Squashed 'lidar/sllidar_ros2/' content from commit 3430009

git-subtree-dir: lidar/sllidar_ros2 git-subtree-split: 34300099fadfc772965962dec837bf436706188f
2026-04-22 11:51:45 +00:00
commit 457f054053
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+/*
+ *  Slamtec LIDAR SDK
+ *
+ *  Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
+ *  http://www.slamtec.com
+ *
+ */
+ /*
+  * 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 <list>
+#include <memory>
+
+namespace sl { namespace internal {
+
+
+class _single_thread ProtocolMessage {
+
+public:
+	size_t len;			
+	_u8 cmd;
+protected:
+	_u8* data;
+	size_t _databufsize;
+
+public:
+	ProtocolMessage();
+	ProtocolMessage(_u8 cmd, const void* buffer, size_t size);
+	ProtocolMessage(const ProtocolMessage& srcMsg);
+	virtual ~ProtocolMessage();
+
+	ProtocolMessage& operator=(const ProtocolMessage& srcMessage);
+
+	// avoid use this method, pls. use fillData instead
+	void setDataBuf(_u8* buffer, size_t size);
+
+	_u8* getDataBuf() { return data; }
+
+	void fillData(const void* buffer, size_t size);
+	void cleanData();
+
+	size_t getPayloadSize() const
+	{
+		return len;
+	}
+
+protected:
+
+	// change the data buffer to fix the new payload size
+	// the existing buffer will be reused if possible.
+	// all the existing payload data will lose
+	void _changeBufSize(bool force_compact = false);
+	bool _usingOutterData;
+};
+
+
+
+typedef std::shared_ptr<ProtocolMessage> message_autoptr_t;
+
+
+class IAsyncProtocolCodec {
+public:
+	IAsyncProtocolCodec() {}
+	virtual ~IAsyncProtocolCodec()  {}
+
+	virtual void   onChannelError(u_result errCode) {}
+
+	virtual void   onDecodeReset() {}
+	virtual void   onDecodeData(const void* buffer, size_t size) = 0;
+
+
+	virtual size_t estimateLength(message_autoptr_t& message) = 0;
+	virtual void   onEncodeData(message_autoptr_t& message, _u8* txbuffer, size_t* size) = 0;
+
+};
+
+class AsyncTransceiver {
+public:
+
+	enum working_flag_t
+	{
+		WORKING_FLAG_RX_DISABLED = 0x1L << 0,
+		WORKING_FLAG_TX_DISABLED = 0x1L << 1,
+
+		WORKING_FLAG_ERROR = 0x1L << 31,
+	};
+
+
+	AsyncTransceiver(IAsyncProtocolCodec& codec);
+	~AsyncTransceiver();
+
+
+
+	u_result openChannelAndBind(IChannel* channel);
+	void     unbindAndClose();
+
+	IChannel* getBindedChannel() const {
+		return _bindedChannel;
+	}
+	
+	u_result sendMessage(message_autoptr_t& msg);
+
+protected:
+
+	sl_result _proc_rxThread();
+	sl_result _proc_decoderThread();
+
+protected:
+
+
+	rp::hal::Locker _opLocker;
+	rp::hal::Locker _rxLocker;
+	rp::hal::Event  _dataEvt;
+
+	IChannel* _bindedChannel;
+	IAsyncProtocolCodec& _codec;
+
+
+	bool _isWorking;
+	_u32 _workingFlag;
+
+	rp::hal::Thread _rxThread;
+	rp::hal::Thread _decoderThread;
+
+	struct Buffer {
+		size_t size;
+		_u8* data;
+
+
+		Buffer() : size(0), data(NULL){}
+
+		~Buffer() {
+			if (data) {
+				delete[] data;
+				data = NULL;
+			}
+		}
+	};
+	std::list< Buffer * > _rxQueue;
+};
+
+
+}}