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/*
* Slamtec LIDAR SDK
*
* Copyright (c) 2020 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_lidar_driver.h"
namespace sl {
class SL_LidarDriver :public ILidarDriver
{
public:
enum {
LEGACY_SAMPLE_DURATION = 476,
};
enum
{
NORMAL_CAPSULE = 0,
DENSE_CAPSULE = 1,
};
enum {
A2A3_LIDAR_MINUM_MAJOR_ID = 2,
TOF_LIDAR_MINUM_MAJOR_ID = 6,
};
public:
SL_LidarDriver()
:_channel(NULL)
, _isConnected(false)
, _isScanning(false)
, _isSupportingMotorCtrl(MotorCtrlSupportNone)
, _cached_sampleduration_std(LEGACY_SAMPLE_DURATION)
,_cached_sampleduration_express(LEGACY_SAMPLE_DURATION)
, _cached_scan_node_hq_count(0)
, _cached_scan_node_hq_count_for_interval_retrieve(0)
{}
sl_result connect(IChannel* channel);
void disconnect();
bool isConnected();
sl_result reset(sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result getAllSupportedScanModes(std::vector<LidarScanMode>& outModes, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result getTypicalScanMode(sl_u16& outMode, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result startScan(bool force, bool useTypicalScan, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr);
sl_result startScanNormal(bool force, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result startScanExpress(bool force, sl_u16 scanMode, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result stop(sl_u32 timeout = DEFAULT_TIMEOUT);
DEPRECATED(sl_result grabScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT));
sl_result grabScanDataHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result getDeviceInfo(sl_lidar_response_device_info_t& info, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result checkMotorCtrlSupport(MotorCtrlSupport & support, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result getFrequency(const LidarScanMode& scanMode, const sl_lidar_response_measurement_node_hq_t* nodes, size_t count, float& frequency);
sl_result setLidarIpConf(const sl_lidar_ip_conf_t& conf, sl_u32 timeout);
sl_result getLidarIpConf(sl_lidar_ip_conf_t& conf, sl_u32 timeout);
sl_result getHealth(sl_lidar_response_device_health_t& health, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result getDeviceMacAddr(sl_u8* macAddrArray, sl_u32 timeoutInMs);
sl_result ascendScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t count);
sl_result ascendScanData(sl_lidar_response_measurement_node_hq_t * nodebuffer, size_t count);
sl_result getScanDataWithIntervalHq(sl_lidar_response_measurement_node_hq_t * nodebuffer, size_t & count);
sl_result setMotorSpeed(sl_u16 speed = DEFAULT_MOTOR_PWM);//
sl_result negotiateSerialBaudRate(sl_u32 requiredBaudRate, sl_u32* baudRateDetected = NULL);
protected:
sl_result startMotor();
sl_result checkSupportConfigCommands(bool& outSupport, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result getScanModeCount(sl_u16& modeCount, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result setLidarConf(sl_u32 type, const void* payload, size_t payloadSize, sl_u32 timeout);
sl_result getLidarConf(sl_u32 type, std::vector<sl_u8> &outputBuf, const std::vector<sl_u8> &reserve = std::vector<sl_u8>(), sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result getLidarSampleDuration(float& sampleDurationRes, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result getMaxDistance(float &maxDistance, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result getScanModeAnsType(sl_u8 &ansType, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
sl_result getScanModeName(char* modeName, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
//DEPRECATED(sl_result getSampleDuration_uS(sl_lidar_response_sample_rate_t & rateInfo, sl_u32 timeout = DEFAULT_TIMEOUT));
//DEPRECATED (sl_result checkExpressScanSupported(bool & support, sl_u32 timeout = DEFAULT_TIMEOUT));
//DEPRECATED(sl_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode));
private:
sl_result _sendCommand(sl_u16 cmd, const void * payload = NULL, size_t payloadsize = 0 );
sl_result _waitResponseHeader(sl_lidar_ans_header_t * header, sl_u32 timeout = DEFAULT_TIMEOUT);
template <typename T>
sl_result _waitResponse(T &payload ,sl_u8 ansType, sl_u32 timeout = DEFAULT_TIMEOUT);
void _disableDataGrabbing();
sl_result _waitNode(sl_lidar_response_measurement_node_t * node, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result _waitScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t & count, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result _cacheScanData();
void _ultraCapsuleToNormal(const sl_lidar_response_ultra_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
sl_result _waitCapsuledNode(sl_lidar_response_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
void _capsuleToNormal(const sl_lidar_response_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
void _dense_capsuleToNormal(const sl_lidar_response_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
sl_result _cacheCapsuledScanData();
void _ultra_dense_capsuleToNormal(const sl_lidar_response_ultra_dense_capsule_measurement_nodes_t& capslue, sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& nodeCount);
sl_result _waitUltraDenseCapsuledNode(sl_lidar_response_ultra_dense_capsule_measurement_nodes_t& node, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result _cacheUltraDenseCapsuledScanData();
sl_result _waitHqNode(sl_lidar_response_hq_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
void _HqToNormal(const sl_lidar_response_hq_capsule_measurement_nodes_t & node_hq, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
sl_result _cacheHqScanData();
sl_result _waitUltraCapsuledNode(sl_lidar_response_ultra_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
sl_result _cacheUltraCapsuledScanData();
sl_result _clearRxDataCache();
private:
IChannel *_channel;
bool _isConnected;
bool _isScanning;
MotorCtrlSupport _isSupportingMotorCtrl;
rp::hal::Locker _lock;
rp::hal::Event _dataEvt;
rp::hal::Thread _cachethread;
sl_u16 _cached_sampleduration_std;
sl_u16 _cached_sampleduration_express;
sl_lidar_response_measurement_node_hq_t _cached_scan_node_hq_buf[8192];
size_t _cached_scan_node_hq_count;
sl_u8 _cached_capsule_flag;
sl_lidar_response_measurement_node_hq_t _cached_scan_node_hq_buf_for_interval_retrieve[8192];
size_t _cached_scan_node_hq_count_for_interval_retrieve;
sl_lidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata;
sl_lidar_response_dense_capsule_measurement_nodes_t _cached_previous_dense_capsuledata;
sl_lidar_response_ultra_capsule_measurement_nodes_t _cached_previous_ultracapsuledata;
sl_lidar_response_hq_capsule_measurement_nodes_t _cached_previous_Hqdata;
bool _is_previous_capsuledataRdy;
bool _is_previous_HqdataRdy;
};
}
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