Initial commit: Livox SDK2 source (excluding build artifacts)

samples/livox_lidar_rmc_time_sync/synchro.h

@@ -0,0 +1,121 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef SYNCHRO_H_
+#define SYNCHRO_H_
+
+#include <stdint.h>
+#include <memory>
+#include <thread>
+#include <vector>
+#include <string>
+#include <functional>
+#ifdef WIN32
+#include <Windows.h>
+#endif
+
+using UtcTimerCallback = std::function<void(const char* rmc, uint16_t rmc_length)>;
+
+# define READ_BUF (256)
+const char * const kGPRMC{"$GPRMC"};
+const char * const kGNRMC{"$GNRMC"};
+
+enum Parity {
+  P_8N1,    /* No parity (8N1)	*/     
+  P_7E1,    /* Even parity (7E1)*/
+  P_7O1,    /* Odd parity (7O1)	*/
+  P_7S1     /* Space parity is setup the same as no parity (7S1)	*/
+};
+
+enum BaudRate {
+  BR2400,
+  BR4800,
+  BR9600,
+  BR19200,
+  BR38400,
+  BR57600,
+  BR115200,
+  BR230400,
+  BR460800,
+  BR500000,
+  BR576000,
+  BR921600,
+  BR1152000,
+  BR1500000,
+  BR2000000,
+  BR2500000,
+  BR3000000,
+  BR3500000,
+  BR4000000,
+};
+
+
+class Synchro {
+
+public:
+  Synchro();
+  ~Synchro();
+
+  static Synchro& GetInstance() {
+    static Synchro synchro;
+    return synchro;
+  }
+  
+  bool Start();
+  void Stop();
+  void SetBaudRate(BaudRate baudrate);
+  void SetPortName(std::string port_name);
+  void SetParity(Parity parity);
+  void SetSyncTimerCallback(UtcTimerCallback cb);
+
+private:
+  int Setup(enum BaudRate baud, enum Parity parity);
+  void Close();
+  bool Open();
+  void IOLoop();
+  size_t Read(uint8_t *buffer, size_t size);
+  void Decode(uint8_t* buff, size_t size);
+  bool ParseGps(uint8_t in_byte);
+  void Clear();
+
+#ifdef WIN32
+  HANDLE  hfile_;
+#else
+  int fd_;
+#endif
+
+  enum BaudRate baudrate_;
+  enum Parity parity_;
+  std::string port_name_;
+
+  std::function<void(const char* rmc, uint16_t rmc_length)> sync_timer_cb_;
+
+  bool is_quit_;
+  std::shared_ptr<std::thread> listener_;
+
+  std::vector<char> rmc_buff_;
+  uint16_t cur_len_;
+};
+
+#endif