ldq.cpp

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//
// The MIT License (MIT)
//
// Copyright (c) 2019 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//

#include "ldq.h"

#include <stdio.h>
#include <string.h>

namespace livox_ros {

/* for pointcloud queue process */
int InitQueue(LidarDataQueue *queue, uint32_t queue_size) {
  if (queue == nullptr) {
    return 1;
  }

  if (IsPowerOf2(queue_size) != true) {
    queue_size = RoundupPowerOf2(queue_size);
  }

  queue->storage_packet = new StoragePacket[queue_size];
  if (queue->storage_packet == nullptr) {
    return 1;
  }

  queue->rd_idx = 0;
  queue->wr_idx = 0;
  queue->size = queue_size;
  queue->mask = queue_size - 1;

  return 0;
}

int DeInitQueue(LidarDataQueue *queue) {
  if (queue == nullptr) {
    return 1;
  }

  if (queue->storage_packet) {
    delete[] queue->storage_packet;
  }

  queue->rd_idx = 0;
  queue->wr_idx = 0;
  queue->size = 0;
  queue->mask = 0;

  return 0;
}

void ResetQueue(LidarDataQueue *queue) {
  queue->rd_idx = 0;
  queue->wr_idx = 0;
}

void QueuePrePop(LidarDataQueue *queue, StoragePacket *storage_packet) {
  uint32_t rd_idx = queue->rd_idx & queue->mask;

  memcpy(storage_packet, &(queue->storage_packet[rd_idx]),
         sizeof(StoragePacket));
}

void QueuePopUpdate(LidarDataQueue *queue) { queue->rd_idx++; }

uint32_t QueuePop(LidarDataQueue *queue, StoragePacket *storage_packet) {
  QueuePrePop(queue, storage_packet);
  QueuePopUpdate(queue);

  return 1;
}

uint32_t QueueUsedSize(LidarDataQueue *queue) {
  return queue->wr_idx - queue->rd_idx;
}

uint32_t QueueUnusedSize(LidarDataQueue *queue) {
  return (queue->size - (queue->wr_idx - queue->rd_idx));
}

uint32_t QueueIsFull(LidarDataQueue *queue) {
  return ((queue->wr_idx - queue->rd_idx) > queue->mask);
}

uint32_t QueueIsEmpty(LidarDataQueue *queue) {
  return (queue->rd_idx == queue->wr_idx);
}

uint32_t QueuePush(LidarDataQueue *queue, StoragePacket *storage_packet) {
  uint32_t wr_idx = queue->wr_idx & queue->mask;

  memcpy((void *)(&(queue->storage_packet[wr_idx])), (void *)(storage_packet),
         sizeof(StoragePacket));

  queue->wr_idx++;

  return 1;
}

uint32_t QueuePushAny(LidarDataQueue *queue, uint8_t *data, uint32_t length,
                      uint64_t time_rcv, uint32_t point_num) {
  uint32_t wr_idx = queue->wr_idx & queue->mask;

  queue->storage_packet[wr_idx].time_rcv = time_rcv;
  queue->storage_packet[wr_idx].point_num = point_num;
  memcpy(queue->storage_packet[wr_idx].raw_data, data, length);

  queue->wr_idx++;

  return 1;
}

}  // namespace livox_ros