[A]add sdk_core.
This commit is contained in:
Livox-SDK
@@ -0,0 +1,72 @@
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//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// 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:
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||||
//
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// The above copyright notice and this permission notice shall be included in
|
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// all copies or substantial portions of the Software.
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||||
//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef COMM_COMM_PORT_H_
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#define COMM_COMM_PORT_H_
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#include <stdint.h>
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#include "protocol.h"
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namespace livox {
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const uint32_t kCacheSize = 8192;
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const uint32_t kMoveCacheLimit = 1536;
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typedef struct {
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uint8_t buf[kCacheSize];
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uint32_t rd_idx;
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uint32_t wr_idx;
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uint32_t size;
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} PortCache;
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class CommPort {
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public:
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CommPort();
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~CommPort();
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int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet);
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int32_t ParseCommStream(CommPacket *o_pack);
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uint8_t *FetchCacheFreeSpace(uint32_t *o_len);
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int32_t UpdateCacheWrIdx(uint32_t used_size);
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uint16_t GetAndUpdateSeqNum();
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private:
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uint32_t GetCacheTailSize();
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uint32_t GetValidDataSize();
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void UpdateCache(void);
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PortCache cache_;
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Protocol *protocol_;
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uint32_t parse_step_;
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uint16_t seq_num_;
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};
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} // namespace livox
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#endif // COMM_COMM_PORT_H_
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@@ -0,0 +1,82 @@
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//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef COMM_PROTOCOL_H_
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#define COMM_PROTOCOL_H_
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#include <stdint.h>
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namespace livox {
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typedef struct CommPacket CommPacket;
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typedef int (*RequestPackCb)(CommPacket *packet);
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typedef enum { kRequestPack, kAckPack, kMsgPack } PacketType;
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typedef enum { kLidarSdk, kRsvd1, kProtocolUndef } ProtocolType;
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typedef enum { kNoNeed, kNeedAck, kDelayAck } NeedAckType;
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typedef enum { kParseSuccess, kParseFail } ParseResult;
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typedef struct CommPacket {
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uint8_t packet_type;
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uint8_t protocol;
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uint8_t protocol_version;
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uint8_t cmd_set;
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uint32_t cmd_code;
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uint32_t sender;
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uint32_t sub_sender;
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uint32_t receiver;
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uint32_t sub_receiver;
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uint32_t seq_num;
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uint8_t *data;
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uint16_t data_len;
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uint32_t padding;
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// RequestPackCb *ack_request_cb;
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// uint32_t retry_times;
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// uint32_t timeout;
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} CommPacket;
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class Protocol {
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public:
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virtual ~Protocol(){};
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virtual int32_t ParsePacket(uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet) = 0;
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virtual int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet) = 0;
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virtual uint32_t GetPreambleLen() = 0;
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virtual uint32_t GetPacketWrapperLen() = 0;
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virtual uint32_t GetPacketLen(uint8_t *buf) = 0;
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virtual int32_t CheckPreamble(uint8_t *buf) = 0;
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virtual int32_t CheckPacket(uint8_t *buf) = 0;
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};
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} // namespace livox
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#endif // COMM_PROTOCOL_H_
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@@ -0,0 +1,383 @@
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//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// 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,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef LIVOX_DEF_H_
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#define LIVOX_DEF_H_
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#include <stdint.h>
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#define kMaxLidarCount 32
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/** Device type. */
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typedef enum {
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kDeviceTypeHub = 0, /**< Livox Hub. */
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kDeviceTypeLidarMid40 = 1, /**< Mid-40. */
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kDeviceTypeLidarTele = 2, /**< Tele. */
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kDeviceTypeLidarHorizon = 3 /**< Horizon. */
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} DeviceType;
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/** Lidar state. */
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typedef enum {
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kLidarStateInit = 0, /**< Initialization state. */
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kLidarStateNormal = 1, /**< Normal work state. */
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kLidarStatePowerSaving = 2, /**< Power-saving state. */
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kLidarStateStandBy = 3, /**< Standby state. */
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kLidarStateError = 4, /**< Error state. */
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kLidarStateUnknown = 5
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} LidarState;
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/** Lidar mode. */
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typedef enum {
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kLidarModeNormal = 1, /**< Normal mode. */
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kLidarModePowerSaving = 2, /**< Power-saving mode. */
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kLidarModeStandby = 3 /**< Standby mode. */
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} LidarMode;
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/** Lidar feature. */
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typedef enum {
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kLidarFeatureNone = 0, /**< No feature. */
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kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
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} LidarFeature;
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/** Function return value definition. */
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typedef enum {
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kStatusSuccess = 0, /**< Success. */
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kStatusFailure = 1, /**< Failure. */
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kStatusNotConnected = 2, /**< Requested device is not connected. */
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kStatusNotSupported = 3, /**< Operation is not supported on this device. */
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kStatusTimeout = 4, /**< Operation timeouts. */
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kStatusNotEnoughMemory = 5 /**< No enough memory. */
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} ResponseStatus;
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/** Device update type, indicating the change of device connection or working state. */
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typedef enum {
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kEventConnect = 0, /**< Device is connected. */
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kEventDisconnect = 1, /**< Device is removed. */
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kEventStateChange = 2 /**< Device working state changes or an error occurs. */
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} DeviceEvent;
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/** Timestamp sync mode define. */
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typedef enum {
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kTimestampTypeNoSync = 0, /**< No sync signal mode. */
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kTimestampTypePtp = 1, /**< 1588v2.0 PTP sync mode. */
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kTimestampTypeRsvd = 2, /**< Reserved use. */
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kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
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kTimestampTypePps = 4, /**< pps only sync mode. */
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kTimestampTypeUnknown = 5 /**< Unknown mode. */
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} TimestampType;
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#pragma pack(1)
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#define kBroadcastCodeSize 16
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/** Cartesian coordinate format. */
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typedef struct {
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int32_t x; /**< X axis, Unit:mm */
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int32_t y; /**< Y axis, Unit:mm */
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int32_t z; /**< Z axis, Unit:mm */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxRawPoint;
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/** standard point cloud format */
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typedef struct {
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float x; /**< X axis, Unit:m */
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float y; /**< X axis, Unit:m */
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float z; /**< X axis, Unit:m */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxPoint;
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/** Point cloud packet. */
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typedef struct {
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uint8_t version; /**< Packet protocol version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint8_t rsvd; /**< Reserved. */
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uint32_t err_code; /**< Device error status indicator information. */
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uint8_t timestamp_type; /**< Timestamp type. */
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/** Point cloud coordinate format, 1 for spherical coordinate data, 0 for cartesian coordinate data. */
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uint8_t data_type;
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uint8_t timestamp[8]; /**< Nanosecond or UTC format timestamp. */
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uint8_t data[1]; /**< Point cloud data. */
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} LivoxEthPacket;
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/** Information of LiDAR work state. */
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typedef union {
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uint32_t status_code; /**< LiDAR work state status code. */
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uint32_t progress; /**< LiDAR work state switching progress. */
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} StatusUnion;
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/** Information of the connected LiDAR or hub. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t handle; /**< Device handle. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint32_t type; /**< Device type, refer to \ref DeviceType. */
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uint16_t data_port; /**< Point cloud data UDP port. */
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uint16_t cmd_port; /**< Control command UDP port. */
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char ip[16]; /**< IP address. */
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LidarState state; /**< LiDAR state. */
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LidarFeature feature; /**< LiDAR feature. */
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StatusUnion status; /** LiDAR work state status. */
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} DeviceInfo;
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/** The information of broadcast device. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
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uint16_t reserved; /**< Reserved. */
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} BroadcastDeviceInfo;
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/** The information of LiDAR units that are connected to the Livox Hub. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
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uint8_t version[4]; /**< Firmware version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR units. */
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uint8_t id; /**< Device id. */
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} ConnectedLidarInfo;
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/** LiDAR mode configuration information. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t state; /**< LiDAR state. */
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} LidarModeRequestItem;
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} ReturnCode;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} DeviceBroadcastCode;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t feature; /**< Close or open the rain and fog feature. */
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} RainFogSuppressRequestItem;
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/** LiDAR configuration information. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} ExtrinsicParameterRequestItem;
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/** LiDAR extrinsic parameters. */
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} ExtrinsicParameterResponseItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
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uint8_t state; /**< LiDAR state. */
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uint8_t feature; /**< LiDAR feature. */
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StatusUnion error_union; /** LiDAR work state. */
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} LidarStateItem;
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/**
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* The request body for the command of handshake.
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*/
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typedef struct {
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uint32_t ip_addr; /**< IP address of the device. */
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uint16_t data_port; /**< UDP port of the data connection. */
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uint16_t cmd_port; /**< UDP port of the command connection. */
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} HandshakeRequest;
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/**
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* The response body of querying device information.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t firmware_version[4]; /**< Firmware version. */
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} DeviceInformationResponse;
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/**
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* The response body of getting device error status.
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*/
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typedef struct {
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uint32_t error_code; /**< Error code. */
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} ErrorMessage;
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/**
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* The request body of the command for setting device's IP mode.
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*/
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typedef struct {
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uint8_t ip_mode; /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
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uint32_t ip_addr; /**< IP address. */
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} SetDeviceIPModeRequest;
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/**
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* The response body of getting device's IP mode.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t ip_mode; /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
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uint32_t ip_addr; /**< IP address. */
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} GetDeviceIPModeResponse;
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/**
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* The body of heartbeat response.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t state; /**< Working state. */
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uint8_t feature; /**< LiDAR feature. */
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StatusUnion error_union; /**< LiDAR work state. */
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} HeartbeatResponse;
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/**
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* The request body for the command of setting LiDAR's parameters.
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*/
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typedef struct {
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} LidarSetExtrinsicParameterRequest;
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/**
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* The response body of getting LiDAR's parameters.
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*/
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typedef struct {
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uint8_t ret_code;
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} LidarGetExtrinsicParameterResponse;
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/**
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* The response body of querying the information of LiDAR units connected to the Livox Hub.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code from device. */
|
||||
uint8_t count; /**< Count of device_info_list. */
|
||||
ConnectedLidarInfo device_info_list[1]; /**< Connected lidars information. */
|
||||
} HubQueryLidarInformationResponse;
|
||||
|
||||
/**
|
||||
* The request body of setting LiDAR units working mode.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t count; /**< Number of LiDAR units to set. */
|
||||
LidarModeRequestItem config_list[1]; /**< LiDAR mode configuration list. */
|
||||
} HubSetModeRequest;
|
||||
|
||||
/**
|
||||
* The response of setting LiDAR units working mode.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code from device. */
|
||||
uint8_t count; /**< Count of ret_state_list. */
|
||||
ReturnCode ret_state_list[1]; /**< Return status list. */
|
||||
} HubSetModeResponse;
|
||||
|
||||
/**
|
||||
* The request body of toggling the power supply of the slot.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t slot; /**< Slot of the hub. */
|
||||
uint8_t state; /**< Status of toggling the power supply. */
|
||||
} HubControlSlotPowerRequest;
|
||||
|
||||
/**
|
||||
* The request body of setting the Livox Hub's parameters.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t count; /**< Count of cfg_param_list. */
|
||||
ExtrinsicParameterRequestItem parameter_list[1]; /**< Configuration parameter list. */
|
||||
} HubSetExtrinsicParameterRequest;
|
||||
|
||||
/**
|
||||
* The response body of setting the Livox Hub's parameters.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code. */
|
||||
uint8_t count; /**< Count of ret_code_list. */
|
||||
ReturnCode ret_code_list[1]; /**< Return code */
|
||||
} HubSetExtrinsicParameterResponse;
|
||||
|
||||
/**
|
||||
* The request body of getting the Livox Hub's parameters.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t count; /**< Count of code_list. */
|
||||
DeviceBroadcastCode code_list[1]; /**< Broadcast code list. */
|
||||
} HubGetExtrinsicParameterRequest;
|
||||
|
||||
/**
|
||||
* The response body of getting the Livox Hub's parameters.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code. */
|
||||
uint8_t count; /**< Number of LiDAR units connected to the Livox Hub. */
|
||||
ExtrinsicParameterResponseItem parameter_list[1]; /**< Postion parameters of connected LiDAR unit(s). */
|
||||
} HubGetExtrinsicParameterResponse;
|
||||
|
||||
/**
|
||||
* The response body of getting sub LiDAR's state.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code. */
|
||||
uint8_t count; /**< Number of LiDAR connected to the Livox Hub. */
|
||||
LidarStateItem state_list[1]; /**< Device information of connected LiDAR units. */
|
||||
} HubQueryLidarStatusResponse;
|
||||
|
||||
/**
|
||||
* The request body of toggling the LiDAR units rain and fog mode.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t count; /**< Number of LiDAR units connected to the Livox Hub. */
|
||||
RainFogSuppressRequestItem lidar_cfg_list[1]; /**< Command data of connected LiDAR units. */
|
||||
} HubRainFogSuppressRequest;
|
||||
|
||||
/**
|
||||
* The response body of toggling the LiDAR units rain and fog mode.
|
||||
*/
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code. */
|
||||
uint8_t count; /**< Count of ret_state_list. */
|
||||
ReturnCode ret_state_list[1]; /**< Return code */
|
||||
} HubRainFogSuppressResponse;
|
||||
|
||||
#pragma pack()
|
||||
|
||||
#endif // LIVOX_DEF_H_
|
||||
@@ -0,0 +1,488 @@
|
||||
//
|
||||
// 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"
|
||||
|
||||
/**
|
||||
* Initialize the SDK.
|
||||
* @return true if successfully initialized, otherwise false.
|
||||
*/
|
||||
bool Init();
|
||||
|
||||
/**
|
||||
* Start the device scanning routine which runs on a separate thread.
|
||||
* @return true if successfully started, otherwise false.
|
||||
*/
|
||||
bool Start();
|
||||
|
||||
/**
|
||||
* Uninitialize the SDK.
|
||||
*/
|
||||
void Uninit();
|
||||
|
||||
/**
|
||||
* @c SetBroadcastCallback response callback function.
|
||||
* @param info information of the broadcast device, becomes invalid after the function returns.
|
||||
*/
|
||||
typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);
|
||||
|
||||
/**
|
||||
* Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb
|
||||
* is called.
|
||||
* @param cb callback for device broadcast.
|
||||
*/
|
||||
void SetBroadcastCallback(DeviceBroadcastCallback cb);
|
||||
|
||||
/**
|
||||
* @c SetDeviceStateUpdateCallback response callback function.
|
||||
* @param device information of the connected device.
|
||||
* @param type the update type that indicates connection/disconnection of the device or change of working state.
|
||||
*/
|
||||
typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);
|
||||
|
||||
/**
|
||||
* @brief Add a callback for device connection or working state changing event.
|
||||
* @note Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to
|
||||
* the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by
|
||||
* this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If
|
||||
* you want to get information of the LiDAR unit(s) connected to hub, see \ref HubQueryLidarInformation.
|
||||
* @note 3 conditions can trigger this callback:
|
||||
* 1. Connection and disconnection of device.
|
||||
* 2. A change of device working state.
|
||||
* 3. An error occurs.
|
||||
* @param cb callback for device connection/disconnection.
|
||||
*/
|
||||
void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
|
||||
|
||||
/**
|
||||
* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
|
||||
* broadcast code is unique for every device.
|
||||
* @param broadcast_code device's broadcast code.
|
||||
* @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
|
||||
* the corresponding handle is (slot-1)*3+id-1.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t AddHubToConnect(const char *broadcast_code, uint8_t *handle);
|
||||
|
||||
/**
|
||||
* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
|
||||
* broadcast code is unique for every device.
|
||||
* @param broadcast_code device's broadcast code.
|
||||
* @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
|
||||
|
||||
/**
|
||||
* Get all connected devices' information.
|
||||
* @param devices list of connected devices' information.
|
||||
* @param size number of devices connected.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
|
||||
|
||||
/**
|
||||
* Function type of callback that queries device's information.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*DeviceInformationCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
DeviceInformationResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Command to query device's information.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param handle device handle.
|
||||
* @param data device's data.
|
||||
* @param data_num number of points in data.
|
||||
*/
|
||||
typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num);
|
||||
|
||||
/**
|
||||
* Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
|
||||
* cloud data callback before beginning sampling.
|
||||
* @param cb callback to receive point cloud data.
|
||||
*/
|
||||
void SetDataCallback(uint8_t handle, DataCallback cb);
|
||||
|
||||
/**
|
||||
* Function type of callback with 1 byte of response.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*CommonCommandCallback)(uint8_t status, uint8_t handle, uint8_t response, void *client_data);
|
||||
|
||||
/**
|
||||
* Start hub sampling.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubStartSampling(CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Stop the Livox Hub's sampling.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubStopSampling(CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
|
||||
* @param slot Livox Hub's slot.
|
||||
* @param id Livox Hub's id.
|
||||
* @return LiDAR unit handle.
|
||||
*/
|
||||
uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
|
||||
|
||||
/**
|
||||
* Command to change point cloud coordinate system to cartesian coordinate.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Change point cloud coordinate system to spherical coordinate.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback of the error status message.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
*/
|
||||
typedef void (*ErrorMessageCallback)(uint8_t handle, ErrorMessage *message);
|
||||
|
||||
/**
|
||||
* Add error status callback for the device.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
|
||||
|
||||
/**
|
||||
* Set device's IP mode.
|
||||
* @param handle device handle.
|
||||
* @param req request sent to device.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t SetStaticDynamicIP(uint8_t handle,
|
||||
SetDeviceIPModeRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function that gets device's IP information.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*GetDeviceIPInformationCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
GetDeviceIPModeResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get device's IP mode.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t GetDeviceIPInformation(uint8_t handle, GetDeviceIPInformationCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubQueryLidarInformation response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*HubQueryLidarInformationCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
HubQueryLidarInformationResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Query the information of LiDARs connected to the hub.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubSetMode response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*HubSetModeCallback)(uint8_t status, uint8_t handle, HubSetModeResponse *response, void *client_data);
|
||||
|
||||
/**
|
||||
* Set the mode of LiDAR unit connected to the Livox Hub.
|
||||
* @param req mode configuration of LiDAR units.
|
||||
* @param length length of req.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubQueryLidarStatus response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*HubQueryLidarStatusCallback)(uint8_t status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
|
||||
|
||||
/**
|
||||
* Get the state of LiDAR units connected to the Livox Hub.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Toggle the power supply of designated slots.
|
||||
* @param req request whether to enable or disable the power of designated slots.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
|
||||
uint8_t HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubSetExtrinsicParameter response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*HubSetExtrinsicParameterCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
HubSetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Set extrinsic parameters of LiDAR units connected to the Livox Hub.
|
||||
* @param req the parameters to write.
|
||||
* @param length the request's length.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
|
||||
uint16_t length,
|
||||
HubSetExtrinsicParameterCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubGetExtrinsicParameter response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
HubGetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get extrinsic parameters of LiDAR units connected to the Livox Hub.
|
||||
* @param req the LiDAR units broadcast code list.
|
||||
* @param length the request's length.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
|
||||
uint16_t length,
|
||||
HubGetExtrinsicParameterCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Turn on or off the calculation of extrinsic parameters.
|
||||
* @param enable the request whether enable or disable calculating the extrinsic parameters.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
|
||||
uint8_t HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubRainFogSuppress response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*HubRainFogSuppressCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
HubRainFogSuppressResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Toggling the rain and fog mode for lidars connected to the hub.
|
||||
* @param req the request whether open or close the rain and fog mode.
|
||||
* @param length the request's length.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
|
||||
uint16_t length,
|
||||
HubRainFogSuppressCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Start LiDAR sampling.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Stop LiDAR sampling.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR mode.
|
||||
* @note Successful callback function status only means LiDAR successfully starting the changing process of mode.
|
||||
* You need to observe the actually change of mode in DeviceStateUpdateCallback function.
|
||||
* @param handle device handle.
|
||||
* @param mode the mode to change.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR extrinsic parameters.
|
||||
* @param handle device handle.
|
||||
* @param param the parameters to write.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarSetExtrinsicParameter(uint8_t handle,
|
||||
LidarSetExtrinsicParameterRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c LidarGetExtrinsicParameter response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LidarGetExtrinsicParameterCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
LidarGetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get LiDAR extrinsic parameters.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Enable and disable the rain/fog suppression.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // LIVOX_SDK_H_
|
||||
+79
@@ -0,0 +1,79 @@
|
||||
/* FastCRC library code is placed under the MIT license
|
||||
* Copyright (c) 2014,2015 Frank Bosing
|
||||
*
|
||||
* 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.
|
||||
*/
|
||||
|
||||
|
||||
// Teensy 3.0, Teensy 3.1:
|
||||
// See K20P64M72SF1RM.pdf (Kinetis), Pages 638 - 641 for documentation of CRC Device
|
||||
// See KINETIS_4N30D.pdf for Errata (Errata ID 2776)
|
||||
//
|
||||
// So, ALL HW-calculations are done as 32 bit.
|
||||
//
|
||||
//
|
||||
//
|
||||
// Thanks to:
|
||||
// - Catalogue of parametrised CRC algorithms, CRC RevEng
|
||||
// http://reveng.sourceforge.net/crc-catalogue/
|
||||
//
|
||||
// - Danjel McGougan (CRC-Table-Generator)
|
||||
//
|
||||
|
||||
//
|
||||
// modify from FastCRC library @ 2018/11/20
|
||||
//
|
||||
|
||||
#ifndef FASTCRC_FASTCRC_H_
|
||||
#define FASTCRC_FASTCRC_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
|
||||
// ================= 16-BIT CRC ===================
|
||||
|
||||
class FastCRC16 {
|
||||
public:
|
||||
FastCRC16(uint16_t seed);
|
||||
|
||||
// change function name from mcrf4xx_upd to mcrf4xx
|
||||
uint16_t mcrf4xx_calc(const uint8_t *data,const uint16_t datalen); // Equivalent to _crc_ccitt_update() in crc16.h from avr_libc
|
||||
|
||||
private:
|
||||
uint16_t seed_;
|
||||
|
||||
};
|
||||
|
||||
// ================= 32-BIT CRC ===================
|
||||
|
||||
class FastCRC32 {
|
||||
public:
|
||||
FastCRC32(uint32_t seed);
|
||||
|
||||
// change function name from crc32_upd to crc32
|
||||
uint32_t crc32_calc(const uint8_t *data, uint16_t len); // Call for subsequent calculations with previous seed
|
||||
|
||||
private:
|
||||
uint32_t seed_;
|
||||
};
|
||||
|
||||
#endif // FASTCRC_FASTCRC_H_
|
||||
|
||||
Reference in New Issue
Block a user