Merge commit '457f054053fbd5277ca31ab40275a1d0802bbbc0' as 'lidar/sllidar_ros2'
This commit is contained in:
@@ -0,0 +1,569 @@
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/*
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* Slamtec LIDAR SDK
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*
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* Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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||||
* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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||||
*
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||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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||||
* and/or other materials provided with the distribution.
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*
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||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
|
||||
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
|
||||
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
|
||||
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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||||
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
|
||||
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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||||
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
|
||||
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
|
||||
* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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||||
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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#ifndef __cplusplus
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#error "The Slamtec LIDAR SDK requires a C++ compiler to be built"
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#endif
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#include <vector>
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#include <map>
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#include <string>
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#ifndef DEPRECATED
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||||
#ifdef __GNUC__
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#define DEPRECATED(func) func __attribute__ ((deprecated))
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#elif defined(_MSC_VER)
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||||
#define DEPRECATED(func) __declspec(deprecated) func
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#else
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#pragma message("WARNING: You need to implement DEPRECATED for this compiler")
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#define DEPRECATED(func) func
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#endif
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#endif
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#include "sl_lidar_cmd.h"
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#include <string>
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namespace sl {
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#ifdef DEPRECATED
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#define DEPRECATED_WARN(fn, replacement) do { \
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static bool __shown__ = false; \
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if (!__shown__) { \
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printDeprecationWarn(fn, replacement); \
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__shown__ = true; \
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||||
} \
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} while (0)
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#endif
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/**
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* Lidar scan mode
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*/
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struct LidarScanMode
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{
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// Mode id
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sl_u16 id;
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// Time cost for one measurement (in microseconds)
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float us_per_sample;
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// Max distance in this scan mode (in meters)
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float max_distance;
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// The answer command code for this scan mode
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sl_u8 ans_type;
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// The name of scan mode (padding with 0 if less than 64 characters)
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char scan_mode[64];
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};
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template <typename T>
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struct Result
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{
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sl_result err;
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T value;
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Result(const T& value)
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||||
: err(SL_RESULT_OK)
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, value(value)
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||||
{
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||||
}
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||||
|
||||
Result(sl_result err)
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||||
: err(err)
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, value()
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{
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||||
}
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||||
operator sl_result() const
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||||
{
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return err;
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}
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operator bool() const
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||||
{
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return SL_IS_OK(err);
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||||
}
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||||
|
||||
T& operator* ()
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||||
{
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return value;
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||||
}
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||||
|
||||
T* operator-> ()
|
||||
{
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||||
return &value;
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||||
}
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||||
};
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||||
enum LIDARTechnologyType {
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LIDAR_TECHNOLOGY_UNKNOWN = 0,
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LIDAR_TECHNOLOGY_TRIANGULATION = 1,
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LIDAR_TECHNOLOGY_DTOF = 2,
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LIDAR_TECHNOLOGY_ETOF = 3,
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||||
LIDAR_TECHNOLOGY_FMCW = 4,
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};
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enum LIDARMajorType {
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||||
LIDAR_MAJOR_TYPE_UNKNOWN = 0,
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||||
LIDAR_MAJOR_TYPE_A_SERIES = 1,
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LIDAR_MAJOR_TYPE_S_SERIES = 2,
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LIDAR_MAJOR_TYPE_T_SERIES = 3,
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LIDAR_MAJOR_TYPE_M_SERIES = 4,
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LIDAR_MAJOR_TYPE_C_SERIES = 6,
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};
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enum LIDARInterfaceType {
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LIDAR_INTERFACE_UART = 0,
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LIDAR_INTERFACE_ETHERNET = 1,
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LIDAR_INTERFACE_USB = 2,
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LIDAR_INTERFACE_CANBUS = 5,
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LIDAR_INTERFACE_UNKNOWN = 0xFFFF,
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||||
};
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struct SlamtecLidarTimingDesc {
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sl_u32 sample_duration_uS;
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sl_u32 native_baudrate;
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sl_u32 linkage_delay_uS;
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LIDARInterfaceType native_interface_type;
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bool native_timestamp_support;
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};
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/**
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* Abstract interface of communication channel
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*/
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class IChannel
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||||
{
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||||
public:
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virtual ~IChannel() {}
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||||
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||||
public:
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/**
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* Open communication channel (return true if succeed)
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*/
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virtual bool open() = 0;
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||||
/**
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* Close communication channel
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*/
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virtual void close() = 0;
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/**
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||||
* Flush all written data to remote endpoint
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*/
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||||
virtual void flush() = 0;
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||||
/**
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||||
* Wait for some data
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* \param size Bytes to wait
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||||
* \param timeoutInMs Wait timeout (in microseconds, -1 for forever)
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||||
* \param actualReady [out] actual ready bytes
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* \return true for data ready
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||||
*/
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||||
virtual bool waitForData(size_t size, sl_u32 timeoutInMs = -1, size_t* actualReady = nullptr) = 0;
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||||
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||||
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||||
/**
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||||
* Wait for some data
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||||
* \param size_hint Byte count may available to retrieve without beening blocked
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||||
* \param timeoutInMs Wait timeout (in microseconds, -1 for forever)
|
||||
* \return RESULT_OK if there is data available for receiving
|
||||
* RESULT_OPERATION_TIMEOUT if the given timeout duration is exceed
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||||
* RESULT_OPERATION_FAIL if there is something wrong with the channel
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||||
*/
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||||
virtual sl_result waitForDataExt(size_t& size_hint, sl_u32 timeoutInMs = 1000) = 0;
|
||||
|
||||
|
||||
/**
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||||
* Send data to remote endpoint
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||||
* \param data The data buffer
|
||||
* \param size The size of data buffer (in bytes)
|
||||
* \return Bytes written (negative for write failure)
|
||||
*/
|
||||
virtual int write(const void* data, size_t size) = 0;
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||||
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||||
/**
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||||
* Read data from the chanel
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||||
* \param buffer The buffer to receive data
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||||
* \param size The size of the read buffer
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* \return Bytes read (negative for read failure)
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||||
*/
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||||
virtual int read(void* buffer, size_t size) = 0;
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||||
|
||||
/**
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||||
* Clear read cache
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||||
*/
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||||
virtual void clearReadCache() = 0;
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||||
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virtual int getChannelType() = 0;
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||||
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||||
private:
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||||
|
||||
};
|
||||
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||||
/**
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||||
* Abstract interface of serial port channel
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||||
*/
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||||
class ISerialPortChannel : public IChannel
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||||
{
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||||
public:
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virtual ~ISerialPortChannel() {}
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||||
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||||
public:
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||||
virtual void setDTR(bool dtr) = 0;
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||||
};
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||||
/**
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* Create a serial channel
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* \param device Serial port device
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* e.g. on Windows, it may be com3 or \\.\com10
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* on Unix-Like OS, it may be /dev/ttyS1, /dev/ttyUSB2, etc
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* \param baudrate Baudrate
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* Please refer to the datasheet for the baudrate (maybe 115200 or 256000)
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*/
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Result<IChannel*> createSerialPortChannel(const std::string& device, int baudrate);
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/**
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* Create a TCP channel
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* \param ip IP address of the device
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* \param port TCP port
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*/
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Result<IChannel*> createTcpChannel(const std::string& ip, int port);
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/**
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* Create a UDP channel
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* \param ip IP address of the device
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* \param port UDP port
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||||
*/
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Result<IChannel*> createUdpChannel(const std::string& ip, int port);
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enum MotorCtrlSupport
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{
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MotorCtrlSupportNone = 0,
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MotorCtrlSupportPwm = 1,
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MotorCtrlSupportRpm = 2,
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};
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enum ChannelType{
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CHANNEL_TYPE_SERIALPORT = 0x0,
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CHANNEL_TYPE_TCP = 0x1,
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CHANNEL_TYPE_UDP = 0x2,
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};
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/**
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* Lidar motor info
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*/
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struct LidarMotorInfo
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{
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MotorCtrlSupport motorCtrlSupport;
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// Desire speed
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sl_u16 desired_speed;
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// Max speed
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sl_u16 max_speed;
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// Min speed
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||||
sl_u16 min_speed;
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||||
};
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class ILidarDriver
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{
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public:
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virtual ~ILidarDriver() {}
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||||
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public:
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/**
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* Connect to LIDAR via channel
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* \param channel The communication channel
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||||
* Note: you should manage the lifecycle of the channel object, make sure it is alive during lidar driver's lifecycle
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*/
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virtual sl_result connect(IChannel* channel) = 0;
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/**
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||||
* Disconnect from the LIDAR
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||||
*/
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||||
virtual void disconnect() = 0;
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||||
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||||
/**
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||||
* Check if the connection is established
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||||
*/
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||||
virtual bool isConnected() = 0;
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||||
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||||
public:
|
||||
enum
|
||||
{
|
||||
DEFAULT_TIMEOUT = 2000
|
||||
};
|
||||
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||||
public:
|
||||
/// Ask the LIDAR core system to reset it self
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||||
/// The host system can use the Reset operation to help LIDAR escape the self-protection mode.
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||||
///
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||||
/// \param timeout The operation timeout value (in millisecond)
|
||||
virtual sl_result reset(sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
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||||
|
||||
/// Get all scan modes that supported by lidar
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virtual sl_result getAllSupportedScanModes(std::vector<LidarScanMode>& outModes, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
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||||
/// Get typical scan mode of lidar
|
||||
virtual sl_result getTypicalScanMode(sl_u16& outMode, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
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||||
/// Start scan
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||||
///
|
||||
/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
|
||||
/// \param useTypicalScan Use lidar's typical scan mode or use the compatibility mode (2k sps)
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||||
/// \param options Scan options (please use 0)
|
||||
/// \param outUsedScanMode The scan mode selected by lidar
|
||||
virtual sl_result startScan(bool force, bool useTypicalScan, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr) = 0;
|
||||
|
||||
/// Start scan in specific mode
|
||||
///
|
||||
/// \param force Force the core system to output scan data regardless whether the scanning motor is rotating or not.
|
||||
/// \param scanMode The scan mode id (use getAllSupportedScanModes to get supported modes)
|
||||
/// \param options Scan options (please use 0)
|
||||
/// \param outUsedScanMode The scan mode selected by lidar
|
||||
virtual sl_result startScanExpress(bool force, sl_u16 scanMode, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Retrieve the health status of the RPLIDAR
|
||||
/// The host system can use this operation to check whether RPLIDAR is in the self-protection mode.
|
||||
///
|
||||
/// \param health The health status info returned from the RPLIDAR
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
virtual sl_result getHealth(sl_lidar_response_device_health_t& health, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Get the device information of the RPLIDAR include the serial number, firmware version, device model etc.
|
||||
///
|
||||
/// \param info The device information returned from the RPLIDAR
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
virtual sl_result getDeviceInfo(sl_lidar_response_device_info_t& info, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Check whether the device support motor control
|
||||
/// Note: this API will disable grab.
|
||||
///
|
||||
/// \param motorCtrlSupport Return the result.
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication.
|
||||
virtual sl_result checkMotorCtrlSupport(MotorCtrlSupport& motorCtrlSupport, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Calculate LIDAR's current scanning frequency from the given scan data
|
||||
/// Please refer to the application note doc for details
|
||||
/// Remark: the calcuation will be incorrect if the specified scan data doesn't contains enough data
|
||||
///
|
||||
/// \param scanMode Lidar's current scan mode
|
||||
/// \param nodes Current scan's measurements
|
||||
/// \param count The number of sample nodes inside the given buffer
|
||||
virtual sl_result getFrequency(const LidarScanMode& scanMode, const sl_lidar_response_measurement_node_hq_t* nodes, size_t count, float& frequency) = 0;
|
||||
|
||||
///Set LPX and S2E series lidar's static IP address
|
||||
///
|
||||
/// \param conf Network parameter that LPX series lidar owned
|
||||
/// \param timeout The operation timeout value (in millisecond) for the ethernet udp communication
|
||||
virtual sl_result setLidarIpConf(const sl_lidar_ip_conf_t& conf, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
///Get LPX and S2E series lidar's static IP address
|
||||
///
|
||||
/// \param conf Network parameter that LPX series lidar owned
|
||||
/// \param timeout The operation timeout value (in millisecond) for the ethernet udp communication
|
||||
virtual sl_result getLidarIpConf( sl_lidar_ip_conf_t& conf, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
//
|
||||
/////Get LPX series lidar's MAC address
|
||||
///
|
||||
/// \param macAddrArray The device MAC information returned from the LPX series lidar
|
||||
/// Notice: the macAddrArray must point to a valid buffer with at least 6 bytes length
|
||||
/// Otherwise, buffer overwrite will occur
|
||||
virtual sl_result getDeviceMacAddr(sl_u8* macAddrArray, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Ask the LIDAR core system to stop the current scan operation and enter idle state. The background thread will be terminated
|
||||
///
|
||||
/// \param timeout The operation timeout value (in millisecond) for the serial port communication
|
||||
virtual sl_result stop(sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
/// Wait and grab a complete 0-360 degree scan data previously received.
|
||||
/// The grabbed scan data returned by this interface always has the following charactistics:
|
||||
///
|
||||
/// 1) The first node of the grabbed data array (nodebuffer[0]) must be the first sample of a scan, i.e. the start_bit == 1
|
||||
/// 2) All data nodes are belong to exactly ONE complete 360-degrees's scan
|
||||
/// 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t).
|
||||
/// Once the interface returns, this parameter will store the actual received data count.
|
||||
///
|
||||
/// \param timeout Max duration allowed to wait for a complete scan data, nothing will be stored to the nodebuffer if a complete 360-degrees' scan data cannot to be ready timely.
|
||||
///
|
||||
/// The interface will return SL_RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.
|
||||
///
|
||||
/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
|
||||
virtual sl_result grabScanDataHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
|
||||
|
||||
/// Wait and grab a complete 0-360 degree scan data previously received with timestamp support.
|
||||
///
|
||||
/// The returned timestamp belongs to the first data point of the scan data (begining of the scan).
|
||||
/// Its value is represented based on the current machine's time domain with the unit of microseconds (uS).
|
||||
///
|
||||
/// If the currently connected LIDAR supports hardware timestamp mechanism, this timestamp will use
|
||||
/// the actual data emitted by the LIDAR device and remap it to the current machine's time domain.
|
||||
///
|
||||
/// For other models that do not support hardware timestamps, this data will be deducted through estimation,
|
||||
/// and there may be a slight deviation from the actual situation.
|
||||
///
|
||||
/// The grabbed scan data returned by this interface always has the following charactistics:
|
||||
///
|
||||
/// 1) The first node of the grabbed data array (nodebuffer[0]) must be the first sample of a scan, i.e. the start_bit == 1
|
||||
/// 2) All data nodes are belong to exactly ONE complete 360-degrees's scan
|
||||
/// 3) Note, the angle data in one scan may not be ascending. You can use API ascendScanData to reorder the nodebuffer.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t).
|
||||
/// Once the interface returns, this parameter will store the actual received data count.
|
||||
///
|
||||
/// \param timestamp_uS The reference used to store the timestamp value.
|
||||
/// \param timeout Max duration allowed to wait for a complete scan data, nothing will be stored to the nodebuffer if a complete 360-degrees' scan data cannot to be ready timely.
|
||||
///
|
||||
/// The interface will return SL_RESULT_OPERATION_TIMEOUT to indicate that no complete 360-degrees' scan can be retrieved withing the given timeout duration.
|
||||
///
|
||||
/// \The caller application can set the timeout value to Zero(0) to make this interface always returns immediately to achieve non-block operation.
|
||||
virtual sl_result grabScanDataHqWithTimeStamp(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u64 & timestamp_uS, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
|
||||
/// Ascending the scan data according to the angle value in the scan.
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to do the reorder. Should be retrived from the grabScanData
|
||||
///
|
||||
/// \param count The caller must initialize this parameter to set the max data count of the provided buffer (in unit of rplidar_response_measurement_node_t).
|
||||
/// Once the interface returns, this parameter will store the actual received data count.
|
||||
/// The interface will return SL_RESULT_OPERATION_FAIL when all the scan data is invalid.
|
||||
virtual sl_result ascendScanData(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t count) = 0;
|
||||
|
||||
/// Return received scan points even if it's not complete scan
|
||||
///
|
||||
/// \param nodebuffer Buffer provided by the caller application to store the scan data
|
||||
///
|
||||
/// \param count Once the interface returns, this parameter will store the actual received data count.
|
||||
///
|
||||
/// The interface will return SL_RESULT_OPERATION_TIMEOUT to indicate that not even a single node can be retrieved since last call.
|
||||
virtual sl_result getScanDataWithIntervalHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count) = 0;
|
||||
/// Set lidar motor speed
|
||||
/// The host system can use this operation to set lidar motor speed.
|
||||
///
|
||||
/// \param speed The speed value set to lidar
|
||||
///
|
||||
///Note: The function will stop scan if speed is DEFAULT_MOTOR_SPEED.
|
||||
virtual sl_result setMotorSpeed(sl_u16 speed = DEFAULT_MOTOR_SPEED) = 0;
|
||||
|
||||
/// Get the motor information of the RPLIDAR include the max speed, min speed, desired speed.
|
||||
///
|
||||
/// \param motorInfo The motor information returned from the RPLIDAR
|
||||
virtual sl_result getMotorInfo(LidarMotorInfo &motorInfo, sl_u32 timeoutInMs = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
|
||||
/// Ask the LIDAR to use a new baudrate for serial communication
|
||||
/// The target LIDAR system must support such feature to work.
|
||||
/// This function does NOT check whether the target LIDAR works with the requiredBaudRate or not.
|
||||
/// In order to verifiy the result, use getDeviceInfo or other getXXXX functions instead.
|
||||
///
|
||||
/// \param requiredBaudRate The new baudrate required to be used. It MUST matches with the baudrate of the binded channel.
|
||||
/// \param baudRateDetected The actual baudrate detected by the LIDAR system
|
||||
virtual sl_result negotiateSerialBaudRate(sl_u32 requiredBaudRate, sl_u32* baudRateDetected = NULL) = 0;
|
||||
|
||||
|
||||
|
||||
/// Get the technology of the LIDAR's measurement system
|
||||
///
|
||||
///
|
||||
/// \param devInfo The device info used to deduct the result
|
||||
/// If NULL is specified, a driver cached version of the connected LIDAR will be used
|
||||
virtual LIDARTechnologyType getLIDARTechnologyType(const sl_lidar_response_device_info_t* devInfo = nullptr) = 0;
|
||||
|
||||
|
||||
/// Get the Major Type (Series Info) of the LIDAR
|
||||
///
|
||||
///
|
||||
/// \param devInfo The device info used to deduct the result
|
||||
/// If NULL is specified, a driver cached version of the connected LIDAR will be used
|
||||
virtual LIDARMajorType getLIDARMajorType(const sl_lidar_response_device_info_t* devInfo = nullptr) = 0;
|
||||
|
||||
|
||||
/// Get the Model Name of the LIDAR
|
||||
/// The result will be somthing like: "A1M8" or "S1M1" or "A3M1-R1"
|
||||
///
|
||||
/// \param out_description The output string that contains the generated model name
|
||||
///
|
||||
/// \param fetchAliasName If set to true, a communication will be taken to ask if there is any Alias name availabe
|
||||
/// \param devInfo The device info used to deduct the result
|
||||
/// If NULL is specified, a driver cached version of the connected LIDAR will be used
|
||||
/// \param timeout The timeout value used by potential data communication
|
||||
virtual sl_result getModelNameDescriptionString(std::string& out_description, bool fetchAliasName = true, const sl_lidar_response_device_info_t* devInfo = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT) = 0;
|
||||
|
||||
};
|
||||
|
||||
/**
|
||||
* Create a LIDAR driver instance
|
||||
*
|
||||
* Example
|
||||
* Result<ISerialChannel*> channel = createSerialPortChannel("/dev/ttyUSB0", 115200);
|
||||
* assert((bool)channel);
|
||||
* assert(*channel);
|
||||
*
|
||||
* auto lidar = createLidarDriver();
|
||||
* assert((bool)lidar);
|
||||
* assert(*lidar);
|
||||
*
|
||||
* auto res = (*lidar)->connect(*channel);
|
||||
* assert(SL_IS_OK(res));
|
||||
*
|
||||
* sl_lidar_response_device_info_t deviceInfo;
|
||||
* res = (*lidar)->getDeviceInfo(deviceInfo);
|
||||
* assert(SL_IS_OK(res));
|
||||
*
|
||||
* printf("Model: %d, Firmware Version: %d.%d, Hardware Version: %d\n",
|
||||
* deviceInfo.model,
|
||||
* deviceInfo.firmware_version >> 8, deviceInfo.firmware_version & 0xffu,
|
||||
* deviceInfo.hardware_version);
|
||||
*
|
||||
* delete *lidar;
|
||||
* delete *channel;
|
||||
*/
|
||||
Result<ILidarDriver*> createLidarDriver();
|
||||
}
|
||||
Reference in New Issue
Block a user