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feature:support for conneting horizon

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Livox-SDK
2019-12-19 15:25:48 +08:00
parent 83def61d80
commit da19f31bc4
1442 changed files with 52220 additions and 16430 deletions
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sample/lidar_lvx_file/main.cpp
+151 -86
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@@ -22,11 +22,6 @@
// SOFTWARE.
//
#ifdef WIN32
#include <windows.h>
#else
#include <unistd.h>
#endif
#include <apr_general.h>
#include <apr_getopt.h>
#include <algorithm>
@@ -37,42 +32,66 @@ DeviceItem devices[kMaxLidarCount];
LvxFileHandle lvx_file_handler;
std::list<LvxBasePackDetail> point_packet_list;
std::vector<std::string> broadcast_code_rev;
std::condition_variable condition_variable;
std::condition_variable lidar_arrive_condition;
std::condition_variable extrinsic_condition;
std::condition_variable point_pack_condition;
std::mutex mtx;
int lvx_file_save_time = 10;
bool is_finish_extrinsic_parameter = false;
bool is_read_extrinsic_from_xml = false;
uint8_t connected_lidar_count = 0;
#define FRAME_RATE 20
using namespace std::chrono;
/** Connect all the broadcast device in default and connect specific device when use program options or broadcast_code_list is not empty. */
std::vector<std::string> broadcast_code_list = {
//"000000000000001"
//"000000000000002",
//"000000000000003",
//"000000000000004"
};
/** Receiving error message from Livox Lidar. */
void OnLidarErrorStatusCallback(livox_status status, uint8_t handle, ErrorMessage *message) {
static uint32_t error_message_count = 0;
if (message != NULL) {
++error_message_count;
if (0 == (error_message_count % 100)) {
printf("handle: %u\n", handle);
printf("temp_status : %u\n", message->lidar_error_code.temp_status);
printf("volt_status : %u\n", message->lidar_error_code.volt_status);
printf("motor_status : %u\n", message->lidar_error_code.motor_status);
printf("dirty_warn : %u\n", message->lidar_error_code.dirty_warn);
printf("firmware_err : %u\n", message->lidar_error_code.firmware_err);
printf("pps_status : %u\n", message->lidar_error_code.device_status);
printf("fan_status : %u\n", message->lidar_error_code.fan_status);
printf("self_heating : %u\n", message->lidar_error_code.self_heating);
printf("ptp_status : %u\n", message->lidar_error_code.ptp_status);
printf("time_sync_status : %u\n", message->lidar_error_code.time_sync_status);
printf("system_status : %u\n", message->lidar_error_code.system_status);
}
}
}
/** Receiving point cloud data from Livox LiDAR. */
void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data) {
if (data) {
if (handle < broadcast_code_list.size() && is_finish_extrinsic_parameter) {
std::lock_guard<std::mutex> lock(mtx);
if (handle < connected_lidar_count && is_finish_extrinsic_parameter) {
std::unique_lock<std::mutex> lock(mtx);
LvxBasePackDetail packet;
packet.device_index = handle;
lvx_file_handler.BasePointsHandle(data, packet);
lvx_file_handler.CalcExtrinsicPoints(packet);
point_packet_list.push_back(packet);
if (point_packet_list.size() % (50 * broadcast_code_list.size()) == 0) {
condition_variable.notify_one();
}
}
}
}
/** Callback function of starting sampling. */
void OnSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data) {
printf("OnSampleCallback statue %d handle %d response %d \n", status, handle, response);
void OnSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data) {
printf("OnSampleCallback statues %d handle %d response %d \n", status, handle, response);
if (status == kStatusSuccess) {
if (response != 0) {
devices[handle].device_state = kDeviceStateConnect;
@@ -83,20 +102,21 @@ void OnSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *da
}
/** Callback function of stopping sampling. */
void OnStopSampleCallback(uint8_t status, uint8_t handle, uint8_t response, void *data) {
void OnStopSampleCallback(livox_status status, uint8_t handle, uint8_t response, void *data) {
}
/** Callback function of get LiDARs' extrinsic parameter. */
void OnGetLidarExtrinsicParameter(uint8_t status, uint8_t handle, LidarGetExtrinsicParameterResponse *response, void *data) {
void OnGetLidarExtrinsicParameter(livox_status status, uint8_t handle, LidarGetExtrinsicParameterResponse *response, void *data) {
if (status == kStatusSuccess) {
if (response != 0) {
printf("OnGetLidarExtrinsicParameter statue %d handle %d response %d \n", status, handle, response->ret_code);
std::lock_guard<std::mutex> lock(mtx);
std::unique_lock<std::mutex> lock(mtx);
LvxDeviceInfo lidar_info;
strncpy((char *)lidar_info.lidar_broadcast_code, devices[handle].info.broadcast_code, kBroadcastCodeSize);
memset(lidar_info.hub_broadcast_code, 0, kBroadcastCodeSize);
lidar_info.device_index = handle;
lidar_info.device_type = devices[handle].info.type;
lidar_info.extrinsic_enable = true;
lidar_info.pitch = response->pitch;
lidar_info.roll = response->roll;
lidar_info.yaw = response->yaw;
@@ -104,9 +124,9 @@ void OnGetLidarExtrinsicParameter(uint8_t status, uint8_t handle, LidarGetExtrin
lidar_info.y = static_cast<float>(response->y / 1000.0);
lidar_info.z = static_cast<float>(response->z / 1000.0);
lvx_file_handler.AddDeviceInfo(lidar_info);
if (lvx_file_handler.GetDeviceInfoListSize() == broadcast_code_list.size()) {
if (lvx_file_handler.GetDeviceInfoListSize() == connected_lidar_count) {
is_finish_extrinsic_parameter = true;
condition_variable.notify_one();
extrinsic_condition.notify_one();
}
}
}
@@ -122,12 +142,12 @@ void LidarGetExtrinsicFromXml(uint8_t handle) {
lvx_file_handler.AddDeviceInfo(lidar_info);
if (lvx_file_handler.GetDeviceInfoListSize() == broadcast_code_list.size()) {
is_finish_extrinsic_parameter = true;
condition_variable.notify_one();
extrinsic_condition.notify_one();
}
}
/** Query the firmware version of Livox LiDAR. */
void OnDeviceInformation(uint8_t status, uint8_t handle, DeviceInformationResponse *ack, void *data) {
void OnDeviceInformation(livox_status status, uint8_t handle, DeviceInformationResponse *ack, void *data) {
if (status != kStatusSuccess) {
printf("Device Query Informations Failed %d\n", status);
}
@@ -140,8 +160,27 @@ void OnDeviceInformation(uint8_t status, uint8_t handle, DeviceInformationRespon
}
}
void LidarConnect(const DeviceInfo *info) {
uint8_t handle = info->handle;
QueryDeviceInformation(handle, OnDeviceInformation, NULL);
if (devices[handle].device_state == kDeviceStateDisconnect) {
devices[handle].device_state = kDeviceStateConnect;
devices[handle].info = *info;
}
}
void LidarDisConnect(const DeviceInfo *info) {
uint8_t handle = info->handle;
devices[handle].device_state = kDeviceStateDisconnect;
}
void LidarStateChange(const DeviceInfo *info) {
uint8_t handle = info->handle;
devices[handle].info = *info;
}
/** Callback function of changing of device state. */
void OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type) {
if (info == nullptr) {
return;
}
@@ -150,33 +189,35 @@ void OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
if (handle >= kMaxLidarCount) {
return;
}
if (type == kEventConnect) {
QueryDeviceInformation(handle, OnDeviceInformation, nullptr);
if (devices[handle].device_state == kDeviceStateDisconnect) {
devices[handle].device_state = kDeviceStateConnect;
devices[handle].info = *info;
}
LidarConnect(info);
printf("[WARNING] Lidar sn: [%s] Connect!!!\n", info->broadcast_code);
} else if (type == kEventDisconnect) {
devices[handle].device_state = kDeviceStateDisconnect;
LidarDisConnect(info);
printf("[WARNING] Lidar sn: [%s] Disconnect!!!\n", info->broadcast_code);
} else if (type == kEventStateChange) {
devices[handle].info = *info;
LidarStateChange(info);
printf("[WARNING] Lidar sn: [%s] StateChange!!!\n", info->broadcast_code);
}
if (devices[handle].device_state == kDeviceStateConnect) {
printf("Device State error_code %d\n", devices[handle].info.status.status_code);
printf("Device State working state %d\n", devices[handle].info.state);
printf("Device Working State %d\n", devices[handle].info.state);
if (devices[handle].info.state == kLidarStateInit) {
printf("Device State Change Progress %u\n", devices[handle].info.status.progress);
} else {
printf("Device State Error Code 0X%08x\n", devices[handle].info.status.status_code.error_code);
}
printf("Device feature %d\n", devices[handle].info.feature);
SetErrorMessageCallback(handle, OnLidarErrorStatusCallback);
if (devices[handle].info.state == kLidarStateNormal) {
if (devices[handle].info.type != kDeviceTypeHub) {
if (!is_read_extrinsic_from_xml) {
LidarGetExtrinsicParameter(handle, OnGetLidarExtrinsicParameter, nullptr);
}
else {
LidarGetExtrinsicFromXml(handle);
}
LidarStartSampling(handle, OnSampleCallback, nullptr);
devices[handle].device_state = kDeviceStateSampling;
if (!is_read_extrinsic_from_xml) {
LidarGetExtrinsicParameter(handle, OnGetLidarExtrinsicParameter, nullptr);
} else {
LidarGetExtrinsicFromXml(handle);
}
LidarStartSampling(handle, OnSampleCallback, nullptr);
devices[handle].device_state = kDeviceStateSampling;
}
}
}
@@ -185,42 +226,61 @@ void OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
* You need to add listening device broadcast code and set the point cloud data callback in this function.
*/
void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
if (info == nullptr) {
if (info == nullptr || info->dev_type == kDeviceTypeHub) {
return;
}
printf("Receive Broadcast Code %s\n", info->broadcast_code);
if (broadcast_code_list.size() > 0) {
bool found = false;
uint8_t i = 0;
for (i = 0; i < broadcast_code_list.size(); ++i) {
if (strncmp(info->broadcast_code, broadcast_code_list[i].c_str(), kBroadcastCodeSize) == 0) {
found = true;
break;
}
}
if (!found) {
return;
}
}
else {
if ((broadcast_code_rev.size() == 0) || (std::find(broadcast_code_rev.begin(), broadcast_code_rev.end(), info->broadcast_code) == broadcast_code_rev.end()))
broadcast_code_rev.push_back(info->broadcast_code);
return;
}
bool result = false;
uint8_t handle = 0;
result = AddLidarToConnect(info->broadcast_code, &handle);
if (result == kStatusSuccess) {
/** Set the point cloud data for a specific Livox LiDAR. */
SetDataCallback(handle, GetLidarData, nullptr);
devices[handle].handle = handle;
devices[handle].device_state = kDeviceStateDisconnect;
if ((broadcast_code_rev.size() == 0) ||
(std::find(broadcast_code_rev.begin(), broadcast_code_rev.end(), info->broadcast_code) == broadcast_code_rev.end())) {
broadcast_code_rev.push_back(info->broadcast_code);
lidar_arrive_condition.notify_one();
}
}
/** Wait until no new device arriving in 2 second. */
void WaitForDevicesReady( ) {
bool device_ready = false;
seconds wait_time = seconds(2);
steady_clock::time_point last_time = steady_clock::now();
while (!device_ready) {
std::unique_lock<std::mutex> lock(mtx);
lidar_arrive_condition.wait_for(lock,wait_time);
if ((steady_clock::now() - last_time + milliseconds(50)) >= wait_time) {
device_ready = true;
} else {
last_time = steady_clock::now();
}
}
}
void WaitForExtrinsicParameter() {
std::unique_lock<std::mutex> lock(mtx);
extrinsic_condition.wait(lock);
}
void AddDevicesToConnect() {
if (broadcast_code_rev.size() == 0)
return;
for (int i = 0; i < broadcast_code_rev.size(); ++i) {
if ((broadcast_code_list.size() != 0) &&
(std::find(broadcast_code_list.begin(), broadcast_code_list.end(), broadcast_code_rev[i]) == broadcast_code_list.end())) {
continue;
}
uint8_t handle = 0;
bool result = AddLidarToConnect(broadcast_code_rev[i].c_str(), &handle);
if (result == kStatusSuccess) {
/** Set the point cloud data for a specific Livox LiDAR. */
SetDataCallback(handle, GetLidarData, nullptr);
devices[handle].handle = handle;
devices[handle].device_state = kDeviceStateDisconnect;
connected_lidar_count++;
}
}
}
/** Set the program options.
* You can input the registered device broadcast code and decide whether to save the log file.
*/
@@ -229,11 +289,11 @@ int SetProgramOption(int argc, const char *argv[]) {
apr_pool_t *mp = nullptr;
static const apr_getopt_option_t opt_option[] = {
/** Long-option, short-option, has-arg flag, description */
{ "code", 'c', 1, "Register device broadcast code" },
{ "log", 'l', 0, "Save the log file" },
{ "code", 'c', 1, "Register device broadcast code" },
{ "log", 'l', 0, "Save the log file" },
{ "time", 't', 1, "Time to save point cloud to the lvx file" },
{ "param", 'p', 0, "Get the extrinsic parameter from extrinsic.xml file" },
{ "help", 'h', 0, "Show help" },
{ "help", 'h', 0, "Show help" },
{ nullptr, 0, 0, nullptr },
};
apr_getopt_t *opt = nullptr;
@@ -338,7 +398,7 @@ int main(int argc, const char *argv[]) {
/** Set the callback function called when device state change,
* which means connection/disconnection and changing of LiDAR state.
*/
SetDeviceStateUpdateCallback(OnDeviceChange);
SetDeviceStateUpdateCallback(OnDeviceInfoChange);
/** Start the device discovering routine. */
if (!Start()) {
@@ -347,35 +407,40 @@ int main(int argc, const char *argv[]) {
}
printf("Start discovering device.\n");
#ifdef WIN32
Sleep(2000);
#else
sleep(2);
#endif
WaitForDevicesReady();
if (broadcast_code_rev.size() != 0)
broadcast_code_list = broadcast_code_rev;
AddDevicesToConnect();
{
std::unique_lock<std::mutex> lock(mtx);
condition_variable.wait(lock);
if (connected_lidar_count == 0) {
printf("No device will be connected.\n");
Uninit();
return -1;
}
WaitForExtrinsicParameter();
printf("Start initialize lvx file.\n");
if (!lvx_file_handler.InitLvxFile()) {
Uninit();
return -1;
}
lvx_file_handler.InitLvxFileHeader();
int i = 0;
steady_clock::time_point last_time = steady_clock::now();
for (i = 0; i < lvx_file_save_time * FRAME_RATE; ++i) {
std::list<LvxBasePackDetail> point_packet_list_temp;
{
std::unique_lock<std::mutex> lock(mtx);
condition_variable.wait(lock);
point_pack_condition.wait_for(lock, milliseconds(kDefaultFrameDurationTime) - (steady_clock::now() - last_time));
last_time = steady_clock::now();
point_packet_list_temp.swap(point_packet_list);
}
if(point_packet_list_temp.empty()) {
printf("Point cloud packet is empty.\n");
break;
}
printf("Finish save %d frame to lvx file.\n", i);
lvx_file_handler.SaveFrameToLvxFile(point_packet_list_temp);
@@ -392,4 +457,4 @@ int main(int argc, const char *argv[]) {
/** Uninitialize Livox-SDK. */
Uninit();
}
}