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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_cc/hub/lds_hub.h
+44 -7
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@@ -36,13 +36,36 @@
typedef enum {
kConnectStateOff = 0,
kConnectStateOn = 1,
kConnectStateSampling = 2,
kConnectStateConfig = 2,
kConnectStateSampling = 3,
} LidarConnectState;
typedef enum {
kConfigFan = 1,
kConfigReturnMode = 2,
kConfigCoordinate = 4,
kConfigImuRate = 8
} LidarConfigCodeBit;
typedef enum {
kCoordinateCartesian = 0,
kCoordinateSpherical
} CoordinateType;
typedef struct {
bool enable_fan;
uint32_t return_mode;
uint32_t coordinate;
uint32_t imu_rate;
volatile uint32_t set_bits;
volatile uint32_t get_bits;
} UserConfig;
typedef struct {
uint8_t handle;
LidarConnectState connect_state;
DeviceInfo info;
UserConfig config;
} LidarDevice;
/**
@@ -65,14 +88,29 @@ class LdsHub {
LdsHub& operator=(const LdsHub&) = delete;
/** LiDAR data receive callback */
static void GetLidarDataCb(uint8_t hub_handle, LivoxEthPacket *data,\
static void OnHubDataCb(uint8_t hub_handle, LivoxEthPacket *data,\
uint32_t data_num, void *client_data);
static void OnDeviceBroadcast(const BroadcastDeviceInfo *info);
static void OnDeviceChange(const DeviceInfo *info, DeviceEvent type);
static void StartSampleCb(uint8_t status, uint8_t handle, uint8_t response, void *clent_data);
static void StopSampleCb(uint8_t status, uint8_t handle, uint8_t response, void *clent_data);
static void HubQueryLidarInfoCb(uint8_t status, uint8_t handle, \
static void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type);
static void StartSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
static void StopSampleCb(livox_status status, uint8_t handle, uint8_t response, void *clent_data);
static void HubQueryLidarInfoCb(livox_status status, uint8_t handle, \
HubQueryLidarInformationResponse *response, void *client_data);
static void HubErrorStatusCb(livox_status status, uint8_t handle, ErrorMessage *message);
static void ControlFanCb(livox_status status, uint8_t handle, \
uint8_t response, void *clent_data);
static void HubSetPointCloudReturnModeCb(livox_status status, uint8_t handle, \
HubSetPointCloudReturnModeResponse* response,\
void *clent_data);
static void SetCoordinateCb(livox_status status, uint8_t handle, \
uint8_t response, void *clent_data);
static void HubSetImuRatePushFrequencyCb(livox_status status, uint8_t handle, \
HubSetImuPushFrequencyResponse* response,\
void *clent_data);
static void ConfigPointCloudReturnMode(LdsHub* lds_hub);
static void ConfigImuPushFrequency(LdsHub* lds_hub);
static void ConfigLidarsOfHub(LdsHub* lds_hub);
int AddBroadcastCodeToWhitelist(const char* broadcast_code);
void AddLocalBroadcastCode(void);
@@ -92,7 +130,6 @@ class LdsHub {
LidarDevice lidars_[kMaxLidarCount];
LidarDevice hub_;
uint32_t receive_packet_count_;
};
#endif