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/*
* Slamtec LIDAR SDK
*
* Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
* http://www.slamtec.com
*
*/
/*
* Sample Data Unpacker System
* Capsule Style Sample Node Handlers
*/
/*
* 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()
namespace unpacker {
class UnpackerHandler_CapsuleNode : public IDataUnpackerHandler {
public:
UnpackerHandler_CapsuleNode();
virtual ~UnpackerHandler_CapsuleNode();
virtual _u8 getSampleAnswerType() const;
virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
virtual void reset();
virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
void _onScanNodeCapsuleData(rplidar_response_capsule_measurement_nodes_t &, LIDARSampleDataUnpackerInner* engine);
std::vector<_u8> _cached_scan_node_buf;
int _cached_scan_node_buf_pos;
bool _is_previous_capsuledataRdy;
rplidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata;
_u64 _cached_last_data_timestamp_us;
SlamtecLidarTimingDesc _cachedTimingDesc;
};
class UnpackerHandler_UltraCapsuleNode : public IDataUnpackerHandler {
public:
UnpackerHandler_UltraCapsuleNode();
virtual ~UnpackerHandler_UltraCapsuleNode();
virtual _u8 getSampleAnswerType() const;
virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
virtual void reset();
virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
void _onScanNodeUltraCapsuleData(rplidar_response_ultra_capsule_measurement_nodes_t&, LIDARSampleDataUnpackerInner* engine);
std::vector<_u8> _cached_scan_node_buf;
int _cached_scan_node_buf_pos;
bool _is_previous_capsuledataRdy;
rplidar_response_ultra_capsule_measurement_nodes_t _cached_previous_ultracapsuledata;
_u64 _cached_last_data_timestamp_us;
SlamtecLidarTimingDesc _cachedTimingDesc;
};
class UnpackerHandler_DenseCapsuleNode : public IDataUnpackerHandler {
public:
UnpackerHandler_DenseCapsuleNode();
virtual ~UnpackerHandler_DenseCapsuleNode();
virtual _u8 getSampleAnswerType() const;
virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
virtual void reset();
virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
void _onScanNodeDenseCapsuleData(rplidar_response_dense_capsule_measurement_nodes_t&, LIDARSampleDataUnpackerInner* engine);
std::vector<_u8> _cached_scan_node_buf;
int _cached_scan_node_buf_pos;
bool _is_previous_capsuledataRdy;
rplidar_response_dense_capsule_measurement_nodes_t _cached_previous_dense_capsuledata;
_u64 _cached_last_data_timestamp_us;
SlamtecLidarTimingDesc _cachedTimingDesc;
};
class UnpackerHandler_UltraDenseCapsuleNode : public IDataUnpackerHandler {
public:
UnpackerHandler_UltraDenseCapsuleNode();
virtual ~UnpackerHandler_UltraDenseCapsuleNode();
virtual _u8 getSampleAnswerType() const;
virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
virtual void reset();
virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
void _onScanNodeUltraDenseCapsuleData(rplidar_response_ultra_dense_capsule_measurement_nodes_t&, LIDARSampleDataUnpackerInner* engine);
std::vector<_u8> _cached_scan_node_buf;
int _cached_scan_node_buf_pos;
bool _is_previous_capsuledataRdy;
rplidar_response_ultra_dense_capsule_measurement_nodes_t _cached_previous_ultra_dense_capsuledata;
_u64 _cached_last_data_timestamp_us;
int _last_node_sync_bit;
int _last_dist_q2;
SlamtecLidarTimingDesc _cachedTimingDesc;
};
}
END_DATAUNPACKER_NS()
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