Implemented code for Slamtec rplidar C1

1 files changed, 88 insertions, 0 deletions

diff --git a/LIDAR/sdk/src/sl_lidarprotocol_codec.h b/LIDAR/sdk/src/sl_lidarprotocol_codec.h
new file mode 100644
index 0000000..1cc62f7
--- /dev/null
+++ b/LIDAR/sdk/src/sl_lidarprotocol_codec.h
@@ -0,0 +1,88 @@
+/*
+ *  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 "sl_async_transceiver.h"
+
+namespace sl { namespace internal {
+
+
+class IProtocolMessageListener {
+public:
+    virtual void onProtocolMessageDecoded(const ProtocolMessage&) = 0;
+};
+
+
+class RPLidarProtocolCodec : public IAsyncProtocolCodec
+{
+public:
+
+    enum {
+        STATUS_WAIT_SYNC1 = 0x0,
+        STATUS_WAIT_SYNC2 = 0x1,
+        STATUS_WAIT_SIZE_FLAG = 0x2,
+        STATUS_WAIT_TYPE = 0x3,
+        STATUS_RECV_PAYLOAD = 0x4,
+        STATUS_LOOP_MODE_FLAG = 0x80000000,
+    };
+
+    RPLidarProtocolCodec();
+
+    void exitLoopMode();
+
+
+    virtual size_t estimateLength(message_autoptr_t& message);
+
+
+    virtual void onEncodeData(message_autoptr_t& message, _u8* txbuffer, size_t* size);
+
+    virtual void   onDecodeReset();
+    virtual void   onDecodeData(const void* buffer, size_t size);
+    
+    void setMessageListener(IProtocolMessageListener* l);
+
+protected:
+
+    IProtocolMessageListener* _listener;
+    ProtocolMessage          _decodingMessage;
+    rp::hal::Locker          _op_locker;
+                            
+    _u32                     _working_states;
+    int                      _rx_pos;
+};
+
+}}
+
+
+