lds_lvx.h

//
// The MIT License (MIT)
//
// Copyright (c) 2019 Livox. All rights reserved.
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// livox lidar lvx data source

#ifndef LIVOX_ROS_DRIVER_LDS_LVX_H_
#define LIVOX_ROS_DRIVER_LDS_LVX_H_

#include <memory>
#include <thread>

#include "lds.h"
#include "lvx_file.h"

namespace livox_ros {

/**
 * Lidar data source abstract.
 */
class LdsLvx : public Lds {
 public:
  static LdsLvx *GetInstance(uint32_t interval_ms) {
    static LdsLvx lds_lvx(interval_ms);
    return &lds_lvx;
  }

  int InitLdsLvx(const char *lvx_path);
  int DeInitLdsLvx(void);
  void PrepareExit(void);

 private:
  LdsLvx(uint32_t interval_ms);
  LdsLvx(const LdsLvx &) = delete;
  ~LdsLvx();
  LdsLvx &operator=(const LdsLvx &) = delete;

  void StartRead() { start_read_lvx_ = true; }
  void StopRead() { start_read_lvx_ = false; }
  bool IsStarted() { return start_read_lvx_; }

  void ReadLvxFile();

  volatile bool is_initialized_;
  OutPacketBuffer packets_of_frame_;
  std::shared_ptr<LvxFileHandle> lvx_file_;
  std::shared_ptr<std::thread> t_read_lvx_;
  volatile bool start_read_lvx_;
};

}  // namespace livox_ros
#endif