Merge commit '457f054053fbd5277ca31ab40275a1d0802bbbc0' as 'lidar/sllidar_ros2'

2026-04-22 11:51:45 +00:00
parent f5ea157e21 457f054053
commit 3304573d28
104 changed files with 16895 additions and 0 deletions
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+/*
+ *  Slamtec LIDAR SDK
+ *
+ *  Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+
+ /*
+  *  Sample Data Unpacker System
+  *
+  */
+
+  /*
+	* Redistribution and use in source and binary forms, with or without
+	* modification, are permitted provided that the following conditions are met:
+	*
+	* 1. Redistributions of source code must retain the above copyright notice,
+	*    this list of conditions and the following disclaimer.
+	*
+	* 2. Redistributions in binary form must reproduce the above copyright notice,
+	*    this list of conditions and the following disclaimer in the documentation
+	*    and/or other materials provided with the distribution.
+	*
+	* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+	* 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,
+	* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+	* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+	* 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,
+	* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+	*
+	*/
+
+
+#pragma once
+
+#include "dataupacker_namespace.h"
+
+BEGIN_DATAUNPACKER_NS()
+
+
+class LIDARSampleDataListener
+{
+
+
+public:
+	virtual void onHQNodeScanResetReq() = 0;
+	virtual void onHQNodeDecoded(_u64 timestamp_uS, const rplidar_response_measurement_node_hq_t* node) = 0;
+	virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, size_t size) {}
+
+	virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, size_t size) {}
+};
+
+class LIDARSampleDataUnpacker
+{
+public:
+	enum {
+		ERR_EVENT_ON_EXP_ENCODER_RESET = 0x8001,
+		ERR_EVENT_ON_EXP_CHECKSUM_ERR = 0x8002,
+	};
+
+	enum UnpackerContextType {
+		UNPACKER_CONTEXT_TYPE_LIDAR_UNKNOWN = 0,
+		UNPACKER_CONTEXT_TYPE_LIDAR_TIMING = 1,
+		UNPACKER_CONTEXT_TYPE_TRIANGULATION_OPTICAL_FACTOR = 2,
+
+	};
+
+	virtual ~LIDARSampleDataUnpacker();
+	static LIDARSampleDataUnpacker* CreateInstance(LIDARSampleDataListener& listener);
+	static void ReleaseInstance(LIDARSampleDataUnpacker*);
+
+	virtual void updateUnpackerContext(UnpackerContextType type, const void* data, size_t size) = 0;
+
+	virtual void enable() = 0;
+	virtual void disable() = 0;
+
+	virtual bool onSampleData(_u8 ansType, const void* buffer, size_t size) = 0;
+	virtual void reset() = 0;
+	virtual void clearCache() = 0;
+
+protected:
+	LIDARSampleDataUnpacker(LIDARSampleDataListener&);
+	LIDARSampleDataListener& _listener;
+
+};
+
+END_DATAUNPACKER_NS()