Livox-SDK
110 lines
2.9 KiB
C++
110 lines
2.9 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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#include <apr_thread_cond.h>
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#include <apr_thread_mutex.h>
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#include <apr_thread_proc.h>
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#include <condition_variable>
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#include <memory>
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#include <fstream>
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#include <list>
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#include <vector>
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#include <mutex>
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#include "livox_sdk.h"
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typedef enum {
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kDeviceStateDisconnect = 0,
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kDeviceStateConnect = 1,
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kDeviceStateSampling = 2,
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} DeviceState;
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typedef struct {
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uint8_t handle;
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DeviceState device_state;
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DeviceInfo info;
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} DeviceItem;
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#pragma pack(1)
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typedef struct {
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uint8_t signature[16];
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uint8_t version[4];
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uint32_t magic_code;
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}LvxFileHeader;
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typedef struct {
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uint8_t lidar_broadcast_code[16];
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uint8_t hub_broadcast_code[16];
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uint8_t device_index;
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uint8_t device_type;
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float roll;
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float pitch;
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float yaw;
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float x;
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float y;
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float z;
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} LvxDeviceInfo;
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typedef struct {
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uint8_t device_index;
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uint8_t version;
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uint8_t port_id;
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uint8_t lidar_index;
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uint8_t rsvd;
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uint32_t error_code;
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uint8_t timestamp_type;
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uint8_t data_type;
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uint8_t timestamp[8];
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LivoxPoint point[100];
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}LvxBasePackDetail;
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typedef struct {
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uint64_t current_offset;
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uint64_t next_offset;
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uint64_t frame_index;
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uint64_t package_count;
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}FrameHeader;
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#pragma pack()
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class LvxFileHandle {
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public:
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LvxFileHandle();
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bool InitLvxFile();
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void InitLvxFileHeader();
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void SaveFrameToLvxFile(std::list<LvxBasePackDetail> &point_packet_list_temp);
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void CloseLvxFile();
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void AddDeviceInfo(LvxDeviceInfo &info) { device_info_list_.push_back(info); };
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int GetDeviceInfoListSize() { return device_info_list_.size(); }
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void BasePointsHandle(LivoxEthPacket *data, LvxBasePackDetail &packet);
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private:
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std::ofstream lvx_file_;
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std::vector<LvxDeviceInfo> device_info_list_;
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uint32_t cur_frame_index_;
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uint64_t cur_offset_;
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}; |