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.
+//
+
+#ifndef LIVOX_PARSE_CFG_FILE_H_
+#define LIVOX_PARSE_CFG_FILE_H_
+
+#include "livox_lidar_def.h"
+
+#include "rapidjson/document.h"
+#include "rapidjson/filereadstream.h"
+#include "rapidjson/stringbuffer.h"
+
+#include "comm/define.h"
+
+#include <iostream>
+#include <string>
+#include <memory>
+#include <vector>
+
+namespace livox {
+namespace lidar {
+
+class ParseCfgFile {
+ public:
+  explicit ParseCfgFile(const std::string& path);  
+  bool Parse(std::shared_ptr<std::vector<LivoxLidarCfg>>& lidars_cfg_ptr,
+             std::shared_ptr<std::vector<LivoxLidarCfg>>& custom_lidars_cfg_ptr,
+             std::shared_ptr<LivoxLidarLoggerCfg>& lidar_logger_cfg_ptr,
+             std::shared_ptr<LivoxLidarSdkFrameworkCfg>& sdk_framework_cfg_ptr
+             );
+ private:
+  bool ParseLidarCfg(const rapidjson::Value &object,
+                     const uint8_t& device_type,
+                     std::shared_ptr<std::vector<LivoxLidarCfg>>& lidars_cfg_ptr,
+                     std::shared_ptr<std::vector<LivoxLidarCfg>>& custom_lidars_cfg_ptr);
+  bool ParseNewLidarCfg(const rapidjson::Value &object,
+                     const uint8_t& device_type,
+                     std::shared_ptr<std::vector<LivoxLidarCfg>>& lidars_cfg_ptr,
+                     std::shared_ptr<std::vector<LivoxLidarCfg>>& custom_lidars_cfg_ptr);
+  bool ParseOldLidarCfg(const rapidjson::Value &object,
+                        const uint8_t& device_type,
+                        std::shared_ptr<std::vector<LivoxLidarCfg>>& lidars_cfg_ptr);
+  bool ParseTypeLidarCfg(const rapidjson::Value &object, const rapidjson::Value &host_net_info_object, const uint8_t& device_type, LivoxLidarCfg& lidar_cfg);
+  bool ParseLidarNetInfo(const rapidjson::Value &object, LivoxLidarNetInfo& lidar_net_info);
+  bool ParseHostNetInfo(const rapidjson::Value &host_net_info_object, HostNetInfo& host_net_info);
+  bool ParseGeneralCfgInfo(const rapidjson::Value &object, GeneralCfgInfo& general_cfg_info);
+ private:
+  const std::string path_;
+};
+
+} // namesace lidar
+} // namespace livox
+
+#endif // LIVOX_PARSE_CFG_FILE_H_
+