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