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\n@@ -0,0 +1,131 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.27925268031909273,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.26179938779914944,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.24434609527920614,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.22689280275926285,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20943951023931955,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.19198621771937625, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.17453292519943296,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.15707963267948966,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.13962634015954637,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.12217304763960307,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.10471975511965977,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08726646259971647,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06981317007977318,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.05235987755982989,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.03490658503988659,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01745329251994329,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.01745329251994329,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.03490658503988659,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.05235987755982989,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.06981317007977318,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.08726646259971647,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.10471975511965977,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.12217304763960307,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.13962634015954637,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.15707963267948966,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.17453292519943296,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.19198621771937625,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.20943951023931955,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.22689280275926285,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.24434609527920614,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.26179938779914944,\n+ vert_offset_correction: 0.0}\n+\n+num_lasers: 32\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\nnew file mode 100644\nindex 00000000000..6368b753f47\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\n@@ -0,0 +1,482 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.22689280276,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.22397810290916,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.22106340305832,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.21814870320748,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.21523400335664,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.2123193035058, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20940460365496,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.20648990380412,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20357520395328,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.20066050410244,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1977458042516,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.19483110440076,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.19191640454992,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.18900170469908,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.18608700484824,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.1831723049974,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.18025760514656,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.17734290529572,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.17442820544488,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.17151350559404,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1685988057432,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.16568410589236,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.16276940604152,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.15985470619068,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.15694000633984,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.154025306489,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.15111060663816,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.14819590678732,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.14528120693648,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.14236650708564,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1394518072348,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.13653710738396,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.13362240753312,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.13070770768228,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.12779300783144,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.1248783079806,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.12196360812976,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.11904890827892,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.11613420942808,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.11321950857724,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1103048087264,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.10739010887556,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.10447540902472,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.10156070917388,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.09864600932304,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0957313094722, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.09281660962136,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08990190977052,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.08698720991968,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08407251006884,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.081157810218,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.07824311036716,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.07532841051632,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.07241371066548,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06949901081464,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0665843109638,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06366961111296,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.06075491126212,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.05784021141128,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.05492551156044,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.0520108117096,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.04909611185876,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.04618141200792,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.04326671215708,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.04035201230624,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0374373124554,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.03452261260456,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.03160791275372,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.02869321290288,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.02577851305204,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.0228638132012,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01994911335036,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01703441349952,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.01411971364868,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01120501379784,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.008290313947,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.00537561409616,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.00246091424532,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.00045378560552,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.00336848545636,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0062831853072,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.00919788515804,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.01211258500888,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.01502728485972,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.01794198471056,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0208566845614, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.02377138441224,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.02668608426308,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.02960078411392,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.03251548396476,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0354301838156,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.03834488366644,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.04125958351728,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.04417428336812,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.04708898321896,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0500036830698,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.05291838292064,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.05583308277148,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.05874778262232,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.06166248247316,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.064577182324,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.06749188217484,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.07040658202568,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.07332128187652,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.07623598172736,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0791506815782,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.08206538142904,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.08498008127988,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.08789478113072,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09080948098156,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0937241808324,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09663888068324,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09955358053408,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.10246828038492,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.10538298023576,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.1082976800866,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.11121237993744,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.11412707978828,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.11704177963912,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.11995647948996,\n+ vert_offset_correction: 0.0}\n+num_lasers: 120\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\nnew file mode 100644\nindex 00000000000..582e9ad1d32\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\n@@ -0,0 +1,514 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 120, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 121, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 122, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 123, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 124, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 125, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 126, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 127, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 128\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\nnew file mode 100644\nindex 00000000000..582e9ad1d32\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\n@@ -0,0 +1,514 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 120, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 121, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 122, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 123, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 124, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 125, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 126, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 127, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 128\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\nnew file mode 100644\nindex 00000000000..840175a94f3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\n@@ -0,0 +1,67 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+\n+num_lasers: 16\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\nnew file mode 100644\nindex 00000000000..09c1edcbfa4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\n@@ -0,0 +1,131 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+\n+num_lasers: 32\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\nnew file mode 100644\nindex 00000000000..7de00b6b34e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\n@@ -0,0 +1,258 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 64\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\nnew file mode 100644\nindex 00000000000..7de00b6b34e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\n@@ -0,0 +1,258 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 64\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml b/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml\nnew file mode 100644\nindex 00000000000..13d47a8b672\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml\n@@ -0,0 +1,17 @@\n+header:\n+ seq: 0\n+ stamp:\n+ secs: 1598864145\n+ nsecs: 0\n+ frame_id: novatel\n+transform:\n+ rotation:\n+ x: -0.010\n+ y: -0.007\n+ z: 0.174\n+ w: 0.985\n+ translation:\n+ x: -0.521985649500604\n+ y: 0.6272410563007734\n+ z: 0.2723201225767891\n+child_frame_id: lslidar16\ndiff --git a/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml b/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml\nnew file mode 100644\nindex 00000000000..f846cfd6f41\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml\n@@ -0,0 +1,17 @@\n+header:\n+ seq: 0\n+ stamp:\n+ secs: 1598864145\n+ nsecs: 0\n+ frame_id: novatel\n+transform:\n+ rotation:\n+ x: 0.019\n+ y: -0.030\n+ z: -0.009\n+ w: 0.999\n+ translation:\n+ x: -0.221985649500604\n+ y: 0.6272410563007734\n+ z: 0.0723201225767891\n+child_frame_id: lslidar32\ndiff --git a/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml b/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml\nnew file mode 100644\nindex 00000000000..4fa21a5777e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml\n@@ -0,0 +1,17 @@\n+header:\n+ seq: 0\n+ stamp:\n+ secs: 1598864145\n+ nsecs: 0\n+ frame_id: novatel\n+transform:\n+ rotation:\n+ x: -0.03002220039113074\n+ y: -0.03153447400805393\n+ z: 0.4900925455685196\n+ w: 0.870582300079021\n+ translation:\n+ x: 0.5137241988598309\n+ y: 0.5743627411243659\n+ z: 0.3108987234285666\n+child_frame_id: lslidarCH64w\ndiff --git a/modules/drivers/lidar/lslidar/parser/BUILD b/modules/drivers/lidar/lslidar/parser/BUILD\nnew file mode 100644\nindex 00000000000..95ac1386d7f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/BUILD\n@@ -0,0 +1,68 @@\n+load(\"@rules_cc//cc:defs.bzl\", \"cc_binary\", \"cc_library\")\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\n+load(\"//tools/install:install.bzl\", \"install\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+\n+install(\n+ name = \"install\",\n+ library_dest = \"drivers/lib/lidar/lslidar/parser\",\n+ targets = [\n+ \":liblslidar_convert_component.so\",\n+ ],\n+)\n+\n+cc_binary(\n+ name = \"liblslidar_convert_component.so\",\n+ linkshared = True,\n+ linkstatic = True,\n+ deps = [\":lslidar_convert_component_lib\"],\n+)\n+\n+cc_library(\n+ name = \"lslidar_convert_component_lib\",\n+ srcs = [\"lslidar_convert_component.cc\"],\n+ hdrs = [\"lslidar_convert_component.h\"],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/drivers/lidar/lslidar/parser:convert\",\n+ ],\n+ alwayslink = True,\n+)\n+\n+cc_library(\n+ name = \"convert\",\n+ srcs = [\n+\t\"calibration.cc\",\n+ \"convert.cc\",\n+ \"lslidar16_parser.cc\",\n+\t\"lslidar32_parser.cc\",\n+\t\"lslidarCXV4_parser.cc\",\n+\t\"lslidarCH16_parser.cc\",\n+\t\"lslidarCH32_parser.cc\",\n+\t\"lslidarCH64_parser.cc\",\n+\t\"lslidarCH64w_parser.cc\",\n+\t\"lslidarCH120_parser.cc\",\n+\t\"lslidarCH128_parser.cc\",\n+\t\"lslidarCH128X1_parser.cc\",\n+\t\"lslidarLS128S2_parser.cc\",\n+ \"lslidar_parser.cc\",\n+ ],\n+ hdrs = [\n+\t\"calibration.h\",\n+ \"convert.h\",\n+ \"lslidar_parser.h\",\n+ ],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\n+ \"//modules/drivers/lidar/lslidar/proto:config_cc_proto\",\n+ \"//modules/drivers/lidar/lslidar/proto:lslidar_cc_proto\",\n+\t\"@com_github_jbeder_yaml_cpp//:yaml-cpp\",\n+ ],\n+)\n+\n+cpplint()\ndiff --git a/modules/drivers/lidar/lslidar/parser/calibration.cc b/modules/drivers/lidar/lslidar/parser/calibration.cc\nnew file mode 100644\nindex 00000000000..60f0c3c0398\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/calibration.cc\n@@ -0,0 +1,263 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/**\n+ * \\file calibration.cc\n+ * \\brief\n+ *\n+ * \\author Piyush Khandelwal (piyushk@cs.utexas.edu)\n+ * Copyright (C) 2012, Austin Robot Technology,\n+ * The University of Texas at Austin\n+ *\n+ * License: Modified BSD License\n+ *\n+ * $ Id: 02/14/2012 11:36:36 AM piyushk $\n+ */\n+\n+#include \"modules/drivers/lidar/lslidar/parser/calibration.h\"\n+\n+#include <cmath>\n+#include <fstream>\n+#include <iostream>\n+#include <limits>\n+#include <string>\n+#include <utility>\n+#include \"yaml-cpp/yaml.h\"\n+\n+namespace YAML\n+{\n+ // The >> operator disappeared in yaml-cpp 0.5, so this function is\n+ // added to provide support for code written under the yaml-cpp 0.3 API.\n+ template <typename T>\n+ void operator>>(const YAML::Node &node, T &i)\n+ {\n+ i = node.as<T>();\n+ }\n+} // namespace YAML\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ const char *NUM_LASERS = \"num_lasers\";\n+ const char *LASERS = \"lasers\";\n+ const char *LASER_ID = \"laser_id\";\n+ const char *ROT_CORRECTION = \"rot_correction\";\n+ const char *VERT_CORRECTION = \"vert_correction\";\n+ const char *DIST_CORRECTION = \"dist_correction\";\n+ const char *TWO_PT_CORRECTION_AVAILABLE = \"two_pt_correction_available\";\n+ const char *DIST_CORRECTION_X = \"dist_correction_x\";\n+ const char *DIST_CORRECTION_Y = \"dist_correction_y\";\n+ const char *VERT_OFFSET_CORRECTION = \"vert_offset_correction\";\n+ const char *HORIZ_OFFSET_CORRECTION = \"horiz_offset_correction\";\n+ const char *MAX_INTENSITY = \"max_intensity\";\n+ const char *MIN_INTENSITY = \"min_intensity\";\n+ const char *FOCAL_DISTANCE = \"focal_distance\";\n+ const char *FOCAL_SLOPE = \"focal_slope\";\n+\n+ void operator>>(const YAML::Node &node,\n+ std::pair<int, LaserCorrection> &correction)\n+ {\n+ node[LASER_ID] >> correction.first;\n+ node[ROT_CORRECTION] >> correction.second.rot_correction;\n+ node[VERT_CORRECTION] >> correction.second.vert_correction;\n+ node[DIST_CORRECTION] >> correction.second.dist_correction;\n+ node[DIST_CORRECTION_X] >> correction.second.dist_correction_x;\n+ node[DIST_CORRECTION_Y] >> correction.second.dist_correction_y;\n+ node[VERT_OFFSET_CORRECTION] >> correction.second.vert_offset_correction;\n+ if (node[HORIZ_OFFSET_CORRECTION])\n+ {\n+ node[HORIZ_OFFSET_CORRECTION] >> correction.second.horiz_offset_correction;\n+ }\n+ else\n+ {\n+ correction.second.horiz_offset_correction = 0.0;\n+ }\n+\n+ if (node[MAX_INTENSITY])\n+ {\n+ node[MAX_INTENSITY] >> correction.second.max_intensity;\n+ }\n+ else\n+ {\n+ correction.second.max_intensity = 255;\n+ }\n+\n+ if (node[MIN_INTENSITY])\n+ {\n+ node[MIN_INTENSITY] >> correction.second.min_intensity;\n+ }\n+ else\n+ {\n+ correction.second.min_intensity = 0;\n+ }\n+\n+ node[FOCAL_DISTANCE] >> correction.second.focal_distance;\n+ node[FOCAL_SLOPE] >> correction.second.focal_slope;\n+\n+ // Calculate cached values\n+ correction.second.cos_rot_correction = cosf(correction.second.rot_correction);\n+ correction.second.sin_rot_correction = sinf(correction.second.rot_correction);\n+ correction.second.cos_vert_correction =\n+ cosf(correction.second.vert_correction);\n+ correction.second.sin_vert_correction =\n+ sinf(correction.second.vert_correction);\n+ correction.second.focal_offset =\n+ 256.0f * static_cast<float>(std::pow(\n+ 1 - correction.second.focal_distance / 13100.0f, 2));\n+ correction.second.laser_ring = 0; // clear initially (set later)\n+ }\n+\n+ void operator>>(const YAML::Node &node, Calibration &calibration)\n+ {\n+ int num_lasers = 0;\n+ node[NUM_LASERS] >> num_lasers;\n+ const YAML::Node &lasers = node[LASERS];\n+ calibration.laser_corrections_.clear();\n+ calibration.num_lasers_ = num_lasers;\n+\n+ for (int i = 0; i < num_lasers; i++)\n+ {\n+ std::pair<int, LaserCorrection> correction;\n+ lasers[i] >> correction;\n+ calibration.laser_corrections_.insert(correction);\n+ }\n+\n+ // For each laser ring, find the next-smallest vertical angle.\n+ //\n+ // This implementation is simple, but not efficient. That is OK,\n+ // since it only runs while starting up.\n+ double next_angle = -std::numeric_limits<double>::infinity();\n+\n+ for (int ring = 0; ring < num_lasers; ++ring)\n+ {\n+ // find minimum remaining vertical offset correction\n+ double min_seen = std::numeric_limits<double>::infinity();\n+ int next_index = num_lasers;\n+\n+ for (int j = 0; j < num_lasers; ++j)\n+ {\n+ double angle = calibration.laser_corrections_[j].vert_correction;\n+\n+ if (next_angle < angle && angle < min_seen)\n+ {\n+ min_seen = angle;\n+ next_index = j;\n+ }\n+ }\n+\n+ if (next_index < num_lasers)\n+ { // anything found in this ring?\n+ // store this ring number with its corresponding laser number\n+ calibration.laser_corrections_[next_index].laser_ring = ring;\n+ next_angle = min_seen;\n+ }\n+ }\n+ }\n+\n+ YAML::Emitter &operator<<(YAML::Emitter &out,\n+ const std::pair<int, LaserCorrection> &correction)\n+ {\n+ out << YAML::BeginMap;\n+ out << YAML::Key << LASER_ID << YAML::Value << correction.first;\n+ out << YAML::Key << ROT_CORRECTION << YAML::Value\n+ << correction.second.rot_correction;\n+ out << YAML::Key << VERT_CORRECTION << YAML::Value\n+ << correction.second.vert_correction;\n+ out << YAML::Key << DIST_CORRECTION << YAML::Value\n+ << correction.second.dist_correction;\n+ out << YAML::Key << DIST_CORRECTION_X << YAML::Value\n+ << correction.second.dist_correction_x;\n+ out << YAML::Key << DIST_CORRECTION_Y << YAML::Value\n+ << correction.second.dist_correction_y;\n+ out << YAML::Key << VERT_OFFSET_CORRECTION << YAML::Value\n+ << correction.second.vert_offset_correction;\n+ out << YAML::Key << HORIZ_OFFSET_CORRECTION << YAML::Value\n+ << correction.second.horiz_offset_correction;\n+ out << YAML::Key << MAX_INTENSITY << YAML::Value\n+ << correction.second.max_intensity;\n+ out << YAML::Key << MIN_INTENSITY << YAML::Value\n+ << correction.second.min_intensity;\n+ out << YAML::Key << FOCAL_DISTANCE << YAML::Value\n+ << correction.second.focal_distance;\n+ out << YAML::Key << FOCAL_SLOPE << YAML::Value\n+ << correction.second.focal_slope;\n+ out << YAML::EndMap;\n+ return out;\n+ }\n+\n+ YAML::Emitter &operator<<(YAML::Emitter &out, const Calibration &calibration)\n+ {\n+ out << YAML::BeginMap;\n+ out << YAML::Key << NUM_LASERS << YAML::Value\n+ << calibration.laser_corrections_.size();\n+ out << YAML::Key << LASERS << YAML::Value << YAML::BeginSeq;\n+\n+ for (std::map<int, LaserCorrection>::const_iterator it =\n+ calibration.laser_corrections_.begin();\n+ it != calibration.laser_corrections_.end(); ++it)\n+ {\n+ out << *it;\n+ }\n+\n+ out << YAML::EndSeq;\n+ out << YAML::EndMap;\n+ return out;\n+ }\n+\n+ void Calibration::read(const std::string &calibration_file)\n+ {\n+ std::ifstream fin(calibration_file.c_str());\n+\n+ if (!fin.is_open())\n+ {\n+ initialized_ = false;\n+ return;\n+ }\n+\n+ initialized_ = true;\n+\n+ try\n+ {\n+ YAML::Node doc;\n+ fin.close();\n+ doc = YAML::LoadFile(calibration_file);\n+ doc >> *this;\n+ }\n+ catch (YAML::Exception &e)\n+ {\n+ std::cerr << \"YAML Exception: \" << e.what() << std::endl;\n+ initialized_ = false;\n+ }\n+\n+ fin.close();\n+ }\n+\n+ void Calibration::write(const std::string &calibration_file)\n+ {\n+ std::ofstream fout(calibration_file.c_str());\n+ YAML::Emitter out;\n+ out << *this;\n+ fout << out.c_str();\n+ fout.close();\n+ }\n+\n+ } // namespace velodyne\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/calibration.h b/modules/drivers/lidar/lslidar/parser/calibration.h\nnew file mode 100644\nindex 00000000000..8e1bd027651\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/calibration.h\n@@ -0,0 +1,82 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/**\n+ * \\file calibration.h\n+ *\n+ * \\author Piyush Khandelwal (piyushk@cs.utexas.edu)\n+ * Copyright (C) 2012, Austin Robot Technology, University of Texas at Austin\n+ *\n+ * License: Modified BSD License\n+ *\n+ * $ Id: 02/14/2012 11:25:34 AM piyushk $\n+ */\n+\n+#pragma once\n+\n+#include <map>\n+#include <string>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+/** \\brief correction values for a single laser**/\n+\n+struct LaserCorrection {\n+ /** parameters in db.xml */\n+ float rot_correction;\n+ float vert_correction;\n+ float dist_correction;\n+ float dist_correction_x;\n+ float dist_correction_y;\n+ float vert_offset_correction;\n+ float horiz_offset_correction;\n+ int max_intensity;\n+ int min_intensity;\n+ float focal_distance;\n+ float focal_slope;\n+ float focal_offset;\n+\n+ /** cached values calculated when the calibration file is read */\n+ float cos_rot_correction; ///< cached cosine of rot_correction\n+ float sin_rot_correction; ///< cached sine of rot_correction\n+ float cos_vert_correction; ///< cached cosine of vert_correction\n+ float sin_vert_correction; ///< cached sine of vert_correction\n+\n+ int laser_ring; ///< ring number for this laser\n+};\n+\n+/** \\brief Calibration class storing entire configuration for the Lslidar */\n+class Calibration {\n+ public:\n+ std::map<int, LaserCorrection> laser_corrections_;\n+ int num_lasers_;\n+ bool initialized_;\n+\n+ public:\n+ Calibration() : initialized_(false) {}\n+ explicit Calibration(const std::string& calibration_file) {\n+ read(calibration_file);\n+ }\n+\n+ void read(const std::string& calibration_file);\n+ void write(const std::string& calibration_file);\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/convert.cc b/modules/drivers/lidar/lslidar/parser/convert.cc\nnew file mode 100644\nindex 00000000000..015ebc32d1d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/convert.cc\n@@ -0,0 +1,59 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/convert.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+void Convert::init(const Config& lslidar_config) {\n+ config_ = lslidar_config;\n+ // we use Beijing time by default\n+\n+ AERROR << \"Convert::init\";\n+ parser_.reset(LslidarParserFactory::CreateParser(config_));\n+ if (parser_.get() == nullptr) {\n+ AFATAL << \"Create parser failed.\";\n+ return;\n+ }\n+ parser_->setup();\n+}\n+\n+/** @brief Callback for raw scan messages. */\n+void Convert::ConvertPacketsToPointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud> point_cloud) {\n+ \n+ AINFO_EVERY(100) << \"Converting scan msg seq \" << scan_msg->header().sequence_num();\n+ \n+ parser_->GeneratePointcloud(scan_msg, point_cloud);\n+ \n+ if (point_cloud == nullptr || point_cloud->point().empty()) {\n+ AERROR << \"point cloud has no point\";\n+ return;\n+ }\n+\n+ parser_->Order(point_cloud);\n+ point_cloud->set_is_dense(false);\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/convert.h b/modules/drivers/lidar/lslidar/parser/convert.h\nnew file mode 100644\nindex 00000000000..eeddaafa182\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/convert.h\n@@ -0,0 +1,59 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <memory>\n+#include <string>\n+\n+//#include \"modules/drivers/proto/pointcloud.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/pointcloud.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+// convert lslidar data to pointcloud and republish\n+class Convert {\n+ public:\n+ Convert() = default;\n+ virtual ~Convert() = default;\n+\n+ // init lslidar config struct from private_nh\n+ void init(const Config& lslidar_config);\n+\n+ // convert lslidar data to pointcloud and public\n+ void ConvertPacketsToPointcloud(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out);\n+\n+ private:\n+ // RawData class for converting data to point cloud\n+ std::unique_ptr<LslidarParser> parser_;\n+ std::string channel_pointcloud_;\n+\n+ /// configuration parameters, get config struct from lslidar_parser.h\n+ Config config_;\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc\nnew file mode 100644\nindex 00000000000..ccc31fb0a16\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc\n@@ -0,0 +1,387 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+float R1_ = 0.04376;\n+float R2_ = 0.010875;\n+\n+Lslidar16Parser::Lslidar16Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ need_two_pt_correction_ = false;\n+ config_vert_angle = false;\n+ previous_packet_time = 0;\n+\n+ if (2 == config_.degree_mode()) {\n+ for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {\n+ cos_scan_altitude_caliration[i] = std::cos(scan_altitude_original_2[i]);\n+ sin_scan_altitude_caliration[i] = std::sin(scan_altitude_original_2[i]);\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else if (1 == config_.degree_mode()) {\n+ for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {\n+ cos_scan_altitude_caliration[i] = std::cos(scan_altitude_original_1[i]);\n+ sin_scan_altitude_caliration[i] = std::sin(scan_altitude_original_1[i]);\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ }\n+\n+ for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {\n+ float rotation =\n+ ROTATION_RESOLUTION * static_cast<float>(rot_index * M_PI) / 180.0f;\n+ cos_azimuth_table[rot_index] = cosf(rotation);\n+ sin_azimuth_table[rot_index] = sinf(rotation);\n+ }\n+}\n+\n+void Lslidar16Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char *difop_ptr =\n+ (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+ uint8_t version_data = static_cast<uint8_t>(difop_ptr[1202]);\n+\n+ if (config_.config_vert()) {\n+ if (2 == version_data) {\n+ for (int i = 0; i < 16; i++) {\n+ uint16_t vert_angle = static_cast<uint16_t>(\n+ difop_ptr[234 + 2 * i] * 256 + difop_ptr[234 + 2 * i + 1]);\n+\n+ if (vert_angle > 32767) {\n+ vert_angle = vert_angle - 65535;\n+ }\n+\n+ scan_altitude[i] = ((float)vert_angle / 100.f) * DEG_TO_RAD;\n+ if (2 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_2[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else if (1 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_1[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ }\n+ config_vert_angle = true;\n+ }\n+ } else {\n+ for (int i = 0; i < 16; i++) {\n+ uint16_t vert_angle = static_cast<uint16_t>(\n+ difop_ptr[245 + 2 * i] * 256 + difop_ptr[245 + 2 * i + 1]);\n+\n+ if (vert_angle > 32767) {\n+ vert_angle = vert_angle - 65535;\n+ }\n+\n+ scan_altitude[i] = ((float)vert_angle / 100.f) * DEG_TO_RAD;\n+\n+ if (2 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_2[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else if (1 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_1[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ }\n+ config_vert_angle = true;\n+ }\n+ }\n+ }\n+\n+ size_t packets_size = scan_msg->firing_pkts_size();\n+ packet_number_ = packets_size;\n+ block_num = 0;\n+\n+ AERROR << \"packets_size:\" << packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"***************stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void Lslidar16Parser::Unpack(const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc,\n+ int packet_number) {\n+ float x, y, z;\n+ float azimuth = 0.0f;\n+ uint32_t intensity = 0;\n+ float azimuth_diff = 0.0f;\n+ float azimuth_corrected_f = 0.0f;\n+ int azimuth_corrected = 0;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+\n+ if (config_vert_angle) {\n+ for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {\n+ cos_scan_altitude_caliration[i] = std::cos(scan_altitude[i]);\n+ sin_scan_altitude_caliration[i] = std::sin(scan_altitude[i]);\n+ }\n+ config_vert_angle = false;\n+ }\n+ const raw_packet_t *raw = (const raw_packet_t *)pkt.data().c_str();\n+\n+ if (!config_.time_synchronization()) {\n+ \n+ packet_end_time = pkt.stamp();\n+ } else {\n+ packet_end_time = pkt.stamp();\n+ }\n+ current_packet_time = packet_end_time;\n+ int point_count = -1;\n+ for (int block = 0; block < BLOCKS_PER_PACKET; block++, block_num++) {\n+ if (UPPER_BANK != raw->blocks[block].header) break;\n+\n+ azimuth = static_cast<float>(256 * raw->blocks[block].rotation_2 +\n+ raw->blocks[block].rotation_1);\n+\n+ if (2 == config_.return_mode()) {\n+ if (block < (BLOCKS_PER_PACKET - 2)) // 12\n+ {\n+ int azi1, azi2;\n+ azi1 = 256 * raw->blocks[block + 2].rotation_2 +\n+ raw->blocks[block + 2].rotation_1;\n+ azi2 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ } else {\n+ int azi1, azi2;\n+ azi1 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azi2 = 256 * raw->blocks[block - 2].rotation_2 +\n+ raw->blocks[block - 2].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ }\n+ } else {\n+ if (block < (BLOCKS_PER_PACKET - 1)) // 12\n+ {\n+ int azi1, azi2;\n+ azi1 = 256 * raw->blocks[block + 1].rotation_2 +\n+ raw->blocks[block + 1].rotation_1;\n+ azi2 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ } else {\n+ int azi1, azi2;\n+ azi1 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azi2 = 256 * raw->blocks[block - 1].rotation_2 +\n+ raw->blocks[block - 1].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ }\n+ }\n+\n+ float cos_azimuth;\n+ float sin_azimuth;\n+\n+ for (int firing = 0, k = 0; firing < LSC16_FIRINGS_PER_BLOCK; ++firing) {\n+ for (int dsr = 0; dsr < LSC16_SCANS_PER_FIRING;\n+ ++dsr, k += RAW_SCAN_SIZE) {\n+ point_count++;\n+ LaserCorrection &corrections = calibration_.laser_corrections_[dsr];\n+\n+ /** correct for the laser rotation as a function of timing during the\n+ * firings **/\n+ azimuth_corrected_f =\n+ azimuth + azimuth_diff / (LSC16_SCANS_PER_FIRING * 2) *\n+ (LSC16_SCANS_PER_FIRING * firing + dsr);\n+\n+ azimuth_corrected =\n+ static_cast<int>(round(fmod(azimuth_corrected_f, 36000.0)));\n+\n+ cos_azimuth = cos_azimuth_table[azimuth_corrected];\n+ sin_azimuth = sin_azimuth_table[azimuth_corrected];\n+\n+ // distance\n+ union two_bytes tmp;\n+ tmp.bytes[0] = raw->blocks[block].data[k];\n+ tmp.bytes[1] = raw->blocks[block].data[k + 1];\n+ int distance = tmp.uint;\n+\n+ // read intensity\n+ intensity = raw->blocks[block].data[k + 2];\n+\n+ float distance2 =\n+ (distance * DISTANCE_RESOLUTION) * config_.distance_unit();\n+\n+ if (config_.calibration())\n+ distance2 = distance2 + corrections.dist_correction;\n+\n+ // The offset calibration\n+ float arg_horiz = (float)azimuth_corrected_f * ROTATION_RESOLUTION;\n+ arg_horiz = arg_horiz > 360 ? (arg_horiz - 360) : arg_horiz;\n+ float arg_horiz_orginal = (14.67 - arg_horiz) * M_PI / 180;\n+\n+ if (2 == config_.return_mode()) {\n+ // modify\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (SCANS_PER_PACKET - point_count - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (SCANS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+ \n+ } else {\n+ // modify\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (SCANS_PER_PACKET - point_count - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (SCANS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+ }\n+\n+ if ((azimuth_corrected < config_.scan_start_angle()) ||\n+ (azimuth_corrected > config_.scan_end_angle()))\n+ continue;\n+ if (packet_number == 0) {\n+ if (azimuth_corrected > 30000) {\n+ continue;\n+ }\n+ }\n+\n+ if (packet_number == packet_number_ - 1) {\n+ if (azimuth_corrected < 10000) {\n+ continue;\n+ }\n+ }\n+\n+ if (distance2 > config_.max_range() ||\n+ distance2 < config_.min_range()) {\n+ PointXYZIT *point = pc->add_point();\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ PointXYZIT *point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ \n+ point->set_intensity(intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords(distance2, corrections,\n+ static_cast<uint16_t>(azimuth_corrected), point);\n+\n+ } else {\n+ x = distance2 * cos_scan_altitude_caliration[dsr] * cos_azimuth +\n+ R1_ * cos(arg_horiz_orginal);\n+ y = -distance2 * cos_scan_altitude_caliration[dsr] * sin_azimuth +\n+ R1_ * sin(arg_horiz_orginal);\n+ z = distance2 * sin_scan_altitude_caliration[dsr] + 0.426 / 100.f;\n+\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() &&\n+ -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void Lslidar16Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 16;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_16[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc\nnew file mode 100644\nindex 00000000000..ef39a7b70c3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc\n@@ -0,0 +1,481 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\t\t\n+Lslidar32Parser::Lslidar32Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ adjust_angle = 0;\n+ adjust_angle_two = 0;\n+ adjust_angle_three = 0;\n+ adjust_angle_four = 0;\n+ read_difop_ = true;\n+ config_vert_angle = false;\n+ lslidar_type = 2;\n+}\n+\n+void Lslidar32Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ double scan_altitude_original_degree33[32];\n+ double scan_altitude_original_degree1[32];\t\t\n+ int startpos = 0;\n+ \n+ const unsigned char* difop_ptr = (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+ if (difop_ptr[0] == 0xa5 && difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 && difop_ptr[3] == 0x5a){\n+ if((difop_ptr[1202] >= 0x02 && difop_ptr[1203] >= 0x80) || difop_ptr[1202] == 0x03){\n+ lslidar_type = 3;\n+ startpos = 245;\n+ //Horizontal correction Angle\n+ adjust_angle = (difop_ptr[186]*256 + difop_ptr[187]); //Angle correction A1\n+ if(adjust_angle > 32767){\n+ adjust_angle = adjust_angle - 65535;\n+ }\n+ adjust_angle_two = (difop_ptr[190]*256 + difop_ptr[191]); //Angle correction A2\n+ if(adjust_angle_two > 32767){\n+ adjust_angle_two = adjust_angle_two - 65535;\n+ }\n+ adjust_angle_three = (difop_ptr[188]*256 + difop_ptr[189]); //Angle correction A3\n+ if(adjust_angle_three > 32767){\n+ adjust_angle_three = adjust_angle_three - 65535;\n+ }\n+ adjust_angle_four = (difop_ptr[192]*256 + difop_ptr[193]); //Angle correction A4\n+ if(adjust_angle_four > 32767){\n+ adjust_angle_four = adjust_angle_four - 65535;\n+ }\n+ memcpy(scan_altitude_original_degree1,scan_altitude_original_A3,32*8);\n+ memcpy(scan_altitude_original_degree33,scan_altitude_original_C3,32*8);\n+\n+ if(difop_ptr[185] == 0 || difop_ptr[185] == 1)\n+ {\n+ int return_mode = difop_ptr[185]+1;\n+ config_.set_return_mode(return_mode);\n+\n+ if(difop_ptr[1195] == 0x21 )\n+ config_.set_degree_mode(2);\n+ else\n+ config_.set_degree_mode(1);\n+\n+ config_.set_distance_unit(0.4f);\n+\n+ for(int i = 0; i < LSC32_SCANS_PER_FIRING; i++)\n+ {\n+ //均匀1度校准两列\n+ if(1 == config_.degree_mode()){\n+ cos_scan_altitude_caliration[i] = std::cos(static_cast<float>(scan_altitude_original_A3[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(static_cast<float>(scan_altitude_original_A3[i] * M_PI) / 180.0f);\n+ scan_altitude_A[i] = scan_altitude_original_A3[i];\n+ }\n+ //0.33度校准四列\n+ if(2 == config_.degree_mode()){\n+ cos_scan_altitude_caliration[i] = std::cos(static_cast<float>(scan_altitude_original_C3[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(static_cast<float>(scan_altitude_original_C3[i] * M_PI) / 180.0f);\n+ scan_altitude_C[i] = scan_altitude_original_C3[i];\n+ }\n+ }\n+ }\n+ }else{\n+ lslidar_type = 2;\n+ startpos = 882;\n+ //Horizontal correction Angle\n+ adjust_angle = (difop_ptr[34]*256 + difop_ptr[35]); /*Angle correction A1*/\n+ if(adjust_angle > 32767){\n+ adjust_angle = adjust_angle - 65535;\n+ }\n+ adjust_angle_two = (difop_ptr[42]*256 + difop_ptr[43]); /*Angle correction A2*/\n+ if(adjust_angle_two > 32767){\n+ adjust_angle_two = adjust_angle_two - 65535;\n+ }\n+ adjust_angle_three = (difop_ptr[66]*256 + difop_ptr[67]); /*Angle correction A3*/\n+ if(adjust_angle_three > 32767){\n+ adjust_angle_three = adjust_angle_three - 65535;\n+ }\n+ adjust_angle_four = (difop_ptr[68]*256 + difop_ptr[69]); /*Angle correction A4*/\n+ if(adjust_angle_four > 32767){\n+ adjust_angle_four = adjust_angle_four - 65535;\n+ }\n+ AWARN << \"Load config failed, config file\";\n+ //Vertical Angle Calibration for device package\n+ for(int i = 0; i < LSC32_SCANS_PER_FIRING; i++)\n+ {\n+ //均匀1度校准两列\n+ if(1 == config_.degree_mode()){\n+ cos_scan_altitude_caliration[i] = std::cos(static_cast<float>(scan_altitude_original_A[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(static_cast<float>(scan_altitude_original_A[i] * M_PI) / 180.0f);\n+ scan_altitude_A[i] = scan_altitude_original_A[i];\n+ }\n+ //0.33度校准四列\n+ if(2 == config_.degree_mode()){\n+ cos_scan_altitude_caliration[i] = std::cos(static_cast<float>(scan_altitude_original_C[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(static_cast<float>(scan_altitude_original_C[i] * M_PI) / 180.0f);\n+ scan_altitude_C[i] = scan_altitude_original_C[i];\n+ }\n+ }\n+ memcpy(scan_altitude_original_degree1,scan_altitude_original_A,32*8);\n+ memcpy(scan_altitude_original_degree33,scan_altitude_original_C,32*8);\n+ }\n+ }\n+ \n+\t//Vertical Angle parse\n+\tif(config_.config_vert()){\n+\t\tfor(int i = 0; i < LSC32_SCANS_PER_FIRING; i++){\n+\t\t uint8_t data1 = difop_ptr[startpos + 2*i];\n+\t\t uint8_t data2 = difop_ptr[startpos + 2*i+1];\n+\t\t int vert_angle = data1*256 + data2;\n+\t\t if(vert_angle > 32767){\n+\t\t\tvert_angle = vert_angle - 65535;\n+\t\t }\n+\t\t //均匀1度校准两列\n+\t\t if(1 == config_.degree_mode()){\n+\t\t\tscan_altitude_A[i] = (double)(vert_angle * ROTATION_RESOLUTION);\n+\t\t\tif(fabs(scan_altitude_original_degree1[i] - scan_altitude_A[i]) > 1.5){\n+\t\t\t scan_altitude_A[i] = scan_altitude_original_degree1[i];\n+\t\t\t}\n+\t\t\tconfig_vert_angle = true;\n+\t\t }\n+\t\t //0.33度校准四列\n+\t\t if(2 == config_.degree_mode()){\n+\t\t\tscan_altitude_C[i] = (double)(vert_angle * ROTATION_RESOLUTION);\n+\t\t\tif(fabs(scan_altitude_original_degree33[i] - scan_altitude_C[i]) > 1.5){\n+\t\t\t scan_altitude_C[i] = scan_altitude_original_degree33[i];\n+\t\t\t}\n+\t\t\tconfig_vert_angle = true;\n+\t\t }\n+\t\t}\n+\t}\n+\n+ size_t packets_size = scan_msg->firing_pkts_size();\n+ block_num = 0;\n+ packet_number_ = packets_size;\n+\n+ AINFO << \"packets_size :\" << packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg,i);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void Lslidar32Parser::Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc ,int packet_number) {\n+ float x, y, z;\n+ float azimuth = 0.0f;\n+ uint32_t intensity = 0;\t\t\t\t\t\t \n+ float azimuth_diff = 0.0f;\n+ float azimuth_corrected_f = 0.0f;\n+ float azimuth_corrected_offset_f = 0.0f;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+\n+\n+\tif (config_vert_angle) {\n+\t\tfor (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {\n+\t\t //均匀1度校准两列\n+\t\t if(1 == config_.degree_mode()){\n+\t\t\tcos_scan_altitude_caliration[i] = std::cos(static_cast<float>(scan_altitude_A[i] * M_PI) / 180.0f);\n+\t\t\tsin_scan_altitude_caliration[i] = std::sin(static_cast<float>(scan_altitude_A[i] * M_PI) / 180.0f);\n+\t\t }\n+\n+\t\t //0.33度校准四列\n+\t\t if(2 == config_.degree_mode()){\n+\t\t\tcos_scan_altitude_caliration[i] = std::cos(static_cast<float>(scan_altitude_C[i] * M_PI) / 180.0f);\n+\t\t\tsin_scan_altitude_caliration[i] = std::sin(static_cast<float>(scan_altitude_C[i] * M_PI) / 180.0f);\n+\t\t }\n+\t\t}\n+\t\tconfig_vert_angle = false;\n+\t}\n+\n+ const raw_packet_t* raw = (const raw_packet_t*)pkt.data().c_str();\n+ if (!config_.time_synchronization()){\n+ packet_end_time = pkt.stamp();\n+ }\n+ else{\n+ packet_end_time = pkt.stamp();\n+ }\n+ current_packet_time = packet_end_time;\n+\n+ int point_count=-1;\n+ for (int block = 0; block < BLOCKS_PER_PACKET; block++, block_num++) {\n+\tif (UPPER_BANK != raw->blocks[block].header) break;\n+ \n+\tazimuth =static_cast<float>(256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1);\n+ \n+\tif(2 == config_.return_mode()){\n+\t\tif (block < (BLOCKS_PER_PACKET - 2)) // 12\n+\t\t{\n+\t\t\tint azi1, azi2;\n+\t\t\tazi1 = 256 * raw->blocks[block + 2].rotation_2 + raw->blocks[block + 2].rotation_1;\n+\t\t\tazi2 = 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+\t\t\tazimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+\t\t} else {\n+\t\t\tint azi1, azi2;\n+\t\t\tazi1 = 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+\t\t\tazi2 = 256 * raw->blocks[block - 2].rotation_2 + raw->blocks[block - 2].rotation_1;\n+\t\t\tazimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+\t\t}\n+ azimuth_diff = azimuth_diff < 0 ? azimuth_diff + 36000 : azimuth_diff;\n+ azimuth_diff = azimuth_diff > 36000 ? azimuth_diff - 36000 : azimuth_diff;\n+\t} else {\n+\t\tif (block < (BLOCKS_PER_PACKET - 1)) // 12\n+\t\t{\n+\t\t\tint azi1, azi2;\n+\t\t\tazi1 = 256 * raw->blocks[block + 1].rotation_2 + raw->blocks[block + 1].rotation_1;\n+\t\t\tazi2 = 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+\t\t\tazimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+\t\t} else {\n+\t\t\tint azi1, azi2;\n+\t\t\tazi1 = 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+\t\t\tazi2 = 256 * raw->blocks[block - 1].rotation_2 + raw->blocks[block - 1].rotation_1;\n+\t\t\tazimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+\t\t}\n+ azimuth_diff = azimuth_diff < 0 ? azimuth_diff + 36000 : azimuth_diff;\n+ azimuth_diff = azimuth_diff > 36000 ? azimuth_diff - 36000 : azimuth_diff;\n+\t}\n+\t\t\t\n+ for (int firing = 0, k = 0; firing < LSC32_FIRINGS_PER_BLOCK; ++firing) {\n+ for (int dsr = 0; dsr < LSC32_SCANS_PER_FIRING; ++dsr, k += RAW_SCAN_SIZE) {\n+ point_count++;\n+ /** correct for the laser rotation as a function of timing during the firings **/\n+ LaserCorrection& corrections = calibration_.laser_corrections_[dsr];\n+ \n+ azimuth_corrected_f = azimuth + azimuth_diff / LSC32_SCANS_PER_FIRING * dsr;\t\t\t \n+ azimuth_corrected_f = azimuth_corrected_f < 0 ? azimuth_corrected_f + 36000 : azimuth_corrected_f;\n+ azimuth_corrected_f = azimuth_corrected_f >36000 ? azimuth_corrected_f - 36000 : azimuth_corrected_f;\n+ \n+ //distance\n+ union two_bytes tmp;\n+ tmp.bytes[0] = raw->blocks[block].data[k];\n+ tmp.bytes[1] = raw->blocks[block].data[k + 1];\n+ int distance = tmp.uint;\n+\n+ //read intensity\n+ intensity = raw->blocks[block].data[k + 2];\n+ \n+ float distance2 = (distance * DISTANCE_RESOLUTION) * config_.distance_unit();\n+ \n+ if (config_.calibration()) \n+ distance2 = distance2 + corrections.dist_correction;\n+\n+ if (2 == config_.return_mode()){\n+ if (previous_packet_time >1e-6) {\n+ point_time = current_packet_time - (SCANS_PER_PACKET - point_count - 1) * (current_packet_time - previous_packet_time)/(SCANS_PER_PACKET);\n+ } else { //fist packet\n+ point_time = current_packet_time;\n+ }\n+\n+ } else {\n+ if(previous_packet_time >1e-6) {\n+ point_time = current_packet_time - (SCANS_PER_PACKET - point_count - 1) * (current_packet_time - previous_packet_time)/(SCANS_PER_PACKET);\n+ } else{ //fist packet\n+ point_time = current_packet_time;\n+ }\n+ }\n+ \n+ if (distance2 > config_.max_range() || distance2 < config_.min_range()) {\n+ PointXYZIT* point = pc->add_point();\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ //均匀1度校准两列\n+ if(1 == config_.degree_mode())\n+ {\n+ double adjust_diff = adjust_angle_two - adjust_angle;\n+ if(adjust_diff > 300 && adjust_diff < 460){\n+ //v2.7 calibrtation\n+ if(lslidar_type == 3)\n+ {\n+ if(1 >= dsr % 4){\n+ azimuth_corrected_f += adjust_angle_two;\n+ }else{\n+ azimuth_corrected_f += adjust_angle;\n+ }\n+ }else{\n+ if(0 == dsr % 2){\n+ azimuth_corrected_f += adjust_angle_two;\n+ }else{\n+ azimuth_corrected_f += adjust_angle;\n+ }\n+ }\n+ }else{\n+ //v2.6 calibrtation\n+ if(0 == dsr % 2){\n+ azimuth_corrected_f += adjust_angle;\n+ }else{\n+ azimuth_corrected_f -= adjust_angle;\n+ }\n+ }\n+ }\n+\n+ //0.33度校准四列\n+ if(2 == config_.degree_mode())\n+ {\n+ double adjust_diff_one = adjust_angle_two - adjust_angle;\n+ double adjust_diff_two = adjust_angle_four - adjust_angle_three;\n+ if(lslidar_type == 3)\n+ {\n+ //v3.0 calibrtation\n+ if(0 == dsr || 1 == dsr || 4 == dsr || 8 == dsr || 9 == dsr || 12 == dsr || 16 == dsr || 17 == dsr || 21 == dsr || 24 == dsr || 25 == dsr || 29 == dsr)\n+ azimuth_corrected_f += adjust_angle_four; //A4\n+\n+ if(2 == dsr || 3 == dsr || 6 == dsr || 10 == dsr || 11 == dsr || 14 == dsr || 18 == dsr || 19 == dsr || 23 == dsr || 26 == dsr || 27 == dsr || 31 == dsr)\n+ azimuth_corrected_f += adjust_angle_three; //A3\n+\n+ if(5== dsr || 13 == dsr || 20 == dsr || 28 == dsr)\n+ azimuth_corrected_f += adjust_angle_two; //A2\n+\n+ if(7 == dsr || 15 == dsr || 22 == dsr || 30 == dsr)\n+ azimuth_corrected_f += adjust_angle; //A1\n+ }\n+ else if(adjust_diff_one > 500 && adjust_diff_one < 660 && adjust_diff_two > 150 && adjust_diff_two < 350)\n+ {\n+ //v2.7 calibrtation\n+ if(10 == dsr || 14 == dsr || 18 == dsr || 22 == dsr)\n+ azimuth_corrected_f += adjust_angle_four; //A4\n+\n+ if(11 == dsr || 15 == dsr || 19 == dsr || 23 == dsr)\n+ azimuth_corrected_f += adjust_angle_three; //A3\n+\n+ if(0 == dsr || 2 == dsr || 4 == dsr || 6 == dsr || 8 == dsr || 12 == dsr || 16 == dsr || 20 == dsr || 24 == dsr || 26 == dsr || 28 == dsr || 30 == dsr)\n+ azimuth_corrected_f += adjust_angle_two; //A2\n+\n+ if(1 == dsr || 3 == dsr || 5 == dsr || 7 == dsr || 9 == dsr || 13 == dsr || 17 == dsr || 21 == dsr || 25 == dsr || 27 == dsr || 29 == dsr || 31 == dsr)\n+ azimuth_corrected_f += adjust_angle; //A1\n+ }else{\n+ //v2.6 calibrtation\n+ if(10 == dsr || 14 == dsr || 18 == dsr || 22 == dsr)\n+ azimuth_corrected_f += adjust_angle;\n+\n+ if(11 == dsr || 15 == dsr || 19 == dsr || 23 == dsr)\n+ azimuth_corrected_f -= adjust_angle;\n+\n+ if(0 == dsr || 2 == dsr || 4 == dsr || 6 == dsr || 8 == dsr || 12 == dsr || 16 == dsr || 20 == dsr || 24 == dsr || 26 == dsr || 28 == dsr || 30 == dsr)\n+ azimuth_corrected_f += adjust_angle_two;\n+\n+ if(1 == dsr || 3 == dsr || 5 == dsr || 7 == dsr || 9 == dsr || 13 == dsr || 17 == dsr || 21 == dsr || 25 == dsr || 27 == dsr || 29 == dsr || 31 == dsr)\n+ azimuth_corrected_f -= adjust_angle_two;\n+ }\n+ }\n+\n+ azimuth_corrected_f = azimuth_corrected_f < 0 ? azimuth_corrected_f + 36000 : azimuth_corrected_f;\n+ azimuth_corrected_f = azimuth_corrected_f >36000 ? azimuth_corrected_f - 36000 : azimuth_corrected_f;\n+\n+ if ((azimuth_corrected_f < config_.scan_start_angle()) || (azimuth_corrected_f > config_.scan_end_angle())) continue;\n+ if (packet_number == 0) {\n+ if (azimuth_corrected_f > 30000) {\n+ continue;\n+ }\n+ }\n+\n+ if (packet_number == packet_number_ - 1) {\n+ if (azimuth_corrected_f < 10000) {\n+ continue;\n+ }\n+ }\n+\n+ //以结构为中心\n+ float rotation_azimuth = ROTATION_RESOLUTION * static_cast<float>(azimuth_corrected_f * M_PI) / 180.0f;\n+ azimuth_corrected_offset_f = azimuth_corrected_f*ROTATION_RESOLUTION - LSC32_AZIMUTH_TOFFSET;\n+ float rotation_azimuth_offset = static_cast<float>(azimuth_corrected_offset_f * M_PI) / 180.0f;\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(intensity);\n+ point->set_intensity(intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords(distance2, corrections,\n+ static_cast<uint16_t>(azimuth_corrected_f), point);\n+ }else{\n+ x = distance2 * cos_scan_altitude_caliration[dsr] * cosf(rotation_azimuth) + (LSC32_DISTANCE_TOFFSET * cosf(rotation_azimuth_offset)) * DISTANCE_RESOLUTION;\n+ y = -(distance2 * cos_scan_altitude_caliration[dsr] * sinf(rotation_azimuth) + (LSC32_DISTANCE_TOFFSET * sinf(rotation_azimuth_offset)) * DISTANCE_RESOLUTION);\n+ z = distance2 * sin_scan_altitude_caliration[dsr];\n+\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void Lslidar32Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 32;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc\nnew file mode 100644\nindex 00000000000..eb3f1047d8a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc\n@@ -0,0 +1,141 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\t\t\n+LslidarCH120Parser::LslidarCH120Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+\tlast_packet_time = 0;\n+}\n+\n+void LslidarCH120Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH120Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+\tdouble z_cos_altitude = 0.0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+ time_last = 0;\n+ \n+ packet_end_time = pkt.stamp();\n+\n+ for (int point_idx1 = 0; point_idx1 < POINTS_PER_PACKET; point_idx1++) \n+ {\n+\t firings[point_idx1].vertical_line=raw->points[point_idx1].vertical_line;\n+\t two_bytes point_amuzith;\n+\t point_amuzith.bytes[0] = raw->points[point_idx1].azimuth_2;\n+\t point_amuzith.bytes[1] = raw->points[point_idx1].azimuth_1;\n+\t firings[point_idx1].azimuth=static_cast<double>(point_amuzith.uint*0.01*DEG_TO_RAD);\n+\t four_bytes point_distance;\n+\t point_distance.bytes[0] = raw->points[point_idx1].distance_3;\n+\t point_distance.bytes[1] = raw->points[point_idx1].distance_2;\n+\t point_distance.bytes[2] = raw->points[point_idx1].distance_1;\n+\t point_distance.bytes[3] = 0;\n+\t firings[point_idx1].distance=static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2; \n+\t firings[point_idx1].intensity=raw->points[point_idx1].intensity; \n+ } \n+\n+\tfor (int point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+\t{\n+\t\tLaserCorrection& corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\t\t\n+\t\tif (config_.calibration()) \n+\t\t\tfirings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+\t\t\tcontinue;\n+\n+\t\tz_sin_altitude = sin((-13 + 0.167 * firings[point_idx].vertical_line)*DEG_TO_RAD);\n+\t\tz_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+\t\tx = firings[point_idx].distance * z_cos_altitude * cos(firings[point_idx].azimuth);\n+\t\ty = firings[point_idx].distance * z_cos_altitude * sin(firings[point_idx].azimuth);\n+\t\tz = firings[point_idx].distance * z_sin_altitude;\n+\n+\t\t// Compute the time of the point\n+\t\tuint64_t point_time = packet_end_time - 1282*(POINTS_PER_PACKET - point_idx - 1);\n+\t\tif(time_last < point_time && time_last > 0){\n+\t\t point_time = time_last + 1282;\n+\t\t}\n+\t\ttime_last = point_time;\n+\t\t\n+\t\tPointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+\t\tpoint->set_intensity(firings[point_idx].intensity);\n+\t\n+\t\tif (config_.calibration()) {\n+\t\t\t\n+\t\t\tComputeCoords2(firings[point_idx].vertical_line, CH120, firings[point_idx].distance, corrections,\n+\t\t\t\tfirings[point_idx].azimuth, point);\n+\n+\t\t} else {\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+\t\t }\n+\t}\n+}\n+\n+void LslidarCH120Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc\nnew file mode 100644\nindex 00000000000..1a6636bd1d2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc\n@@ -0,0 +1,194 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\t\t\n+LslidarCH128X1Parser::LslidarCH128X1Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ \n+}\n+\n+void LslidarCH128X1Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+ \n+ const unsigned char* difop_ptr = (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+ \n+ two_bytes angle_1, angle_2, angle_3, angle_4;\n+ angle_1.bytes[0] = difop_ptr[243];\n+ angle_1.bytes[1] = difop_ptr[242];\n+ prism_angle[0] = angle_1.uint * 0.01;\n+ \n+ angle_2.bytes[0] = difop_ptr[245];\n+ angle_2.bytes[1] = difop_ptr[244];\n+ prism_angle[1] = angle_2.uint * 0.01;\n+ \n+ angle_3.bytes[0] = difop_ptr[247];\n+ angle_3.bytes[1] = difop_ptr[246];\n+ prism_angle[2] = angle_3.uint * 0.01;\n+ \n+ angle_4.bytes[0] = difop_ptr[249];\n+ angle_4.bytes[1] = difop_ptr[248];\n+ prism_angle[3] = angle_4.uint * 0.01;\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ AINFO << \"packets_size :\" << packets_size;\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH128X1Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+\tfloat x, y, z;\n+\tuint64_t point_time;\n+\tuint64_t packet_end_time;\n+\tdouble z_sin_altitude = 0.0;\n+\tdouble z_cos_altitude = 0.0;\n+\tdouble sinTheta_1[128] = {0};\n+\tdouble cosTheta_1[128] = {0};\n+\tdouble sinTheta_2[128] = {0};\n+\tdouble cosTheta_2[128] = {0};\n+\t\n+\tfor (int i = 0; i < 128; i++) {\n+\t\tsinTheta_1[i] = sin(big_angle[i / 4] * M_PI / 180);\n+\t\tcosTheta_1[i] = cos(big_angle[i / 4] * M_PI / 180);\n+\t\t\n+\t\tif(abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 && abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6)\n+\t\t{\n+\t\t sinTheta_2[i] = sin((i % 4) * (-0.17) * M_PI / 180);\n+\t\t cosTheta_2[i] = cos((i % 4) * (-0.17) * M_PI / 180);\n+\t }else{\n+\t\t sinTheta_2[i] = sin(prism_angle[i % 4] * M_PI / 180);\n+\t\t cosTheta_2[i] = cos(prism_angle[i % 4] * M_PI / 180);\n+\t }\n+\t}\n+\t\t\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+ current_packet_time = packet_end_time;\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+ {\n+\t firings[point_idx].vertical_line=raw->points[point_idx].vertical_line;\n+\t two_bytes point_amuzith;\n+\t point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+\t point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+\t firings[point_idx].azimuth=static_cast<double>(point_amuzith.uint)*0.01*DEG_TO_RAD;\n+\t four_bytes point_distance;\n+\t point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+\t point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+\t point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+\t point_distance.bytes[3] = 0;\n+\t firings[point_idx].distance=static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2; \n+\t firings[point_idx].intensity=raw->points[point_idx].intensity; \n+ } \n+ \n+\tfor (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+\t{\n+\t\tLaserCorrection& corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\t\t\n+\t\tif (config_.calibration()) \n+\t\t\tfirings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\t\t\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+\t\t\tcontinue;\n+\n+\t\tdouble _R_ = cosTheta_2[firings[point_idx].vertical_line] * cosTheta_1[firings[point_idx].vertical_line] *\n+ cos(firings[point_idx].azimuth / 2.0) -\n+ sinTheta_2[firings[point_idx].vertical_line] * sinTheta_1[firings[point_idx].vertical_line];\n+\n+\t\tz_sin_altitude = sinTheta_1[firings[point_idx].vertical_line] +\n+\t\t\t\t\t\t 2 * _R_ * sinTheta_2[firings[point_idx].vertical_line];\n+\n+\t\tz_cos_altitude = sqrt(1 - pow(z_sin_altitude, 2));\n+\t\tx = firings[point_idx].distance * z_cos_altitude * cos(firings[point_idx].azimuth);\n+\t\ty = firings[point_idx].distance * z_cos_altitude * sin(firings[point_idx].azimuth);\n+\t\tz = firings[point_idx].distance * z_sin_altitude;\n+\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) return;\n+\n+\t\t// Compute the time of the point\n+ // modify\n+ if(previous_packet_time >1e-6) {\n+ point_time = current_packet_time - (POINTS_PER_PACKET - point_idx - 1) * (current_packet_time - previous_packet_time)/(POINTS_PER_PACKET);\n+ } else{ //fist packet\n+ point_time = current_packet_time;\n+ }\n+\t\t\n+\t\tPointXYZIT* point = pc->add_point();\n+\t\tpoint->set_timestamp(point_time);\n+\t\tpoint->set_intensity(firings[point_idx].intensity);\n+\t\t\n+\t\tif (config_.calibration()) {\n+\t\t\t\n+\t\t\tComputeCoords2(firings[point_idx].vertical_line, CH128X1, firings[point_idx].distance, corrections,\n+\t\t\t\t firings[point_idx].azimuth, point);\n+\n+\t\t} else {\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+\t\t }\n+\t}\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void LslidarCH128X1Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc\nnew file mode 100644\nindex 00000000000..70360866147\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc\n@@ -0,0 +1,197 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ LslidarCH128Parser::LslidarCH128Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0)\n+ {\n+ last_packet_time = 0;\n+ }\n+\n+ void LslidarCH128Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg)\n+ {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char *difop_ptr = (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+\n+ two_bytes angle_1, angle_2, angle_3, angle_4;\n+ angle_1.bytes[0] = difop_ptr[87];\n+ angle_1.bytes[1] = difop_ptr[86];\n+ prism_angle128[0] = angle_1.uint * 0.01;\n+\n+ angle_2.bytes[0] = difop_ptr[89];\n+ angle_2.bytes[1] = difop_ptr[88];\n+ prism_angle128[1] = angle_2.uint * 0.01;\n+\n+ angle_3.bytes[0] = difop_ptr[91];\n+ angle_3.bytes[1] = difop_ptr[90];\n+ prism_angle128[2] = angle_3.uint * 0.01;\n+\n+ angle_4.bytes[0] = difop_ptr[93];\n+ angle_4.bytes[1] = difop_ptr[92];\n+ prism_angle128[3] = angle_4.uint * 0.01;\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i)\n+ {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty())\n+ {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+ }\n+\n+ /** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+ void LslidarCH128Parser::Unpack(int num, const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc)\n+ {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ double cos_azimuth_half = 0.0;\n+ const RawPacket *raw = (const RawPacket *)pkt.data().c_str();\n+ time_last = 0;\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (int i = 0; i < 128; i++)\n+ {\n+ if (abs(prism_angle128[0]) < 1e-6 && abs(prism_angle128[1]) < 1e-6 && abs(prism_angle128[2]) < 1e-6 &&\n+ abs(prism_angle128[3]) < 1e-6)\n+ {\n+ sinTheta_2[i] = sin_scan_mirror_altitude_ch128[i % 4];\n+ }\n+ else\n+ {\n+ sinTheta_2[i] = std::sin(prism_angle128[i % 4] * M_PI / 180);\n+ }\n+ }\n+ for (int point_idx1 = 0; point_idx1 < POINTS_PER_PACKET; point_idx1++)\n+ {\n+ firings[point_idx1].vertical_line = raw->points[point_idx1].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx1].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx1].azimuth_1;\n+ firings[point_idx1].azimuth = static_cast<double>(point_amuzith.uint * 0.01 * DEG_TO_RAD);\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx1].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx1].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx1].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx1].distance = static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx1].intensity = raw->points[point_idx1].intensity;\n+ }\n+\n+ for (int point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++)\n+ {\n+ LaserCorrection &corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ if (firings[point_idx].vertical_line / 4 % 2 == 0)\n+ {\n+ cos_azimuth_half = sin((firings[point_idx].azimuth - 15 * DEG_TO_RAD) * 0.5);\n+ }\n+ else\n+ {\n+ cos_azimuth_half = cos((firings[point_idx].azimuth + 15 * DEG_TO_RAD) * 0.5);\n+ }\n+\n+ z_sin_altitude = sin_scan_laser_altitude_ch128[firings[point_idx].vertical_line / 4] +\n+ 2 * cos_azimuth_half * sinTheta_2[firings[point_idx].vertical_line];\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+ x = firings[point_idx].distance * z_cos_altitude * cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude * sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ uint64_t point_time = packet_end_time - 1562.5 * ((POINTS_PER_PACKET - point_idx) / 7 - 1);\n+ if (time_last < point_time && time_last > 0)\n+ {\n+ point_time = time_last + 1562.5;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT *point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration())\n+ {\n+\n+ ComputeCoords2(firings[point_idx].vertical_line, CH128, firings[point_idx].distance, corrections,\n+ firings[point_idx].azimuth, point);\n+ }\n+ else\n+ {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y()))\n+ {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }\n+ else\n+ {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ }\n+\n+ void LslidarCH128Parser::Order(std::shared_ptr<PointCloud> cloud)\n+ {\n+ }\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc\nnew file mode 100644\nindex 00000000000..bd228d55f3f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc\n@@ -0,0 +1,190 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\t\t\n+LslidarCH16Parser::LslidarCH16Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ \n+}\n+\n+void LslidarCH16Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char* difop_ptr = (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+ \n+ two_bytes angle_1, angle_2, angle_3, angle_4;\n+ angle_1.bytes[0] = difop_ptr[663];\n+ angle_1.bytes[1] = difop_ptr[662];\n+ prism_angle[0] = angle_1.uint * 0.01;\n+ \n+ angle_2.bytes[0] = difop_ptr[665];\n+ angle_2.bytes[1] = difop_ptr[664];\n+ prism_angle[1] = angle_2.uint * 0.01;\n+ \n+ angle_3.bytes[0] = difop_ptr[667];\n+ angle_3.bytes[1] = difop_ptr[666];\n+ prism_angle[2] = angle_3.uint * 0.01;\n+ \n+ angle_4.bytes[0] = difop_ptr[669];\n+ angle_4.bytes[1] = difop_ptr[668];\n+ prism_angle[3] = angle_4.uint * 0.01;\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH16Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ time_last = 0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+ \n+ packet_end_time = pkt.stamp();\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+ {\n+\t firings[point_idx].vertical_line=raw->points[point_idx].vertical_line;\n+\t two_bytes point_amuzith;\n+\t point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+\t point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+\t firings[point_idx].azimuth=static_cast<double>(point_amuzith.uint)*0.01*DEG_TO_RAD;\n+\t four_bytes point_distance;\n+\t point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+\t point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+\t point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+\t point_distance.bytes[3] = 0;\n+\t firings[point_idx].distance=static_cast<double>(point_distance.uint) / 256.0 * DISTANCE_RESOLUTION; \n+\t firings[point_idx].intensity=raw->points[point_idx].intensity; \n+ } \n+ \n+\tfor (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+\t{\n+\t\tLaserCorrection& corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\t\t\n+\t\tif (config_.calibration()) \n+\t\t\tfirings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\t\t\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+\t\t\tcontinue;\n+\t\t\n+\t\t// Convert the point to xyz coordinate\n+\t\tdouble cos_azimuth_half=cos(firings[point_idx].azimuth*0.5);\n+\t\t\n+\t\tif(abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&\n+\t\tabs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6 ){\n+\t\t\tz_sin_altitude = sin_scan_laser_altitude[firings[point_idx].vertical_line / 4 + 2] +\n+\t\t\t\t\t\t\t 2 * cos_azimuth_half * sin_scan_mirror_altitude[firings[point_idx].vertical_line % 4];\n+\t\t}else{\n+\t\t\tz_sin_altitude = sin_scan_laser_altitude[firings[point_idx].vertical_line / 4 + 2] +\n+\t\t\t\t\t\t\t 2 * cos_azimuth_half * sin(prism_angle[firings[point_idx].vertical_line % 4] * M_PI / 180);\n+\t\t}\n+\t\t\t\n+\t\tz_cos_altitude=sqrt(1-z_sin_altitude*z_sin_altitude);\n+\t\t\n+\t\tx = firings[point_idx].distance *z_cos_altitude * cos(firings[point_idx].azimuth);\n+\t\ty = firings[point_idx].distance *z_cos_altitude * sin(firings[point_idx].azimuth);\n+\t\tz = firings[point_idx].distance *z_sin_altitude;\n+\t\t\n+\t\t// Compute the time of the point\n+\t\tuint64_t point_time = packet_end_time - 1665*(POINTS_PER_PACKET - point_idx - 1);\n+\t\tif(time_last < point_time && time_last > 0){\n+\t\t point_time = time_last + 1665;\n+\t\t}\n+\t\ttime_last = point_time;\n+\t\t\n+\t\tPointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time/1000000000.0);\n+\t\tpoint->set_intensity(firings[point_idx].intensity);\n+\t\t\n+\t\tif (config_.calibration()) {\n+\t\t\tComputeCoords2(firings[point_idx].vertical_line, CH16, firings[point_idx].distance, corrections,\n+\t\t\t\t firings[point_idx].azimuth, point);\n+\t\t}else{\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+\t\t}\n+\t}\n+}\n+\n+void LslidarCH16Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 16;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc\nnew file mode 100644\nindex 00000000000..3ef2915744c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc\n@@ -0,0 +1,190 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo\n+{\n+ namespace drivers\n+ {\n+ namespace lslidar\n+ {\n+\n+ LslidarCH32Parser::LslidarCH32Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0)\n+ {\n+ }\n+\n+ void LslidarCH32Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg)\n+ {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i)\n+ {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty())\n+ {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+ }\n+\n+ /** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+ void LslidarCH32Parser::Unpack(int num, const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc)\n+ {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ time_last = 0;\n+ const RawPacket *raw = (const RawPacket *)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++)\n+ {\n+ firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+ firings[point_idx].azimuth = static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx].distance = static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx].intensity = raw->points[point_idx].intensity;\n+ }\n+\n+ double scan_laser_altitude_degree[8];\n+ if (1 == config_.degree_mode())\n+ {\n+ for (int i = 0; i < 8; i++)\n+ scan_laser_altitude_degree[i] = sin_scan_laser_altitude[i];\n+ }\n+ else\n+ {\n+ for (int i = 0; i < 8; i++)\n+ scan_laser_altitude_degree[i] = sin_scan_laser_altitude_ch32[i];\n+ }\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++)\n+ {\n+ LaserCorrection &corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ // Convert the point to xyz coordinate\n+ double cos_azimuth_half = cos(firings[point_idx].azimuth * 0.5);\n+ z_sin_altitude = scan_laser_altitude_degree[firings[point_idx].vertical_line / 4] + 2 * cos_azimuth_half * sin_scan_mirror_altitude[firings[point_idx].vertical_line % 4];\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+\n+ x = firings[point_idx].distance * z_cos_altitude * cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude * sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ uint64_t point_time = packet_end_time - 1665 * (POINTS_PER_PACKET - point_idx - 1);\n+ if (time_last < point_time && time_last > 0)\n+ {\n+ point_time = time_last + 1665;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT *point = pc->add_point();\n+ (point_time / 1000000000.0);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration())\n+ {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH32, firings[point_idx].distance, corrections,\n+ firings[point_idx].azimuth, point);\n+ }\n+ else\n+ {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y()))\n+ {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }\n+ else\n+ {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ }\n+\n+ void LslidarCH32Parser::Order(std::shared_ptr<PointCloud> cloud)\n+ {\n+ int width = 32;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i)\n+ {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j)\n+ {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+ }\n+\n+ } // namespace lslidar\n+ } // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc\nnew file mode 100644\nindex 00000000000..367a13c414f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc\n@@ -0,0 +1,158 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\t\t\n+LslidarCH64Parser::LslidarCH64Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+}\n+\n+void LslidarCH64Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+ \n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH64Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ time_last = 0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+ \n+ packet_end_time = pkt.stamp();\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+ {\n+\t firings[point_idx].vertical_line=raw->points[point_idx].vertical_line;\n+\t two_bytes point_amuzith;\n+\t point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+\t point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+\t firings[point_idx].azimuth=static_cast<double>(point_amuzith.uint)*0.01*DEG_TO_RAD;\n+\t four_bytes point_distance;\n+\t point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+\t point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+\t point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+\t point_distance.bytes[3] = 0;\n+\t firings[point_idx].distance=static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2; \n+\t firings[point_idx].intensity=raw->points[point_idx].intensity; \n+ } \n+ \n+\tfor (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+\t{\n+\t\tLaserCorrection& corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\t\t\n+\t\tif (config_.calibration()) \n+\t\t\tfirings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\t\t\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+\t\t\tcontinue;\n+\t\t\n+\t\tint line_num = firings[point_idx].vertical_line;\n+\n+\t\t// Convert the point to xyz coordinate\n+\t\tif (line_num % 8 == 0 || line_num % 8 == 1 || line_num % 8 == 2 || line_num % 8 == 3) {\n+\n+\t\t\tz_sin_altitude = sin(-13.33 * DEG_TO_RAD + floor(line_num / 4) * 1.33* DEG_TO_RAD) +\n+\t\t\t\t\t\t\t 2 * cos(firings[point_idx].azimuth / 2 + 1.05* DEG_TO_RAD ) *\n+\t\t\t\t\t\t\t sin((line_num % 4) * 0.33* DEG_TO_RAD);\n+\n+\t\t} else if (line_num % 8 == 4 || line_num % 8 == 5 || line_num % 8 == 6 || line_num % 8 == 7) {\n+\t\t\tz_sin_altitude = sin(-13.33 * DEG_TO_RAD + floor(line_num / 4) * 1.33* DEG_TO_RAD) +\n+\t\t\t\t\t\t\t 2 * cos(firings[point_idx].azimuth / 2 - 1.05* DEG_TO_RAD ) *\n+\t\t\t\t\t\t\t sin((line_num % 4) * 0.33* DEG_TO_RAD);\n+\t\t}\n+\n+\t\tz_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+\t\tx = firings[point_idx].distance * z_cos_altitude * cos(firings[point_idx].azimuth);\n+\t\ty = firings[point_idx].distance * z_cos_altitude * sin(firings[point_idx].azimuth);\n+\t\tz = firings[point_idx].distance * z_sin_altitude;\n+\n+\t\t// Compute the time of the point\n+\t\tpoint_time = packet_end_time - 1726*(POINTS_PER_PACKET - point_idx - 1);\n+\t\tif(time_last < point_time && time_last > 0){\n+\t\t point_time = time_last + 1726;\n+\t\t}\n+\t\ttime_last = point_time;\n+\t\t\n+\t\tPointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+\t\tpoint->set_intensity(firings[point_idx].intensity);\n+\t\t\n+\t\tif (config_.calibration()) {\n+\t\t\t\n+\t\t\tComputeCoords2(firings[point_idx].vertical_line, CH64, firings[point_idx].distance, corrections,\n+\t\t\t\t firings[point_idx].azimuth, point);\n+\n+\t\t} else {\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+\t\t }\n+\t} \n+}\n+\n+\n+void LslidarCH64Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc\nnew file mode 100644\nindex 00000000000..a88706d5d7e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc\n@@ -0,0 +1,193 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\t\t\n+LslidarCH64wParser::LslidarCH64wParser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+\tpoint_time_diff = 1 / (60.0 * 1000 * 32); // s\n+\tfor (int i = 0; i < 4; ++i) {\n+\t\tprism_angle64[i] = i * 0.35;\n+\t}\n+\tfor (int j = 0; j < 128; ++j) {\n+\t\t//右边\n+\t\tif (j / 4 % 2 == 0) {\n+\t\t\ttheat1_s[j] = sin((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+\t\t\ttheat1_c[j] = cos((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+\t\t}\n+\t\t//左边\n+\t\telse {\n+\t\t\ttheat1_s[j] = sin((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+\t\t\ttheat1_c[j] = cos((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+\t\t}\n+\t}\n+}\n+\n+void LslidarCH64wParser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+ \n+ packets_size = scan_msg->firing_pkts_size();\n+ AINFO << \"packets_size :\" << packets_size;\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)), out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH64wParser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+\tfloat x, y, z;\n+\tuint64_t point_time;\n+\tuint64_t packet_end_time;\n+\ttime_last = 0;\n+\tconst RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+\tdouble cos_xita;\n+\t// 垂直角度\n+\tdouble sin_theat;\n+\tdouble cos_theat;\n+\tdouble _R_;\n+\t// 水平角度\n+\tdouble cos_H_xita;\n+\tdouble sin_H_xita;\n+\tdouble cos_xita_F;\n+\tdouble sin_xita_F;\n+\t\n+ packet_end_time = pkt.stamp();\n+\n+ current_packet_time = packet_end_time;\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+ {\n+\t firings[point_idx].vertical_line=raw->points[point_idx].vertical_line;\n+\t two_bytes point_amuzith;\n+\t point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+\t point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+\t firings[point_idx].azimuth=static_cast<double>(point_amuzith.uint)*0.01*DEG_TO_RAD;\n+\t four_bytes point_distance;\n+\t point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+\t point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+\t point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+\t point_distance.bytes[3] = 0;\n+\t firings[point_idx].distance=static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2; \n+\t firings[point_idx].intensity=raw->points[point_idx].intensity; \n+ } \n+ \n+\tfor (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) \n+\t{\n+\t\tLaserCorrection& corrections = calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\t\t\n+\t\tif (config_.calibration()) \n+\t\t\tfirings[point_idx].distance = firings[point_idx].distance + corrections.dist_correction;\n+\t\t\n+ if (firings[point_idx].distance > config_.max_range() || firings[point_idx].distance < config_.min_range())\n+\t\t\tcontinue;\n+\t\t\n+\t\tint line_num = firings[point_idx].vertical_line;\n+\t\t if (line_num / 4 % 2 == 0) {\n+ cos_xita = cos((firings[point_idx].azimuth * RAD_TO_DEG / 2.0 + 22.5) * M_PI / 180);\n+ }else{\n+ cos_xita = cos((-firings[point_idx].azimuth * RAD_TO_DEG / 2.0 + 112.5) * M_PI / 180);\n+ }\n+\t\t\n+\t_R_ = theat2_c[line_num] * theat1_c[line_num] * cos_xita - theat2_s[line_num] * theat1_s[line_num];\n+ sin_theat = theat1_s[line_num] + 2 * _R_ * theat2_s[line_num];\n+ cos_theat = sqrt(1 - pow(sin_theat, 2));\n+ cos_H_xita = (2 * _R_ * theat2_c[line_num] * cos_xita - theat1_c[line_num]) / cos_theat;\n+ sin_H_xita = sqrt(1 - pow(cos_H_xita, 2));\n+\n+ if(line_num / 4 % 2 == 0){\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * sqrt(0.5);\n+ sin_xita_F = sqrt(1 - pow(cos_xita_F, 2));\n+ } else{\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * (-sqrt(0.5));\n+ sin_xita_F = sqrt(1 - pow(cos_xita_F, 2));\n+ }\n+\n+\t\tx = firings[point_idx].distance * cos_theat * cos_xita_F;\n+ y = firings[point_idx].distance * cos_theat * sin_xita_F;\n+ z = firings[point_idx].distance * sin_theat;\n+\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) return;\n+ // modify\n+ if(previous_packet_time >1e-6) {\n+ point_time = current_packet_time - (POINTS_PER_PACKET - point_idx - 1) * (current_packet_time - previous_packet_time)/(POINTS_PER_PACKET);\n+ } else{ //fist packet\n+ point_time = current_packet_time;\n+ }\n+\t\t\n+\t\tPointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+\t\tpoint->set_intensity(firings[point_idx].intensity);\n+\t\t\n+\t\tif (config_.calibration()) {\n+\t\t\t\n+\t\t\tComputeCoords2(firings[point_idx].vertical_line, CH64w, firings[point_idx].distance, corrections,\n+\t\t\t\t firings[point_idx].azimuth, point);\n+\n+\t\t} else {\n+ if((y >= config_.bottom_left_x() && y <= config_.top_right_x())\n+ && (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+\t\t }\n+\t}\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void LslidarCH64wParser::Order(std::shared_ptr<PointCloud> cloud) {\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc\nnew file mode 100644\nindex 00000000000..b3ee4fb1639\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc\n@@ -0,0 +1,332 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCXV4Parser::LslidarCXV4Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ vertical_angle_ = config.vertical_angle();\n+ distance_unit_ = config.distance_unit();\n+ is_new_c32w_ = true;\n+ is_get_scan_altitude_ = false;\n+ AERROR << \"vertical_angle_ \" <<vertical_angle_;\n+ if (config_.model() == LSLIDAR_C16_V4) {\n+ lidar_number_ = 16;\n+ AERROR << \"lidar: c16\";\n+ for (int i = 0; i < 16; ++i) {\n+ sin_scan_altitude[i] = sin(c16_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c16_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (config_.model() == LSLIDAR_C8_V4) {\n+ lidar_number_ = 8;\n+ AERROR << \"lidar: c8\";\n+ for (int i = 0; i < 8; ++i) {\n+ sin_scan_altitude[i] = sin(c8_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c8_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (config_.model() == LSLIDAR_C1_V4) {\n+ lidar_number_ = 1;\n+ AERROR << \"lidar: c1\";\n+ for (int i = 0; i < 8; ++i) {\n+ sin_scan_altitude[i] = sin(c1_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c1_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (config_.model() == LSLIDAR_C32_V4) {\n+ lidar_number_ = 32;\n+ if (32 == config.vertical_angle()) {\n+ AERROR << \"Vertical angle: 32 degrees\";\n+ for (int i = 0; i < 32; ++i) {\n+ sin_scan_altitude[i] = sin(c32_32_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c32_32_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (70 == config.vertical_angle()) {\n+ AERROR << \"Vertical angle: 70 degrees\";\n+ for (int k = 0; k < 32; ++k) {\n+ sin_scan_altitude[k] = sin(c32_70_vertical_angle2[k] * DEG_TO_RAD);\n+ cos_scan_altitude[k] = cos(c32_70_vertical_angle2[k] * DEG_TO_RAD);\n+ }\n+ } else if (90 == config.vertical_angle()) {\n+ AERROR << \"Vertical angle: 90 degrees\";\n+ for (int k = 0; k < 32; ++k) {\n+ sin_scan_altitude[k] = sin(c32_90_vertical_angle[k] * DEG_TO_RAD);\n+ cos_scan_altitude[k] = cos(c32_90_vertical_angle[k] * DEG_TO_RAD);\n+ }\n+ }\n+ }\n+\n+ // create the sin and cos table for different azimuth values\n+ for (int j = 0; j < 36000; ++j) {\n+ double angle = static_cast<double>(j) / 100.0 * DEG_TO_RAD;\n+ sin_azimuth_table[j] = sin(angle);\n+ cos_azimuth_table[j] = cos(angle);\n+ }\n+ config_vert_angle = false;\n+ lslidar_type = 2;\n+}\n+\n+void LslidarCXV4Parser::decodePacket(const RawPacket_C32 *packet) {\n+ //couputer azimuth angle for each firing, 12\n+ for (size_t b_idx = 0; b_idx < BLOCKS_PER_PACKET; ++b_idx) {\n+ firings.firing_azimuth[b_idx] = packet->blocks[b_idx].rotation % 36000; //* 0.01 * DEG_TO_RAD;\n+ }\n+ for (size_t block_idx = 0; block_idx < BLOCKS_PER_PACKET; ++block_idx) {\n+ const RawBlock &raw_block = packet->blocks[block_idx];\n+ \n+ int32_t azimuth_diff_b = 0;\n+ if (config_.return_mode() == 1) {\n+ if (block_idx < BLOCKS_PER_PACKET - 1) {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx + 1] - firings.firing_azimuth[block_idx];\n+ azimuth_diff_b = azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+\n+ } else {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx] - firings.firing_azimuth[block_idx - 1];\n+\n+ azimuth_diff_b = azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+ }\n+ } else {\n+ //return mode 2\n+ if (block_idx < BLOCKS_PER_PACKET - 2) {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx + 2] - firings.firing_azimuth[block_idx];\n+ azimuth_diff_b = azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+\n+ } else {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx] - firings.firing_azimuth[block_idx - 2];\n+\n+ azimuth_diff_b = azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+ }\n+\n+ }\n+\n+ // 32 scan\n+ for (size_t scan_fir_idx = 0; scan_fir_idx < SCANS_PER_FIRING_C32; ++scan_fir_idx) {\n+ size_t byte_idx = RAW_SCAN_SIZE * scan_fir_idx;\n+ //azimuth\n+ firings.azimuth[block_idx * 32 + scan_fir_idx] = firings.firing_azimuth[block_idx] +\n+ scan_fir_idx * azimuth_diff_b / FIRING_TOFFSET_C32;\n+ firings.azimuth[block_idx * 32 + scan_fir_idx] = firings.azimuth[block_idx * 32 + scan_fir_idx] % 36000;\n+ // distance\n+ TwoBytes raw_distance{};\n+ raw_distance.bytes[0] = raw_block.data[byte_idx];\n+ raw_distance.bytes[1] = raw_block.data[byte_idx + 1];\n+ firings.distance[block_idx * 32 + scan_fir_idx] =\n+ static_cast<double>(raw_distance.distance) * DISTANCE_RESOLUTION * distance_unit_;\n+\n+ //intensity\n+ firings.intensity[block_idx * 32 + scan_fir_idx] = static_cast<double>(\n+ raw_block.data[byte_idx + 2]);\n+ }\n+ }\n+ return;\n+};\n+\n+bool LslidarCXV4Parser::checkPacketValidity(const RawPacket_C32 *packet) {\n+ for (size_t blk_idx = 0; blk_idx < BLOCKS_PER_PACKET; ++blk_idx) {\n+ if (packet->blocks[blk_idx].header != UPPER_BANK) {\n+ return false;\n+ }\n+ }\n+ return true;\n+ }\n+\n+void LslidarCXV4Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime()/1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char* difop_ptr = (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+ if (difop_ptr[0] == 0xa5 && difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 && difop_ptr[3] == 0x5a){\n+ AINFO << \"设备包，暂时用不上...\"; // todo 暂时不用设备包\n+ }\n+\n+ size_t packets_size = scan_msg->firing_pkts_size();\n+ block_num = 0;\n+ packet_number_ = packets_size;\n+\n+ AINFO << \"packets_size :\" << packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg,i);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCXV4Parser::Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc ,int packet_number) {\n+ double point_time;\n+ const RawPacket_C32 *raw_packet = (const RawPacket_C32 *) (pkt.data().c_str());\n+ uint8_t *data =\n+ reinterpret_cast<uint8_t *>(const_cast<char *>(pkt.data().c_str()));\n+\n+ //check if the packet is valid\n+ if (!checkPacketValidity(raw_packet)) return ;\n+\n+ //decode the packet\n+ decodePacket(raw_packet);\n+\n+ if (!is_get_scan_altitude_ && static_cast<uint16_t>(data[1211]) == 0x46) { //old C32w\n+ AERROR << \"byte[1211] == 0x46: old C32W\";\n+ is_new_c32w_ = false;\n+ for (int k = 0; k < 32; ++k) {\n+ sin_scan_altitude[k] = sin(c32_70_vertical_angle[k] * DEG_TO_RAD);\n+ cos_scan_altitude[k] = cos(c32_70_vertical_angle[k] * DEG_TO_RAD);\n+ }\n+ is_get_scan_altitude_ = true;\n+ }\n+\n+\n+ for (size_t fir_idx = 0; fir_idx < SCANS_PER_PACKET; ++fir_idx) {\n+ if(!is_new_c32w_ && vertical_angle_ == 70){\n+ if (fir_idx % 32 == 29 || fir_idx % 32 == 6 || fir_idx % 32 == 14 || fir_idx % 32 == 22 ||\n+ fir_idx % 32 == 30 || fir_idx % 32 == 7 || fir_idx % 32 == 15 || fir_idx % 32 == 23)\n+ {\n+ firings.azimuth[fir_idx] += 389;\n+ }\n+ if (firings.azimuth[fir_idx] > 36000) firings.azimuth[fir_idx]-=36000;\n+ }\n+ //convert the point to xyz coordinate\n+ size_t table_idx = firings.azimuth[fir_idx];\n+ double cos_azimuth = cos_azimuth_table[table_idx];\n+ double sin_azimuth = sin_azimuth_table[table_idx];\n+ double x_coord, y_coord, z_coord;\n+ bool coordinate_opt = true;\n+ double R1 = 0.0;\n+ if (vertical_angle_ == 90) { // ch32r\n+ R1 = CX4_R1_90;\n+ } else if (is_new_c32w_) { //new C32w\n+ R1 = CX4_C32W;\n+ } else { //others\n+ R1 = CX4_R1_;\n+ }\n+ double conversionAngle = (vertical_angle_ == 90) ? CX4_conversionAngle_90 : CX4_conversionAngle_;\n+ if (coordinate_opt) {\n+ x_coord = firings.distance[fir_idx] * cos_scan_altitude[fir_idx % lidar_number_] * cos_azimuth +\n+ R1 * cos((conversionAngle - firings.azimuth[fir_idx] * 0.01) * DEG_TO_RAD);\n+ y_coord = -firings.distance[fir_idx] * cos_scan_altitude[fir_idx % lidar_number_] * sin_azimuth +\n+ R1 * sin((conversionAngle - firings.azimuth[fir_idx] * 0.01) * DEG_TO_RAD);\n+ z_coord = firings.distance[fir_idx] * sin_scan_altitude[fir_idx % lidar_number_];\n+\n+\n+ } else {\n+ //Y-axis correspondence 0 degree\n+ x_coord = firings.distance[fir_idx] * cos_scan_altitude[fir_idx % lidar_number_] * sin_azimuth +\n+ R1 * sin((firings.azimuth[fir_idx] * 0.01 - conversionAngle) * DEG_TO_RAD);\n+ y_coord = firings.distance[fir_idx] * cos_scan_altitude[fir_idx % lidar_number_] * cos_azimuth +\n+ R1 * cos((firings.azimuth[fir_idx] * 0.01 - conversionAngle) * DEG_TO_RAD);\n+ z_coord = firings.distance[fir_idx] * sin_scan_altitude[fir_idx % lidar_number_];\n+ }\n+\n+ // computer the time of the point\n+ if (last_packet_time > 1e-6) {\n+ point_time =\n+ current_packet_time - (current_packet_time - previous_packet_time) * (SCANS_PER_PACKET - fir_idx - 1) / SCANS_PER_PACKET;\n+ } else {\n+ point_time = current_packet_time;\n+ }\n+\n+ if (firings.distance[fir_idx] > config_.max_range() || firings.distance[fir_idx] < config_.min_range()) {\n+ PointXYZIT* point = pc->add_point();\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ if ((firings.azimuth[fir_idx] < config_.scan_start_angle()) || (firings.azimuth[fir_idx] > config_.scan_end_angle())) continue;\n+ if (packet_number == 0) {\n+ if (firings.azimuth[fir_idx] > 30000) {\n+ continue;\n+ }\n+ }\n+\n+ if (packet_number == packet_number_ - 1) {\n+ if (firings.azimuth[fir_idx] < 10000) {\n+ continue;\n+ }\n+ }\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+\n+ point->set_intensity(firings.intensity[fir_idx]);\n+ if((y_coord >= config_.bottom_left_x() && y_coord <= config_.top_right_x())\n+ && (-x_coord >= config_.bottom_left_y() && -x_coord <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ }else {\n+ point->set_x(y_coord);\n+ point->set_y(-x_coord);\n+ point->set_z(z_coord);\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+\n+void LslidarCXV4Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 32;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc\nnew file mode 100644\nindex 00000000000..25c58f4bb89\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc\n@@ -0,0 +1,472 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+static float g_fDistanceAcc = 0.1 * 0.01;\n+static double cos30 = std::cos(DEG2RAD(30));\n+static double sin30 = std::sin(DEG2RAD(30));\n+static double sin60 = std::sin(DEG2RAD(60));\n+\n+LslidarLS128S2Parser::LslidarLS128S2Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ // create the sin and cos table for different azimuth and vertical values\n+ for (int j = 0; j < 36000; ++j) {\n+ double angle = static_cast<double>(j) / 100.0 * M_PI / 180.0;\n+ sin_table[j] = sin(angle);\n+ cos_table[j] = cos(angle);\n+ }\n+\n+ double mirror_angle[4] = {0, -2, -1,\n+ -3}; // 摆镜角度 //根据通道不同偏移角度不同\n+ for (int i = 0; i < 4; ++i) {\n+ cos_mirror_angle[i] = cos(DEG2RAD(mirror_angle[i]));\n+ sin_mirror_angle[i] = sin(DEG2RAD(mirror_angle[i]));\n+ }\n+ cur_pc.reset(new PointCloud());\n+ pre_pc.reset(new PointCloud());\n+}\n+\n+void LslidarLS128S2Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ frame_count++;\n+ const unsigned char *difop_ptr =\n+ (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+\n+ if (difop_ptr[0] == 0x00 || difop_ptr[0] == 0xa5) {\n+ if (difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 && difop_ptr[3] == 0x5a) {\n+ if (difop_ptr[231] == 64 || difop_ptr[231] == 65) {\n+ is_add_frame_ = true;\n+ }\n+\n+ int majorVersion = difop_ptr[1202];\n+ int minorVersion1 = difop_ptr[1203] / 16;\n+\n+ // v1.1 :0.01 //v1.2以后 ： 0.0025\n+ if (1 > majorVersion || (1 == majorVersion && minorVersion1 > 1)) {\n+ g_fAngleAcc_V = 0.0025;\n+ } else {\n+ g_fAngleAcc_V = 0.01;\n+ }\n+\n+ float fInitAngle_V = difop_ptr[188] * 256 + difop_ptr[189];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[0] = fInitAngle_V * g_fAngleAcc_V;\n+\n+ fInitAngle_V = difop_ptr[190] * 256 + difop_ptr[191];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[1] = fInitAngle_V * g_fAngleAcc_V;\n+\n+ fInitAngle_V = difop_ptr[192] * 256 + difop_ptr[193];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[2] = fInitAngle_V * g_fAngleAcc_V;\n+\n+ fInitAngle_V = difop_ptr[194] * 256 + difop_ptr[195];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[3] = fInitAngle_V * g_fAngleAcc_V;\n+ }\n+ }\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+ packet_number_ = packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ }\n+\n+ if (is_add_frame_) {\n+ if (frame_count >= 2) {\n+ // out_msg = std::move(cur_pc);\n+ for (int j = 0; j < cur_pc->point_size(); ++j) {\n+ PointXYZIT *point3 = out_msg->add_point();\n+ point3->set_timestamp(cur_pc->point(j).timestamp());\n+ point3->set_intensity(cur_pc->point(j).intensity());\n+ point3->set_x(cur_pc->point(j).x());\n+ point3->set_y(cur_pc->point(j).y());\n+ point3->set_z(cur_pc->point(j).z());\n+ }\n+ }\n+ cur_pc = pre_pc;\n+ pre_pc.reset(new PointCloud());\n+ } else {\n+ // out_msg = cur_pc;\n+ for (int j = 0; j < cur_pc->point_size(); ++j) {\n+ PointXYZIT *point3 = out_msg->add_point();\n+ point3->set_timestamp(cur_pc->point(j).timestamp());\n+ point3->set_intensity(cur_pc->point(j).intensity());\n+ point3->set_x(cur_pc->point(j).x());\n+ point3->set_y(cur_pc->point(j).y());\n+ point3->set_z(cur_pc->point(j).z());\n+ }\n+ cur_pc.reset(new PointCloud());\n+ pre_pc.reset(new PointCloud());\n+ }\n+ AINFO << \"line: \" << __LINE__ << \"out_msg size: \" << out_msg->point_size();\n+ AINFO << \"packets_size :\" << packets_size;\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+ out_msg->set_height(1);\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarLS128S2Parser::Unpack(int num, const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> out_msg) {\n+ struct Firing_LS128S2 lidardata {};\n+ uint64_t packet_end_time;\n+ const unsigned char *msop_ptr = (const unsigned char *)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+ current_packet_time = packet_end_time;\n+ if (msop_ptr[1205] == 0x02) {\n+ return_mode = 2;\n+ }\n+\n+ if (return_mode == 1) {\n+ double packet_interval_time = (current_packet_time - last_packet_time) /\n+ (POINTS_PER_PACKET_SINGLE_ECHO / 8.0);\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET_SINGLE_ECHO;\n+ point_idx += 8) {\n+ if ((msop_ptr[point_idx] == 0xff) && (msop_ptr[point_idx + 1] == 0xaa) &&\n+ (msop_ptr[point_idx + 2] == 0xbb) &&\n+ (msop_ptr[point_idx + 3] == 0xcc) &&\n+ (msop_ptr[point_idx + 4] == 0xdd)) {\n+ continue;\n+ } else {\n+ // Compute the time of the point\n+ double point_time;\n+ if (last_packet_time > 1e-6) {\n+ point_time =\n+ packet_end_time -\n+ packet_interval_time *\n+ ((POINTS_PER_PACKET_SINGLE_ECHO - point_idx) / 8 - 1);\n+ } else {\n+ point_time = current_packet_time;\n+ }\n+\n+ memset(&lidardata, 0, sizeof(lidardata));\n+ // 水平角度\n+ double fAngle_H = msop_ptr[point_idx + 1] + (msop_ptr[point_idx] << 8);\n+ if (fAngle_H > 32767) {\n+ fAngle_H = (fAngle_H - 65536);\n+ }\n+ lidardata.azimuth = fAngle_H * 0.01;\n+ // 垂直角度+通道号\n+ int iTempAngle = msop_ptr[point_idx + 2];\n+ int iChannelNumber = iTempAngle >> 6; // 左移六位 通道号\n+ int iSymmbol = (iTempAngle >> 5) & 0x01; // 左移五位 符号位\n+ double fAngle_V = 0.0;\n+ if (1 == iSymmbol) // 符号位 0：正数 1：负数\n+ {\n+ int iAngle_V =\n+ msop_ptr[point_idx + 3] + (msop_ptr[point_idx + 2] << 8);\n+\n+ fAngle_V = iAngle_V | 0xc000;\n+ if (fAngle_V > 32767) {\n+ fAngle_V = (fAngle_V - 65536);\n+ }\n+ } else {\n+ int iAngle_Hight = iTempAngle & 0x3f;\n+ fAngle_V = msop_ptr[point_idx + 3] + (iAngle_Hight << 8);\n+ }\n+\n+ lidardata.vertical_angle = fAngle_V * g_fAngleAcc_V;\n+ lidardata.channel_number = iChannelNumber;\n+ lidardata.distance =\n+ ((msop_ptr[point_idx + 4] << 16) + (msop_ptr[point_idx + 5] << 8) +\n+ msop_ptr[point_idx + 6]);\n+ lidardata.intensity = msop_ptr[point_idx + 7];\n+ lidardata.time = point_time;\n+ lidardata.azimuth = fAngle_H * 0.01;\n+ convertCoordinate(lidardata);\n+ }\n+ }\n+ } else {\n+ double packet_interval_time = (current_packet_time - last_packet_time) /\n+ (POINTS_PER_PACKET_DOUBLE_ECHO / 12.0);\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET_DOUBLE_ECHO;\n+ point_idx += 12) {\n+ if ((msop_ptr[point_idx] == 0xff) && (msop_ptr[point_idx + 1] == 0xaa) &&\n+ (msop_ptr[point_idx + 2] == 0xbb) &&\n+ (msop_ptr[point_idx + 3] == 0xcc) &&\n+ (msop_ptr[point_idx + 4] == 0xdd)) {\n+ continue;\n+ } else {\n+ // Compute the time of the point\n+ double point_time;\n+ if (last_packet_time > 1e-6) {\n+ point_time =\n+ packet_end_time -\n+ packet_interval_time *\n+ ((POINTS_PER_PACKET_DOUBLE_ECHO - point_idx) / 12 - 1);\n+ } else {\n+ point_time = current_packet_time;\n+ }\n+ memset(&lidardata, 0, sizeof(lidardata));\n+ // 水平角度\n+ double fAngle_H = msop_ptr[point_idx + 1] + (msop_ptr[point_idx] << 8);\n+ if (fAngle_H > 32767) {\n+ fAngle_H = (fAngle_H - 65536);\n+ }\n+ lidardata.azimuth = fAngle_H * 0.01;\n+\n+ // 垂直角度+通道号\n+ int iTempAngle = msop_ptr[point_idx + 2];\n+ int iChannelNumber = iTempAngle >> 6; // 左移六位 通道号\n+ int iSymmbol = (iTempAngle >> 5) & 0x01; // 左移五位 符号位\n+ double fAngle_V = 0.0;\n+ if (1 == iSymmbol) // 符号位 0：正数 1：负数\n+ {\n+ int iAngle_V =\n+ msop_ptr[point_idx + 3] + (msop_ptr[point_idx + 2] << 8);\n+\n+ fAngle_V = iAngle_V | 0xc000;\n+ if (fAngle_V > 32767) {\n+ fAngle_V = (fAngle_V - 65536);\n+ }\n+ } else {\n+ int iAngle_Hight = iTempAngle & 0x3f;\n+ fAngle_V = msop_ptr[point_idx + 3] + (iAngle_Hight << 8);\n+ }\n+\n+ lidardata.vertical_angle = fAngle_V * g_fAngleAcc_V;\n+ lidardata.channel_number = iChannelNumber;\n+ lidardata.distance =\n+ ((msop_ptr[point_idx + 4] << 16) + (msop_ptr[point_idx + 5] << 8) +\n+ msop_ptr[point_idx + 6]);\n+ lidardata.intensity = msop_ptr[point_idx + 7];\n+ lidardata.time = point_time;\n+ convertCoordinate(lidardata); // 第一个点\n+\n+ lidardata.distance =\n+ ((msop_ptr[point_idx + 8] << 16) + (msop_ptr[point_idx + 9] << 8) +\n+ msop_ptr[point_idx + 10]);\n+ lidardata.intensity = msop_ptr[point_idx + 11];\n+ lidardata.time = point_time;\n+ convertCoordinate(lidardata); // 第二个点\n+ }\n+ }\n+ last_packet_time = packet_end_time;\n+ }\n+}\n+\n+int LslidarLS128S2Parser::convertCoordinate(\n+ const struct Firing_LS128S2 &lidardata) {\n+ if (lidardata.distance * g_fDistanceAcc > config_.max_range() ||\n+ lidardata.distance * g_fDistanceAcc < config_.min_range()) {\n+ return -1;\n+ }\n+\n+ if ((lidardata.azimuth < config_.scan_start_angle()) ||\n+ (lidardata.azimuth > config_.scan_end_angle())) {\n+ return -1;\n+ }\n+\n+ double fAngle_H = 0.0; // 水平角度\n+ double fAngle_V = 0.0; // 垂直角度\n+ fAngle_H = lidardata.azimuth;\n+ fAngle_V = lidardata.vertical_angle;\n+\n+ // 加畸变\n+ double fSinV_angle = 0;\n+ double fCosV_angle = 0;\n+\n+ // 振镜偏移角度 = 实际垂直角度 / 2 - 偏移值\n+ double fGalvanometrtAngle = 0;\n+ fGalvanometrtAngle = fAngle_V + 7.26;\n+\n+ while (fGalvanometrtAngle < 0.0) {\n+ fGalvanometrtAngle += 360.0;\n+ }\n+ while (fAngle_H < 0.0) {\n+ fAngle_H += 360.0;\n+ }\n+\n+ int table_index_V = int(fGalvanometrtAngle * 100) % 36000;\n+ int table_index_H = int(fAngle_H * 100) % 36000;\n+\n+ double fAngle_R0 =\n+ cos30 * cos_mirror_angle[lidardata.channel_number % 4] *\n+ cos_table[table_index_V] -\n+ sin_table[table_index_V] * sin_mirror_angle[lidardata.channel_number % 4];\n+\n+ fSinV_angle = 2 * fAngle_R0 * sin_table[table_index_V] +\n+ sin_mirror_angle[lidardata.channel_number % 4];\n+ fCosV_angle = sqrt(1 - pow(fSinV_angle, 2));\n+\n+ double fSinCite = (2 * fAngle_R0 * cos_table[table_index_V] * sin30 -\n+ cos_mirror_angle[lidardata.channel_number % 4] * sin60) /\n+ fCosV_angle;\n+ double fCosCite = sqrt(1 - pow(fSinCite, 2));\n+\n+ double fSinCite_H =\n+ sin_table[table_index_H] * fCosCite + cos_table[table_index_H] * fSinCite;\n+ double fCosCite_H =\n+ cos_table[table_index_H] * fCosCite - sin_table[table_index_H] * fSinCite;\n+\n+ double x_coord = 0.0, y_coord = 0.0, z_coord = 0.0;\n+ x_coord = (lidardata.distance * fCosV_angle * fSinCite_H) * g_fDistanceAcc;\n+ y_coord = (lidardata.distance * fCosV_angle * fCosCite_H) * g_fDistanceAcc;\n+ z_coord = (lidardata.distance * fSinV_angle) * g_fDistanceAcc;\n+\n+ if ((y_coord >= config_.bottom_left_x() &&\n+ y_coord <= config_.top_right_x()) &&\n+ (-x_coord >= config_.bottom_left_y() &&\n+ -x_coord <= config_.top_right_y()))\n+ return -1;\n+\n+ PointXYZIT *point1 = cur_pc->add_point();\n+ point1->set_timestamp(lidardata.time);\n+ point1->set_intensity(lidardata.intensity);\n+ point1->set_x(y_coord);\n+ point1->set_y(-x_coord);\n+ point1->set_z(z_coord);\n+\n+ PointXYZIT *point2 = pre_pc->add_point();\n+ point2->set_timestamp(lidardata.time);\n+ point2->set_intensity(lidardata.intensity);\n+ point2->set_x(y_coord);\n+ point2->set_y(-x_coord);\n+ point2->set_z(z_coord);\n+ return 0;\n+}\n+\n+int LslidarLS128S2Parser::convertCoordinate(\n+ const struct Firing_LS128S2 &lidardata,\n+ std::shared_ptr<PointCloud> out_cloud) {\n+ if (lidardata.distance * g_fDistanceAcc > config_.max_range() ||\n+ lidardata.distance * g_fDistanceAcc < config_.min_range()) {\n+ return -1;\n+ }\n+\n+ if ((lidardata.azimuth < config_.scan_start_angle()) ||\n+ (lidardata.azimuth > config_.scan_end_angle())) {\n+ return -1;\n+ }\n+\n+ double fAngle_H = 0.0; // 水平角度\n+ double fAngle_V = 0.0; // 垂直角度\n+ fAngle_H = lidardata.azimuth;\n+ fAngle_V = lidardata.vertical_angle;\n+\n+ // 加畸变\n+ double fSinV_angle = 0;\n+ double fCosV_angle = 0;\n+\n+ // 振镜偏移角度 = 实际垂直角度 / 2 - 偏移值\n+ double fGalvanometrtAngle = 0;\n+ fGalvanometrtAngle = fAngle_V + 7.26;\n+\n+ while (fGalvanometrtAngle < 0.0) {\n+ fGalvanometrtAngle += 360.0;\n+ }\n+ while (fAngle_H < 0.0) {\n+ fAngle_H += 360.0;\n+ }\n+\n+ int table_index_V = int(fGalvanometrtAngle * 100) % 36000;\n+ int table_index_H = int(fAngle_H * 100) % 36000;\n+\n+ double fAngle_R0 =\n+ cos30 * cos_mirror_angle[lidardata.channel_number % 4] *\n+ cos_table[table_index_V] -\n+ sin_table[table_index_V] * sin_mirror_angle[lidardata.channel_number % 4];\n+\n+ fSinV_angle = 2 * fAngle_R0 * sin_table[table_index_V] +\n+ sin_mirror_angle[lidardata.channel_number % 4];\n+ fCosV_angle = sqrt(1 - pow(fSinV_angle, 2));\n+\n+ double fSinCite = (2 * fAngle_R0 * cos_table[table_index_V] * sin30 -\n+ cos_mirror_angle[lidardata.channel_number % 4] * sin60) /\n+ fCosV_angle;\n+ double fCosCite = sqrt(1 - pow(fSinCite, 2));\n+\n+ double fSinCite_H =\n+ sin_table[table_index_H] * fCosCite + cos_table[table_index_H] * fSinCite;\n+ double fCosCite_H =\n+ cos_table[table_index_H] * fCosCite - sin_table[table_index_H] * fSinCite;\n+\n+ double x_coord = 0.0, y_coord = 0.0, z_coord = 0.0;\n+ x_coord = (lidardata.distance * fCosV_angle * fSinCite_H) * g_fDistanceAcc;\n+ y_coord = (lidardata.distance * fCosV_angle * fCosCite_H) * g_fDistanceAcc;\n+ z_coord = (lidardata.distance * fSinV_angle) * g_fDistanceAcc;\n+\n+ if ((y_coord >= config_.bottom_left_x() &&\n+ y_coord <= config_.top_right_x()) &&\n+ (-x_coord >= config_.bottom_left_y() &&\n+ -x_coord <= config_.top_right_y()))\n+ return -1;\n+\n+ PointXYZIT *point1 = cur_pc->add_point();\n+ point1->set_timestamp(lidardata.time);\n+ point1->set_intensity(lidardata.intensity);\n+ point1->set_x(y_coord);\n+ point1->set_y(-x_coord);\n+ point1->set_z(z_coord);\n+\n+ PointXYZIT *point2 = pre_pc->add_point();\n+ point2->set_timestamp(lidardata.time);\n+ point2->set_intensity(lidardata.intensity);\n+ point2->set_x(y_coord);\n+ point2->set_y(-x_coord);\n+ point2->set_z(z_coord);\n+\n+ PointXYZIT *point3 = out_cloud->add_point();\n+ point3->set_timestamp(lidardata.time);\n+ point3->set_intensity(lidardata.intensity);\n+ point3->set_x(y_coord);\n+ point3->set_y(-x_coord);\n+ point3->set_z(z_coord);\n+ return 0;\n+}\n+\n+void LslidarLS128S2Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc\nnew file mode 100644\nindex 00000000000..cb09901d53b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc\n@@ -0,0 +1,94 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include <memory>\n+#include <string>\n+#include <thread>\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+static void my_handler(int sig) {\n+ exit(-1);\n+}\n+\n+bool LslidarConvertComponent::Init() {\n+ signal(SIGINT, my_handler);\n+ Config lslidar_config;\n+ if (!GetProtoConfig(&lslidar_config)) {\n+ AWARN << \"Load config failed, config file\" << config_file_path_;\n+ return false;\n+ }\n+\n+ conv_.reset(new Convert());\n+ conv_->init(lslidar_config);\n+ \n+ writer_ = node_->CreateWriter<apollo::drivers::PointCloud>(lslidar_config.convert_channel_name());\n+ point_cloud_pool_.reset(new CCObjectPool<apollo::drivers::PointCloud>(pool_size_));\n+ point_cloud_pool_->ConstructAll();\n+ \n+ for (int i = 0; i < pool_size_; i++) {\n+ auto point_cloud = point_cloud_pool_->GetObject();\n+ if (point_cloud == nullptr) {\n+ AERROR << \"fail to getobject, i: \" << i;\n+ return false;\n+ }\n+ point_cloud->mutable_point()->Reserve(200000);\n+ }\n+\n+ AINFO << \"Point cloud comp convert init success\";\n+ return true;\n+}\n+\n+bool LslidarConvertComponent::Proc(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg) {\n+ \n+ std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out = point_cloud_pool_->GetObject();\n+ if (point_cloud_out == nullptr) {\n+ AWARN << \"poin cloud pool return nullptr, will be create new.\";\n+ point_cloud_out = std::make_shared<apollo::drivers::PointCloud>();\n+ point_cloud_out->mutable_point()->Reserve(200000);\n+ }\n+ if (point_cloud_out == nullptr) {\n+ AWARN << \"point cloud out is nullptr\";\n+ return false;\n+ }\n+\n+ uint64_t time1 = apollo::cyber::Time().Now().ToNanosecond();\n+ AINFO << \"receive scan!---------\";\n+ point_cloud_out->Clear();\n+ conv_->ConvertPacketsToPointcloud(scan_msg, point_cloud_out);\n+ uint64_t time2 = apollo::cyber::Time().Now().ToNanosecond();\n+ AINFO << \"process pointcloud time: \" <<(time2-time1)/1000000000.0;\n+\n+\n+ if (point_cloud_out == nullptr || point_cloud_out->point().empty()) {\n+ AWARN << \"point_cloud_out convert is empty.\";\n+ return false;\n+ }\n+\n+ writer_->Write(point_cloud_out);\n+\n+ return true;\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h\nnew file mode 100644\nindex 00000000000..f5d01ba1a37\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h\n@@ -0,0 +1,58 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <deque>\n+#include <memory>\n+#include <string>\n+#include <thread>\n+\n+#include \"cyber/base/concurrent_object_pool.h\"\n+#include \"cyber/cyber.h\"\n+\n+#include \"modules/drivers/lidar/lslidar/parser/convert.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::cyber::Component;\n+using apollo::cyber::Reader;\n+using apollo::cyber::Writer;\n+using apollo::cyber::base::CCObjectPool;\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+class LslidarConvertComponent : public Component<apollo::drivers::lslidar::LslidarScan> {\n+ public:\n+ bool Init() override;\n+ bool Proc(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg) override;\n+\n+ private:\n+ std::shared_ptr<Writer<apollo::drivers::PointCloud>> writer_;\n+ std::unique_ptr<Convert> conv_ = nullptr;\n+ std::shared_ptr<CCObjectPool<apollo::drivers::PointCloud>> point_cloud_pool_ = nullptr;\n+ int pool_size_ = 8;\n+};\n+\n+CYBER_REGISTER_COMPONENT(LslidarConvertComponent)\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc\nnew file mode 100644\nindex 00000000000..8296cf70135\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc\n@@ -0,0 +1,306 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarParser::LslidarParser(const Config &config)\n+ : last_time_stamp_(0), config_(config) {\n+\t\tfor (int i = 0; i < 4; ++i) {\n+\t\tprism_angle64[i] = i * 0.35;\n+\t}\n+\tfor (int j = 0; j < 128; ++j) {\n+\t\t//右边\n+\t\tif (j / 4 % 2 == 0) {\n+\t\t\ttheat1_s[j] = sin((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+\t\t\ttheat1_c[j] = cos((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+\t\t}\n+\t\t//左边\n+\t\telse {\n+\t\t\ttheat1_s[j] = sin((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+\t\t\ttheat1_c[j] = cos((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+\t\t\ttheat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+\t\t}\n+\t}\n+}\n+\n+bool LslidarParser::is_scan_valid(int rotation, float range) {\n+ // check range first\n+ if (range < config_.min_range() || range > config_.max_range()) \n+ return false;\n+ else\n+\treturn true;\n+}\n+\n+/** Set up for on-line operation. */\n+void LslidarParser::setup() {\n+ if (config_.calibration()) {\n+ calibration_.read(config_.calibration_file());\n+\n+ if (!calibration_.initialized_) {\n+ AFATAL << \"Unable to open calibration file: \"\n+ << config_.calibration_file();\n+ }\n+ }\n+ for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {\n+\t\tfloat rotation_f = ROTATION_RESOLUTION * static_cast<float>(rot_index * M_PI) / 180.0f;\n+\t\tcos_azimuth_table[rot_index] = cosf(rotation_f);\n+\t\tsin_azimuth_table[rot_index] = sinf(rotation_f);\n+\t}\n+}\n+\n+void LslidarParser::ComputeCoords(const float &raw_distance,\n+ LaserCorrection &corrections,\n+ const uint16_t rotation, PointXYZIT *point) {\n+ double x = 0.0;\n+ double y = 0.0;\n+ double z = 0.0;\n+ double distance_corr_x = 0;\n+ double distance_corr_y = 0;\n+\n+ corrections.cos_rot_correction = cosf(corrections.rot_correction);\n+ corrections.sin_rot_correction = sinf(corrections.rot_correction);\n+ corrections.cos_vert_correction = cosf(corrections.vert_correction);\n+ corrections.sin_vert_correction = sinf(corrections.vert_correction);\n+\t\n+ double distance = raw_distance + corrections.dist_correction;\n+\n+ double cos_rot_angle = cos_azimuth_table[rotation] * corrections.cos_rot_correction +\n+ sin_azimuth_table[rotation] * corrections.sin_rot_correction;\n+ double sin_rot_angle = sin_azimuth_table[rotation] * corrections.cos_rot_correction -\n+ cos_azimuth_table[rotation] * corrections.sin_rot_correction;\n+\n+ // Compute the distance in the xy plane (w/o accounting for rotation)\n+ double xy_distance = distance * corrections.cos_vert_correction;\n+\n+ // Get 2points calibration values,Linear interpolation to get distance\n+ // correction for X and Y, that means distance correction use\n+ // different value at different distance\n+ distance_corr_x = distance_corr_y = corrections.dist_correction;\n+ \n+ double distance_x = raw_distance + distance_corr_x;\n+ xy_distance = distance_x * corrections.cos_vert_correction;\n+ \n+ x = xy_distance * sin_rot_angle - corrections.horiz_offset_correction * cos_rot_angle;\n+\n+ double distance_y = raw_distance + distance_corr_y;\n+ xy_distance = distance_y * corrections.cos_vert_correction;\n+\n+ y = xy_distance * cos_rot_angle + corrections.horiz_offset_correction * sin_rot_angle;\n+ z = distance * corrections.sin_vert_correction + corrections.vert_offset_correction;\n+ \n+ /** Use standard ROS coordinate system (right-hand rule) */\n+\tpoint->set_x(static_cast<float>(-y));\n+\tpoint->set_y(static_cast<float>(-x));\n+\tpoint->set_z(static_cast<float>(z));\n+}\n+\n+void LslidarParser::ComputeCoords2(int Laser_ring, int Type, const float &raw_distance,\n+ LaserCorrection &corrections,\n+ const double rotation, PointXYZIT *point) {\n+\tdouble x = 0.0;\n+\tdouble y = 0.0;\n+\tdouble z = 0.0;\n+\tdouble distance_corr_x = 0;\n+\tdouble distance_corr_y = 0;\n+\tdouble sinTheta_1[128] = {0};\n+\tdouble cosTheta_1[128] = {0};\n+\tdouble sinTheta_2[128] = {0};\n+\tdouble cosTheta_2[128] = {0};\n+\tdouble cos_xita;\n+\t// 垂直角度\n+\tdouble sin_theat;\n+\tdouble cos_theat;\n+\tdouble _R_;\n+\t// 水平角度\n+\tdouble cos_H_xita;\n+\tdouble sin_H_xita;\n+\tdouble cos_xita_F;\n+\n+\tfor (int i = 0; i < 128; i++) {\n+\t\tsinTheta_1[i] = sin(big_angle[i / 4] * M_PI / 180);\n+\t\tcosTheta_1[i] = cos(big_angle[i / 4] * M_PI / 180);\n+\t\t\n+\t\tif(abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 && abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6)\n+\t\t{\n+\t\t sinTheta_2[i] = sin((i % 4) * (-0.17) * M_PI / 180);\n+\t\t cosTheta_2[i] = cos((i % 4) * (-0.17) * M_PI / 180);\n+\t }else{\n+\t\t sinTheta_2[i] = sin(prism_angle[i % 4] * M_PI / 180);\n+\t\t cosTheta_2[i] = cos(prism_angle[i % 4] * M_PI / 180);\n+\t }\n+\t}\n+\n+ corrections.cos_rot_correction = cosf(corrections.rot_correction);\n+ corrections.sin_rot_correction = sinf(corrections.rot_correction);\n+ \n+ double cos_azimuth_half=cos(rotation*0.5);\n+ \n+ if(Type == CH16)\n+ {\n+\t\tif(abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&\n+\t\tabs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6 ){\n+\t\t\tcorrections.sin_vert_correction = sin_scan_laser_altitude[Laser_ring / 4 + 2] +\n+\t\t\t\t\t\t\t 2 * cos_azimuth_half * sin_scan_mirror_altitude[Laser_ring % 4];\n+\t\t}else{\n+\t\t\tcorrections.sin_vert_correction = sin_scan_laser_altitude[Laser_ring / 4 + 2] +\n+\t\t\t\t\t\t\t 2 * cos_azimuth_half * sin(prism_angle[Laser_ring % 4] * M_PI / 180);\n+\t\t}\n+ }\n+ else if(Type == CH32)\n+ {\n+\t corrections.sin_vert_correction=sin_scan_laser_altitude[Laser_ring/4]+2*cos_azimuth_half* sin_scan_mirror_altitude[Laser_ring%4];\n+ }\n+ else if(Type == CH64)\n+ {\n+\t if (Laser_ring % 8 == 0 || Laser_ring % 8 == 1 || Laser_ring % 8 == 2 || Laser_ring % 8 == 3) {\n+\t\t\tcorrections.sin_vert_correction = sin(-13.33 * DEG_TO_RAD + floor(Laser_ring / 4) * 1.33* DEG_TO_RAD) +\n+\t\t\t\t\t\t\t 2 * cos(rotation / 2 + 1.05* DEG_TO_RAD ) *\n+\t\t\t\t\t\t\t sin((Laser_ring % 4) * 0.33* DEG_TO_RAD);\n+\t\t} \n+\t\telse if (Laser_ring % 8 == 4 || Laser_ring % 8 == 5 || Laser_ring % 8 == 6 || Laser_ring % 8 == 7) {\n+\t\t\tcorrections.sin_vert_correction = sin(-13.33 * DEG_TO_RAD + floor(Laser_ring / 4) * 1.33* DEG_TO_RAD) +\n+\t\t\t\t\t\t\t 2 * cos(rotation / 2 - 1.05* DEG_TO_RAD ) *\n+\t\t\t\t\t\t\t sin((Laser_ring % 4) * 0.33* DEG_TO_RAD);\n+\t\t}\n+ }\n+ else if(Type == CH64w)\n+ {\n+\t\tif (Laser_ring / 4 % 2 == 0) {\n+ cos_xita = cos((rotation / 2.0 + 22.5) * M_PI / 180);\n+ }else{\n+ cos_xita = cos((-rotation / 2.0 + 112.5) * M_PI / 180);\n+ }\n+\t\t_R_ = theat2_c[Laser_ring] * theat1_c[Laser_ring] * cos_xita - theat2_s[Laser_ring] * theat1_s[Laser_ring];\n+ sin_theat = theat1_s[Laser_ring] + 2 * _R_ * theat2_s[Laser_ring];\n+ cos_theat = sqrt(1 - pow(sin_theat, 2));\n+ cos_H_xita = (2 * _R_ * theat2_c[Laser_ring] * cos_xita - theat1_c[Laser_ring]) / cos_theat;\n+ sin_H_xita = sqrt(1 - pow(cos_H_xita, 2));\n+\n+ if(Laser_ring / 4 % 2 == 0){\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * sqrt(0.5);\n+ corrections.sin_vert_correction = sqrt(1 - pow(cos_xita_F, 2));\n+ } else{\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * (-sqrt(0.5));\n+ corrections.sin_vert_correction = sqrt(1 - pow(cos_xita_F, 2));\n+ }\t\n+ }\n+ else if(Type == CH120)\n+ {\n+\t corrections.sin_vert_correction = sinf(corrections.vert_correction);\n+ }\n+ else if(Type == CH128)\n+ {\n+\t if (Laser_ring / 4 % 2 == 0) {\n+ cos_azimuth_half = sin((rotation - 15 * DEG_TO_RAD) * 0.5);\n+ } else {\n+ cos_azimuth_half = cos((rotation + 15 * DEG_TO_RAD) * 0.5);\n+ }\n+\t corrections.sin_vert_correction = sin_scan_laser_altitude_ch128[Laser_ring / 4] +\n+ 2 * cos_azimuth_half * sinTheta_2[Laser_ring];\n+ }\n+ else if(Type == CH128X1)\n+ {\n+\t\tdouble _R_ = cosTheta_2[Laser_ring] * cosTheta_1[Laser_ring] *\n+ cos_azimuth_half - sinTheta_2[Laser_ring] * sinTheta_1[Laser_ring];\n+\t\tcorrections.sin_vert_correction = sinTheta_1[Laser_ring] + 2 * _R_ * sinTheta_2[Laser_ring];\n+ }\n+ corrections.cos_vert_correction = sqrt(1 - pow(corrections.sin_vert_correction, 2));\n+ \n+ double distance = raw_distance + corrections.dist_correction;\n+\n+ double cos_rot_angle = cos(rotation) * corrections.cos_rot_correction +\n+ sin(rotation) * corrections.sin_rot_correction;\n+ double sin_rot_angle = sin(rotation) * corrections.cos_rot_correction -\n+ cos(rotation) * corrections.sin_rot_correction;\n+\n+ // Compute the distance in the xy plane (w/o accounting for rotation)\n+ double xy_distance = distance * corrections.cos_vert_correction;\n+\n+ // Get 2points calibration values,Linear interpolation to get distance\n+ // correction for X and Y, that means distance correction use\n+ // different value at different distance\n+ distance_corr_x = distance_corr_y = corrections.dist_correction;\n+ \n+ double distance_x = raw_distance + distance_corr_x;\n+ xy_distance = distance_x * corrections.cos_vert_correction;\n+ \n+ x = xy_distance * sin_rot_angle - corrections.horiz_offset_correction * cos_rot_angle;\n+\n+ double distance_y = raw_distance + distance_corr_y;\n+ xy_distance = distance_y * corrections.cos_vert_correction;\n+\n+ y = xy_distance * cos_rot_angle + corrections.horiz_offset_correction * sin_rot_angle;\n+ z = distance * corrections.sin_vert_correction + corrections.vert_offset_correction;\n+ \n+ /** Use standard ROS coordinate system (right-hand rule) */\n+\tpoint->set_x(static_cast<float>(-y));\n+\tpoint->set_y(static_cast<float>(-x));\n+\tpoint->set_z(static_cast<float>(z));\n+}\n+\n+LslidarParser *LslidarParserFactory::CreateParser(Config source_config) {\n+ Config config = source_config;\n+ \n+ if (config.model() == LSLIDAR16P) {\n+ return new Lslidar16Parser(config);\n+ } \n+ else if(config.model() == LSLIDAR32P){\n+\treturn new Lslidar32Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_C32_V4 ||config.model() == LSLIDAR_C16_V4\n+ ||config.model() == LSLIDAR_C8_V4 ||config.model() == LSLIDAR_C1_V4){\n+ return new LslidarCXV4Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH16){\n+\treturn new LslidarCH16Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH32){\n+\treturn new LslidarCH32Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH64){\n+\treturn new LslidarCH64Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH64w){\n+\treturn new LslidarCH64wParser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH120){\n+\treturn new LslidarCH120Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH128){\n+\treturn new LslidarCH128Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_CH128X1){\n+\treturn new LslidarCH128X1Parser(config);\n+ }\n+ else if(config.model() == LSLIDAR_LS128S2){\n+ return new LslidarLS128S2Parser(config);\n+ }\n+ else {\n+ AERROR << \"invalid model\";\n+ return nullptr;\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_parser.h b/modules/drivers/lidar/lslidar/parser/lslidar_parser.h\nnew file mode 100644\nindex 00000000000..170dd1ca421\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_parser.h\n@@ -0,0 +1,865 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/* -*- mode: C++ -*-\n+ *\n+ * Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson\n+ * Copyright (C) 2009 Austin Robot Technology, Jack O'Quin\n+ *\n+ * License: Modified BSD Software License Agreement\n+ *\n+ * $Id$\n+ */\n+\n+/** \\file\n+ * \\ingroup lslidar\n+ *\n+ * These classes Unpack raw Lslidar LIDAR packets into several\n+ * useful formats.\n+ *\n+ * lslidar::Data -- virtual base class for unpacking data into\n+ * various formats\n+ *\n+ * lslidar::DataScans -- derived class, unpacks into vector of\n+ * individual laser scans\n+ *\n+ * lslidar::DataXYZ -- derived class, unpacks into XYZ format\n+ *\n+ * \\todo make a separate header for each class?\n+ *\n+ * \\author Yaxin Liu\n+ * \\author Patrick Beeson\n+ * \\author Jack O'Quin\n+ */\n+\n+#pragma once\n+\n+#include <cerrno>\n+#include <cmath>\n+#include <cstdint>\n+#include <limits>\n+#include <memory>\n+#include <string>\n+\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/pointcloud.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/lidar/lslidar/parser/calibration.h\"\n+\n+#define DEG_TO_RAD 0.017453292\n+#define RAD_TO_DEG 57.29577951\n+\n+#define CH16 1\n+#define CH32 2\n+#define CH64 3\n+#define CH64w 4\n+#define CH120 5\n+#define CH128 6\n+#define CH128X1 7\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::PointXYZIT;\n+using apollo::drivers::lslidar::LSLIDAR16P;\n+using apollo::drivers::lslidar::LslidarPacket;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+/**\n+ * Raw Lslidar packet constants and structures.\n+ */\n+#define DEG2RAD(x) ((x)*0.017453293)\n+static const int SIZE_BLOCK = 100;\n+static const int RAW_SCAN_SIZE = 3;\n+static const int SCANS_PER_BLOCK = 32;\n+static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);\n+\n+static const float ROTATION_RESOLUTION = 0.01f; /**< degrees */\n+static const uint16_t ROTATION_MAX_UNITS = 36000;\n+\n+static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;\n+static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;\n+\n+/** According to Bruce Hall DISTANCE_MAX is 65.0, but we noticed\n+ * valid packets with readings up to 200.0. */\n+static const float DISTANCE_MAX = 200.0f; /**< meters */\n+static const float DISTANCE_MIN = 0.2f;\n+static const float DISTANCE_RESOLUTION = 0.01f; /**< meters */\n+static const double DISTANCE_RESOLUTION2 = 0.0000390625;\n+static const float DISTANCE_RESOLUTION_NEW = 0.005f;\n+static const float DISTANCE_MAX_UNITS =\n+ (DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0f);\n+\n+// laser_block_id\n+static const uint16_t UPPER_BANK = 0xeeff;\n+static const uint16_t LOWER_BANK = 0xddff;\n+\n+/** Special Defines for VLP16 support **/\n+static const int LSC16_FIRINGS_PER_BLOCK = 2;\n+static const int LSC16_SCANS_PER_FIRING = 16;\n+static const float LSC16_BLOCK_TDURATION = 100.0f; // [µs]\n+static const float LSC16_DSR_TOFFSET = 3.125f; // [µs]\n+static const float LSC16_FIRING_TOFFSET = 50.0f; // [µs]\n+\n+static const int LSC32_FIRINGS_PER_BLOCK = 1;\n+static const int LSC32_SCANS_PER_FIRING = 32;\n+static const float LSC32_FIRING_TOFFSET = 100.0f; // [µs]\n+static const float LSC32_AZIMUTH_TOFFSET = 12.98f; /**< meters */\n+static const float LSC32_DISTANCE_TOFFSET = 4.94f; /**< meters */\n+\n+static const int SCANS_PER_FIRING_C32 = 32;\n+static const int FIRING_TOFFSET_C32 = 32;\n+static const double R32_1_ = 0.0361;\n+static const double CX4_R1_ = 0.0361; //\n+static const double CX4_C32W = 0.03416; // 新C32W byte[1211] = 0x47\n+static const double CX4_R1_90 = 0.0209; // 90度\n+static const double CX4_conversionAngle_ = 20.25;\n+static const double CX4_conversionAngle_90 = 27.76; // 90度\n+\n+/** \\brief Raw Lslidar data block.\n+ *\n+ * Each block contains data from either the upper or lower laser\n+ * bank. The device returns three times as many upper bank blocks.\n+ *\n+ * use cstdint types, so things work with both 64 and 32-bit machines\n+ */\n+typedef struct raw_block {\n+ uint16_t header; ///< UPPER_BANK or LOWER_BANK\n+ uint8_t rotation_1;\n+ uint8_t rotation_2; /// combine rotation1 and rotation2 together to get\n+ /// 0-35999, divide by 100 to get degrees\n+ uint8_t data[BLOCK_DATA_SIZE]; // 96\n+} raw_block_t;\n+\n+/** used for unpacking the first two data bytes in a block\n+ *\n+ * They are packed into the actual data stream misaligned. I doubt\n+ * this works on big endian machines.\n+ */\n+union two_bytes {\n+ int16_t uint;\n+ int8_t bytes[2];\n+};\n+\n+union four_bytes {\n+ uint32_t uint;\n+ uint8_t bytes[4];\n+};\n+static const int PACKET_SIZE = 1212;\n+static const int POINTS_PER_PACKET = 171;\n+static const int LS_POINTS_PER_PACKET = 149; // LS128S2 149 points\n+static const int BLOCKS_PER_PACKET = 12;\n+static const int PACKET_STATUS_SIZE = 4;\n+static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);\n+\n+const int ORDER_16[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};\n+const int ORDER_32[32] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,\n+ 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21,\n+ 22, 23, 24, 25, 26, 27, 28, 29, 30, 31};\n+\n+static const double scan_altitude_original_A[32] = { // 1\tv2.6\n+ -16, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1,\n+ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};\n+\n+static const double scan_altitude_original_A3[32] = { // 1\tv3.0\n+ -16, 0, -15, 1, -14, 2, -13, 3, -12, 4, -11, 5, -10, 6, -9, 7,\n+ -8, 8, -7, 9, -6, 10, -5, 11, -4, 12, -3, 13, -2, 14, -1, 15};\n+\n+static const double scan_altitude_original_C[32] = { // 0.33\tv2.6\n+ -18, -15, -12, -10, -8, -7, -6, -5, -4, -3.33, -2.66,\n+ -3, -2.33, -2, -1.33, -1.66, -1, -0.66, 0, -0.33, 0.33, 0.66,\n+ 1.33, 1, 1.66, 2, 3, 4, 6, 8, 11, 14};\n+\n+static const double scan_altitude_original_C3[32] = { // 0.33\tv3.0\n+ -18, -1, -15, -0.66, -12, -0.33, -10, 0, -8, 0.33, -7,\n+ 0.66, -6, 1, -5, 1.33, -4, 1.66, -3.33, 2, -3, 3,\n+ -2.66, 4, -2.33, 6, -2, 8, -1.66, 11, -1.33, 14};\n+\n+// CX 4.0\n+// Pre-compute the sine and cosine for the altitude angles.\n+// c32 32度\n+static const double c32_32_vertical_angle[32] = {\n+ -16, -8, 0, 8, -15, -7, 1, 9, -14, -6, 2, 10, -13, -5, 3, 11,\n+ -12, -4, 4, 12, -11, -3, 5, 13, -10, -2, 6, 14, -9, -1, 7, 15};\n+// c32 70度 0x46\n+static const double c32_70_vertical_angle[32] = {\n+ -54, -31, -8, 2.66, -51.5, -28, -6.66, 4, -49, -25, -5.33,\n+ 5.5, -46, -22, -4, 7, -43, -18.5, -2.66, 9, -40, -15,\n+ -1.33, 11, -37, -12, 0, 13, -34, -10, 1.33, 15};\n+\n+// c32 70度 0x47\n+static const double c32_70_vertical_angle2[32] = {\n+ -54.7, -31, -9, 3, -51.5, -28, -7.5, 4.5, -49, -25, -6.0,\n+ 6.0, -46, -22, -4.5, 7.5, -43, -18.5, -3.0, 9, -40, -15,\n+ -1.5, 11, -37, -12, 0, 13, -34, -10.5, 1.5, 15};\n+\n+// c32 90度\n+static const double c32_90_vertical_angle[32] = {\n+ 2.487, 25.174, 47.201, 68.819, 5.596, 27.811, 49.999, 71.525,\n+ 8.591, 30.429, 52.798, 74.274, 11.494, 33.191, 55.596, 77.074,\n+ 14.324, 36.008, 58.26, 79.938, 17.096, 38.808, 60.87, 82.884,\n+ 19.824, 41.603, 63.498, 85.933, 22.513, 44.404, 66.144, 89.105};\n+\n+\n+static const double c16_vertical_angle[16] = {\n+ -16, 0, -14, 2, -12, 4, -10, 6, -8, 8, -6, 10, -4, 12, -2, 14};\n+\n+static const double c8_vertical_angle[8] = {-12, 4, -8, 8, -4, 10, 0, 12};\n+static const double c1_vertical_angle[8] = {0, 0, 0, 0, 0, 0, 0, 0};\n+\n+static const double scan_altitude_original_2[16] = {\n+ -0.2617993877991494, 0.017453292519943295, -0.22689280275926285,\n+ 0.05235987755982989, -0.19198621771937624, 0.08726646259971647,\n+ -0.15707963267948966, 0.12217304763960307, -0.12217304763960307,\n+ 0.15707963267948966, -0.08726646259971647, 0.19198621771937624,\n+ -0.05235987755982989, 0.22689280275926285, -0.017453292519943295,\n+ 0.2617993877991494};\n+static const double scan_altitude_original_1[16] = {\n+ -0.17453292519943295, 0.01160643952576229, -0.15123277968530863,\n+ 0.03490658503988659, -0.12793263417118436, 0.05811946409141117,\n+ -0.10471975511965978, 0.08141960960553547, -0.08141960960553547,\n+ 0.10471975511965978, -0.05811946409141117, 0.12793263417118436,\n+ -0.03490658503988659, 0.15123277968530863, -0.01160643952576229,\n+ 0.17453292519943295};\n+\n+static const double scan_laser_altitude[8] = {\n+ -0.11641346110802178, -0.09302604913129776, -0.06981317007977318,\n+ -0.04642575810304917, -0.023212879051524585, -0.0,\n+ 0.023212879051524585, 0.04642575810304917,\n+};\n+\n+static const double scan_laser_altitude_ch32[8] = {\n+ -0.24434609527920614, -0.19198621771937624, -0.13962634015954636,\n+ -0.08726646259971647, -0.03490658503988659, -0.0,\n+ 0.03490658503988659, 0.08726646259971647,\n+};\n+\n+static const double big_angle[32] = {\n+ -17, -16, -15, -14, -13, -12, -11, -10, -9, -8, -7,\n+ -6, -5, -4.125, -4, -3.125, -3, -2.125, -2, -1.125, -1, -0.125,\n+ 0, 0.875, 1, 1.875, 2, 3, 4, 5, 6, 7};\n+\n+static const double sin_scan_laser_altitude[8] = {\n+ std::sin(scan_laser_altitude[0]), std::sin(scan_laser_altitude[1]),\n+ std::sin(scan_laser_altitude[2]), std::sin(scan_laser_altitude[3]),\n+ std::sin(scan_laser_altitude[4]), std::sin(scan_laser_altitude[5]),\n+ std::sin(scan_laser_altitude[6]), std::sin(scan_laser_altitude[7]),\n+};\n+\n+static const double sin_scan_laser_altitude_ch32[8] = {\n+ std::sin(scan_laser_altitude_ch32[0]),\n+ std::sin(scan_laser_altitude_ch32[1]),\n+ std::sin(scan_laser_altitude_ch32[2]),\n+ std::sin(scan_laser_altitude_ch32[3]),\n+ std::sin(scan_laser_altitude_ch32[4]),\n+ std::sin(scan_laser_altitude_ch32[5]),\n+ std::sin(scan_laser_altitude_ch32[6]),\n+ std::sin(scan_laser_altitude_ch32[7]),\n+};\n+\n+// Pre-compute the sine and cosine for the altitude angles.\n+static const double scan_laser_altitude_ch128[32] = {\n+ -0.29670597283903605, -0.2792526803190927, -0.2617993877991494,\n+ -0.24434609527920614, -0.22689280275926285, -0.20943951023931956,\n+ -0.19198621771937624, -0.17453292519943295, -0.15707963267948966,\n+ -0.13962634015954636, -0.12217304763960307, -0.10471975511965978,\n+ -0.08726646259971647, -0.06981317007977318, -0.05235987755982989,\n+ -0.03490658503988659, -0.017453292519943295, 0.0,\n+ 0.017453292519943295, 0.03490658503988659, 0.05235987755982989,\n+ 0.06981317007977318, 0.08726646259971647, 0.10471975511965978,\n+ 0.12217304763960307, 0.13962634015954636, 0.15707963267948966,\n+ 0.17453292519943295, 0.19198621771937624, 0.20943951023931956,\n+ 0.22689280275926285, 0.24434609527920614,\n+};\n+\n+static const double sin_scan_laser_altitude_ch128[32] = {\n+ std::sin(scan_laser_altitude_ch128[0]),\n+ std::sin(scan_laser_altitude_ch128[1]),\n+ std::sin(scan_laser_altitude_ch128[2]),\n+ std::sin(scan_laser_altitude_ch128[3]),\n+ std::sin(scan_laser_altitude_ch128[4]),\n+ std::sin(scan_laser_altitude_ch128[5]),\n+ std::sin(scan_laser_altitude_ch128[6]),\n+ std::sin(scan_laser_altitude_ch128[7]),\n+ std::sin(scan_laser_altitude_ch128[8]),\n+ std::sin(scan_laser_altitude_ch128[9]),\n+ std::sin(scan_laser_altitude_ch128[10]),\n+ std::sin(scan_laser_altitude_ch128[11]),\n+ std::sin(scan_laser_altitude_ch128[12]),\n+ std::sin(scan_laser_altitude_ch128[13]),\n+ std::sin(scan_laser_altitude_ch128[14]),\n+ std::sin(scan_laser_altitude_ch128[15]),\n+ std::sin(scan_laser_altitude_ch128[16]),\n+ std::sin(scan_laser_altitude_ch128[17]),\n+ std::sin(scan_laser_altitude_ch128[18]),\n+ std::sin(scan_laser_altitude_ch128[19]),\n+ std::sin(scan_laser_altitude_ch128[20]),\n+ std::sin(scan_laser_altitude_ch128[21]),\n+ std::sin(scan_laser_altitude_ch128[22]),\n+ std::sin(scan_laser_altitude_ch128[23]),\n+ std::sin(scan_laser_altitude_ch128[24]),\n+ std::sin(scan_laser_altitude_ch128[25]),\n+ std::sin(scan_laser_altitude_ch128[26]),\n+ std::sin(scan_laser_altitude_ch128[27]),\n+ std::sin(scan_laser_altitude_ch128[28]),\n+ std::sin(scan_laser_altitude_ch128[29]),\n+ std::sin(scan_laser_altitude_ch128[30]),\n+ std::sin(scan_laser_altitude_ch128[31]),\n+};\n+\n+static const double scan_mirror_altitude[4] = {\n+ -0.0,\n+ 0.005759586531581287,\n+ 0.011693705988362009,\n+ 0.017453292519943295,\n+};\n+\n+static const double sin_scan_mirror_altitude[4] = {\n+ std::sin(scan_mirror_altitude[0]),\n+ std::sin(scan_mirror_altitude[1]),\n+ std::sin(scan_mirror_altitude[2]),\n+ std::sin(scan_mirror_altitude[3]),\n+};\n+\n+static const double scan_mirror_altitude_ch128[4] = {\n+ 0.0,\n+ 0.004363323129985824,\n+ 0.008726646259971648,\n+ 0.013089969389957472,\n+};\n+\n+static const double sin_scan_mirror_altitude_ch128[4] = {\n+ std::sin(scan_mirror_altitude_ch128[0]),\n+ std::sin(scan_mirror_altitude_ch128[1]),\n+ std::sin(scan_mirror_altitude_ch128[2]),\n+ std::sin(scan_mirror_altitude_ch128[3]),\n+};\n+\n+static const int POINTS_PER_PACKET_SINGLE_ECHO = 1192; // modify\n+static const int POINTS_PER_PACKET_DOUBLE_ECHO = 1188; // modify\n+\n+/** \\brief Raw Lslidar packet.\n+ *\n+ * revolution is described in the device manual as incrementing\n+ * (mod 65536) for each physical turn of the device. Our device\n+ * seems to alternate between two different values every third\n+ * packet. One value increases, the other decreases.\n+ *\n+ * status has either a temperature encoding or the microcode level\n+ */\n+typedef struct FiringC32 {\n+ uint16_t firing_azimuth[BLOCKS_PER_PACKET];\n+ uint16_t azimuth[SCANS_PER_PACKET];\n+ double distance[SCANS_PER_PACKET];\n+ double intensity[SCANS_PER_PACKET];\n+} FiringC32;\n+\n+union TwoBytes {\n+ uint16_t distance;\n+ uint8_t bytes[2];\n+};\n+\n+struct RawBlock {\n+ uint16_t header;\n+ uint16_t rotation; // 0-35999\n+ uint8_t data[BLOCK_DATA_SIZE];\n+};\n+\n+struct RawPacket_C32 {\n+ RawBlock blocks[BLOCKS_PER_PACKET];\n+ uint32_t time_stamp;\n+ uint8_t factory[2];\n+};\n+\n+typedef struct raw_packet {\n+ raw_block_t blocks[BLOCKS_PER_PACKET];\n+ uint8_t gps_timestamp[10]; // gps时间 1200-1209\n+ uint8_t status_type;\n+ uint8_t status_value;\n+} raw_packet_t;\n+\n+union vertical_point {\n+ uint8_t uint[2];\n+ uint16_t value;\n+};\n+\n+struct Point {\n+ uint8_t vertical_line; // 0-127\n+ uint8_t azimuth_1;\n+ uint8_t azimuth_2;\n+ uint8_t distance_1;\n+ uint8_t distance_2;\n+ uint8_t distance_3;\n+ uint8_t intensity;\n+};\n+\n+struct RawPacket {\n+ Point points[POINTS_PER_PACKET];\n+ uint8_t nodata[3];\n+ uint32_t time_stamp;\n+ uint8_t factory[2];\n+};\n+\n+struct Firing {\n+ // double vertical_angle;\n+ int vertical_line;\n+ double azimuth;\n+ double distance;\n+ int intensity;\n+};\n+\n+struct Firing_LS128S2 {\n+ double vertical_angle;\n+ // int vertical_line;\n+ double azimuth;\n+ double distance;\n+ float intensity;\n+ double time;\n+ int channel_number;\n+};\n+\n+struct Point_LS128S2 {\n+ uint8_t vertical_line; // 0-127\n+ uint8_t azimuth_1;\n+ uint8_t azimuth_2;\n+ uint8_t distance_1;\n+ uint8_t distance_2;\n+ uint8_t distance_3;\n+ uint8_t intensity;\n+};\n+\n+struct RawPacket_LS128S2 {\n+ Point points[POINTS_PER_PACKET];\n+ uint8_t nodata[3];\n+ uint32_t time_stamp;\n+ uint8_t factory[2];\n+};\n+\n+static const float nan = std::numeric_limits<float>::signaling_NaN();\n+\n+/** \\brief Lslidar data conversion class */\n+class LslidarParser {\n+ public:\n+ LslidarParser() {}\n+ explicit LslidarParser(const Config& config);\n+ virtual ~LslidarParser() {}\n+\n+ /** \\brief Set up for data processing.\n+ * Perform initializations needed before data processing can\n+ * begin:\n+ * - read device-specific angles calibration\n+ *\n+ * @param private_nh private node handle for ROS parameters\n+ * @returns 0 if successful;\n+ * errno value for failure\n+ */\n+ virtual void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg) = 0;\n+ virtual void setup();\n+\n+ // Order point cloud fod IDL by lslidar model\n+ virtual void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud) = 0;\n+\n+ const double get_last_timestamp() { return last_time_stamp_; }\n+\n+ protected:\n+ double scan_altitude[16];\n+ float sin_azimuth_table[ROTATION_MAX_UNITS];\n+ float cos_azimuth_table[ROTATION_MAX_UNITS];\n+ double cos_scan_altitude_caliration[LSC32_SCANS_PER_FIRING];\n+ double sin_scan_altitude_caliration[LSC32_SCANS_PER_FIRING];\n+ double last_time_stamp_;\n+ double theat1_s[128];\n+ double theat2_s[128];\n+ double theat1_c[128];\n+ double theat2_c[128];\n+ double prism_angle[4];\n+ double prism_angle64[4];\n+ Config config_;\n+ Calibration calibration_;\n+ bool need_two_pt_correction_;\n+ bool config_vert_angle;\n+ uint64_t current_packet_time = 0;\n+ uint64_t previous_packet_time = 0;\n+\n+ bool is_scan_valid(int rotation, float distance);\n+\n+ void ComputeCoords(const float& raw_distance, LaserCorrection& corrections,\n+ const uint16_t rotation, PointXYZIT* point);\n+\n+ void ComputeCoords2(int Laser_ring, int Type, const float& raw_distance,\n+ LaserCorrection& corrections, const double rotation,\n+ PointXYZIT* point);\n+\n+\n+}; // class LslidarParser\n+\n+class Lslidar16Parser : public LslidarParser {\n+ public:\n+ explicit Lslidar16Parser(const Config& config);\n+ ~Lslidar16Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc,\n+ int packet_number);\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+ int packet_number_;\n+ bool read_difop_;\n+}; // class Lslidar16Parser\n+\n+class Lslidar32Parser : public LslidarParser {\n+ public:\n+ explicit Lslidar32Parser(const Config& config);\n+ ~Lslidar32Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc,\n+ int packet_number);\n+ double adjust_angle;\n+ double adjust_angle_two;\n+ double adjust_angle_three;\n+ double adjust_angle_four;\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+ int lslidar_type;\n+ int packet_number_;\n+ bool read_difop_;\n+\n+ double scan_altitude_A[32] = {0};\n+ double scan_altitude_C[32] = {0};\n+}; // class Lslidar32Parser\n+\n+class LslidarCXV4Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCXV4Parser(const Config& config);\n+ ~LslidarCXV4Parser() {}\n+\n+ void decodePacket(const RawPacket_C32* packet);\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ bool checkPacketValidity(const RawPacket_C32* packet);\n+\n+ private:\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc,\n+ int packet_number);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+ int lslidar_type;\n+ int packet_number_;\n+ bool read_difop_;\n+\n+ // double c32_vertical_angle[32] = {0};\n+ double cos_scan_altitude[32] = {0};\n+ double sin_scan_altitude[32] = {0};\n+ double cos_azimuth_table[36000];\n+ double sin_azimuth_table[36000];\n+ int vertical_angle_; // 雷达垂直角度： 32度，70度，90度\n+ FiringC32 firings;\n+ double distance_unit_;\n+ int lidar_number_;\n+ bool is_new_c32w_;\n+ bool is_get_scan_altitude_;\n+\n+}; // class LslidarCXV4Parser\n+\n+class Lslidar401Parser : public LslidarParser {\n+ public:\n+ explicit Lslidar401Parser(const Config& config);\n+ ~Lslidar401Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void decodePacket(const raw_packet_t* packet);\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+}; // class Lslidar401Parser\n+\n+class LslidarCH16Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH16Parser(const Config& config);\n+ ~LslidarCH16Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH16Parser\n+\n+class LslidarCH32Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH32Parser(const Config& config);\n+ ~LslidarCH32Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH32Parser\n+\n+class LslidarCH64Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH64Parser(const Config& config);\n+ ~LslidarCH64Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH64Parser\n+\n+class LslidarCH64wParser : public LslidarParser {\n+ public:\n+ explicit LslidarCH64wParser(const Config& config);\n+ ~LslidarCH64wParser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ double theat1_s[128];\n+ double theat2_s[128];\n+ double theat1_c[128];\n+ double theat2_c[128];\n+ double point_time_diff;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH64Parser\n+\n+class LslidarCH120Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH120Parser(const Config& config);\n+ ~LslidarCH120Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH120Parser\n+\n+class LslidarCH128Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH128Parser(const Config& config);\n+ ~LslidarCH128Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ double sinTheta_2[128];\n+ double prism_angle128[4];\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH128Parser\n+\n+class LslidarCH128X1Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH128X1Parser(const Config& config);\n+ ~LslidarCH128X1Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH128X1Parser\n+\n+class LslidarLS128S2Parser : public LslidarParser {\n+ public:\n+ explicit LslidarLS128S2Parser(const Config& config);\n+ ~LslidarLS128S2Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ int convertCoordinate(const struct Firing_LS128S2& lidardata);\n+\n+ int convertCoordinate(const struct Firing_LS128S2& lidardata,\n+ std::shared_ptr<PointCloud> out_cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing_LS128S2 firings[LS_POINTS_PER_PACKET];\n+ int frame_count = 0; // LS系列，叠帧模式会用到\n+\n+ double cos_table[36000]{};\n+ double sin_table[36000]{};\n+ double cos_mirror_angle[4]{};\n+ double sin_mirror_angle[4]{};\n+ double g_fAngleAcc_V = 0.01;\n+ bool is_add_frame_ = false;\n+ int return_mode = 1;\n+ std::shared_ptr<PointCloud> cur_pc;\n+ std::shared_ptr<PointCloud> pre_pc;\n+ int packet_number_ = 0;\n+}; // class LslidarLS128S2Parser\n+\n+class LslidarParserFactory {\n+ public:\n+ static LslidarParser* CreateParser(Config config);\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/proto/BUILD b/modules/drivers/lidar/lslidar/proto/BUILD\nnew file mode 100644\nindex 00000000000..426aa8d30f4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/proto/BUILD\n@@ -0,0 +1,52 @@\n+## Auto generated by `proto_build_generator.py`\n+load(\"@rules_proto//proto:defs.bzl\", \"proto_library\")\n+load(\"@rules_cc//cc:defs.bzl\", \"cc_proto_library\")\n+load(\"//tools:python_rules.bzl\", \"py_proto_library\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+cc_proto_library(\n+ name = \"config_cc_proto\",\n+ deps = [\n+ \":config_proto\",\n+ ],\n+)\n+\n+proto_library(\n+ name = \"config_proto\",\n+ srcs = [\"config.proto\"],\n+ deps = [\n+ \":lslidar_proto\",\n+ ],\n+)\n+\n+py_proto_library(\n+ name = \"config_py_pb2\",\n+ deps = [\n+ \":config_proto\",\n+ \":lslidar_py_pb2\",\n+ ],\n+)\n+\n+cc_proto_library(\n+ name = \"lslidar_cc_proto\",\n+ deps = [\n+ \":lslidar_proto\",\n+ ],\n+)\n+\n+proto_library(\n+ name = \"lslidar_proto\",\n+ srcs = [\"lslidar.proto\"],\n+ deps = [\n+ \"//modules/common_msgs/basic_msgs:header_proto\",\n+ ],\n+)\n+\n+py_proto_library(\n+ name = \"lslidar_py_pb2\",\n+ deps = [\n+ \":lslidar_proto\",\n+ \"//modules/common_msgs/basic_msgs:header_py_pb2\",\n+ ],\n+)\ndiff --git a/modules/drivers/lidar/lslidar/proto/config.proto b/modules/drivers/lidar/lslidar/proto/config.proto\nnew file mode 100644\nindex 00000000000..24221d6c936\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/proto/config.proto\n@@ -0,0 +1,47 @@\n+syntax = \"proto2\";\n+\n+package apollo.drivers.lslidar;\n+\n+import \"modules/drivers/lidar/lslidar/proto/lslidar.proto\";\n+\n+message Config {\n+ optional Model model = 1;\n+ optional string device_ip = 2 [default = \"192.168.1.200\"];\n+ optional uint32 msop_port = 3;\n+ optional uint32 difop_port = 4;\n+ optional uint32 return_mode = 5;\n+ optional uint32 degree_mode = 6;\n+ optional float distance_unit = 7;\n+ optional bool time_synchronization = 8; \n+ optional bool add_multicast = 9; \n+ optional string group_ip = 10 [default = \"224.1.1.2\"];\n+ optional uint32 rpm = 11;\n+ optional string convert_channel_name = 12;\n+ optional uint32 time_zone = 13;\n+ optional string frame_id = 14;\n+ optional string scan_channel = 15;\n+ optional float min_range = 16;\n+ optional float max_range = 17;\n+ optional bool config_vert = 18;\n+ optional bool print_vert = 19;\n+ optional float scan_start_angle =20;\n+ optional float scan_end_angle = 21;\n+ optional bool calibration = 22;\n+ optional int32 npackets = 23;\n+ optional string calibration_file = 24;\n+ optional uint32 packet_size = 25;\n+ optional uint32 vertical_angle = 26;\n+ optional float bottom_left_x = 27;\n+ optional float bottom_left_y = 28;\n+ optional float top_right_x = 29;\n+ optional float top_right_y = 30;\n+ optional string pcap_path = 31;\n+}\n+\n+message CompensatorConfig {\n+ optional string output_channel = 1;\n+ optional float transform_query_timeout = 2 [default = 0.02];\n+ optional string world_frame_id = 3 [default = \"world\"];\n+ optional string target_frame_id = 4;\n+ optional uint32 point_cloud_size = 5;\n+}\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/proto/lslidar.proto b/modules/drivers/lidar/lslidar/proto/lslidar.proto\nnew file mode 100644\nindex 00000000000..bec13d14423\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/proto/lslidar.proto\n@@ -0,0 +1,40 @@\n+syntax = \"proto2\";\n+\n+package apollo.drivers.lslidar;\n+\n+// import \"modules/common/proto/header.proto\"; \n+import \"modules/common_msgs/basic_msgs/header.proto\";\n+\n+\n+enum Model {\n+ UNKOWN = 0;\n+ LSLIDAR16P = 1;\n+ LSLIDAR32P = 2;\n+ LSLIDAR401 = 3; //401 废弃不用\n+ LSLIDAR_CH16 = 4;\n+ LSLIDAR_CH32 = 5;\n+ LSLIDAR_CH64 = 6;\n+ LSLIDAR_CH64w = 7;\n+ LSLIDAR_CH120 = 8;\n+ LSLIDAR_CH128 = 9;\n+ LSLIDAR_CH128X1 = 10;\n+ LSLIDAR_C32_V4 = 11;\n+ LSLIDAR_C16_V4 = 12;\n+ LSLIDAR_C8_V4 = 13;\n+ LSLIDAR_C1_V4 = 14;\n+ LSLIDAR_LS128S2 = 15;\n+}\n+\n+message LslidarPacket {\n+ optional uint64 stamp = 1;\n+ optional bytes data = 2;\n+}\n+\n+message LslidarScan {\n+ optional apollo.common.Header header = 1;\n+ optional Model model = 2; \n+ repeated LslidarPacket firing_pkts = 3;\n+ repeated LslidarPacket difop_pkts = 4;\n+ optional string sn = 5;\n+ optional uint64 basetime = 6 [default = 0];\n+}\n"},"changed_files":{"kind":"list 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CH16_calibration.yaml","modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml","modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml","modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml","modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml","modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml","modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml","modules/drivers/lidar/lslidar/parser/BUILD","modules/drivers/lidar/lslidar/parser/calibration.cc","modules/drivers/lidar/lslidar/parser/calibration.h","modules/drivers/lidar/lslidar/parser/convert.cc","modules/drivers/lidar/lslidar/parser/convert.h","modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc","modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc","modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc","modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc"],"string":"[\n \"modules/drivers/lidar/BUILD\",\n \"modules/drivers/lidar/lslidar/BUILD\",\n \"modules/drivers/lidar/lslidar/README_cn.md\",\n \"modules/drivers/lidar/lslidar/README_en.md\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/dag/lslidar16.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar16v4.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar1v4.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar32.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar32v4.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar8v4.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag\",\n \"modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag\",\n \"modules/drivers/lidar/lslidar/driver/BUILD\",\n \"modules/drivers/lidar/lslidar/driver/driver.cc\",\n \"modules/drivers/lidar/lslidar/driver/driver.h\",\n \"modules/drivers/lidar/lslidar/driver/input.cc\",\n \"modules/drivers/lidar/lslidar/driver/input.h\",\n \"modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc\",\n \"modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar1v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar32.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar32v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar401.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar8v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch\",\n \"modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml\",\n \"modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml\",\n \"modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml\",\n \"modules/drivers/lidar/lslidar/parser/BUILD\",\n \"modules/drivers/lidar/lslidar/parser/calibration.cc\",\n \"modules/drivers/lidar/lslidar/parser/calibration.h\",\n \"modules/drivers/lidar/lslidar/parser/convert.cc\",\n \"modules/drivers/lidar/lslidar/parser/convert.h\",\n \"modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc\",\n \"modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc\",\n \"modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc\",\n \"modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":"diff --git a/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt\nnew file mode 100644\nindex 00000000000..0bb207bb4f9\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt\n@@ -0,0 +1,29 @@\n+model: LSLIDAR_C1_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀2度校准两列 1://均匀1.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm\n+convert_channel_name: \"/apollo/sensor/lslidar1v4/PointCloud2\"\n+frame_id: \"lslidar16\"\n+scan_channel: \"/apollo/sensor/lslidar1v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+\n+#calibration: false\n+#calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\"\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\n"},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":590,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":15042,"string":"15,042"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Add lslidar driver for Apollo platform,230714"},"pr_body":{"kind":"string","value":"Add lslidar driver for Apollo platform"},"base_sha":{"kind":"string","value":"d5f88cb390d01cc15bc11d9af484d8e5a34d218f"},"head_sha":{"kind":"string","value":"cf81fa2fe3573914ef92f63f46300b7ca5cf2958"},"gold_diff":{"kind":"string","value":"diff --git a/modules/drivers/lidar/BUILD b/modules/drivers/lidar/BUILD\nindex 1f289ba7b35..81d04bf37bc 100644\n--- a/modules/drivers/lidar/BUILD\n+++ b/modules/drivers/lidar/BUILD\n@@ -18,6 +18,7 @@ install(\n \"//modules/drivers/lidar/hesai:install\",\n \"//modules/drivers/lidar/robosense:install\",\n \"//modules/drivers/lidar/velodyne:install\",\n+ \"//modules/drivers/lidar/lslidar:install\",\n ]\n )\n \ndiff --git a/modules/drivers/lidar/lslidar/BUILD b/modules/drivers/lidar/lslidar/BUILD\nnew file mode 100644\nindex 00000000000..a1d723e72f6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/BUILD\n@@ -0,0 +1,27 @@\n+load(\"//tools/install:install.bzl\", \"install\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+install(\n+ name = \"install\",\n+ data_dest = \"drivers/addition_data/lidar/lslidar\",\n+ library_dest = \"drivers/lib/lidar/lslidar\",\n+ data = [\n+ \":runtime_data\",\n+ ],\n+ targets = [\n+ \"//modules/drivers/lidar/lslidar/driver:liblslidar_driver_component.so\",\n+ \"//modules/drivers/lidar/lslidar/parser:liblslidar_convert_component.so\",\n+ ],\n+)\n+\n+filegroup(\n+ name = \"runtime_data\",\n+ srcs = glob([\n+ \"conf/*.txt\",\n+ \"conf/*.conf\",\n+ \"dag/*.dag\",\n+ \"launch/*.launch\",\n+ \"params/*.yaml\",\n+ ]),\n+)\ndiff --git a/modules/drivers/lidar/lslidar/README_cn.md b/modules/drivers/lidar/lslidar/README_cn.md\nnew file mode 100644\nindex 00000000000..5f7fc59ad16\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/README_cn.md\n@@ -0,0 +1,140 @@\n+# **Lslidar LiDAR Driver**\n+\n+\n+\n+## 1、 工程简介\n+\n+ **lslidar** 为镭神在Apollo 8.0平台的雷达驱动集成包。 目前支持*C16，C32，CH16，CH32，CH64，CH64w，CH120，CH128,CH128X1*等型号的雷达。 \n+\n+\n+\n+## 2、 驱动运行示例\n+\n+#### 2.1 C16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidar16/PointCloud2\n+- Scan--/apollo/sensor/lslidar16/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidar16/compensator/PointCloud2\n+\n+\n+#### 2.2 C32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidar32/PointCloud2\n+- Scan--/apollo/sensor/lslidar32/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidar32/compensator/PointCloud2\n+\n+\n+#### 2.3 N401(删除)\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidar401/PointCloud2\n+- Scan--/apollo/sensor/lslidar401/Scan\n+\n+#### 2.4 CH16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH16/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH16/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH16/compensator/PointCloud2\n+\n+#### 2.5 CH32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH32/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH32/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH32/compensator/PointCloud2\n+\n+#### 2.6 CH64\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH64/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH64/compensator/PointCloud2\n+\n+#### 2.7 CH64w\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH64w/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64w/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2\n+\n+#### 2.8 CH120\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH120/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH120/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH120/compensator/PointCloud2\n+\n+#### 2.9 CH128\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH128/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH128/compensator/PointCloud2\n+\n+#### 2.10 CH128X1\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\n+或\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\n+\n+默认话题名：\n+\n+- 原始点云 -- /apollo/sensor/lslidarCH128X1/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128X1/Scan\n+- 运动补偿后点云 -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2\n+\n+\n+\n+### 常见问题\n+\n+- 打印“[lslidar]lslidar poll() timeout, port: 2368‘’ 表示计算平台与雷达网络不通。\n+\n+ 可用wireshark查看是否有雷达数据；以及雷达ip和端口号参数设置是否正确。\ndiff --git a/modules/drivers/lidar/lslidar/README_en.md b/modules/drivers/lidar/lslidar/README_en.md\nnew file mode 100644\nindex 00000000000..db01baa5c5f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/README_en.md\n@@ -0,0 +1,142 @@\n+# **Lslidar LiDAR Driver**\n+\n+\n+\n+## 1. Overview\n+\n+**lslidar** is a lidar driver integration package from LenShen Intelligent System Co. Ltd. for the Apollo 8.0 platform. Currently the *C16, C32, CH16, CH32, CH64, CH64w, CH120, CH128,CH128X1* lidar models are supported. \n+\n+\n+\n+## 2. Example of driver running\n+\n+#### 2.1 C16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar16.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidar16/PointCloud2\n+- Scan--/apollo/sensor/lslidar16/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidar16/compensator/PointCloud2\n+\n+\n+#### 2.2 C32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar32.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidar32/PointCloud2\n+- Scan--/apollo/sensor/lslidar32/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidar32/compensator/PointCloud2\n+\n+\n+#### 2.3 N401(delete)\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidar401.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidar401/PointCloud2\n+- Scan--/apollo/sensor/lslidar401/Scan\n+\n+#### 2.4 CH16\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH16/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH16/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH16/compensator/PointCloud2\n+\n+#### 2.5 CH32\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH32/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH32/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH32/compensator/PointCloud2\n+\n+#### 2.6 CH64\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH64/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64/compensator/PointCloud2\n+\n+#### 2.7 CH64w\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH64w/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH64w/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH64w/compensator/PointCloud2\n+\n+#### 2.8 CH120\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH120/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH120/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH120/compensator/PointCloud2\n+\n+#### 2.9 CH128\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH128/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128/compensator/PointCloud2\n+\n+#### 2.10 CH128X1\n+\n+cyber_launch start /apollo/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\n+or\n+mainboard -d /apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\n+\n+Default topic name:\n+\n+- Raw point cloud -- /apollo/sensor/lslidarCH128X1/PointCloud2\n+- Scan--/apollo/sensor/lslidarCH128X1/Scan\n+- Point cloud after motion compensation -- /apollo/sensor/lslidarCH128X1/compensator/PointCloud2\n+\n+\n+\n+### Frequently asked questions\n+\n+- The printout \"[lslidar]lslidar poll() timeout, port: 2368\" indicates that the computing platform is not connected to the lidar network.\n+\n+ You can use Wireshark to see if lidar data is available; and if the lidar IP and port number parameters are set correctly.\n+ \n+ \ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..d4e6fe57241\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar16/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\nnew file mode 100644\nindex 00000000000..a12ca204762\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\n@@ -0,0 +1,30 @@\n+model: LSLIDAR16P\n+device_ip: \"192.168.1.201\"\n+msop_port: 2370\n+difop_port: 2371\n+return_mode: 1\n+degree_mode: 2 #2: 均匀2度校准两列 1://均匀1.33度校准两列\n+distance_unit: 0.25\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm\n+convert_channel_name: \"/apollo/sensor/lslidar16/PointCloud2\"\n+frame_id: \"lslidar16\"\n+scan_channel: \"/apollo/sensor/lslidar16/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\"\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\n+\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..c39c7999594\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar16v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..9d9ba201fef\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\n@@ -0,0 +1,26 @@\n+model: LSLIDAR_C16_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar16v4/PointCloud2\"\n+frame_id: \"lslidar16v4\"\n+scan_channel: \"/apollo/sensor/lslidar16v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..27bea1faf9c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar1v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..7adef29d323\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\n@@ -0,0 +1,26 @@\n+model: LSLIDAR_C1_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar1v4/PointCloud2\"\n+frame_id: \"lslidar1v4\"\n+scan_channel: \"/apollo/sensor/lslidar1v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..7dfa5270b15\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar32/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\nnew file mode 100644\nindex 00000000000..9b96e476029\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\n@@ -0,0 +1,29 @@\n+model: LSLIDAR32P\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 300 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm\n+convert_channel_name: \"/apollo/sensor/lslidar32/PointCloud2\"\n+frame_id: \"lslidar32\"\n+scan_channel: \"/apollo/sensor/lslidar32/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\"\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..baa74ccea53\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar32v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..29b16fd8bb2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\n@@ -0,0 +1,27 @@\n+model: LSLIDAR_C32_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+vertical_angle: 32 # 雷达垂直角度： 32度，70度，90度\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar32v4/PointCloud2\"\n+frame_id: \"lslidar32v4\"\n+scan_channel: \"/apollo/sensor/lslidar32v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..a521ce085b1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar401/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt\nnew file mode 100644\nindex 00000000000..24d42231a22\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt\n@@ -0,0 +1,16 @@\n+model: LSLIDAR401\n+device_ip: \"192.168.1.222\"\n+msop_port: 2368\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar401/PointCloud2\"\n+frame_id: \"lslidar401\"\n+scan_channel: \"/apollo/sensor/lslidar401/Scan\"\n+min_range: 0.3\n+max_range: 100.0\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..b5ce000184e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar8v4_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidar8v4/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\nnew file mode 100644\nindex 00000000000..9c67b80cef8\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\n@@ -0,0 +1,26 @@\n+model: LSLIDAR_C8_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀1度校准两列 1://均匀0.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidar8v4/PointCloud2\"\n+frame_id: \"lslidar8v4\"\n+scan_channel: \"/apollo/sensor/lslidar8v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..d4ce6cce742\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH120_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH120/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt\nnew file mode 100644\nindex 00000000000..540c5ac402c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH120_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH120\n+device_ip: \"192.168.1.210\"\n+msop_port: 2378\n+difop_port: 2379\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH120/PointCloud2\"\n+frame_id: \"lslidarCH120\"\n+scan_channel: \"/apollo/sensor/lslidarCH120/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..8e4620ea7af\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH128X1/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\nnew file mode 100644\nindex 00000000000..111ff7cd154\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH128X1\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH128X1/PointCloud2\"\n+frame_id: \"lslidarCH128X1\"\n+scan_channel: \"/apollo/sensor/lslidarCH128X1/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..97d429d96bf\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH128/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\nnew file mode 100644\nindex 00000000000..23463b1866b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH128\n+device_ip: \"192.168.1.102\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH128/PointCloud2\"\n+frame_id: \"lslidarCH128\"\n+scan_channel: \"/apollo/sensor/lslidarCH128/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..0388fc68d79\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH16_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH16/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\nnew file mode 100644\nindex 00000000000..0c28b79be6a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH16\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH16/PointCloud2\"\n+frame_id: \"lslidarCH16\"\n+scan_channel: \"/apollo/sensor/lslidarCH16/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..8e014527658\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH32_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH32/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\nnew file mode 100644\nindex 00000000000..4b2e024c01b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\n@@ -0,0 +1,24 @@\n+model: LSLIDAR_CH32\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+degree_mode: 1\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH32/PointCloud2\"\n+frame_id: \"lslidarCH32\"\n+scan_channel: \"/apollo/sensor/lslidarCH32/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..f046c14ac9a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH64/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\nnew file mode 100644\nindex 00000000000..f7fddab63d1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH64\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH64/PointCloud2\"\n+frame_id: \"lslidarCH64\"\n+scan_channel: \"/apollo/sensor/lslidarCH64/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: true\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..b25c8a2a5ac\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarCH64w/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\nnew file mode 100644\nindex 00000000000..6c3f9268887\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\n@@ -0,0 +1,23 @@\n+model: LSLIDAR_CH64w\n+device_ip: \"192.168.1.200\"\n+msop_port: 2370\n+difop_port: 2371\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarCH64w/PointCloud2\"\n+frame_id: \"lslidarCH64w\"\n+scan_channel: \"/apollo/sensor/lslidarCH64w/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"/ch64w_201.pcap\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt\nnew file mode 100644\nindex 00000000000..7c26fdbd1f6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_compensator.pb.txt\n@@ -0,0 +1,3 @@\n+world_frame_id: \"world\"\n+transform_query_timeout: 0.02\n+output_channel: \"/apollo/sensor/lslidarLS128S2/compensator/PointCloud2\"\ndiff --git a/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\nnew file mode 100644\nindex 00000000000..bc69023cbab\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\n@@ -0,0 +1,25 @@\n+model: LSLIDAR_LS128S2\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+packet_size: 1206\n+time_synchronization: false\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600\n+convert_channel_name: \"/apollo/sensor/lslidarLS128S2/PointCloud2\"\n+frame_id: \"lslidarLS128S2\"\n+scan_channel: \"/apollo/sensor/lslidarLS128S2/Scan\"\n+min_range: 0.15\n+max_range: 500.0\n+scan_start_angle: -60.0\n+scan_end_angle: 60.0\n+calibration: false\n+calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS128S2_calibration.yaml\"\n+\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16.dag b/modules/drivers/lidar/lslidar/dag/lslidar16.dag\nnew file mode 100644\nindex 00000000000..9456fb17527\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {\n+\t channel: \"/apollo/sensor/lslidar16/Scan\"\n+\t}\n+ }\n+ }\n+}\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag\nnew file mode 100644\nindex 00000000000..83e7b720e38\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag\n@@ -0,0 +1,123 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch128x1\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch128x1\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag\nnew file mode 100644\nindex 00000000000..dfa2e2e1275\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag\n@@ -0,0 +1,122 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32w\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32v4/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_c32v4\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32v4/PointCloud2\"}\n+# }\n+# }\n+#}\n+#\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag\nnew file mode 100644\nindex 00000000000..2d7daa3841b\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag\n@@ -0,0 +1,122 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch64w\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch64w\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag\nnew file mode 100644\nindex 00000000000..5a187c3890f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag\n@@ -0,0 +1,161 @@\n+#----------------------------------------------------------------------------------------------------\n+#c16\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar16/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar16_compensator_c16\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar16/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#c32\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidar32_compensator_c32\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidar32/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch64w\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch64w\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+#----------------------------------------------------------------------------------------------------\n+#ch128x1\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+#module_config {\n+# module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/compensator/liblslidar_compensator_component.so\"\n+# components {\n+# class_name : \"CompensatorComponent\"\n+# config {\n+# name : \"lslidarCH64w_compensator_ch128x1\"\n+# config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_compensator.pb.txt\"\n+# readers {channel: \"/apollo/sensor/lslidarCH64w/PointCloud2\"}\n+# }\n+# }\n+#}\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag\nnew file mode 100644\nindex 00000000000..777cec747c4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag\n@@ -0,0 +1,28 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c16_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c16_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\"\n+ readers {\n+ \t channel: \"/apollo/sensor/lslidar16v4/Scan\"\n+ \t}\n+ }\n+ }\n+}\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag\nnew file mode 100644\nindex 00000000000..fc63fc77165\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c1_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c1_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar1v4/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar32.dag b/modules/drivers/lidar/lslidar/dag/lslidar32.dag\nnew file mode 100644\nindex 00000000000..8e1545640a3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar32.dag\n@@ -0,0 +1,26 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar32/Scan\"}\n+ }\n+ }\n+}\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag\nnew file mode 100644\nindex 00000000000..65e9eae55ab\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag\n@@ -0,0 +1,29 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c32_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c32_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\"\n+ readers {\n+\t channel: \"/apollo/sensor/lslidar32v4/Scan\"\n+\t}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag b/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag\nnew file mode 100644\nindex 00000000000..0e018c01c0c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag\n@@ -0,0 +1,26 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_c8_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_c8_v4\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidar8v4_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidar8v4/Scan\"}\n+ }\n+ }\n+}\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\nnew file mode 100644\nindex 00000000000..95d0339fff5\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH128/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\nnew file mode 100644\nindex 00000000000..0c968ffddfd\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch128x1\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH128X1_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH128X1/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\nnew file mode 100644\nindex 00000000000..db18e4550f1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag\n@@ -0,0 +1,28 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch16\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH16_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH16/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\nnew file mode 100644\nindex 00000000000..20e18f84bc3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch32\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH32_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH32/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\nnew file mode 100644\nindex 00000000000..65f99a39982\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag b/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\nnew file mode 100644\nindex 00000000000..9af6b6b859f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ch64w\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag b/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag\nnew file mode 100644\nindex 00000000000..9ba0075a0df\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag\n@@ -0,0 +1,27 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver_ls128s2\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert_ls128s2\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarLS128S2_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarLS128S2/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag b/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag\nnew file mode 100644\nindex 00000000000..c9fb0c5c9e9\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/dag/lslidar_fusion.dag\n@@ -0,0 +1,33 @@\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/driver/liblslidar_driver_component.so\"\n+\n+ components {\n+ class_name : \"LslidarDriverComponent\"\n+ config {\n+ name : \"lslidar_driver\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ }\n+ }\n+}\n+\n+module_config {\n+ module_library : \"/apollo/bazel-bin/modules/drivers/lidar/lslidar/parser/liblslidar_convert_component.so\"\n+\n+ components {\n+ class_name : \"LslidarConvertComponent\"\n+ config {\n+ name : \"lslidar_convert\"\n+ config_file_path : \"/apollo/modules/drivers/lidar/lslidar/conf/lslidarCH64w_conf.pb.txt\"\n+ readers {channel: \"/apollo/sensor/lslidarCH64w/Scan\"}\n+ }\n+ }\n+}\n+\n+\n+\n+\n+\n+\n+\n+\n+\ndiff --git a/modules/drivers/lidar/lslidar/driver/BUILD b/modules/drivers/lidar/lslidar/driver/BUILD\nnew file mode 100755\nindex 00000000000..3e1e04f1bfa\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/BUILD\n@@ -0,0 +1,59 @@\n+load(\"@rules_cc//cc:defs.bzl\", \"cc_binary\", \"cc_library\")\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\n+load(\"//tools/install:install.bzl\", \"install\")\n+\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+\n+\n+install(\n+ name = \"install\",\n+ library_dest = \"drivers/lib/lidar/lslidar/driver\",\n+ targets = [\n+ \":liblslidar_driver_component.so\",\n+ ],\n+)\n+\n+cc_binary(\n+ name = \"liblslidar_driver_component.so\",\n+ linkshared = True,\n+ linkstatic = True,\n+ deps = [\":lslidar_driver_component_lib\"],\n+)\n+\n+cc_library(\n+ name = \"lslidar_driver_component_lib\",\n+ srcs = [\"lslidar_driver_component.cc\"],\n+ hdrs = [\"lslidar_driver_component.h\"],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/common/util:util_tool\",\n+ \"//modules/drivers/lidar/lslidar/driver\",\n+ ],\n+ alwayslink = True,\n+)\n+\n+cc_library(\n+ name = \"driver\",\n+ srcs = [\n+ \"driver.cc\",\n+ \"input.cc\",\n+ ],\n+ hdrs = [\n+ \"driver.h\",\n+ \"input.h\",\n+ ],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ linkopts = [\n+ \"-lpcap\",\n+ ],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/common/util:util_tool\",\n+ \"//modules/drivers/lidar/lslidar/proto:config_cc_proto\",\n+ ],\n+)\n+\n+cpplint()\ndiff --git a/modules/drivers/lidar/lslidar/driver/driver.cc b/modules/drivers/lidar/lslidar/driver/driver.cc\nnew file mode 100755\nindex 00000000000..fd5825b6cd9\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/driver.cc\n@@ -0,0 +1,512 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/driver/driver.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarDriver::~LslidarDriver() {\n+ if (difop_thread_.joinable()) {\n+ difop_thread_.join();\n+ }\n+}\n+\n+void LslidarDriver::Init() {\n+ int packets_rate;\n+\n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR_C16_V4) {\n+ packets_rate = 840;\n+ } else if (config_.model() == LSLIDAR_C8_V4) {\n+ packets_rate = 420;\n+ } else if (config_.model() == LSLIDAR_C1_V4) {\n+ packets_rate = 420;\n+ } else if (config_.model() == LSLIDAR_C32_V4) {\n+ packets_rate = 1693; // 64000/384\n+ } else if (config_.model() == LSLIDAR32P) {\n+ if (1 == config_.degree_mode()) packets_rate = 1693; // 65000/384\n+ if (2 == config_.degree_mode()) packets_rate = 1700; // 64000/384\n+ } else if (config_.model() == LSLIDAR_CH16) {\n+ packets_rate = 3571;\n+ } else if (config_.model() == LSLIDAR_CH32) {\n+ packets_rate = 3512;\n+ } else if (config_.model() == LSLIDAR_CH64) {\n+ packets_rate = 3388;\n+ } else if (config_.model() == LSLIDAR_CH64w) {\n+ packets_rate = 11228;\n+ } else if (config_.model() == LSLIDAR_CH128) {\n+ packets_rate = 3571;\n+ } else if (config_.model() == LSLIDAR_CH128X1) {\n+ packets_rate = 6720;\n+ } else if (config_.model() == LSLIDAR_LS128S2) {\n+ packets_rate = 12440;\n+ } else {\n+ packets_rate = 4561;\n+ }\n+\n+ // default number of packets for each scan is a single revolution\n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P ||\n+ config_.model() == LSLIDAR_C32_V4 || config_.model() == LSLIDAR_C16_V4 ||\n+ config_.model() == LSLIDAR_C8_V4 || config_.model() == LSLIDAR_C1_V4)\n+ config_.set_npackets(static_cast<int>(\n+ ceil(packets_rate * 60 / config_.rpm()) * config_.return_mode() * 1.1));\n+ else\n+ config_.set_npackets(\n+ static_cast<int>(ceil(packets_rate * 60 / config_.rpm() * 1.1)));\n+\n+ AERROR << \"config_.pcap_path(): \" << config_.pcap_path();\n+\n+ if (!config_.pcap_path().empty()) {\n+ if (config_.model() == LSLIDAR_C32_V4 ||\n+ config_.model() == LSLIDAR_C16_V4 || config_.model() == LSLIDAR_C8_V4 ||\n+ config_.model() == LSLIDAR_C1_V4) {\n+ // open Lslidar input device\n+\n+ input_.reset(new InputPCAP(config_.msop_port(), config_.device_ip(),\n+ config_.packet_size(), packets_rate,\n+ config_.pcap_path())); // 数据包\n+ positioning_input_.reset(new InputPCAP(config_.difop_port(),\n+ config_.device_ip(), 1206, 1,\n+ config_.pcap_path())); // 设备包\n+ } else {\n+ // open Lslidar input device\n+ input_.reset(new InputPCAP(config_.msop_port(), config_.device_ip(),\n+ config_.packet_size(), packets_rate,\n+ config_.pcap_path())); // 数据包\n+ positioning_input_.reset(new InputPCAP(\n+ config_.difop_port(), config_.device_ip(), config_.packet_size(), 1,\n+ config_.pcap_path())); // 设备包\n+ }\n+ } else {\n+ if (config_.model() == LSLIDAR_C32_V4 ||\n+ config_.model() == LSLIDAR_C16_V4 || config_.model() == LSLIDAR_C8_V4 ||\n+ config_.model() == LSLIDAR_C1_V4) {\n+ // open Lslidar input device\n+ input_.reset(new InputSocket(config_.msop_port(), config_.device_ip(),\n+ config_.packet_size())); // 数据包\n+ positioning_input_.reset(new InputSocket(\n+ config_.difop_port(), config_.device_ip(), 1206)); // 设备包\n+ } else {\n+ // open Lslidar input device\n+ input_.reset(new InputSocket(config_.msop_port(), config_.device_ip(),\n+ config_.packet_size())); // 数据包\n+ positioning_input_.reset(\n+ new InputSocket(config_.difop_port(), config_.device_ip(),\n+ config_.packet_size())); // 设备包\n+ }\n+ }\n+ difop_thread_ = std::thread(&LslidarDriver::difopPoll, this);\n+}\n+\n+/** poll the device\n+ *\n+ * @returns true unless end of file reached\n+ */\n+bool LslidarDriver::Poll(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan) {\n+ // Allocate a new shared pointer for zero-copy sharing with other nodelets.\n+ int poll_result = PollStandard(scan);\n+ if (poll_result < 0) return false;\n+\n+ if (scan->firing_pkts().empty()) {\n+ AINFO << \"Get an empty scan from port: \" << config_.msop_port();\n+ return false;\n+ }\n+ // publish message using time of last packet read\n+ ADEBUG << \"Publishing a full Lslidar scan.\";\n+ LslidarPacket *packet = scan->add_difop_pkts();\n+ std::unique_lock<std::mutex> lock(mutex_);\n+ packet->set_data(bytes, FIRING_DATA_PACKET_SIZE);\n+ scan->mutable_header()->set_timestamp_sec(gps_time);\n+ ADEBUG << \"**************************************************************GPS \"\n+ \"time: \"\n+ << gps_time;\n+ scan->mutable_header()->set_frame_id(config_.frame_id());\n+ scan->set_model(config_.model());\n+ scan->set_basetime(gps_time);\n+ scan->mutable_header()->set_timestamp_sec(gps_time);\n+ return true;\n+}\n+\n+int LslidarDriver::PollStandard(\n+ std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan) {\n+ // Since the lslidar delivers data at a very high rate, keep reading and\n+ // publishing scans as fast as possible.\n+\n+ if (config_.model() == LSLIDAR16P || config_.model() == LSLIDAR32P ||\n+ config_.model() == LSLIDAR_C32_V4 || config_.model() == LSLIDAR_C16_V4 ||\n+ config_.model() == LSLIDAR_C8_V4 || config_.model() == LSLIDAR_C1_V4) {\n+ // Find the 0 degree packet, in order to fix the 0 degree angle position\n+ if (scan_fill) {\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ int PKT_DATA_LENGTH = 1212;\n+ void *data_ptr = malloc(PKT_DATA_LENGTH);\n+ memcpy(data_ptr,\n+ reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(scan_start.data().c_str())),\n+ PKT_DATA_LENGTH);\n+ packet->set_data(data_ptr, PKT_DATA_LENGTH);\n+ packet->set_stamp((scan_start.stamp()));\n+ AINFO << \"scan->firing_pkts_size(): \" << scan->firing_pkts_size();\n+ }\n+\n+ scan_fill = false;\n+ int i = 1;\n+ while (scan->firing_pkts_size() < config_.npackets()) {\n+ // config_.npackets()\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ while (true) {\n+ // keep reading until full packet received\n+ int rc = input_->GetPacket(packet);\n+\n+ if (rc == 0) {\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ packet_time_ns_ = 0;\n+ gps_time = apollo::cyber::Time().Now().ToNanosecond();\n+ } else {\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ if (config_.packet_size() == 1212) { // 1212字节雷达\n+ if (0xff == data[1200]) { // ptp授时\n+ // std::cout << \"ptp\";\n+ basetime_ = (data[1201] * pow(2, 32) + data[1202] * pow(2, 24) +\n+ data[1203] * pow(2, 16) + data[1204] * pow(2, 8) +\n+ data[1205] * pow(2, 0));\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1206]) +\n+ static_cast<uint16_t>(data[1207]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1208]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1209]) * pow(2, 24));\n+ } else { // gps授时\n+ current_time.tm_year =\n+ static_cast<uint16_t>(data[1200]) + 2000 - 1900;\n+ current_time.tm_mon = static_cast<uint16_t>(data[1201]) - 1;\n+ current_time.tm_mday = static_cast<uint16_t>(data[1202]);\n+ current_time.tm_hour = static_cast<uint16_t>(data[1203]);\n+ current_time.tm_min = static_cast<uint16_t>(data[1204]);\n+\n+ if (config_.model() == LSLIDAR16P ||\n+ config_.model() == LSLIDAR32P) {\n+ current_time.tm_sec = static_cast<uint16_t>(data[1205]) + 1;\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1206]) +\n+ static_cast<uint16_t>(data[1207]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1208]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1209]) * pow(2, 24)) *\n+ 1e3; // ns\n+ } else if (config_.model() == LSLIDAR_C32_V4 ||\n+ config_.model() == LSLIDAR_C16_V4 ||\n+ config_.model() == LSLIDAR_C8_V4 ||\n+ config_.model() == LSLIDAR_C1_V4) {\n+ current_time.tm_sec = static_cast<uint16_t>(data[1205]);\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1206]) +\n+ static_cast<uint16_t>(data[1207]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1208]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1209]) * pow(2, 24));\n+ }\n+ basetime_ = static_cast<uint64_t>(timegm(¤t_time));\n+ }\n+ } else { // 1206字节雷达，V3.0\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1200]) +\n+ static_cast<uint16_t>(data[1201]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1202]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1203]) * pow(2, 24)) *\n+ 1e3; // ns\n+ basetime_ = static_cast<uint64_t>(timegm(¤t_time));\n+ }\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ }\n+ packet->set_stamp(gps_time);\n+ break;\n+ } else if (rc < 0) {\n+ return rc;\n+ }\n+ }\n+ packet->set_stamp(gps_time); // 設置包的時間\n+\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ int azi1 =\n+ 256 * static_cast<uint16_t>(data[3]) + static_cast<uint16_t>(data[2]);\n+ int azi2 = 256 * static_cast<uint16_t>(data[1103]) +\n+ static_cast<uint16_t>(data[1102]);\n+\n+ if (((azi1 > 35000 && azi2 < 1000) ||\n+ (azi1 < 500 && i > config_.npackets() / 2))) {\n+ scan_fill = true;\n+ scan_start = *packet;\n+ break;\n+ }\n+ i++;\n+ }\n+ } else if (config_.model() == LSLIDAR_LS128S2) { // LS128S2\n+ // Find the 0 degree packet, in order to fix the 0 degree angle position\n+ scan_fill = false;\n+ int i = 1;\n+ bool is_found_frame_header = false;\n+ while (scan->firing_pkts_size() < config_.npackets() &&\n+ !is_found_frame_header) {\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ while (true) {\n+ // keep reading until full packet received\n+ int rc = input_->GetPacket(packet);\n+ AINFO << \"[debug ] line: \" << __LINE__ << \" file: \" << __FILE__;\n+ if (rc == 0) {\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ gps_time = apollo::cyber::Time().Now().ToNanosecond();\n+ } else {\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ if (0xff == static_cast<uint16_t>(data[1194])) { // ptp授时\n+ basetime_ = (static_cast<uint16_t>(data[1195]) * 0 +\n+ (static_cast<uint16_t>(data[1196]) << 24) +\n+ (static_cast<uint16_t>(data[1197]) << 16) +\n+ (static_cast<uint16_t>(data[1198]) << 8) +\n+ static_cast<uint16_t>(data[1199]) * pow(2, 0));\n+ packet_time_ns_ = (static_cast<uint16_t>(data[1200]) << 24) +\n+ (static_cast<uint16_t>(data[1201]) << 16) +\n+ (static_cast<uint16_t>(data[1202]) << 8) +\n+ (static_cast<uint16_t>(data[1203]));\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ } else { // gps授时\n+ struct tm cur_time {};\n+ memset(&cur_time, 0, sizeof(cur_time));\n+ cur_time.tm_sec = static_cast<uint16_t>(data[1199]);\n+ cur_time.tm_min = static_cast<uint16_t>(data[1198]);\n+ cur_time.tm_hour = static_cast<uint16_t>(data[1197]);\n+ cur_time.tm_mday = static_cast<uint16_t>(data[1196]);\n+ cur_time.tm_mon = static_cast<uint16_t>(data[1195]) - 1;\n+ cur_time.tm_year =\n+ static_cast<uint16_t>(data[1194]) + 2000 - 1900;\n+ basetime_ = static_cast<uint64_t>(timegm(&cur_time));\n+ packet_time_ns_ =\n+ static_cast<uint16_t>(data[1203]) +\n+ (static_cast<uint16_t>(data[1202]) << 8) +\n+ (static_cast<uint16_t>(data[1201]) << 16) +\n+ (static_cast<uint16_t>(data[1200]) << 24); // ns\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ }\n+ }\n+ break;\n+ } else if (rc < 0) {\n+ return rc;\n+ }\n+ }\n+ packet->set_stamp(gps_time); // 設置包的時間\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ int return_mode = static_cast<uint16_t>(data[1205]);\n+\n+ if (return_mode == 1) {\n+ for (size_t point_idx = 0; point_idx < LS_POINTS_PER_PACKET_SINGLE_ECHO;\n+ point_idx += 8) { // 一圈\n+ if ((static_cast<uint16_t>(data[point_idx]) == 0xff) &&\n+ (static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&\n+ (static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) &&\n+ (static_cast<uint16_t>(data[point_idx + 3]) == 0xcc) &&\n+ (static_cast<uint16_t>(data[point_idx + 4]) == 0xdd)) {\n+ scan_fill = false;\n+ is_found_frame_header = true;\n+\n+ break;\n+ }\n+ }\n+ } else {\n+ for (size_t point_idx = 0; point_idx < LS_POINTS_PER_PACKET_DOUBLE_ECHO;\n+ point_idx += 12) { // 一圈\n+ if ((static_cast<uint16_t>(data[point_idx]) == 0xff) &&\n+ (static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&\n+ (static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) &&\n+ (static_cast<uint16_t>(data[point_idx + 3]) == 0xcc) &&\n+ (static_cast<uint16_t>(data[point_idx + 4]) == 0xdd)) {\n+ scan_fill = false;\n+ is_found_frame_header = true;\n+ AERROR << \"\\none circle! scan->firing_pkts_size(): \"\n+ << scan->firing_pkts_size();\n+ break;\n+ }\n+ }\n+ }\n+ i++;\n+ }\n+ } else { // ch系列\n+ // Find the 0 degree packet, in order to fix the 0 degree angle position\n+ scan_fill = false;\n+ int i = 1;\n+ bool is_found_frame_header = false;\n+ while (scan->firing_pkts_size() < config_.npackets() &&\n+ !is_found_frame_header) {\n+ LslidarPacket *packet = scan->add_firing_pkts();\n+ while (true) {\n+ // keep reading until full packet received\n+ int rc = input_->GetPacket(packet);\n+ AINFO << \"[debug ] line: \" << __LINE__ << \" file: \" << __FILE__;\n+ if (rc == 0) {\n+ if (config_.model() == LSLIDAR_CH64w ||\n+ config_.model() == LSLIDAR_CH120 ||\n+ config_.model() == LSLIDAR_CH128X1 ||\n+ config_.model() == LSLIDAR_CH32) {\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ gps_time = apollo::cyber::Time().Now().ToNanosecond();\n+ } else {\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+ current_time.tm_hour = static_cast<uint16_t>(data[1197]);\n+ current_time.tm_min = static_cast<uint16_t>(data[1198]);\n+ current_time.tm_sec = static_cast<uint16_t>(data[1199]);\n+ basetime_ = static_cast<uint64_t>(timegm(¤t_time));\n+ if (time_service_mode == \"gps\") {\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1203]) +\n+ static_cast<uint16_t>(data[1202]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1201]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1200]) * pow(2, 24)) *\n+ 1e3; // ns\n+ } else if (time_service_mode == \"gptp\") {\n+ packet_time_ns_ =\n+ (static_cast<uint16_t>(data[1203]) +\n+ static_cast<uint16_t>(data[1202]) * pow(2, 8) +\n+ static_cast<uint16_t>(data[1201]) * pow(2, 16) +\n+ static_cast<uint16_t>(data[1200]) * pow(2, 24)); // ns\n+ }\n+ gps_time = basetime_ * 1000000000 + packet_time_ns_;\n+ }\n+ }\n+ break;\n+ } else if (rc < 0) {\n+ return rc;\n+ }\n+ }\n+ packet->set_stamp(gps_time); // 設置包的時間\n+ uint8_t *data = reinterpret_cast<uint8_t *>(\n+ const_cast<char *>(packet->data().c_str()));\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET;\n+ point_idx += 7) { // 一圈\n+ if ((static_cast<uint16_t>(data[point_idx]) == 0xff) &&\n+ (static_cast<uint16_t>(data[point_idx + 1]) == 0xaa) &&\n+ (static_cast<uint16_t>(data[point_idx + 2]) == 0xbb) &&\n+ (static_cast<uint16_t>(data[point_idx + 3]) == 0xcc)) {\n+ scan_fill = false;\n+ is_found_frame_header = true;\n+ AERROR << \"\\none circle! scan->firing_pkts_size(): \"\n+ << scan->firing_pkts_size();\n+ break;\n+ }\n+ }\n+ i++;\n+ }\n+ }\n+ return 0;\n+}\n+\n+void LslidarDriver::difopPoll(void) {\n+ while (!cyber::IsShutdown()) {\n+ std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scans =\n+ std::make_shared<apollo::drivers::lslidar::LslidarScan>();\n+ std::shared_ptr<LslidarPacket> packet = std::make_shared<LslidarPacket>();\n+ while (!cyber::IsShutdown()) {\n+ int rc = positioning_input_->GetPacket(packet.get());\n+ if (rc == 0) {\n+ break; // got a full packet\n+ }\n+ if (rc < 0) {\n+ return;\n+ }\n+ }\n+ uint8_t *data =\n+ reinterpret_cast<uint8_t *>(const_cast<char *>(packet->data().c_str()));\n+ {\n+ std::unique_lock<std::mutex> lock(mutex_);\n+ memcpy(bytes, data, FIRING_DATA_PACKET_SIZE);\n+ }\n+ if (!config_.time_synchronization()) {\n+ time_t t = time(NULL);\n+ localtime_r(&t, ¤t_time);\n+ current_time.tm_hour = current_time.tm_hour - 8;\n+ } else {\n+ if (data[0] == 0xA5 && data[1] == 0xFF && data[2] == 0x00 &&\n+ data[3] == 0x5A) {\n+ if (config_.model() == LSLIDAR_CH16 ||\n+ config_.model() == LSLIDAR_CH32 ||\n+ config_.model() == LSLIDAR_CH128 ||\n+ config_.model() == LSLIDAR_CH64) {\n+ current_time.tm_year = static_cast<uint16_t>(data[36] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[37] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[38]);\n+ current_time.tm_hour = static_cast<uint16_t>(data[39]);\n+ current_time.tm_min = static_cast<uint16_t>(data[40]);\n+ current_time.tm_sec = static_cast<uint16_t>(data[41]);\n+ } else if (config_.model() == LSLIDAR_CH64w) {\n+ current_time.tm_year = static_cast<uint16_t>(data[52] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[54]);\n+ if (data[44] == 0x00) { // gps授时\n+ time_service_mode = \"gps\";\n+ } else if (data[44] == 0x01) { // ptp授时\n+ time_service_mode = \"gptp\";\n+ }\n+ } else if (config_.model() == LSLIDAR_CH120) {\n+ current_time.tm_year = static_cast<uint16_t>(data[36] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[37] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[38]);\n+ } else if (config_.model() == LSLIDAR_CH128X1) {\n+ current_time.tm_year = static_cast<uint16_t>(data[52] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[54]);\n+ if (data[44] == 0x00) { // gps授时\n+ time_service_mode = \"gps\";\n+ } else if (data[44] == 0x01) { // ptp授时\n+ time_service_mode = \"gptp\";\n+ }\n+ } else if (config_.packet_size() == 1206 &&\n+ (config_.model() == LSLIDAR32P ||\n+ config_.model() == LSLIDAR16P)) {\n+ current_time.tm_year = static_cast<uint16_t>(data[52] + 100);\n+ current_time.tm_mon = static_cast<uint16_t>(data[53] - 1);\n+ current_time.tm_mday = static_cast<uint16_t>(data[54]);\n+ current_time.tm_hour = static_cast<uint16_t>(data[55]);\n+ current_time.tm_min = static_cast<uint16_t>(data[56]);\n+ current_time.tm_sec = static_cast<uint16_t>(data[57]);\n+ }\n+ }\n+ }\n+ }\n+}\n+\n+LslidarDriver *LslidarDriverFactory::CreateDriver(const Config &config) {\n+ LslidarDriver *driver = nullptr;\n+ driver = new LslidarDriver(config);\n+ return driver;\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/driver.h b/modules/drivers/lidar/lslidar/driver/driver.h\nnew file mode 100755\nindex 00000000000..2badd457b01\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/driver.h\n@@ -0,0 +1,97 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <atomic>\n+#include <cmath>\n+#include <ctime>\n+#include <memory>\n+#include <mutex>\n+#include <string>\n+\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/lidar/lslidar/driver/input.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+constexpr int BLOCKS_PER_PACKET = 12;\n+constexpr int BLOCK_SIZE = 100;\n+\n+static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;\n+static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;\n+static const int POINTS_PER_PACKET = 171 * 7; // ch系列\n+static const int LS_POINTS_PER_PACKET_SINGLE_ECHO =\n+ 149 * 8; // LS 1550nm系列 单回波\n+static const int LS_POINTS_PER_PACKET_DOUBLE_ECHO =\n+ 99 * 12; // LS 1550nm系列 单回波\n+\n+class LslidarDriver {\n+ public:\n+ explicit LslidarDriver(const Config &config) : config_(config) {\n+ // scan_start = new LslidarPacket();\n+ }\n+ ~LslidarDriver();\n+\n+ bool Poll(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan> &scan);\n+ void Init();\n+ void difopPoll();\n+ void SetPacketRate(const double packet_rate) { packet_rate_ = packet_rate; }\n+ int npackets;\n+ struct tm current_time;\n+\n+ protected:\n+ Config config_;\n+ std::unique_ptr<Input> input_ = nullptr;\n+ std::unique_ptr<Input> positioning_input_ = nullptr;\n+ std::string topic_;\n+ double packet_rate_ = 0.0;\n+ bool scan_fill = false;\n+ uint64_t gps_time = 0;\n+ uint64_t last_gps_time = 0;\n+\n+ uint64_t basetime_ = 0;\n+ uint64_t packet_time_ns_ = 0;\n+\n+ uint32_t last_gps_time_ = 0;\n+ uint64_t last_count_ = 0;\n+ static uint64_t sync_counter;\n+\n+ std::thread difop_thread_;\n+ int PollStandard(std::shared_ptr<apollo::drivers::lslidar::LslidarScan> scan);\n+ LslidarPacket scan_start;\n+ LslidarPacket last_scan_start;\n+\n+ LslidarPacket scan_start1;\n+ LslidarPacket scan_start2;\n+ std::mutex mutex_;\n+ uint8_t bytes[FIRING_DATA_PACKET_SIZE] = {0x00};\n+ std::string time_service_mode = {\"gps\"};\n+};\n+\n+class LslidarDriverFactory {\n+ public:\n+ static LslidarDriver *CreateDriver(const Config &config);\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/input.cc b/modules/drivers/lidar/lslidar/driver/input.cc\nnew file mode 100755\nindex 00000000000..3c37dc9680e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/input.cc\n@@ -0,0 +1,234 @@\n+/******************************************************************************\n+ * Copyright 2020 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/driver/input.h\"\n+\n+#include <arpa/inet.h>\n+#include <fcntl.h>\n+#include <poll.h>\n+#include <sys/file.h>\n+#include <sys/socket.h>\n+\n+#include <memory>\n+#include <cstdint>\n+#include <cstring>\n+#include <cerrno>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+Input::Input(uint16_t port, std::string lidar_ip, int packet_size) {\n+ packet_size_ = packet_size;\n+ inet_aton(lidar_ip.c_str(), &devip_);\n+}\n+\n+int Input::GetPacket(LslidarPacket *pkt) { return 0; }\n+\n+Input::~Input(void) { (void)close(sockfd_); }\n+\n+InputSocket::InputSocket(uint16_t port, std::string lidar_ip, int packet_size)\n+ : Input(port, lidar_ip, packet_size) {\n+ port_ = port;\n+ sockfd_ = -1;\n+ sockfd_ = socket(PF_INET, SOCK_DGRAM, 0);\n+ if (-1 == sockfd_) {\n+ AERROR << \"socket open error\";\n+ return;\n+ }\n+\n+ inet_aton(lidar_ip.c_str(), &devip_);\n+ sockaddr_in myAddress; // my address information\n+ memset(&myAddress, 0, sizeof(myAddress)); // initialize to zeros\n+ myAddress.sin_family = AF_INET; // host byte order\n+ myAddress.sin_port = htons(port); // port in network byte order\n+ myAddress.sin_addr.s_addr = INADDR_ANY; // automatically fill in my IP\n+\n+ if (bind(sockfd_, reinterpret_cast<sockaddr *>(&myAddress),\n+ sizeof(sockaddr)) == -1) {\n+ AERROR << \"bind error, port:\" << port;\n+ return;\n+ }\n+\n+ if (fcntl(sockfd_, F_SETFL, O_NONBLOCK | FASYNC) < 0) {\n+ AERROR << \"fcntl error\";\n+ return;\n+ }\n+}\n+\n+InputSocket::~InputSocket(void) { (void)close(sockfd_); }\n+\n+int InputSocket::GetPacket(LslidarPacket *pkt) {\n+ double time1 = apollo::cyber::Time().Now().ToSecond();\n+ struct pollfd fds[1];\n+ fds[0].fd = sockfd_;\n+ fds[0].events = POLLIN;\n+ static const int POLL_TIMEOUT = 3000; // one second (in msec)\n+\n+ sockaddr_in sender_address;\n+ socklen_t sender_address_len = sizeof(sender_address);\n+\n+ while (true) {\n+ // Receive packets that should now be available from the\n+ // socket using a blocking read.\n+ // poll() until input available\n+ do {\n+ int retval = poll(fds, 1, POLL_TIMEOUT);\n+ if (retval < 0) {\n+ if (errno != EINTR) AERROR << \"poll() error: \" << strerror(errno);\n+\n+ return 1;\n+ }\n+ if (retval == 0) {\n+ AERROR << \"lslidar poll() timeout, port: \" << port_;\n+ return 1;\n+ }\n+ if ((fds[0].revents & POLLERR) || (fds[0].revents & POLLHUP) ||\n+ (fds[0].revents & POLLNVAL)) {\n+ AWARN << \"poll() reports lslidar error\";\n+ return 1;\n+ }\n+ } while ((fds[0].revents & POLLIN) == 0);\n+ uint8_t bytes[1212];\n+ ssize_t nbytes = recvfrom(sockfd_, bytes, packet_size_, 0,\n+ reinterpret_cast<sockaddr *>(&sender_address),\n+ &sender_address_len);\n+ if (nbytes < 0) {\n+ if (errno != EWOULDBLOCK) {\n+ AERROR << \"recvfail\";\n+ return 1;\n+ }\n+ } else if ((size_t)nbytes == size_t(packet_size_)) {\n+ if (sender_address.sin_addr.s_addr != devip_.s_addr) {\n+ AERROR << \"lidar IP parameter set error,please reset in config file\";\n+ continue;\n+ } else {\n+ pkt->set_data(bytes, packet_size_);\n+ break;\n+ }\n+ }\n+ AERROR << \"incomplete lslidar packet read: \" << nbytes << \" bytes\";\n+ }\n+\n+ // Average the times at which we begin and end reading. Use that to\n+ // estimate when the scan occurred.\n+ double time2 = apollo::cyber::Time().Now().ToSecond();\n+ AINFO << apollo::cyber::Time((time2 + time1) / 2.0).ToNanosecond();\n+ return 0;\n+}\n+\n+InputPCAP::InputPCAP(uint16_t port, std::string lidar_ip, int packet_size,\n+ double packet_rate, std::string filename, bool read_once,\n+ bool read_fast, double repeat_delay)\n+ : Input(port, lidar_ip, packet_size),\n+ packet_rate_(packet_rate),\n+ filename_(filename) {\n+ pcap_ = NULL;\n+ empty_ = true;\n+ packet_rate_ = packet_rate;\n+ lidar_ip_ = lidar_ip;\n+ // get parameters using private node handle\n+ read_once_ = read_once;\n+ read_fast_ = read_fast;\n+ repeat_delay_ = repeat_delay;\n+\n+ if (read_once_) AINFO << \"Read input file only once.\";\n+ if (read_fast_) AINFO << \"Read input file as quickly as possible.\";\n+ if (repeat_delay_ > 0.0)\n+ AINFO << \"Delay %.3f seconds before repeating input file.\" << repeat_delay_;\n+\n+ // Open the PCAP dump file\n+ AERROR << \"Opening PCAP file \" << filename_;\n+ if ((pcap_ = pcap_open_offline(filename_.c_str(), errbuf_)) == NULL) {\n+ AERROR << \"Error opening lslidar socket dump file.\";\n+ return;\n+ }\n+\n+ std::stringstream filter;\n+ if (lidar_ip != \"\") {\n+ filter << \"src host \" << lidar_ip << \" && \";\n+ }\n+ filter << \"udp dst port \" << port;\n+ pcap_compile(pcap_, &pcap_packet_filter_, filter.str().c_str(), 1,\n+ PCAP_NETMASK_UNKNOWN);\n+}\n+\n+/** destructor */\n+InputPCAP::~InputPCAP(void) { pcap_close(pcap_); }\n+\n+/** @brief Get one lslidar packet. */\n+int InputPCAP::GetPacket(LslidarPacket *pkt) {\n+ struct pcap_pkthdr *header;\n+ const u_char *pkt_data;\n+\n+ // while (flag == 1)\n+ while (!apollo::cyber::IsShutdown()) {\n+ int res;\n+ if ((res = pcap_next_ex(pcap_, &header, &pkt_data)) >= 0) {\n+ // Skip packets not for the correct port and from the\n+ // selected IP address.\n+ if (!lidar_ip_.empty() &&\n+ (0 == pcap_offline_filter(&pcap_packet_filter_, header, pkt_data)))\n+ continue;\n+\n+ // Keep the reader from blowing through the file.\n+ if (read_fast_ == false)\n+ usleep(static_cast<int>(1000 * 1000 / packet_rate_ / 1.1));\n+ if (1206 == packet_size_) {\n+ uint8_t bytes[1206];\n+ memcpy(bytes, pkt_data + 42, packet_size_);\n+ pkt->set_data(bytes, packet_size_);\n+ } else if (1212 == packet_size_) {\n+ uint8_t bytes[1212];\n+ memcpy(bytes, pkt_data + 42, packet_size_);\n+ pkt->set_data(bytes, packet_size_);\n+ }\n+\n+ empty_ = false;\n+ return 0; // success\n+ }\n+\n+ if (empty_) {\n+ AINFO << \"Error \" << res\n+ << \" reading lslidar packet: \" << pcap_geterr(pcap_);\n+ return -1;\n+ }\n+\n+ if (read_once_) {\n+ AINFO << \"end of file reached -- done reading.\";\n+ return -1;\n+ }\n+\n+ if (repeat_delay_ > 0.0) {\n+ AINFO << \"end of file reached -- delaying\" << repeat_delay_ << \"seconds.\";\n+ usleep(rint(repeat_delay_ * 1000000.0));\n+ }\n+\n+ AINFO << \"replaying lslidar dump file\";\n+\n+ // I can't figure out how to rewind the file, because it\n+ // starts with some kind of header. So, close the file\n+ // and reopen it with pcap.\n+ pcap_close(pcap_);\n+ pcap_ = pcap_open_offline(filename_.c_str(), errbuf_);\n+ empty_ = true; // maybe the file disappeared?\n+ } // loop back and try again\n+ return 0;\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/input.h b/modules/drivers/lidar/lslidar/driver/input.h\nnew file mode 100755\nindex 00000000000..99c87f196be\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/input.h\n@@ -0,0 +1,94 @@\n+/******************************************************************************\n+ * Copyright 2020 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <unistd.h>\n+\n+\n+#include <cstdio>\n+#include <string>\n+#include <pcap.h>\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+static const size_t FIRING_DATA_PACKET_SIZE = 1212;\n+static uint16_t MSOP_DATA_PORT_NUMBER =\n+ 2368; // lslidar default data port on PC\n+\n+class Input {\n+ public:\n+ Input(uint16_t portport = MSOP_DATA_PORT_NUMBER,\n+ std::string lidar_ip = \"192.168.1.200\", int packet_size = 1212);\n+ virtual ~Input();\n+ virtual int GetPacket(LslidarPacket *pkt);\n+\n+ protected:\n+ int port_;\n+ int sockfd_;\n+ uint64_t pointcloudTimeStamp;\n+ in_addr devip_;\n+ int packet_size_;\n+};\n+\n+/** @brief Live lslidar input from socket. */\n+class InputSocket : public Input {\n+ public:\n+ InputSocket(uint16_t port = MSOP_DATA_PORT_NUMBER,\n+ std::string lidar_ip = \"192.168.1.200\", int packet_size = 1212);\n+\n+ virtual ~InputSocket();\n+\n+ virtual int GetPacket(LslidarPacket *pkt);\n+};\n+\n+/** @brief lslidar input from PCAP dump file.\n+ *\n+ * Dump files can be grabbed by libpcap\n+ */\n+class InputPCAP : public Input {\n+ public:\n+ InputPCAP(uint16_t port = MSOP_DATA_PORT_NUMBER,\n+ std::string lidar_ip = \"192.168.1.200\", int packet_size = 1212,\n+ double packet_rate = 0.0, std::string filename = \"\",\n+ bool read_once = false, bool read_fast = false,\n+ double repeat_delay = 0.0);\n+\n+ virtual ~InputPCAP();\n+\n+ virtual int GetPacket(LslidarPacket *pkt);\n+\n+ private:\n+ double packet_rate_;\n+ std::string filename_;\n+ pcap_t *pcap_;\n+ bpf_program pcap_packet_filter_;\n+ char errbuf_[PCAP_ERRBUF_SIZE];\n+ bool empty_;\n+ bool read_once_;\n+ bool read_fast_;\n+ double repeat_delay_;\n+ std::string lidar_ip_;\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc\nnew file mode 100755\nindex 00000000000..612a2369367\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.cc\n@@ -0,0 +1,79 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+static void my_handler(int sig) { exit(-1); }\n+\n+bool LslidarDriverComponent::Init() {\n+ signal(SIGINT, my_handler);\n+ AINFO << \"Lslidar driver component init\";\n+ Config lslidar_config;\n+ if (!GetProtoConfig(&lslidar_config)) {\n+ return false;\n+ }\n+\n+ // start the driver\n+ writer_ = node_->CreateWriter<apollo::drivers::lslidar::LslidarScan>(\n+ lslidar_config.scan_channel());\n+ LslidarDriver *driver = LslidarDriverFactory::CreateDriver(lslidar_config);\n+ if (driver == nullptr) {\n+ return false;\n+ }\n+ dvr_.reset(driver);\n+ dvr_->Init();\n+ // spawn device poll thread\n+ runing_ = true;\n+ device_thread_ = std::shared_ptr<std::thread>(\n+ new std::thread(std::bind(&LslidarDriverComponent::device_poll, this)));\n+ device_thread_->detach();\n+\n+ return true;\n+}\n+\n+/** @brief Device poll thread main loop. */\n+void LslidarDriverComponent::device_poll() {\n+ signal(SIGINT, my_handler);\n+ while (!apollo::cyber::IsShutdown()) {\n+ // poll device until end of file\n+ std::shared_ptr<LslidarScan> scan =\n+ std::make_shared<apollo::drivers::lslidar::LslidarScan>();\n+\n+ bool ret = dvr_->Poll(scan);\n+ if (ret) {\n+ common::util::FillHeader(\"lslidar\", scan.get());\n+ AINFO << \"publish scan!\";\n+ double time1 = apollo::cyber::Time().Now().ToSecond();\n+ writer_->Write(scan);\n+ double time2 = apollo::cyber::Time().Now().ToSecond();\n+ AINFO << \"apollo::cyber::Time((time2 - time1)\"\n+ << apollo::cyber::Time((time2 - time1) / 2.0).ToNanosecond();\n+ } else {\n+ AWARN << \"device poll failed\";\n+ }\n+ }\n+\n+ AERROR << \"CompLslidarDriver thread exit\";\n+ runing_ = false;\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\nnew file mode 100755\nindex 00000000000..8648104fe86\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/driver/lslidar_driver_component.h\n@@ -0,0 +1,60 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+#pragma once\n+\n+#include <memory>\n+#include <string>\n+#include <mutex>\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/common/util/message_util.h\"\n+#include \"modules/drivers/lidar/lslidar/driver/driver.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::cyber::Component;\n+using apollo::cyber::Reader;\n+using apollo::cyber::Writer;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+class LslidarDriverComponent : public Component<> {\n+ public:\n+ ~LslidarDriverComponent() {\n+ if (device_thread_->joinable()) {\n+ device_thread_->join();\n+ }\n+ }\n+ bool Init() override;\n+\n+ private:\n+ void device_poll();\n+ volatile bool runing_; ///< device thread is running\n+ uint32_t seq_ = 0;\n+ std::shared_ptr<std::thread> device_thread_;\n+ std::shared_ptr<LslidarDriver> dvr_; ///< driver implementation class\n+ std::shared_ptr<apollo::cyber::Writer<apollo::drivers::lslidar::LslidarScan>>\n+ writer_;\n+};\n+\n+CYBER_REGISTER_COMPONENT(LslidarDriverComponent)\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16.launch b/modules/drivers/lidar/lslidar/launch/lslidar16.launch\nnew file mode 100644\nindex 00000000000..363bcca53e1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch\nnew file mode 100644\nindex 00000000000..8996d283f8e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_128X1</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_128X1.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch\nnew file mode 100644\nindex 00000000000..7e86ea49d0a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_32w</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_32w.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch\nnew file mode 100644\nindex 00000000000..5b53b0d97c2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_64w</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch\nnew file mode 100644\nindex 00000000000..cd1618c49b0\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16_32_64w_ch128X1</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16_32_64w_128X1.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch\nnew file mode 100644\nindex 00000000000..798e33fe6c6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar16v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar16v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar16v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch\nnew file mode 100644\nindex 00000000000..5272bcfef1a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar1v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar1v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar1v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar32.launch b/modules/drivers/lidar/lslidar/launch/lslidar32.launch\nnew file mode 100644\nindex 00000000000..3ab784f6422\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar32.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar32</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar32.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch\nnew file mode 100644\nindex 00000000000..f222f4bb5de\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar32v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar32v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar32v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar401.launch b/modules/drivers/lidar/lslidar/launch/lslidar401.launch\nnew file mode 100644\nindex 00000000000..002a736870a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar401.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar401</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar401.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch b/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch\nnew file mode 100644\nindex 00000000000..41300b7b66d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidar8v4.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidar8v4</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidar8v4.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\nnew file mode 100644\nindex 00000000000..94200c526fd\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH120</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH120.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\nnew file mode 100644\nindex 00000000000..8d6eed0cf05\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH128</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\nnew file mode 100644\nindex 00000000000..b6d952ee5a6\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH128X1</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH128X1.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\nnew file mode 100644\nindex 00000000000..3311d28a629\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH16</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH16.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\nnew file mode 100644\nindex 00000000000..268ffc9aa0d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH32</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH32.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\nnew file mode 100644\nindex 00000000000..45f85aa434c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH64</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch b/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\nnew file mode 100644\nindex 00000000000..e94b56a8df4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarCH64w</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarCH64w.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch b/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch\nnew file mode 100644\nindex 00000000000..ff4d51c805a\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch\n@@ -0,0 +1,7 @@\n+<cyber>\n+ <module>\n+ <name>lslidarLS128S2</name>\n+ <dag_conf>/apollo/modules/drivers/lidar/lslidar/dag/lslidarLS128S2.dag</dag_conf>\n+ <process_name>lslidar</process_name>\n+ </module>\n+</cyber>\ndiff --git a/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml b/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\nnew file mode 100644\nindex 00000000000..bb6212576f2\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\n@@ -0,0 +1,51 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, rot_correction: 0.0,\n+ vert_correction: -0.2617993877991494, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, rot_correction: 0.0,\n+ vert_correction: 0.017453292519943295, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, rot_correction: 0.0,\n+ vert_correction: -0.22689280275926285, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, rot_correction: 0.0,\n+ vert_correction: 0.05235987755982989, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, rot_correction: 0.0,\n+ vert_correction: -0.19198621771937624, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, rot_correction: 0.0,\n+ vert_correction: 0.08726646259971647, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, rot_correction: 0.0,\n+ vert_correction: -0.15707963267948966, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, rot_correction: 0.0,\n+ vert_correction: 0.12217304763960307, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, rot_correction: 0.0,\n+ vert_correction: -0.12217304763960307, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, rot_correction: 0.0,\n+ vert_correction: 0.15707963267948966, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, rot_correction: 0.0,\n+ vert_correction: -0.08726646259971647, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, rot_correction: 0.0,\n+ vert_correction: 0.19198621771937624, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, rot_correction: 0.0,\n+ vert_correction: -0.05235987755982989, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, rot_correction: 0.0,\n+ vert_correction: 0.22689280275926285, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, rot_correction: 0.0,\n+ vert_correction: -0.017453292519943295, vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, rot_correction: 0.0,\n+ vert_correction: 0.2617993877991494, vert_offset_correction: 0.0}\n+num_lasers: 16\n+\ndiff --git a/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml b/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\nnew file mode 100644\nindex 00000000000..e3e5c67cc4d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\n@@ -0,0 +1,131 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.27925268031909273,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.26179938779914944,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.24434609527920614,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.22689280275926285,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20943951023931955,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.19198621771937625, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.17453292519943296,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.15707963267948966,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.13962634015954637,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.12217304763960307,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.10471975511965977,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08726646259971647,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06981317007977318,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.05235987755982989,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.03490658503988659,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01745329251994329,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.01745329251994329,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.03490658503988659,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.05235987755982989,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.06981317007977318,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.08726646259971647,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.10471975511965977,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.12217304763960307,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.13962634015954637,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.15707963267948966,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.17453292519943296,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.19198621771937625,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.20943951023931955,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.22689280275926285,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.24434609527920614,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.26179938779914944,\n+ vert_offset_correction: 0.0}\n+\n+num_lasers: 32\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\nnew file mode 100644\nindex 00000000000..6368b753f47\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\n@@ -0,0 +1,482 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.22689280276,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.22397810290916,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.22106340305832,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.21814870320748,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.21523400335664,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.2123193035058, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20940460365496,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.20648990380412,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.20357520395328,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.20066050410244,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1977458042516,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.19483110440076,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.19191640454992,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.18900170469908,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.18608700484824,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.1831723049974,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.18025760514656,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.17734290529572,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.17442820544488,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.17151350559404,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1685988057432,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.16568410589236,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.16276940604152,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.15985470619068,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.15694000633984,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.154025306489,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.15111060663816,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.14819590678732,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.14528120693648,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.14236650708564,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1394518072348,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.13653710738396,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.13362240753312,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.13070770768228,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.12779300783144,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.1248783079806,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.12196360812976,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.11904890827892,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.11613420942808,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.11321950857724,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.1103048087264,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.10739010887556,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.10447540902472,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.10156070917388,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.09864600932304,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0957313094722, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.09281660962136,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08990190977052,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.08698720991968,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.08407251006884,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.081157810218,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.07824311036716,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.07532841051632,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.07241371066548,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06949901081464,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0665843109638,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.06366961111296,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.06075491126212,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.05784021141128,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.05492551156044,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.0520108117096,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.04909611185876,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.04618141200792,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.04326671215708,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.04035201230624,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.0374373124554,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.03452261260456,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.03160791275372,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.02869321290288,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.02577851305204,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.0228638132012,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01994911335036,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01703441349952,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.01411971364868,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.01120501379784,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.008290313947,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: -0.00537561409616,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: -0.00246091424532,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.00045378560552,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.00336848545636,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0062831853072,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.00919788515804,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.01211258500888,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.01502728485972,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.01794198471056,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0208566845614, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.02377138441224,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.02668608426308,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.02960078411392,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.03251548396476,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0354301838156,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.03834488366644,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.04125958351728,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.04417428336812,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.04708898321896,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0500036830698,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.05291838292064,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.05583308277148,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.05874778262232,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.06166248247316,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.064577182324,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.06749188217484,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.07040658202568,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.07332128187652,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.07623598172736,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0791506815782,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.08206538142904,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.08498008127988,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.08789478113072,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09080948098156,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0937241808324,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09663888068324,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.09955358053408,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.10246828038492,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.10538298023576,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.1082976800866,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.11121237993744,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.11412707978828,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.11704177963912,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.11995647948996,\n+ vert_offset_correction: 0.0}\n+num_lasers: 120\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\nnew file mode 100644\nindex 00000000000..582e9ad1d32\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\n@@ -0,0 +1,514 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 120, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 121, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 122, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 123, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 124, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 125, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 126, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 127, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 128\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\nnew file mode 100644\nindex 00000000000..582e9ad1d32\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\n@@ -0,0 +1,514 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 64, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 65, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 66, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 67, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 68, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 69, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 70, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 71, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 72, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 73, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 74, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 75, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 76, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 77, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 78, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 79, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 80, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 81, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 82, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 83, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 84, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 85, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 86, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 87, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 88, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 89, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 90, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 91, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 92, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 93, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 94, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 95, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 96, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 97, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 98, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 99, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 100, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 101, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 102, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 103, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 104, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 105, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 106, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 107, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 108, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 109, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 110, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 111, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 112, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 113, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 114, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 115, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 116, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 117, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 118, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 119, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 120, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 121, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 122, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 123, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 124, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 125, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 126, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 127, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 128\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\nnew file mode 100644\nindex 00000000000..840175a94f3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\n@@ -0,0 +1,67 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+\n+num_lasers: 16\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\nnew file mode 100644\nindex 00000000000..09c1edcbfa4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\n@@ -0,0 +1,131 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+\n+num_lasers: 32\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\nnew file mode 100644\nindex 00000000000..7de00b6b34e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\n@@ -0,0 +1,258 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 64\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml b/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\nnew file mode 100644\nindex 00000000000..7de00b6b34e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\n@@ -0,0 +1,258 @@\n+lasers:\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 0, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 1, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 2, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 3, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 4, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 5, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 6, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 7, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 8, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 9, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 10, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 11, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 12, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 13, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 14, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 15, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 16, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 17, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 18, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 19, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 20, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 21, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 22, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 23, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 24, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 25, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 26, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 27, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 28, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 29, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 30, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 31, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 32, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 33, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 34, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 35, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 36, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 37, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 38, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 39, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 40, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 41, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 42, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 43, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 44, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0, \n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 45, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 46, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 47, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 48, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 49, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 50, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 51, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 52, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 53, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 54, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 55, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 56, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 57, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 58, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 59, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 60, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 61, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 62, max_intensity: 255,\n+ min_intensity: 0, rot_correction: -0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+- {dist_correction: 0.0, dist_correction_x: 0.0, dist_correction_y: 0.0, focal_distance: 0.0,\n+ focal_slope: 0.0, horiz_offset_correction: 0.0, laser_id: 63, max_intensity: 255,\n+ min_intensity: 0, rot_correction: 0.0, vert_correction: 0.0,\n+ vert_offset_correction: 0.0}\n+num_lasers: 64\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml b/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml\nnew file mode 100644\nindex 00000000000..13d47a8b672\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml\n@@ -0,0 +1,17 @@\n+header:\n+ seq: 0\n+ stamp:\n+ secs: 1598864145\n+ nsecs: 0\n+ frame_id: novatel\n+transform:\n+ rotation:\n+ x: -0.010\n+ y: -0.007\n+ z: 0.174\n+ w: 0.985\n+ translation:\n+ x: -0.521985649500604\n+ y: 0.6272410563007734\n+ z: 0.2723201225767891\n+child_frame_id: lslidar16\ndiff --git a/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml b/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml\nnew file mode 100644\nindex 00000000000..f846cfd6f41\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml\n@@ -0,0 +1,17 @@\n+header:\n+ seq: 0\n+ stamp:\n+ secs: 1598864145\n+ nsecs: 0\n+ frame_id: novatel\n+transform:\n+ rotation:\n+ x: 0.019\n+ y: -0.030\n+ z: -0.009\n+ w: 0.999\n+ translation:\n+ x: -0.221985649500604\n+ y: 0.6272410563007734\n+ z: 0.0723201225767891\n+child_frame_id: lslidar32\ndiff --git a/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml b/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml\nnew file mode 100644\nindex 00000000000..4fa21a5777e\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml\n@@ -0,0 +1,17 @@\n+header:\n+ seq: 0\n+ stamp:\n+ secs: 1598864145\n+ nsecs: 0\n+ frame_id: novatel\n+transform:\n+ rotation:\n+ x: -0.03002220039113074\n+ y: -0.03153447400805393\n+ z: 0.4900925455685196\n+ w: 0.870582300079021\n+ translation:\n+ x: 0.5137241988598309\n+ y: 0.5743627411243659\n+ z: 0.3108987234285666\n+child_frame_id: lslidarCH64w\ndiff --git a/modules/drivers/lidar/lslidar/parser/BUILD b/modules/drivers/lidar/lslidar/parser/BUILD\nnew file mode 100644\nindex 00000000000..95ac1386d7f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/BUILD\n@@ -0,0 +1,68 @@\n+load(\"@rules_cc//cc:defs.bzl\", \"cc_binary\", \"cc_library\")\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\n+load(\"//tools/install:install.bzl\", \"install\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+\n+install(\n+ name = \"install\",\n+ library_dest = \"drivers/lib/lidar/lslidar/parser\",\n+ targets = [\n+ \":liblslidar_convert_component.so\",\n+ ],\n+)\n+\n+cc_binary(\n+ name = \"liblslidar_convert_component.so\",\n+ linkshared = True,\n+ linkstatic = True,\n+ deps = [\":lslidar_convert_component_lib\"],\n+)\n+\n+cc_library(\n+ name = \"lslidar_convert_component_lib\",\n+ srcs = [\"lslidar_convert_component.cc\"],\n+ hdrs = [\"lslidar_convert_component.h\"],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/drivers/lidar/lslidar/parser:convert\",\n+ ],\n+ alwayslink = True,\n+)\n+\n+cc_library(\n+ name = \"convert\",\n+ srcs = [\n+\t\"calibration.cc\",\n+ \"convert.cc\",\n+ \"lslidar16_parser.cc\",\n+\t\"lslidar32_parser.cc\",\n+\t\"lslidarCXV4_parser.cc\",\n+\t\"lslidarCH16_parser.cc\",\n+\t\"lslidarCH32_parser.cc\",\n+\t\"lslidarCH64_parser.cc\",\n+\t\"lslidarCH64w_parser.cc\",\n+\t\"lslidarCH120_parser.cc\",\n+\t\"lslidarCH128_parser.cc\",\n+\t\"lslidarCH128X1_parser.cc\",\n+\t\"lslidarLS128S2_parser.cc\",\n+ \"lslidar_parser.cc\",\n+ ],\n+ hdrs = [\n+\t\"calibration.h\",\n+ \"convert.h\",\n+ \"lslidar_parser.h\",\n+ ],\n+ copts = ['-DMODULE_NAME=\\\\\"lslidar\\\\\"'],\n+ deps = [\n+ \"//cyber\",\n+ \"//modules/common_msgs/sensor_msgs:pointcloud_cc_proto\",\n+ \"//modules/drivers/lidar/lslidar/proto:config_cc_proto\",\n+ \"//modules/drivers/lidar/lslidar/proto:lslidar_cc_proto\",\n+\t\"@com_github_jbeder_yaml_cpp//:yaml-cpp\",\n+ ],\n+)\n+\n+cpplint()\ndiff --git a/modules/drivers/lidar/lslidar/parser/calibration.cc b/modules/drivers/lidar/lslidar/parser/calibration.cc\nnew file mode 100644\nindex 00000000000..0a34b37cc05\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/calibration.cc\n@@ -0,0 +1,229 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/**\n+ * \\file calibration.cc\n+ * \\brief\n+ *\n+ * \\author Piyush Khandelwal (piyushk@cs.utexas.edu)\n+ * Copyright (C) 2012, Austin Robot Technology,\n+ * The University of Texas at Austin\n+ *\n+ * License: Modified BSD License\n+ *\n+ * $ Id: 02/14/2012 11:36:36 AM piyushk $\n+ */\n+\n+#include \"modules/drivers/lidar/lslidar/parser/calibration.h\"\n+\n+\n+\n+#include \"yaml-cpp/yaml.h\"\n+\n+namespace YAML {\n+// The >> operator disappeared in yaml-cpp 0.5, so this function is\n+// added to provide support for code written under the yaml-cpp 0.3 API.\n+template <typename T>\n+void operator>>(const YAML::Node &node, T &i) {\n+ i = node.as<T>();\n+}\n+} // namespace YAML\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+const char *NUM_LASERS = \"num_lasers\";\n+const char *LASERS = \"lasers\";\n+const char *LASER_ID = \"laser_id\";\n+const char *ROT_CORRECTION = \"rot_correction\";\n+const char *VERT_CORRECTION = \"vert_correction\";\n+const char *DIST_CORRECTION = \"dist_correction\";\n+const char *TWO_PT_CORRECTION_AVAILABLE = \"two_pt_correction_available\";\n+const char *DIST_CORRECTION_X = \"dist_correction_x\";\n+const char *DIST_CORRECTION_Y = \"dist_correction_y\";\n+const char *VERT_OFFSET_CORRECTION = \"vert_offset_correction\";\n+const char *HORIZ_OFFSET_CORRECTION = \"horiz_offset_correction\";\n+const char *MAX_INTENSITY = \"max_intensity\";\n+const char *MIN_INTENSITY = \"min_intensity\";\n+const char *FOCAL_DISTANCE = \"focal_distance\";\n+const char *FOCAL_SLOPE = \"focal_slope\";\n+\n+void operator>>(const YAML::Node &node,\n+ std::pair<int, LaserCorrection> &correction) {\n+ node[LASER_ID] >> correction.first;\n+ node[ROT_CORRECTION] >> correction.second.rot_correction;\n+ node[VERT_CORRECTION] >> correction.second.vert_correction;\n+ node[DIST_CORRECTION] >> correction.second.dist_correction;\n+ node[DIST_CORRECTION_X] >> correction.second.dist_correction_x;\n+ node[DIST_CORRECTION_Y] >> correction.second.dist_correction_y;\n+ node[VERT_OFFSET_CORRECTION] >> correction.second.vert_offset_correction;\n+ if (node[HORIZ_OFFSET_CORRECTION]) {\n+ node[HORIZ_OFFSET_CORRECTION] >> correction.second.horiz_offset_correction;\n+ } else {\n+ correction.second.horiz_offset_correction = 0.0;\n+ }\n+\n+ if (node[MAX_INTENSITY]) {\n+ node[MAX_INTENSITY] >> correction.second.max_intensity;\n+ } else {\n+ correction.second.max_intensity = 255;\n+ }\n+\n+ if (node[MIN_INTENSITY]) {\n+ node[MIN_INTENSITY] >> correction.second.min_intensity;\n+ } else {\n+ correction.second.min_intensity = 0;\n+ }\n+\n+ node[FOCAL_DISTANCE] >> correction.second.focal_distance;\n+ node[FOCAL_SLOPE] >> correction.second.focal_slope;\n+\n+ // Calculate cached values\n+ correction.second.cos_rot_correction = cosf(correction.second.rot_correction);\n+ correction.second.sin_rot_correction = sinf(correction.second.rot_correction);\n+ correction.second.cos_vert_correction =\n+ cosf(correction.second.vert_correction);\n+ correction.second.sin_vert_correction =\n+ sinf(correction.second.vert_correction);\n+ correction.second.focal_offset =\n+ 256.0f * static_cast<float>(std::pow(\n+ 1 - correction.second.focal_distance / 13100.0f, 2));\n+ correction.second.laser_ring = 0; // clear initially (set later)\n+}\n+\n+void operator>>(const YAML::Node &node, Calibration &calibration) {\n+ int num_lasers = 0;\n+ node[NUM_LASERS] >> num_lasers;\n+ const YAML::Node &lasers = node[LASERS];\n+ calibration.laser_corrections_.clear();\n+ calibration.num_lasers_ = num_lasers;\n+\n+ for (int i = 0; i < num_lasers; i++) {\n+ std::pair<int, LaserCorrection> correction;\n+ lasers[i] >> correction;\n+ calibration.laser_corrections_.insert(correction);\n+ }\n+\n+ // For each laser ring, find the next-smallest vertical angle.\n+ //\n+ // This implementation is simple, but not efficient. That is OK,\n+ // since it only runs while starting up.\n+ double next_angle = -std::numeric_limits<double>::infinity();\n+\n+ for (int ring = 0; ring < num_lasers; ++ring) {\n+ // find minimum remaining vertical offset correction\n+ double min_seen = std::numeric_limits<double>::infinity();\n+ int next_index = num_lasers;\n+\n+ for (int j = 0; j < num_lasers; ++j) {\n+ double angle = calibration.laser_corrections_[j].vert_correction;\n+\n+ if (next_angle < angle && angle < min_seen) {\n+ min_seen = angle;\n+ next_index = j;\n+ }\n+ }\n+\n+ if (next_index < num_lasers) { // anything found in this ring?\n+ // store this ring number with its corresponding laser number\n+ calibration.laser_corrections_[next_index].laser_ring = ring;\n+ next_angle = min_seen;\n+ }\n+ }\n+}\n+\n+YAML::Emitter &operator<<(YAML::Emitter &out,\n+ const std::pair<int, LaserCorrection> &correction) {\n+ out << YAML::BeginMap;\n+ out << YAML::Key << LASER_ID << YAML::Value << correction.first;\n+ out << YAML::Key << ROT_CORRECTION << YAML::Value\n+ << correction.second.rot_correction;\n+ out << YAML::Key << VERT_CORRECTION << YAML::Value\n+ << correction.second.vert_correction;\n+ out << YAML::Key << DIST_CORRECTION << YAML::Value\n+ << correction.second.dist_correction;\n+ out << YAML::Key << DIST_CORRECTION_X << YAML::Value\n+ << correction.second.dist_correction_x;\n+ out << YAML::Key << DIST_CORRECTION_Y << YAML::Value\n+ << correction.second.dist_correction_y;\n+ out << YAML::Key << VERT_OFFSET_CORRECTION << YAML::Value\n+ << correction.second.vert_offset_correction;\n+ out << YAML::Key << HORIZ_OFFSET_CORRECTION << YAML::Value\n+ << correction.second.horiz_offset_correction;\n+ out << YAML::Key << MAX_INTENSITY << YAML::Value\n+ << correction.second.max_intensity;\n+ out << YAML::Key << MIN_INTENSITY << YAML::Value\n+ << correction.second.min_intensity;\n+ out << YAML::Key << FOCAL_DISTANCE << YAML::Value\n+ << correction.second.focal_distance;\n+ out << YAML::Key << FOCAL_SLOPE << YAML::Value\n+ << correction.second.focal_slope;\n+ out << YAML::EndMap;\n+ return out;\n+}\n+\n+YAML::Emitter &operator<<(YAML::Emitter &out, const Calibration &calibration) {\n+ out << YAML::BeginMap;\n+ out << YAML::Key << NUM_LASERS << YAML::Value\n+ << calibration.laser_corrections_.size();\n+ out << YAML::Key << LASERS << YAML::Value << YAML::BeginSeq;\n+\n+ for (std::map<int, LaserCorrection>::const_iterator it =\n+ calibration.laser_corrections_.begin();\n+ it != calibration.laser_corrections_.end(); ++it) {\n+ out << *it;\n+ }\n+\n+ out << YAML::EndSeq;\n+ out << YAML::EndMap;\n+ return out;\n+}\n+\n+void Calibration::read(const std::string &calibration_file) {\n+ std::ifstream fin(calibration_file.c_str());\n+\n+ if (!fin.is_open()) {\n+ initialized_ = false;\n+ return;\n+ }\n+\n+ initialized_ = true;\n+\n+ try {\n+ YAML::Node doc;\n+ fin.close();\n+ doc = YAML::LoadFile(calibration_file);\n+ doc >> *this;\n+ } catch (YAML::Exception &e) {\n+ std::cerr << \"YAML Exception: \" << e.what() << std::endl;\n+ initialized_ = false;\n+ }\n+\n+ fin.close();\n+}\n+\n+void Calibration::write(const std::string &calibration_file) {\n+ std::ofstream fout(calibration_file.c_str());\n+ YAML::Emitter out;\n+ out << *this;\n+ fout << out.c_str();\n+ fout.close();\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/calibration.h b/modules/drivers/lidar/lslidar/parser/calibration.h\nnew file mode 100644\nindex 00000000000..d789d9874d4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/calibration.h\n@@ -0,0 +1,87 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/**\n+ * \\file calibration.h\n+ *\n+ * \\author Piyush Khandelwal (piyushk@cs.utexas.edu)\n+ * Copyright (C) 2012, Austin Robot Technology, University of Texas at Austin\n+ *\n+ * License: Modified BSD License\n+ *\n+ * $ Id: 02/14/2012 11:25:34 AM piyushk $\n+ */\n+\n+#pragma once\n+\n+#include <cmath>\n+#include <fstream>\n+#include <iostream>\n+#include <limits>\n+#include <map>\n+#include <string>\n+#include <utility>\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+/** \\brief correction values for a single laser**/\n+\n+struct LaserCorrection {\n+ /** parameters in db.xml */\n+ float rot_correction;\n+ float vert_correction;\n+ float dist_correction;\n+ float dist_correction_x;\n+ float dist_correction_y;\n+ float vert_offset_correction;\n+ float horiz_offset_correction;\n+ int max_intensity;\n+ int min_intensity;\n+ float focal_distance;\n+ float focal_slope;\n+ float focal_offset;\n+\n+ /** cached values calculated when the calibration file is read */\n+ float cos_rot_correction; ///< cached cosine of rot_correction\n+ float sin_rot_correction; ///< cached sine of rot_correction\n+ float cos_vert_correction; ///< cached cosine of vert_correction\n+ float sin_vert_correction; ///< cached sine of vert_correction\n+\n+ int laser_ring; ///< ring number for this laser\n+};\n+\n+/** \\brief Calibration class storing entire configuration for the Lslidar */\n+class Calibration {\n+ public:\n+ std::map<int, LaserCorrection> laser_corrections_;\n+ int num_lasers_;\n+ bool initialized_;\n+\n+ public:\n+ Calibration() : initialized_(false) {}\n+ explicit Calibration(const std::string& calibration_file) {\n+ read(calibration_file);\n+ }\n+\n+ void read(const std::string& calibration_file);\n+ void write(const std::string& calibration_file);\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/convert.cc b/modules/drivers/lidar/lslidar/parser/convert.cc\nnew file mode 100644\nindex 00000000000..a34a74062ff\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/convert.cc\n@@ -0,0 +1,59 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/convert.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+void Convert::init(const Config& lslidar_config) {\n+ config_ = lslidar_config;\n+ // we use Beijing time by default\n+\n+ AERROR << \"Convert::init\";\n+ parser_.reset(LslidarParserFactory::CreateParser(config_));\n+ if (parser_.get() == nullptr) {\n+ AFATAL << \"Create parser failed.\";\n+ return;\n+ }\n+ parser_->setup();\n+}\n+\n+/** @brief Callback for raw scan messages. */\n+void Convert::ConvertPacketsToPointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud> point_cloud) {\n+ AINFO_EVERY(100) << \"Converting scan msg seq \"\n+ << scan_msg->header().sequence_num();\n+\n+ parser_->GeneratePointcloud(scan_msg, point_cloud);\n+\n+ if (point_cloud == nullptr || point_cloud->point().empty()) {\n+ AERROR << \"point cloud has no point\";\n+ return;\n+ }\n+\n+ parser_->Order(point_cloud);\n+ point_cloud->set_is_dense(false);\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/convert.h b/modules/drivers/lidar/lslidar/parser/convert.h\nnew file mode 100644\nindex 00000000000..17a108c9d6d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/convert.h\n@@ -0,0 +1,61 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <memory>\n+#include <string>\n+\n+// #include \"modules/drivers/proto/pointcloud.pb.h\"\n+#include \"modules/common_msgs/sensor_msgs/pointcloud.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+// convert lslidar data to pointcloud and republish\n+class Convert {\n+ public:\n+ Convert() = default;\n+ virtual ~Convert() = default;\n+\n+ // init lslidar config struct from private_nh\n+ void init(const Config& lslidar_config);\n+\n+ // convert lslidar data to pointcloud and public\n+ void ConvertPacketsToPointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out);\n+\n+ private:\n+ // RawData class for converting data to point cloud\n+ std::unique_ptr<LslidarParser> parser_;\n+ std::string channel_pointcloud_;\n+\n+ /// configuration parameters, get config struct from lslidar_parser.h\n+ Config config_;\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc\nnew file mode 100644\nindex 00000000000..73411d89393\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc\n@@ -0,0 +1,385 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+float R1_ = 0.04376;\n+float R2_ = 0.010875;\n+\n+Lslidar16Parser::Lslidar16Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ need_two_pt_correction_ = false;\n+ config_vert_angle = false;\n+ previous_packet_time = 0;\n+\n+ if (2 == config_.degree_mode()) {\n+ for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {\n+ cos_scan_altitude_caliration[i] = std::cos(scan_altitude_original_2[i]);\n+ sin_scan_altitude_caliration[i] = std::sin(scan_altitude_original_2[i]);\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else if (1 == config_.degree_mode()) {\n+ for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {\n+ cos_scan_altitude_caliration[i] = std::cos(scan_altitude_original_1[i]);\n+ sin_scan_altitude_caliration[i] = std::sin(scan_altitude_original_1[i]);\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ }\n+\n+ for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {\n+ float rotation =\n+ ROTATION_RESOLUTION * static_cast<float>(rot_index * M_PI) / 180.0f;\n+ cos_azimuth_table[rot_index] = cosf(rotation);\n+ sin_azimuth_table[rot_index] = sinf(rotation);\n+ }\n+}\n+\n+void Lslidar16Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ const std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char *difop_ptr =\n+ (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+ uint8_t version_data = static_cast<uint8_t>(difop_ptr[1202]);\n+\n+ if (config_.config_vert()) {\n+ if (2 == version_data) {\n+ for (int i = 0; i < 16; i++) {\n+ uint16_t vert_angle = static_cast<uint16_t>(\n+ difop_ptr[234 + 2 * i] * 256 + difop_ptr[234 + 2 * i + 1]);\n+\n+ if (vert_angle > 32767) {\n+ vert_angle = vert_angle - 65535;\n+ }\n+\n+ scan_altitude[i] =\n+ (static_cast<float>(vert_angle) / 100.f) * DEG_TO_RAD;\n+ if (2 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_2[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else if (1 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_1[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ }\n+ config_vert_angle = true;\n+ }\n+ } else {\n+ for (int i = 0; i < 16; i++) {\n+ uint16_t vert_angle = static_cast<uint16_t>(\n+ difop_ptr[245 + 2 * i] * 256 + difop_ptr[245 + 2 * i + 1]);\n+\n+ if (vert_angle > 32767) {\n+ vert_angle = vert_angle - 65535;\n+ }\n+\n+ scan_altitude[i] =\n+ (static_cast<float>(vert_angle) / 100.f) * DEG_TO_RAD;\n+\n+ if (2 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_2[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_2[i];\n+ }\n+ } else if (1 == config_.degree_mode()) {\n+ if (scan_altitude[i] != 0) {\n+ if (fabs(scan_altitude_original_1[i] - scan_altitude[i]) *\n+ RAD_TO_DEG >\n+ 1.5) {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ } else {\n+ scan_altitude[i] = scan_altitude_original_1[i];\n+ }\n+ }\n+ config_vert_angle = true;\n+ }\n+ }\n+ }\n+\n+ size_t packets_size = scan_msg->firing_pkts_size();\n+ packet_number_ = packets_size;\n+ block_num = 0;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"***************stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void Lslidar16Parser::Unpack(const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc,\n+ int packet_number) {\n+ float x, y, z;\n+ float azimuth = 0.0f;\n+ uint32_t intensity = 0;\n+ float azimuth_diff = 0.0f;\n+ float azimuth_corrected_f = 0.0f;\n+ int azimuth_corrected = 0;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+\n+ if (config_vert_angle) {\n+ for (int i = 0; i < LSC16_SCANS_PER_FIRING; i++) {\n+ cos_scan_altitude_caliration[i] = std::cos(scan_altitude[i]);\n+ sin_scan_altitude_caliration[i] = std::sin(scan_altitude[i]);\n+ }\n+ config_vert_angle = false;\n+ }\n+ const raw_packet_t *raw = (const raw_packet_t *)pkt.data().c_str();\n+\n+ if (!config_.time_synchronization()) {\n+ packet_end_time = pkt.stamp();\n+ } else {\n+ packet_end_time = pkt.stamp();\n+ }\n+ current_packet_time = packet_end_time;\n+ int point_count = -1;\n+ for (int block = 0; block < BLOCKS_PER_PACKET; block++, block_num++) {\n+ if (UPPER_BANK != raw->blocks[block].header) break;\n+\n+ azimuth = static_cast<float>(256 * raw->blocks[block].rotation_2 +\n+ raw->blocks[block].rotation_1);\n+\n+ if (2 == config_.return_mode()) {\n+ if (block < (BLOCKS_PER_PACKET - 2)) {\n+ int azi1, azi2;\n+ azi1 = 256 * raw->blocks[block + 2].rotation_2 +\n+ raw->blocks[block + 2].rotation_1;\n+ azi2 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ } else {\n+ int azi1, azi2;\n+ azi1 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azi2 = 256 * raw->blocks[block - 2].rotation_2 +\n+ raw->blocks[block - 2].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ }\n+ } else {\n+ if (block < (BLOCKS_PER_PACKET - 1)) {\n+ int azi1, azi2;\n+ azi1 = 256 * raw->blocks[block + 1].rotation_2 +\n+ raw->blocks[block + 1].rotation_1;\n+ azi2 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ } else {\n+ int azi1, azi2;\n+ azi1 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azi2 = 256 * raw->blocks[block - 1].rotation_2 +\n+ raw->blocks[block - 1].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ }\n+ }\n+\n+ float cos_azimuth;\n+ float sin_azimuth;\n+\n+ for (int firing = 0, k = 0; firing < LSC16_FIRINGS_PER_BLOCK; ++firing) {\n+ for (int dsr = 0; dsr < LSC16_SCANS_PER_FIRING;\n+ ++dsr, k += RAW_SCAN_SIZE) {\n+ point_count++;\n+ LaserCorrection &corrections = calibration_.laser_corrections_[dsr];\n+\n+ /** correct for the laser rotation as a function of timing during the\n+ * firings **/\n+ azimuth_corrected_f =\n+ azimuth + azimuth_diff / (LSC16_SCANS_PER_FIRING * 2) *\n+ (LSC16_SCANS_PER_FIRING * firing + dsr);\n+\n+ azimuth_corrected =\n+ static_cast<int>(round(fmod(azimuth_corrected_f, 36000.0)));\n+\n+ cos_azimuth = cos_azimuth_table[azimuth_corrected];\n+ sin_azimuth = sin_azimuth_table[azimuth_corrected];\n+\n+ // distance\n+ union two_bytes tmp;\n+ tmp.bytes[0] = raw->blocks[block].data[k];\n+ tmp.bytes[1] = raw->blocks[block].data[k + 1];\n+ int distance = tmp.uint;\n+\n+ // read intensity\n+ intensity = raw->blocks[block].data[k + 2];\n+\n+ float distance2 =\n+ (distance * DISTANCE_RESOLUTION) * config_.distance_unit();\n+\n+ if (config_.calibration())\n+ distance2 = distance2 + corrections.dist_correction;\n+\n+ // The offset calibration\n+ float arg_horiz =\n+ static_cast<float>(azimuth_corrected_f * ROTATION_RESOLUTION);\n+ arg_horiz = arg_horiz > 360 ? (arg_horiz - 360) : arg_horiz;\n+ float arg_horiz_orginal = (14.67 - arg_horiz) * M_PI / 180;\n+\n+ if (2 == config_.return_mode()) {\n+ // modify\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (SCANS_PER_PACKET - point_count - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (SCANS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+\n+ } else {\n+ // modify\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (SCANS_PER_PACKET - point_count - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (SCANS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+ }\n+\n+ if ((azimuth_corrected < config_.scan_start_angle()) ||\n+ (azimuth_corrected > config_.scan_end_angle()))\n+ continue;\n+ if (packet_number == 0) {\n+ if (azimuth_corrected > 30000) {\n+ continue;\n+ }\n+ }\n+\n+ if (packet_number == packet_number_ - 1) {\n+ if (azimuth_corrected < 10000) {\n+ continue;\n+ }\n+ }\n+\n+ if (distance2 > config_.max_range() ||\n+ distance2 < config_.min_range()) {\n+ PointXYZIT *point = pc->add_point();\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ PointXYZIT *point = pc->add_point();\n+ point->set_timestamp(point_time);\n+\n+ point->set_intensity(intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords(distance2, &corrections,\n+ static_cast<uint16_t>(azimuth_corrected), point);\n+\n+ } else {\n+ x = distance2 * cos_scan_altitude_caliration[dsr] * cos_azimuth +\n+ R1_ * cos(arg_horiz_orginal);\n+ y = -distance2 * cos_scan_altitude_caliration[dsr] * sin_azimuth +\n+ R1_ * sin(arg_horiz_orginal);\n+ z = distance2 * sin_scan_altitude_caliration[dsr] + 0.426 / 100.f;\n+\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() &&\n+ -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void Lslidar16Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 16;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_16[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc\nnew file mode 100644\nindex 00000000000..badbfe22261\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc\n@@ -0,0 +1,555 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+Lslidar32Parser::Lslidar32Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ adjust_angle = 0;\n+ adjust_angle_two = 0;\n+ adjust_angle_three = 0;\n+ adjust_angle_four = 0;\n+ read_difop_ = true;\n+ config_vert_angle = false;\n+ lslidar_type = 2;\n+}\n+\n+void Lslidar32Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ double scan_altitude_original_degree33[32];\n+ double scan_altitude_original_degree1[32];\n+ int startpos = 0;\n+\n+ const unsigned char* difop_ptr =\n+ (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+ if (difop_ptr[0] == 0xa5 && difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 &&\n+ difop_ptr[3] == 0x5a) {\n+ if ((difop_ptr[1202] >= 0x02 && difop_ptr[1203] >= 0x80) ||\n+ difop_ptr[1202] == 0x03) {\n+ lslidar_type = 3;\n+ startpos = 245;\n+ // Horizontal correction Angle\n+ adjust_angle =\n+ (difop_ptr[186] * 256 + difop_ptr[187]); // Angle correction A1\n+ if (adjust_angle > 32767) {\n+ adjust_angle = adjust_angle - 65535;\n+ }\n+ adjust_angle_two =\n+ (difop_ptr[190] * 256 + difop_ptr[191]); // Angle correction A2\n+ if (adjust_angle_two > 32767) {\n+ adjust_angle_two = adjust_angle_two - 65535;\n+ }\n+ adjust_angle_three =\n+ (difop_ptr[188] * 256 + difop_ptr[189]); // Angle correction A3\n+ if (adjust_angle_three > 32767) {\n+ adjust_angle_three = adjust_angle_three - 65535;\n+ }\n+ adjust_angle_four =\n+ (difop_ptr[192] * 256 + difop_ptr[193]); // Angle correction A4\n+ if (adjust_angle_four > 32767) {\n+ adjust_angle_four = adjust_angle_four - 65535;\n+ }\n+ memcpy(scan_altitude_original_degree1, scan_altitude_original_A3, 32 * 8);\n+ memcpy(scan_altitude_original_degree33, scan_altitude_original_C3,\n+ 32 * 8);\n+\n+ if (difop_ptr[185] == 0 || difop_ptr[185] == 1) {\n+ int return_mode = difop_ptr[185] + 1;\n+ config_.set_return_mode(return_mode);\n+\n+ if (difop_ptr[1195] == 0x21)\n+ config_.set_degree_mode(2);\n+ else\n+ config_.set_degree_mode(1);\n+\n+ config_.set_distance_unit(0.4f);\n+\n+ for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {\n+ // 均匀1度校准两列\n+ if (1 == config_.degree_mode()) {\n+ cos_scan_altitude_caliration[i] = std::cos(\n+ static_cast<float>(scan_altitude_original_A3[i] * M_PI) /\n+ 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(\n+ static_cast<float>(scan_altitude_original_A3[i] * M_PI) /\n+ 180.0f);\n+ scan_altitude_A[i] = scan_altitude_original_A3[i];\n+ }\n+ // 0.33度校准四列\n+ if (2 == config_.degree_mode()) {\n+ cos_scan_altitude_caliration[i] = std::cos(\n+ static_cast<float>(scan_altitude_original_C3[i] * M_PI) /\n+ 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(\n+ static_cast<float>(scan_altitude_original_C3[i] * M_PI) /\n+ 180.0f);\n+ scan_altitude_C[i] = scan_altitude_original_C3[i];\n+ }\n+ }\n+ }\n+ } else {\n+ lslidar_type = 2;\n+ startpos = 882;\n+ // Horizontal correction Angle\n+ adjust_angle =\n+ (difop_ptr[34] * 256 + difop_ptr[35]); /*Angle correction A1*/\n+ if (adjust_angle > 32767) {\n+ adjust_angle = adjust_angle - 65535;\n+ }\n+ adjust_angle_two =\n+ (difop_ptr[42] * 256 + difop_ptr[43]); /*Angle correction A2*/\n+ if (adjust_angle_two > 32767) {\n+ adjust_angle_two = adjust_angle_two - 65535;\n+ }\n+ adjust_angle_three =\n+ (difop_ptr[66] * 256 + difop_ptr[67]); /*Angle correction A3*/\n+ if (adjust_angle_three > 32767) {\n+ adjust_angle_three = adjust_angle_three - 65535;\n+ }\n+ adjust_angle_four =\n+ (difop_ptr[68] * 256 + difop_ptr[69]); /*Angle correction A4*/\n+ if (adjust_angle_four > 32767) {\n+ adjust_angle_four = adjust_angle_four - 65535;\n+ }\n+ AWARN << \"Load config failed, config file\";\n+ // Vertical Angle Calibration for device package\n+ for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {\n+ // 均匀1度校准两列\n+ if (1 == config_.degree_mode()) {\n+ cos_scan_altitude_caliration[i] = std::cos(\n+ static_cast<float>(scan_altitude_original_A[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(\n+ static_cast<float>(scan_altitude_original_A[i] * M_PI) / 180.0f);\n+ scan_altitude_A[i] = scan_altitude_original_A[i];\n+ }\n+ // 0.33度校准四列\n+ if (2 == config_.degree_mode()) {\n+ cos_scan_altitude_caliration[i] = std::cos(\n+ static_cast<float>(scan_altitude_original_C[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] = std::sin(\n+ static_cast<float>(scan_altitude_original_C[i] * M_PI) / 180.0f);\n+ scan_altitude_C[i] = scan_altitude_original_C[i];\n+ }\n+ }\n+ memcpy(scan_altitude_original_degree1, scan_altitude_original_A, 32 * 8);\n+ memcpy(scan_altitude_original_degree33, scan_altitude_original_C, 32 * 8);\n+ }\n+ }\n+\n+ // Vertical Angle parse\n+ if (config_.config_vert()) {\n+ for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {\n+ uint8_t data1 = difop_ptr[startpos + 2 * i];\n+ uint8_t data2 = difop_ptr[startpos + 2 * i + 1];\n+ int vert_angle = data1 * 256 + data2;\n+ if (vert_angle > 32767) {\n+ vert_angle = vert_angle - 65535;\n+ }\n+ // 均匀1度校准两列\n+ if (1 == config_.degree_mode()) {\n+ scan_altitude_A[i] =\n+ static_cast<double>(vert_angle * ROTATION_RESOLUTION);\n+ if (fabs(scan_altitude_original_degree1[i] - scan_altitude_A[i]) >\n+ 1.5) {\n+ scan_altitude_A[i] = scan_altitude_original_degree1[i];\n+ }\n+ config_vert_angle = true;\n+ }\n+ // 0.33度校准四列\n+ if (2 == config_.degree_mode()) {\n+ scan_altitude_C[i] =\n+ static_cast<double>(vert_angle * ROTATION_RESOLUTION);\n+ if (fabs(scan_altitude_original_degree33[i] - scan_altitude_C[i]) >\n+ 1.5) {\n+ scan_altitude_C[i] = scan_altitude_original_degree33[i];\n+ }\n+ config_vert_angle = true;\n+ }\n+ }\n+ }\n+\n+ size_t packets_size = scan_msg->firing_pkts_size();\n+ block_num = 0;\n+ packet_number_ = packets_size;\n+\n+ AINFO << \"packets_size :\" << packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void Lslidar32Parser::Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc,\n+ int packet_number) {\n+ float x, y, z;\n+ float azimuth = 0.0f;\n+ uint32_t intensity = 0;\n+ float azimuth_diff = 0.0f;\n+ float azimuth_corrected_f = 0.0f;\n+ float azimuth_corrected_offset_f = 0.0f;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+\n+ if (config_vert_angle) {\n+ for (int i = 0; i < LSC32_SCANS_PER_FIRING; i++) {\n+ // 均匀1度校准两列\n+ if (1 == config_.degree_mode()) {\n+ cos_scan_altitude_caliration[i] =\n+ std::cos(static_cast<float>(scan_altitude_A[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] =\n+ std::sin(static_cast<float>(scan_altitude_A[i] * M_PI) / 180.0f);\n+ }\n+\n+ // 0.33度校准四列\n+ if (2 == config_.degree_mode()) {\n+ cos_scan_altitude_caliration[i] =\n+ std::cos(static_cast<float>(scan_altitude_C[i] * M_PI) / 180.0f);\n+ sin_scan_altitude_caliration[i] =\n+ std::sin(static_cast<float>(scan_altitude_C[i] * M_PI) / 180.0f);\n+ }\n+ }\n+ config_vert_angle = false;\n+ }\n+\n+ const raw_packet_t* raw = (const raw_packet_t*)pkt.data().c_str();\n+ if (!config_.time_synchronization()) {\n+ packet_end_time = pkt.stamp();\n+ } else {\n+ packet_end_time = pkt.stamp();\n+ }\n+ current_packet_time = packet_end_time;\n+\n+ int point_count = -1;\n+ for (int block = 0; block < BLOCKS_PER_PACKET; block++, block_num++) {\n+ if (UPPER_BANK != raw->blocks[block].header) break;\n+\n+ azimuth = static_cast<float>(256 * raw->blocks[block].rotation_2 +\n+ raw->blocks[block].rotation_1);\n+\n+ if (2 == config_.return_mode()) {\n+ if (block < (BLOCKS_PER_PACKET - 2)) {\n+ int azi1, azi2;\n+ azi1 = 256 * raw->blocks[block + 2].rotation_2 +\n+ raw->blocks[block + 2].rotation_1;\n+ azi2 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ } else {\n+ int azi1, azi2;\n+ azi1 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azi2 = 256 * raw->blocks[block - 2].rotation_2 +\n+ raw->blocks[block - 2].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ }\n+ azimuth_diff = azimuth_diff < 0 ? azimuth_diff + 36000 : azimuth_diff;\n+ azimuth_diff = azimuth_diff > 36000 ? azimuth_diff - 36000 : azimuth_diff;\n+ } else {\n+ if (block < (BLOCKS_PER_PACKET - 1)) {\n+ int azi1, azi2;\n+ azi1 = 256 * raw->blocks[block + 1].rotation_2 +\n+ raw->blocks[block + 1].rotation_1;\n+ azi2 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ } else {\n+ int azi1, azi2;\n+ azi1 =\n+ 256 * raw->blocks[block].rotation_2 + raw->blocks[block].rotation_1;\n+ azi2 = 256 * raw->blocks[block - 1].rotation_2 +\n+ raw->blocks[block - 1].rotation_1;\n+ azimuth_diff = static_cast<float>((36000 + azi1 - azi2) % 36000);\n+ }\n+ azimuth_diff = azimuth_diff < 0 ? azimuth_diff + 36000 : azimuth_diff;\n+ azimuth_diff = azimuth_diff > 36000 ? azimuth_diff - 36000 : azimuth_diff;\n+ }\n+\n+ for (int firing = 0, k = 0; firing < LSC32_FIRINGS_PER_BLOCK; ++firing) {\n+ for (int dsr = 0; dsr < LSC32_SCANS_PER_FIRING;\n+ ++dsr, k += RAW_SCAN_SIZE) {\n+ point_count++;\n+ /** correct for the laser rotation as a function of timing during the\n+ * firings **/\n+ LaserCorrection& corrections = calibration_.laser_corrections_[dsr];\n+\n+ azimuth_corrected_f =\n+ azimuth + azimuth_diff / LSC32_SCANS_PER_FIRING * dsr;\n+ azimuth_corrected_f = azimuth_corrected_f < 0\n+ ? azimuth_corrected_f + 36000\n+ : azimuth_corrected_f;\n+ azimuth_corrected_f = azimuth_corrected_f > 36000\n+ ? azimuth_corrected_f - 36000\n+ : azimuth_corrected_f;\n+\n+ // distance\n+ union two_bytes tmp;\n+ tmp.bytes[0] = raw->blocks[block].data[k];\n+ tmp.bytes[1] = raw->blocks[block].data[k + 1];\n+ int distance = tmp.uint;\n+\n+ // read intensity\n+ intensity = raw->blocks[block].data[k + 2];\n+\n+ float distance2 =\n+ (distance * DISTANCE_RESOLUTION) * config_.distance_unit();\n+\n+ if (config_.calibration())\n+ distance2 = distance2 + corrections.dist_correction;\n+\n+ if (2 == config_.return_mode()) {\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (SCANS_PER_PACKET - point_count - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (SCANS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+\n+ } else {\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (SCANS_PER_PACKET - point_count - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (SCANS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+ }\n+\n+ if (distance2 > config_.max_range() ||\n+ distance2 < config_.min_range()) {\n+ PointXYZIT* point = pc->add_point();\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ // 均匀1度校准两列\n+ if (1 == config_.degree_mode()) {\n+ double adjust_diff = adjust_angle_two - adjust_angle;\n+ if (adjust_diff > 300 && adjust_diff < 460) {\n+ // v2.7 calibrtation\n+ if (lslidar_type == 3) {\n+ if (1 >= dsr % 4) {\n+ azimuth_corrected_f += adjust_angle_two;\n+ } else {\n+ azimuth_corrected_f += adjust_angle;\n+ }\n+ } else {\n+ if (0 == dsr % 2) {\n+ azimuth_corrected_f += adjust_angle_two;\n+ } else {\n+ azimuth_corrected_f += adjust_angle;\n+ }\n+ }\n+ } else {\n+ // v2.6 calibrtation\n+ if (0 == dsr % 2) {\n+ azimuth_corrected_f += adjust_angle;\n+ } else {\n+ azimuth_corrected_f -= adjust_angle;\n+ }\n+ }\n+ }\n+\n+ // 0.33度校准四列\n+ if (2 == config_.degree_mode()) {\n+ double adjust_diff_one = adjust_angle_two - adjust_angle;\n+ double adjust_diff_two = adjust_angle_four - adjust_angle_three;\n+ if (lslidar_type == 3) {\n+ // v3.0 calibrtation\n+ if (0 == dsr || 1 == dsr || 4 == dsr || 8 == dsr || 9 == dsr ||\n+ 12 == dsr || 16 == dsr || 17 == dsr || 21 == dsr ||\n+ 24 == dsr || 25 == dsr || 29 == dsr)\n+ azimuth_corrected_f += adjust_angle_four; // A4\n+\n+ if (2 == dsr || 3 == dsr || 6 == dsr || 10 == dsr || 11 == dsr ||\n+ 14 == dsr || 18 == dsr || 19 == dsr || 23 == dsr ||\n+ 26 == dsr || 27 == dsr || 31 == dsr)\n+ azimuth_corrected_f += adjust_angle_three; // A3\n+\n+ if (5 == dsr || 13 == dsr || 20 == dsr || 28 == dsr)\n+ azimuth_corrected_f += adjust_angle_two; // A2\n+\n+ if (7 == dsr || 15 == dsr || 22 == dsr || 30 == dsr)\n+ azimuth_corrected_f += adjust_angle; // A1\n+ } else if (adjust_diff_one > 500 && adjust_diff_one < 660 &&\n+ adjust_diff_two > 150 && adjust_diff_two < 350) {\n+ // v2.7 calibrtation\n+ if (10 == dsr || 14 == dsr || 18 == dsr || 22 == dsr)\n+ azimuth_corrected_f += adjust_angle_four; // A4\n+\n+ if (11 == dsr || 15 == dsr || 19 == dsr || 23 == dsr)\n+ azimuth_corrected_f += adjust_angle_three; // A3\n+\n+ if (0 == dsr || 2 == dsr || 4 == dsr || 6 == dsr || 8 == dsr ||\n+ 12 == dsr || 16 == dsr || 20 == dsr || 24 == dsr ||\n+ 26 == dsr || 28 == dsr || 30 == dsr)\n+ azimuth_corrected_f += adjust_angle_two; // A2\n+\n+ if (1 == dsr || 3 == dsr || 5 == dsr || 7 == dsr || 9 == dsr ||\n+ 13 == dsr || 17 == dsr || 21 == dsr || 25 == dsr ||\n+ 27 == dsr || 29 == dsr || 31 == dsr)\n+ azimuth_corrected_f += adjust_angle; // A1\n+ } else {\n+ // v2.6 calibrtation\n+ if (10 == dsr || 14 == dsr || 18 == dsr || 22 == dsr)\n+ azimuth_corrected_f += adjust_angle;\n+\n+ if (11 == dsr || 15 == dsr || 19 == dsr || 23 == dsr)\n+ azimuth_corrected_f -= adjust_angle;\n+\n+ if (0 == dsr || 2 == dsr || 4 == dsr || 6 == dsr || 8 == dsr ||\n+ 12 == dsr || 16 == dsr || 20 == dsr || 24 == dsr ||\n+ 26 == dsr || 28 == dsr || 30 == dsr)\n+ azimuth_corrected_f += adjust_angle_two;\n+\n+ if (1 == dsr || 3 == dsr || 5 == dsr || 7 == dsr || 9 == dsr ||\n+ 13 == dsr || 17 == dsr || 21 == dsr || 25 == dsr ||\n+ 27 == dsr || 29 == dsr || 31 == dsr)\n+ azimuth_corrected_f -= adjust_angle_two;\n+ }\n+ }\n+\n+ azimuth_corrected_f = azimuth_corrected_f < 0\n+ ? azimuth_corrected_f + 36000\n+ : azimuth_corrected_f;\n+ azimuth_corrected_f = azimuth_corrected_f > 36000\n+ ? azimuth_corrected_f - 36000\n+ : azimuth_corrected_f;\n+\n+ if ((azimuth_corrected_f < config_.scan_start_angle()) ||\n+ (azimuth_corrected_f > config_.scan_end_angle()))\n+ continue;\n+ if (packet_number == 0) {\n+ if (azimuth_corrected_f > 30000) {\n+ continue;\n+ }\n+ }\n+\n+ if (packet_number == packet_number_ - 1) {\n+ if (azimuth_corrected_f < 10000) {\n+ continue;\n+ }\n+ }\n+\n+ // 以结构为中心\n+ float rotation_azimuth =\n+ ROTATION_RESOLUTION *\n+ static_cast<float>(azimuth_corrected_f * M_PI) / 180.0f;\n+ azimuth_corrected_offset_f =\n+ azimuth_corrected_f * ROTATION_RESOLUTION - LSC32_AZIMUTH_TOFFSET;\n+ float rotation_azimuth_offset =\n+ static_cast<float>(azimuth_corrected_offset_f * M_PI) / 180.0f;\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(intensity);\n+ point->set_intensity(intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords(distance2, &corrections,\n+ static_cast<uint16_t>(azimuth_corrected_f), point);\n+ } else {\n+ x = distance2 * cos_scan_altitude_caliration[dsr] *\n+ cosf(rotation_azimuth) +\n+ (LSC32_DISTANCE_TOFFSET * cosf(rotation_azimuth_offset)) *\n+ DISTANCE_RESOLUTION;\n+ y = -(distance2 * cos_scan_altitude_caliration[dsr] *\n+ sinf(rotation_azimuth) +\n+ (LSC32_DISTANCE_TOFFSET * sinf(rotation_azimuth_offset)) *\n+ DISTANCE_RESOLUTION);\n+ z = distance2 * sin_scan_altitude_caliration[dsr];\n+\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() &&\n+ -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void Lslidar32Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 32;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc\nnew file mode 100644\nindex 00000000000..10abf3507a1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc\n@@ -0,0 +1,150 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH120Parser::LslidarCH120Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ last_packet_time = 0;\n+}\n+\n+void LslidarCH120Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH120Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+ time_last = 0;\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (int point_idx1 = 0; point_idx1 < POINTS_PER_PACKET; point_idx1++) {\n+ firings[point_idx1].vertical_line = raw->points[point_idx1].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx1].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx1].azimuth_1;\n+ firings[point_idx1].azimuth =\n+ static_cast<double>(point_amuzith.uint * 0.01 * DEG_TO_RAD);\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx1].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx1].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx1].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx1].distance =\n+ static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx1].intensity = raw->points[point_idx1].intensity;\n+ }\n+\n+ for (int point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection& corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ z_sin_altitude =\n+ sin((-13 + 0.167 * firings[point_idx].vertical_line) * DEG_TO_RAD);\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+ x = firings[point_idx].distance * z_cos_altitude *\n+ cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude *\n+ sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ uint64_t point_time =\n+ packet_end_time - 1282 * (POINTS_PER_PACKET - point_idx - 1);\n+ if (time_last < point_time && time_last > 0) {\n+ point_time = time_last + 1282;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH120,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+}\n+\n+void LslidarCH120Parser::Order(std::shared_ptr<PointCloud> cloud) {}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc\nnew file mode 100644\nindex 00000000000..c35c66398c3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc\n@@ -0,0 +1,205 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH128X1Parser::LslidarCH128X1Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}\n+\n+void LslidarCH128X1Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char* difop_ptr =\n+ (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+\n+ two_bytes angle_1, angle_2, angle_3, angle_4;\n+ angle_1.bytes[0] = difop_ptr[243];\n+ angle_1.bytes[1] = difop_ptr[242];\n+ prism_angle[0] = angle_1.uint * 0.01;\n+\n+ angle_2.bytes[0] = difop_ptr[245];\n+ angle_2.bytes[1] = difop_ptr[244];\n+ prism_angle[1] = angle_2.uint * 0.01;\n+\n+ angle_3.bytes[0] = difop_ptr[247];\n+ angle_3.bytes[1] = difop_ptr[246];\n+ prism_angle[2] = angle_3.uint * 0.01;\n+\n+ angle_4.bytes[0] = difop_ptr[249];\n+ angle_4.bytes[1] = difop_ptr[248];\n+ prism_angle[3] = angle_4.uint * 0.01;\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ AINFO << \"packets_size :\" << packets_size;\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH128X1Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ double sinTheta_1[128] = {0};\n+ double cosTheta_1[128] = {0};\n+ double sinTheta_2[128] = {0};\n+ double cosTheta_2[128] = {0};\n+\n+ for (int i = 0; i < 128; i++) {\n+ sinTheta_1[i] = sin(big_angle[i / 4] * M_PI / 180);\n+ cosTheta_1[i] = cos(big_angle[i / 4] * M_PI / 180);\n+\n+ if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&\n+ abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {\n+ sinTheta_2[i] = sin((i % 4) * (-0.17) * M_PI / 180);\n+ cosTheta_2[i] = cos((i % 4) * (-0.17) * M_PI / 180);\n+ } else {\n+ sinTheta_2[i] = sin(prism_angle[i % 4] * M_PI / 180);\n+ cosTheta_2[i] = cos(prism_angle[i % 4] * M_PI / 180);\n+ }\n+ }\n+\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+ current_packet_time = packet_end_time;\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+ firings[point_idx].azimuth =\n+ static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx].distance =\n+ static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx].intensity = raw->points[point_idx].intensity;\n+ }\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection& corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ double _R_ = cosTheta_2[firings[point_idx].vertical_line] *\n+ cosTheta_1[firings[point_idx].vertical_line] *\n+ cos(firings[point_idx].azimuth / 2.0) -\n+ sinTheta_2[firings[point_idx].vertical_line] *\n+ sinTheta_1[firings[point_idx].vertical_line];\n+\n+ z_sin_altitude = sinTheta_1[firings[point_idx].vertical_line] +\n+ 2 * _R_ * sinTheta_2[firings[point_idx].vertical_line];\n+\n+ z_cos_altitude = sqrt(1 - pow(z_sin_altitude, 2));\n+ x = firings[point_idx].distance * z_cos_altitude *\n+ cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude *\n+ sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y()))\n+ return;\n+\n+ // Compute the time of the point\n+ // modify\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (POINTS_PER_PACKET - point_idx - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (POINTS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH128X1,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void LslidarCH128X1Parser::Order(std::shared_ptr<PointCloud> cloud) {}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc\nnew file mode 100644\nindex 00000000000..e5dc64c14f1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH128_parser.cc\n@@ -0,0 +1,187 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH128Parser::LslidarCH128Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ last_packet_time = 0;\n+}\n+\n+void LslidarCH128Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ const std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char *difop_ptr =\n+ (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+\n+ two_bytes angle_1, angle_2, angle_3, angle_4;\n+ angle_1.bytes[0] = difop_ptr[87];\n+ angle_1.bytes[1] = difop_ptr[86];\n+ prism_angle128[0] = angle_1.uint * 0.01;\n+\n+ angle_2.bytes[0] = difop_ptr[89];\n+ angle_2.bytes[1] = difop_ptr[88];\n+ prism_angle128[1] = angle_2.uint * 0.01;\n+\n+ angle_3.bytes[0] = difop_ptr[91];\n+ angle_3.bytes[1] = difop_ptr[90];\n+ prism_angle128[2] = angle_3.uint * 0.01;\n+\n+ angle_4.bytes[0] = difop_ptr[93];\n+ angle_4.bytes[1] = difop_ptr[92];\n+ prism_angle128[3] = angle_4.uint * 0.01;\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH128Parser::Unpack(int num, const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ double cos_azimuth_half = 0.0;\n+ const RawPacket *raw = (const RawPacket *)pkt.data().c_str();\n+ time_last = 0;\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (int i = 0; i < 128; i++) {\n+ if (abs(prism_angle128[0]) < 1e-6 && abs(prism_angle128[1]) < 1e-6 &&\n+ abs(prism_angle128[2]) < 1e-6 && abs(prism_angle128[3]) < 1e-6) {\n+ sinTheta_2[i] = sin_scan_mirror_altitude_ch128[i % 4];\n+ } else {\n+ sinTheta_2[i] = std::sin(prism_angle128[i % 4] * M_PI / 180);\n+ }\n+ }\n+ for (int point_idx1 = 0; point_idx1 < POINTS_PER_PACKET; point_idx1++) {\n+ firings[point_idx1].vertical_line = raw->points[point_idx1].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx1].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx1].azimuth_1;\n+ firings[point_idx1].azimuth =\n+ static_cast<double>(point_amuzith.uint * 0.01 * DEG_TO_RAD);\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx1].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx1].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx1].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx1].distance =\n+ static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx1].intensity = raw->points[point_idx1].intensity;\n+ }\n+\n+ for (int point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection &corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ if (firings[point_idx].vertical_line / 4 % 2 == 0) {\n+ cos_azimuth_half =\n+ sin((firings[point_idx].azimuth - 15 * DEG_TO_RAD) * 0.5);\n+ } else {\n+ cos_azimuth_half =\n+ cos((firings[point_idx].azimuth + 15 * DEG_TO_RAD) * 0.5);\n+ }\n+\n+ z_sin_altitude =\n+ sin_scan_laser_altitude_ch128[firings[point_idx].vertical_line / 4] +\n+ 2 * cos_azimuth_half * sinTheta_2[firings[point_idx].vertical_line];\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+ x = firings[point_idx].distance * z_cos_altitude *\n+ cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude *\n+ sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ uint64_t point_time =\n+ packet_end_time - 1562.5 * ((POINTS_PER_PACKET - point_idx) / 7 - 1);\n+ if (time_last < point_time && time_last > 0) {\n+ point_time = time_last + 1562.5;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT *point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH128,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+}\n+\n+void LslidarCH128Parser::Order(std::shared_ptr<PointCloud> cloud) {}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc\nnew file mode 100644\nindex 00000000000..dc1df379ab1\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH16_parser.cc\n@@ -0,0 +1,203 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH16Parser::LslidarCH16Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}\n+\n+void LslidarCH16Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char* difop_ptr =\n+ (const unsigned char*)scan_msg->difop_pkts(0).data().c_str();\n+\n+ two_bytes angle_1, angle_2, angle_3, angle_4;\n+ angle_1.bytes[0] = difop_ptr[663];\n+ angle_1.bytes[1] = difop_ptr[662];\n+ prism_angle[0] = angle_1.uint * 0.01;\n+\n+ angle_2.bytes[0] = difop_ptr[665];\n+ angle_2.bytes[1] = difop_ptr[664];\n+ prism_angle[1] = angle_2.uint * 0.01;\n+\n+ angle_3.bytes[0] = difop_ptr[667];\n+ angle_3.bytes[1] = difop_ptr[666];\n+ prism_angle[2] = angle_3.uint * 0.01;\n+\n+ angle_4.bytes[0] = difop_ptr[669];\n+ angle_4.bytes[1] = difop_ptr[668];\n+ prism_angle[3] = angle_4.uint * 0.01;\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH16Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ time_last = 0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+ firings[point_idx].azimuth =\n+ static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx].distance =\n+ static_cast<double>(point_distance.uint) / 256.0 * DISTANCE_RESOLUTION;\n+ firings[point_idx].intensity = raw->points[point_idx].intensity;\n+ }\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection& corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ // Convert the point to xyz coordinate\n+ double cos_azimuth_half = cos(firings[point_idx].azimuth * 0.5);\n+\n+ if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&\n+ abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {\n+ z_sin_altitude =\n+ sin_scan_laser_altitude[firings[point_idx].vertical_line / 4 + 2] +\n+ 2 * cos_azimuth_half *\n+ sin_scan_mirror_altitude[firings[point_idx].vertical_line % 4];\n+ } else {\n+ z_sin_altitude =\n+ sin_scan_laser_altitude[firings[point_idx].vertical_line / 4 + 2] +\n+ 2 * cos_azimuth_half *\n+ sin(prism_angle[firings[point_idx].vertical_line % 4] * M_PI /\n+ 180);\n+ }\n+\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+\n+ x = firings[point_idx].distance * z_cos_altitude *\n+ cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude *\n+ sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ uint64_t point_time =\n+ packet_end_time - 1665 * (POINTS_PER_PACKET - point_idx - 1);\n+ if (time_last < point_time && time_last > 0) {\n+ point_time = time_last + 1665;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time / 1000000000.0);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH16,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+}\n+\n+void LslidarCH16Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 16;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc\nnew file mode 100644\nindex 00000000000..d5e6cc4f044\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH32_parser.cc\n@@ -0,0 +1,182 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH32Parser::LslidarCH32Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}\n+\n+void LslidarCH32Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ const std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH32Parser::Unpack(int num, const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ time_last = 0;\n+ const RawPacket *raw = (const RawPacket *)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+ firings[point_idx].azimuth =\n+ static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx].distance =\n+ static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx].intensity = raw->points[point_idx].intensity;\n+ }\n+\n+ double scan_laser_altitude_degree[8];\n+ if (1 == config_.degree_mode()) {\n+ for (int i = 0; i < 8; i++)\n+ scan_laser_altitude_degree[i] = sin_scan_laser_altitude[i];\n+ } else {\n+ for (int i = 0; i < 8; i++)\n+ scan_laser_altitude_degree[i] = sin_scan_laser_altitude_ch32[i];\n+ }\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection &corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ // Convert the point to xyz coordinate\n+ double cos_azimuth_half = cos(firings[point_idx].azimuth * 0.5);\n+ z_sin_altitude =\n+ scan_laser_altitude_degree[firings[point_idx].vertical_line / 4] +\n+ 2 * cos_azimuth_half *\n+ sin_scan_mirror_altitude[firings[point_idx].vertical_line % 4];\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+\n+ x = firings[point_idx].distance * z_cos_altitude *\n+ cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude *\n+ sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ uint64_t point_time =\n+ packet_end_time - 1665 * (POINTS_PER_PACKET - point_idx - 1);\n+ if (time_last < point_time && time_last > 0) {\n+ point_time = time_last + 1665;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT *point = pc->add_point();\n+ (point_time / 1000000000.0);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH32,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+}\n+\n+void LslidarCH32Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 32;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc\nnew file mode 100644\nindex 00000000000..a040cdd0ef5\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH64_parser.cc\n@@ -0,0 +1,165 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH64Parser::LslidarCH64Parser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {}\n+\n+void LslidarCH64Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH64Parser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+ double z_sin_altitude = 0.0;\n+ double z_cos_altitude = 0.0;\n+ time_last = 0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+ firings[point_idx].azimuth =\n+ static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx].distance =\n+ static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx].intensity = raw->points[point_idx].intensity;\n+ }\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection& corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ int line_num = firings[point_idx].vertical_line;\n+\n+ // Convert the point to xyz coordinate\n+ if (line_num % 8 == 0 || line_num % 8 == 1 || line_num % 8 == 2 ||\n+ line_num % 8 == 3) {\n+ z_sin_altitude =\n+ sin(-13.33 * DEG_TO_RAD + floor(line_num / 4) * 1.33 * DEG_TO_RAD) +\n+ 2 * cos(firings[point_idx].azimuth / 2 + 1.05 * DEG_TO_RAD) *\n+ sin((line_num % 4) * 0.33 * DEG_TO_RAD);\n+\n+ } else if (line_num % 8 == 4 || line_num % 8 == 5 || line_num % 8 == 6 ||\n+ line_num % 8 == 7) {\n+ z_sin_altitude =\n+ sin(-13.33 * DEG_TO_RAD + floor(line_num / 4) * 1.33 * DEG_TO_RAD) +\n+ 2 * cos(firings[point_idx].azimuth / 2 - 1.05 * DEG_TO_RAD) *\n+ sin((line_num % 4) * 0.33 * DEG_TO_RAD);\n+ }\n+\n+ z_cos_altitude = sqrt(1 - z_sin_altitude * z_sin_altitude);\n+ x = firings[point_idx].distance * z_cos_altitude *\n+ cos(firings[point_idx].azimuth);\n+ y = firings[point_idx].distance * z_cos_altitude *\n+ sin(firings[point_idx].azimuth);\n+ z = firings[point_idx].distance * z_sin_altitude;\n+\n+ // Compute the time of the point\n+ point_time = packet_end_time - 1726 * (POINTS_PER_PACKET - point_idx - 1);\n+ if (time_last < point_time && time_last > 0) {\n+ point_time = time_last + 1726;\n+ }\n+ time_last = point_time;\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH64,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+}\n+\n+void LslidarCH64Parser::Order(std::shared_ptr<PointCloud> cloud) {}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc\nnew file mode 100644\nindex 00000000000..10b5b9d584f\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCH64w_parser.cc\n@@ -0,0 +1,204 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCH64wParser::LslidarCH64wParser(const Config& config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ point_time_diff = 1 / (60.0 * 1000 * 32); // s\n+ for (int i = 0; i < 4; ++i) {\n+ prism_angle64[i] = i * 0.35;\n+ }\n+ for (int j = 0; j < 128; ++j) {\n+ if (j / 4 % 2 == 0) {\n+ theat1_s[j] = sin((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+ theat1_c[j] = cos((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+ } else {\n+ theat1_s[j] = sin((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+ theat1_c[j] = cos((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+ }\n+ }\n+}\n+\n+void LslidarCH64wParser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+ AINFO << \"packets_size :\" << packets_size;\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCH64wParser::Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc) {\n+ float x, y, z;\n+ uint64_t point_time;\n+ uint64_t packet_end_time;\n+ time_last = 0;\n+ const RawPacket* raw = (const RawPacket*)pkt.data().c_str();\n+ double cos_xita;\n+ // 垂直角度\n+ double sin_theat;\n+ double cos_theat;\n+ double _R_;\n+ // 水平角度\n+ double cos_H_xita;\n+ double sin_H_xita;\n+ double cos_xita_F;\n+ double sin_xita_F;\n+\n+ packet_end_time = pkt.stamp();\n+\n+ current_packet_time = packet_end_time;\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ firings[point_idx].vertical_line = raw->points[point_idx].vertical_line;\n+ two_bytes point_amuzith;\n+ point_amuzith.bytes[0] = raw->points[point_idx].azimuth_2;\n+ point_amuzith.bytes[1] = raw->points[point_idx].azimuth_1;\n+ firings[point_idx].azimuth =\n+ static_cast<double>(point_amuzith.uint) * 0.01 * DEG_TO_RAD;\n+ four_bytes point_distance;\n+ point_distance.bytes[0] = raw->points[point_idx].distance_3;\n+ point_distance.bytes[1] = raw->points[point_idx].distance_2;\n+ point_distance.bytes[2] = raw->points[point_idx].distance_1;\n+ point_distance.bytes[3] = 0;\n+ firings[point_idx].distance =\n+ static_cast<double>(point_distance.uint) * DISTANCE_RESOLUTION2;\n+ firings[point_idx].intensity = raw->points[point_idx].intensity;\n+ }\n+\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET; point_idx++) {\n+ LaserCorrection& corrections =\n+ calibration_.laser_corrections_[firings[point_idx].vertical_line];\n+\n+ if (config_.calibration())\n+ firings[point_idx].distance =\n+ firings[point_idx].distance + corrections.dist_correction;\n+\n+ if (firings[point_idx].distance > config_.max_range() ||\n+ firings[point_idx].distance < config_.min_range())\n+ continue;\n+\n+ int line_num = firings[point_idx].vertical_line;\n+ if (line_num / 4 % 2 == 0) {\n+ cos_xita = cos((firings[point_idx].azimuth * RAD_TO_DEG / 2.0 + 22.5) *\n+ M_PI / 180);\n+ } else {\n+ cos_xita = cos((-firings[point_idx].azimuth * RAD_TO_DEG / 2.0 + 112.5) *\n+ M_PI / 180);\n+ }\n+\n+ _R_ = theat2_c[line_num] * theat1_c[line_num] * cos_xita -\n+ theat2_s[line_num] * theat1_s[line_num];\n+ sin_theat = theat1_s[line_num] + 2 * _R_ * theat2_s[line_num];\n+ cos_theat = sqrt(1 - pow(sin_theat, 2));\n+ cos_H_xita =\n+ (2 * _R_ * theat2_c[line_num] * cos_xita - theat1_c[line_num]) /\n+ cos_theat;\n+ sin_H_xita = sqrt(1 - pow(cos_H_xita, 2));\n+\n+ if (line_num / 4 % 2 == 0) {\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * sqrt(0.5);\n+ sin_xita_F = sqrt(1 - pow(cos_xita_F, 2));\n+ } else {\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * (-sqrt(0.5));\n+ sin_xita_F = sqrt(1 - pow(cos_xita_F, 2));\n+ }\n+\n+ x = firings[point_idx].distance * cos_theat * cos_xita_F;\n+ y = firings[point_idx].distance * cos_theat * sin_xita_F;\n+ z = firings[point_idx].distance * sin_theat;\n+\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y()))\n+ return;\n+ // modify\n+ if (previous_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (POINTS_PER_PACKET - point_idx - 1) *\n+ (current_packet_time - previous_packet_time) /\n+ (POINTS_PER_PACKET);\n+ } else { // fist packet\n+ point_time = current_packet_time;\n+ }\n+\n+ PointXYZIT* point = pc->add_point();\n+ point->set_timestamp(point_time);\n+ point->set_intensity(firings[point_idx].intensity);\n+\n+ if (config_.calibration()) {\n+ ComputeCoords2(firings[point_idx].vertical_line, CH64w,\n+ firings[point_idx].distance, &corrections,\n+ firings[point_idx].azimuth, point);\n+\n+ } else {\n+ if ((y >= config_.bottom_left_x() && y <= config_.top_right_x()) &&\n+ (-x >= config_.bottom_left_y() && -x <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y);\n+ point->set_y(-x);\n+ point->set_z(z);\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void LslidarCH64wParser::Order(std::shared_ptr<PointCloud> cloud) {}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc\nnew file mode 100644\nindex 00000000000..25da56b8cb3\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarCXV4_parser.cc\n@@ -0,0 +1,362 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarCXV4Parser::LslidarCXV4Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ vertical_angle_ = config.vertical_angle();\n+ distance_unit_ = config.distance_unit();\n+ is_new_c32w_ = true;\n+ is_get_scan_altitude_ = false;\n+ AERROR << \"vertical_angle_ \" << vertical_angle_;\n+ if (config_.model() == LSLIDAR_C16_V4) {\n+ lidar_number_ = 16;\n+ AERROR << \"lidar: c16\";\n+ for (int i = 0; i < 16; ++i) {\n+ sin_scan_altitude[i] = sin(c16_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c16_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (config_.model() == LSLIDAR_C8_V4) {\n+ lidar_number_ = 8;\n+ AERROR << \"lidar: c8\";\n+ for (int i = 0; i < 8; ++i) {\n+ sin_scan_altitude[i] = sin(c8_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c8_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (config_.model() == LSLIDAR_C1_V4) {\n+ lidar_number_ = 1;\n+ AERROR << \"lidar: c1\";\n+ for (int i = 0; i < 8; ++i) {\n+ sin_scan_altitude[i] = sin(c1_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c1_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (config_.model() == LSLIDAR_C32_V4) {\n+ lidar_number_ = 32;\n+ if (32 == config.vertical_angle()) {\n+ AERROR << \"Vertical angle: 32 degrees\";\n+ for (int i = 0; i < 32; ++i) {\n+ sin_scan_altitude[i] = sin(c32_32_vertical_angle[i] * DEG_TO_RAD);\n+ cos_scan_altitude[i] = cos(c32_32_vertical_angle[i] * DEG_TO_RAD);\n+ }\n+ } else if (70 == config.vertical_angle()) {\n+ AERROR << \"Vertical angle: 70 degrees\";\n+ for (int k = 0; k < 32; ++k) {\n+ sin_scan_altitude[k] = sin(c32_70_vertical_angle2[k] * DEG_TO_RAD);\n+ cos_scan_altitude[k] = cos(c32_70_vertical_angle2[k] * DEG_TO_RAD);\n+ }\n+ } else if (90 == config.vertical_angle()) {\n+ AERROR << \"Vertical angle: 90 degrees\";\n+ for (int k = 0; k < 32; ++k) {\n+ sin_scan_altitude[k] = sin(c32_90_vertical_angle[k] * DEG_TO_RAD);\n+ cos_scan_altitude[k] = cos(c32_90_vertical_angle[k] * DEG_TO_RAD);\n+ }\n+ }\n+ }\n+\n+ // create the sin and cos table for different azimuth values\n+ for (int j = 0; j < 36000; ++j) {\n+ double angle = static_cast<double>(j) / 100.0 * DEG_TO_RAD;\n+ sin_azimuth_table[j] = sin(angle);\n+ cos_azimuth_table[j] = cos(angle);\n+ }\n+ config_vert_angle = false;\n+ lslidar_type = 2;\n+}\n+\n+void LslidarCXV4Parser::decodePacket(const RawPacket_C32 *packet) {\n+ // couputer azimuth angle for each firing, 12\n+ for (size_t b_idx = 0; b_idx < BLOCKS_PER_PACKET; ++b_idx) {\n+ firings.firing_azimuth[b_idx] =\n+ packet->blocks[b_idx].rotation % 36000; //* 0.01 * DEG_TO_RAD;\n+ }\n+ for (size_t block_idx = 0; block_idx < BLOCKS_PER_PACKET; ++block_idx) {\n+ const RawBlock &raw_block = packet->blocks[block_idx];\n+\n+ int32_t azimuth_diff_b = 0;\n+ if (config_.return_mode() == 1) {\n+ if (block_idx < BLOCKS_PER_PACKET - 1) {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx + 1] -\n+ firings.firing_azimuth[block_idx];\n+ azimuth_diff_b =\n+ azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+\n+ } else {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx] -\n+ firings.firing_azimuth[block_idx - 1];\n+\n+ azimuth_diff_b =\n+ azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+ }\n+ } else {\n+ // return mode 2\n+ if (block_idx < BLOCKS_PER_PACKET - 2) {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx + 2] -\n+ firings.firing_azimuth[block_idx];\n+ azimuth_diff_b =\n+ azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+\n+ } else {\n+ azimuth_diff_b = firings.firing_azimuth[block_idx] -\n+ firings.firing_azimuth[block_idx - 2];\n+\n+ azimuth_diff_b =\n+ azimuth_diff_b < 0 ? azimuth_diff_b + 36000 : azimuth_diff_b;\n+ }\n+ }\n+\n+ // 32 scan\n+ for (size_t scan_fir_idx = 0; scan_fir_idx < SCANS_PER_FIRING_C32;\n+ ++scan_fir_idx) {\n+ size_t byte_idx = RAW_SCAN_SIZE * scan_fir_idx;\n+ // azimuth\n+ firings.azimuth[block_idx * 32 + scan_fir_idx] =\n+ firings.firing_azimuth[block_idx] +\n+ scan_fir_idx * azimuth_diff_b / FIRING_TOFFSET_C32;\n+ firings.azimuth[block_idx * 32 + scan_fir_idx] =\n+ firings.azimuth[block_idx * 32 + scan_fir_idx] % 36000;\n+ // distance\n+ TwoBytes raw_distance{};\n+ raw_distance.bytes[0] = raw_block.data[byte_idx];\n+ raw_distance.bytes[1] = raw_block.data[byte_idx + 1];\n+ firings.distance[block_idx * 32 + scan_fir_idx] =\n+ static_cast<double>(raw_distance.distance) * DISTANCE_RESOLUTION *\n+ distance_unit_;\n+\n+ // intensity\n+ firings.intensity[block_idx * 32 + scan_fir_idx] =\n+ static_cast<double>(raw_block.data[byte_idx + 2]);\n+ }\n+ }\n+ return;\n+}\n+\n+bool LslidarCXV4Parser::checkPacketValidity(const RawPacket_C32 *packet) {\n+ for (size_t blk_idx = 0; blk_idx < BLOCKS_PER_PACKET; ++blk_idx) {\n+ if (packet->blocks[blk_idx].header != UPPER_BANK) {\n+ return false;\n+ }\n+ }\n+ return true;\n+}\n+\n+void LslidarCXV4Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ const std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ const unsigned char *difop_ptr =\n+ (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+ if (difop_ptr[0] == 0xa5 && difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 &&\n+ difop_ptr[3] == 0x5a) {\n+ AINFO << \"设备包，暂时用不上...\"; // todo 暂时不用设备包\n+ }\n+\n+ size_t packets_size = scan_msg->firing_pkts_size();\n+ block_num = 0;\n+ packet_number_ = packets_size;\n+\n+ AINFO << \"packets_size :\" << packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(scan_msg->firing_pkts(static_cast<int>(i)), out_msg, i);\n+ last_time_stamp_ = out_msg->measurement_time();\n+ ADEBUG << \"stamp: \" << std::fixed << last_time_stamp_;\n+ }\n+\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarCXV4Parser::Unpack(const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> pc,\n+ int packet_number) {\n+ double point_time;\n+ const RawPacket_C32 *raw_packet = (const RawPacket_C32 *)(pkt.data().c_str());\n+ uint8_t *data =\n+ reinterpret_cast<uint8_t *>(const_cast<char *>(pkt.data().c_str()));\n+\n+ // check if the packet is valid\n+ if (!checkPacketValidity(raw_packet)) return;\n+\n+ // decode the packet\n+ decodePacket(raw_packet);\n+\n+ if (!is_get_scan_altitude_ &&\n+ static_cast<uint16_t>(data[1211]) == 0x46) { // old C32w\n+ AERROR << \"byte[1211] == 0x46: old C32W\";\n+ is_new_c32w_ = false;\n+ for (int k = 0; k < 32; ++k) {\n+ sin_scan_altitude[k] = sin(c32_70_vertical_angle[k] * DEG_TO_RAD);\n+ cos_scan_altitude[k] = cos(c32_70_vertical_angle[k] * DEG_TO_RAD);\n+ }\n+ is_get_scan_altitude_ = true;\n+ }\n+\n+ for (size_t fir_idx = 0; fir_idx < SCANS_PER_PACKET; ++fir_idx) {\n+ if (!is_new_c32w_ && vertical_angle_ == 70) {\n+ if (fir_idx % 32 == 29 || fir_idx % 32 == 6 || fir_idx % 32 == 14 ||\n+ fir_idx % 32 == 22 || fir_idx % 32 == 30 || fir_idx % 32 == 7 ||\n+ fir_idx % 32 == 15 || fir_idx % 32 == 23) {\n+ firings.azimuth[fir_idx] += 389;\n+ }\n+ if (firings.azimuth[fir_idx] > 36000) firings.azimuth[fir_idx] -= 36000;\n+ }\n+ // convert the point to xyz coordinate\n+ size_t table_idx = firings.azimuth[fir_idx];\n+ double cos_azimuth = cos_azimuth_table[table_idx];\n+ double sin_azimuth = sin_azimuth_table[table_idx];\n+ double x_coord, y_coord, z_coord;\n+ bool coordinate_opt = true;\n+ double R1 = 0.0;\n+ if (vertical_angle_ == 90) { // ch32r\n+ R1 = CX4_R1_90;\n+ } else if (is_new_c32w_) { // new C32w\n+ R1 = CX4_C32W;\n+ } else { // others\n+ R1 = CX4_R1_;\n+ }\n+ double conversionAngle =\n+ (vertical_angle_ == 90) ? CX4_conversionAngle_90 : CX4_conversionAngle_;\n+ if (coordinate_opt) {\n+ x_coord = firings.distance[fir_idx] *\n+ cos_scan_altitude[fir_idx % lidar_number_] * cos_azimuth +\n+ R1 * cos((conversionAngle - firings.azimuth[fir_idx] * 0.01) *\n+ DEG_TO_RAD);\n+ y_coord = -firings.distance[fir_idx] *\n+ cos_scan_altitude[fir_idx % lidar_number_] * sin_azimuth +\n+ R1 * sin((conversionAngle - firings.azimuth[fir_idx] * 0.01) *\n+ DEG_TO_RAD);\n+ z_coord = firings.distance[fir_idx] *\n+ sin_scan_altitude[fir_idx % lidar_number_];\n+\n+ } else {\n+ // Y-axis correspondence 0 degree\n+ x_coord = firings.distance[fir_idx] *\n+ cos_scan_altitude[fir_idx % lidar_number_] * sin_azimuth +\n+ R1 * sin((firings.azimuth[fir_idx] * 0.01 - conversionAngle) *\n+ DEG_TO_RAD);\n+ y_coord = firings.distance[fir_idx] *\n+ cos_scan_altitude[fir_idx % lidar_number_] * cos_azimuth +\n+ R1 * cos((firings.azimuth[fir_idx] * 0.01 - conversionAngle) *\n+ DEG_TO_RAD);\n+ z_coord = firings.distance[fir_idx] *\n+ sin_scan_altitude[fir_idx % lidar_number_];\n+ }\n+\n+ // computer the time of the point\n+ if (last_packet_time > 1e-6) {\n+ point_time = current_packet_time -\n+ (current_packet_time - previous_packet_time) *\n+ (SCANS_PER_PACKET - fir_idx - 1) / SCANS_PER_PACKET;\n+ } else {\n+ point_time = current_packet_time;\n+ }\n+\n+ if (firings.distance[fir_idx] > config_.max_range() ||\n+ firings.distance[fir_idx] < config_.min_range()) {\n+ PointXYZIT *point = pc->add_point();\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ if ((firings.azimuth[fir_idx] < config_.scan_start_angle()) ||\n+ (firings.azimuth[fir_idx] > config_.scan_end_angle()))\n+ continue;\n+ if (packet_number == 0) {\n+ if (firings.azimuth[fir_idx] > 30000) {\n+ continue;\n+ }\n+ }\n+\n+ if (packet_number == packet_number_ - 1) {\n+ if (firings.azimuth[fir_idx] < 10000) {\n+ continue;\n+ }\n+ }\n+\n+ PointXYZIT *point = pc->add_point();\n+ point->set_timestamp(point_time);\n+\n+ point->set_intensity(firings.intensity[fir_idx]);\n+ if ((y_coord >= config_.bottom_left_x() &&\n+ y_coord <= config_.top_right_x()) &&\n+ (-x_coord >= config_.bottom_left_y() &&\n+ -x_coord <= config_.top_right_y())) {\n+ point->set_x(nan);\n+ point->set_y(nan);\n+ point->set_z(nan);\n+ point->set_timestamp(point_time);\n+ point->set_intensity(0);\n+ } else {\n+ point->set_x(y_coord);\n+ point->set_y(-x_coord);\n+ point->set_z(z_coord);\n+ }\n+ }\n+ }\n+ previous_packet_time = current_packet_time;\n+}\n+\n+void LslidarCXV4Parser::Order(std::shared_ptr<PointCloud> cloud) {\n+ int width = 32;\n+ cloud->set_width(width);\n+ int height = cloud->point_size() / cloud->width();\n+ cloud->set_height(height);\n+\n+ std::shared_ptr<PointCloud> cloud_origin = std::make_shared<PointCloud>();\n+ cloud_origin->CopyFrom(*cloud);\n+\n+ for (int i = 0; i < width; ++i) {\n+ int col = lslidar::ORDER_32[i];\n+\n+ for (int j = 0; j < height; ++j) {\n+ // make sure offset is initialized, should be init at setup() just once\n+ int target_index = j * width + i;\n+ int origin_index = j * width + col;\n+ cloud->mutable_point(target_index)\n+ ->CopyFrom(cloud_origin->point(origin_index));\n+ }\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc\nnew file mode 100644\nindex 00000000000..f0ced67767c\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidarLS128S2_parser.cc\n@@ -0,0 +1,469 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+static float g_fDistanceAcc = 0.1 * 0.01;\n+static double cos30 = std::cos(DEG2RAD(30));\n+static double sin30 = std::sin(DEG2RAD(30));\n+static double sin60 = std::sin(DEG2RAD(60));\n+\n+LslidarLS128S2Parser::LslidarLS128S2Parser(const Config &config)\n+ : LslidarParser(config), previous_packet_stamp_(0), gps_base_usec_(0) {\n+ // create the sin and cos table for different azimuth and vertical values\n+ for (int j = 0; j < 36000; ++j) {\n+ double angle = static_cast<double>(j) / 100.0 * M_PI / 180.0;\n+ sin_table[j] = sin(angle);\n+ cos_table[j] = cos(angle);\n+ }\n+\n+ double mirror_angle[4] = {0, -2, -1,\n+ -3}; // 摆镜角度 //根据通道不同偏移角度不同\n+ for (int i = 0; i < 4; ++i) {\n+ cos_mirror_angle[i] = cos(DEG2RAD(mirror_angle[i]));\n+ sin_mirror_angle[i] = sin(DEG2RAD(mirror_angle[i]));\n+ }\n+ cur_pc.reset(new PointCloud());\n+ pre_pc.reset(new PointCloud());\n+}\n+\n+void LslidarLS128S2Parser::GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan> &scan_msg,\n+ const std::shared_ptr<PointCloud> &out_msg) {\n+ // allocate a point cloud with same time and frame ID as raw data\n+ out_msg->mutable_header()->set_timestamp_sec(scan_msg->basetime() /\n+ 1000000000.0);\n+ out_msg->mutable_header()->set_module_name(scan_msg->header().module_name());\n+ out_msg->mutable_header()->set_frame_id(scan_msg->header().frame_id());\n+ out_msg->set_height(1);\n+ out_msg->set_measurement_time(scan_msg->basetime() / 1000000000.0);\n+ out_msg->mutable_header()->set_sequence_num(\n+ scan_msg->header().sequence_num());\n+ gps_base_usec_ = scan_msg->basetime();\n+\n+ frame_count++;\n+ const unsigned char *difop_ptr =\n+ (const unsigned char *)scan_msg->difop_pkts(0).data().c_str();\n+\n+ if (difop_ptr[0] == 0x00 || difop_ptr[0] == 0xa5) {\n+ if (difop_ptr[1] == 0xff && difop_ptr[2] == 0x00 && difop_ptr[3] == 0x5a) {\n+ if (difop_ptr[231] == 64 || difop_ptr[231] == 65) {\n+ is_add_frame_ = true;\n+ }\n+\n+ int majorVersion = difop_ptr[1202];\n+ int minorVersion1 = difop_ptr[1203] / 16;\n+\n+ // v1.1 :0.01 //v1.2以后 ： 0.0025\n+ if (1 > majorVersion || (1 == majorVersion && minorVersion1 > 1)) {\n+ g_fAngleAcc_V = 0.0025;\n+ } else {\n+ g_fAngleAcc_V = 0.01;\n+ }\n+\n+ float fInitAngle_V = difop_ptr[188] * 256 + difop_ptr[189];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[0] = fInitAngle_V * g_fAngleAcc_V;\n+\n+ fInitAngle_V = difop_ptr[190] * 256 + difop_ptr[191];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[1] = fInitAngle_V * g_fAngleAcc_V;\n+\n+ fInitAngle_V = difop_ptr[192] * 256 + difop_ptr[193];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[2] = fInitAngle_V * g_fAngleAcc_V;\n+\n+ fInitAngle_V = difop_ptr[194] * 256 + difop_ptr[195];\n+ if (fInitAngle_V > 32767) {\n+ fInitAngle_V = fInitAngle_V - 65536;\n+ }\n+ this->prism_angle[3] = fInitAngle_V * g_fAngleAcc_V;\n+ }\n+ }\n+\n+ packets_size = scan_msg->firing_pkts_size();\n+ packet_number_ = packets_size;\n+\n+ for (size_t i = 0; i < packets_size; ++i) {\n+ Unpack(static_cast<int>(i), scan_msg->firing_pkts(static_cast<int>(i)),\n+ out_msg);\n+ }\n+\n+ if (is_add_frame_) {\n+ if (frame_count >= 2) {\n+ // out_msg = std::move(cur_pc);\n+ for (int j = 0; j < cur_pc->point_size(); ++j) {\n+ PointXYZIT *point3 = out_msg->add_point();\n+ point3->set_timestamp(cur_pc->point(j).timestamp());\n+ point3->set_intensity(cur_pc->point(j).intensity());\n+ point3->set_x(cur_pc->point(j).x());\n+ point3->set_y(cur_pc->point(j).y());\n+ point3->set_z(cur_pc->point(j).z());\n+ }\n+ }\n+ cur_pc = pre_pc;\n+ pre_pc.reset(new PointCloud());\n+ } else {\n+ // out_msg = cur_pc;\n+ for (int j = 0; j < cur_pc->point_size(); ++j) {\n+ PointXYZIT *point3 = out_msg->add_point();\n+ point3->set_timestamp(cur_pc->point(j).timestamp());\n+ point3->set_intensity(cur_pc->point(j).intensity());\n+ point3->set_x(cur_pc->point(j).x());\n+ point3->set_y(cur_pc->point(j).y());\n+ point3->set_z(cur_pc->point(j).z());\n+ }\n+ cur_pc.reset(new PointCloud());\n+ pre_pc.reset(new PointCloud());\n+ }\n+ AINFO << \"line: \" << __LINE__ << \"out_msg size: \" << out_msg->point_size();\n+ AINFO << \"packets_size :\" << packets_size;\n+ if (out_msg->point().empty()) {\n+ // we discard this pointcloud if empty\n+ AERROR << \"All points is NAN!Please check lslidar:\" << config_.model();\n+ }\n+\n+ // set default width\n+ out_msg->set_width(out_msg->point_size());\n+ out_msg->set_height(1);\n+}\n+\n+/** @brief convert raw packet to point cloud\n+ * @param pkt raw packet to Unpack\n+ * @param pc shared pointer to point cloud (points are appended)\n+ */\n+void LslidarLS128S2Parser::Unpack(int num, const LslidarPacket &pkt,\n+ std::shared_ptr<PointCloud> out_msg) {\n+ struct Firing_LS128S2 lidardata {};\n+ uint64_t packet_end_time;\n+ const unsigned char *msop_ptr = (const unsigned char *)pkt.data().c_str();\n+\n+ packet_end_time = pkt.stamp();\n+ current_packet_time = packet_end_time;\n+ if (msop_ptr[1205] == 0x02) {\n+ return_mode = 2;\n+ }\n+\n+ if (return_mode == 1) {\n+ double packet_interval_time = (current_packet_time - last_packet_time) /\n+ (POINTS_PER_PACKET_SINGLE_ECHO / 8.0);\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET_SINGLE_ECHO;\n+ point_idx += 8) {\n+ if ((msop_ptr[point_idx] == 0xff) && (msop_ptr[point_idx + 1] == 0xaa) &&\n+ (msop_ptr[point_idx + 2] == 0xbb) &&\n+ (msop_ptr[point_idx + 3] == 0xcc) &&\n+ (msop_ptr[point_idx + 4] == 0xdd)) {\n+ continue;\n+ } else {\n+ // Compute the time of the point\n+ double point_time;\n+ if (last_packet_time > 1e-6) {\n+ point_time =\n+ packet_end_time -\n+ packet_interval_time *\n+ ((POINTS_PER_PACKET_SINGLE_ECHO - point_idx) / 8 - 1);\n+ } else {\n+ point_time = current_packet_time;\n+ }\n+\n+ memset(&lidardata, 0, sizeof(lidardata));\n+ // 水平角度\n+ double fAngle_H = msop_ptr[point_idx + 1] + (msop_ptr[point_idx] << 8);\n+ if (fAngle_H > 32767) {\n+ fAngle_H = (fAngle_H - 65536);\n+ }\n+ lidardata.azimuth = fAngle_H * 0.01;\n+ // 垂直角度+通道号\n+ int iTempAngle = msop_ptr[point_idx + 2];\n+ int iChannelNumber = iTempAngle >> 6; // 左移六位 通道号\n+ int iSymmbol = (iTempAngle >> 5) & 0x01; // 左移五位 符号位\n+ double fAngle_V = 0.0;\n+ if (1 == iSymmbol) { // 符号位 0：正数 1：负数\n+ int iAngle_V =\n+ msop_ptr[point_idx + 3] + (msop_ptr[point_idx + 2] << 8);\n+\n+ fAngle_V = iAngle_V | 0xc000;\n+ if (fAngle_V > 32767) {\n+ fAngle_V = (fAngle_V - 65536);\n+ }\n+ } else {\n+ int iAngle_Hight = iTempAngle & 0x3f;\n+ fAngle_V = msop_ptr[point_idx + 3] + (iAngle_Hight << 8);\n+ }\n+\n+ lidardata.vertical_angle = fAngle_V * g_fAngleAcc_V;\n+ lidardata.channel_number = iChannelNumber;\n+ lidardata.distance =\n+ ((msop_ptr[point_idx + 4] << 16) + (msop_ptr[point_idx + 5] << 8) +\n+ msop_ptr[point_idx + 6]);\n+ lidardata.intensity = msop_ptr[point_idx + 7];\n+ lidardata.time = point_time;\n+ lidardata.azimuth = fAngle_H * 0.01;\n+ convertCoordinate(lidardata);\n+ }\n+ }\n+ } else {\n+ double packet_interval_time = (current_packet_time - last_packet_time) /\n+ (POINTS_PER_PACKET_DOUBLE_ECHO / 12.0);\n+ for (size_t point_idx = 0; point_idx < POINTS_PER_PACKET_DOUBLE_ECHO;\n+ point_idx += 12) {\n+ if ((msop_ptr[point_idx] == 0xff) && (msop_ptr[point_idx + 1] == 0xaa) &&\n+ (msop_ptr[point_idx + 2] == 0xbb) &&\n+ (msop_ptr[point_idx + 3] == 0xcc) &&\n+ (msop_ptr[point_idx + 4] == 0xdd)) {\n+ continue;\n+ } else {\n+ // Compute the time of the point\n+ double point_time;\n+ if (last_packet_time > 1e-6) {\n+ point_time =\n+ packet_end_time -\n+ packet_interval_time *\n+ ((POINTS_PER_PACKET_DOUBLE_ECHO - point_idx) / 12 - 1);\n+ } else {\n+ point_time = current_packet_time;\n+ }\n+ memset(&lidardata, 0, sizeof(lidardata));\n+ // 水平角度\n+ double fAngle_H = msop_ptr[point_idx + 1] + (msop_ptr[point_idx] << 8);\n+ if (fAngle_H > 32767) {\n+ fAngle_H = (fAngle_H - 65536);\n+ }\n+ lidardata.azimuth = fAngle_H * 0.01;\n+\n+ // 垂直角度+通道号\n+ int iTempAngle = msop_ptr[point_idx + 2];\n+ int iChannelNumber = iTempAngle >> 6; // 左移六位 通道号\n+ int iSymmbol = (iTempAngle >> 5) & 0x01; // 左移五位 符号位\n+ double fAngle_V = 0.0;\n+ if (1 == iSymmbol) { // 符号位 0：正数 1：负数\n+ int iAngle_V =\n+ msop_ptr[point_idx + 3] + (msop_ptr[point_idx + 2] << 8);\n+\n+ fAngle_V = iAngle_V | 0xc000;\n+ if (fAngle_V > 32767) {\n+ fAngle_V = (fAngle_V - 65536);\n+ }\n+ } else {\n+ int iAngle_Hight = iTempAngle & 0x3f;\n+ fAngle_V = msop_ptr[point_idx + 3] + (iAngle_Hight << 8);\n+ }\n+\n+ lidardata.vertical_angle = fAngle_V * g_fAngleAcc_V;\n+ lidardata.channel_number = iChannelNumber;\n+ lidardata.distance =\n+ ((msop_ptr[point_idx + 4] << 16) + (msop_ptr[point_idx + 5] << 8) +\n+ msop_ptr[point_idx + 6]);\n+ lidardata.intensity = msop_ptr[point_idx + 7];\n+ lidardata.time = point_time;\n+ convertCoordinate(lidardata); // 第一个点\n+\n+ lidardata.distance =\n+ ((msop_ptr[point_idx + 8] << 16) + (msop_ptr[point_idx + 9] << 8) +\n+ msop_ptr[point_idx + 10]);\n+ lidardata.intensity = msop_ptr[point_idx + 11];\n+ lidardata.time = point_time;\n+ convertCoordinate(lidardata); // 第二个点\n+ }\n+ }\n+ last_packet_time = packet_end_time;\n+ }\n+}\n+\n+int LslidarLS128S2Parser::convertCoordinate(\n+ const struct Firing_LS128S2 &lidardata) {\n+ if (lidardata.distance * g_fDistanceAcc > config_.max_range() ||\n+ lidardata.distance * g_fDistanceAcc < config_.min_range()) {\n+ return -1;\n+ }\n+\n+ if ((lidardata.azimuth < config_.scan_start_angle()) ||\n+ (lidardata.azimuth > config_.scan_end_angle())) {\n+ return -1;\n+ }\n+\n+ double fAngle_H = 0.0; // 水平角度\n+ double fAngle_V = 0.0; // 垂直角度\n+ fAngle_H = lidardata.azimuth;\n+ fAngle_V = lidardata.vertical_angle;\n+\n+ // 加畸变\n+ double fSinV_angle = 0;\n+ double fCosV_angle = 0;\n+\n+ // 振镜偏移角度 = 实际垂直角度 / 2 - 偏移值\n+ double fGalvanometrtAngle = 0;\n+ fGalvanometrtAngle = fAngle_V + 7.26;\n+\n+ while (fGalvanometrtAngle < 0.0) {\n+ fGalvanometrtAngle += 360.0;\n+ }\n+ while (fAngle_H < 0.0) {\n+ fAngle_H += 360.0;\n+ }\n+\n+ int table_index_V = static_cast<int>(fGalvanometrtAngle * 100) % 36000;\n+ int table_index_H = static_cast<int>(fAngle_H * 100) % 36000;\n+\n+ double fAngle_R0 =\n+ cos30 * cos_mirror_angle[lidardata.channel_number % 4] *\n+ cos_table[table_index_V] -\n+ sin_table[table_index_V] * sin_mirror_angle[lidardata.channel_number % 4];\n+\n+ fSinV_angle = 2 * fAngle_R0 * sin_table[table_index_V] +\n+ sin_mirror_angle[lidardata.channel_number % 4];\n+ fCosV_angle = sqrt(1 - pow(fSinV_angle, 2));\n+\n+ double fSinCite = (2 * fAngle_R0 * cos_table[table_index_V] * sin30 -\n+ cos_mirror_angle[lidardata.channel_number % 4] * sin60) /\n+ fCosV_angle;\n+ double fCosCite = sqrt(1 - pow(fSinCite, 2));\n+\n+ double fSinCite_H =\n+ sin_table[table_index_H] * fCosCite + cos_table[table_index_H] * fSinCite;\n+ double fCosCite_H =\n+ cos_table[table_index_H] * fCosCite - sin_table[table_index_H] * fSinCite;\n+\n+ double x_coord = 0.0, y_coord = 0.0, z_coord = 0.0;\n+ x_coord = (lidardata.distance * fCosV_angle * fSinCite_H) * g_fDistanceAcc;\n+ y_coord = (lidardata.distance * fCosV_angle * fCosCite_H) * g_fDistanceAcc;\n+ z_coord = (lidardata.distance * fSinV_angle) * g_fDistanceAcc;\n+\n+ if ((y_coord >= config_.bottom_left_x() &&\n+ y_coord <= config_.top_right_x()) &&\n+ (-x_coord >= config_.bottom_left_y() &&\n+ -x_coord <= config_.top_right_y()))\n+ return -1;\n+\n+ PointXYZIT *point1 = cur_pc->add_point();\n+ point1->set_timestamp(lidardata.time);\n+ point1->set_intensity(lidardata.intensity);\n+ point1->set_x(y_coord);\n+ point1->set_y(-x_coord);\n+ point1->set_z(z_coord);\n+\n+ PointXYZIT *point2 = pre_pc->add_point();\n+ point2->set_timestamp(lidardata.time);\n+ point2->set_intensity(lidardata.intensity);\n+ point2->set_x(y_coord);\n+ point2->set_y(-x_coord);\n+ point2->set_z(z_coord);\n+ return 0;\n+}\n+\n+int LslidarLS128S2Parser::convertCoordinate(\n+ const struct Firing_LS128S2 &lidardata,\n+ std::shared_ptr<PointCloud> out_cloud) {\n+ if (lidardata.distance * g_fDistanceAcc > config_.max_range() ||\n+ lidardata.distance * g_fDistanceAcc < config_.min_range()) {\n+ return -1;\n+ }\n+\n+ if ((lidardata.azimuth < config_.scan_start_angle()) ||\n+ (lidardata.azimuth > config_.scan_end_angle())) {\n+ return -1;\n+ }\n+\n+ double fAngle_H = 0.0; // 水平角度\n+ double fAngle_V = 0.0; // 垂直角度\n+ fAngle_H = lidardata.azimuth;\n+ fAngle_V = lidardata.vertical_angle;\n+\n+ // 加畸变\n+ double fSinV_angle = 0;\n+ double fCosV_angle = 0;\n+\n+ // 振镜偏移角度 = 实际垂直角度 / 2 - 偏移值\n+ double fGalvanometrtAngle = 0;\n+ fGalvanometrtAngle = fAngle_V + 7.26;\n+\n+ while (fGalvanometrtAngle < 0.0) {\n+ fGalvanometrtAngle += 360.0;\n+ }\n+ while (fAngle_H < 0.0) {\n+ fAngle_H += 360.0;\n+ }\n+\n+ int table_index_V = static_cast<int>(fGalvanometrtAngle * 100) % 36000;\n+ int table_index_H = static_cast<int>(fAngle_H * 100) % 36000;\n+\n+ double fAngle_R0 =\n+ cos30 * cos_mirror_angle[lidardata.channel_number % 4] *\n+ cos_table[table_index_V] -\n+ sin_table[table_index_V] * sin_mirror_angle[lidardata.channel_number % 4];\n+\n+ fSinV_angle = 2 * fAngle_R0 * sin_table[table_index_V] +\n+ sin_mirror_angle[lidardata.channel_number % 4];\n+ fCosV_angle = sqrt(1 - pow(fSinV_angle, 2));\n+\n+ double fSinCite = (2 * fAngle_R0 * cos_table[table_index_V] * sin30 -\n+ cos_mirror_angle[lidardata.channel_number % 4] * sin60) /\n+ fCosV_angle;\n+ double fCosCite = sqrt(1 - pow(fSinCite, 2));\n+\n+ double fSinCite_H =\n+ sin_table[table_index_H] * fCosCite + cos_table[table_index_H] * fSinCite;\n+ double fCosCite_H =\n+ cos_table[table_index_H] * fCosCite - sin_table[table_index_H] * fSinCite;\n+\n+ double x_coord = 0.0, y_coord = 0.0, z_coord = 0.0;\n+ x_coord = (lidardata.distance * fCosV_angle * fSinCite_H) * g_fDistanceAcc;\n+ y_coord = (lidardata.distance * fCosV_angle * fCosCite_H) * g_fDistanceAcc;\n+ z_coord = (lidardata.distance * fSinV_angle) * g_fDistanceAcc;\n+\n+ if ((y_coord >= config_.bottom_left_x() &&\n+ y_coord <= config_.top_right_x()) &&\n+ (-x_coord >= config_.bottom_left_y() &&\n+ -x_coord <= config_.top_right_y()))\n+ return -1;\n+\n+ PointXYZIT *point1 = cur_pc->add_point();\n+ point1->set_timestamp(lidardata.time);\n+ point1->set_intensity(lidardata.intensity);\n+ point1->set_x(y_coord);\n+ point1->set_y(-x_coord);\n+ point1->set_z(z_coord);\n+\n+ PointXYZIT *point2 = pre_pc->add_point();\n+ point2->set_timestamp(lidardata.time);\n+ point2->set_intensity(lidardata.intensity);\n+ point2->set_x(y_coord);\n+ point2->set_y(-x_coord);\n+ point2->set_z(z_coord);\n+\n+ PointXYZIT *point3 = out_cloud->add_point();\n+ point3->set_timestamp(lidardata.time);\n+ point3->set_intensity(lidardata.intensity);\n+ point3->set_x(y_coord);\n+ point3->set_y(-x_coord);\n+ point3->set_z(z_coord);\n+ return 0;\n+}\n+\n+void LslidarLS128S2Parser::Order(std::shared_ptr<PointCloud> cloud) {}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc\nnew file mode 100644\nindex 00000000000..fdcd57ab7de\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.cc\n@@ -0,0 +1,88 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+static void my_handler(int sig) { exit(-1); }\n+\n+bool LslidarConvertComponent::Init() {\n+ signal(SIGINT, my_handler);\n+ Config lslidar_config;\n+ if (!GetProtoConfig(&lslidar_config)) {\n+ AWARN << \"Load config failed, config file\" << config_file_path_;\n+ return false;\n+ }\n+\n+ conv_.reset(new Convert());\n+ conv_->init(lslidar_config);\n+\n+ writer_ = node_->CreateWriter<apollo::drivers::PointCloud>(\n+ lslidar_config.convert_channel_name());\n+ point_cloud_pool_.reset(\n+ new CCObjectPool<apollo::drivers::PointCloud>(pool_size_));\n+ point_cloud_pool_->ConstructAll();\n+\n+ for (int i = 0; i < pool_size_; i++) {\n+ auto point_cloud = point_cloud_pool_->GetObject();\n+ if (point_cloud == nullptr) {\n+ AERROR << \"fail to getobject, i: \" << i;\n+ return false;\n+ }\n+ point_cloud->mutable_point()->Reserve(200000);\n+ }\n+\n+ AINFO << \"Point cloud comp convert init success\";\n+ return true;\n+}\n+\n+bool LslidarConvertComponent::Proc(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg) {\n+ std::shared_ptr<apollo::drivers::PointCloud> point_cloud_out =\n+ point_cloud_pool_->GetObject();\n+ if (point_cloud_out == nullptr) {\n+ AWARN << \"poin cloud pool return nullptr, will be create new.\";\n+ point_cloud_out = std::make_shared<apollo::drivers::PointCloud>();\n+ point_cloud_out->mutable_point()->Reserve(200000);\n+ }\n+ if (point_cloud_out == nullptr) {\n+ AWARN << \"point cloud out is nullptr\";\n+ return false;\n+ }\n+\n+ uint64_t time1 = apollo::cyber::Time().Now().ToNanosecond();\n+ AINFO << \"receive scan!---------\";\n+ point_cloud_out->Clear();\n+ conv_->ConvertPacketsToPointcloud(scan_msg, point_cloud_out);\n+ uint64_t time2 = apollo::cyber::Time().Now().ToNanosecond();\n+ AINFO << \"process pointcloud time: \" << (time2 - time1) / 1000000000.0;\n+\n+ if (point_cloud_out == nullptr || point_cloud_out->point().empty()) {\n+ AWARN << \"point_cloud_out convert is empty.\";\n+ return false;\n+ }\n+\n+ writer_->Write(point_cloud_out);\n+\n+ return true;\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h\nnew file mode 100644\nindex 00000000000..10d90939948\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_convert_component.h\n@@ -0,0 +1,60 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#pragma once\n+\n+#include <deque>\n+#include <memory>\n+#include <string>\n+\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+#include \"cyber/base/concurrent_object_pool.h\"\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/lidar/lslidar/parser/convert.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::cyber::Component;\n+using apollo::cyber::Reader;\n+using apollo::cyber::Writer;\n+using apollo::cyber::base::CCObjectPool;\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+class LslidarConvertComponent\n+ : public Component<apollo::drivers::lslidar::LslidarScan> {\n+ public:\n+ bool Init() override;\n+ bool Proc(const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>&\n+ scan_msg) override;\n+\n+ private:\n+ std::shared_ptr<Writer<apollo::drivers::PointCloud>> writer_;\n+ std::unique_ptr<Convert> conv_ = nullptr;\n+ std::shared_ptr<CCObjectPool<apollo::drivers::PointCloud>> point_cloud_pool_ =\n+ nullptr;\n+ int pool_size_ = 8;\n+};\n+\n+CYBER_REGISTER_COMPONENT(LslidarConvertComponent)\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc b/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc\nnew file mode 100644\nindex 00000000000..5d45f2119b9\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_parser.cc\n@@ -0,0 +1,306 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+#include \"modules/drivers/lidar/lslidar/parser/lslidar_parser.h\"\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+LslidarParser::LslidarParser(const Config &config)\n+ : last_time_stamp_(0), config_(config) {\n+ for (int i = 0; i < 4; ++i) {\n+ prism_angle64[i] = i * 0.35;\n+ }\n+ for (int j = 0; j < 128; ++j) {\n+ // 右边\n+ if (j / 4 % 2 == 0) {\n+ theat1_s[j] = sin((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+ theat1_c[j] = cos((-25 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+ } else { // 左边\n+ theat1_s[j] = sin((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_s[j] = sin(prism_angle64[j % 4] * M_PI / 180);\n+ theat1_c[j] = cos((-24 + floor(j / 8) * 2.5) * M_PI / 180);\n+ theat2_c[j] = cos(prism_angle64[j % 4] * M_PI / 180);\n+ }\n+ }\n+}\n+\n+bool LslidarParser::is_scan_valid(int rotation, float range) {\n+ // check range first\n+ if (range < config_.min_range() || range > config_.max_range())\n+ return false;\n+ else\n+ return true;\n+}\n+\n+/** Set up for on-line operation. */\n+void LslidarParser::setup() {\n+ if (config_.calibration()) {\n+ calibration_.read(config_.calibration_file());\n+\n+ if (!calibration_.initialized_) {\n+ AFATAL << \"Unable to open calibration file: \"\n+ << config_.calibration_file();\n+ }\n+ }\n+ for (uint16_t rot_index = 0; rot_index < ROTATION_MAX_UNITS; ++rot_index) {\n+ float rotation_f =\n+ ROTATION_RESOLUTION * static_cast<float>(rot_index * M_PI) / 180.0f;\n+ cos_azimuth_table[rot_index] = cosf(rotation_f);\n+ sin_azimuth_table[rot_index] = sinf(rotation_f);\n+ }\n+}\n+\n+void LslidarParser::ComputeCoords(const float &raw_distance,\n+ LaserCorrection *corrections,\n+ const uint16_t rotation, PointXYZIT *point) {\n+ double x = 0.0;\n+ double y = 0.0;\n+ double z = 0.0;\n+ double distance_corr_x = 0;\n+ double distance_corr_y = 0;\n+\n+ corrections->cos_rot_correction = cosf(corrections->rot_correction);\n+ corrections->sin_rot_correction = sinf(corrections->rot_correction);\n+ corrections->cos_vert_correction = cosf(corrections->vert_correction);\n+ corrections->sin_vert_correction = sinf(corrections->vert_correction);\n+\n+ double distance = raw_distance + corrections->dist_correction;\n+\n+ double cos_rot_angle =\n+ cos_azimuth_table[rotation] * corrections->cos_rot_correction +\n+ sin_azimuth_table[rotation] * corrections->sin_rot_correction;\n+ double sin_rot_angle =\n+ sin_azimuth_table[rotation] * corrections->cos_rot_correction -\n+ cos_azimuth_table[rotation] * corrections->sin_rot_correction;\n+\n+ // Compute the distance in the xy plane (w/o accounting for rotation)\n+ double xy_distance = distance * corrections->cos_vert_correction;\n+\n+ // Get 2points calibration values,Linear interpolation to get distance\n+ // correction for X and Y, that means distance correction use\n+ // different value at different distance\n+ distance_corr_x = distance_corr_y = corrections->dist_correction;\n+\n+ double distance_x = raw_distance + distance_corr_x;\n+ xy_distance = distance_x * corrections->cos_vert_correction;\n+\n+ x = xy_distance * sin_rot_angle -\n+ corrections->horiz_offset_correction * cos_rot_angle;\n+\n+ double distance_y = raw_distance + distance_corr_y;\n+ xy_distance = distance_y * corrections->cos_vert_correction;\n+\n+ y = xy_distance * cos_rot_angle +\n+ corrections->horiz_offset_correction * sin_rot_angle;\n+ z = distance * corrections->sin_vert_correction +\n+ corrections->vert_offset_correction;\n+\n+ /** Use standard ROS coordinate system (right-hand rule) */\n+ point->set_x(static_cast<float>(-y));\n+ point->set_y(static_cast<float>(-x));\n+ point->set_z(static_cast<float>(z));\n+}\n+\n+void LslidarParser::ComputeCoords2(int Laser_ring, int Type,\n+ const float &raw_distance,\n+ LaserCorrection* corrections,\n+ const double rotation, PointXYZIT *point) {\n+ double x = 0.0;\n+ double y = 0.0;\n+ double z = 0.0;\n+ double distance_corr_x = 0;\n+ double distance_corr_y = 0;\n+ double sinTheta_1[128] = {0};\n+ double cosTheta_1[128] = {0};\n+ double sinTheta_2[128] = {0};\n+ double cosTheta_2[128] = {0};\n+ double cos_xita;\n+ // 垂直角度\n+ double sin_theat;\n+ double cos_theat;\n+ double _R_;\n+ // 水平角度\n+ double cos_H_xita;\n+ double sin_H_xita;\n+ double cos_xita_F;\n+\n+ for (int i = 0; i < 128; i++) {\n+ sinTheta_1[i] = sin(big_angle[i / 4] * M_PI / 180);\n+ cosTheta_1[i] = cos(big_angle[i / 4] * M_PI / 180);\n+\n+ if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&\n+ abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {\n+ sinTheta_2[i] = sin((i % 4) * (-0.17) * M_PI / 180);\n+ cosTheta_2[i] = cos((i % 4) * (-0.17) * M_PI / 180);\n+ } else {\n+ sinTheta_2[i] = sin(prism_angle[i % 4] * M_PI / 180);\n+ cosTheta_2[i] = cos(prism_angle[i % 4] * M_PI / 180);\n+ }\n+ }\n+\n+ corrections->cos_rot_correction = cosf(corrections->rot_correction);\n+ corrections->sin_rot_correction = sinf(corrections->rot_correction);\n+\n+ double cos_azimuth_half = cos(rotation * 0.5);\n+\n+ if (Type == CH16) {\n+ if (abs(prism_angle[0]) < 1e-6 && abs(prism_angle[1]) < 1e-6 &&\n+ abs(prism_angle[2]) < 1e-6 && abs(prism_angle[3]) < 1e-6) {\n+ corrections->sin_vert_correction =\n+ sin_scan_laser_altitude[Laser_ring / 4 + 2] +\n+ 2 * cos_azimuth_half * sin_scan_mirror_altitude[Laser_ring % 4];\n+ } else {\n+ corrections->sin_vert_correction =\n+ sin_scan_laser_altitude[Laser_ring / 4 + 2] +\n+ 2 * cos_azimuth_half * sin(prism_angle[Laser_ring % 4] * M_PI / 180);\n+ }\n+ } else if (Type == CH32) {\n+ corrections->sin_vert_correction =\n+ sin_scan_laser_altitude[Laser_ring / 4] +\n+ 2 * cos_azimuth_half * sin_scan_mirror_altitude[Laser_ring % 4];\n+ } else if (Type == CH64) {\n+ if (Laser_ring % 8 == 0 || Laser_ring % 8 == 1 || Laser_ring % 8 == 2 ||\n+ Laser_ring % 8 == 3) {\n+ corrections->sin_vert_correction =\n+ sin(-13.33 * DEG_TO_RAD + floor(Laser_ring / 4) * 1.33 * DEG_TO_RAD) +\n+ 2 * cos(rotation / 2 + 1.05 * DEG_TO_RAD) *\n+ sin((Laser_ring % 4) * 0.33 * DEG_TO_RAD);\n+ } else if (Laser_ring % 8 == 4 || Laser_ring % 8 == 5 ||\n+ Laser_ring % 8 == 6 || Laser_ring % 8 == 7) {\n+ corrections->sin_vert_correction =\n+ sin(-13.33 * DEG_TO_RAD + floor(Laser_ring / 4) * 1.33 * DEG_TO_RAD) +\n+ 2 * cos(rotation / 2 - 1.05 * DEG_TO_RAD) *\n+ sin((Laser_ring % 4) * 0.33 * DEG_TO_RAD);\n+ }\n+ } else if (Type == CH64w) {\n+ if (Laser_ring / 4 % 2 == 0) {\n+ cos_xita = cos((rotation / 2.0 + 22.5) * M_PI / 180);\n+ } else {\n+ cos_xita = cos((-rotation / 2.0 + 112.5) * M_PI / 180);\n+ }\n+ _R_ = theat2_c[Laser_ring] * theat1_c[Laser_ring] * cos_xita -\n+ theat2_s[Laser_ring] * theat1_s[Laser_ring];\n+ sin_theat = theat1_s[Laser_ring] + 2 * _R_ * theat2_s[Laser_ring];\n+ cos_theat = sqrt(1 - pow(sin_theat, 2));\n+ cos_H_xita =\n+ (2 * _R_ * theat2_c[Laser_ring] * cos_xita - theat1_c[Laser_ring]) /\n+ cos_theat;\n+ sin_H_xita = sqrt(1 - pow(cos_H_xita, 2));\n+\n+ if (Laser_ring / 4 % 2 == 0) {\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * sqrt(0.5);\n+ corrections->sin_vert_correction = sqrt(1 - pow(cos_xita_F, 2));\n+ } else {\n+ cos_xita_F = (cos_H_xita + sin_H_xita) * (-sqrt(0.5));\n+ corrections->sin_vert_correction = sqrt(1 - pow(cos_xita_F, 2));\n+ }\n+ } else if (Type == CH120) {\n+ corrections->sin_vert_correction = sinf(corrections->vert_correction);\n+ } else if (Type == CH128) {\n+ if (Laser_ring / 4 % 2 == 0) {\n+ cos_azimuth_half = sin((rotation - 15 * DEG_TO_RAD) * 0.5);\n+ } else {\n+ cos_azimuth_half = cos((rotation + 15 * DEG_TO_RAD) * 0.5);\n+ }\n+ corrections->sin_vert_correction =\n+ sin_scan_laser_altitude_ch128[Laser_ring / 4] +\n+ 2 * cos_azimuth_half * sinTheta_2[Laser_ring];\n+ } else if (Type == CH128X1) {\n+ double _R_ =\n+ cosTheta_2[Laser_ring] * cosTheta_1[Laser_ring] * cos_azimuth_half -\n+ sinTheta_2[Laser_ring] * sinTheta_1[Laser_ring];\n+ corrections->sin_vert_correction =\n+ sinTheta_1[Laser_ring] + 2 * _R_ * sinTheta_2[Laser_ring];\n+ }\n+ corrections->cos_vert_correction =\n+ sqrt(1 - pow(corrections->sin_vert_correction, 2));\n+\n+ double distance = raw_distance + corrections->dist_correction;\n+\n+ double cos_rot_angle = cos(rotation) * corrections->cos_rot_correction +\n+ sin(rotation) * corrections->sin_rot_correction;\n+ double sin_rot_angle = sin(rotation) * corrections->cos_rot_correction -\n+ cos(rotation) * corrections->sin_rot_correction;\n+\n+ // Compute the distance in the xy plane (w/o accounting for rotation)\n+ double xy_distance = distance * corrections->cos_vert_correction;\n+\n+ // Get 2points calibration values,Linear interpolation to get distance\n+ // correction for X and Y, that means distance correction use\n+ // different value at different distance\n+ distance_corr_x = distance_corr_y = corrections->dist_correction;\n+\n+ double distance_x = raw_distance + distance_corr_x;\n+ xy_distance = distance_x * corrections->cos_vert_correction;\n+\n+ x = xy_distance * sin_rot_angle -\n+ corrections->horiz_offset_correction * cos_rot_angle;\n+\n+ double distance_y = raw_distance + distance_corr_y;\n+ xy_distance = distance_y * corrections->cos_vert_correction;\n+\n+ y = xy_distance * cos_rot_angle +\n+ corrections->horiz_offset_correction * sin_rot_angle;\n+ z = distance * corrections->sin_vert_correction +\n+ corrections->vert_offset_correction;\n+\n+ /** Use standard ROS coordinate system (right-hand rule) */\n+ point->set_x(static_cast<float>(-y));\n+ point->set_y(static_cast<float>(-x));\n+ point->set_z(static_cast<float>(z));\n+}\n+\n+LslidarParser *LslidarParserFactory::CreateParser(Config source_config) {\n+ Config config = source_config;\n+\n+ if (config.model() == LSLIDAR16P) {\n+ return new Lslidar16Parser(config);\n+ } else if (config.model() == LSLIDAR32P) {\n+ return new Lslidar32Parser(config);\n+ } else if (config.model() == LSLIDAR_C32_V4 ||\n+ config.model() == LSLIDAR_C16_V4 ||\n+ config.model() == LSLIDAR_C8_V4 ||\n+ config.model() == LSLIDAR_C1_V4) {\n+ return new LslidarCXV4Parser(config);\n+ } else if (config.model() == LSLIDAR_CH16) {\n+ return new LslidarCH16Parser(config);\n+ } else if (config.model() == LSLIDAR_CH32) {\n+ return new LslidarCH32Parser(config);\n+ } else if (config.model() == LSLIDAR_CH64) {\n+ return new LslidarCH64Parser(config);\n+ } else if (config.model() == LSLIDAR_CH64w) {\n+ return new LslidarCH64wParser(config);\n+ } else if (config.model() == LSLIDAR_CH120) {\n+ return new LslidarCH120Parser(config);\n+ } else if (config.model() == LSLIDAR_CH128) {\n+ return new LslidarCH128Parser(config);\n+ } else if (config.model() == LSLIDAR_CH128X1) {\n+ return new LslidarCH128X1Parser(config);\n+ } else if (config.model() == LSLIDAR_LS128S2) {\n+ return new LslidarLS128S2Parser(config);\n+ } else {\n+ AERROR << \"invalid model\";\n+ return nullptr;\n+ }\n+}\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/parser/lslidar_parser.h b/modules/drivers/lidar/lslidar/parser/lslidar_parser.h\nnew file mode 100644\nindex 00000000000..50e5c90200d\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/parser/lslidar_parser.h\n@@ -0,0 +1,866 @@\n+/******************************************************************************\n+ * Copyright 2017 The Apollo Authors. All Rights Reserved.\n+ *\n+ * Licensed under the Apache License, Version 2.0 (the \"License\");\n+ * you may not use this file except in compliance with the License.\n+ * You may obtain a copy of the License at\n+ *\n+ * http://www.apache.org/licenses/LICENSE-2.0\n+ *\n+ * Unless required by applicable law or agreed to in writing, software\n+ * distributed under the License is distributed on an \"AS IS\" BASIS,\n+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.\n+ * See the License for the specific language governing permissions and\n+ * limitations under the License.\n+ *****************************************************************************/\n+\n+/* -*- mode: C++ -*-\n+ *\n+ * Copyright (C) 2007 Austin Robot Technology, Yaxin Liu, Patrick Beeson\n+ * Copyright (C) 2009 Austin Robot Technology, Jack O'Quin\n+ *\n+ * License: Modified BSD Software License Agreement\n+ *\n+ * $Id$\n+ */\n+\n+/** \\file\n+ * \\ingroup lslidar\n+ *\n+ * These classes Unpack raw Lslidar LIDAR packets into several\n+ * useful formats.\n+ *\n+ * lslidar::Data -- virtual base class for unpacking data into\n+ * various formats\n+ *\n+ * lslidar::DataScans -- derived class, unpacks into vector of\n+ * individual laser scans\n+ *\n+ * lslidar::DataXYZ -- derived class, unpacks into XYZ format\n+ *\n+ * \\todo make a separate header for each class?\n+ *\n+ * \\author Yaxin Liu\n+ * \\author Patrick Beeson\n+ * \\author Jack O'Quin\n+ */\n+\n+#pragma once\n+\n+#include <cerrno>\n+#include <cmath>\n+#include <cstdint>\n+#include <limits>\n+#include <memory>\n+#include <string>\n+#include <thread>\n+\n+#include \"modules/common_msgs/sensor_msgs/pointcloud.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/config.pb.h\"\n+#include \"modules/drivers/lidar/lslidar/proto/lslidar.pb.h\"\n+\n+#include \"cyber/cyber.h\"\n+#include \"modules/drivers/lidar/lslidar/parser/calibration.h\"\n+\n+#define DEG_TO_RAD 0.017453292\n+#define RAD_TO_DEG 57.29577951\n+\n+#define CH16 1\n+#define CH32 2\n+#define CH64 3\n+#define CH64w 4\n+#define CH120 5\n+#define CH128 6\n+#define CH128X1 7\n+\n+namespace apollo {\n+namespace drivers {\n+namespace lslidar {\n+\n+using apollo::drivers::PointCloud;\n+using apollo::drivers::PointXYZIT;\n+using apollo::drivers::lslidar::LSLIDAR16P;\n+using apollo::drivers::lslidar::LslidarPacket;\n+using apollo::drivers::lslidar::LslidarScan;\n+\n+/**\n+ * Raw Lslidar packet constants and structures.\n+ */\n+#define DEG2RAD(x) ((x)*0.017453293)\n+static const int SIZE_BLOCK = 100;\n+static const int RAW_SCAN_SIZE = 3;\n+static const int SCANS_PER_BLOCK = 32;\n+static const int BLOCK_DATA_SIZE = (SCANS_PER_BLOCK * RAW_SCAN_SIZE);\n+\n+static const float ROTATION_RESOLUTION = 0.01f; /**< degrees */\n+static const uint16_t ROTATION_MAX_UNITS = 36000;\n+\n+static const unsigned int POINTS_ONE_CHANNEL_PER_SECOND = 20000;\n+static const unsigned int BLOCKS_ONE_CHANNEL_PER_PKT = 12;\n+\n+/** According to Bruce Hall DISTANCE_MAX is 65.0, but we noticed\n+ * valid packets with readings up to 200.0. */\n+static const float DISTANCE_MAX = 200.0f; /**< meters */\n+static const float DISTANCE_MIN = 0.2f;\n+static const float DISTANCE_RESOLUTION = 0.01f; /**< meters */\n+static const double DISTANCE_RESOLUTION2 = 0.0000390625;\n+static const float DISTANCE_RESOLUTION_NEW = 0.005f;\n+static const float DISTANCE_MAX_UNITS =\n+ (DISTANCE_MAX / DISTANCE_RESOLUTION + 1.0f);\n+\n+// laser_block_id\n+static const uint16_t UPPER_BANK = 0xeeff;\n+static const uint16_t LOWER_BANK = 0xddff;\n+\n+/** Special Defines for VLP16 support **/\n+static const int LSC16_FIRINGS_PER_BLOCK = 2;\n+static const int LSC16_SCANS_PER_FIRING = 16;\n+static const float LSC16_BLOCK_TDURATION = 100.0f; // [µs]\n+static const float LSC16_DSR_TOFFSET = 3.125f; // [µs]\n+static const float LSC16_FIRING_TOFFSET = 50.0f; // [µs]\n+\n+static const int LSC32_FIRINGS_PER_BLOCK = 1;\n+static const int LSC32_SCANS_PER_FIRING = 32;\n+static const float LSC32_FIRING_TOFFSET = 100.0f; // [µs]\n+static const float LSC32_AZIMUTH_TOFFSET = 12.98f; /**< meters */\n+static const float LSC32_DISTANCE_TOFFSET = 4.94f; /**< meters */\n+\n+static const int SCANS_PER_FIRING_C32 = 32;\n+static const int FIRING_TOFFSET_C32 = 32;\n+static const double R32_1_ = 0.0361;\n+static const double CX4_R1_ = 0.0361; //\n+static const double CX4_C32W = 0.03416; // 新C32W byte[1211] = 0x47\n+static const double CX4_R1_90 = 0.0209; // 90度\n+static const double CX4_conversionAngle_ = 20.25;\n+static const double CX4_conversionAngle_90 = 27.76; // 90度\n+\n+/** \\brief Raw Lslidar data block.\n+ *\n+ * Each block contains data from either the upper or lower laser\n+ * bank. The device returns three times as many upper bank blocks.\n+ *\n+ * use cstdint types, so things work with both 64 and 32-bit machines\n+ */\n+typedef struct raw_block {\n+ uint16_t header; ///< UPPER_BANK or LOWER_BANK\n+ uint8_t rotation_1;\n+ uint8_t rotation_2; /// combine rotation1 and rotation2 together to get\n+ /// 0-35999, divide by 100 to get degrees\n+ uint8_t data[BLOCK_DATA_SIZE]; // 96\n+} raw_block_t;\n+\n+/** used for unpacking the first two data bytes in a block\n+ *\n+ * They are packed into the actual data stream misaligned. I doubt\n+ * this works on big endian machines.\n+ */\n+union two_bytes {\n+ int16_t uint;\n+ int8_t bytes[2];\n+};\n+\n+union four_bytes {\n+ uint32_t uint;\n+ uint8_t bytes[4];\n+};\n+static const int PACKET_SIZE = 1212;\n+static const int POINTS_PER_PACKET = 171;\n+static const int LS_POINTS_PER_PACKET = 149; // LS128S2 149 points\n+static const int BLOCKS_PER_PACKET = 12;\n+static const int PACKET_STATUS_SIZE = 4;\n+static const int SCANS_PER_PACKET = (SCANS_PER_BLOCK * BLOCKS_PER_PACKET);\n+\n+const int ORDER_16[16] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};\n+const int ORDER_32[32] = {0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10,\n+ 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21,\n+ 22, 23, 24, 25, 26, 27, 28, 29, 30, 31};\n+// 1,v2.6\n+static const double scan_altitude_original_A[32] = {\n+ -16, -15, -14, -13, -12, -11, -10, -9, -8, -7, -6, -5, -4, -3, -2, -1,\n+ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15};\n+\n+// 1,v3.0\n+static const double scan_altitude_original_A3[32] = {\n+ -16, 0, -15, 1, -14, 2, -13, 3, -12, 4, -11, 5, -10, 6, -9, 7,\n+ -8, 8, -7, 9, -6, 10, -5, 11, -4, 12, -3, 13, -2, 14, -1, 15};\n+\n+// 0.33,v2.6\n+static const double scan_altitude_original_C[32] = {\n+ -18, -15, -12, -10, -8, -7, -6, -5, -4, -3.33, -2.66,\n+ -3, -2.33, -2, -1.33, -1.66, -1, -0.66, 0, -0.33, 0.33, 0.66,\n+ 1.33, 1, 1.66, 2, 3, 4, 6, 8, 11, 14};\n+\n+// 0.33,v3.0\n+static const double scan_altitude_original_C3[32] = {\n+ -18, -1, -15, -0.66, -12, -0.33, -10, 0, -8, 0.33, -7,\n+ 0.66, -6, 1, -5, 1.33, -4, 1.66, -3.33, 2, -3, 3,\n+ -2.66, 4, -2.33, 6, -2, 8, -1.66, 11, -1.33, 14};\n+\n+// CX 4.0\n+// Pre-compute the sine and cosine for the altitude angles.\n+// c32 32度\n+static const double c32_32_vertical_angle[32] = {\n+ -16, -8, 0, 8, -15, -7, 1, 9, -14, -6, 2, 10, -13, -5, 3, 11,\n+ -12, -4, 4, 12, -11, -3, 5, 13, -10, -2, 6, 14, -9, -1, 7, 15};\n+// c32 70度 0x46\n+static const double c32_70_vertical_angle[32] = {\n+ -54, -31, -8, 2.66, -51.5, -28, -6.66, 4, -49, -25, -5.33,\n+ 5.5, -46, -22, -4, 7, -43, -18.5, -2.66, 9, -40, -15,\n+ -1.33, 11, -37, -12, 0, 13, -34, -10, 1.33, 15};\n+\n+// c32 70度 0x47\n+static const double c32_70_vertical_angle2[32] = {\n+ -54.7, -31, -9, 3, -51.5, -28, -7.5, 4.5, -49, -25, -6.0,\n+ 6.0, -46, -22, -4.5, 7.5, -43, -18.5, -3.0, 9, -40, -15,\n+ -1.5, 11, -37, -12, 0, 13, -34, -10.5, 1.5, 15};\n+\n+// c32 90度\n+static const double c32_90_vertical_angle[32] = {\n+ 2.487, 25.174, 47.201, 68.819, 5.596, 27.811, 49.999, 71.525,\n+ 8.591, 30.429, 52.798, 74.274, 11.494, 33.191, 55.596, 77.074,\n+ 14.324, 36.008, 58.26, 79.938, 17.096, 38.808, 60.87, 82.884,\n+ 19.824, 41.603, 63.498, 85.933, 22.513, 44.404, 66.144, 89.105};\n+\n+static const double c16_vertical_angle[16] = {\n+ -16, 0, -14, 2, -12, 4, -10, 6, -8, 8, -6, 10, -4, 12, -2, 14};\n+\n+static const double c8_vertical_angle[8] = {-12, 4, -8, 8, -4, 10, 0, 12};\n+static const double c1_vertical_angle[8] = {0, 0, 0, 0, 0, 0, 0, 0};\n+\n+static const double scan_altitude_original_2[16] = {\n+ -0.2617993877991494, 0.017453292519943295, -0.22689280275926285,\n+ 0.05235987755982989, -0.19198621771937624, 0.08726646259971647,\n+ -0.15707963267948966, 0.12217304763960307, -0.12217304763960307,\n+ 0.15707963267948966, -0.08726646259971647, 0.19198621771937624,\n+ -0.05235987755982989, 0.22689280275926285, -0.017453292519943295,\n+ 0.2617993877991494};\n+static const double scan_altitude_original_1[16] = {\n+ -0.17453292519943295, 0.01160643952576229, -0.15123277968530863,\n+ 0.03490658503988659, -0.12793263417118436, 0.05811946409141117,\n+ -0.10471975511965978, 0.08141960960553547, -0.08141960960553547,\n+ 0.10471975511965978, -0.05811946409141117, 0.12793263417118436,\n+ -0.03490658503988659, 0.15123277968530863, -0.01160643952576229,\n+ 0.17453292519943295};\n+\n+static const double scan_laser_altitude[8] = {\n+ -0.11641346110802178, -0.09302604913129776, -0.06981317007977318,\n+ -0.04642575810304917, -0.023212879051524585, -0.0,\n+ 0.023212879051524585, 0.04642575810304917,\n+};\n+\n+static const double scan_laser_altitude_ch32[8] = {\n+ -0.24434609527920614, -0.19198621771937624, -0.13962634015954636,\n+ -0.08726646259971647, -0.03490658503988659, -0.0,\n+ 0.03490658503988659, 0.08726646259971647,\n+};\n+\n+static const double big_angle[32] = {\n+ -17, -16, -15, -14, -13, -12, -11, -10, -9, -8, -7,\n+ -6, -5, -4.125, -4, -3.125, -3, -2.125, -2, -1.125, -1, -0.125,\n+ 0, 0.875, 1, 1.875, 2, 3, 4, 5, 6, 7};\n+\n+static const double sin_scan_laser_altitude[8] = {\n+ std::sin(scan_laser_altitude[0]), std::sin(scan_laser_altitude[1]),\n+ std::sin(scan_laser_altitude[2]), std::sin(scan_laser_altitude[3]),\n+ std::sin(scan_laser_altitude[4]), std::sin(scan_laser_altitude[5]),\n+ std::sin(scan_laser_altitude[6]), std::sin(scan_laser_altitude[7]),\n+};\n+\n+static const double sin_scan_laser_altitude_ch32[8] = {\n+ std::sin(scan_laser_altitude_ch32[0]),\n+ std::sin(scan_laser_altitude_ch32[1]),\n+ std::sin(scan_laser_altitude_ch32[2]),\n+ std::sin(scan_laser_altitude_ch32[3]),\n+ std::sin(scan_laser_altitude_ch32[4]),\n+ std::sin(scan_laser_altitude_ch32[5]),\n+ std::sin(scan_laser_altitude_ch32[6]),\n+ std::sin(scan_laser_altitude_ch32[7]),\n+};\n+\n+// Pre-compute the sine and cosine for the altitude angles.\n+static const double scan_laser_altitude_ch128[32] = {\n+ -0.29670597283903605, -0.2792526803190927, -0.2617993877991494,\n+ -0.24434609527920614, -0.22689280275926285, -0.20943951023931956,\n+ -0.19198621771937624, -0.17453292519943295, -0.15707963267948966,\n+ -0.13962634015954636, -0.12217304763960307, -0.10471975511965978,\n+ -0.08726646259971647, -0.06981317007977318, -0.05235987755982989,\n+ -0.03490658503988659, -0.017453292519943295, 0.0,\n+ 0.017453292519943295, 0.03490658503988659, 0.05235987755982989,\n+ 0.06981317007977318, 0.08726646259971647, 0.10471975511965978,\n+ 0.12217304763960307, 0.13962634015954636, 0.15707963267948966,\n+ 0.17453292519943295, 0.19198621771937624, 0.20943951023931956,\n+ 0.22689280275926285, 0.24434609527920614,\n+};\n+\n+static const double sin_scan_laser_altitude_ch128[32] = {\n+ std::sin(scan_laser_altitude_ch128[0]),\n+ std::sin(scan_laser_altitude_ch128[1]),\n+ std::sin(scan_laser_altitude_ch128[2]),\n+ std::sin(scan_laser_altitude_ch128[3]),\n+ std::sin(scan_laser_altitude_ch128[4]),\n+ std::sin(scan_laser_altitude_ch128[5]),\n+ std::sin(scan_laser_altitude_ch128[6]),\n+ std::sin(scan_laser_altitude_ch128[7]),\n+ std::sin(scan_laser_altitude_ch128[8]),\n+ std::sin(scan_laser_altitude_ch128[9]),\n+ std::sin(scan_laser_altitude_ch128[10]),\n+ std::sin(scan_laser_altitude_ch128[11]),\n+ std::sin(scan_laser_altitude_ch128[12]),\n+ std::sin(scan_laser_altitude_ch128[13]),\n+ std::sin(scan_laser_altitude_ch128[14]),\n+ std::sin(scan_laser_altitude_ch128[15]),\n+ std::sin(scan_laser_altitude_ch128[16]),\n+ std::sin(scan_laser_altitude_ch128[17]),\n+ std::sin(scan_laser_altitude_ch128[18]),\n+ std::sin(scan_laser_altitude_ch128[19]),\n+ std::sin(scan_laser_altitude_ch128[20]),\n+ std::sin(scan_laser_altitude_ch128[21]),\n+ std::sin(scan_laser_altitude_ch128[22]),\n+ std::sin(scan_laser_altitude_ch128[23]),\n+ std::sin(scan_laser_altitude_ch128[24]),\n+ std::sin(scan_laser_altitude_ch128[25]),\n+ std::sin(scan_laser_altitude_ch128[26]),\n+ std::sin(scan_laser_altitude_ch128[27]),\n+ std::sin(scan_laser_altitude_ch128[28]),\n+ std::sin(scan_laser_altitude_ch128[29]),\n+ std::sin(scan_laser_altitude_ch128[30]),\n+ std::sin(scan_laser_altitude_ch128[31]),\n+};\n+\n+static const double scan_mirror_altitude[4] = {\n+ -0.0,\n+ 0.005759586531581287,\n+ 0.011693705988362009,\n+ 0.017453292519943295,\n+};\n+\n+static const double sin_scan_mirror_altitude[4] = {\n+ std::sin(scan_mirror_altitude[0]),\n+ std::sin(scan_mirror_altitude[1]),\n+ std::sin(scan_mirror_altitude[2]),\n+ std::sin(scan_mirror_altitude[3]),\n+};\n+\n+static const double scan_mirror_altitude_ch128[4] = {\n+ 0.0,\n+ 0.004363323129985824,\n+ 0.008726646259971648,\n+ 0.013089969389957472,\n+};\n+\n+static const double sin_scan_mirror_altitude_ch128[4] = {\n+ std::sin(scan_mirror_altitude_ch128[0]),\n+ std::sin(scan_mirror_altitude_ch128[1]),\n+ std::sin(scan_mirror_altitude_ch128[2]),\n+ std::sin(scan_mirror_altitude_ch128[3]),\n+};\n+\n+static const int POINTS_PER_PACKET_SINGLE_ECHO = 1192; // modify\n+static const int POINTS_PER_PACKET_DOUBLE_ECHO = 1188; // modify\n+\n+/** \\brief Raw Lslidar packet.\n+ *\n+ * revolution is described in the device manual as incrementing\n+ * (mod 65536) for each physical turn of the device. Our device\n+ * seems to alternate between two different values every third\n+ * packet. One value increases, the other decreases.\n+ *\n+ * status has either a temperature encoding or the microcode level\n+ */\n+typedef struct FiringC32 {\n+ uint16_t firing_azimuth[BLOCKS_PER_PACKET];\n+ uint16_t azimuth[SCANS_PER_PACKET];\n+ double distance[SCANS_PER_PACKET];\n+ double intensity[SCANS_PER_PACKET];\n+} FiringC32;\n+\n+union TwoBytes {\n+ uint16_t distance;\n+ uint8_t bytes[2];\n+};\n+\n+struct RawBlock {\n+ uint16_t header;\n+ uint16_t rotation; // 0-35999\n+ uint8_t data[BLOCK_DATA_SIZE];\n+};\n+\n+struct RawPacket_C32 {\n+ RawBlock blocks[BLOCKS_PER_PACKET];\n+ uint32_t time_stamp;\n+ uint8_t factory[2];\n+};\n+\n+typedef struct raw_packet {\n+ raw_block_t blocks[BLOCKS_PER_PACKET];\n+ uint8_t gps_timestamp[10]; // gps时间 1200-1209\n+ uint8_t status_type;\n+ uint8_t status_value;\n+} raw_packet_t;\n+\n+union vertical_point {\n+ uint8_t uint[2];\n+ uint16_t value;\n+};\n+\n+struct Point {\n+ uint8_t vertical_line; // 0-127\n+ uint8_t azimuth_1;\n+ uint8_t azimuth_2;\n+ uint8_t distance_1;\n+ uint8_t distance_2;\n+ uint8_t distance_3;\n+ uint8_t intensity;\n+};\n+\n+struct RawPacket {\n+ Point points[POINTS_PER_PACKET];\n+ uint8_t nodata[3];\n+ uint32_t time_stamp;\n+ uint8_t factory[2];\n+};\n+\n+struct Firing {\n+ // double vertical_angle;\n+ int vertical_line;\n+ double azimuth;\n+ double distance;\n+ int intensity;\n+};\n+\n+struct Firing_LS128S2 {\n+ double vertical_angle;\n+ // int vertical_line;\n+ double azimuth;\n+ double distance;\n+ float intensity;\n+ double time;\n+ int channel_number;\n+};\n+\n+struct Point_LS128S2 {\n+ uint8_t vertical_line; // 0-127\n+ uint8_t azimuth_1;\n+ uint8_t azimuth_2;\n+ uint8_t distance_1;\n+ uint8_t distance_2;\n+ uint8_t distance_3;\n+ uint8_t intensity;\n+};\n+\n+struct RawPacket_LS128S2 {\n+ Point points[POINTS_PER_PACKET];\n+ uint8_t nodata[3];\n+ uint32_t time_stamp;\n+ uint8_t factory[2];\n+};\n+\n+static const float nan = std::numeric_limits<float>::signaling_NaN();\n+\n+/** \\brief Lslidar data conversion class */\n+class LslidarParser {\n+ public:\n+ LslidarParser() {}\n+ explicit LslidarParser(const Config& config);\n+ virtual ~LslidarParser() {}\n+\n+ /** \\brief Set up for data processing.\n+ * Perform initializations needed before data processing can\n+ * begin:\n+ * - read device-specific angles calibration\n+ *\n+ * @param private_nh private node handle for ROS parameters\n+ * @returns 0 if successful;\n+ * errno value for failure\n+ */\n+ virtual void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg) = 0;\n+ virtual void setup();\n+\n+ // Order point cloud fod IDL by lslidar model\n+ virtual void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud) = 0;\n+\n+ const double get_last_timestamp() { return last_time_stamp_; }\n+\n+ protected:\n+ double scan_altitude[16];\n+ float sin_azimuth_table[ROTATION_MAX_UNITS];\n+ float cos_azimuth_table[ROTATION_MAX_UNITS];\n+ double cos_scan_altitude_caliration[LSC32_SCANS_PER_FIRING];\n+ double sin_scan_altitude_caliration[LSC32_SCANS_PER_FIRING];\n+ double last_time_stamp_;\n+ double theat1_s[128];\n+ double theat2_s[128];\n+ double theat1_c[128];\n+ double theat2_c[128];\n+ double prism_angle[4];\n+ double prism_angle64[4];\n+ Config config_;\n+ Calibration calibration_;\n+ bool need_two_pt_correction_;\n+ bool config_vert_angle;\n+ uint64_t current_packet_time = 0;\n+ uint64_t previous_packet_time = 0;\n+\n+ bool is_scan_valid(int rotation, float distance);\n+\n+ void ComputeCoords(const float& raw_distance,\n+ LaserCorrection* corrections,\n+ const uint16_t rotation, PointXYZIT* point);\n+\n+ void ComputeCoords2(int Laser_ring, int Type, const float& raw_distance,\n+ LaserCorrection* corrections, const double rotation,\n+ PointXYZIT* point);\n+}; // class LslidarParser\n+\n+class Lslidar16Parser : public LslidarParser {\n+ public:\n+ explicit Lslidar16Parser(const Config& config);\n+ ~Lslidar16Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc,\n+ int packet_number);\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+ int packet_number_;\n+ bool read_difop_;\n+}; // class Lslidar16Parser\n+\n+class Lslidar32Parser : public LslidarParser {\n+ public:\n+ explicit Lslidar32Parser(const Config& config);\n+ ~Lslidar32Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc,\n+ int packet_number);\n+ double adjust_angle;\n+ double adjust_angle_two;\n+ double adjust_angle_three;\n+ double adjust_angle_four;\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+ int lslidar_type;\n+ int packet_number_;\n+ bool read_difop_;\n+\n+ double scan_altitude_A[32] = {0};\n+ double scan_altitude_C[32] = {0};\n+}; // class Lslidar32Parser\n+\n+class LslidarCXV4Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCXV4Parser(const Config& config);\n+ ~LslidarCXV4Parser() {}\n+\n+ void decodePacket(const RawPacket_C32* packet);\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<apollo::drivers::lslidar::LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ bool checkPacketValidity(const RawPacket_C32* packet);\n+\n+ private:\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc,\n+ int packet_number);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+ int lslidar_type;\n+ int packet_number_;\n+ bool read_difop_;\n+\n+ // double c32_vertical_angle[32] = {0};\n+ double cos_scan_altitude[32] = {0};\n+ double sin_scan_altitude[32] = {0};\n+ double cos_azimuth_table[36000];\n+ double sin_azimuth_table[36000];\n+ int vertical_angle_; // 雷达垂直角度： 32度，70度，90度\n+ FiringC32 firings;\n+ double distance_unit_;\n+ int lidar_number_;\n+ bool is_new_c32w_;\n+ bool is_get_scan_altitude_;\n+}; // class LslidarCXV4Parser\n+\n+class Lslidar401Parser : public LslidarParser {\n+ public:\n+ explicit Lslidar401Parser(const Config& config);\n+ ~Lslidar401Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void decodePacket(const raw_packet_t* packet);\n+ void Unpack(const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint8_t difop_data[PACKET_SIZE];\n+ int block_num;\n+}; // class Lslidar401Parser\n+\n+class LslidarCH16Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH16Parser(const Config& config);\n+ ~LslidarCH16Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH16Parser\n+\n+class LslidarCH32Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH32Parser(const Config& config);\n+ ~LslidarCH32Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH32Parser\n+\n+class LslidarCH64Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH64Parser(const Config& config);\n+ ~LslidarCH64Parser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH64Parser\n+\n+class LslidarCH64wParser : public LslidarParser {\n+ public:\n+ explicit LslidarCH64wParser(const Config& config);\n+ ~LslidarCH64wParser() {}\n+\n+ void GeneratePointcloud(\n+ const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<apollo::drivers::PointCloud>& out_msg);\n+ void Order(std::shared_ptr<apollo::drivers::PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<apollo::drivers::PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ double theat1_s[128];\n+ double theat2_s[128];\n+ double theat1_c[128];\n+ double theat2_c[128];\n+ double point_time_diff;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH64Parser\n+\n+class LslidarCH120Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH120Parser(const Config& config);\n+ ~LslidarCH120Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH120Parser\n+\n+class LslidarCH128Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH128Parser(const Config& config);\n+ ~LslidarCH128Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ double sinTheta_2[128];\n+ double prism_angle128[4];\n+ uint64_t time_last;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH128Parser\n+\n+class LslidarCH128X1Parser : public LslidarParser {\n+ public:\n+ explicit LslidarCH128X1Parser(const Config& config);\n+ ~LslidarCH128X1Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing firings[POINTS_PER_PACKET];\n+}; // class LslidarCH128X1Parser\n+\n+class LslidarLS128S2Parser : public LslidarParser {\n+ public:\n+ explicit LslidarLS128S2Parser(const Config& config);\n+ ~LslidarLS128S2Parser() {}\n+\n+ void GeneratePointcloud(const std::shared_ptr<LslidarScan>& scan_msg,\n+ const std::shared_ptr<PointCloud>& out_msg);\n+ void Order(std::shared_ptr<PointCloud> cloud);\n+\n+ int convertCoordinate(const struct Firing_LS128S2& lidardata);\n+\n+ int convertCoordinate(const struct Firing_LS128S2& lidardata,\n+ std::shared_ptr<PointCloud> out_cloud);\n+\n+ private:\n+ void Unpack(int num, const LslidarPacket& pkt,\n+ std::shared_ptr<PointCloud> pc);\n+\n+ // Previous Lslidar packet time stamp. (offset to the top hour)\n+ double previous_packet_stamp_;\n+ uint64_t gps_base_usec_; // full time\n+ uint64_t last_packet_time;\n+ uint64_t last_point_time;\n+ size_t packets_size;\n+ uint8_t difop_data[PACKET_SIZE];\n+ Firing_LS128S2 firings[LS_POINTS_PER_PACKET];\n+ int frame_count = 0; // LS系列，叠帧模式会用到\n+\n+ double cos_table[36000]{};\n+ double sin_table[36000]{};\n+ double cos_mirror_angle[4]{};\n+ double sin_mirror_angle[4]{};\n+ double g_fAngleAcc_V = 0.01;\n+ bool is_add_frame_ = false;\n+ int return_mode = 1;\n+ std::shared_ptr<PointCloud> cur_pc;\n+ std::shared_ptr<PointCloud> pre_pc;\n+ int packet_number_ = 0;\n+}; // class LslidarLS128S2Parser\n+\n+class LslidarParserFactory {\n+ public:\n+ static LslidarParser* CreateParser(Config config);\n+};\n+\n+} // namespace lslidar\n+} // namespace drivers\n+} // namespace apollo\ndiff --git a/modules/drivers/lidar/lslidar/proto/BUILD b/modules/drivers/lidar/lslidar/proto/BUILD\nnew file mode 100644\nindex 00000000000..426aa8d30f4\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/proto/BUILD\n@@ -0,0 +1,52 @@\n+## Auto generated by `proto_build_generator.py`\n+load(\"@rules_proto//proto:defs.bzl\", \"proto_library\")\n+load(\"@rules_cc//cc:defs.bzl\", \"cc_proto_library\")\n+load(\"//tools:python_rules.bzl\", \"py_proto_library\")\n+\n+package(default_visibility = [\"//visibility:public\"])\n+\n+cc_proto_library(\n+ name = \"config_cc_proto\",\n+ deps = [\n+ \":config_proto\",\n+ ],\n+)\n+\n+proto_library(\n+ name = \"config_proto\",\n+ srcs = [\"config.proto\"],\n+ deps = [\n+ \":lslidar_proto\",\n+ ],\n+)\n+\n+py_proto_library(\n+ name = \"config_py_pb2\",\n+ deps = [\n+ \":config_proto\",\n+ \":lslidar_py_pb2\",\n+ ],\n+)\n+\n+cc_proto_library(\n+ name = \"lslidar_cc_proto\",\n+ deps = [\n+ \":lslidar_proto\",\n+ ],\n+)\n+\n+proto_library(\n+ name = \"lslidar_proto\",\n+ srcs = [\"lslidar.proto\"],\n+ deps = [\n+ \"//modules/common_msgs/basic_msgs:header_proto\",\n+ ],\n+)\n+\n+py_proto_library(\n+ name = \"lslidar_py_pb2\",\n+ deps = [\n+ \":lslidar_proto\",\n+ \"//modules/common_msgs/basic_msgs:header_py_pb2\",\n+ ],\n+)\ndiff --git a/modules/drivers/lidar/lslidar/proto/config.proto b/modules/drivers/lidar/lslidar/proto/config.proto\nnew file mode 100644\nindex 00000000000..24221d6c936\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/proto/config.proto\n@@ -0,0 +1,47 @@\n+syntax = \"proto2\";\n+\n+package apollo.drivers.lslidar;\n+\n+import \"modules/drivers/lidar/lslidar/proto/lslidar.proto\";\n+\n+message Config {\n+ optional Model model = 1;\n+ optional string device_ip = 2 [default = \"192.168.1.200\"];\n+ optional uint32 msop_port = 3;\n+ optional uint32 difop_port = 4;\n+ optional uint32 return_mode = 5;\n+ optional uint32 degree_mode = 6;\n+ optional float distance_unit = 7;\n+ optional bool time_synchronization = 8; \n+ optional bool add_multicast = 9; \n+ optional string group_ip = 10 [default = \"224.1.1.2\"];\n+ optional uint32 rpm = 11;\n+ optional string convert_channel_name = 12;\n+ optional uint32 time_zone = 13;\n+ optional string frame_id = 14;\n+ optional string scan_channel = 15;\n+ optional float min_range = 16;\n+ optional float max_range = 17;\n+ optional bool config_vert = 18;\n+ optional bool print_vert = 19;\n+ optional float scan_start_angle =20;\n+ optional float scan_end_angle = 21;\n+ optional bool calibration = 22;\n+ optional int32 npackets = 23;\n+ optional string calibration_file = 24;\n+ optional uint32 packet_size = 25;\n+ optional uint32 vertical_angle = 26;\n+ optional float bottom_left_x = 27;\n+ optional float bottom_left_y = 28;\n+ optional float top_right_x = 29;\n+ optional float top_right_y = 30;\n+ optional string pcap_path = 31;\n+}\n+\n+message CompensatorConfig {\n+ optional string output_channel = 1;\n+ optional float transform_query_timeout = 2 [default = 0.02];\n+ optional string world_frame_id = 3 [default = \"world\"];\n+ optional string target_frame_id = 4;\n+ optional uint32 point_cloud_size = 5;\n+}\n\\ No newline at end of file\ndiff --git a/modules/drivers/lidar/lslidar/proto/lslidar.proto b/modules/drivers/lidar/lslidar/proto/lslidar.proto\nnew file mode 100644\nindex 00000000000..bec13d14423\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/proto/lslidar.proto\n@@ -0,0 +1,40 @@\n+syntax = \"proto2\";\n+\n+package apollo.drivers.lslidar;\n+\n+// import \"modules/common/proto/header.proto\"; \n+import \"modules/common_msgs/basic_msgs/header.proto\";\n+\n+\n+enum Model {\n+ UNKOWN = 0;\n+ LSLIDAR16P = 1;\n+ LSLIDAR32P = 2;\n+ LSLIDAR401 = 3; //401 废弃不用\n+ LSLIDAR_CH16 = 4;\n+ LSLIDAR_CH32 = 5;\n+ LSLIDAR_CH64 = 6;\n+ LSLIDAR_CH64w = 7;\n+ LSLIDAR_CH120 = 8;\n+ LSLIDAR_CH128 = 9;\n+ LSLIDAR_CH128X1 = 10;\n+ LSLIDAR_C32_V4 = 11;\n+ LSLIDAR_C16_V4 = 12;\n+ LSLIDAR_C8_V4 = 13;\n+ LSLIDAR_C1_V4 = 14;\n+ LSLIDAR_LS128S2 = 15;\n+}\n+\n+message LslidarPacket {\n+ optional uint64 stamp = 1;\n+ optional bytes data = 2;\n+}\n+\n+message LslidarScan {\n+ optional apollo.common.Header header = 1;\n+ optional Model model = 2; \n+ repeated LslidarPacket firing_pkts = 3;\n+ repeated LslidarPacket difop_pkts = 4;\n+ optional string sn = 5;\n+ optional uint64 basetime = 6 [default = 0];\n+}\n"},"changed_files":{"kind":"list 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CH16_calibration.yaml","modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml","modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml","modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml","modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml","modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml","modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml","modules/drivers/lidar/lslidar/parser/BUILD","modules/drivers/lidar/lslidar/parser/calibration.cc","modules/drivers/lidar/lslidar/parser/calibration.h","modules/drivers/lidar/lslidar/parser/convert.cc","modules/drivers/lidar/lslidar/parser/convert.h","modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc","modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc","modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc","modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc"],"string":"[\n \"modules/drivers/lidar/BUILD\",\n \"modules/drivers/lidar/lslidar/BUILD\",\n \"modules/drivers/lidar/lslidar/README_cn.md\",\n \"modules/drivers/lidar/lslidar/README_en.md\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar16v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar1v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar1v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32v4_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar32v4_conf.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar401_compensator.pb.txt\",\n \"modules/drivers/lidar/lslidar/conf/lslidar401_conf.pb.txt\",\n 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\"modules/drivers/lidar/lslidar/launch/lslidar16_32_128X1.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_32w.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_64w.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16_32_64w_128X1.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar16v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar1v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar32.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar32v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar401.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidar8v4.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH120.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH128.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH128X1.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH16.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH32.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH64.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarCH64w.launch\",\n \"modules/drivers/lidar/lslidar/launch/lslidarLS128S2.launch\",\n \"modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LS32_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH120_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH128X1_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH128_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH16_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH32_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH64_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/LSCH64w_calibration.yaml\",\n \"modules/drivers/lidar/lslidar/params/ls16_novatel_extrinsics.yaml\",\n \"modules/drivers/lidar/lslidar/params/ls32_novatel_extrinsics.yaml\",\n \"modules/drivers/lidar/lslidar/params/ls64w_novatel_extrinsics.yaml\",\n \"modules/drivers/lidar/lslidar/parser/BUILD\",\n \"modules/drivers/lidar/lslidar/parser/calibration.cc\",\n \"modules/drivers/lidar/lslidar/parser/calibration.h\",\n \"modules/drivers/lidar/lslidar/parser/convert.cc\",\n \"modules/drivers/lidar/lslidar/parser/convert.h\",\n \"modules/drivers/lidar/lslidar/parser/lslidar16_parser.cc\",\n \"modules/drivers/lidar/lslidar/parser/lslidar32_parser.cc\",\n \"modules/drivers/lidar/lslidar/parser/lslidarCH120_parser.cc\",\n \"modules/drivers/lidar/lslidar/parser/lslidarCH128X1_parser.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":"diff --git a/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt\nnew file mode 100644\nindex 00000000000..0bb207bb4f9\n--- /dev/null\n+++ b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt\n@@ -0,0 +1,29 @@\n+model: LSLIDAR_C1_V4\n+device_ip: \"192.168.1.200\"\n+msop_port: 2368\n+difop_port: 2369\n+return_mode: 1\n+degree_mode: 2 #2: 均匀2度校准两列 1://均匀1.33度校准两列\n+distance_unit: 0.4\n+packet_size: 1212\n+time_synchronization: true\n+add_multicast: false\n+group_ip: \"224.1.1.2\"\n+rpm: 600 #雷达转速 10hz:600rpm, 20hz:1200rpm, 5hz:300rpm\n+convert_channel_name: \"/apollo/sensor/lslidar1v4/PointCloud2\"\n+frame_id: \"lslidar16\"\n+scan_channel: \"/apollo/sensor/lslidar1v4/Scan\"\n+min_range: 0.15\n+max_range: 150.0\n+config_vert: true\n+scan_start_angle: 0.0\n+scan_end_angle: 36000.0\n+#要屏蔽的矩形区域参数\n+bottom_left_x: 0.0 #左下 x值\n+bottom_left_y: 0.0 #左下 y值\n+top_right_x: 0.0 #右上 x值\n+top_right_y: 0.0 #右上 y值\n+\n+#calibration: false\n+#calibration_file: \"/apollo/modules/drivers/lidar/lslidar/params/LS16_calibration.yaml\"\n+pcap_path: \"\" #读取pcap包，测试时使用，连接雷达的时候，将此值设置为空\n"},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":591,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":1040,"string":"1,040"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"planning: use timer to control rerouting frequency"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"0e8edcdaea489445de8191a5bf2d14c755c14da0"},"head_sha":{"kind":"string","value":"7c099379cf35b239e23d116d8690ad113fe1c5cc"},"gold_diff":{"kind":"string","value":"diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc\nindex b6ad27d04ae..502db6fd935 100644\n--- a/modules/planning/common/planning_gflags.cc\n+++ b/modules/planning/common/planning_gflags.cc\n@@ -49,6 +49,14 @@ DEFINE_double(look_forward_time_sec, 8,\n \"look forward time times adc speed to calculate this distance \"\n \"when creating reference line from routing\");\n \n+DEFINE_double(prepare_rerouting_time, 2.0,\n+ \"If there are this amount of seconds left to finish driving on \"\n+ \"current route, and there is no routing, do rerouting\");\n+\n+DEFINE_double(rerouting_cooldown_time, 0.6,\n+ \"Wait for at least this amount of seconds before send another \"\n+ \"rerouting request\");\n+\n DEFINE_bool(enable_smooth_reference_line, true,\n \"enable smooth the map reference line\");\n \n@@ -61,7 +69,7 @@ DEFINE_int32(spiral_smoother_num_iteration, 1000,\n DEFINE_double(spiral_smoother_piecewise_length, 10.0,\n \"The piecewise length of spiral smoother.\");\n DEFINE_double(spiral_reference_line_resolution, 0.02,\n- \"The output resolution for reference line.\");\n+ \"The output resolution for reference line.\");\n \n DEFINE_int32(max_history_frame_num, 5, \"The maximum history frame number\");\n \ndiff --git a/modules/planning/common/planning_gflags.h b/modules/planning/common/planning_gflags.h\nindex a0c680f078c..034adbe6262 100644\n--- a/modules/planning/common/planning_gflags.h\n+++ b/modules/planning/common/planning_gflags.h\n@@ -29,6 +29,8 @@ DECLARE_double(look_backward_distance);\n DECLARE_double(look_forward_distance);\n DECLARE_double(look_forward_min_distance);\n DECLARE_double(look_forward_time_sec);\n+DECLARE_double(prepare_rerouting_time);\n+DECLARE_double(rerouting_cooldown_time);\n \n DECLARE_bool(enable_smooth_reference_line);\n DECLARE_bool(enable_spiral_reference_line);\ndiff --git a/modules/planning/tasks/traffic_decider/BUILD b/modules/planning/tasks/traffic_decider/BUILD\nindex 41aadfca9e5..e5a61c83188 100644\n--- a/modules/planning/tasks/traffic_decider/BUILD\n+++ b/modules/planning/tasks/traffic_decider/BUILD\n@@ -23,6 +23,7 @@ cc_library(\n ],\n deps = [\n \"//modules/common/adapters:adapter_manager\",\n+ \"//modules/common/util:dropbox\",\n \"//modules/common/util:factory\",\n \"//modules/perception/proto:perception_proto\",\n \"//modules/planning/common:frame\",\ndiff --git a/modules/planning/tasks/traffic_decider/rerouting.cc b/modules/planning/tasks/traffic_decider/rerouting.cc\nindex 232f69cf04e..f0f2457e275 100644\n--- a/modules/planning/tasks/traffic_decider/rerouting.cc\n+++ b/modules/planning/tasks/traffic_decider/rerouting.cc\n@@ -23,12 +23,17 @@\n #include \"modules/common/proto/pnc_point.pb.h\"\n \n #include \"modules/common/adapters/adapter_manager.h\"\n+#include \"modules/common/time/time.h\"\n+#include \"modules/common/util/dropbox.h\"\n #include \"modules/common/vehicle_state/vehicle_state.h\"\n+#include \"modules/planning/common/planning_gflags.h\"\n \n namespace apollo {\n namespace planning {\n \n using apollo::common::adapter::AdapterManager;\n+using apollo::common::util::Dropbox;\n+using apollo::common::time::Clock;\n using apollo::perception::TrafficLight;\n using apollo::perception::TrafficLightDetection;\n \n@@ -36,25 +41,20 @@ Rerouting::Rerouting(const RuleConfig& config) : TrafficRule(config) {}\n \n bool Rerouting::ChangeLaneFailRerouting(\n const ReferenceLineInfo* reference_line_info) {\n- const double kPrepareRoutingTime = 3.0; // seconds\n const auto& segments = reference_line_info->Lanes();\n // 1. If current reference line is drive forward, no rerouting.\n if (segments.NextAction() == routing::FORWARD) {\n // if not current lane, do not check for rerouting\n- ADEBUG << \"This is a change lane target reference line, no need to check \"\n- \"rerouting here.\";\n return true;\n }\n+\n // 2. If vehicle is not on current reference line yet, no rerouting\n if (!segments.IsOnSegment()) {\n- ADEBUG << \"This is a change lane target reference line, no need to check \"\n- \"rerouting here.\";\n return true;\n }\n \n // 3. If current reference line can connect to next passage, no rerouting\n if (segments.CanExit()) {\n- ADEBUG << \"This reference line can lead to another passage in routig\";\n return true;\n }\n \n@@ -62,10 +62,8 @@ bool Rerouting::ChangeLaneFailRerouting(\n const auto& route_end_waypoint =\n reference_line_info->Lanes().RouteEndWaypoint();\n if (!route_end_waypoint.lane) {\n- ADEBUG << \"the end of passage is not visible yet, no need rerouting\";\n return true;\n }\n- // 5. If the end of current passage region not on reference line, no rerouting\n auto point = route_end_waypoint.lane->GetSmoothPoint(route_end_waypoint.s);\n const auto& reference_line = reference_line_info->reference_line();\n common::SLPoint sl_point;\n@@ -74,25 +72,38 @@ bool Rerouting::ChangeLaneFailRerouting(\n return false;\n }\n if (!reference_line.IsOnRoad(sl_point)) {\n- ADEBUG << \"end of passage not on road yet, no need rerouting\";\n return true;\n }\n- // 6. If the end of current passage region is further than kPrepareRoutingTime\n+ // 5. If the end of current passage region is further than kPrepareRoutingTime\n // * speed, no rerouting\n double adc_s = reference_line_info->AdcSlBoundary().end_s();\n const auto* vehicle_state = common::VehicleState::instance();\n double speed = vehicle_state->linear_velocity();\n- const double prepare_distance = speed * kPrepareRoutingTime;\n+ const double prepare_distance = speed * FLAGS_prepare_rerouting_time;\n if (sl_point.s() > adc_s + prepare_distance) {\n ADEBUG << \"No need rerouting now because still can drive for time: \"\n- << kPrepareRoutingTime << \" seconds\";\n+ << FLAGS_prepare_rerouting_time << \" seconds\";\n+ return true;\n+ }\n+ // 6. Check if we have done rerouting before\n+ const std::string last_rerouting_time_key =\n+ \"kLastReroutingTime_\" + reference_line_info->Lanes().Id();\n+ double* last_routing_time =\n+ common::util::Dropbox<double>::Open()->Get(last_rerouting_time_key);\n+ double current_time = Clock::NowInSecond();\n+ if (last_routing_time != nullptr &&\n+ current_time - *last_routing_time < FLAGS_rerouting_cooldown_time) {\n+ ADEBUG << \"Skip rerouting and wait for previous rerouting result\";\n return true;\n }\n- // Do rerouting.\n if (!Frame::Rerouting()) {\n AERROR << \"Failed to send rerouting request\";\n return false;\n }\n+\n+ // store last rerouting time.\n+ common::util::Dropbox<double>::Open()->Set(last_rerouting_time_key,\n+ current_time);\n return true;\n }\n \n"},"changed_files":{"kind":"list like","value":["modules/planning/common/planning_gflags.cc","modules/planning/common/planning_gflags.h","modules/planning/tasks/traffic_decider/BUILD","modules/planning/tasks/traffic_decider/rerouting.cc"],"string":"[\n \"modules/planning/common/planning_gflags.cc\",\n \"modules/planning/common/planning_gflags.h\",\n \"modules/planning/tasks/traffic_decider/BUILD\",\n \"modules/planning/tasks/traffic_decider/rerouting.cc\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":592,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14544,"string":"14,544"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Update disclaimer link"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"0e3f5265ce89dae91789aad6cb6ab590abb97fd9"},"head_sha":{"kind":"string","value":"071bc80f0574dab356c603140f3f69a04cf40498"},"gold_diff":{"kind":"string","value":"diff --git a/README.md b/README.md\nindex 0319c58756f..6d63ec056a7 100644\n--- a/README.md\n+++ b/README.md\n@@ -213,7 +213,7 @@ Apollo is provided under the [Apache-2.0 license](https://github.com/ApolloAuto/\n \n Apollo open source platform only has the source code for models, algorithms and processes, which will be integrated with cybersecurity defense strategy in the deployment for commercialization and productization.\n \n-Please refer to the Disclaimer of Apollo in [Apollo's official website](http://apollo.auto/docs/disclaimer.html).\n+Please refer to the Disclaimer of Apollo in [Apollo's official website](https://developer.apollo.auto/docs/disclaimer.html).\n \n ## Connect with us\n * [Have suggestions for our GitHub page?](https://github.com/ApolloAuto/apollo/issues)\n"},"changed_files":{"kind":"list like","value":["README.md"],"string":"[\n \"README.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":593,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":13820,"string":"13,820"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Revert \"Tools: fix the typo in rtk recorder\""},"pr_body":{"kind":"string","value":"Reverts ApolloAuto/apollo#13819"},"base_sha":{"kind":"string","value":"175b4b398398f3d600ab7599c35fb3b662ad7901"},"head_sha":{"kind":"string","value":"e19f4dd3093ea3ec3c8c6bb57c366a9d3d502c18"},"gold_diff":{"kind":"string","value":"diff --git a/modules/tools/record_play/rtk_recorder.py b/modules/tools/record_play/rtk_recorder.py\nindex 4c83b7a4b09..0e72282fd08 100644\n--- a/modules/tools/record_play/rtk_recorder.py\n+++ b/modules/tools/record_play/rtk_recorder.py\n@@ -134,7 +134,7 @@ def localization_callback(self, data):\n carmax_steer_angle = self.vehicle_param.max_steer_angle\n carsteer_ratio = self.vehicle_param.steer_ratio\n carwheel_base = self.vehicle_param.wheel_base\n-\t\tcarcurvature = math.tan(math.radians(carsteer / 100\n+\t\tcurvature = math.tan(math.radians(carsteer / 100\n * math.degrees(carmax_steer_angle)) / carsteer_ratio) / carwheel_base\n \n if abs(carspeed) >= speed_epsilon:\n"},"changed_files":{"kind":"list like","value":["modules/tools/record_play/rtk_recorder.py"],"string":"[\n \"modules/tools/record_play/rtk_recorder.py\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":594,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14634,"string":"14,634"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Fix perception.velocity direction bug and perception frequency bug"},"pr_body":{"kind":"string","value":"When using the _garage_perception.bash_ script to register the obstacles, the green arrow of obstacle velocity direction doesn't change in the Dreamview because the `perception.velocity` is not updated in the `linear_project_perception` function. Here we add a line of code to update the `perception.velocity`."},"base_sha":{"kind":"string","value":"39c3d7641493fd5fe3d1d49b862549b7fe41da44"},"head_sha":{"kind":"string","value":"f553badf637d049f3cc8940ae7bdfce7de509f64"},"gold_diff":{"kind":"string","value":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"},"changed_files":{"kind":"list like","value":["modules/tools/perception/replay_perception.py"],"string":"[\n \"modules/tools/perception/replay_perception.py\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"we should just use float(period)","path":"modules/tools/perception/replay_perception.py","hunk":"@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(1.0 / period) # 10Hz","resolving_sha":"f553badf637d049f3cc8940ae7bdfce7de509f64","resolving_diff":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"},{"comment":"Not sure if velocity needs to be calculated from position","path":"modules/tools/perception/replay_perception.py","hunk":"@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))","resolving_sha":"f553badf637d049f3cc8940ae7bdfce7de509f64","resolving_diff":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"}],"string":"[\n {\n \"comment\": \"we should just use float(period)\",\n \"path\": \"modules/tools/perception/replay_perception.py\",\n \"hunk\": \"@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\\n node = cyber.Node(\\\"perception\\\")\\n writer = node.create_writer(perception_channel, PerceptionObstacles)\\n perception_description = load_descrptions(files)\\n- sleep_time = int(1.0 / period) # 10Hz\\n+ sleep_time = float(1.0 / period) # 10Hz\",\n \"resolving_sha\": \"f553badf637d049f3cc8940ae7bdfce7de509f64\",\n \"resolving_diff\": \"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\\nindex 3b1578b6a37..5fe167cde47 100644\\n--- a/modules/tools/perception/replay_perception.py\\n+++ b/modules/tools/perception/replay_perception.py\\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\\n get_point(trace[i - 1], trace[i], ratio))\\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\\n trace[i][0] - trace[i - 1][0])\\n-\\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\\\"speed\\\"]))\\n perception.ClearField(\\\"polygon_point\\\")\\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\\n perception.length, perception.width))\\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\\n node = cyber.Node(\\\"perception\\\")\\n writer = node.create_writer(perception_channel, PerceptionObstacles)\\n perception_description = load_descrptions(files)\\n- sleep_time = int(1.0 / period) # 10Hz\\n+ sleep_time = float(period) # 10Hz\\n global _s_delta_t\\n- _s_delta_t = period\\n+ _s_delta_t = sleep_time\\n perception = None\\n while not cyber.is_shutdown():\\n perception = generate_perception(perception_description, perception)\\n\"\n },\n {\n \"comment\": \"Not sure if velocity needs to be calculated from position\",\n \"path\": \"modules/tools/perception/replay_perception.py\",\n \"hunk\": \"@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\\n get_point(trace[i - 1], trace[i], ratio))\\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\\n trace[i][0] - trace[i - 1][0])\\n-\\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\\\"speed\\\"]))\",\n \"resolving_sha\": \"f553badf637d049f3cc8940ae7bdfce7de509f64\",\n \"resolving_diff\": \"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\\nindex 3b1578b6a37..5fe167cde47 100644\\n--- a/modules/tools/perception/replay_perception.py\\n+++ b/modules/tools/perception/replay_perception.py\\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\\n get_point(trace[i - 1], trace[i], ratio))\\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\\n trace[i][0] - trace[i - 1][0])\\n-\\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\\\"speed\\\"]))\\n perception.ClearField(\\\"polygon_point\\\")\\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\\n perception.length, perception.width))\\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\\n node = cyber.Node(\\\"perception\\\")\\n writer = node.create_writer(perception_channel, PerceptionObstacles)\\n perception_description = load_descrptions(files)\\n- sleep_time = int(1.0 / period) # 10Hz\\n+ sleep_time = float(period) # 10Hz\\n global _s_delta_t\\n- _s_delta_t = period\\n+ _s_delta_t = sleep_time\\n perception = None\\n while not cyber.is_shutdown():\\n perception = generate_perception(perception_description, perception)\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":595,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14634,"string":"14,634"},"task_type":{"kind":"string","value":"comment_to_fix"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Fix perception.velocity direction bug and perception frequency bug"},"pr_body":{"kind":"string","value":"we should just use float(period)"},"base_sha":{"kind":"string","value":"39c3d7641493fd5fe3d1d49b862549b7fe41da44"},"head_sha":{"kind":"string","value":"f553badf637d049f3cc8940ae7bdfce7de509f64"},"gold_diff":{"kind":"string","value":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"},"changed_files":{"kind":"list like","value":["modules/tools/perception/replay_perception.py"],"string":"[\n \"modules/tools/perception/replay_perception.py\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"we should just use float(period)","path":"modules/tools/perception/replay_perception.py","hunk":"@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(1.0 / period) # 10Hz","resolving_sha":"f553badf637d049f3cc8940ae7bdfce7de509f64","resolving_diff":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"}],"string":"[\n {\n \"comment\": \"we should just use float(period)\",\n \"path\": \"modules/tools/perception/replay_perception.py\",\n \"hunk\": \"@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\\n node = cyber.Node(\\\"perception\\\")\\n writer = node.create_writer(perception_channel, PerceptionObstacles)\\n perception_description = load_descrptions(files)\\n- sleep_time = int(1.0 / period) # 10Hz\\n+ sleep_time = float(1.0 / period) # 10Hz\",\n \"resolving_sha\": \"f553badf637d049f3cc8940ae7bdfce7de509f64\",\n \"resolving_diff\": \"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\\nindex 3b1578b6a37..5fe167cde47 100644\\n--- a/modules/tools/perception/replay_perception.py\\n+++ b/modules/tools/perception/replay_perception.py\\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\\n get_point(trace[i - 1], trace[i], ratio))\\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\\n trace[i][0] - trace[i - 1][0])\\n-\\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\\\"speed\\\"]))\\n perception.ClearField(\\\"polygon_point\\\")\\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\\n perception.length, perception.width))\\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\\n node = cyber.Node(\\\"perception\\\")\\n writer = node.create_writer(perception_channel, PerceptionObstacles)\\n perception_description = load_descrptions(files)\\n- sleep_time = int(1.0 / period) # 10Hz\\n+ sleep_time = float(period) # 10Hz\\n global _s_delta_t\\n- _s_delta_t = period\\n+ _s_delta_t = sleep_time\\n perception = None\\n while not cyber.is_shutdown():\\n perception = generate_perception(perception_description, perception)\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":596,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14634,"string":"14,634"},"task_type":{"kind":"string","value":"comment_to_fix"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"Fix perception.velocity direction bug and perception frequency bug"},"pr_body":{"kind":"string","value":"Not sure if velocity needs to be calculated from position"},"base_sha":{"kind":"string","value":"39c3d7641493fd5fe3d1d49b862549b7fe41da44"},"head_sha":{"kind":"string","value":"f553badf637d049f3cc8940ae7bdfce7de509f64"},"gold_diff":{"kind":"string","value":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"},"changed_files":{"kind":"list like","value":["modules/tools/perception/replay_perception.py"],"string":"[\n \"modules/tools/perception/replay_perception.py\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[{"comment":"Not sure if velocity needs to be calculated from position","path":"modules/tools/perception/replay_perception.py","hunk":"@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))","resolving_sha":"f553badf637d049f3cc8940ae7bdfce7de509f64","resolving_diff":"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\nindex 3b1578b6a37..5fe167cde47 100644\n--- a/modules/tools/perception/replay_perception.py\n+++ b/modules/tools/perception/replay_perception.py\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\n trace[i][0] - trace[i - 1][0])\n-\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\"speed\"]))\n perception.ClearField(\"polygon_point\")\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\n perception.length, perception.width))\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObstacles)\n perception_description = load_descrptions(files)\n- sleep_time = int(1.0 / period) # 10Hz\n+ sleep_time = float(period) # 10Hz\n global _s_delta_t\n- _s_delta_t = period\n+ _s_delta_t = sleep_time\n perception = None\n while not cyber.is_shutdown():\n perception = generate_perception(perception_description, perception)\n"}],"string":"[\n {\n \"comment\": \"Not sure if velocity needs to be calculated from position\",\n \"path\": \"modules/tools/perception/replay_perception.py\",\n \"hunk\": \"@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\\n get_point(trace[i - 1], trace[i], ratio))\\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\\n trace[i][0] - trace[i - 1][0])\\n-\\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\\\"speed\\\"]))\",\n \"resolving_sha\": \"f553badf637d049f3cc8940ae7bdfce7de509f64\",\n \"resolving_diff\": \"diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py\\nindex 3b1578b6a37..5fe167cde47 100644\\n--- a/modules/tools/perception/replay_perception.py\\n+++ b/modules/tools/perception/replay_perception.py\\n@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\\n get_point(trace[i - 1], trace[i], ratio))\\n perception.theta = math.atan2(trace[i][1] - trace[i - 1][1],\\n trace[i][0] - trace[i - 1][0])\\n-\\n+ perception.velocity.CopyFrom(get_velocity(perception.theta, description[\\\"speed\\\"]))\\n perception.ClearField(\\\"polygon_point\\\")\\n perception.polygon_point.extend(generate_polygon(perception.position, perception.theta,\\n perception.length, perception.width))\\n@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\\n node = cyber.Node(\\\"perception\\\")\\n writer = node.create_writer(perception_channel, PerceptionObstacles)\\n perception_description = load_descrptions(files)\\n- sleep_time = int(1.0 / period) # 10Hz\\n+ sleep_time = float(period) # 10Hz\\n global _s_delta_t\\n- _s_delta_t = period\\n+ _s_delta_t = sleep_time\\n perception = None\\n while not cyber.is_shutdown():\\n perception = generate_perception(perception_description, perception)\\n\"\n }\n]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":597,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14854,"string":"14,854"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix(tools): fix typo in sensor_calibration"},"pr_body":{"kind":"string","value":""},"base_sha":{"kind":"string","value":"cd510fe5c4b3197383900d00b0f832d4be9ca5b0"},"head_sha":{"kind":"string","value":"de5ee795e67d9f5aec901f24db76f7c19a05dcf1"},"gold_diff":{"kind":"string","value":"diff --git a/modules/tools/sensor_calibration/extract_data.py b/modules/tools/sensor_calibration/extract_data.py\nindex 59a06e5e7d3..15b5c79df60 100755\n--- a/modules/tools/sensor_calibration/extract_data.py\n+++ b/modules/tools/sensor_calibration/extract_data.py\n@@ -94,7 +94,7 @@\n \n class Extractor(object):\n def __init__(self):\n- self.node = cyber.Node(\"sendor_calibration_preprocessor\")\n+ self.node = cyber.Node(\"sensor_calibration_preprocessor\")\n self.writer = self.node.create_writer(\"/apollo/dreamview/progress\",\n preprocess_table_pb2.Progress, 6)\n self.config = extractor_config_pb2.DataExtractionConfig()\n"},"changed_files":{"kind":"list like","value":["modules/tools/sensor_calibration/extract_data.py"],"string":"[\n \"modules/tools/sensor_calibration/extract_data.py\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":598,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14768,"string":"14,768"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix(docs): fix typo in apollo_software_installation_guide_package_method.md"},"pr_body":{"kind":"string","value":"fix(docs): fix typo in apollo_software_installation_guide_package_method.md"},"base_sha":{"kind":"string","value":"cd510fe5c4b3197383900d00b0f832d4be9ca5b0"},"head_sha":{"kind":"string","value":"b3e9b1a6073c05715de71cd270e5ce96db5527b9"},"gold_diff":{"kind":"string","value":"diff --git a/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md b/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md\nindex 49e30e0b773..e881ddb520c 100644\n--- a/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md\n+++ b/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md\n@@ -16,7 +16,7 @@ To update the software after installation:\n \n ```shell\n sudo apt-get update\n-sudp apt-get upgrade\n+sudo apt-get upgrade\n ```\n \n > Note: To complete the update, you need to ensure that you can access the network.\n"},"changed_files":{"kind":"list like","value":["docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md"],"string":"[\n \"docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}},{"rowIdx":599,"cells":{"repo":{"kind":"string","value":"ApolloAuto/apollo"},"pr_number":{"kind":"number","value":14875,"string":"14,875"},"task_type":{"kind":"string","value":"issue_to_patch"},"issue_text":{"kind":"string","value":""},"pr_title":{"kind":"string","value":"fix: fix lint issue"},"pr_body":{"kind":"string","value":"fix ci pipeline and lint code."},"base_sha":{"kind":"string","value":"b352846f7ba0f120d564a1f423b96910723f253b"},"head_sha":{"kind":"string","value":"8176553c420da90ae584cf07b9e12468be37cf4f"},"gold_diff":{"kind":"string","value":"diff --git a/modules/perception/inference/migraphx/plugins/plugin.h b/modules/perception/inference/migraphx/plugins/plugin.h\nindex 0ae5a2b5a84..8a766dbe05d 100644\n--- a/modules/perception/inference/migraphx/plugins/plugin.h\n+++ b/modules/perception/inference/migraphx/plugins/plugin.h\n@@ -22,44 +22,42 @@\n #define DEPRECATED\n \n class Dims {\n-public:\n- static const int32_t MAX_DIMS = 8;\n- int32_t nbDims;\n- int32_t d[MAX_DIMS];\n+ public:\n+ static const int32_t MAX_DIMS = 8;\n+ int32_t nbDims;\n+ int32_t d[MAX_DIMS];\n };\n \n class Dims4 : public Dims {\n-public:\n- Dims4() {\n- nbDims = 4;\n- d[0] = d[1] = d[2] = d[3] = 0;\n- }\n- Dims4(int32_t d0, int32_t d1,\n- int32_t d2, int32_t d3) {\n- nbDims = 4;\n- d[0] = d0;\n- d[1] = d1;\n- d[2] = d2;\n- d[3] = d3;\n- }\n+ public:\n+ Dims4() {\n+ nbDims = 4;\n+ d[0] = d[1] = d[2] = d[3] = 0;\n+ }\n+ Dims4(int32_t d0, int32_t d1, int32_t d2, int32_t d3) {\n+ nbDims = 4;\n+ d[0] = d0;\n+ d[1] = d1;\n+ d[2] = d2;\n+ d[3] = d3;\n+ }\n };\n \n class IPlugin {\n-public:\n- virtual int32_t getNbOutputs() const = 0;\n- virtual Dims getOutputDimensions(int32_t index, const Dims* inputs,\n- int32_t nbInputDims) = 0;\n- virtual void configure(const Dims* inputDims, int32_t nbInputs,\n- const Dims* outputDims, int32_t nbOutputs,\n- int32_t maxBatchSize) = 0;\n- virtual int32_t initialize() = 0;\n- virtual void terminate() = 0;\n- virtual size_t getWorkspaceSize(int32_t maxBatchSize) const = 0;\n- virtual int32_t enqueue(int32_t batchSize, const void* const* inputs,\n- void** outputs, void* workspace,\n- cudaStream_t stream) = 0;\n- virtual size_t getSerializationSize() = 0;\n- virtual void serialize(void* buffer) = 0;\n- virtual ~IPlugin() {}\n+ public:\n+ virtual int32_t getNbOutputs() const = 0;\n+ virtual Dims getOutputDimensions(int32_t index, const Dims* inputs,\n+ int32_t nbInputDims) = 0;\n+ virtual void configure(const Dims* inputDims, int32_t nbInputs,\n+ const Dims* outputDims, int32_t nbOutputs,\n+ int32_t maxBatchSize) = 0;\n+ virtual int32_t initialize() = 0;\n+ virtual void terminate() = 0;\n+ virtual size_t getWorkspaceSize(int32_t maxBatchSize) const = 0;\n+ virtual int32_t enqueue(int32_t batchSize, const void* const* inputs,\n+ void** outputs, void* workspace,\n+ cudaStream_t stream) = 0;\n+ virtual size_t getSerializationSize() = 0;\n+ virtual void serialize(void* buffer) = 0;\n+ virtual ~IPlugin() {}\n };\n-\ndiff --git a/modules/perception/onboard/component/lidar_tracking_component.cc b/modules/perception/onboard/component/lidar_tracking_component.cc\nindex de6ab3a0834..7bf84e82539 100644\n--- a/modules/perception/onboard/component/lidar_tracking_component.cc\n+++ b/modules/perception/onboard/component/lidar_tracking_component.cc\n@@ -50,8 +50,8 @@ bool LidarTrackingComponent::Init() {\n lidar_tracking_config_path =\n GetAbsolutePath(work_root, lidar_tracking_config_path);\n \n- if (!cyber::common::GetProtoFromFile(\n- lidar_tracking_config_path, &lidar_tracking_config_)) {\n+ if (!cyber::common::GetProtoFromFile(lidar_tracking_config_path,\n+ &lidar_tracking_config_)) {\n AERROR << \"Read config failed: \" << lidar_tracking_config_path;\n return false;\n }\n@@ -139,8 +139,9 @@ bool LidarTrackingComponent::InternalProc(\n // track_options.sensor_name = sensor_name;\n // lidar::LidarProcessResult ret =\n // tracker_->Process(track_options, lidar_frame.get());\n- // PERF_BLOCK_END_WITH_INDICATOR(sensor_name, \"recognition_1::track_obstacle\");\n- // if (ret.error_code != lidar::LidarErrorCode::Succeed) {\n+ // PERF_BLOCK_END_WITH_INDICATOR(sensor_name,\n+ // \"recognition_1::track_obstacle\"); if (ret.error_code !=\n+ // lidar::LidarErrorCode::Succeed) {\n // out_message->error_code_ =\n // apollo::common::ErrorCode::PERCEPTION_ERROR_PROCESS;\n // AERROR << \"Lidar recognition process error, \" << ret.log;\ndiff --git a/modules/perception/onboard/component/lidar_tracking_component.h b/modules/perception/onboard/component/lidar_tracking_component.h\nindex 0ecb4ffa182..bd7c368d556 100644\n--- a/modules/perception/onboard/component/lidar_tracking_component.h\n+++ b/modules/perception/onboard/component/lidar_tracking_component.h\n@@ -18,12 +18,13 @@\n #include <memory>\n #include <string>\n \n+#include \"modules/perception/onboard/proto/lidar_component_config.pb.h\"\n+\n #include \"cyber/cyber.h\"\n #include \"modules/perception/base/sensor_meta.h\"\n #include \"modules/perception/lidar/app/lidar_obstacle_tracking.h\"\n #include \"modules/perception/onboard/inner_component_messages/inner_component_messages.h\"\n #include \"modules/perception/onboard/inner_component_messages/lidar_inner_component_messages.h\"\n-#include \"modules/perception/onboard/proto/lidar_component_config.pb.h\"\n #include \"modules/perception/pipeline/pipeline.h\"\n \n namespace apollo {\n"},"changed_files":{"kind":"list like","value":["modules/perception/inference/migraphx/plugins/plugin.h","modules/perception/onboard/component/lidar_tracking_component.cc","modules/perception/onboard/component/lidar_tracking_component.h"],"string":"[\n \"modules/perception/inference/migraphx/plugins/plugin.h\",\n \"modules/perception/onboard/component/lidar_tracking_component.cc\",\n \"modules/perception/onboard/component/lidar_tracking_component.h\"\n]","isConversational":false},"review_threads":{"kind":"list like","value":[],"string":"[]","isConversational":false},"test_patch":{"kind":"string","value":""},"merged":{"kind":"bool","value":true,"string":"true"}}}],"truncated":false,"partial":false},"paginationData":{"pageIndex":5,"numItemsPerPage":100,"numTotalItems":87912,"offset":500,"length":100}},"jwt":"eyJhbGciOiJFZERTQSIsImtpZCI6Im1sR1pFYktIVHRVSGRhX1RRdEczQ0N1S3k5ME9Qd25DNHY5elRjM3FVYzgifQ.eyJyZWFkIjp0cnVlLCJwZXJtaXNzaW9ucyI6eyJyZXBvLmNvbnRlbnQucmVhZCI6dHJ1ZX0sImlhdCI6MTc4MjU0ODgzNywianRpIjoiNzVhYmE0ZTktNzE3ZC00NTM0LTg1NmEtYjdkZDkxZjAxZDJlIiwic3ViIjoiL2RhdGFzZXRzL1BvdGF0b0hEL2dpdGh1Yi1wci1yZXNvbHZlIiwiZXhwIjoxNzgyNTUyNDM3LCJpc3MiOiJodHRwczovL2h1Z2dpbmdmYWNlLmNvIn0.RPtgEOMz_SIBT1q23Tn7qlpMaFpQwwUuytq0SV8asJvzZ8ck-nYipKf5IgQ1kDv0-w8lVuVQt7rhuyOkf5K_Dg","displayUrls":true,"splitSizeSummaries":[{"config":"default","split":"train","numRows":87912,"numBytesParquet":1412740926}]},"discussionsStats":{"closed":0,"open":0,"total":0},"fullWidth":true,"hasGatedAccess":true,"hasFullAccess":true,"isEmbedded":false,"savedQueries":{"community":[],"user":[]}}">
repo stringlengths 5 53 | pr_number int32 1 321k | task_type stringclasses 2
values | issue_text stringlengths 0 81.2k | pr_title stringlengths 1 319 | pr_body stringlengths 0 105k | base_sha stringlengths 40 40 | head_sha stringlengths 40 40 | gold_diff stringlengths 0 202M | changed_files listlengths 0 100 | review_threads listlengths 0 100 | test_patch stringlengths 0 23.4M | merged bool 1
class |
|---|---|---|---|---|---|---|---|---|---|---|---|---|
Anankke/SSPanel-UIM | 2,553 | issue_to_patch | [master] for sing-box 1.14.0+ | 7e5e1c383614b067c6737a0649bb173a4d287539 | b7a6344d3a8131e39525bb20844846d7053f2618 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index f07527dc46..e57a5e24fa 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -61,6 +61,7 @@
'type' => 'quic',
'server' => '223.6.6.6',
'server_port' => 853,
+ ... | [
"config/appprofile.example.php",
"update.sh"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,554 | issue_to_patch | [Uim] for sing-box 1.14.0+ | a1ba03d4878afccb1b2d181ff46c25a06c5ed9e8 | fa2282a3a23e453bd549972c9d4e6c72bba91924 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index f07527dc46..e57a5e24fa 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -61,6 +61,7 @@
'type' => 'quic',
'server' => '223.6.6.6',
'server_port' => 853,
+ ... | [
"config/appprofile.example.php",
"update.sh"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,524 | issue_to_patch | fix: subscribe | caeead8d9406e7fcd5f07731d0fabacd2bf2f54d | ce1e2fe58259ea61c1e175784b15818880f19b2b | diff --git a/config/client_display.json b/config/client_display.json
index f2647148be..7bc70caeb7 100644
--- a/config/client_display.json
+++ b/config/client_display.json
@@ -24,7 +24,7 @@
"name": "Clash Nyanpasu",
"description": "增强版 Clash 客户端",
"format": "clash",
- "importUrl": "clash-nyanpa... | [
"config/client_display.json"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,523 | issue_to_patch | feat: automatic captcha refresh | 请求返回失败时，自动刷新验证码，无需手动刷新页面 | 05221b0f5258f1f4275e473abe0ca15d4b84fbbb | 6917d12c3f97196b7a4690d14686321807dee71b | diff --git a/resources/views/tabler/captcha/js.tpl b/resources/views/tabler/captcha/js.tpl
index 97db9543b1..a643817360 100644
--- a/resources/views/tabler/captcha/js.tpl
+++ b/resources/views/tabler/captcha/js.tpl
@@ -1,5 +1,12 @@
{if $public_setting['captcha_provider'] === 'turnstile'}
<script src="https://chal... | [
"resources/views/tabler/captcha/js.tpl"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,522 | issue_to_patch | feat: multifactor authentication(totp/fido/webauthn) | 重构MFA服务，支持TOTP及FIDO2设备作为双重认证设备，同时支持WebAuthn登录，增加安全性 | 58561604888bf3f30b3fd54ca39d60b73197610e | d7038e8ac6f2a81cb7e5a92e1ac1173a815b9477 | diff --git a/app/routes.php b/app/routes.php
index 3e4b8c4270..64769de6b8 100644
--- a/app/routes.php
+++ b/app/routes.php
@@ -74,9 +74,15 @@
// 发送验证邮件
$group->post('/edit/send', App\Controllers\AuthController::class . ':sendVerify');
// MFA
- $group->post('/ga_check', App\Controllers\... | [
"app/routes.php",
"composer.json",
"composer.lock",
"db/migrations/2025073100-refactor_mfa.php",
"resources/views/tabler/auth/login.tpl",
"resources/views/tabler/auth/mfa.tpl",
"resources/views/tabler/user/edit.tpl",
"src/Command/Tool.php",
"src/Controllers/AuthController.php",
"src/Controllers/Us... | [] | diff --git a/tests/App/Services/MFATest.php b/tests/App/Services/MFATest.php
deleted file mode 100644
index 5060fb93f9..0000000000
--- a/tests/App/Services/MFATest.php
+++ /dev/null
@@ -1,48 +0,0 @@
-<?php
-
-declare(strict_types=1);
-
-namespace App\Services;
-
-use Exception;
-use PHPUnit\Framework\TestCase;
-use fun... | true | |
Anankke/SSPanel-UIM | 2,516 | issue_to_patch | fix: db migration not working | Database Migrations似乎无法正常工作……
如果没理解错的话，执行顺序是 `php xcat Migration new` -> `php xcat Migration latest`
输出结果：
<details>
> root@debian:~/test/SSPanel-UIM-master# php xcat Migration new
> Found migration version 2023053000...skip
> Found migration version 2023111700...skip
> Found migration version 2023020100
... | 4d0c577129c517260ac3ef6af82a1e6a4901f703 | de7794547c532108be59789651ddedefb3032570 | diff --git a/config/.config.example.php b/config/.config.example.php
index 74dcd36b20..0053d94613 100644
--- a/config/.config.example.php
+++ b/config/.config.example.php
@@ -37,6 +37,7 @@
//Redis设置--------------------------------------------------------------------------------------------------------------
$_ENV['re... | [
"config/.config.example.php",
"db/migrations/2023071700-add_user_is_shadow_banned.php",
"src/Command/Migration.php",
"src/Services/Cache.php",
"src/Services/DB.php",
"tests/App/Services/CacheTest.php"
] | [] | diff --git a/tests/App/Services/CacheTest.php b/tests/App/Services/CacheTest.php
index 0fa13870da..8a2f46a005 100644
--- a/tests/App/Services/CacheTest.php
+++ b/tests/App/Services/CacheTest.php
@@ -16,6 +16,7 @@ public function testGetRedisConfig()
// Scenario 1: All parameters are set
$_ENV['redis_h... | true | |
Anankke/SSPanel-UIM | 2,509 | issue_to_patch | fix: typo | dce3be83b0db3e685f82af378e3ca4ed43639526 | cd26fb8388deb4c0c3734c05876547c625af28d3 | diff --git a/resources/views/tabler/admin/setting/email.tpl b/resources/views/tabler/admin/setting/email.tpl
index 3c34b9b499..5322d50b60 100644
--- a/resources/views/tabler/admin/setting/email.tpl
+++ b/resources/views/tabler/admin/setting/email.tpl
@@ -430,7 +430,6 @@
</div>
... | [
"resources/views/tabler/admin/setting/email.tpl",
"resources/views/tabler/user/header.tpl"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,506 | issue_to_patch | chore(deps): bump stefanzweifel/git-auto-commit-action from 5 to 6 | Bumps [stefanzweifel/git-auto-commit-action](https://github.com/stefanzweifel/git-auto-commit-action) from 5 to 6.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/stefanzweifel/git-auto-commit-action/releases">stefanzweifel/git-auto-commit-action's releases</a>.</em></p>
<bloc... | cbc3308d177f57d33ca4228bf5d2eba2c22c65e2 | 95ae7c63efe010b9454c70220d651bcc38c4b3ad | diff --git a/.github/workflows/minify.yml b/.github/workflows/minify.yml
index b6db2e7cd0..45304a79d3 100644
--- a/.github/workflows/minify.yml
+++ b/.github/workflows/minify.yml
@@ -53,7 +53,7 @@ jobs:
- name: Commit minified files
if: steps.diff.outputs.changed == 'true'
- uses: ste... | [
".github/workflows/minify.yml"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,507 | issue_to_patch | chore(deps): bump codecov/codecov-action from 4 to 5 | Bumps [codecov/codecov-action](https://github.com/codecov/codecov-action) from 4 to 5.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/codecov/codecov-action/releases">codecov/codecov-action's releases</a>.</em></p>
<blockquote>
<h2>v5.0.0</h2>
<h2>v5 Release</h2>
<p><code>v5<... | cbc3308d177f57d33ca4228bf5d2eba2c22c65e2 | 659165acc54c884e87c00ab8aaad61721ed2f90c | diff --git a/.github/workflows/unit.yaml b/.github/workflows/unit.yaml
index 37adf0aa49..a9eeead90d 100644
--- a/.github/workflows/unit.yaml
+++ b/.github/workflows/unit.yaml
@@ -90,7 +90,7 @@ jobs:
- name: Upload coverage to Codecov
if: matrix.php-version == '8.3'
- uses: codecov/cod... | [
".github/workflows/unit.yaml"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,505 | issue_to_patch | chore(deps): bump tj-actions/changed-files from 44 to 46 in /.github/workflows | Bumps [tj-actions/changed-files](https://github.com/tj-actions/changed-files) from 44 to 46.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/tj-actions/changed-files/releases">tj-actions/changed-files's releases</a>.</em></p>
<blockquote>
<h2>v46</h2>
<h1>Changes in v46.0.5</h... | b18694c50602941762cb9b16a5ea42d0c634502b | 3edd3a112d866394813b53f939246ee9c982e75e | diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 70ad4ea2b0..a1186bbaba 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -81,7 +81,7 @@ jobs:
php-version: ${{ env.PHP_VERSION }}
coverage: none
- - uses: tj-actions/changed-files@v44
... | [
".github/workflows/lint.yml"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,502 | issue_to_patch | chore(deps): bump stripe/stripe-php from 15.10.0 to 17.4.0 | Bumps [stripe/stripe-php](https://github.com/stripe/stripe-php) from 15.10.0 to 17.4.0.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/stripe/stripe-php/releases">stripe/stripe-php's releases</a>.</em></p>
<blockquote>
<h2>v17.4.0</h2>
<ul>
<li><a href="https://redirect.githu... | dc1774eaf01916d108ea2b684b0045585af5f727 | f0c4656dbdc6eae8d9b25b451fb43562f1516125 | diff --git a/composer.json b/composer.json
index 85f3412f7a..b248b01a23 100644
--- a/composer.json
+++ b/composer.json
@@ -41,7 +41,7 @@
"slim/slim": "^4",
"smarty/smarty": "^5",
"srmklive/paypal": "^3",
- "stripe/stripe-php": "^15",
+ "stripe/stripe-php": "^17",
"symfo... | [
"composer.json",
"composer.lock"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,503 | issue_to_patch | chore(deps): bump resend/resend-php from 0.12.0 to 0.18.1 | Bumps [resend/resend-php](https://github.com/resend/resend-php) from 0.12.0 to 0.18.1.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/resend/resend-php/releases">resend/resend-php's releases</a>.</em></p>
<blockquote>
<h2>v0.18.1</h2>
<h3>Fixed</h3>
<ul>
<li>Fixed TypeError w... | f67193839297e6fd466a11b8fda01f4db79d980f | acede118c51da7212bdd6c7be147633a0640e68e | diff --git a/composer.json b/composer.json
index d8258eae59..85f3412f7a 100644
--- a/composer.json
+++ b/composer.json
@@ -34,7 +34,7 @@
"phpmailer/phpmailer": "^6",
"postal/postal": "^2",
"ramsey/uuid": "^4",
- "resend/resend-php": "^0.12.0",
+ "resend/resend-php": "^0.18.1",
... | [
"composer.json",
"composer.lock"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,504 | issue_to_patch | chore(deps): bump sendgrid/sendgrid from 8.1.2 to 8.1.11 | Bumps [sendgrid/sendgrid](https://github.com/sendgrid/sendgrid-php) from 8.1.2 to 8.1.11.
<details>
<summary>Release notes</summary>
<p><em>Sourced from <a href="https://github.com/sendgrid/sendgrid-php/releases">sendgrid/sendgrid's releases</a>.</em></p>
<blockquote>
<h2>8.1.11</h2>
<h2><strong>Release Notes</strong><... | f67193839297e6fd466a11b8fda01f4db79d980f | ac66d516c905576298aa4651cc1e668b555de9da | diff --git a/composer.lock b/composer.lock
index d64e77fd14..70e811228d 100644
--- a/composer.lock
+++ b/composer.lock
@@ -4767,26 +4767,27 @@
},
{
"name": "sendgrid/sendgrid",
- "version": "8.1.2",
+ "version": "8.1.11",
"source": {
"ty... | [
"composer.lock"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,498 | issue_to_patch | fix: charts | 35195a1cda53fa5bc22db178d0460718aa57a216 | b716ce0cdfa6016d83b6229041c16ed5a12affe9 | diff --git a/resources/views/tabler/admin/footer.tpl b/resources/views/tabler/admin/footer.tpl
index fbd76b80fe..b4a34b60de 100644
--- a/resources/views/tabler/admin/footer.tpl
+++ b/resources/views/tabler/admin/footer.tpl
@@ -82,8 +82,8 @@
<!-- js -->
<script src="//{$config['jsdelivr_url']}/npm/@tabler/core@latest/... | [
"resources/views/tabler/admin/footer.tpl",
"resources/views/tabler/admin/index.tpl",
"resources/views/tabler/footer.tpl",
"resources/views/tabler/user/footer.tpl",
"resources/views/tabler/user/index.tpl",
"resources/views/tabler/user/rate.tpl"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,494 | issue_to_patch | add cryptomus gateway | f18d5d4841d31301c9c862998028280846d6c3b1 | 4a2f0d11c6d172de0b1781bdf10f0a4e17bf6683 | diff --git a/config/settings.json b/config/settings.json
index 2cddacc488..ce4d1f0f32 100644
--- a/config/settings.json
+++ b/config/settings.json
@@ -1582,5 +1582,50 @@
"type": "int",
"default": "2023020100",
"mark": "当前数据库版本"
+ },
+ {
+ "item": "cryptomus_api_key",
+ "va... | [
"config/settings.json",
"resources/views/tabler/admin/setting/billing.tpl",
"resources/views/tabler/gateway/cryptomus.tpl",
"src/Controllers/Admin/Setting/BillingController.php",
"src/Services/Gateway/Cryptomus.php",
"src/Services/Gateway/Cryptomus/Payment.php",
"src/Services/Gateway/Cryptomus/RequestBu... | [] | true | |||
Anankke/SSPanel-UIM | 2,495 | issue_to_patch | [Uim] (update)sing-box rule | f18d5d4841d31301c9c862998028280846d6c3b1 | 1fa95589fefe3a6f4edc8798c49b1d0b5f70cd48 | diff --git a/config/.config.example.php b/config/.config.example.php
index 2c9be89531..0eec183674 100644
--- a/config/.config.example.php
+++ b/config/.config.example.php
@@ -148,3 +148,14 @@
$_ENV['r2_client_download_timeout'] = 10;
// Clash Meta TCP Concurrency. Default true, false
$_ENV['tcp_concurrent'] = true;
... | [
"config/.config.example.php",
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,496 | issue_to_patch | (update)sing-box rule | 2d9cddc6c4388f231a7096101bfe3d7a657dadfd | ff334a340926af27546006366279ab32153d86c9 | diff --git a/config/.config.example.php b/config/.config.example.php
index c759b0239e..a7282f6c91 100644
--- a/config/.config.example.php
+++ b/config/.config.example.php
@@ -122,3 +122,14 @@
$_ENV['r2_client_download_timeout'] = 10;
// Clash Meta TCP Concurrency. Default true, false
$_ENV['tcp_concurrent'] = true;
... | [
"config/.config.example.php",
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,491 | issue_to_patch | [Uim] (update)sing-box rule | 规则模式更新并添加更多 domain-list(cn) | bd2308db478c776be9d7239396faa44213d8aab2 | 65198bba8a173f7f5805f1058d5e54faac5f3390 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 483d5d133c..53520cc4c7 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -53,49 +53,96 @@
'servers' => [
[
'tag' => 'local',
- 'address' => 'local',
+ ... | [
"config/appprofile.example.php",
"src/Services/Subscribe/Clash.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,492 | issue_to_patch | (update)sing-box rule | 16412d2402d0a4cafe3304cc663963df406a7021 | 53ded97ec53e6ec23fe50606443cbc634793fb1e | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 483d5d133c..53520cc4c7 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -53,49 +53,96 @@
'servers' => [
[
'tag' => 'local',
- 'address' => 'local',
+ ... | [
"config/appprofile.example.php",
"src/Services/Subscribe/Clash.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,486 | issue_to_patch | [Uim] clash_mode(revert & update) | 4e50219e960f6c43428677b784008796d08f6eeb | 18db55c3b3360d23fdcc521fd9f4acd7081eca87 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 59d577d22d..483d5d133c 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -85,13 +85,23 @@
'server' => 'local',
],
[
+ 'clash_mode' => 'Global',
+ ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,487 | issue_to_patch | clash_mode(revert & update) | 4f9de23df61bd238273c71753a9ff605e349ae5d | 2c963f0499382a24389d68430d475da867ebfdf4 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 59d577d22d..483d5d133c 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -85,13 +85,23 @@
'server' => 'local',
],
[
+ 'clash_mode' => 'Global',
+ ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,482 | issue_to_patch | [Uim] (sing-box)add geosite-geolocation-!cn | b817f0ad5a86360b5d798013de08c81cb2df50c2 | 0c4ed932267c6140c21c6cf506c6b91f24805d46 | diff --git a/.github/workflows/unit.yaml b/.github/workflows/unit.yaml
index 9d3ab26cd6..3b0d8ef12f 100644
--- a/.github/workflows/unit.yaml
+++ b/.github/workflows/unit.yaml
@@ -21,7 +21,7 @@ jobs:
php:
- '**/*.php'
- php8.2:
+ php82:
needs: php-file-changed
if: ${{ needs.php-... | [
".github/workflows/unit.yaml",
"config/appprofile.example.php",
"src/Controllers/Admin/OrderController.php",
"src/Services/Gateway/Smogate.php",
"src/Services/Mail.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,483 | issue_to_patch | (sing-box)add geosite-geolocation-!cn | 8be0b18c026157847d97bdcded0894007b54120e | db67dca43078aa221d705b1645d09574f239dd31 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index d8b96c7ba2..59d577d22d 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -70,6 +70,10 @@
'strategy' => 'prefer_ipv6',
'detour' => 'select',
],
+ [
+ ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,479 | issue_to_patch | [Uim] for sing-box 1.11.0+ | New rule actions replace legacy inbound fields and special outbound fields
https://sing-box.sagernet.org/migration/ | ae4dedeea294052331c7d4581f4eddc4757feeee | c41c5d5d16f5e7ff29a3f8e75e274338b8ff466e | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 87e601c27b..d8b96c7ba2 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -100,31 +100,31 @@
'inbounds' => [
[
'type' => 'tun',
+ 'tag' => 'in',
'address' =>... | [
"config/appprofile.example.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,480 | issue_to_patch | for sing-box 1.11.0+ | a59c9e8b4f37026946214812a8f20aece03003cc | 00d399bcbb0733e2da7257a6c31993279f67ca04 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 87e601c27b..d8b96c7ba2 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -100,31 +100,31 @@
'inbounds' => [
[
'type' => 'tun',
+ 'tag' => 'in',
'address' =>... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,478 | issue_to_patch | (SingBox subscribe fix)Method of HTTP request | e3df1470218466043eb88c6b3448942537ec3d30 | 10371a1ab961c8f9ad7bfee4b614d2817fa91575 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index e244a79565..87e601c27b 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -109,7 +109,6 @@
'stack' => 'mixed',
'sniff' => true,
'sniff_override_destination' => true,
- ... | [
"config/appprofile.example.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,477 | issue_to_patch | [Uim] (SingBox subscribe fix)Method of HTTP request | configurable options:
for tcp(http)
```
"method": "GET",
```
for websocket(default is empty)
```
"max_early_data": "4096",
"early_data_header_name": "Sec-WebSocket-Protocol",
``` | 75b4b3ed70a980bde297c5f1d3381a0055102c05 | 9e67e5858cf42b800756ad9ccf414c188693248e | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index e244a79565..87e601c27b 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -109,7 +109,6 @@
'stack' => 'mixed',
'sniff' => true,
'sniff_override_destination' => true,
- ... | [
"config/appprofile.example.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,469 | issue_to_patch | Update MacOS client download | 00afc074f46d792677b7073d42eb183289a6b139 | 395e9c9a6ead8d6233e8c6140757379d23f3858e | diff --git a/config/clients.json b/config/clients.json
index 364e511ad2..6ab7da97ae 100644
--- a/config/clients.json
+++ b/config/clients.json
@@ -43,8 +43,8 @@
"saveName": "SFA.apk"
},
{
- "sourceName": "SFM-%tagName1%-universal.zip",
- ... | [
"config/clients.json",
"resources/views/tabler/user/index.tpl"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,468 | issue_to_patch | [Uim] Update MacOS client download | 49fc897c60994356bebb3015fcd468960a2e8efb | 37f1fa763e69ef596cf1d504b27727ee225104ef | diff --git a/config/clients.json b/config/clients.json
index 6dee3f5cbc..f01a99df01 100644
--- a/config/clients.json
+++ b/config/clients.json
@@ -43,8 +43,8 @@
"saveName": "SFA.apk"
},
{
- "sourceName": "SFM-%tagName1%-universal.zip",
- ... | [
"config/clients.json",
"resources/views/tabler/user/index.tpl"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,466 | issue_to_patch | [Uim] Update user server page | c2f82deed981297331ba7c75fc6376f0d4931aeb | 62462b8519190204a4f9d84676d7c2b30bce4496 | diff --git a/resources/views/tabler/user/server.tpl b/resources/views/tabler/user/server.tpl
index f0caf1f345..34a29c70aa 100644
--- a/resources/views/tabler/user/server.tpl
+++ b/resources/views/tabler/user/server.tpl
@@ -64,23 +64,16 @@
{if $server['con... | [
"resources/views/tabler/user/server.tpl"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,467 | issue_to_patch | Update user server page | 0e131e3f2a608aeb031729c0154ec0ca621e97d4 | 16256caa3b6dc6cb4e7989435ba22056d5c0a85a | diff --git a/resources/views/tabler/user/server.tpl b/resources/views/tabler/user/server.tpl
index f0caf1f345..34a29c70aa 100644
--- a/resources/views/tabler/user/server.tpl
+++ b/resources/views/tabler/user/server.tpl
@@ -64,23 +64,16 @@
{if $server['con... | [
"resources/views/tabler/user/server.tpl"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,462 | issue_to_patch | Add Rule (for ipv6) | e2b58b056f4e9c975e5b0679265a82b61482321e | aeb6a00f12b3f97e8a31f763e25e1cd5bb7a0db8 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 77fbc19f5a..e244a79565 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -57,15 +57,17 @@
'detour' => 'direct',
],
[
- 'tag' => 'proxy-v6',
- ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,461 | issue_to_patch | [Uim] Add Rule (for ipv6) | sing-box很奇怪的故障，经测试 DNS Server `"address": "",` 使用域名且 `"address_resolver": "",` 正常配置的情况下，dot/h域名只能正常使用 DNSPod 系（如`dns.pub` `dot.pub`）的域名，其他家的dot/h服务（如`cloudflare` `google` `alidns`）域名（能解析到dot/h服务对应的IP）都无法使用解析服务（但直接使用dot/h服务 `IP` 可以正常使用解析服务） | 573f66df00f9dccaa7e3ac8ece78183ed2db198b | ada0dcbd50b1e848db650d185dda4d1401ab06fd | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 77fbc19f5a..e244a79565 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -57,15 +57,17 @@
'detour' => 'direct',
],
[
- 'tag' => 'proxy-v6',
- ... | [
"config/appprofile.example.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,456 | issue_to_patch | [Uim] fix sing-box dns | 51ffff64a9c29cf8de8fc53b83d78f3d3b359c8e | ff60219877bd58f79daae20679ee433bd0051912 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 4971a20e9c..77fbc19f5a 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -59,14 +59,12 @@
[
'tag' => 'proxy-v6',
'address' => 'tls://[2606:4700:4700::1111]',
- ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,457 | issue_to_patch | fix sing-box dns | c30a3117580980daa25f75f677fb9f4a17673374 | 39512a9145d312b3ff0f3ed8db447b11fc82f52b | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 4971a20e9c..77fbc19f5a 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -59,14 +59,12 @@
[
'tag' => 'proxy-v6',
'address' => 'tls://[2606:4700:4700::1111]',
- ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,455 | issue_to_patch | Sing-Box dns update | 1b7057515205bd0f2a3d71cf2d669259728fb407 | f770ec3872c226b0cfc17fca949c53d1c2381152 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 9cb64aabff..4971a20e9c 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -52,14 +52,23 @@
'dns' => [
'servers' => [
[
- 'tag' => 'proxy',
- 'address' ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,454 | issue_to_patch | [Uim] Sing-Box dns update | 486d55b3855f0318d65f03fcd817c4b6b7e75df1 | 56ee75aef86cd24a03a8cf838cad6afd2d25ff2b | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 9cb64aabff..4971a20e9c 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -52,14 +52,23 @@
'dns' => [
'servers' => [
[
- 'tag' => 'proxy',
- 'address' ... | [
"config/appprofile.example.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,451 | issue_to_patch | sing-box UoT & utls | Custom Config 以启用 utls (默认 false)
~~~
"utls": true,
~~~ | 36d1ef2c54714272945498c64ae5744c9609bdcb | 49a2608d37bc86a5a7966ee31ed5cc675bf01818 | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index cb3a935cb3..9cb64aabff 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -97,6 +97,7 @@
],
'auto_route' => true,
'strict_route' => true,
+ 'stack' => 'mixed'... | [
"config/appprofile.example.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,450 | issue_to_patch | [Uim] sing-box UoT & utls | Custom Config 以启用 utls (默认 false)
~~~
"utls": true,
~~~ | 4a2989a2ff6341668dc27a25ecdaed6eb2830d80 | 3df0676e627a8ae9415e9b6486072493d9bf3cbc | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index cb3a935cb3..9cb64aabff 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -97,6 +97,7 @@
],
'auto_route' => true,
'strict_route' => true,
+ 'stack' => 'mixed'... | [
"config/appprofile.example.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,449 | issue_to_patch | fix: sing-box subscribe | 缩进逗号引号，完了... | 4c5716288ce79f190998e230027009056d713734 | e362bdc85b3b5403154159062da819bb767bf7ef | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 0c46bf2150..cb3a935cb3 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -45,77 +45,110 @@
$_ENV['SingBox_Config'] = [
'log' => [
+ 'disabled' => false,
'level' => 'error',
+ '... | [
"config/appprofile.example.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,448 | issue_to_patch | [Uim] fix: sing-box subscribe | 81481af15a015573264119420e284e678cd1c447 | a2f05ffb39b0f8e74c06d7daf3fc9d4e930a26ba | diff --git a/config/appprofile.example.php b/config/appprofile.example.php
index 0c46bf2150..cb3a935cb3 100644
--- a/config/appprofile.example.php
+++ b/config/appprofile.example.php
@@ -45,77 +45,110 @@
$_ENV['SingBox_Config'] = [
'log' => [
+ 'disabled' => false,
'level' => 'error',
+ '... | [
"config/appprofile.example.php",
"src/Services/Subscribe/SingBox.php"
] | [] | true | |||
Anankke/SSPanel-UIM | 2,443 | issue_to_patch | [Uim] TCP并发(Clash Meta) | 添加设置 | de682a3dca8d112da8f213c2195d8f829f7c8667 | 3c9e63f674a04546c9d76a1e43e47ac3967f6a52 | diff --git a/config/.config.example.php b/config/.config.example.php
index b769624673..2c9be89531 100644
--- a/config/.config.example.php
+++ b/config/.config.example.php
@@ -146,3 +146,5 @@
$_ENV['r2_access_key_id'] = '';
$_ENV['r2_access_key_secret'] = '';
$_ENV['r2_client_download_timeout'] = 10;
+// Clash Meta T... | [
"config/.config.example.php",
"config/appprofile.example.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,442 | issue_to_patch | TCP并发(Clash Meta) | 添加设置 | 0b8bd23b648d7ebfa5968f642acbd167c504c466 | 05bbfb141946fcfcb07b44bcbf76cd97c92d496b | diff --git a/config/.config.example.php b/config/.config.example.php
index 5e5397d140..c759b0239e 100644
--- a/config/.config.example.php
+++ b/config/.config.example.php
@@ -120,3 +120,5 @@
$_ENV['r2_access_key_id'] = '';
$_ENV['r2_access_key_secret'] = '';
$_ENV['r2_client_download_timeout'] = 10;
+// Clash Meta T... | [
"config/.config.example.php",
"config/appprofile.example.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,416 | issue_to_patch | Dev 20240420 | Smoke🌿everyday 🎵 | 1566207e475165290c831eb7ab62815527ed5eab | be11fe9ffe0c4f5218910f67a9286234cad34961 | diff --git a/.github/PATREON.png b/.github/patreon.png
similarity index 100%
rename from .github/PATREON.png
rename to .github/patreon.png
diff --git a/.github/workflows/lint.yml b/.github/workflows/lint.yml
index 5dbd815e38..6bc92dfcd8 100644
--- a/.github/workflows/lint.yml
+++ b/.github/workflows/lint.yml
@@ -31,6 +... | [
".github/patreon.png",
".github/workflows/lint.yml",
".github/workflows/lockdown.yml",
".github/workflows/minify.yml",
".github/workflows/sonarcloud.yml",
".github/workflows/stale.yml",
".github/workflows/unit.yaml",
"README.md",
"composer.json",
"composer.lock",
"resources/views/tabler/admin/an... | [] | true | ||
Anankke/SSPanel-UIM | 2,413 | issue_to_patch | Dev 20240410 | 4dc80dc47dc5aa3e0e14109226249b0a638adc3f | 2d745971b2cf2d04e5b34f390a790426a73ccdc0 | diff --git a/README.md b/README.md
index 6a1bb971b2..db7abaf998 100644
--- a/README.md
+++ b/README.md
@@ -21,20 +21,20 @@
## TL;DR
-SSPanel UIM is a multi-purpose proxy service sales management system designed for Shadowsocks / V2Ray / Trojan / TUIC protocol.
+SSPanel UIM is a multi-purpose proxy service manageme... | [
"README.md",
"app/predefine.php",
"composer.lock",
"config/.config.example.php",
"config/appprofile.example.php",
"db/migrations/2023020100-init.php",
"db/migrations/2024040500-add_invoice_type.php",
"qodana.yaml",
"resources/views/tabler/admin/announcement/create.tpl",
"resources/views/tabler/adm... | [] | true | |||
Anankke/SSPanel-UIM | 2,412 | issue_to_patch | Dev 20240403 | Made During Earthquake Edition™ | ed93a72293a540c20cce01b3fff2fa230794f301 | e2843171f7585fbaf73fed0462bbd2b95b520cf2 | diff --git a/app/routes.php b/app/routes.php
index c2f7769973..2e348af444 100644
--- a/app/routes.php
+++ b/app/routes.php
@@ -231,6 +231,10 @@
// 设置中心
$group->get('/setting/billing', App\Controllers\Admin\Setting\BillingController::class . ':index');
$group->post('/setting/billing', App\Cont... | [
"app/routes.php",
"composer.lock",
"config/settings.json",
"resources/views/tabler/admin/footer.tpl",
"resources/views/tabler/admin/header.tpl",
"resources/views/tabler/admin/setting/billing.tpl",
"resources/views/tabler/gateway/epay.tpl",
"resources/views/tabler/gateway/stripe.tpl",
"resources/view... | [] | diff --git a/tests/App/Utils/ToolsTest.php b/tests/App/Utils/ToolsTest.php
index 26b16dc801..de8792ea2e 100644
--- a/tests/App/Utils/ToolsTest.php
+++ b/tests/App/Utils/ToolsTest.php
@@ -131,6 +131,10 @@ public function testGenRandomChar()
$randomString = Tools::genRandomChar($length);
$this->assertIs... | true | |
Anankke/SSPanel-UIM | 2,410 | issue_to_patch | Dev 20240402 | 8aba3ae1eb0be87d640c422741d3386106b16718 | b78695497d4bf0f82f4925df6a849e0a2614408b | diff --git a/composer.json b/composer.json
index 792e2da79b..5fdcc7d66c 100644
--- a/composer.json
+++ b/composer.json
@@ -36,7 +36,7 @@
"sentry/sdk": "^4",
"slim/http": "^1",
"slim/slim": "^4",
- "smarty/smarty": "^4",
+ "smarty/smarty": "^5",
"srmklive/paypal": "^3",
... | [
"composer.json",
"composer.lock",
"config/.config.example.php",
"resources/views/tabler/admin/announcement/create.tpl",
"resources/views/tabler/admin/announcement/edit.tpl",
"resources/views/tabler/admin/docs/create.tpl",
"resources/views/tabler/admin/docs/edit.tpl",
"src/Controllers/Admin/DocsControl... | [] | diff --git a/tests/App/Services/FilterTest.php b/tests/App/Services/FilterTest.php
new file mode 100644
index 0000000000..bd7a94b705
--- /dev/null
+++ b/tests/App/Services/FilterTest.php
@@ -0,0 +1,32 @@
+<?php
+
+declare(strict_types=1);
+
+namespace App\Services;
+
+use PHPUnit\Framework\TestCase;
+
+final class Filt... | true | ||
Anankke/SSPanel-UIM | 2,403 | issue_to_patch | fix: unable to pass odd number to genRandomChar | 传入奇数长度时会导致除以2结果为小数，产生以下报错
`openssl_random_pseudo_bytes(): Argument #1 ($length) must be of type int, float given`
解决方案：向上取整再截取字符串 | 20ba56d446e1c57a0cbdbc4b98d9979dc3ed6e40 | 1086792e1f5b6379ba9a6f454740c3bb7521569a | diff --git a/src/Utils/Tools.php b/src/Utils/Tools.php
index 11ebdf05ae..f7a29fb035 100644
--- a/src/Utils/Tools.php
+++ b/src/Utils/Tools.php
@@ -186,7 +186,8 @@ public static function genRandomChar(int $length = 8): string
$length = 2;
}
- return bin2hex(openssl_random_pseudo_bytes($len... | [
"src/Utils/Tools.php"
] | [] | true | ||
Anankke/SSPanel-UIM | 2,401 | issue_to_patch | Dev 20240325 | aac3eecfda8a52e9152cf243256b7b3b4c9b5368 | a217c06afdd6021c0352f976c13ca394119c7909 | diff --git a/.github/PATREON.png b/.github/PATREON.png
index 1b9b885641..0639c9ffd0 100644
Binary files a/.github/PATREON.png and b/.github/PATREON.png differ
diff --git a/.github/vultr.png b/.github/vultr.png
index 73ebffb05d..a63960600a 100644
Binary files a/.github/vultr.png and b/.github/vultr.png differ
diff --git... | [
".github/PATREON.png",
".github/vultr.png",
"README.md",
"composer.json",
"composer.lock",
"config/settings.json",
"db/migrations/2023020100-init.php",
"db/migrations/2024021900-add_missing_indexes.php",
"db/migrations/2024031700-update_data_type.php",
"resources/email/verify_code.tpl",
"resourc... | [] | true | |||
ApolloAuto/apollo | 14,119 | issue_to_patch | Dreamview: fix dead end junction compute bug | b106c7e552b6cca68838a4f275edb953f88fbfce | 110f89fbb4ba59a7a1133e641eb9cf996093e64d | diff --git a/modules/dreamview/frontend/dist/app.bundle.js b/modules/dreamview/frontend/dist/app.bundle.js
index 2c29b8c7d98..b919d691770 100644
--- a/modules/dreamview/frontend/dist/app.bundle.js
+++ b/modules/dreamview/frontend/dist/app.bundle.js
@@ -26,7 +26,7 @@ var i=Object.setPrototypeOf||{__proto__:[]}instanceof... | [
"modules/dreamview/frontend/dist/app.bundle.js",
"modules/dreamview/frontend/dist/app.bundle.js.map",
"modules/dreamview/frontend/src/renderer/map.js",
"modules/dreamview/frontend/yarn.lock"
] | [] | true | |||
ApolloAuto/apollo | 15,762 | issue_to_patch | Recover seyond lidar driver | 1. recover seyond lidar driver code
2. support seyond hummingbird lidar
3. update readme | 4f98406fe1277456b8ebcc8dc6b65bba7a7fec77 | 6680288081b821a2643a836a7cac82899920eda5 | diff --git a/modules/drivers/lidar/cyberfile.xml b/modules/drivers/lidar/cyberfile.xml
index 909dbcf4a42..3c61d7c6429 100644
--- a/modules/drivers/lidar/cyberfile.xml
+++ b/modules/drivers/lidar/cyberfile.xml
@@ -36,6 +36,7 @@
<depend>livox-driver</depend>
<depend>hesai2-driver</depend>
<depend>vanjee-driver</... | [
"modules/drivers/lidar/cyberfile.xml",
"modules/drivers/lidar/seyond/BUILD",
"modules/drivers/lidar/seyond/README_cn.md",
"modules/drivers/lidar/seyond/README_en.md",
"modules/drivers/lidar/seyond/conf/seyond.pb.txt",
"modules/drivers/lidar/seyond/dag/seyond.dag",
"modules/drivers/lidar/seyond/launch/se... | [] | true | ||
ApolloAuto/apollo | 15,758 | issue_to_patch | fix: the calculation error in the P matrix in the piecewise_jerk_path_problem | Fix the P matrix calculation error in piecewise_jerk_path_problem. This bug causes the weight on l''' (jerk) in the cost function to not work | 89a633d4817b8c3e2cea6c9ff3a4daefd9d9ae99 | c8dc4d413c3055c371806d49e18b67e54726c7b5 | diff --git a/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_path_problem.cc b/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_path_problem.cc
index 9d48e2e2bb7..f4df50b268c 100644
--- a/modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_path_problem.cc
+++ b/modules/p... | [
"modules/planning/planning_base/math/piecewise_jerk/piecewise_jerk_path_problem.cc"
] | [] | true | ||
ApolloAuto/apollo | 15,756 | issue_to_patch | Fix non-sequential reading of path_loc. | ### What does this PR do?
This PR fixes an issue where `path_loc` could be read in a non-sequential order, which may lead to incorrect path indexing or unexpected behavior during path processing.
### Why is this needed?
When generating paths, the recorded path data is created in a strictly sequential order.
How... | 89a633d4817b8c3e2cea6c9ff3a4daefd9d9ae99 | e8aa8a11cde253f83b03786bc692476a403c58c4 | diff --git a/modules/external_command/external_command_demo/external_command_demo.cc b/modules/external_command/external_command_demo/external_command_demo.cc
index 41ae1c0502b..4c939c52548 100644
--- a/modules/external_command/external_command_demo/external_command_demo.cc
+++ b/modules/external_command/external_comma... | [
"modules/external_command/external_command_demo/external_command_demo.cc"
] | [
{
"comment": "The header `<algorithm>` needs to be included to use `std::sort`. While it might compile due to transitive includes, relying on transitive includes is fragile and can break with different compiler versions or standard library implementations. \n\nFor reference, the similar file `external_command_w... | true | ||
ApolloAuto/apollo | 15,725 | issue_to_patch | docs: fix document codeblock's indent & language type | To maintain consistency, I updated all markdown files under `docs/应用实践/开发调试教程/Cyber RT实践`, changing all indentations to 4 spaces (previously mixed 3- and 4-space indents). | 1020912d9bf8ad9997b05b7675b2f1670b8bb763 | 8b2626a80bb24d948c09872fd8238da209b1f7dc | diff --git "a/docs/\345\272\224\347\224\250\345\256\236\350\267\265/\345\274\200\345\217\221\350\260\203\350\257\225\346\225\231\347\250\213/Cyber RT\345\256\236\350\267\265/Cyber RT\345\205\245\351\227\250/Cyber RT \345\256\236\350\267\265\344\271\213 Hello Apollo.md" "b/docs/\345\272\224\347\224\250\345\256\236\350\2... | [
"docs/应用实践/开发调试教程/Cyber RT实践/Cyber RT入门/Cyber RT 实践之 Hello Apollo.md",
"docs/应用实践/开发调试教程/Cyber RT实践/Cyber RT组件机制/Cyber RT 之 Component 实践.md",
"docs/应用实践/开发调试教程/Cyber RT实践/Cyber RT组件机制/Cyber RT 之 Timer Component 实践.md",
"docs/应用实践/开发调试教程/Cyber RT实践/Cyber RT调度机制/Cyber调度实践之优先级策略配置.md",
"docs/应用实践/开发调试教程/Cyber ... | [] | true | ||
ApolloAuto/apollo | 14,152 | issue_to_patch | Dreamview:fix dead end routing point bug | 3087dca14d00192e24e416b24f3786d7a09ce774 | 8503935c5399ced12751a66b0b92f92ad7dc8aa5 | diff --git a/modules/dreamview/frontend/dist/app.bundle.js b/modules/dreamview/frontend/dist/app.bundle.js
index b919d691770..6f2ad73bcd8 100644
--- a/modules/dreamview/frontend/dist/app.bundle.js
+++ b/modules/dreamview/frontend/dist/app.bundle.js
@@ -62,7 +62,7 @@ function s(){for(var e=0,t=0,n=arguments.length;t<n;t... | [
"modules/dreamview/frontend/dist/app.bundle.js",
"modules/dreamview/frontend/dist/app.bundle.js.map",
"modules/dreamview/frontend/src/renderer/map.js"
] | [] | true | |||
ApolloAuto/apollo | 15,558 | issue_to_patch | Commit code for CXZL gnss module | 1. Add Cxzl Text parsing for adding serial port | 411b692f94e18b594d80d5f3be1b7190d6f7024a | 09a8fd119697aae38f068a7775fbb42261a2aa60 | diff --git a/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc b/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc
new file mode 100644
index 00000000000..378cac17d4e
--- /dev/null
+++ b/modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc
@@ -0,0 +1,432 @@
+/*********************************... | [
"modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.cc",
"modules/drivers/gnss/parser/cxzl_parser/cxzl_base_parser.h",
"modules/drivers/gnss/parser/parser.h",
"modules/drivers/gnss/proto/config.proto"
] | [] | true | ||
ApolloAuto/apollo | 15,492 | issue_to_patch | ForsenseDecode | ForsenseDecode | fb23f6a1520a34ad38934b0c81fe5377452c2deb | fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522 | diff --git a/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc
new file mode 100644
index 00000000000..a67b25391b2
--- /dev/null
+++ b/modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc
@@ -0,0 +1,184 @@
+/*********... | [
"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.cc",
"modules/drivers/gnss/parser/forsense_parser/forsense_base_parser.h",
"modules/drivers/gnss/parser/forsense_parser/forsense_text_parser.cc",
"modules/drivers/gnss/parser/parser.h",
"modules/drivers/gnss/proto/config.proto"
] | [
{
"comment": "rename this file",
"path": "1",
"hunk": "",
"resolving_sha": "fea46d27bd172d5dfdfd0b9b2e9e12519ad6f522",
"resolving_diff": ""
},
{
"comment": "delete files in modules/drivers/gnss/conf",
"path": "modules/drivers/gnss/conf/.gnss_conf.pb.txt.svu",
"hunk": "",
"res... | true | ||
ApolloAuto/apollo | 15,553 | issue_to_patch | fix: compiling failed on arm since missing dependency of bvar | 70dc837ff5055747183827f137d6080ad42c069e | d5a06e7ba3e05f4cf2e827a15310851fa5d84c2b | diff --git a/cyber/statistics/BUILD b/cyber/statistics/BUILD
index 0d2329dd92b..65934658a46 100644
--- a/cyber/statistics/BUILD
+++ b/cyber/statistics/BUILD
@@ -10,6 +10,7 @@ apollo_cc_library(
"//cyber/common:cyber_common",
"//cyber/proto:role_attributes_cc_proto",
"//cyber/time:cyber_time",... | [
"cyber/statistics/BUILD"
] | [] | true | |||
ApolloAuto/apollo | 15,542 | issue_to_patch | fix: building error of odometry_parser | f460c50897da19957cbf3b24bb3eecee2d6a937a | eefebda1d3caf389bf31d508c61ae1dacda80683 | diff --git a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc b/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
index 432e3917836..8d03ee8a19a 100755
--- a/cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc
+++ b/cyber/ros_br... | [
"cyber/ros_bridge/converters/common_plugins/gnss_msg_converter/odometry_parser.cc"
] | [] | true | |||
ApolloAuto/apollo | 15,541 | issue_to_patch | fix: build error and communication failed when using ros foxy or galatic | 99432e69df01801cd668a48b35493ed55d7bb567 | 83ba04fa6d8e790f930ad80fc374941288c23438 | diff --git a/cyber/ros_bridge/converter_base/convert_ros_double.h b/cyber/ros_bridge/converter_base/convert_ros_double.h
index fba130c9713..db1244a2a8a 100644
--- a/cyber/ros_bridge/converter_base/convert_ros_double.h
+++ b/cyber/ros_bridge/converter_base/convert_ros_double.h
@@ -93,12 +93,13 @@ class RosApolloMessageC... | [
"cyber/ros_bridge/converter_base/convert_ros_double.h",
"cyber/ros_bridge/converter_base/convert_ros_quadruple.h",
"cyber/ros_bridge/converter_base/convert_ros_single.h",
"cyber/ros_bridge/converter_base/convert_ros_triple.h",
"cyber/ros_bridge/converter_base/message_converter.h",
"cyber/ros_bridge/conver... | [] | true | |||
ApolloAuto/apollo | 15,535 | issue_to_patch | fix: python configuration error on ubuntu 20.04 | d30d3811a2887da72cd633ca02caccf3fa9b1250 | 49b2d299f292633783698361f1d5693a285fcad8 | diff --git a/third_party/py/python_configure.bzl b/third_party/py/python_configure.bzl
index 1b058c4faa6..86597bc1115 100644
--- a/third_party/py/python_configure.bzl
+++ b/third_party/py/python_configure.bzl
@@ -192,7 +192,11 @@ def _get_python_lib(repository_ctx, python_bin, lib_path_key):
" library_paths =... | [
"third_party/py/python_configure.bzl"
] | [] | true | |||
ApolloAuto/apollo | 15,528 | issue_to_patch | fix: cyber python init error | 631ed7d78e961851e00c27f5cd5fd0534388381b | 2891b461c62c844d40c36a8bcae5c5f5190e2f68 | diff --git a/cyber/python/internal/py_cyber.h b/cyber/python/internal/py_cyber.h
index 3f0d75087ff..b1cca07a157 100644
--- a/cyber/python/internal/py_cyber.h
+++ b/cyber/python/internal/py_cyber.h
@@ -16,6 +16,7 @@
#ifndef CYBER_PYTHON_INTERNAL_PY_CYBER_H_
#define CYBER_PYTHON_INTERNAL_PY_CYBER_H_
+#define PY_SSIZE... | [
"cyber/python/internal/py_cyber.h"
] | [] | true | |||
ApolloAuto/apollo | 15,526 | issue_to_patch | fix: find pcl error when enable ros | 1867edec3ffe50c31813d734740a23f4c2b59ca9 | 3de1dfcc9923536385bf660825d3b765ee926455 | diff --git a/third_party/pcl/pcl_configure.bzl b/third_party/pcl/pcl_configure.bzl
index 1beeb3b7213..a9e0ea8b16e 100644
--- a/third_party/pcl/pcl_configure.bzl
+++ b/third_party/pcl/pcl_configure.bzl
@@ -80,10 +80,15 @@ def _pcl_match_version(repository_ctx, sysroot_dir = None):
empty_stdout_fine = False,
... | [
"third_party/pcl/pcl_configure.bzl"
] | [] | true | |||
ApolloAuto/apollo | 15,522 | issue_to_patch | remove lidar object poll and fix aem linking issue | 446af0a353a56234577806716e11a7e841c21f68 | 3f8d63c6a250c978031af53978b0c1a71821f19b | diff --git a/aem/funcs.sh b/aem/funcs.sh
index 6a7dcb06f0a..3d6a2e46c19 100755
--- a/aem/funcs.sh
+++ b/aem/funcs.sh
@@ -652,7 +652,7 @@ apollo_container_created_post_action() {
container_bin_path="/usr/local/bin/"
${DOCKER} cp "${aem_path}" "${APOLLO_ENV_CONTAINER_NAME}":"${container_bin_path}aem"
- apollo_ex... | [
"aem/funcs.sh",
"modules/drivers/lidar/compensator/compensator_component.cc"
] | [] | true | |||
ApolloAuto/apollo | 15,513 | issue_to_patch | add performance parsing script and fixing performance of process sampling failures | 0026d7ee9ebdb772818c741e6b9220f9412a94ff | bde4e20111a535c25e8a135218bab304b0529669 | diff --git a/cyber/tools/cyber_performance/cyber_performance.py b/cyber/tools/cyber_performance/cyber_performance.py
index 319a3c82d99..a7c2d824a8f 100644
--- a/cyber/tools/cyber_performance/cyber_performance.py
+++ b/cyber/tools/cyber_performance/cyber_performance.py
@@ -60,6 +60,9 @@
process_network_io = {}
network... | [
"cyber/tools/cyber_performance/cyber_performance.py",
"scripts/performance_parse.py"
] | [] | true | |||
ApolloAuto/apollo | 15,506 | issue_to_patch | docs: Update path to demo record for cyber_recorder | Follow up on #15312
The path for the subsequent command in the documentation did not get updated. | baf7716e70ef9f0a9aa0ebc873c387ebc809c94e | d93a652d39a13f7a05a1f5ea745bc6ec7acaf84f | diff --git a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md b/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md
index 757fc13bf92..e8ea54d7022 100644
--- a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md
+++ b/docs/01_Installation Instructions/how_to_launch_and_run_a... | [
"docs/01_Installation Instructions/how_to_launch_and_run_apollo.md"
] | [] | true | ||
ApolloAuto/apollo | 15,468 | issue_to_patch | Apollo seyond lidar driver | 1、新增Seyond激光雷达驱动；
2、已经进行过功能测试； | 6edbb1f8fcee5ad2e75109b89de799236971548e | c495bc9132d465c139d95a1bdf775853dc2a3349 | diff --git a/modules/drivers/lidar/cyberfile.xml b/modules/drivers/lidar/cyberfile.xml
index 54ba16237ac..3f66e824224 100644
--- a/modules/drivers/lidar/cyberfile.xml
+++ b/modules/drivers/lidar/cyberfile.xml
@@ -34,6 +34,7 @@
<depend>libpcap-dev</depend>
<depend>rsdriver</depend>
<depend>vanjee-driver</depend... | [
"modules/drivers/lidar/cyberfile.xml",
"modules/drivers/lidar/seyond/BUILD",
"modules/drivers/lidar/seyond/README_cn.md",
"modules/drivers/lidar/seyond/README_en.md",
"modules/drivers/lidar/seyond/conf/seyond.pb.txt",
"modules/drivers/lidar/seyond/dag/seyond.dag",
"modules/drivers/lidar/seyond/launch/se... | [] | true | ||
ApolloAuto/apollo | 15,475 | issue_to_patch | Apollo vanjee lidar driver | 1.fix running errors with other lidar drivers. | 6edbb1f8fcee5ad2e75109b89de799236971548e | f8c120c9aa86b8323e75d2d014d430392e56d54b | diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD
new file mode 100644
index 00000000000..c8e42a1b551
--- /dev/null
+++ b/modules/drivers/lidar/vanjeelidar/BUILD
@@ -0,0 +1,38 @@
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_component")
... | [
"modules/drivers/lidar/vanjeelidar/BUILD",
"modules/drivers/lidar/vanjeelidar/README.md",
"modules/drivers/lidar/vanjeelidar/README_cn.md",
"modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt",
"modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag",
"modules/drivers/lidar/vanjeelidar/doc/parameter... | [] | true | ||
ApolloAuto/apollo | 14,868 | issue_to_patch | chore: fix the open mail address of Apollo | Change-Id: I2eb63d9acddca58f21784f58e207d22e80ce5221 | cd07f3fd6d4ffb215f4a477355b41e928d3b0d7b | 20641ccbcf159836ea45f5ebad121149b8a4eff7 | diff --git a/modules/canbus_vehicle/ch/cyberfile.xml b/modules/canbus_vehicle/ch/cyberfile.xml
index 774272031bd..3f0db5a4a11 100644
--- a/modules/canbus_vehicle/ch/cyberfile.xml
+++ b/modules/canbus_vehicle/ch/cyberfile.xml
@@ -5,7 +5,7 @@
Dynamic loading for canbus ch vehicle module
</description>
- <mai... | [
"modules/canbus_vehicle/ch/cyberfile.xml",
"modules/canbus_vehicle/devkit/cyberfile.xml",
"modules/canbus_vehicle/ge3/cyberfile.xml",
"modules/canbus_vehicle/gem/cyberfile.xml",
"modules/canbus_vehicle/lexus/cyberfile.xml",
"modules/canbus_vehicle/lincoln/cyberfile.xml",
"modules/canbus_vehicle/neolix_e... | [] | true | ||
ApolloAuto/apollo | 15,505 | issue_to_patch | canbus: update recent canbus changes | ba32187d4f1879fb0a9b941ca501cd5717c680df | bbad8a7f17a85a2402f4ff628ec39997ee115dba | diff --git a/modules/canbus/canbus_component.cc b/modules/canbus/canbus_component.cc
index a6665c14872..4871f851564 100644
--- a/modules/canbus/canbus_component.cc
+++ b/modules/canbus/canbus_component.cc
@@ -88,30 +88,47 @@ bool CanbusComponent::Init() {
chassis_cmd_reader_config.pending_queue_size =
FLAGS_c... | [
"modules/canbus/canbus_component.cc",
"modules/canbus/canbus_component.h",
"modules/canbus/common/canbus_gflags.cc",
"modules/canbus/common/canbus_gflags.h",
"modules/canbus/conf/canbus.conf",
"modules/canbus/conf/canbus_conf.pb.txt",
"modules/canbus/vehicle/abstract_vehicle_factory.cc",
"modules/canb... | [] | diff --git a/modules/canbus_vehicle/ch/ch_controller_test.cc b/modules/canbus_vehicle/ch/ch_controller_test.cc
index 48f2f468e1a..3b711165b02 100644
--- a/modules/canbus_vehicle/ch/ch_controller_test.cc
+++ b/modules/canbus_vehicle/ch/ch_controller_test.cc
@@ -53,15 +53,13 @@ class ChControllerTest : public ::testing::... | true | ||
ApolloAuto/apollo | 15,312 | issue_to_patch | Update how_to_launch_and_run_apollo.md | Corrected path of demo_guide | 43922a04d0ecbdb2da4bf2d77b445fd11017e563 | 1d6e0ad5d648cc09b701afb5a988a1c3682892b1 | diff --git a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md b/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md
index 1d02567ad02..757fc13bf92 100644
--- a/docs/01_Installation Instructions/how_to_launch_and_run_apollo.md
+++ b/docs/01_Installation Instructions/how_to_launch_and_run_a... | [
"docs/01_Installation Instructions/how_to_launch_and_run_apollo.md"
] | [] | true | ||
ApolloAuto/apollo | 15,369 | issue_to_patch | Fix apollo_6_0_quick_start_cn.md link | Fix broken link (Apollo 3.5 硬件与系统安装指南)
修复损坏的404链接 | 0ac55bbdbd4485e83fac8030cde006bef34a9374 | cea92b97b50b0ea5b50f0367fcd07efa5e945d91 | diff --git a/docs/02_Quick Start/apollo_6_0_quick_start_cn.md b/docs/02_Quick Start/apollo_6_0_quick_start_cn.md
index 36753bb8aaf..14615a14823 100644
--- a/docs/02_Quick Start/apollo_6_0_quick_start_cn.md
+++ b/docs/02_Quick Start/apollo_6_0_quick_start_cn.md
@@ -19,7 +19,7 @@ Apollo集成了新的深度学习模型，包括使用PointPillars进行障碍
... | [
"docs/02_Quick Start/apollo_6_0_quick_start_cn.md"
] | [] | true | ||
ApolloAuto/apollo | 15,413 | issue_to_patch | fix: fix broken links in documentation | 54c820207c1ed4b0a485e7267aea4fadf19b84d6 | 482b5381d93d300f4ff61a2a2f9583f64db8bb30 | diff --git a/docs/02_Quick Start/README.md b/docs/02_Quick Start/README.md
index 4e17c6c2a62..8378146777b 100644
--- a/docs/02_Quick Start/README.md
+++ b/docs/02_Quick Start/README.md
@@ -5,7 +5,7 @@
- [Apollo 8.0 quick start](./apollo_8_0_quick_start.md)
- [Apollo software installation guide - package method](../01... | [
"docs/02_Quick Start/README.md",
"docs/02_Quick Start/apollo_3_5_quick_start.md",
"docs/02_Quick Start/apollo_5_0_quick_start.md",
"docs/02_Quick Start/apollo_5_5_quick_start.md",
"docs/02_Quick Start/apollo_6_0_quick_start.md",
"docs/02_Quick Start/apollo_6_0_quick_start_cn.md",
"docs/10_Control/how_to... | [] | true | |||
ApolloAuto/apollo | 15,474 | issue_to_patch | Fix typos | Fix typos | 6edbb1f8fcee5ad2e75109b89de799236971548e | 335a789b6553f263f589abd4cb3ec91de5c5d5f9 | diff --git a/cyber/examples/service.cc b/cyber/examples/service.cc
index babe651c41e..8aaf561ec15 100644
--- a/cyber/examples/service.cc
+++ b/cyber/examples/service.cc
@@ -40,7 +40,7 @@ int main(int argc, char* argv[]) {
while (apollo::cyber::OK()) {
auto res = client->SendRequest(driver_msg);
if (res != ... | [
"cyber/examples/service.cc",
"cyber/mainboard/module_argument.cc",
"cyber/node/node.h",
"cyber/node/reader_base.h",
"cyber/parameter/parameter_client.h"
] | [] | true | ||
ApolloAuto/apollo | 15,446 | issue_to_patch | fix : fix README_cn.md ;The “planning” in the document was misspelled as “lanning”. | The “planning” in the document was misspelled as “lanning”. | 3e175e04610cc1aa08fc1e86869fb5f5970c0414 | e4972cf30000b40450578c3b1e3a527d521de1b1 | diff --git a/modules/planning/planning_component/README_cn.md b/modules/planning/planning_component/README_cn.md
index 5f5e2d21de1..66228a3d83b 100644
--- a/modules/planning/planning_component/README_cn.md
+++ b/modules/planning/planning_component/README_cn.md
@@ -15,9 +15,9 @@ planning模块由以下几个目录构成：
- **planning_base**... | [
"modules/planning/planning_component/README_cn.md"
] | [] | true | ||
ApolloAuto/apollo | 15,438 | issue_to_patch | Apollo vanjee lidar driver | 1、添加万集激光雷达驱动；
2、已经进行过功能测试； | dff5e80beb524e38959377205fb9ef62c93afb1e | 0eb4f9f5fe75d444f2260d492e7620bc864a9f87 | diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD
new file mode 100644
index 00000000000..c8e42a1b551
--- /dev/null
+++ b/modules/drivers/lidar/vanjeelidar/BUILD
@@ -0,0 +1,38 @@
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_component")
... | [
"modules/drivers/lidar/vanjeelidar/BUILD",
"modules/drivers/lidar/vanjeelidar/README.md",
"modules/drivers/lidar/vanjeelidar/README_cn.md",
"modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt",
"modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag",
"modules/drivers/lidar/vanjeelidar/doc/parameter... | [
{
"comment": "Is pcap required?",
"path": "modules/drivers/lidar/vanjeelidar/BUILD",
"hunk": "@@ -0,0 +1,39 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"/... | true | ||
ApolloAuto/apollo | 15,438 | comment_to_fix | Apollo vanjee lidar driver | Is pcap required? | dff5e80beb524e38959377205fb9ef62c93afb1e | 0eb4f9f5fe75d444f2260d492e7620bc864a9f87 | diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD
new file mode 100644
index 00000000000..c8e42a1b551
--- /dev/null
+++ b/modules/drivers/lidar/vanjeelidar/BUILD
@@ -0,0 +1,38 @@
+load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_component")
... | [
"modules/drivers/lidar/vanjeelidar/BUILD"
] | [
{
"comment": "Is pcap required?",
"path": "modules/drivers/lidar/vanjeelidar/BUILD",
"hunk": "@@ -0,0 +1,39 @@\n+load(\"//tools:apollo_package.bzl\", \"apollo_package\", \"apollo_cc_library\", \"apollo_component\")\r\n+load(\"//tools:cpplint.bzl\", \"cpplint\")\r\n+\r\n+package(default_visibility = [\"/... | true | ||
ApolloAuto/apollo | 15,438 | comment_to_fix | Apollo vanjee lidar driver | Where are the files? If have source code, you can add in the code | dff5e80beb524e38959377205fb9ef62c93afb1e | 0eb4f9f5fe75d444f2260d492e7620bc864a9f87 | diff --git a/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp
new file mode 100644
index 00000000000..dfce9b34f8f
--- /dev/null
+++ b/modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp
@@ -0,0 +1,182 @@
+/*********************... | [
"modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp"
] | [
{
"comment": "Where are the files? If have source code, you can add in the code",
"path": "modules/drivers/lidar/vanjeelidar/src/vanjeelidar_component.cpp",
"hunk": "@@ -0,0 +1,183 @@\n+/******************************************************************************\n+ * Copyright 2024 The Apollo Authors... | true | ||
ApolloAuto/apollo | 15,449 | issue_to_patch | Revert "Apollo vanjee lidar driver" | Reverts ApolloAuto/apollo#15438 | 3e175e04610cc1aa08fc1e86869fb5f5970c0414 | c49033b0ec8e6fd2a28b3f7f3dcabc053baf2d5f | diff --git a/modules/drivers/lidar/vanjeelidar/BUILD b/modules/drivers/lidar/vanjeelidar/BUILD
deleted file mode 100644
index c8e42a1b551..00000000000
--- a/modules/drivers/lidar/vanjeelidar/BUILD
+++ /dev/null
@@ -1,38 +0,0 @@
-load("//tools:apollo_package.bzl", "apollo_package", "apollo_cc_library", "apollo_component... | [
"modules/drivers/lidar/vanjeelidar/BUILD",
"modules/drivers/lidar/vanjeelidar/README.md",
"modules/drivers/lidar/vanjeelidar/README_cn.md",
"modules/drivers/lidar/vanjeelidar/conf/vanjeelidar.pb.txt",
"modules/drivers/lidar/vanjeelidar/dag/vanjeelidar.dag",
"modules/drivers/lidar/vanjeelidar/doc/parameter... | [] | true | ||
ApolloAuto/apollo | 15,408 | issue_to_patch | road test pass. modify Enbroad gnss driver code and improve compatibility and restore gnss_conf.pb.txt | 路测通过，并在z客户apollo上使用。具体详细说明，参考《亿波达组合惯导接入Apollol设计方案》 | 54c820207c1ed4b0a485e7267aea4fadf19b84d6 | 6e01ee011b2002d2a4490ee107c439ba9244d679 | diff --git a/modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h b/modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h
new file mode 100755
index 00000000000..e481607b0c1
--- /dev/null
+++ b/modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h
@@ -0,0 +1,220 @@
+/***************************... | [
"modules/drivers/gnss/parser/enbroad_parser/enbroad_messages.h",
"modules/drivers/gnss/parser/enbroad_parser/enbroad_parser.cc",
"modules/drivers/gnss/parser/parser.h",
"modules/drivers/gnss/proto/config.proto"
] | [] | true | ||
ApolloAuto/apollo | 15,317 | issue_to_patch | reeds_shepp_path cost computation bug
tag v9.0.0，modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc,
line 124&127: cost += cost + traj_gear_switch_penalty_;
cost added two times. | fix(planning): del redundant add for cost (#15316) | 43922a04d0ecbdb2da4bf2d77b445fd11017e563 | 88914fd001982c9b94def70d58858fd5752f9d00 | diff --git a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc b/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc
index a164fbf4765..f18f8809aa9 100644
--- a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp... | [
"modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc"
] | [] | true | ||
ApolloAuto/apollo | 15,316 | issue_to_patch | fix(planning): del redundant add for cost | del redundant add for cost in "ShortestRSP" | 43922a04d0ecbdb2da4bf2d77b445fd11017e563 | 28e377a971ead8931436e15df70d7549f75bc441 | diff --git a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc b/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc
index a164fbf4765..f18f8809aa9 100644
--- a/modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp... | [
"modules/planning/planning_base/open_space/coarse_trajectory_generator/reeds_shepp_path.cc"
] | [] | true | ||
ApolloAuto/apollo | 15,234 | issue_to_patch | Launching Dreamview+
I am interested in trying out Dreamview 2.0 (Dreamview+), and noticed documentation suggests starting it using `aem`
```
aem bootstrap start --plus
```
Is there a way to launch Dreamview 2.0 without `aem`? For example, in older versions we do
```
bash docker/scripts/dev_start.sh
bash do... | fix: dreamview_plus documentation | Resolves #15233 | 803170c79e5ef12bafd0adb1b39273b576e4589a | a8167aa5f9af13908b4f501b68b9a5f8b12af304 | diff --git a/modules/dreamview_plus/README.md b/modules/dreamview_plus/README.md
index 84cb5e85f21..e8416fb7aa5 100644
--- a/modules/dreamview_plus/README.md
+++ b/modules/dreamview_plus/README.md
@@ -53,7 +53,7 @@ modules/dreamview_plus
1. Build apollo in source env or install `dreamview-plus` and `monitor` package i... | [
"modules/dreamview_plus/README.md"
] | [] | true | |
ApolloAuto/apollo | 15,180 | issue_to_patch | fix: fix a typo in apollo_package.bzl | fix a typo in apollo_package.bzl | 5d989367890518e4b8ae44ef22b6e283a79ce0d5 | 4472f228f6df90005d4fffdee6729ecf652d8b82 | diff --git a/tools/apollo_package.bzl b/tools/apollo_package.bzl
index 7e0deecee61..6847c641e7b 100644
--- a/tools/apollo_package.bzl
+++ b/tools/apollo_package.bzl
@@ -334,7 +334,7 @@ def apollo_component(**kwargs):
if not kwargs["name"].startswith("lib") or not kwargs["name"].endswith(".so"):
fail("name... | [
"tools/apollo_package.bzl"
] | [] | true | ||
ApolloAuto/apollo | 15,153 | issue_to_patch | Fix broken link to Jointly Prediction Planning Evaluator from Prediction README.md | I tried to figure out which document was the correct link. Can someone please verify? | a3c851fc5844e0684b9c5108231fcc2c15cebb8e | e49bb994c93ee1de011cb3fbff1dcb701094d830 | diff --git a/modules/prediction/README.md b/modules/prediction/README.md
index cd72085dbce..7df2dc7ae6a 100644
--- a/modules/prediction/README.md
+++ b/modules/prediction/README.md
@@ -70,7 +70,7 @@ The list of available evaluators include:
* **Vectornet LSTM evaluator**: this evaluator is used in place of Semantic ... | [
"modules/prediction/README.md"
] | [] | true | ||
ApolloAuto/apollo | 15,113 | issue_to_patch | fix(docker): limit amodel version, and check if pip3 exist | 5a7c5d05f911d11bf4c2ad389571814027ae50a7 | 8a27f0dbbbdf701d2d8166a5e3a4c20b40041587 | diff --git a/docker/scripts/dev_start.sh b/docker/scripts/dev_start.sh
index b02c75482dd..a9ca8a3268d 100755
--- a/docker/scripts/dev_start.sh
+++ b/docker/scripts/dev_start.sh
@@ -53,7 +53,7 @@ MAP_VOLUMES_CONF=
# Install python tools
source docker/setup_host/host_env.sh
DEFAULT_PYTHON_TOOLS=(
- amodel
+ amodel~=... | [
"docker/scripts/dev_start.sh"
] | [] | true | |||
ApolloAuto/apollo | 15,103 | issue_to_patch | fix(cyber):cyber_monitor no message bug fix | 0b4cbec317bb66636bd1615288ee890e423da4b1 | 083df0e75d4ccff98d231bef551bfaa649f867b4 | diff --git a/cyber/message/protobuf_factory.cc b/cyber/message/protobuf_factory.cc
index e6a67745880..dcacec29ca0 100644
--- a/cyber/message/protobuf_factory.cc
+++ b/cyber/message/protobuf_factory.cc
@@ -47,15 +47,28 @@ bool ProtobufFactory::RegisterMessage(const Descriptor& desc) {
}
bool ProtobufFactory::Registe... | [
"cyber/message/protobuf_factory.cc",
"cyber/message/protobuf_factory.h"
] | [] | true | |||
ApolloAuto/apollo | 13,868 | issue_to_patch | [bridge]解决了接收多个帧时无法将数据发布给相应的话题 | 当我使用Apollo的bridge模块测试数据的接收与发送时，发现了一个问题：当客户端发送单帧数据时，服务端可以顺利解析并发布到相关的话题，但是当protobuf数据过大，需要客户端将protobuf数据分为多帧进行发送时，服务端却无法将接收数据并发送至相关话题。
经过排查，发现`BridgeProtoDiserializedBuf`的数据成员`sequence_num_`和`proto_name_`没有进行初始化，导致`BridgeProtoDiserializedBuf<T>::IsTheProto`函数无法判断该帧属于哪个protobuf数据，因此需要在`BridgeProtoDiserializedBuf<T>::Init... | 37e3365fd0ad383e1be1991d8eee90f88b628d60 | 08971ac75b637aa23da67901c312ff5882139db2 | diff --git a/modules/bridge/common/bridge_proto_diserialized_buf.h b/modules/bridge/common/bridge_proto_diserialized_buf.h
index b88559837c3..cd87299dd01 100644
--- a/modules/bridge/common/bridge_proto_diserialized_buf.h
+++ b/modules/bridge/common/bridge_proto_diserialized_buf.h
@@ -137,6 +137,8 @@ template <typename ... | [
"modules/bridge/common/bridge_proto_diserialized_buf.h"
] | [] | true | ||
ApolloAuto/apollo | 4,741 | issue_to_patch | planning: fix bug in cubic polynomial | b849f3c90a400d67ab1369861bb769691e026f9e | 95d1588bfdcd4a0dc09301606d50731256e15301 | diff --git a/modules/planning/constraint_checker/constraint_checker1d.cc b/modules/planning/constraint_checker/constraint_checker1d.cc
index 82ad89fa046..539c85e4ea7 100644
--- a/modules/planning/constraint_checker/constraint_checker1d.cc
+++ b/modules/planning/constraint_checker/constraint_checker1d.cc
@@ -28,12 +28,9... | [
"modules/planning/constraint_checker/constraint_checker1d.cc",
"modules/planning/math/curve1d/cubic_polynomial_curve1d.cc",
"modules/planning/math/curve1d/cubic_polynomial_curve1d.h"
] | [] | true | |||
ApolloAuto/apollo | 15,033 | issue_to_patch | Add lslidar driver for Apollo platform | Add lslidar driver for Apollo platform，230706 | d5f88cb390d01cc15bc11d9af484d8e5a34d218f | c70f99a22da82fa554b9880d021dc3b9c83ab17b | diff --git a/modules/drivers/lidar/BUILD b/modules/drivers/lidar/BUILD
index 1f289ba7b35..81d04bf37bc 100644
--- a/modules/drivers/lidar/BUILD
+++ b/modules/drivers/lidar/BUILD
@@ -18,6 +18,7 @@ install(
"//modules/drivers/lidar/hesai:install",
"//modules/drivers/lidar/robosense:install",
"//... | [
"modules/drivers/lidar/BUILD",
"modules/drivers/lidar/lslidar/BUILD",
"modules/drivers/lidar/lslidar/README_cn.md",
"modules/drivers/lidar/lslidar/README_en.md",
"modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt",
"modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt",
"modules/driver... | [] | diff --git a/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt
new file mode 100644
index 00000000000..0bb207bb4f9
--- /dev/null
+++ b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt
@@ -0,0 +1,29 @@
+model: LSLIDAR_C1_V4
+device_ip: "192.... | true | |
ApolloAuto/apollo | 15,042 | issue_to_patch | Add lslidar driver for Apollo platform,230714 | Add lslidar driver for Apollo platform | d5f88cb390d01cc15bc11d9af484d8e5a34d218f | cf81fa2fe3573914ef92f63f46300b7ca5cf2958 | diff --git a/modules/drivers/lidar/BUILD b/modules/drivers/lidar/BUILD
index 1f289ba7b35..81d04bf37bc 100644
--- a/modules/drivers/lidar/BUILD
+++ b/modules/drivers/lidar/BUILD
@@ -18,6 +18,7 @@ install(
"//modules/drivers/lidar/hesai:install",
"//modules/drivers/lidar/robosense:install",
"//... | [
"modules/drivers/lidar/BUILD",
"modules/drivers/lidar/lslidar/BUILD",
"modules/drivers/lidar/lslidar/README_cn.md",
"modules/drivers/lidar/lslidar/README_en.md",
"modules/drivers/lidar/lslidar/conf/lslidar16_compensator.pb.txt",
"modules/drivers/lidar/lslidar/conf/lslidar16_conf.pb.txt",
"modules/driver... | [] | diff --git a/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt
new file mode 100644
index 00000000000..0bb207bb4f9
--- /dev/null
+++ b/modules/drivers/lidar/lslidar/conf/lslidartest_conf.pb.txt
@@ -0,0 +1,29 @@
+model: LSLIDAR_C1_V4
+device_ip: "192.... | true | |
ApolloAuto/apollo | 1,040 | issue_to_patch | planning: use timer to control rerouting frequency | 0e8edcdaea489445de8191a5bf2d14c755c14da0 | 7c099379cf35b239e23d116d8690ad113fe1c5cc | diff --git a/modules/planning/common/planning_gflags.cc b/modules/planning/common/planning_gflags.cc
index b6ad27d04ae..502db6fd935 100644
--- a/modules/planning/common/planning_gflags.cc
+++ b/modules/planning/common/planning_gflags.cc
@@ -49,6 +49,14 @@ DEFINE_double(look_forward_time_sec, 8,
"look for... | [
"modules/planning/common/planning_gflags.cc",
"modules/planning/common/planning_gflags.h",
"modules/planning/tasks/traffic_decider/BUILD",
"modules/planning/tasks/traffic_decider/rerouting.cc"
] | [] | true | |||
ApolloAuto/apollo | 14,544 | issue_to_patch | Update disclaimer link | 0e3f5265ce89dae91789aad6cb6ab590abb97fd9 | 071bc80f0574dab356c603140f3f69a04cf40498 | diff --git a/README.md b/README.md
index 0319c58756f..6d63ec056a7 100644
--- a/README.md
+++ b/README.md
@@ -213,7 +213,7 @@ Apollo is provided under the [Apache-2.0 license](https://github.com/ApolloAuto/
Apollo open source platform only has the source code for models, algorithms and processes, which will be integr... | [
"README.md"
] | [] | true | |||
ApolloAuto/apollo | 13,820 | issue_to_patch | Revert "Tools: fix the typo in rtk recorder" | Reverts ApolloAuto/apollo#13819 | 175b4b398398f3d600ab7599c35fb3b662ad7901 | e19f4dd3093ea3ec3c8c6bb57c366a9d3d502c18 | diff --git a/modules/tools/record_play/rtk_recorder.py b/modules/tools/record_play/rtk_recorder.py
index 4c83b7a4b09..0e72282fd08 100644
--- a/modules/tools/record_play/rtk_recorder.py
+++ b/modules/tools/record_play/rtk_recorder.py
@@ -134,7 +134,7 @@ def localization_callback(self, data):
carmax_steer_angle ... | [
"modules/tools/record_play/rtk_recorder.py"
] | [] | true | ||
ApolloAuto/apollo | 14,634 | issue_to_patch | Fix perception.velocity direction bug and perception frequency bug | When using the _garage_perception.bash_ script to register the obstacles, the green arrow of obstacle velocity direction doesn't change in the Dreamview because the `perception.velocity` is not updated in the `linear_project_perception` function. Here we add a line of code to update the `perception.velocity`. | 39c3d7641493fd5fe3d1d49b862549b7fe41da44 | f553badf637d049f3cc8940ae7bdfce7de509f64 | diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py
index 3b1578b6a37..5fe167cde47 100644
--- a/modules/tools/perception/replay_perception.py
+++ b/modules/tools/perception/replay_perception.py
@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_per... | [
"modules/tools/perception/replay_perception.py"
] | [
{
"comment": "we should just use float(period)",
"path": "modules/tools/perception/replay_perception.py",
"hunk": "@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObst... | true | ||
ApolloAuto/apollo | 14,634 | comment_to_fix | Fix perception.velocity direction bug and perception frequency bug | we should just use float(period) | 39c3d7641493fd5fe3d1d49b862549b7fe41da44 | f553badf637d049f3cc8940ae7bdfce7de509f64 | diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py
index 3b1578b6a37..5fe167cde47 100644
--- a/modules/tools/perception/replay_perception.py
+++ b/modules/tools/perception/replay_perception.py
@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_per... | [
"modules/tools/perception/replay_perception.py"
] | [
{
"comment": "we should just use float(period)",
"path": "modules/tools/perception/replay_perception.py",
"hunk": "@@ -272,9 +272,9 @@ def perception_publisher(perception_channel, files, period):\n node = cyber.Node(\"perception\")\n writer = node.create_writer(perception_channel, PerceptionObst... | true | ||
ApolloAuto/apollo | 14,634 | comment_to_fix | Fix perception.velocity direction bug and perception frequency bug | Not sure if velocity needs to be calculated from position | 39c3d7641493fd5fe3d1d49b862549b7fe41da44 | f553badf637d049f3cc8940ae7bdfce7de509f64 | diff --git a/modules/tools/perception/replay_perception.py b/modules/tools/perception/replay_perception.py
index 3b1578b6a37..5fe167cde47 100644
--- a/modules/tools/perception/replay_perception.py
+++ b/modules/tools/perception/replay_perception.py
@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_per... | [
"modules/tools/perception/replay_perception.py"
] | [
{
"comment": "Not sure if velocity needs to be calculated from position",
"path": "modules/tools/perception/replay_perception.py",
"hunk": "@@ -231,7 +231,7 @@ def linear_project_perception(description, prev_perception):\n get_point(trace[i - 1], trace[i], ratio))\n perceptio... | true | ||
ApolloAuto/apollo | 14,854 | issue_to_patch | fix(tools): fix typo in sensor_calibration | cd510fe5c4b3197383900d00b0f832d4be9ca5b0 | de5ee795e67d9f5aec901f24db76f7c19a05dcf1 | diff --git a/modules/tools/sensor_calibration/extract_data.py b/modules/tools/sensor_calibration/extract_data.py
index 59a06e5e7d3..15b5c79df60 100755
--- a/modules/tools/sensor_calibration/extract_data.py
+++ b/modules/tools/sensor_calibration/extract_data.py
@@ -94,7 +94,7 @@
class Extractor(object):
def __in... | [
"modules/tools/sensor_calibration/extract_data.py"
] | [] | true | |||
ApolloAuto/apollo | 14,768 | issue_to_patch | fix(docs): fix typo in apollo_software_installation_guide_package_method.md | fix(docs): fix typo in apollo_software_installation_guide_package_method.md | cd510fe5c4b3197383900d00b0f832d4be9ca5b0 | b3e9b1a6073c05715de71cd270e5ce96db5527b9 | diff --git a/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md b/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md
index 49e30e0b773..e881ddb520c 100644
--- a/docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md
... | [
"docs/01_Installation Instructions/apollo_software_installation_guide_package_method.md"
] | [] | true | ||
ApolloAuto/apollo | 14,875 | issue_to_patch | fix: fix lint issue | fix ci pipeline and lint code. | b352846f7ba0f120d564a1f423b96910723f253b | 8176553c420da90ae584cf07b9e12468be37cf4f | diff --git a/modules/perception/inference/migraphx/plugins/plugin.h b/modules/perception/inference/migraphx/plugins/plugin.h
index 0ae5a2b5a84..8a766dbe05d 100644
--- a/modules/perception/inference/migraphx/plugins/plugin.h
+++ b/modules/perception/inference/migraphx/plugins/plugin.h
@@ -22,44 +22,42 @@
#define DEPREC... | [
"modules/perception/inference/migraphx/plugins/plugin.h",
"modules/perception/onboard/component/lidar_tracking_component.cc",
"modules/perception/onboard/component/lidar_tracking_component.h"
] | [] | true |
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