76 lines
1.9 KiB
C
76 lines
1.9 KiB
C
|
#ifndef CAMERA_HELPER_H
|
||
|
|
#define CAMERA_HELPER_H
|
||
|
|
|
||
|
|
#ifndef _WIN32
|
||
|
|
#include "livox_sdk.h"
|
||
|
|
|
||
|
|
extern "C" {
|
||
|
|
|
||
|
|
typedef void (*FuncGetLidarData)(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
|
||
|
|
|
||
|
|
//#ifndef _WIN32
|
||
|
|
//typedef int (*PFuccamera_init)();
|
||
|
|
//typedef int (*PFuccamera_start)(int epx_time);
|
||
|
|
//typedef int (*PFuccamera_stop)();
|
||
|
|
//typedef int (*PFuccamera_cap)(void** data, int& w, int& h, int time_out);
|
||
|
|
|
||
|
|
#define LIDAR_BASE 5000
|
||
|
|
#define LIDAR_OK 0
|
||
|
|
#define LIDAR_INIT_SDK_FAILED 1 - LIDAR_BASE
|
||
|
|
#define LIDAR_DLL_INIT_ERROR 2 - LIDAR_BASE
|
||
|
|
#define LIDAR_START_DISCOVERY_FAILD 3- LIDAR_BASE
|
||
|
|
#define LIDAR_START_SAMPLING_FAILD 5- LIDAR_BASE
|
||
|
|
#define LIDAR_STOP_SAMPLING_FAILD 6- LIDAR_BASE
|
||
|
|
|
||
|
|
|
||
|
|
class CLidarHelper
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
static CLidarHelper* Get();
|
||
|
|
static CLidarHelper* m_instance;
|
||
|
|
public:
|
||
|
|
CLidarHelper();
|
||
|
|
~CLidarHelper();
|
||
|
|
public:
|
||
|
|
//PFuccamera_init pfuccamera_init = nullptr;
|
||
|
|
//PFuccamera_start pFuccamera_start = nullptr;
|
||
|
|
//PFuccamera_stop pFuccamera_stop = nullptr;
|
||
|
|
//PFuccamera_cap pfuccamera_cap = nullptr;
|
||
|
|
public:
|
||
|
|
int Init(void* pfunGetdate);
|
||
|
|
int Start(int epx_time = 12 * 10000);
|
||
|
|
int Stop();
|
||
|
|
int Cap();
|
||
|
|
int GetState() { return 0; };
|
||
|
|
};
|
||
|
|
} // extern "C" {
|
||
|
|
#else
|
||
|
|
class CLidarHelper
|
||
|
|
{
|
||
|
|
public:
|
||
|
|
static CLidarHelper* Get() {
|
||
|
|
if (CLidarHelper::m_instance == nullptr) {
|
||
|
|
CLidarHelper::m_instance = new CLidarHelper();
|
||
|
|
// 待优化
|
||
|
|
}
|
||
|
|
return CLidarHelper::m_instance;
|
||
|
|
};
|
||
|
|
static CLidarHelper* m_instance;
|
||
|
|
public:
|
||
|
|
CLidarHelper() {};
|
||
|
|
~CLidarHelper() {};
|
||
|
|
public:
|
||
|
|
//PFuccamera_init pfuccamera_init = nullptr;
|
||
|
|
//PFuccamera_start pFuccamera_start = nullptr;
|
||
|
|
//PFuccamera_stop pFuccamera_stop = nullptr;
|
||
|
|
//PFuccamera_cap pfuccamera_cap = nullptr;
|
||
|
|
public:
|
||
|
|
int Init(void* pfunGetdate) { return 0; };
|
||
|
|
int Start(int epx_time = 12 * 10000) { return 0; };
|
||
|
|
int Stop() { return 0; };
|
||
|
|
int Cap() { return 0; };
|
||
|
|
int GetState() { return 0; };
|
||
|
|
};
|
||
|
|
#endif
|
||
|
|
#endif
|