LidarMeasure/laser/LivoxMid100Laser.cpp

#include "LivoxMid100Laser.h"
#include "../common.h"

RegisterLaser(LivoxMid100)


CLivoxMid100Laser::CLivoxMid100Laser(int id, Automatic::stLaserCalibParam laser_param)
	:CLivoxLaser(id, laser_param)
{
	m_frame_maxnum = laser_param.frame_num();
	if (laser_param.type() == "LivoxMid100")
	{
		std::string sn = laser_param.sn();
		std::string sn1 = sn, sn2 = sn, sn3 = sn;
		sn1 += "1";
		sn2 += "2";
		sn3 += "3";
		g_sn_laser.insert(std::make_pair(sn1, this));
		g_sn_laser.insert(std::make_pair(sn2, this));
		g_sn_laser.insert(std::make_pair(sn3, this));
	}
}

void CLivoxMid100Laser::UpdataHandle()
{
	std::string sn = m_laser_param.sn();
	std::string sn1 = sn, sn2 = sn, sn3 = sn;
	sn1 += "1";
	sn2 += "2";
	sn3 += "3";
	if (g_sn_handle.find(sn1) != g_sn_handle.end())
	{
		m_handle1 = g_sn_handle[sn1];
	}
	if (g_sn_handle.find(sn2) != g_sn_handle.end())
	{
		m_handle2 = g_sn_handle[sn2];
	}
	if (g_sn_handle.find(sn3) != g_sn_handle.end())
	{
		m_handle3 = g_sn_handle[sn3];
	}
}
bool CLivoxMid100Laser::IsScanComplete()
{
	return g_count[m_handle1] >= m_frame_maxnum && g_count[m_handle2] >= m_frame_maxnum
		&& g_count[m_handle2] >= m_frame_maxnum;
}

eLaserStatu CLivoxMid100Laser::GetStatu()
{
    bool cond1=g_devices[m_handle1].device_state == kDeviceStateConnect ||
               g_devices[m_handle1].device_state == kDeviceStateSampling;
    bool cond2=g_devices[m_handle2].device_state == kDeviceStateConnect ||
               g_devices[m_handle2].device_state == kDeviceStateSampling;
    bool cond3=g_devices[m_handle3].device_state == kDeviceStateConnect ||
               g_devices[m_handle3].device_state == kDeviceStateSampling;
    if (cond1 && cond2 && cond3) {
        if(m_queue_laser_data.size()==0 && m_bscan_start==false)
            m_statu = eLaser_ready;
        else
            m_statu = eLaser_busy;
    }
    else {
        m_statu = eLaser_disconnect;
    }


    return m_statu;

}

bool CLivoxMid100Laser::Connect()
{
    return CLivoxLaser::Connect();
}
void CLivoxMid100Laser::Disconnect()
{
    CLivoxLaser::Disconnect();
}

bool CLivoxMid100Laser::Stop()
{
    return CLivoxLaser::Stop();
}
bool CLivoxMid100Laser::Start()
{
		LOG(INFO) << " livoxMid100 start :" << this;
		//������ݣ���ʼ
		m_queue_livox_data.clear();
		g_count[m_handle1] = 0;
		g_count[m_handle2] = 0;
		g_count[m_handle3] = 0;
		return CLaser::Start();
}

CLivoxMid100Laser::~CLivoxMid100Laser()
{
}