LaserMeasure_linux/laser/LivoxLaser.h

#ifndef __LIVOX_MID_40_LIDAR__H
#define __LIVOX_MID_40_LIDAR__H
#include "Laser.h"
#include "livox_def.h"
#include "livox_sdk.h"
#include <map>


class CLivoxLaser :public CLaser
{
protected:
	typedef enum {
		kDeviceStateDisconnect = 0,
		kDeviceStateConnect = 1,
		kDeviceStateSampling = 2,
	} DeviceState;
	typedef struct {
		uint8_t handle;
		DeviceState device_state;
		DeviceInfo info;
	} DeviceItem;


public:
	CLivoxLaser(int id, Automatic::stLaserCalibParam laser_param);
	~CLivoxLaser();

	virtual bool Connect();
	virtual void Disconnect();
	virtual bool Start();
	virtual bool Stop();

protected:
	virtual bool RecvData(CBinaryData& data);
	virtual DATA_type Data2PointXYZ(CBinaryData* pData, std::vector<CPoint3D>& points);
	virtual bool IsScanComplete();
	virtual void UpdataHandle();
	
protected:
	static void InitLivox();
	static void LidarDataCallback(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *laser);
	static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
	static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
	static void OnSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data);

protected:
	uint8_t									m_handle;
	unsigned int							m_frame_maxnum;
	threadsafe_queue<CBinaryData*>			m_queue_livox_data;

	static DeviceItem						g_devices[kMaxLidarCount];
	
	static std::map<uint8_t,std::string>	g_handle_sn;
	static std::map<std::string, uint8_t>	g_sn_handle;
	static std::map<std::string, CLivoxLaser*> g_sn_laser;
	static CLivoxLaser*						g_all_laser[kMaxLidarCount];
	static unsigned int						g_count[kMaxLidarCount];


};

#endif