shutter_verify/laser/lds_lidar.h

//
// 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 <stdio.h>
#include <string.h>
#include <memory>

#include "livox_def.h"
#include "livox_sdk.h"
#include <chrono>
#include <thread_safe_map.h>
namespace livox
{
typedef enum
{
    kConnectStateOff = 0,
    kConnectStateOn = 1,
    kConnectStateConfig = 2,
    kConnectStateSampling = 3,
} LidarConnectState;

typedef enum
{
    kConfigFan = 1,
    kConfigReturnMode = 2,
    kConfigCoordinate = 4,
    kConfigImuRate = 8
} LidarConfigCodeBit;

typedef enum
{
    kCoordinateCartesian = 0,
    kCoordinateSpherical
} CoordinateType;

typedef struct
{
    bool enable_fan;
    uint32_t return_mode;
    uint32_t coordinate;
    uint32_t imu_rate;
    volatile uint32_t set_bits;
    volatile uint32_t get_bits;
} UserConfig;

typedef struct
{
    uint8_t handle;
    LidarConnectState connect_state;
    DeviceInfo info;
    UserConfig config;
} LidarDevice;




/**
 * LiDAR data source, data from dependent lidar.
 */
class LdsLidar
{

 public:
    LdsLidar();

    LdsLidar(const LdsLidar &) = delete;

    virtual ~LdsLidar();
    static int InitLdsLidar();

    int AddBroadcastCode(std::string sn);

    int DeInitLdsLidar(void);

 protected:

 private:
    virtual void LidarDataCallback(uint8_t handle, LivoxEthPacket *data,uint32_t data_num);

    LdsLidar &operator=(const LdsLidar &) = delete;

    static void GetLidarDataCb(uint8_t handle, LivoxEthPacket *data, \
                             uint32_t data_num, void *client_data);

    static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);

    static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);

    static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);

    static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_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);

    static void ControlFanCb(livox_status status, uint8_t handle, \
                           uint8_t response, void *clent_data);

    static void SetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
                                        uint8_t response, void *clent_data);

    static void SetCoordinateCb(livox_status status, uint8_t handle, \
                              uint8_t response, void *clent_data);

    static void SetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
                                        uint8_t response, void *clent_data);

    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_;
    char broadcast_code_whitelist_[kMaxLidarCount][kBroadcastCodeSize];

    uint32_t lidar_count_;


    uint32_t data_recveive_count_[kMaxLidarCount];
};
}

#endif