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Initial commit: Livox SDK2 source (excluding build artifacts)

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gardentech
2026-08-26 01:38:14 +09:00
commit 34a9a52cd4
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sdk_core/base/wake_up/unix/wake_up_pipe.cpp
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//
// 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 WIN32
#include "base/wake_up/wake_up_pipe.h"
#include <fcntl.h>
#include <unistd.h>
#include <stdio.h>
namespace livox {
namespace lidar {
WakeUpPipe::~WakeUpPipe() {
PipeDestroy();
}
bool WakeUpPipe::WakeUp() {
char ch = '1';
ssize_t nbytes = sizeof(ch);
if (pipe_in_ > 0) {
if (nbytes != write(pipe_in_, &ch, nbytes)) {
return false;
}
}
return true;
}
bool WakeUpPipe::Drain() {
char ch[512];
size_t size = sizeof(ch);
if (pipe_out_ > 0) {
ssize_t ret = read(pipe_out_, ch, size);
if (ret < 0) {
return false;
}
}
return true;
}
bool WakeUpPipe::PipeDestroy() {
if (pipe_in_ > 0) {
close(pipe_in_);
}
if (pipe_out_ > 0) {
close(pipe_out_);
}
return true;
}
bool WakeUpPipe::PipeCreate() {
bool status = false;
//in filedes[0]
//out filedes[1]
int filedes[2]= {};
if (pipe(filedes) == -1) {
return false;
}
do {
int flags = 0;
if ((flags = fcntl(filedes[0], F_GETFD)) == -1) {
break;
}
flags |= FD_CLOEXEC;
if (fcntl(filedes[0], F_SETFD, flags) == -1) {
break;
}
flags = 0;
if ((flags = fcntl(filedes[1], F_GETFD)) == -1) {
break;
}
flags |= FD_CLOEXEC;
if (fcntl(filedes[1], F_SETFD, flags) == -1) {
break;
}
status = true;
} while(0);
if (!status) {
if (filedes[0] > 0) {
close(filedes[0]);
}
if (filedes[1] > 0) {
close(filedes[1]);
}
return false;
}
pipe_out_ = filedes[0];
pipe_in_ = filedes[1];
return true;
}
} // namespace lidar
} // namespace livox
#endif // WIN32
sdk_core/base/wake_up/wake_up_pipe.h
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//
// 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 WAKE_UP_PIPE_H_
#define WAKE_UP_PIPE_H_
namespace livox {
namespace lidar {
class WakeUpPipe {
public:
WakeUpPipe(): pipe_in_(0), pipe_out_(0) {}
virtual ~WakeUpPipe();
bool PipeCreate();
bool PipeDestroy();
bool WakeUp();
bool Drain();
int GetPipeOut() { return pipe_out_; }
protected:
int pipe_in_;
int pipe_out_;
};
} // namespace lidar
} // namespace livox
#endif // WAKE_UP_PIPE_H_
sdk_core/base/wake_up/win/wake_up_pipe.cpp
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//
// 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.
//
#ifdef WIN32
#include "base/wake_up/wake_up_pipe.h"
#include <fcntl.h>
#include <winsock2.h>
#include <stdio.h>
#pragma comment(lib,"iphlpapi.lib")
#pragma comment(lib,"ws2_32.lib")
namespace livox {
namespace lidar {
WakeUpPipe::~WakeUpPipe() {
PipeDestroy();
}
bool WakeUpPipe::WakeUp() {
char ch = '1';
size_t nbytes = sizeof(ch);
if (pipe_in_ > 0) {
if (nbytes != send(pipe_in_,&ch, nbytes, 0)) {
return false;
}
}
return true;
}
bool WakeUpPipe::Drain() {
char ch[512];
size_t size = sizeof(ch);
if (pipe_out_ > 0) {
recv(pipe_out_, ch, size, 0);
}
return true;
}
bool WakeUpPipe::PipeDestroy() {
if (pipe_in_ > 0) {
closesocket(pipe_in_);
}
if (pipe_out_ > 0) {
closesocket(pipe_out_);
}
return true;
}
bool WakeUpPipe::PipeCreate() {
int listen_sock = -1;
unsigned long on = 1;
bool status = false;
if ((listen_sock = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP)) == INVALID_SOCKET) {
return false;
}
struct sockaddr_in servaddr;
int servaddr_len = sizeof(servaddr);
servaddr.sin_family = AF_INET;
servaddr.sin_port = 0;
servaddr.sin_addr.s_addr = htonl(INADDR_LOOPBACK);
do {
if (bind(listen_sock, (const struct sockaddr *)&servaddr, sizeof(servaddr)) == SOCKET_ERROR) {
break;
}
if (getsockname(listen_sock, (struct sockaddr *)&servaddr, &servaddr_len) == SOCKET_ERROR) {
break;
}
if (listen(listen_sock, 1) == SOCKET_ERROR) {
break;
}
if ((pipe_in_ = socket(AF_INET, SOCK_STREAM, IPPROTO_TCP)) == INVALID_SOCKET) {
break;
}
if (connect(pipe_in_, (const struct sockaddr *)&servaddr, sizeof(servaddr)) == SOCKET_ERROR) {
break;
}
if (ioctlsocket(listen_sock, FIONBIO, &on) == SOCKET_ERROR) {
break;
}
struct sockaddr_in clientaddr;
int clientaddr_len = sizeof(clientaddr);
fd_set poll_set;
FD_ZERO(&poll_set);
FD_SET(listen_sock, &poll_set);
// timeout 2s
struct timeval timeout = {2, 0};
int rv = select(0, &poll_set, nullptr, nullptr, &timeout);
if (rv <= 0) {
break;
}
if ((pipe_out_ = accept(listen_sock, (struct sockaddr *)&clientaddr, &clientaddr_len)) == INVALID_SOCKET) {
break;
}
status = true;
} while(0);
closesocket(listen_sock);
if (!status) {
if (pipe_in_ > 0) {
closesocket(pipe_in_);
}
return false;
}
return true;
}
} // namespace lidar
} // namespace livox
#endif // WIN32