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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.
*
*/
#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()
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