livox_dispatcher.h

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/******************************************************************************
 * Copyright 2024 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
 
#include <map>
#include <regex>
#include <string>
 
#include <livox_lidar_def.h>
 
#include "cyber/cyber.h"
 
namespace apollo {
namespace drivers {
namespace lidar {
 
class LivoxDispatcher {
 public:
    LivoxDispatcher() : handle_callback_functions(), mtx() {}
 
    using PointCloudCallbackType = std::function<void(
            uint32_t handle,
            const uint8_t dev_type,
            LivoxLidarEthernetPacket* data,
            void* client_data)>;
 
    bool GetHandleFromIP(const std::string& ip, uint32_t& handle);
 
    void RegisterHandleDispatchCallback(
            uint32_t handle,
            PointCloudCallbackType cb);
 
    void LivoxPointCloudCallback(
            uint32_t handle,
            const uint8_t dev_type,
            LivoxLidarEthernetPacket* data,
            void* client_data);
 
    static LivoxDispatcher& GetLivoxDispatcherInstance() {
        return dispatcher_instance_;
    }
 
 private:
    static LivoxDispatcher dispatcher_instance_;
    std::map<uint32_t, PointCloudCallbackType> handle_callback_functions;
    std::mutex mtx;
};
 
static void GlobalPointCloudCallback(
        uint32_t handle,
        const uint8_t dev_type,
        LivoxLidarEthernetPacket* data,
        void* client_data) {
    auto* dispatcher_pointer = reinterpret_cast<LivoxDispatcher*>(client_data);
    dispatcher_pointer->LivoxPointCloudCallback(
            handle, dev_type, data, client_data);
}
 
}  // namespace lidar
}  // namespace drivers
}  // namespace apollo