loctv
161a33a71e
The repo is now self-contained: driver_rplidar compiles the SDK from third_party/rplidar_sdk (Linux sources only, teardown delete[] bug fixed in place), so a plain cmake configure needs no SDK path and no probing — the XLIDAR_RPLIDAR_SDK_DIR option and external references are gone. Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
74 lines
2.5 KiB
C++
74 lines
2.5 KiB
C++
/*
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* Slamtec LIDAR SDK
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*
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* Copyright (c) 2014 - 2023 Shanghai Slamtec Co., Ltd.
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* http://www.slamtec.com
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*
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*/
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/*
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* Sample Data Unpacker System
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* Internal Definition
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*/
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/*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions are met:
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*
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* 1. Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimer.
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*
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* 2. Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
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* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
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* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
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* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
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* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
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* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
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* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
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* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
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* OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
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* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#pragma once
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BEGIN_DATAUNPACKER_NS()
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class LIDARSampleDataUnpackerInner: public LIDARSampleDataUnpacker
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{
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public:
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LIDARSampleDataUnpackerInner(LIDARSampleDataListener& l): LIDARSampleDataUnpacker(l){}
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virtual void publishHQNode(_u64 timestamp_uS, const rplidar_response_measurement_node_hq_t* node) = 0;
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virtual void publishDecodingErrorMsg(int errorType, _u8 ansType, const void* payload, size_t size) = 0;
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virtual void publishCustomData(_u8 ansType, _u32 customCode, const void* payload, size_t size) = 0;
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virtual void publishNewScanReset() = 0;
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virtual _u64 getCurrentTimestamp_uS() = 0;
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};
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class IDataUnpackerHandler
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{
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public:
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IDataUnpackerHandler() {}
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virtual ~IDataUnpackerHandler() {}
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virtual void onUnpackerContextSet(LIDARSampleDataUnpacker::UnpackerContextType type, const void* data, size_t size) = 0;
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virtual _u8 getSampleAnswerType() const = 0;
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virtual void onData(LIDARSampleDataUnpackerInner* engine, const _u8* data, size_t size) = 0;
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virtual void reset() = 0;
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};
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END_DATAUNPACKER_NS() |