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feat:support Tele

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Livox-SDK
2020-06-17 15:48:14 +08:00
parent cee246cab0
commit 61e24a74bb
1874 changed files with 299 additions and 228947 deletions
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sdk_core/CMakeLists.txt
-1
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@@ -109,4 +109,3 @@ install(TARGETS ${SDK_LIBRARY}
PUBLIC_HEADER DESTINATION include
ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib)
sdk_core/include/livox_def.h
+57 -1
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@@ -130,7 +130,7 @@ typedef enum {
#define LIVOX_SDK_MAJOR_VERSION 2
#define LIVOX_SDK_MINOR_VERSION 1
#define LIVOX_SDK_PATCH_VERSION 0
#define LIVOX_SDK_PATCH_VERSION 1
#define kBroadcastCodeSize 16
@@ -473,6 +473,62 @@ typedef struct {
StatusUnion error_union; /**< LiDAR work state. */
} HeartbeatResponse;
/**
* The error code of Getting/Setting Device's Parameters.
*/
typedef enum {
kKeyNoError = 0, /**< No Error. */
kKeyNotSupported = 1, /**< The key is not supported. */
kKeyExecFailed = 2, /**< Execution failed. */
kKeyNotSupportedWritingState = 3, /**< The key cannot be written. */
kKeyValueError = 4, /**< Wrong value. */
kKeyValueLengthError = 5, /**< Wrong value length. */
kKeyNoEnoughMemory = 6, /**< Reading parameter length limit. */
kKeyLengthError = 7, /**< The number of parameters does not match. */
} KeyErrorCode;
/**
* The response body of setting device's parameter.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint16_t error_param_key; /**< Error Key. */
uint8_t error_code; /**< Error code, refer to \ref KeyErrorCode. */
} DeviceParameterResponse;
/**
* Keys of device's parameters.
*/
typedef enum {
kKeyDefault = 0, /**< Default key name. */
kKeyHighSensetivity = 1, /**< Key to get/set LiDAR' Sensetivity. */
} DeviceParamKeyName;
/**
* Key and value of device's parameters.
*/
typedef struct {
uint16_t key; /*< Key, refer to \ref DeviceParamKeyName. */
uint16_t length; /*< Length of value */
uint8_t value[1]; /*< Value */
} KeyValueParam;
/**
* The response body of getting device's parameter.
*/
typedef struct {
DeviceParameterResponse rsp; /*< Return code. */
KeyValueParam kv; /*< Key and value of device's parameters. */
} GetDeviceParameterResponse;
/**
* The request body for the command of getting device's parameters.
*/
typedef struct {
uint8_t param_num; /*< Number of key. */
uint16_t key[1]; /*< Key, refer to \ref DeviceParamKeyName. */
} GetDeviceParameterRequest;
/**
* The request body for the command of setting Livox LiDAR's parameters.
*/
sdk_core/include/livox_sdk.h
+53
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@@ -317,6 +317,59 @@ livox_status GetDeviceIpInformation(uint8_t handle, GetDeviceIpInformationCallba
*/
livox_status RebootDevice(uint8_t handle, uint16_t timeout, CommonCommandCallback cb, void * client_data);
/**
* @c SetDeviceParameters' response callback function.
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*SetDeviceParametersCallback)(livox_status status,
uint8_t handle,
DeviceParameterResponse *response,
void *client_data);
/**
* LiDAR Enable HighSensitivity.
* @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 LivoxStatus for other error code.
*/
livox_status LidarEnableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
/**
* LiDAR Disable HighSensitivity.
* @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 LivoxStatus for other error code.
*/
livox_status LidarDisableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
/**
* @c GetDeviceParameters' response callback function.
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*GetDeviceParametersCallback)(livox_status status,
uint8_t handle,
GetDeviceParameterResponse *response,
void *client_data);
/**
* LiDAR Get HighSensitivity State.
* @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 LivoxStatus for other error code.
*/
livox_status LidarGetHighSensitivityState(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
/**
* @c HubQueryLidarInformation response callback function.
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
sdk_core/src/command_handler/command_impl.cpp
+63
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@@ -226,6 +226,27 @@ bool ParseRmcTime(const char* rmc, uint16_t rmc_len, LidarSetUtcSyncTimeRequest*
return true;
}
livox_status SetDeviceParameters(uint8_t handle, uint8_t *req, uint16_t length, SetDeviceParametersCallback cb, void *client_data) {
livox_status result = command_handler().SendCommand(handle,
kCommandSetGeneral,
kCommandIDGeneralSetDeviceParam,
req,
length,
MakeCommandCallback<DeviceParameterResponse>(cb, client_data));
return result;
}
livox_status GetDeiveParameter(uint8_t handle, GetDeviceParameterRequest *req, GetDeviceParametersCallback cb, void *client_data) {
livox_status result = command_handler().SendCommand(handle,
kCommandSetGeneral,
kCommandIDGeneralGetDeviceParam,
(uint8_t *)req,
sizeof(GetDeviceParameterRequest),
MakeCommandCallback<GetDeviceParameterResponse>(cb, client_data));
return result;
}
livox_status LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data) {
if (device_manager().device_mode() != kDeviceModeLidar) {
return kStatusNotSupported;
@@ -369,6 +390,48 @@ livox_status RebootDevice(uint8_t handle, uint16_t timeout, CommonCommandCallbac
return result;
}
livox_status LidarEnableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data) {
if (!device_manager().IsLidarTele(handle)) {
return kStatusNotSupported;
}
uint8_t req_buff[kMaxCommandBufferSize] = {0};
uint16_t req_len = 0;
KeyValueParam * kv = (KeyValueParam *)&req_buff[0];
kv->key = static_cast<uint16_t>(kKeyHighSensetivity);
kv->length = 1;
kv->value[0] = static_cast<uint8_t>(true);
req_len = sizeof(KeyValueParam);
return SetDeviceParameters(handle, req_buff, req_len, cb, client_data);
}
livox_status LidarDisableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data) {
if (!device_manager().IsLidarTele(handle)) {
return kStatusNotSupported;
}
uint8_t req_buff[kMaxCommandBufferSize] = {0};
uint16_t req_len = 0;
KeyValueParam * kv = (KeyValueParam *)&req_buff[0];
kv->key = static_cast<uint16_t>(kKeyHighSensetivity);
kv->length = 1;
kv->value[0] = static_cast<uint8_t>(false);
req_len = sizeof(KeyValueParam);
return SetDeviceParameters(handle, req_buff, req_len, cb, client_data);
}
livox_status LidarGetHighSensitivityState(uint8_t handle, GetDeviceParametersCallback cb, void *client_data) {
if (!device_manager().IsLidarTele(handle)) {
return kStatusNotSupported;
}
GetDeviceParameterRequest req;
req.param_num = 1;
req.key[0] = static_cast<uint16_t>(kKeyHighSensetivity);
return GetDeiveParameter(handle, &req, cb, client_data);
}
livox_status LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data) {
if (device_manager().device_mode() != kDeviceModeLidar) {
return kStatusNotSupported;
sdk_core/src/command_handler/command_impl.h
+16 -3
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@@ -84,7 +84,18 @@ typedef enum {
* General command set, reboot a device.
*/
kCommandIDGeneralRebootDevice = 0x0a,
/**
* Set device's parameters.
*/
kCommandIDGeneralSetDeviceParam = 0x0b,
/**
* Get device's parameters.
*/
kCommandIDGeneralGetDeviceParam = 0x0c,
/**
* Reset device's all parameters.
*/
kCommandIDGeneralResetDeviceParam = 0x0d,
/**
* ******************************************************
* Don't add command id after kCommandIDGeneralCommandCount.
@@ -102,7 +113,9 @@ static const uint16_t GeneralCommandTimeout[kCommandIDGeneralCommandCount] = {KD
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut};
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut,};
/** Enum that represents the command id. */
typedef enum {
@@ -167,7 +180,7 @@ static const uint16_t LidarCommandTimeout[kCommandIDLidarCommandCount] = {KDefau
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut,
KDefaultTimeOut};
KDefaultTimeOut,};
/** Enum that represents the command id. */
typedef enum {
sdk_core/src/device_manager.cpp
+9
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@@ -301,6 +301,15 @@ bool DeviceManager::IsLidarMid40(uint8_t handle) {
return false;
}
bool DeviceManager::IsLidarTele(uint8_t handle) {
DeviceInfo lidar_info;
bool found = device_manager().FindDevice(handle, lidar_info);
if ( found && lidar_info.type == kDeviceTypeLidarTele) {
return true;
}
return false;
}
bool DeviceManager::GetLidarFirmwareVersion(uint8_t handle, uint32_t &firmware_version) {
if (handle > devices_.size()) {
return false;
sdk_core/src/device_manager.h
+2 -1
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@@ -103,6 +103,7 @@ class DeviceManager : public noncopyable {
void GetConnectedDevices(std::vector<DeviceInfo> &devices);
bool AddListeningDevice(const std::string &broadcast_code, DeviceMode mode, uint8_t &handle);
bool IsLidarMid40(uint8_t handle);
bool IsLidarTele(uint8_t handle);
bool GetLidarFirmwareVersion(uint8_t handle, uint32_t &firmware_version);
private:
@@ -159,4 +160,4 @@ void DeviceRemove(uint8_t handle,DeviceEvent device_event);
} // namespace livox
#endif // LIVOX_DEVICE_MANAGER_H_
#endif // LIVOX_DEVICE_MANAGER_H_