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/*
* 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.
*
*/
#include "dataunnpacker_commondef.h"
#include "dataunpacker.h"
#include "dataunnpacker_internal.h"
#include <map>
#define REGISTER_HANDLER(_c_) { \
auto newBorn = new unpacker::_c_(); \
if (!newBorn) return false; \
handlerList.push_back(newBorn); \
}
// How to include new handlers?
// 1. add extra include line below if a new handle is to be included
// 2. update the code in function _registerDataUnpackerHandlers
#include "unpacker/handler_capsules.h"
#include "unpacker/handler_hqnode.h"
#include "unpacker/handler_normalnode.h"
#define DEF_REGISTER_HANDLER_LIST
BEGIN_DATAUNPACKER_NS()
static bool _registerDataUnpackerHandlers(std::vector<IDataUnpackerHandler *> & handlerList)
{
REGISTER_HANDLER(UnpackerHandler_NormalNode);
REGISTER_HANDLER(UnpackerHandler_HQNode);
REGISTER_HANDLER(UnpackerHandler_CapsuleNode);
REGISTER_HANDLER(UnpackerHandler_UltraCapsuleNode);
REGISTER_HANDLER(UnpackerHandler_DenseCapsuleNode);
REGISTER_HANDLER(UnpackerHandler_UltraDenseCapsuleNode);
return true;
}
class LIDARSampleDataUnpackerImpl : public LIDARSampleDataUnpackerInner
{
public:
void registerHandler(_u8 ansType, IDataUnpackerHandler* handler)
{
_handlerMap[ansType] = handler;
}
void unregisterAllHandlers()
{
for (auto itr = _handlerMap.begin(); itr != _handlerMap.end(); ++itr)
{
delete itr->second;
}
_handlerMap.clear();
}
LIDARSampleDataUnpackerImpl(LIDARSampleDataListener& l)
: LIDARSampleDataUnpackerInner(l)
, _enabled(false)
, _lastActiveAnsType(0)
, _lastActiveHandler(nullptr)
{
}
virtual ~LIDARSampleDataUnpackerImpl()
{
unregisterAllHandlers();
}
virtual void updateUnpackerContext(UnpackerContextType type, const void* data, size_t size)
{
// notify the handlers ...
for (auto itr = _handlerMap.begin(); itr != _handlerMap.end(); ++itr)
{
itr->second->onUnpackerContextSet(type, data, size);
}
}
virtual bool onSampleData(_u8 ansType, const void* buffer, size_t size) {
if (!_enabled) return false;
if (_lastActiveAnsType != ansType) {
onDeselectHandler();
auto itr = _handlerMap.find(ansType);
if (itr != _handlerMap.end()) {
onSelectHandler(ansType, itr->second);
}
else {
onSelectHandler(ansType, nullptr);
}
}
if (_lastActiveHandler) {
_lastActiveHandler->onData(this, reinterpret_cast<const _u8 *>(buffer), size);
return true;
}
else {
return false;
}
}
virtual void reset()
{
clearCache();
_lastActiveHandler = nullptr;
_lastActiveAnsType = 0;
}
virtual void enable()
{
_enabled = true;
reset();
}
virtual void disable()
{
_enabled = false;
reset();
}
virtual void clearCache()
{
if (_lastActiveHandler) {
_lastActiveHandler->reset();
}
}
virtual _u64 getCurrentTimestamp_uS() {
return getus();
}
virtual void publishHQNode(_u64 timestamp_uS, const rplidar_response_measurement_node_hq_t* node)
{
_listener.onHQNodeDecoded(timestamp_uS, node);
}
virtual void publishDecodingErrorMsg(int errorType, _u8 ansType, const void* payload, size_t size)
{
_listener.onDecodingError(errorType, ansType, payload, size);
}
virtual void publishCustomData(_u8 ansType, _u32 customCode, const void* payload, size_t size)
{
_listener.onCustomSampleDataDecoded(ansType, customCode, payload, size);
}
virtual void publishNewScanReset()
{
_listener.onHQNodeScanResetReq();
}
protected:
void onSelectHandler(_u8 ansType, IDataUnpackerHandler* handler)
{
_lastActiveHandler = handler;
_lastActiveAnsType = ansType;
}
void onDeselectHandler()
{
reset();
}
protected:
bool _enabled;
std::map<_u8, IDataUnpackerHandler*> _handlerMap;
_u8 _lastActiveAnsType;
IDataUnpackerHandler* _lastActiveHandler;
};
LIDARSampleDataUnpacker* LIDARSampleDataUnpacker::CreateInstance(LIDARSampleDataListener& listener)
{
LIDARSampleDataUnpackerImpl* impl = new LIDARSampleDataUnpackerImpl(listener);
std::vector<IDataUnpackerHandler*> list;
if (!_registerDataUnpackerHandlers(list)) {
delete impl;
for (auto itr = list.begin(); itr != list.end(); ++itr) {
delete* itr;
}
impl = nullptr;
}
for (auto itr = list.begin(); itr != list.end(); ++itr) {
impl->registerHandler((*itr)->getSampleAnswerType(), (*itr));
}
return impl;
}
void LIDARSampleDataUnpacker::ReleaseInstance(LIDARSampleDataUnpacker* unpacker) {
delete unpacker;
}
LIDARSampleDataUnpacker::~LIDARSampleDataUnpacker() {
}
LIDARSampleDataUnpacker::LIDARSampleDataUnpacker(LIDARSampleDataListener& l)
: _listener(l)
{
}
END_DATAUNPACKER_NS()
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