#include <lds_lidar.h>

Inheritance diagram for livox_ros::LdsLidar:

Public Member Functions
int	DeInitLdsLidar (void)

int	InitLdsLidar (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 LdsLidar *	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	IsAutoConnectMode (void)

bool	IsBroadcastCodeExistInWhitelist (const char *broadcast_code)

bool	IsExistInRawConfig (const char *broadcast_code)

	LdsLidar (uint32_t interval_ms)

	LdsLidar (const LdsLidar &)=delete

LdsLidar &	operator= (const LdsLidar &)=delete

int	ParseConfigFile (const char *pathname)

int	ParseTimesyncConfig (rapidjson::Document &doc)

virtual void	PrepareExit (void)

void	ResetLdsLidar (void)

	~LdsLidar ()

Static Private Member Functions
static void	ControlFanCb (livox_status status, uint8_t handle, uint8_t response, void *clent_data)

static void	DeviceInformationCb (livox_status status, uint8_t handle, DeviceInformationResponse ack, void clent_data)

static void	GetLidarExtrinsicParameterCb (livox_status status, uint8_t handle, LidarGetExtrinsicParameterResponse response, void clent_data)

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

static void	OnDeviceBroadcast (const BroadcastDeviceInfo *info)

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

static void	OnLidarDataCb (uint8_t handle, LivoxEthPacket data, uint32_t data_num, void client_data)

static void	ReceiveSyncTimeCallback (const char rmc, uint32_t rmc_length, void client_data)

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

static void	SetHighSensitivityCb (livox_status status, uint8_t handle, DeviceParameterResponse response, void clent_data)

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

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

static void	SetRmcSyncTimeCb (livox_status status, uint8_t handle, uint8_t response, void *client_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]

std::mutex	config_mutex_

bool	enable_timesync_

volatile bool	is_initialized_

std::vector< UserRawConfig >	raw_config_

TimeSync *	timesync_

TimeSyncConfig	timesync_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 dependent lidar.

Definition at line 44 of file lds_lidar.h.

Constructor & Destructor Documentation

livox_ros::LdsLidar::LdsLidar ( uint32_t interval_ms )

private

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

Definition at line 48 of file lds_lidar.cpp.

livox_ros::LdsLidar::LdsLidar ( const LdsLidar & )

privatedelete

livox_ros::LdsLidar::~LdsLidar ( )

private

Definition at line 58 of file lds_lidar.cpp.

Member Function Documentation

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

private

Add broadcast code to whitelist

Definition at line 557 of file lds_lidar.cpp.

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

private

Definition at line 733 of file lds_lidar.cpp.

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

staticprivate

Definition at line 347 of file lds_lidar.cpp.

int livox_ros::LdsLidar::DeInitLdsLidar ( void )

Definition at line 137 of file lds_lidar.cpp.

void livox_ros::LdsLidar::DeviceInformationCb	(	livox_status	status,
		uint8_t	handle,
		DeviceInformationResponse *	ack,
		void *	clent_data
	)

staticprivate

Query the firmware version of Livox LiDAR.

Definition at line 310 of file lds_lidar.cpp.

void livox_ros::LdsLidar::DisableAutoConnectMode ( void )

inlineprivate

Definition at line 99 of file lds_lidar.h.

void livox_ros::LdsLidar::EnableAutoConnectMode ( void )

inlineprivate

Definition at line 98 of file lds_lidar.h.

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

inlinestatic

Definition at line 46 of file lds_lidar.h.

void livox_ros::LdsLidar::GetLidarExtrinsicParameterCb	(	livox_status	status,
		uint8_t	handle,
		LidarGetExtrinsicParameterResponse *	response,
		void *	clent_data
	)

staticprivate

Callback function of get LiDARs' extrinsic parameter.

Definition at line 431 of file lds_lidar.cpp.

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

private

Definition at line 759 of file lds_lidar.cpp.

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

Add commandline input broadcast code

Start livox sdk to receive lidar data

Add here, only for callback use

Definition at line 62 of file lds_lidar.cpp.

bool livox_ros::LdsLidar::IsAutoConnectMode ( void )

inlineprivate

Definition at line 100 of file lds_lidar.h.

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

private

Definition at line 574 of file lds_lidar.cpp.

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

private

Definition at line 744 of file lds_lidar.cpp.

void livox_ros::LdsLidar::LidarErrorStatusCb	(	livox_status	status,
		uint8_t	handle,
		ErrorMessage *	message
	)

staticprivate

Callback function of Lidar error message.

Definition at line 324 of file lds_lidar.cpp.

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

staticprivate

Definition at line 172 of file lds_lidar.cpp.

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

staticprivate

Callback function of changing of device state.

Config lidar parameter

Ensure the thread safety for set_bits and connect_state

Definition at line 228 of file lds_lidar.cpp.

void livox_ros::LdsLidar::OnLidarDataCb	(	uint8_t	handle,
		LivoxEthPacket *	data,
		uint32_t	data_num,
		void *	client_data
	)

staticprivate

Static function in LdsLidar for callback or event process ----------—— Receiving point cloud data from Livox LiDAR.

Definition at line 158 of file lds_lidar.cpp.

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

privatedelete

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

private

Config file process

Definition at line 644 of file lds_lidar.cpp.

int livox_ros::LdsLidar::ParseTimesyncConfig ( rapidjson::Document & doc )

private

Definition at line 589 of file lds_lidar.cpp.

void livox_ros::LdsLidar::PrepareExit ( void )

privatevirtual

Reimplemented from livox_ros::Lds.

Definition at line 153 of file lds_lidar.cpp.

void livox_ros::LdsLidar::ReceiveSyncTimeCallback	(	const char *	rmc,
		uint32_t	rmc_length,
		void *	client_data
	)

staticprivate

Definition at line 538 of file lds_lidar.cpp.

void livox_ros::LdsLidar::ResetLdsLidar ( void )

private

Definition at line 60 of file lds_lidar.cpp.

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

staticprivate

Definition at line 376 of file lds_lidar.cpp.

void livox_ros::LdsLidar::SetHighSensitivityCb	(	livox_status	status,
		uint8_t	handle,
		DeviceParameterResponse *	response,
		void *	clent_data
	)

staticprivate

Definition at line 471 of file lds_lidar.cpp.

void livox_ros::LdsLidar::SetImuRatePushFrequencyCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	clent_data
	)

staticprivate

Definition at line 405 of file lds_lidar.cpp.

void livox_ros::LdsLidar::SetPointCloudReturnModeCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	clent_data
	)

staticprivate

Definition at line 350 of file lds_lidar.cpp.

void livox_ros::LdsLidar::SetRmcSyncTimeCb	(	livox_status	status,
		uint8_t	handle,
		uint8_t	response,
		void *	client_data
	)

staticprivate

Definition at line 529 of file lds_lidar.cpp.

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

staticprivate

Callback function of starting sampling.

Definition at line 501 of file lds_lidar.cpp.

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

staticprivate

Callback function of stopping sampling.

Definition at line 526 of file lds_lidar.cpp.

Member Data Documentation

bool livox_ros::LdsLidar::auto_connect_mode_

private

Definition at line 107 of file lds_lidar.h.

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

private

Definition at line 110 of file lds_lidar.h.

std::mutex livox_ros::LdsLidar::config_mutex_

private

Definition at line 116 of file lds_lidar.h.

bool livox_ros::LdsLidar::enable_timesync_

private

Definition at line 113 of file lds_lidar.h.

volatile bool livox_ros::LdsLidar::is_initialized_

private

Definition at line 109 of file lds_lidar.h.

std::vector<UserRawConfig> livox_ros::LdsLidar::raw_config_

private

Definition at line 111 of file lds_lidar.h.

TimeSync* livox_ros::LdsLidar::timesync_

private

Definition at line 114 of file lds_lidar.h.

TimeSyncConfig livox_ros::LdsLidar::timesync_config_

private

Definition at line 115 of file lds_lidar.h.

uint32_t livox_ros::LdsLidar::whitelist_count_

private

Definition at line 108 of file lds_lidar.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