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/*
* Slamtec LIDAR SDK
*
* Copyright (c) 2014 - 2023 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 <list>
#include <memory>
namespace sl { namespace internal {
class _single_thread ProtocolMessage {
public:
size_t len;
_u8 cmd;
protected:
_u8* data;
size_t _databufsize;
public:
ProtocolMessage();
ProtocolMessage(_u8 cmd, const void* buffer, size_t size);
ProtocolMessage(const ProtocolMessage& srcMsg);
virtual ~ProtocolMessage();
ProtocolMessage& operator=(const ProtocolMessage& srcMessage);
// avoid use this method, pls. use fillData instead
void setDataBuf(_u8* buffer, size_t size);
_u8* getDataBuf() { return data; }
void fillData(const void* buffer, size_t size);
void cleanData();
size_t getPayloadSize() const
{
return len;
}
protected:
// change the data buffer to fix the new payload size
// the existing buffer will be reused if possible.
// all the existing payload data will lose
void _changeBufSize(bool force_compact = false);
bool _usingOutterData;
};
typedef std::shared_ptr<ProtocolMessage> message_autoptr_t;
class IAsyncProtocolCodec {
public:
IAsyncProtocolCodec() {}
virtual ~IAsyncProtocolCodec() {}
virtual void onChannelError(u_result errCode) {}
virtual void onDecodeReset() {}
virtual void onDecodeData(const void* buffer, size_t size) = 0;
virtual size_t estimateLength(message_autoptr_t& message) = 0;
virtual void onEncodeData(message_autoptr_t& message, _u8* txbuffer, size_t* size) = 0;
};
class AsyncTransceiver {
public:
enum working_flag_t
{
WORKING_FLAG_RX_DISABLED = 0x1L << 0,
WORKING_FLAG_TX_DISABLED = 0x1L << 1,
WORKING_FLAG_ERROR = 0x1L << 31,
};
AsyncTransceiver(IAsyncProtocolCodec& codec);
~AsyncTransceiver();
u_result openChannelAndBind(IChannel* channel);
void unbindAndClose();
IChannel* getBindedChannel() const {
return _bindedChannel;
}
u_result sendMessage(message_autoptr_t& msg);
protected:
sl_result _proc_rxThread();
sl_result _proc_decoderThread();
protected:
rp::hal::Locker _opLocker;
rp::hal::Locker _rxLocker;
rp::hal::Event _dataEvt;
IChannel* _bindedChannel;
IAsyncProtocolCodec& _codec;
bool _isWorking;
_u32 _workingFlag;
rp::hal::Thread _rxThread;
rp::hal::Thread _decoderThread;
struct Buffer {
size_t size;
_u8* data;
Buffer() : size(0), data(NULL){}
~Buffer() {
if (data) {
delete[] data;
data = NULL;
}
}
};
std::list< Buffer * > _rxQueue;
};
}}
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