#include <lds_hub.h>

Inheritance diagram for livox_ros::LdsHub:

Public Member Functions
int	DeInitLdsHub (void)

int	InitLdsHub (std::vector< std::string > &broadcast_code_strs, const char *user_config_path)

Public Member Functions inherited from livox_ros::Lds
void	CleanRequestExit ()

uint8_t	GetDeviceType (uint8_t handle)

bool	IsAllQueueEmpty ()

bool	IsAllQueueReadStop ()

bool	IsRequestExit ()

	Lds (uint32_t buffer_time_ms, uint8_t data_src)

void	RequestExit ()

void	ResetLds (uint8_t data_src)

void	StorageRawPacket (uint8_t handle, LivoxEthPacket *eth_packet)

void	UpdateLidarInfoByEthPacket (LidarDevice p_lidar, LivoxEthPacket eth_packet)

virtual	~Lds ()

Static Public Member Functions
static LdsHub *	GetInstance (uint32_t interval_ms)

Static Public Member Functions inherited from livox_ros::Lds
static void	ResetLidar (LidarDevice *lidar, uint8_t data_src)

static void	SetLidarDataSrc (LidarDevice *lidar, uint8_t data_src)

Private Member Functions
int	AddBroadcastCodeToWhitelist (const char *broadcast_code)

int	AddRawUserConfig (UserRawConfig &config)

void	DisableAutoConnectMode (void)

void	EnableAutoConnectMode (void)

int	GetRawConfig (const char *broadcast_code, UserRawConfig &config)

bool	IsAllLidarSetBitsClear ()

bool	IsAutoConnectMode (void)

bool	IsBroadcastCodeExistInWhitelist (const char *broadcast_code)

bool	IsExistInRawConfig (const char *broadcast_code)

	LdsHub (uint32_t interval_ms)

	LdsHub (const LdsHub &)=delete

LdsHub &	operator= (const LdsHub &)=delete

int	ParseConfigFile (const char *pathname)

virtual void	PrepareExit (void)

void	ResetLdsHub (void)

void	StateReset (void)

void	UpdateHubLidarinfo (void)

	~LdsHub ()

Static Private Member Functions
static void	ConfigImuPushFrequency (LdsHub *lds_hub)

static void	ConfigLidarsOfHub (LdsHub *lds_hub)

static void	ConfigPointCloudReturnMode (LdsHub *lds_hub)

static void	ControlFanCb (livox_status status, uint8_t handle, uint8_t response, void *clent_data)

static void	HubErrorStatusCb (livox_status status, uint8_t handle, ErrorMessage *message)

static void	HubQueryLidarInfoCb (livox_status status, uint8_t handle, HubQueryLidarInformationResponse response, void client_data)

static void	HubSetImuRatePushFrequencyCb (livox_status status, uint8_t handle, HubSetImuPushFrequencyResponse response, void clent_data)

static void	HubSetPointCloudReturnModeCb (livox_status status, uint8_t handle, HubSetPointCloudReturnModeResponse response, void clent_data)

static void	OnDeviceBroadcast (const BroadcastDeviceInfo *info)

static void	OnDeviceChange (const DeviceInfo *info, DeviceEvent type)

static void	OnHubDataCb (uint8_t hub_handle, LivoxEthPacket data, uint32_t data_num, void client_data)

static void	SetCoordinateCb (livox_status status, uint8_t handle, uint8_t response, void *clent_data)

static void	StartSampleCb (livox_status status, uint8_t handle, uint8_t response, void *clent_data)

static void	StopSampleCb (livox_status status, uint8_t handle, uint8_t response, void *clent_data)

Private Attributes
bool	auto_connect_mode_

char	broadcast_code_whitelist_ [kMaxLidarCount][kBroadcastCodeSize]

LidarDevice	hub_

UserRawConfig	hub_raw_config_

volatile bool	is_initialized_

std::vector< UserRawConfig >	lidar_raw_config_

uint32_t	whitelist_count_

Additional Inherited Members
Public Attributes inherited from livox_ros::Lds
uint8_t	lidar_count_

LidarDevice	lidars_ [kMaxSourceLidar]

Semaphore	semaphore_

Protected Attributes inherited from livox_ros::Lds
uint32_t	buffer_time_ms_

uint8_t	data_src_

Detailed Description

LiDAR data source, data from hub.

Definition at line 41 of file lds_hub.h.

Constructor & Destructor Documentation

livox_ros::LdsHub::LdsHub ( uint32_t interval_ms )

private

Global function for common use -------------------------------------—— Lds hub function ------------------------------------------------------—

Definition at line 46 of file lds_hub.cpp.

livox_ros::LdsHub::LdsHub ( const LdsHub & )

privatedelete

livox_ros::LdsHub::~LdsHub ( )

private

Definition at line 57 of file lds_hub.cpp.

Member Function Documentation

int livox_ros::LdsHub::AddBroadcastCodeToWhitelist ( const char * broadcast_code )

private

Add broadcast code to whitelist

Definition at line 503 of file lds_hub.cpp.

int livox_ros::LdsHub::AddRawUserConfig ( UserRawConfig & config )

private

Definition at line 667 of file lds_hub.cpp.

void livox_ros::LdsHub::ConfigImuPushFrequency ( LdsHub * lds_hub )

staticprivate

Definition at line 450 of file lds_hub.cpp.

void livox_ros::LdsHub::ConfigLidarsOfHub ( LdsHub * lds_hub )

staticprivate

Definition at line 484 of file lds_hub.cpp.

void livox_ros::LdsHub::ConfigPointCloudReturnMode ( LdsHub * lds_hub )

staticprivate

Definition at line 415 of file lds_hub.cpp.

void livox_ros::LdsHub::ControlFanCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	clent_data
	)

staticprivate

Definition at line 314 of file lds_hub.cpp.

int livox_ros::LdsHub::DeInitLdsHub ( void )

Definition at line 124 of file lds_hub.cpp.

void livox_ros::LdsHub::DisableAutoConnectMode ( void )

inlineprivate

Definition at line 93 of file lds_hub.h.

void livox_ros::LdsHub::EnableAutoConnectMode ( void )

inlineprivate

Definition at line 92 of file lds_hub.h.

static LdsHub* livox_ros::LdsHub::GetInstance ( uint32_t interval_ms )

inlinestatic

Definition at line 43 of file lds_hub.h.

int livox_ros::LdsHub::GetRawConfig	(	const char *	broadcast_code,
		UserRawConfig &	config
	)

private

Definition at line 693 of file lds_hub.cpp.

void livox_ros::LdsHub::HubErrorStatusCb	(	livox_status	status,
		uint8_t	handle,
		ErrorMessage *	message
	)

staticprivate

Callback function of hub error message.

Definition at line 296 of file lds_hub.cpp.

void livox_ros::LdsHub::HubQueryLidarInfoCb	(	livox_status	status,
		uint8_t	handle,
		HubQueryLidarInformationResponse *	response,
		void *	client_data
	)

staticprivate

Definition at line 251 of file lds_hub.cpp.

void livox_ros::LdsHub::HubSetImuRatePushFrequencyCb	(	livox_status	status,
		uint8_t	handle,
		HubSetImuPushFrequencyResponse *	response,
		void *	clent_data
	)

staticprivate

Definition at line 365 of file lds_hub.cpp.

void livox_ros::LdsHub::HubSetPointCloudReturnModeCb	(	livox_status	status,
		uint8_t	handle,
		HubSetPointCloudReturnModeResponse *	response,
		void *	clent_data
	)

staticprivate

Definition at line 317 of file lds_hub.cpp.

int livox_ros::LdsHub::InitLdsHub	(	std::vector< std::string > &	broadcast_code_strs,
		const char *	user_config_path
	)

Start livox sdk to receive lidar data

Add here, only for callback use

Definition at line 64 of file lds_hub.cpp.

bool livox_ros::LdsHub::IsAllLidarSetBitsClear ( )

inlineprivate

Definition at line 99 of file lds_hub.h.

bool livox_ros::LdsHub::IsAutoConnectMode ( void )

inlineprivate

Definition at line 94 of file lds_hub.h.

bool livox_ros::LdsHub::IsBroadcastCodeExistInWhitelist ( const char * broadcast_code )

private

Definition at line 520 of file lds_hub.cpp.

bool livox_ros::LdsHub::IsExistInRawConfig ( const char * broadcast_code )

private

Definition at line 678 of file lds_hub.cpp.

void livox_ros::LdsHub::OnDeviceBroadcast ( const BroadcastDeviceInfo * info )

staticprivate

Definition at line 157 of file lds_hub.cpp.

void livox_ros::LdsHub::OnDeviceChange	(	const DeviceInfo *	info,
		DeviceEvent	type
	)

staticprivate

Callback function of changing of device state.

Definition at line 214 of file lds_hub.cpp.

void livox_ros::LdsHub::OnHubDataCb	(	uint8_t	hub_handle,
		LivoxEthPacket *	data,
		uint32_t	data_num,
		void *	client_data
	)

staticprivate

Static function in LdsLidar for callback

Caculate which lidar the eth packet data belong to

Definition at line 139 of file lds_hub.cpp.

LdsHub& livox_ros::LdsHub::operator= ( const LdsHub & )

privatedelete

int livox_ros::LdsHub::ParseConfigFile ( const char * pathname )

private

Config file process

Definition at line 561 of file lds_hub.cpp.

void livox_ros::LdsHub::PrepareExit ( void )

privatevirtual

Reimplemented from livox_ros::Lds.

Definition at line 136 of file lds_hub.cpp.

void livox_ros::LdsHub::ResetLdsHub ( void )

private

Definition at line 59 of file lds_hub.cpp.

void livox_ros::LdsHub::SetCoordinateCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	clent_data
	)

staticprivate

Definition at line 338 of file lds_hub.cpp.

void livox_ros::LdsHub::StartSampleCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	clent_data
	)

staticprivate

Callback function of starting sampling.

Definition at line 387 of file lds_hub.cpp.

void livox_ros::LdsHub::StateReset ( void )

private

void livox_ros::LdsHub::StopSampleCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	clent_data
	)

staticprivate

Callback function of stopping sampling.

Definition at line 412 of file lds_hub.cpp.

void livox_ros::LdsHub::UpdateHubLidarinfo ( void )

private

Get and update LiDAR info

Definition at line 536 of file lds_hub.cpp.

Member Data Documentation

bool livox_ros::LdsHub::auto_connect_mode_

private

Definition at line 108 of file lds_hub.h.

char livox_ros::LdsHub::broadcast_code_whitelist_[kMaxLidarCount][kBroadcastCodeSize]

private

Definition at line 111 of file lds_hub.h.

LidarDevice livox_ros::LdsHub::hub_

private

Definition at line 113 of file lds_hub.h.

UserRawConfig livox_ros::LdsHub::hub_raw_config_

private

Definition at line 116 of file lds_hub.h.

volatile bool livox_ros::LdsHub::is_initialized_

private

Definition at line 110 of file lds_hub.h.

std::vector<UserRawConfig> livox_ros::LdsHub::lidar_raw_config_

private

Definition at line 115 of file lds_hub.h.

uint32_t livox_ros::LdsHub::whitelist_count_

private

Definition at line 109 of file lds_hub.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation