dataunpacker.h

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/*
 *  Slamtec LIDAR SDK
 *
 *  Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
 *  http://www.slamtec.com
 *
 */
 
 /*
  *  Sample Data Unpacker System
  *
  */
 
  /*
        * 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 "dataupacker_namespace.h"
 
BEGIN_DATAUNPACKER_NS()
 
 
class LIDARSampleDataListener
{
 
 
public:
        virtual void onHQNodeScanResetReq() = 0;
        virtual void onHQNodeDecoded(_u64 timestamp_uS, const rplidar_response_measurement_node_hq_t* node) = 0;
        virtual void onCustomSampleDataDecoded(_u8 ansType, _u32 customCode, const void* data, size_t size) {}
 
        virtual void onDecodingError(int errMsg, _u8 ansType, const void* payload, size_t size) {}
};
 
class LIDARSampleDataUnpacker
{
public:
        enum {
                ERR_EVENT_ON_EXP_ENCODER_RESET = 0x8001,
                ERR_EVENT_ON_EXP_CHECKSUM_ERR = 0x8002,
        };
 
        enum UnpackerContextType {
                UNPACKER_CONTEXT_TYPE_LIDAR_UNKNOWN = 0,
                UNPACKER_CONTEXT_TYPE_LIDAR_TIMING = 1,
                UNPACKER_CONTEXT_TYPE_TRIANGULATION_OPTICAL_FACTOR = 2,
 
        };
 
        virtual ~LIDARSampleDataUnpacker();
        static LIDARSampleDataUnpacker* CreateInstance(LIDARSampleDataListener& listener);
        static void ReleaseInstance(LIDARSampleDataUnpacker*);
 
        virtual void updateUnpackerContext(UnpackerContextType type, const void* data, size_t size) = 0;
 
        virtual void enable() = 0;
        virtual void disable() = 0;
 
        virtual bool onSampleData(_u8 ansType, const void* buffer, size_t size) = 0;
        virtual void reset() = 0;
        virtual void clearCache() = 0;
 
protected:
        LIDARSampleDataUnpacker(LIDARSampleDataListener&);
        LIDARSampleDataListener& _listener;
 
};
 
END_DATAUNPACKER_NS()