When some events occur, rs_driver informs the caller via a callback function.
Every event is defined as an error code. Please find their definitions in common/error_code.hpp.
- ERRCODE_SUCCESS
Normal status. rs_driver doesn't report it.
- ERRCODE_PCAPEXIT
Every time rs_driver reaches the end of the PCAP file, it reports the event ERRCODE_PCAPEXIT.
The option RSInputParam.pcap_repeat determines whether to play the file repeatly. If yes, rs_driver reports the event ERRCODE_PCAPREPEAT, else reports ERRCODE_PCAPEXIT.
- ERRCODE_PCAPREPEAT
Please see ERRCODE_PCAPEXIT.
- ERRCODE_MSOPTIMEOUT
rs_driver waits for MSOP packets. If it loses the packets more than 1 second, it reports the event ERRCODE_MSOPTIMEOUT.
- ERRCODE_NODIFOPRECV
For mechanical LiDARs, DIFOP packets contains vertical/horizontal angle data. Without the data, point cloud is flat and inaccurate.
On receiving MSOP packets, rs_driver checks if the angle data is available. If it is unavailable in 1 second, it reports ERRCODE_NODIFOPRECV.
For MEMS liDARs, the angle data is not needed, so rs_driver doesn't report this event.
- ERRCODE_WRONGMSOPLEN
Every LiDAR has a fixed-length MSOP packet, which has a identy id at the beginning.
On receiving MSOP packets, rs_driver checks the packet length. If it is wrong, rs_driver reports the event ERRCODE_WRONGMSOPLEN. Then rs_driver checks the identity id. If it is wrong, rs_driver reports ERRCODE_MSOPID.
- ERRCODE_WRONGMSOPID
Please see ERRCODE_WRONGMSOPLEN.
- ERRCODE_WRONGMSOPBLKID
MSOP Packets contains blocks. For mechanical LiDARs, every block has its own identity id. rs_driver checks if this id is wrong. If so, rs_driver reports ERRCODE_WRONGMSOPBLKID.
- ERRCODE_WRONGDIFOPLEN
Every LiDAR has a fixed-length DIFOP packet, which has a identy id at the beginning.
On receiving DIFOP packets, rs_driver checks the packet length. If it is wrong, rs_driver reports the event ERRCODE_WRONGDIFOPLEN. Then rs_driver checks the identity id. If it is wrong, rs_driver reports ERRCODE_DIFOPID.
- ERRCODE_WRONGDIFOPID
Please see ERRCODE_WRONGDIFOPLEN.
- ERRCODE_ZEROPOINTS
rs_driver gets free point cloud instance from the caller, stuffs it, and returns it to the caller.
Before returning, rs_driver checks if the point cloud is empty (no points). If so, rs_driver reports ERRCODE_ZEROPOINTS.
- ERRCODE_PKTBUFOVERFLOW
To receive MSOP/DIFOP packets as soon as possible, there is a packet queue between the recieving thread and the handling thread.
If the handling thread is too busy to take packets out from the queue, the queue will overflow. rs_driver will clear it and reports ERRCODE_PKTBUFOVERFLOW.
- ERRCODE_CLOUDOVERFLOW
rs_driver parses MSOP packets to get points, and split them into point cloud frames.
For mechanical LiDARs, split by block's azimuth(horizontal angle); For MEMS liDARs, split by Packet's sequence number.
If something is wrong with the packet and splitting is not triggered, rs_driver will put more and more points into the point cloud.
To avoid this, rs_driver checks the point cloud, and if it is too large, rs_driver clear it, and reports ERRCODE_CLOUDOVERFLOW.
- ERRCODE_STARTBEFOREINIT
To use rs_driver, follow these steps: create instance, Init() and Start().
Call Init() before Start(). If not, rs_driver reports ERRCODE_STARTBEFOREINIT.
- ERRCODE_PCAPWRONGPATH
rs_driver reads MSOP/DIFOP Packet from the PCAP file RSInputParam.pcap_path. If fails, it reports ERRCODE_PCAPWRONGPATH.
- ERRCODE_POINTCLOUDNULL
rs_driver does't allocate the point cloud instance. Instead, it gets the instance from the caller via a callback function.
If the instance is null, rs_drive reports ERRCODE_POINTCLOUDNULL.