text: //
  // The MIT License (MIT)
  //
  // Copyright (c) 2019 Livox. All rights reserved.
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  // SOFTWARE.
  //
  
  /** Livox LiDAR data source, data from dependent lidar */
  
  #ifndef LDS_LIDAR_H_
  #define LDS_LIDAR_H_
  
  #include <memory>
  #include <vector>
  
  #include "livox_def.h"
  #include "livox_sdk.h"
  
  
  typedef enum {
    kConnectStateOff = 0,
    kConnectStateOn = 1,
    kConnectStateConfig = 2,
    kConnectStateSampling = 3,
  } LidarConnectState;
  
  typedef enum {
    kConfigFan = 1,
    kConfigReturnMode = 2,
    kConfigCoordinate = 4,
    kConfigImuRate = 8
  } LidarConfigCodeBit;
  
  typedef enum {
    kCoordinateCartesian = 0,
    kCoordinateSpherical
  } CoordinateType;
  
  typedef struct {
    bool enable_fan;
    uint32_t return_mode;
    uint32_t coordinate;
    uint32_t imu_rate;
    volatile uint32_t set_bits;
    volatile uint32_t get_bits;
  } UserConfig;
  
  typedef struct {
    uint8_t handle;
    LidarConnectState connect_state;
    DeviceInfo info;
    UserConfig config;
  } LidarDevice;
  
  /**
   * LiDAR data source, data from dependent lidar.
   */
  class LdsLidar {
   public:
  
    static LdsLidar& GetInstance() {
      static LdsLidar lds_lidar;
      return lds_lidar;
    }
  
    int InitLdsLidar(std::vector<std::string>& broadcast_code_strs);
    int DeInitLdsLidar(void);
  
   private:
    LdsLidar();
    LdsLidar(const LdsLidar&) = delete;
    ~LdsLidar();
    LdsLidar& operator=(const LdsLidar&) = delete;
  
    static void GetLidarDataCb(uint8_t handle, LivoxEthPacket *data,\
                               uint32_t data_num, void *client_data);
    static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
    static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
    static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
    static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
    static void DeviceInformationCb(livox_status status, uint8_t handle, \
                                    DeviceInformationResponse *ack, void *clent_data);
    static void LidarErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
    static void ControlFanCb(livox_status status, uint8_t handle, \
                             uint8_t response, void *clent_data);
    static void SetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
                                          uint8_t response, void *clent_data);
    static void SetCoordinateCb(livox_status status, uint8_t handle, \
                                uint8_t response, void *clent_data);
    static void SetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
                                          uint8_t response, void *clent_data);
  
    int AddBroadcastCodeToWhitelist(const char* broadcast_code);
    void AddLocalBroadcastCode(void);
    bool FindInWhitelist(const char* broadcast_code);
  
    void EnableAutoConnectMode(void) { auto_connect_mode_ = true; }
    void DisableAutoConnectMode(void) { auto_connect_mode_ = false; }
    bool IsAutoConnectMode(void) { return auto_connect_mode_; }
  
    bool auto_connect_mode_;
    uint32_t whitelist_count_;
    volatile bool is_initialized_;
    char broadcast_code_whitelist_[kMaxLidarCount][kBroadcastCodeSize];
  
    uint32_t lidar_count_;
    LidarDevice lidars_[kMaxLidarCount];
  
    uint32_t data_recveive_count_[kMaxLidarCount];
  };
  
  #endif
  