Tsukasa Sugiura
131 lines
4.3 KiB
C++
131 lines
4.3 KiB
C++
//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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/** Livox LiDAR data source, data from dependent lidar */
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#ifndef LDS_LIDAR_H_
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#define LDS_LIDAR_H_
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#include <memory>
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#include <vector>
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#include <string>
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#include "livox_def.h"
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#include "livox_sdk.h"
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typedef enum {
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kConnectStateOff = 0,
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kConnectStateOn = 1,
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kConnectStateConfig = 2,
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kConnectStateSampling = 3,
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} LidarConnectState;
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typedef enum {
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kConfigFan = 1,
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kConfigReturnMode = 2,
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kConfigCoordinate = 4,
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kConfigImuRate = 8
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} LidarConfigCodeBit;
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typedef enum {
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kCoordinateCartesian = 0,
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kCoordinateSpherical
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} CoordinateType;
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typedef struct {
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bool enable_fan;
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uint32_t return_mode;
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uint32_t coordinate;
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uint32_t imu_rate;
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volatile uint32_t set_bits;
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volatile uint32_t get_bits;
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} UserConfig;
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typedef struct {
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uint8_t handle;
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LidarConnectState connect_state;
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DeviceInfo info;
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UserConfig config;
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} LidarDevice;
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/**
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* LiDAR data source, data from dependent lidar.
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*/
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class LdsLidar {
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public:
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static LdsLidar& GetInstance() {
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static LdsLidar lds_lidar;
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return lds_lidar;
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}
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int InitLdsLidar(std::vector<std::string>& broadcast_code_strs);
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int DeInitLdsLidar(void);
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private:
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LdsLidar();
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LdsLidar(const LdsLidar&) = delete;
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~LdsLidar();
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LdsLidar& operator=(const LdsLidar&) = delete;
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static void GetLidarDataCb(uint8_t handle, LivoxEthPacket *data,\
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uint32_t data_num, void *client_data);
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static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
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static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
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static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
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static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
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static void DeviceInformationCb(livox_status status, uint8_t handle, \
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DeviceInformationResponse *ack, void *clent_data);
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static void LidarErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
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static void ControlFanCb(livox_status status, uint8_t handle, \
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uint8_t response, void *clent_data);
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static void SetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
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uint8_t response, void *clent_data);
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static void SetCoordinateCb(livox_status status, uint8_t handle, \
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uint8_t response, void *clent_data);
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static void SetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
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uint8_t response, void *clent_data);
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int AddBroadcastCodeToWhitelist(const char* broadcast_code);
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void AddLocalBroadcastCode(void);
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bool FindInWhitelist(const char* broadcast_code);
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void EnableAutoConnectMode(void) { auto_connect_mode_ = true; }
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void DisableAutoConnectMode(void) { auto_connect_mode_ = false; }
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bool IsAutoConnectMode(void) { return auto_connect_mode_; }
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bool auto_connect_mode_;
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uint32_t whitelist_count_;
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volatile bool is_initialized_;
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char broadcast_code_whitelist_[kMaxLidarCount][kBroadcastCodeSize];
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uint32_t lidar_count_;
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LidarDevice lidars_[kMaxLidarCount];
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uint32_t data_recveive_count_[kMaxLidarCount];
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};
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#endif
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