feat:support Tele

sdk_core/src/command_handler/command_impl.cpp

@@ -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

@@ -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

@@ -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

@@ -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_