Tsukasa Sugiura
98 lines
3.1 KiB
C++
98 lines
3.1 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 dependent lidar */
|
|
|
|
#ifndef LDS_LIDAR_H_
|
|
#define LDS_LIDAR_H_
|
|
|
|
#include <memory>
|
|
#include <vector>
|
|
#include <string>
|
|
|
|
#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);
|
|
static void SetRmcSyncTime(const char* rmc, uint16_t rmc_length);
|
|
|
|
private:
|
|
LdsLidar();
|
|
LdsLidar(const LdsLidar&) = delete;
|
|
~LdsLidar();
|
|
LdsLidar& operator=(const LdsLidar&) = delete;
|
|
|
|
static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
|
|
static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
|
|
static void LidarSetRmcSyncTimeCb(livox_status status, uint8_t handle,uint8_t response, void* client_data);
|
|
static void DeviceInformationCb(livox_status status, uint8_t handle, \
|
|
DeviceInformationResponse *ack, void *clent_data);
|
|
static void LidarErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
|
|
|
|
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
|