Tsukasa Sugiura
137 lines
4.6 KiB
C++
137 lines
4.6 KiB
C++
//
|
|
// 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 hub */
|
|
|
|
#ifndef COAT_LDS_HUB_H_
|
|
#define COAT_LDS_HUB_H_
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
#include <string>
|
|
|
|
#include "livox_def.h"
|
|
#include "livox_sdk.h"
|
|
|
|
typedef enum {
|
|
kConnectStateOff = 0,
|
|
kConnectStateOn = 1,
|
|
kConnectStateConfig = 2,
|
|
kConnectStateSampling = 3,
|
|
} LidarConnectState;
|
|
|
|
typedef enum {
|
|
kConfigFan = 1,
|
|
kConfigReturnMode = 2,
|
|
kConfigCoordinate = 4,
|
|
kConfigImuRate = 8
|
|
} LidarConfigCodeBit;
|
|
|
|
typedef enum {
|
|
kCoordinateCartesian = 0,
|
|
kCoordinateSpherical
|
|
} CoordinateType;
|
|
|
|
typedef struct {
|
|
bool enable_fan;
|
|
uint32_t return_mode;
|
|
uint32_t coordinate;
|
|
uint32_t imu_rate;
|
|
volatile uint32_t set_bits;
|
|
volatile uint32_t get_bits;
|
|
} UserConfig;
|
|
|
|
typedef struct {
|
|
uint8_t handle;
|
|
LidarConnectState connect_state;
|
|
DeviceInfo info;
|
|
UserConfig config;
|
|
} LidarDevice;
|
|
|
|
/**
|
|
* LiDAR data source, data from hub.
|
|
*/
|
|
class LdsHub {
|
|
public:
|
|
static LdsHub& GetInstance() {
|
|
static LdsHub lds_hub;
|
|
return lds_hub;
|
|
}
|
|
|
|
int InitLdsHub(std::vector<std::string>& broadcast_code_strs);
|
|
int DeInitLdsHub(void);
|
|
|
|
private:
|
|
LdsHub();
|
|
LdsHub(const LdsHub&) = delete;
|
|
~LdsHub();
|
|
LdsHub& operator=(const LdsHub&) = delete;
|
|
|
|
/** LiDAR data receive callback */
|
|
static void OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,\
|
|
uint32_t data_num, void *client_data);
|
|
static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
|
|
static void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type);
|
|
static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
|
|
static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
|
|
static void HubQueryLidarInfoCb(livox_status status, uint8_t handle, \
|
|
HubQueryLidarInformationResponse *response, void *client_data);
|
|
static void HubErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
|
|
|
|
static void ControlFanCb(livox_status status, uint8_t handle, \
|
|
uint8_t response, void *clent_data);
|
|
static void HubSetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
|
|
HubSetPointCloudReturnModeResponse* response,\
|
|
void *clent_data);
|
|
static void SetCoordinateCb(livox_status status, uint8_t handle, \
|
|
uint8_t response, void *clent_data);
|
|
static void HubSetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
|
|
HubSetImuPushFrequencyResponse* response,\
|
|
void *clent_data);
|
|
static void ConfigPointCloudReturnMode(LdsHub* lds_hub);
|
|
static void ConfigImuPushFrequency(LdsHub* lds_hub);
|
|
static void ConfigLidarsOfHub(LdsHub* lds_hub);
|
|
|
|
int AddBroadcastCodeToWhitelist(const char* broadcast_code);
|
|
void AddLocalBroadcastCode(void);
|
|
bool FindInWhitelist(const char* broadcast_code);
|
|
void UpdateHubLidarinfo(void);
|
|
|
|
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];
|
|
LidarDevice hub_;
|
|
uint32_t receive_packet_count_;
|
|
};
|
|
|
|
#endif
|