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Add switch to change the method of assigning timestamps in raw packets #377

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Add switch to change the method of assigning timestamps in raw packets #377

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7 changes: 7 additions & 0 deletions Assets/RGLUnityPlugin/Scripts/LidarUdpPublisher.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,12 @@ public class LidarUdpPublisher : MonoBehaviour

public bool emitRawPackets = true;

[Header("General UDP Flags")]

[Tooltip("If enabled the timestamp for all packets will be the same (current scene time).\n" +
"If disabled the time progression (based on LiDAR manuals) will be simulated and different timestamps for each packet will be assigned.")]
public bool useTheSameTimestampForAllPackets = true;

[Header("Hesai LiDARs Flags")]

[Tooltip("Enable labeling the sequence number of Point Cloud UDP packets. It increases the packet size by an additional field.")]
Expand Down Expand Up @@ -304,6 +310,7 @@ private RGLUdpOptions GetUdpOptions(LidarModel currentLidarModel)
udpOptions += enableHesaiUdpSequence ? (UInt32)RGLUdpOptions.RGL_UDP_ENABLE_HESAI_UDP_SEQUENCE : 0;
udpOptions += enableHesaiUpCloseBlockageDetection ? (UInt32)RGLUdpOptions.RGL_UDP_UP_CLOSE_BLOCKAGE_DETECTION : 0;
udpOptions += enableHesaiPandarDriverCompatibilityForQt ? (UInt32)RGLUdpOptions.RGL_UDP_FIT_QT64_TO_HESAI_PANDAR_DRIVER : 0;
udpOptions += useTheSameTimestampForAllPackets ? (UInt32)RGLUdpOptions.RGL_UDP_SAME_TIMESTAMP_FOR_PACKETS : 0;

// Check if high resolution mode is enabled (available only on Hesai Pandar128E4X)
if (currentLidarModel == LidarModel.HesaiPandar128E4X)
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1 change: 1 addition & 0 deletions Assets/RGLUnityPlugin/Scripts/LowLevelWrappers/RGLNativeTypes.cs
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Expand Up @@ -148,6 +148,7 @@ public enum RGLUdpOptions : UInt32
RGL_UDP_HIGH_RESOLUTION_MODE = 1 << 1,
RGL_UDP_UP_CLOSE_BLOCKAGE_DETECTION = 1 << 2,
RGL_UDP_FIT_QT64_TO_HESAI_PANDAR_DRIVER = 1 << 3,
RGL_UDP_SAME_TIMESTAMP_FOR_PACKETS = 1 << 4
};

public enum RGLQosPolicyReliability
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