handler_capsules.h

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/*
 *  Slamtec LIDAR SDK
 *
 *  Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
 *  http://www.slamtec.com
 *
 */
 
 /*
  *  Sample Data Unpacker System
  *  Capsule Style Sample Node Handlers
  */
 
  /*
        * 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
 
BEGIN_DATAUNPACKER_NS()
 
namespace unpacker {
 
class UnpackerHandler_CapsuleNode : public IDataUnpackerHandler {
public:
        UnpackerHandler_CapsuleNode();
        virtual ~UnpackerHandler_CapsuleNode();
 
        virtual _u8 getSampleAnswerType() const;
        virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
        virtual void reset();
        virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
 
        void _onScanNodeCapsuleData(rplidar_response_capsule_measurement_nodes_t &, LIDARSampleDataUnpackerInner* engine);
 
        std::vector<_u8> _cached_scan_node_buf;
        int              _cached_scan_node_buf_pos;
        bool             _is_previous_capsuledataRdy;
 
        rplidar_response_capsule_measurement_nodes_t _cached_previous_capsuledata;
        _u64             _cached_last_data_timestamp_us;
 
        SlamtecLidarTimingDesc _cachedTimingDesc;
};
 
class UnpackerHandler_UltraCapsuleNode : public IDataUnpackerHandler {
public:
        UnpackerHandler_UltraCapsuleNode();
        virtual ~UnpackerHandler_UltraCapsuleNode();
 
        virtual _u8 getSampleAnswerType() const;
        virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
        virtual void reset();
        virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
        void _onScanNodeUltraCapsuleData(rplidar_response_ultra_capsule_measurement_nodes_t&, LIDARSampleDataUnpackerInner* engine);
 
 
        std::vector<_u8> _cached_scan_node_buf;
        int              _cached_scan_node_buf_pos;
        bool             _is_previous_capsuledataRdy;
 
        rplidar_response_ultra_capsule_measurement_nodes_t _cached_previous_ultracapsuledata;
        _u64             _cached_last_data_timestamp_us;
 
        SlamtecLidarTimingDesc _cachedTimingDesc;
 
};
 
 
 
class UnpackerHandler_DenseCapsuleNode : public IDataUnpackerHandler {
public:
        UnpackerHandler_DenseCapsuleNode();
        virtual ~UnpackerHandler_DenseCapsuleNode();
 
        virtual _u8 getSampleAnswerType() const;
        virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
        virtual void reset();
        virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
        void _onScanNodeDenseCapsuleData(rplidar_response_dense_capsule_measurement_nodes_t&, LIDARSampleDataUnpackerInner* engine);
 
 
        std::vector<_u8> _cached_scan_node_buf;
        int              _cached_scan_node_buf_pos;
        bool             _is_previous_capsuledataRdy;
 
        rplidar_response_dense_capsule_measurement_nodes_t _cached_previous_dense_capsuledata;
        _u64             _cached_last_data_timestamp_us;
 
        SlamtecLidarTimingDesc _cachedTimingDesc;
 
};
 
 
class UnpackerHandler_UltraDenseCapsuleNode : public IDataUnpackerHandler {
public:
        UnpackerHandler_UltraDenseCapsuleNode();
        virtual ~UnpackerHandler_UltraDenseCapsuleNode();
 
        virtual _u8 getSampleAnswerType() const;
        virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size);
        virtual void reset();
        virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size);
protected:
        void _onScanNodeUltraDenseCapsuleData(rplidar_response_ultra_dense_capsule_measurement_nodes_t&, LIDARSampleDataUnpackerInner* engine);
 
        std::vector<_u8> _cached_scan_node_buf;
        int              _cached_scan_node_buf_pos;
        bool             _is_previous_capsuledataRdy;
 
        rplidar_response_ultra_dense_capsule_measurement_nodes_t _cached_previous_ultra_dense_capsuledata;
        _u64             _cached_last_data_timestamp_us;
 
 
 
        int              _last_node_sync_bit;
        int              _last_dist_q2;
 
        SlamtecLidarTimingDesc _cachedTimingDesc;
};
 
 
}
 
END_DATAUNPACKER_NS()