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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 "sl_async_transceiver.h"
namespace sl { namespace internal {
class IProtocolMessageListener {
public:
virtual void onProtocolMessageDecoded(const ProtocolMessage&) = 0;
};
class RPLidarProtocolCodec : public IAsyncProtocolCodec
{
public:
enum {
STATUS_WAIT_SYNC1 = 0x0,
STATUS_WAIT_SYNC2 = 0x1,
STATUS_WAIT_SIZE_FLAG = 0x2,
STATUS_WAIT_TYPE = 0x3,
STATUS_RECV_PAYLOAD = 0x4,
STATUS_LOOP_MODE_FLAG = 0x80000000,
};
RPLidarProtocolCodec();
void exitLoopMode();
virtual size_t estimateLength(message_autoptr_t& message);
virtual void onEncodeData(message_autoptr_t& message, _u8* txbuffer, size_t* size);
virtual void onDecodeReset();
virtual void onDecodeData(const void* buffer, size_t size);
void setMessageListener(IProtocolMessageListener* l);
protected:
IProtocolMessageListener* _listener;
ProtocolMessage _decodingMessage;
rp::hal::Locker _op_locker;
_u32 _working_states;
int _rx_pos;
};
}}
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