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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/src/command_handler/command_impl.cpp
+63
View File
@@ -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
View File
@@ -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 {