171 lines
6.4 KiB
C++
171 lines
6.4 KiB
C++
#ifndef IRSLIDARDEVICE_H
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#define IRSLIDARDEVICE_H
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#include <functional>
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#include <string>
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#include "RsLidarDevice_global.h"
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// ============================================================
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// 自定义数据类型 — 完全不依赖 rs_driver SDK
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// 使用内置类型(unsigned char/short/int)替代 stdint.h
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// 以避免跨编译器的头文件兼容性问题
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// ============================================================
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/// 单个点 (x/y/z/intensity)，与 SDK PointXYZI 内存布局一致
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/// SDK 使用 #pragma pack(1)，sizeof=13，此处必须严格对齐
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/// 坐标系：X 朝右、Y 朝下、Z 朝前（已在 SDK 封装内部完成从原始 X前/Y左/Z上 的修正）
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#pragma pack(push, 1)
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struct RsPointXYZI
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{
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float x = 0.0f;
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float y = 0.0f;
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float z = 0.0f;
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unsigned char intensity = 0;
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};
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#pragma pack(pop)
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/// 一帧完整点云数据（指针指向内部缓冲区，仅在回调期间有效）
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struct RsPointCloudData
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{
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unsigned int seq = 0; ///< 帧序号（单调递增）
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double timestamp = 0.0; ///< 帧时间戳（秒）
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unsigned int height = 0; ///< 激光线数
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unsigned int width = 0; ///< 每线点数
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bool isDense = false; ///< 是否丢弃了 NaN 点
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std::string frameId; ///< 帧标识
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unsigned int pointCount = 0; ///< 点数
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const RsPointXYZI* points; ///< 指向内部点数组，回调返回后失效
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};
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/// 原始数据包信息（is_frame_begin=1 表示新一圈扫描起始）
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struct RsPacketInfo
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{
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double timestamp = 0.0;
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unsigned int seq = 0;
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unsigned char is_difop = 0;
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unsigned char is_frame_begin = 0; ///< =1 新一帧扫描开始
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std::string frameId;
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unsigned int dataSize = 0; ///< 原始数据字节数
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};
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/// 异常/错误信息
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struct RsExceptionInfo
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{
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int code = 0;
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std::string message;
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};
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/// LiDAR 配置参数
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struct RsLidarConfig
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{
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std::string lidarType = "RSEM4"; ///< 雷达型号
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std::string hostAddress = "0.0.0.0"; ///< 主机地址
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unsigned short msopPort = 6699; ///< MSOP 数据端口
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unsigned short difopPort = 7788; ///< DIFOP 数据端口
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unsigned short imuPort = 0; ///< IMU 端口 (0=禁用)
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float minDistance = 0.0f; ///< 最小距离(米) 0=不限
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float maxDistance = 0.0f; ///< 最大距离(米) 0=不限
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bool densePoints = false; ///< 丢弃 NaN 点
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bool useLidarClock = false; ///< 使用雷达内部时钟
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bool tsFirstPoint = false; ///< 时间戳取首点时刻
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bool waitForDifop = false; ///< 等待 DIFOP 包
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float startAngle = 0.0f; ///< 有效角度起始(度)
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float endAngle = 360.0f; ///< 有效角度结束(度)
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float splitAngle = 0.0f; ///< 帧分割角度(度)
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std::string frameId = "rslidar"; ///< 帧标识字符串
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unsigned int socketRecvBufBytes = 33554432; ///< socket 接收缓冲，默认 32MB；低配机推荐 ≥16MB
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};
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/// 帧元数据（不含点数据，用于原始点云回调）
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struct RsFrameMeta
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{
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unsigned int seq = 0;
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double timestamp = 0.0;
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unsigned int height = 0;
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unsigned int width = 0;
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bool isDense = false;
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std::string frameId;
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};
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/// 用户回调耗时统计（来自最近一个 5s 滚动窗口的快照）
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struct RsCallbackStats
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{
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unsigned long long maxUs = 0; ///< 窗口内单次回调最大耗时(μs)
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unsigned long long avgUs = 0; ///< 窗口内平均耗时(μs)
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unsigned long long count = 0; ///< 窗口内回调次数
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};
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class RSLIDARDEVICE_EXPORT IRsLidarDevice
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{
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public:
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using PointCloudCallback = std::function<void(const RsPointCloudData&)>;
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using PacketCallback = std::function<void(const RsPacketInfo&)>;
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using ExceptionCallback = std::function<void(const RsExceptionInfo&)>;
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/// 原始点云回调：提供 SDK 原始点（含 NaN，单位米），
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/// 坐标系已修正为 X 朝右、Y 朝下、Z 朝前；
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/// 用户可在一次遍历中完成 NaN 清洗 + 单位转换 + 格式复制，
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/// 避免 RsLidarDevice 内部和用户侧各做一次点级循环
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using RawCloudCallback = std::function<void(const RsPointXYZI* points, uint32_t pointCount, const RsFrameMeta& meta)>;
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virtual ~IRsLidarDevice() = default;
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/// 工厂方法
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static int CreateObject(IRsLidarDevice** ppDevice);
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/// 初始化 SDK 环境（WSAStartup 等）
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virtual int InitDevice() = 0;
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/// 配置并打开设备
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virtual int OpenDevice(const RsLidarConfig& config) = 0;
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/// 关闭设备
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virtual int CloseDevice() = 0;
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/// 设备是否已打开
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virtual bool IsOpened() const = 0;
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/// 开始接收数据
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virtual int Start() = 0;
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/// 停止接收数据
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virtual int Stop() = 0;
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/// 是否正在运行
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virtual bool IsRunning() const = 0;
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/// 注册点云回调（每次回调 = 完整一圈扫描）
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virtual int SetPointCloudCallback(PointCloudCallback callback) = 0;
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/// 注册数据包回调（is_frame_begin 标记帧起始）
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virtual int SetPacketCallback(PacketCallback callback) = 0;
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/// 注册原始点云回调（注册后优先使用，跳过内部 Transform 循环）
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virtual int SetRawCloudCallback(RawCloudCallback callback) = 0;
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/// 注册异常回调
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virtual int SetExceptionCallback(ExceptionCallback callback) = 0;
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/// 获取驱动版本
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virtual std::string GetVersion() = 0;
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/// 获取丢帧计数（m_stuffedQueue 满时被丢弃的帧数）
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virtual uint64_t GetDroppedFrameCount() const = 0;
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/// 获取当前就绪队列深度（待消费的帧数）
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virtual size_t GetStuffedQueueDepth() const = 0;
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/// 获取指定 SDK ErrCode 的累计触发次数（接受原始 SDK error_code，如 0x40/0x48/0x49/0x42）
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virtual uint64_t GetExceptionCount(int errCode) const = 0;
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/// 获取并清零最近一个 5s 滚动窗口内用户回调耗时统计
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/// 注意：内部统计字段每 5s 由 processCloudThread 重置，此接口仅返回当前累计快照
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virtual RsCallbackStats GetCallbackLatencyStats() const = 0;
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/// 获取就绪队列历史峰值深度（Open 以来）
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virtual size_t GetStuffedQueuePeak() const = 0;
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};
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#endif // IRSLIDARDEVICE_H
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