feature:add C++ sample

2019-07-31 17:09:41 +08:00
parent 4b97e69d3b
commit c243aa2797
14 changed files with 3798 additions and 11 deletions
@@ -0,0 +1,97 @@
+//
+// 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.
+//
+
+/** Livox LiDAR data source, data from dependent lidar */
+
+#ifndef LDS_LIDAR_H_
+#define LDS_LIDAR_H_
+
+#include <memory>
+#include <vector>
+
+#include "livox_def.h"
+#include "livox_sdk.h"
+
+
+typedef enum {
+  kConnectStateOff = 0,
+  kConnectStateOn = 1,
+  kConnectStateSampling = 2,
+} LidarConnectState;
+
+typedef struct {
+  uint8_t handle;
+  LidarConnectState connect_state;
+  DeviceInfo info;
+} LidarDevice;
+
+/**
+ * LiDAR data source, data from dependent lidar.
+ */
+class LdsLidar {
+ public:
+
+  static LdsLidar& GetInstance() {
+    static LdsLidar lds_lidar;
+    return lds_lidar;
+  }
+
+  int InitLdsLidar(std::vector<std::string>& broadcast_code_strs);
+  int DeInitLdsLidar(void);
+
+ private:
+  LdsLidar();
+  LdsLidar(const LdsLidar&) = delete;
+  ~LdsLidar();
+  LdsLidar& operator=(const LdsLidar&) = delete;
+
+  static void GetLidarDataCb(uint8_t handle, LivoxEthPacket *data,\
+                             uint32_t data_num, void *client_data);
+  static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
+  static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
+  static void StartSampleCb(uint8_t status, uint8_t handle, uint8_t response, void *clent_data);
+  static void StopSampleCb(uint8_t status, uint8_t handle, uint8_t response, void *clent_data);
+  static void DeviceInformationCb(uint8_t status, uint8_t handle, \
+                                  DeviceInformationResponse *ack, void *clent_data);
+
+  int AddBroadcastCodeToWhitelist(const char* broadcast_code);
+  void AddLocalBroadcastCode(void);
+  bool FindInWhitelist(const char* broadcast_code);
+
+  void EnableAutoConnectMode(void) { auto_connect_mode_ = true; }
+  void DisableAutoConnectMode(void) { auto_connect_mode_ = false; }
+  bool IsAutoConnectMode(void) { return auto_connect_mode_; }
+
+  bool auto_connect_mode_;
+  uint32_t whitelist_count_;
+  volatile bool is_initialized_;
+  char broadcast_code_whitelist_[kMaxLidarCount][kBroadcastCodeSize];
+
+  uint32_t lidar_count_;
+  LidarDevice lidars_[kMaxLidarCount];
+
+  uint32_t data_recveive_count_[kMaxLidarCount];
+};
+
+#endif