342 lines
11 KiB
C++
Executable File
342 lines
11 KiB
C++
Executable File
#ifndef _WIN32
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#include <stdio.h>
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#include <stdlib.h>
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#ifndef _WIN32
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#include <unistd.h>
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#endif
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#include <string.h>
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#include "LidarHelper.h"
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CLidarHelper* CLidarHelper::m_instance;
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extern "C" {
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/** 回调函数声明 */
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static void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage* message);
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static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data);
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static void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
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static void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
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static void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data);
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static void OnDeviceInfoChange(const DeviceInfo* info, DeviceEvent type);
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static void OnDeviceBroadcast(const BroadcastDeviceInfo* info);
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/** 用于Python的回调函数指针 */
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//static void (*python_data_callback)(uint8_t, uint32_t*, uint32_t) = NULL;
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//static void (*python_error_callback)(livox_status, uint8_t, ErrorMessage*) = NULL;
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//static void (*python_device_change_callback)(const DeviceInfo*, DeviceEvent) = NULL;
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//static void (*python_device_broadcast_callback)(const BroadcastDeviceInfo*) = NULL;
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//static void (*python_common_command_callback)(livox_status, uint8_t, uint8_t) = NULL;
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typedef enum {
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kDeviceStateDisconnect = 0,
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kDeviceStateConnect = 1,
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kDeviceStateSampling = 2,
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} DeviceState;
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typedef struct {
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uint8_t handle;
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DeviceState device_state;
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DeviceInfo info;
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} DeviceItem;
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static DeviceItem devices[kMaxLidarCount];
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static int lidar_count = 0;
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static FuncGetLidarData pfuncGetLidarData = nullptr;
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static bool init_sdk() {
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printf("Livox SDK initializing.\n");
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if (!Init()) {
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return false;
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}
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printf("Livox SDK has been initialized.\n");
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LivoxSdkVersion _sdkversion;
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GetLivoxSdkVersion(&_sdkversion);
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printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
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memset(devices, 0, sizeof(devices));
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return true;
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}
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/** 启动设备扫描 */
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static bool start_discovery() {
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SetBroadcastCallback(OnDeviceBroadcast);
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SetDeviceStateUpdateCallback(OnDeviceInfoChange);
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if (!Start()) {
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printf("Failed to start device discovery.\n");
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Uninit();
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return false;
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}
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printf("Started device discovery.\n");
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return true;
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}
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/** 停止SDK并清理 */
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static void stop_sdk() {
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printf("Stopping Livox SDK.\n");
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for (int i = 0; i < kMaxLidarCount; ++i) {
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if (devices[i].device_state == kDeviceStateSampling) {
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LidarStopSampling(devices[i].handle, OnStopSampleCallback, NULL);
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}
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}
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Uninit();
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}
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static int connect(const char* broadcast_code) {
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uint8_t handle = 0;
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livox_status result = AddLidarToConnect(broadcast_code, &handle);
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if (result == kStatusSuccess) {
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/** Set the point cloud data for a specific Livox LiDAR. */
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SetDataCallback(handle, pfuncGetLidarData, NULL);
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}
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return result;
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}
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static int start_sampling(uint8_t handle) {
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livox_status result = LidarStartSampling(handle, OnSampleCallback, NULL);
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devices[handle].device_state = kDeviceStateSampling;
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return result;
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}
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static int stop_sampling(uint8_t handle) {
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livox_status result = LidarStopSampling(handle, OnSampleCallback, NULL);
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devices[handle].device_state = kDeviceStateSampling;
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return result;
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}
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static int set_mode(LidarMode mode) {
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return LidarSetMode(devices[0].handle, mode, OnCommonCommandCallback, NULL);
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}
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/** 回调函数的定义 */
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static void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage* message) {
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//if (python_error_callback) {
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// python_error_callback(status, handle, message);
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//}
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}
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static void OnCommonCommandCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
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//if (python_common_command_callback) {
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// python_common_command_callback(status, handle, response);
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//}
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}
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static void GetLidarData(uint8_t handle, LivoxEthPacket* data, uint32_t data_num, void* client_data) {
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if (data) {
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/** Parsing the timestamp and the point cloud data. */
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uint64_t cur_timestamp = *((uint64_t*)(data->timestamp));
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if (data->data_type == kCartesian) {
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LivoxRawPoint* p_point_data = (LivoxRawPoint*)data->data;
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}
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else if (data->data_type == kSpherical) {
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LivoxSpherPoint* p_point_data = (LivoxSpherPoint*)data->data;
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}
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else if (data->data_type == kExtendCartesian) {
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LivoxExtendRawPoint* p_point_data = (LivoxExtendRawPoint*)data->data;
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#ifdef _WIN32
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LivoxExtendRawPoint point_array[10*10000];
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#else
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LivoxExtendRawPoint point_array[data_num];
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#endif
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uint32_t* converted_data = (uint32_t*)malloc(data_num * 4 * sizeof(uint32_t));
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for (uint32_t i = 0; i < data_num; ++i) {
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LivoxExtendRawPoint* point = &p_point_data[i];
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// 将结构体的 x, y, z 放入 uint32_t 数组中
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converted_data[i * 4] = point->x;
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converted_data[i * 4 + 1] = point->y;
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converted_data[i * 4 + 2] = point->z;
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// 将 reflectivity 和 tag 合并成一个 uint32_t（高16位和低16位）
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converted_data[i * 4 + 3] = (uint32_t)(point->reflectivity << 8 | point->tag);
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}
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//// 调用 Python 回调函数
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//if (python_data_callback) {
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// python_data_callback(handle, converted_data, data_num);
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//}
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}
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else if (data->data_type == kExtendSpherical) {
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LivoxExtendSpherPoint* p_point_data = (LivoxExtendSpherPoint*)data->data;
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}
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else if (data->data_type == kDualExtendCartesian) {
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LivoxDualExtendRawPoint* p_point_data = (LivoxDualExtendRawPoint*)data->data;
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}
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else if (data->data_type == kDualExtendSpherical) {
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LivoxDualExtendSpherPoint* p_point_data = (LivoxDualExtendSpherPoint*)data->data;
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}
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else if (data->data_type == kImu) {
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LivoxImuPoint* p_point_data = (LivoxImuPoint*)data->data;
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}
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else if (data->data_type == kTripleExtendCartesian) {
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LivoxTripleExtendRawPoint* p_point_data = (LivoxTripleExtendRawPoint*)data->data;
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}
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else if (data->data_type == kTripleExtendSpherical) {
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LivoxTripleExtendSpherPoint* p_point_data = (LivoxTripleExtendSpherPoint*)data->data;
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}
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// printf("data_type %d\n", data->data_type);
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}
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}
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static void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
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if (status == kStatusSuccess && response != 0) {
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devices[handle].device_state = kDeviceStateConnect;
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}
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else if (status == kStatusTimeout) {
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devices[handle].device_state = kDeviceStateConnect;
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}
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}
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static void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void* data) {
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// 停止采样时的回调处理
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}
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/** Query the firmware version of Livox LiDAR. */
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static void OnDeviceInformation(livox_status status, uint8_t handle, DeviceInformationResponse* ack, void* data) {
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if (status != kStatusSuccess) {
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printf("Device Query Informations Failed %d\n", status);
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}
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if (ack) {
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printf("firm ver: %d.%d.%d.%d\n",
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ack->firmware_version[0],
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ack->firmware_version[1],
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ack->firmware_version[2],
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ack->firmware_version[3]);
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}
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}
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static void LidarConnect(const DeviceInfo* info) {
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uint8_t handle = info->handle;
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QueryDeviceInformation(handle, OnDeviceInformation, NULL);
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if (devices[handle].device_state == kDeviceStateDisconnect) {
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devices[handle].device_state = kDeviceStateConnect;
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devices[handle].info = *info;
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}
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}
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static void LidarDisConnect(const DeviceInfo* info) {
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uint8_t handle = info->handle;
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devices[handle].device_state = kDeviceStateDisconnect;
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}
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static void LidarStateChange(const DeviceInfo* info) {
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uint8_t handle = info->handle;
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devices[handle].info = *info;
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}
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static void OnDeviceInfoChange(const DeviceInfo* info, DeviceEvent type) {
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if (info == NULL) {
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return;
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}
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uint8_t handle = info->handle;
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if (handle >= kMaxLidarCount) {
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return;
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}
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if (type == kEventConnect) {
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LidarConnect(info);
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printf("[WARNING] Lidar sn: [%s] Connect!!!\n", info->broadcast_code);
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}
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else if (type == kEventDisconnect) {
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LidarDisConnect(info);
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printf("[WARNING] Lidar sn: [%s] Disconnect!!!\n", info->broadcast_code);
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}
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else if (type == kEventStateChange) {
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LidarStateChange(info);
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printf("[WARNING] Lidar sn: [%s] StateChange!!!\n", info->broadcast_code);
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}
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printf("Device Working State %d\n", devices[handle].info.state);
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if (devices[handle].device_state == kDeviceStateConnect) {
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if (devices[handle].info.state == kLidarStateInit) {
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printf("Device State Change Progress %u\n", devices[handle].info.status.progress);
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}
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else {
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printf("Device State Error Code 0X%08x\n", devices[handle].info.status.status_code.error_code);
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}
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printf("Device feature %d\n", devices[handle].info.feature);
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SetErrorMessageCallback(handle, OnLidarErrorStatusCallback);
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if (devices[handle].info.state == kLidarStateNormal) {
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LidarStartSampling(handle, OnSampleCallback, NULL);
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devices[handle].device_state = kDeviceStateSampling;
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}
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}
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//if (python_device_change_callback) {
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// python_device_change_callback(info, type);
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//}
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}
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static void OnDeviceBroadcast(const BroadcastDeviceInfo* info) {
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//if (python_device_broadcast_callback) {
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// python_device_broadcast_callback(info);
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//}
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printf("connect to device %d \n", info->broadcast_code);
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connect(info->broadcast_code);
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}
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CLidarHelper* CLidarHelper::Get()
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{
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if (CLidarHelper::m_instance == nullptr) {
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CLidarHelper::m_instance = new CLidarHelper();
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// 待优化
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}
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return CLidarHelper::m_instance;
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}
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CLidarHelper::CLidarHelper()
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{
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}
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CLidarHelper::~CLidarHelper()
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{
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}
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int CLidarHelper::Init(void* pfunGetdate)
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{
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pfuncGetLidarData = (FuncGetLidarData)pfunGetdate;
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bool succ = init_sdk();
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if (!succ)
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return LIDAR_INIT_SDK_FAILED;
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succ = start_discovery();
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if (!succ)
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return LIDAR_START_DISCOVERY_FAILD;
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return LIDAR_OK;
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}
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int CLidarHelper::Start(int epx_time)
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{
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int ret = start_sampling(0);
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if (ret != 0)
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{
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printf("start_sampling error is %d \n", ret);
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return LIDAR_START_SAMPLING_FAILD;
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}
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return LIDAR_OK;
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}
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int CLidarHelper::Stop()
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{
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int ret = stop_sampling(0);
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if (ret != 0)
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{
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printf("stop_sampling error is %d \n", ret);
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return LIDAR_STOP_SAMPLING_FAILD;
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}
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return LIDAR_OK;
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}
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int CLidarHelper::Cap()
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{
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return LIDAR_OK;
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}
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} // extern "C"
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#else
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#include "LidarHelper.h"
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CLidarHelper* CLidarHelper::m_instance;
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#endif //_WIN32
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