m5p3nc3r
457f054053
git-subtree-dir: lidar/sllidar_ros2 git-subtree-split: 34300099fadfc772965962dec837bf436706188f
93 lines
2.8 KiB
C++
93 lines
2.8 KiB
C++
/*
|
|
* 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() |