gardentech
85 lines
2.8 KiB
C++
85 lines
2.8 KiB
C++
//
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// The MIT License (MIT)
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//
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// Copyright (c) 2022 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#include "upgrade_manager.h"
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#include <thread>
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namespace livox {
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namespace lidar {
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UpgradeManager& UpgradeManager::GetInstance() {
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static UpgradeManager manager;
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return manager;
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}
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UpgradeManager::UpgradeManager()
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: livox_lidar_info_cb_(nullptr),
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livox_lidar_client_data_(nullptr) {
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}
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bool UpgradeManager::SetLivoxLidarUpgradeFirmwarePath(const char* firmware_path) {
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if (!livox_lidar_firmware_.Open(firmware_path)) {
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printf("Open firmware_path fail\r\n");
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return false;
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}
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return true;
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}
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void UpgradeManager::SetLivoxLidarUpgradeProgressCallback(OnLivoxLidarUpgradeProgressCallback cb, void* client_data) {
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livox_lidar_info_cb_ = cb;
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livox_lidar_client_data_ = client_data;
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}
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void UpgradeManager::UpgradeLivoxLidars(const uint32_t* handle, const uint8_t lidar_num) {
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std::vector<LivoxLidarUpgrader> upgrader_vec;
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upgrader_vec.reserve(lidar_num);
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for (size_t i = 0; i < lidar_num; ++i) {
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LivoxLidarUpgrader upgrader(livox_lidar_firmware_, handle[i]);
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OnLivoxLidarUpgradeProgressCallback cb = livox_lidar_info_cb_;
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void* client_data = livox_lidar_client_data_;
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upgrader.AddUpgradeProgressObserver([cb, client_data](uint32_t handle, LivoxLidarUpgradeState state) {
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if (cb) {
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cb(handle, state, client_data);
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}
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});
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upgrader_vec.emplace_back(std::move(upgrader));
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}
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for (size_t i = 0; i < upgrader_vec.size(); ++i) {
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LivoxLidarUpgrader& upgrader = upgrader_vec[i];
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upgrader.StartUpgradeLivoxLidar();
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}
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CloseLivoxLidarFirmwareFile();
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}
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void UpgradeManager::CloseLivoxLidarFirmwareFile() {
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livox_lidar_firmware_.Close();
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}
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} // namespace comm
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} // namespace livox
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