#include <seyond_driver.h>
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| SeyondDriver () |
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| ~SeyondDriver () |
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void | register_publish_packet_callback (const std::function< void(const InnoDataPacket *, bool)> &callback) |
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void | register_publish_point_callback (const std::function< void(std::shared_ptr< PointCloud >)> &cloud_callback, const std::function< std::shared_ptr< PointCloud >()> &allocate_callback) |
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void | register_log_callback (const std::function< void(int32_t, const char *, const char *)> &log_callback) |
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bool | setup_lidar () |
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bool | init (SeyondParam ¶m) |
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bool | start () |
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bool | pause () |
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bool | stop () |
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int32_t | data_callback_ (const InnoDataPacket *pkt) |
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void | message_callback_ (uint32_t from_remote, enum InnoMessageLevel level, enum InnoMessageCode code, const char *msg) |
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int32_t | status_callback_ (const InnoStatusPacket *pkt) |
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void | set_log_and_message_level () |
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int32_t | process_scan_packet_ (const std::shared_ptr< seyond::SeyondScan > &lidar_packets) |
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void | convert_and_parse_ (const InnoDataPacket *pkt) |
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int32_t | process_data_packet_ (const InnoDataPacket *pkt) |
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template<typename PointType > |
void | process_xyz_point_data_ (bool is_en_data, bool is_use_refl, uint32_t point_num, PointType point_ptr) |
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static int32_t | data_callback_s_ (int32_t handle_, void *ctx, const InnoDataPacket *pkt) |
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static void | message_callback_s_ (int32_t handle_, void *ctx, uint32_t from_remote, enum InnoMessageLevel level, enum InnoMessageCode code, const char *error_message) |
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static int32_t | status_callback_s_ (int32_t handle_, void *ctx, const InnoStatusPacket *pkt) |
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static void | log_callback_s_ (void *ctx, enum InnoLogLevel level, const char *header1, const char *header2, const char *msg) |
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◆ SeyondDriver()
apollo::drivers::lidar::SeyondDriver::SeyondDriver |
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◆ ~SeyondDriver()
apollo::drivers::lidar::SeyondDriver::~SeyondDriver |
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◆ convert_and_parse_()
void apollo::drivers::lidar::SeyondDriver::convert_and_parse_ |
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const InnoDataPacket * |
pkt | ) |
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◆ data_callback_()
int32_t apollo::drivers::lidar::SeyondDriver::data_callback_ |
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const InnoDataPacket * |
pkt | ) |
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◆ data_callback_s_()
static int32_t apollo::drivers::lidar::SeyondDriver::data_callback_s_ |
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int32_t |
handle_, |
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void * |
ctx, |
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const InnoDataPacket * |
pkt |
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) |
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inlinestatic |
◆ init()
bool apollo::drivers::lidar::SeyondDriver::init |
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SeyondParam & |
param | ) |
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◆ log_callback_s_()
static void apollo::drivers::lidar::SeyondDriver::log_callback_s_ |
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void * |
ctx, |
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enum InnoLogLevel |
level, |
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const char * |
header1, |
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const char * |
header2, |
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const char * |
msg |
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inlinestatic |
在文件 seyond_driver.h 第 94 行定义.
96 {
97 SeyondDriver::log_cb_s_(static_cast<int32_t>(level), header1, msg);
98 }
◆ message_callback_()
void apollo::drivers::lidar::SeyondDriver::message_callback_ |
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uint32_t |
from_remote, |
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enum InnoMessageLevel |
level, |
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enum InnoMessageCode |
code, |
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const char * |
msg |
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◆ message_callback_s_()
static void apollo::drivers::lidar::SeyondDriver::message_callback_s_ |
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int32_t |
handle_, |
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void * |
ctx, |
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uint32_t |
from_remote, |
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enum InnoMessageLevel |
level, |
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enum InnoMessageCode |
code, |
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const char * |
error_message |
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) |
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inlinestatic |
在文件 seyond_driver.h 第 80 行定义.
84 {
86 ->message_callback_(from_remote, level, code, error_message);
87 }
◆ pause()
bool apollo::drivers::lidar::SeyondDriver::pause |
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◆ process_data_packet_()
int32_t apollo::drivers::lidar::SeyondDriver::process_data_packet_ |
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const InnoDataPacket * |
pkt | ) |
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◆ process_scan_packet_()
int32_t apollo::drivers::lidar::SeyondDriver::process_scan_packet_ |
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const std::shared_ptr< seyond::SeyondScan > & |
lidar_packets | ) |
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◆ process_xyz_point_data_()
template<typename PointType >
void apollo::drivers::lidar::SeyondDriver::process_xyz_point_data_ |
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bool |
is_en_data, |
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bool |
is_use_refl, |
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uint32_t |
point_num, |
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PointType |
point_ptr |
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) |
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◆ register_log_callback()
void apollo::drivers::lidar::SeyondDriver::register_log_callback |
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const std::function< void(int32_t, const char *, const char *)> & |
log_callback | ) |
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inline |
◆ register_publish_packet_callback()
void apollo::drivers::lidar::SeyondDriver::register_publish_packet_callback |
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const std::function< void(const InnoDataPacket *, bool)> & |
callback | ) |
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inline |
◆ register_publish_point_callback()
void apollo::drivers::lidar::SeyondDriver::register_publish_point_callback |
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const std::function< void(std::shared_ptr< PointCloud >)> & |
cloud_callback, |
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const std::function< std::shared_ptr< PointCloud >()> & |
allocate_callback |
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) |
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inline |
在文件 seyond_driver.h 第 106 行定义.
108 {
109 cloud_publish_cb_ = cloud_callback;
110 allocate_cloud_cb_ = allocate_callback;
111 point_cloud_ptr_ = allocate_cloud_cb_();
112 }
◆ set_log_and_message_level()
void apollo::drivers::lidar::SeyondDriver::set_log_and_message_level |
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◆ setup_lidar()
bool apollo::drivers::lidar::SeyondDriver::setup_lidar |
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◆ start()
bool apollo::drivers::lidar::SeyondDriver::start |
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◆ status_callback_()
int32_t apollo::drivers::lidar::SeyondDriver::status_callback_ |
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const InnoStatusPacket * |
pkt | ) |
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◆ status_callback_s_()
static int32_t apollo::drivers::lidar::SeyondDriver::status_callback_s_ |
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int32_t |
handle_, |
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void * |
ctx, |
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const InnoStatusPacket * |
pkt |
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) |
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inlinestatic |
◆ stop()
bool apollo::drivers::lidar::SeyondDriver::stop |
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◆ anglehv_table_
std::vector<char> apollo::drivers::lidar::SeyondDriver::anglehv_table_ |
◆ anglehv_table_init_
bool apollo::drivers::lidar::SeyondDriver::anglehv_table_init_ {false} |
该类的文档由以下文件生成: