1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
|
/*
* Slamtec LIDAR SDK
*
* Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* Sample Data Unpacker System
* Internal Definition
*/
/*
* 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
BEGIN_DATAUNPACKER_NS()
class LIDARSampleDataUnpackerInner: public LIDARSampleDataUnpacker
{
public:
LIDARSampleDataUnpackerInner(LIDARSampleDataListener& l): LIDARSampleDataUnpacker(l){}
virtual void publishHQNode(_u64 timestamp_uS, const rplidar_response_measurement_node_hq_t* node) = 0;
virtual void publishDecodingErrorMsg(int errorType, _u8 ansType, const void* payload, size_t size) = 0;
virtual void publishCustomData(_u8 ansType, _u32 customCode, const void* payload, size_t size) = 0;
virtual void publishNewScanReset() = 0;
virtual _u64 getCurrentTimestamp_uS() = 0;
};
class IDataUnpackerHandler
{
public:
IDataUnpackerHandler() {}
virtual ~IDataUnpackerHandler() {}
virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size) = 0;
virtual _u8 getSampleAnswerType() const = 0;
virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size) = 0;
virtual void reset() = 0;
};
END_DATAUNPACKER_NS()
|
