sl_lidar_driver_impl.h

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/*
 *  Slamtec LIDAR SDK
 *
 *  Copyright (c) 2020 Shanghai Slamtec Co., Ltd.
 *  http://www.slamtec.com
 */
 /*
  * 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 "sl_lidar_driver.h"
 
namespace sl {
        class SL_LidarDriver :public ILidarDriver
        {
                public:
                        enum {
                                LEGACY_SAMPLE_DURATION = 476,
                        };
 
                        enum
                        {
                                        NORMAL_CAPSULE = 0,
                                        DENSE_CAPSULE = 1,
                        };
 
                        enum {
                                A2A3_LIDAR_MINUM_MAJOR_ID  = 2,
                                TOF_LIDAR_MINUM_MAJOR_ID = 6,
                        };
                public:
                        SL_LidarDriver()
                                :_channel(NULL)
                                , _isConnected(false)
                                , _isScanning(false)
                                , _isSupportingMotorCtrl(MotorCtrlSupportNone)
                                , _cached_sampleduration_std(LEGACY_SAMPLE_DURATION)
                                ,_cached_sampleduration_express(LEGACY_SAMPLE_DURATION)
                                , _cached_scan_node_hq_count(0)
                                , _cached_scan_node_hq_count_for_interval_retrieve(0)
                        {}
 
                        sl_result connect(IChannel* channel);
                        void disconnect();
                        bool isConnected();
                        sl_result reset(sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result getAllSupportedScanModes(std::vector<LidarScanMode>& outModes, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result getTypicalScanMode(sl_u16& outMode, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result startScan(bool force, bool useTypicalScan, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr);
                        sl_result startScanNormal(bool force, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result startScanExpress(bool force, sl_u16 scanMode, sl_u32 options = 0, LidarScanMode* outUsedScanMode = nullptr, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result stop(sl_u32 timeout = DEFAULT_TIMEOUT);
                        DEPRECATED(sl_result grabScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT));
                        sl_result grabScanDataHq(sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& count, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result getDeviceInfo(sl_lidar_response_device_info_t& info, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result checkMotorCtrlSupport(MotorCtrlSupport & support, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result getFrequency(const LidarScanMode& scanMode, const sl_lidar_response_measurement_node_hq_t* nodes, size_t count, float& frequency);
                        sl_result setLidarIpConf(const sl_lidar_ip_conf_t& conf, sl_u32 timeout);
                        sl_result getLidarIpConf(sl_lidar_ip_conf_t& conf, sl_u32 timeout);
                        sl_result getHealth(sl_lidar_response_device_health_t& health, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result getDeviceMacAddr(sl_u8* macAddrArray, sl_u32 timeoutInMs);
                        sl_result ascendScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t count);
                        sl_result ascendScanData(sl_lidar_response_measurement_node_hq_t * nodebuffer, size_t count);
                        sl_result getScanDataWithIntervalHq(sl_lidar_response_measurement_node_hq_t * nodebuffer, size_t & count);
                        sl_result setMotorSpeed(sl_u16 speed = DEFAULT_MOTOR_PWM);//
                        sl_result negotiateSerialBaudRate(sl_u32 requiredBaudRate, sl_u32* baudRateDetected = NULL);
        
        protected:
                        sl_result startMotor();
                        sl_result checkSupportConfigCommands(bool& outSupport, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result getScanModeCount(sl_u16& modeCount, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result setLidarConf(sl_u32 type, const void* payload, size_t payloadSize, sl_u32 timeout);
                        sl_result getLidarConf(sl_u32 type, std::vector<sl_u8> &outputBuf, const std::vector<sl_u8> &reserve = std::vector<sl_u8>(), sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result getLidarSampleDuration(float& sampleDurationRes, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result getMaxDistance(float &maxDistance, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result getScanModeAnsType(sl_u8 &ansType, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        sl_result getScanModeName(char* modeName, sl_u16 scanModeID, sl_u32 timeoutInMs = DEFAULT_TIMEOUT);
                        //DEPRECATED(sl_result getSampleDuration_uS(sl_lidar_response_sample_rate_t & rateInfo, sl_u32 timeout = DEFAULT_TIMEOUT));
                        //DEPRECATED (sl_result checkExpressScanSupported(bool & support, sl_u32 timeout = DEFAULT_TIMEOUT));
                        //DEPRECATED(sl_result getFrequency(bool inExpressMode, size_t count, float & frequency, bool & is4kmode));
                private:
                        sl_result  _sendCommand(sl_u16 cmd, const void * payload = NULL, size_t payloadsize = 0 );
                        sl_result _waitResponseHeader(sl_lidar_ans_header_t * header, sl_u32 timeout = DEFAULT_TIMEOUT);
                        template <typename T>
                        sl_result _waitResponse(T &payload ,sl_u8 ansType, sl_u32 timeout = DEFAULT_TIMEOUT);
                        void _disableDataGrabbing();
                        sl_result _waitNode(sl_lidar_response_measurement_node_t * node, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result _waitScanData(sl_lidar_response_measurement_node_t * nodebuffer, size_t & count, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result _cacheScanData();
                        void _ultraCapsuleToNormal(const sl_lidar_response_ultra_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
                        sl_result _waitCapsuledNode(sl_lidar_response_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
                        void _capsuleToNormal(const sl_lidar_response_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
                        void _dense_capsuleToNormal(const sl_lidar_response_capsule_measurement_nodes_t & capsule, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
                        sl_result _cacheCapsuledScanData();
 
                        void _ultra_dense_capsuleToNormal(const sl_lidar_response_ultra_dense_capsule_measurement_nodes_t& capslue, sl_lidar_response_measurement_node_hq_t* nodebuffer, size_t& nodeCount);
                        sl_result _waitUltraDenseCapsuledNode(sl_lidar_response_ultra_dense_capsule_measurement_nodes_t& node, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result _cacheUltraDenseCapsuledScanData();
                        
 
                        sl_result _waitHqNode(sl_lidar_response_hq_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
                        void _HqToNormal(const sl_lidar_response_hq_capsule_measurement_nodes_t & node_hq, sl_lidar_response_measurement_node_hq_t *nodebuffer, size_t &nodeCount);
                        sl_result _cacheHqScanData();
                        sl_result _waitUltraCapsuledNode(sl_lidar_response_ultra_capsule_measurement_nodes_t & node, sl_u32 timeout = DEFAULT_TIMEOUT);
                        sl_result _cacheUltraCapsuledScanData();
                        sl_result _clearRxDataCache();
 
                private:
                        IChannel *_channel;
                        bool _isConnected;
                        bool _isScanning;
                        MotorCtrlSupport _isSupportingMotorCtrl;
 
                        rp::hal::Locker         _lock;
                        rp::hal::Event          _dataEvt;
                        rp::hal::Thread         _cachethread;
                        sl_u16                    _cached_sampleduration_std;
                        sl_u16                    _cached_sampleduration_express;
 
                        sl_lidar_response_measurement_node_hq_t   _cached_scan_node_hq_buf[8192];
                        size_t                                   _cached_scan_node_hq_count;
                        sl_u8                                    _cached_capsule_flag;
 
                        sl_lidar_response_measurement_node_hq_t   _cached_scan_node_hq_buf_for_interval_retrieve[8192];
                        size_t                                   _cached_scan_node_hq_count_for_interval_retrieve;
 
                        sl_lidar_response_capsule_measurement_nodes_t       _cached_previous_capsuledata;
                        sl_lidar_response_dense_capsule_measurement_nodes_t _cached_previous_dense_capsuledata;
                        sl_lidar_response_ultra_capsule_measurement_nodes_t _cached_previous_ultracapsuledata;
                        sl_lidar_response_hq_capsule_measurement_nodes_t _cached_previous_Hqdata;
                        bool                                         _is_previous_capsuledataRdy;
                        bool                                         _is_previous_HqdataRdy;
        };
 
}