feature:support save lvx file for lidar;

sdk_core/include/livox_def.h

@@ -90,7 +90,7 @@ typedef enum {
 #pragma pack(1)
 
 #define LIVOX_SDK_MAJOR_VERSION       1
-#define LIVOX_SDK_MINOR_VERSION       1
+#define LIVOX_SDK_MINOR_VERSION       2
 #define LIVOX_SDK_PATCH_VERSION       0
 
 #define kBroadcastCodeSize 16
@@ -110,6 +110,14 @@ typedef struct {
   uint8_t reflectivity; /**< Reflectivity */
 } LivoxRawPoint;
 
+/** Spherical coordinate format. */
+typedef struct {
+  uint32_t depth;       /**< Radial distance, Unit:mm */
+  uint16_t theta;       /**< Polar angle, Unit:0.01rad */
+  uint16_t phi;         /**< Azimuthal angle, Unit:0.01rad */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxSpherPoint;
+
 /** Standard point cloud format */
 typedef struct {
   float x;              /**< X axis, Unit:m */
@@ -144,7 +152,7 @@ typedef struct {
   uint8_t handle;                          /**< Device handle. */
   uint8_t slot;                            /**< Slot number used for connecting LiDAR. */
   uint8_t id;                              /**< LiDAR id. */
-  uint32_t type;                           /**< Device type, refer to \ref DeviceType. */
+  uint8_t type;                            /**< Device type, refer to \ref DeviceType. */
   uint16_t data_port;                      /**< Point cloud data UDP port. */
   uint16_t cmd_port;                       /**< Control command UDP port. */
   char ip[16];                             /**< IP address. */
@@ -389,6 +397,14 @@ typedef struct {
   ReturnCode ret_state_list[1]; /**< Return code */
 } HubRainFogSuppressResponse;
 
+/**
+* The response body of getting hub slots' power state.
+*/
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint16_t slot_power_state;    /**< Slot power status. */
+} HubQuerySlotPowerStatusResponse;
+
 #pragma pack()
 
 #endif  // LIVOX_DEF_H_

sdk_core/include/livox_sdk.h

@@ -146,18 +146,21 @@ uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, voi
 
 /**
  * Callback function for receiving point cloud data.
- * @param handle   device handle.
- * @param data     device's data.
- * @param data_num number of points in data.
+ * @param handle      device handle.
+ * @param data        device's data.
+ * @param data_num    number of points in data.
+ * @param client_data user data associated with the command.
  */
-typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num);
+typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
 
 /**
  * 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 handle      device handle.
  * @param cb callback to receive point cloud data.
+ * @param client_data user data associated with the command.
  */
-void SetDataCallback(uint8_t handle, DataCallback cb);
+void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
 
 /**
  * Function type of callback with 1 byte of response.
@@ -371,16 +374,11 @@ typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
 
 /**
  * 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);
+uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
 
 /**
  * Turn on or off the calculation of extrinsic parameters.
@@ -418,6 +416,24 @@ uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
                            HubRainFogSuppressCallback cb,
                            void *client_data);
 
+/**
+* @c HubQuerySlotPowerStatus 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(*HubQuerySlotPowerStatusCallback)(uint8_t status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data);
+
+/**
+* Get the power supply state of each hub slot.
+* @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 HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
+
 /**
  * Start LiDAR sampling.
  * @param  handle        device handle.