Initial commit: Livox SDK2 source (excluding build artifacts)

2026-08-26 01:38:14 +09:00
commit 34a9a52cd4
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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.
+//
+
+#include "data_handler.h"
+#include <base/logging.h>
+
+#include "livox_lidar_def.h"
+
+namespace livox {
+
+namespace lidar {
+
+static const size_t kPrefixDataSize = 18;
+
+DataHandler::DataHandler()
+    : point_data_callbacks_(nullptr),
+      point_client_data_(nullptr),
+      imu_data_callbacks_(nullptr),
+      imu_client_data_(nullptr) {
+}
+
+DataHandler& DataHandler::GetInstance() {
+  static DataHandler data_handler;
+  return data_handler;
+}
+
+bool DataHandler::Init() {
+  LOG_INFO("Data Handler Init Succ.");
+  return true;
+}
+
+void DataHandler::Destory() {
+  point_data_callbacks_ = nullptr;
+  point_client_data_ = nullptr;
+
+  imu_data_callbacks_ = nullptr;
+  imu_client_data_ = nullptr;
+
+  std::lock_guard<std::mutex> lock(mutex_);
+  observers_.clear();
+}
+
+DataHandler::~DataHandler() {
+  Destory();
+}
+
+
+void DataHandler::Handle(const uint8_t dev_type, const uint32_t handle, uint8_t *buf, uint32_t buf_size) {
+  LivoxLidarEthernetPacket *lidar_data = (LivoxLidarEthernetPacket *)buf;
+  if (lidar_data == NULL) {
+    return;
+  }
+
+  if (lidar_data->data_type == kLivoxLidarImuData) {
+    if (imu_data_callbacks_) {
+      imu_data_callbacks_(handle, dev_type, lidar_data, imu_client_data_);
+    }
+  } else {  
+    if (point_data_callbacks_) {
+      point_data_callbacks_(handle, dev_type, lidar_data, point_client_data_);
+    }
+  }
+
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    for (const auto& observer : observers_) {
+      auto callback = observer.second.first;
+      auto client_data = observer.second.second;
+      if (callback) {
+        callback(handle, dev_type, lidar_data, client_data);
+      }
+    }
+  }
+}
+
+uint16_t DataHandler::AddPointCloudObserver(const DataCallback &cb, void *client_data) {
+  uint16_t observer_id = GenerateObserverId();
+  {
+    std::lock_guard<std::mutex> lock(mutex_);
+    observers_[observer_id] = std::make_pair(cb, client_data);
+  }
+  return observer_id;
+}
+
+void DataHandler::RemovePointCloudObserver(uint16_t id) {
+  std::lock_guard<std::mutex> lock(mutex_);
+  if (observers_.find(id) != observers_.end()) {
+    observers_.erase(id);
+  }
+}
+
+uint16_t DataHandler::GenerateObserverId() {
+  static std::atomic<std::uint16_t> observer_id(1);
+  uint16_t value = observer_id.load();
+  uint16_t desired = 0;
+  do {
+    if (value == UINT16_MAX) {
+      desired = 1;
+    } else {
+      desired = value + 1;
+    }
+  } while (!observer_id.compare_exchange_weak(value, desired));
+  return desired;
+}
+
+void DataHandler::SetPointDataCallback(const DataCallback& cb, void *client_data) {
+  point_data_callbacks_ = cb;
+  point_client_data_ = client_data;
+}
+
+void DataHandler::SetImuDataCallback(const DataCallback& cb, void* client_data) {
+  imu_data_callbacks_ = cb;
+  imu_client_data_ = client_data;
+}
+
+} // namespace lidar
+}  // namespace livox
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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 LIVOX_DATA_HANDLER_H_
+#define LIVOX_DATA_HANDLER_H_
+
+#include <array>
+#include <functional>
+#include <memory>
+#include <mutex>
+#include <utility>
+
+#include "comm/define.h"
+#include "base/io_loop.h"
+
+namespace livox {
+namespace lidar {
+
+class DataHandler : public noncopyable {
+ private:
+  DataHandler();
+  DataHandler(const DataHandler& other) = delete;
+  DataHandler& operator=(const DataHandler& other) = delete;
+ public:
+  void Destory();
+  ~DataHandler();
+  static DataHandler& GetInstance();
+
+  bool Init();
+
+  void Handle(const uint8_t dev_type, const uint32_t handle, uint8_t *buf, uint32_t buf_size);
+
+  uint16_t AddPointCloudObserver(const DataCallback &cb, void *client_data);
+  void RemovePointCloudObserver(uint16_t id);
+
+  void SetPointDataCallback(const DataCallback& cb, void *client_data);
+  void SetImuDataCallback(const DataCallback& cb, void* client_data);
+
+ private:
+  uint16_t GenerateObserverId();
+ private:
+  DataCallback point_data_callbacks_;
+  void* point_client_data_;
+
+  DataCallback imu_data_callbacks_;
+  void* imu_client_data_;
+
+  std::map<uint16_t, std::pair<DataCallback, void*>> observers_;
+  std::mutex mutex_;
+};
+
+} // namespace lidar
+}  // namespace livox
+
+#endif  // LIVOX_DATA_HANDLER_H_
+
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