[A]add sdk_core.

2019-01-18 23:07:03 +08:00
parent e0b8bd9dd2
commit 4b677d5d64
47 changed files with 5922 additions and 0 deletions
@@ -0,0 +1,156 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_DEVICE_MANAGER_H_
+#define LIVOX_DEVICE_MANAGER_H_
+
+#include <boost/array.hpp>
+#include <boost/function.hpp>
+#include <boost/thread/mutex.hpp>
+#include <string>
+#include "device_discovery.h"
+#include "livox_sdk.h"
+
+namespace livox {
+
+/** Maximum number of connected devices supported. */
+static const uint8_t kMaxConnectedDeviceNum = 32;
+/** Default handle value of hub. */
+static const uint8_t kHubDefaultHandle = kMaxConnectedDeviceNum - 1;
+
+/**
+ * Device connected mode.
+ */
+typedef enum {
+  kDeviceModeNone = 0, /**< no devices connected. */
+  kDeviceModeHub = 1,  /**< connected with hub. */
+  kDeviceModeLidar = 2 /**< connected with lidar. */
+} DeviceMode;
+
+/**
+ * DeviceManager manage all the devices connected, including hub and lidars.
+ */
+class DeviceManager : public noncopyable {
+ public:
+  DeviceManager() : mem_pool_(NULL), device_mode_(kDeviceModeNone), connected_cb_(NULL), broadcast_cb_(NULL) {}
+
+  bool Init();
+  void Uninit();
+
+  /**
+   * When a new device is successfully connected, AddDevice is called to add new device to DeviceManager.
+   * @param device connected device information.
+   * @return true if successfully added.
+   */
+  bool AddDevice(const DeviceInfo &device);
+
+  /**
+   * When device is disconnected (not response to the heartbeat command), RemoveDevice is called.
+   * @param handle connected device handle.
+   */
+  void RemoveDevice(uint8_t handle);
+
+  /**
+   * Find device via handle.
+   */
+  bool FindDevice(uint8_t handle, DeviceInfo &info);
+
+  /**
+   * Find device via broadcast code.
+   */
+  bool FindDevice(const std::string &broadcast_code, DeviceInfo &info);
+
+  /**
+   * Check whether a device is connected.
+   * @param handle device handle.
+   * @return true if device is connected.
+   */
+  bool IsDeviceConnected(uint8_t handle);
+
+  void SetDeviceConnectedCallback(const boost::function<void(const DeviceInfo *, DeviceEvent)> &cb) {
+    connected_cb_ = cb;
+  }
+  void SetDeviceBroadcastCallback(const boost::function<void(const BroadcastDeviceInfo *info)> &cb) {
+    broadcast_cb_ = cb;
+  }
+  void HubLidarInfomationCallback(uint8_t status, uint8_t handle, HubQueryLidarInformationResponse *response);
+  DeviceMode device_mode() { return device_mode_; }
+  void BroadcastDevices(const BroadcastDeviceInfo *info);
+  void UpdateDevices(const DeviceInfo &device, DeviceEvent type);
+  void UpdateDeviceState(uint8_t handle, const HeartbeatResponse &response);
+  void GetConnectedDevices(std::vector<DeviceInfo> &devices);
+  bool AddListeningDevice(const std::string &broadcast_code, DeviceMode mode, uint8_t &handle);
+
+ private:
+  typedef struct _DetailDeviceInfo {
+    bool connected;
+    DeviceInfo info;
+    _DetailDeviceInfo() { connected = false; }
+    _DetailDeviceInfo(bool _connected,
+                      const char *broadcast_code,
+                      uint8_t handle,
+                      uint8_t port,
+                      uint8_t id,
+                      uint32_t type,
+                      uint16_t data_port,
+                      uint16_t cmd_port,
+                      const char *ip) {
+      connected = _connected;
+      strncpy(info.broadcast_code, broadcast_code, sizeof(info.broadcast_code));
+      info.handle = handle;
+      info.slot = port;
+      info.id = id;
+      info.type = type;
+      info.data_port = data_port;
+      info.cmd_port = cmd_port;
+      strncpy(info.ip, ip, sizeof(info.ip));
+    }
+    void clear() {
+      connected = false;
+      memset(info.broadcast_code, 0, sizeof(info.broadcast_code));
+      info.handle = 0;
+      info.slot = 0;
+      info.id = 0;
+      info.type = 0;
+      info.data_port = 0;
+      info.cmd_port = 0;
+      memset(info.ip, 0, sizeof(info.ip));
+    };
+  } DetailDeviceInfo;
+  typedef boost::array<DetailDeviceInfo, kMaxConnectedDeviceNum> DeviceContainer;
+  DeviceContainer devices_;
+  apr_pool_t *mem_pool_;
+  DeviceMode device_mode_;
+  boost::function<void(const DeviceInfo *, DeviceEvent)> connected_cb_;
+  boost::function<void(const BroadcastDeviceInfo *info)> broadcast_cb_;
+  boost::mutex mutex_;
+};
+
+DeviceManager &device_manager();
+void DeviceFound(const DeviceInfo &data);
+void DeviceRemove(uint8_t handle);
+
+}  // namespace livox
+
+#endif  // LIVOX_DEVICE_MANAGER_H_