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feature:support save lvx file for lidar;

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Livox-SDK
2019-05-06 12:33:55 +08:00
parent 25c945da3b
commit 2765743dea
907 changed files with 10205 additions and 5141 deletions
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sdk_core/src/command_handler/command_impl.cpp
+18 -8
View File
@@ -75,8 +75,8 @@ uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size) {
return kStatusSuccess;
}
void SetDataCallback(uint8_t handle, DataCallback cb) {
data_handler().AddDataListener(handle, cb);
void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data) {
data_handler().AddDataListener(handle, cb, client_data);
}
uint8_t DeviceSampleControl(uint8_t handle, bool enable, CommonCommandCallback cb, void *data) {
@@ -292,18 +292,15 @@ uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
return result ? kStatusSuccess : kStatusFailure;
}
uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
uint16_t length,
HubGetExtrinsicParameterCallback cb,
void *client_data) {
uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
}
bool result = command_handler().SendCommand(kHubDefaultHandle,
kCommandSetHub,
kCommandIDHubGetExtrinsicParameter,
(uint8_t *)req,
length,
NULL,
0,
MakeCommandCallback<HubGetExtrinsicParameterResponse>(cb, client_data));
return result ? kStatusSuccess : kStatusFailure;
}
@@ -350,3 +347,16 @@ uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
MakeCommandCallback<HubRainFogSuppressResponse>(cb, client_data));
return result ? kStatusSuccess : kStatusFailure;
}
uint8_t HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
}
bool result = command_handler().SendCommand(kHubDefaultHandle,
kCommandSetHub,
kCommandIDHubQuerySlotPowerStatus,
NULL,
0,
MakeCommandCallback<HubQuerySlotPowerStatusResponse>(cb, client_data));
return result ? kStatusSuccess : kStatusFailure;
}
sdk_core/src/command_handler/command_impl.h
+5
View File
@@ -164,6 +164,10 @@ typedef enum {
* Hub command set, open or close the rain and fog mode of the connected Livox LiDAR.
*/
kCommandIDHubRainFogSuppression = 7,
/**
* Hub command set, get the power supply state of each hub slot.
*/
kCommandIDHubQuerySlotPowerStatus = 8,
/**
* ******************************************************
@@ -179,6 +183,7 @@ static const uint16_t HubCommandTimeout[kCommandIDHubCommandCount] = {KDefaultTi
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut};
/**