feat(agv_pro_bringup): add multi-lidar support and drivers

livox_ros_driver2/src/comm/cache_index.cpp

@@ -0,0 +1,121 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 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.
+//
+
+#include "cache_index.h"
+#include "livox_lidar_def.h"
+
+namespace livox_ros {
+
+CacheIndex::CacheIndex() {
+  std::array<bool, kMaxLidarCount> index_cache = {0};
+  index_cache_.swap(index_cache);
+}
+
+int8_t CacheIndex::GetFreeIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index) {
+  std::string key;
+  int8_t ret = GenerateIndexKey(livox_lidar_type, handle, key);
+  if (ret != 0) {
+    return -1;
+  }
+  {
+    std::lock_guard<std::mutex> lock(index_mutex_);
+    if (map_index_.find(key) != map_index_.end()) {
+      index = map_index_[key];
+      return 0;
+    }
+  }
+
+  {
+    printf("GetFreeIndex key:%s.\n", key.c_str());
+    std::lock_guard<std::mutex> lock(index_mutex_);
+    for (size_t i = 0; i < kMaxSourceLidar; ++i) {
+      if (!index_cache_[i]) {
+        index_cache_[i] = 1;
+        map_index_[key] = static_cast<uint8_t>(i);
+        index = static_cast<uint8_t>(i);
+        return 0;
+      }
+    }
+  }
+  return -1;
+}
+
+int8_t CacheIndex::GenerateIndexKey(const uint8_t livox_lidar_type, const uint32_t handle, std::string& key) {
+  if (livox_lidar_type == kLivoxLidarType) {
+    key = "livox_lidar_" + std::to_string(handle);
+  } else {
+    printf("Can not generate index, the livox lidar type is unknown, the livox lidar type:%u\n", livox_lidar_type);
+    return -1;
+  }
+  return 0;
+}
+
+int8_t CacheIndex::GetIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index) {
+  std::string key;
+  int8_t ret = GenerateIndexKey(livox_lidar_type, handle, key);
+  if (ret != 0) {
+    return -1;
+  }
+
+  if (map_index_.find(key) != map_index_.end()) {
+    std::lock_guard<std::mutex> lock(index_mutex_);
+    index = map_index_[key];
+    return 0;
+  }
+  printf("Can not get index, the livox lidar type:%u, handle:%u\n", livox_lidar_type, handle);
+  return -1;
+}
+
+int8_t CacheIndex::LvxGetIndex(const uint8_t livox_lidar_type, const uint32_t handle, uint8_t& index) {
+  std::string key;
+  int8_t ret = GenerateIndexKey(livox_lidar_type, handle, key);
+  if (ret != 0) {
+    return -1;
+  }
+
+  if (map_index_.find(key) != map_index_.end()) {
+    index = map_index_[key];
+    return 0;
+  }
+
+  return GetFreeIndex(livox_lidar_type, handle, index);
+}
+
+void CacheIndex::ResetIndex(LidarDevice *lidar) {
+  std::string key;
+  int8_t ret = GenerateIndexKey(lidar->lidar_type, lidar->handle, key);
+  if (ret != 0) {
+    printf("Reset index failed, can not generate index key, lidar type:%u, handle:%u.\n", lidar->lidar_type, lidar->handle);
+    return;
+  }
+
+  if (map_index_.find(key) != map_index_.end()) {
+    uint8_t index = map_index_[key];
+    std::lock_guard<std::mutex> lock(index_mutex_);
+    map_index_.erase(key);
+    index_cache_[index] = 0;
+  }
+}
+
+} // namespace