livox_sdk.h

Go to the documentation of this file.

//
// 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.
//

#ifndef LIVOX_SDK_H_
#define LIVOX_SDK_H_

#ifdef __cplusplus
extern "C" {
#endif

#include <stdbool.h>
#include <stdint.h>
#include "livox_def.h"

void GetLivoxSdkVersion(LivoxSdkVersion *version);

bool Init();

bool Start();

void Uninit();

void SaveLoggerFile();

typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);

void SetBroadcastCallback(DeviceBroadcastCallback cb);

typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);

void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);

uint8_t AddHubToConnect(const char *broadcast_code, uint8_t *handle);

uint8_t AddLidarToConnect(const char *broadcast_code, uint8_t *handle);

uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size);

typedef void (*DeviceInformationCallback)(uint8_t status,
                                          uint8_t handle,
                                          DeviceInformationResponse *response,
                                          void *client_data);

uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);

typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num);

void SetDataCallback(uint8_t handle, DataCallback cb);

typedef void (*CommonCommandCallback)(uint8_t status, uint8_t handle, uint8_t response, void *client_data);

uint8_t HubStartSampling(CommonCommandCallback cb, void *client_data);

uint8_t HubStopSampling(CommonCommandCallback cb, void *client_data);

uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);

uint8_t SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);

uint8_t SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);

typedef void (*ErrorMessageCallback)(uint8_t handle, ErrorMessage *message);

uint8_t SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);

uint8_t SetStaticDynamicIP(uint8_t handle,
                           SetDeviceIPModeRequest *req,
                           CommonCommandCallback cb,
                           void *client_data);

typedef void (*GetDeviceIPInformationCallback)(uint8_t status,
                                        uint8_t handle,
                                        GetDeviceIPModeResponse *response,
                                        void *client_data);

uint8_t GetDeviceIPInformation(uint8_t handle, GetDeviceIPInformationCallback cb, void *client_data);

typedef void (*HubQueryLidarInformationCallback)(uint8_t status,
                                                 uint8_t handle,
                                                 HubQueryLidarInformationResponse *response,
                                                 void *client_data);

uint8_t HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);

typedef void (*HubSetModeCallback)(uint8_t status, uint8_t handle, HubSetModeResponse *response, void *client_data);

uint8_t HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);

typedef void (*HubQueryLidarStatusCallback)(uint8_t status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);

uint8_t HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);

uint8_t HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);

typedef void (*HubSetExtrinsicParameterCallback)(uint8_t status,
                                                 uint8_t handle,
                                                 HubSetExtrinsicParameterResponse *response,
                                                 void *client_data);

uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
                                 uint16_t length,
                                 HubSetExtrinsicParameterCallback cb,
                                 void *client_data);

typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
                                                 uint8_t handle,
                                                 HubGetExtrinsicParameterResponse *response,
                                                 void *client_data);

uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
                                 uint16_t length,
                                 HubGetExtrinsicParameterCallback cb,
                                 void *client_data);

uint8_t HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);

typedef void (*HubRainFogSuppressCallback)(uint8_t status,
                                           uint8_t handle,
                                           HubRainFogSuppressResponse *response,
                                           void *client_data);

uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
                           uint16_t length,
                           HubRainFogSuppressCallback cb,
                           void *client_data);

uint8_t LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);

uint8_t LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);

uint8_t LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);

uint8_t LidarSetExtrinsicParameter(uint8_t handle,
                                   LidarSetExtrinsicParameterRequest *req,
                                   CommonCommandCallback cb,
                                   void *client_data);

typedef void (*LidarGetExtrinsicParameterCallback)(uint8_t status,
                                          uint8_t handle,
                                          LidarGetExtrinsicParameterResponse *response,
                                          void *client_data);

uint8_t LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);

uint8_t LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);

#ifdef __cplusplus
}
#endif

#endif  // LIVOX_SDK_H_