feature:support for conneting horizon
This commit is contained in:
Livox-SDK
+438
-98
@@ -101,36 +101,36 @@ void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
|
||||
* @param broadcast_code device's broadcast code.
|
||||
* @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
|
||||
* the corresponding handle is (slot-1)*3+id-1.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t AddHubToConnect(const char *broadcast_code, uint8_t *handle);
|
||||
livox_status AddHubToConnect(const char *broadcast_code, uint8_t *handle);
|
||||
|
||||
/**
|
||||
* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
|
||||
* broadcast code is unique for every device.
|
||||
* @param broadcast_code device's broadcast code.
|
||||
* @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
|
||||
livox_status AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
|
||||
|
||||
/**
|
||||
* Get all connected devices' information.
|
||||
* @param devices list of connected devices' information.
|
||||
* @param size number of devices connected.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
|
||||
livox_status GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
|
||||
|
||||
/**
|
||||
* Function type of callback that queries device's information.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*DeviceInformationCallback)(uint8_t status,
|
||||
typedef void (*DeviceInformationCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
DeviceInformationResponse *response,
|
||||
void *client_data);
|
||||
@@ -140,9 +140,9 @@ typedef void (*DeviceInformationCallback)(uint8_t status,
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
|
||||
livox_status QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
@@ -164,29 +164,29 @@ void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Function type of callback with 1 byte of response.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*CommonCommandCallback)(uint8_t status, uint8_t handle, uint8_t response, void *client_data);
|
||||
typedef void (*CommonCommandCallback)(livox_status status, uint8_t handle, uint8_t response, void *client_data);
|
||||
|
||||
/**
|
||||
* Start hub sampling.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubStartSampling(CommonCommandCallback cb, void *client_data);
|
||||
livox_status HubStartSampling(CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Stop the Livox Hub's sampling.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubStopSampling(CommonCommandCallback cb, void *client_data);
|
||||
livox_status HubStopSampling(CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
|
||||
@@ -194,85 +194,133 @@ uint8_t HubStopSampling(CommonCommandCallback cb, void *client_data);
|
||||
* @param id Livox Hub's id.
|
||||
* @return LiDAR unit handle.
|
||||
*/
|
||||
uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
|
||||
livox_status HubGetLidarHandle(uint8_t slot, uint8_t id);
|
||||
|
||||
/**
|
||||
* Command to change point cloud coordinate system to cartesian coordinate.
|
||||
* Disconnect divice.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
livox_status DisconnectDevice(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Change point cloud coordinate system to cartesian coordinate.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Change point cloud coordinate system to spherical coordinate.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
livox_status SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback of the error status message.
|
||||
* kStatusSuccess on successful return, see \ref LivoxStatus for other
|
||||
* @param handle device handle.
|
||||
* @param response response from the device.
|
||||
*/
|
||||
typedef void (*ErrorMessageCallback)(uint8_t handle, ErrorMessage *message);
|
||||
typedef void (*ErrorMessageCallback)(livox_status status, uint8_t handle, ErrorMessage *message);
|
||||
|
||||
/**
|
||||
* Add error status callback for the device.
|
||||
* error code.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
|
||||
livox_status SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
|
||||
|
||||
/**
|
||||
* Set device's IP mode.
|
||||
* @note \ref SetStaticDynamicIP only supports setting Hub or Mid40/100's IP mode.
|
||||
* If you want to set Horizon or Tele's IP mode, see \ref SetStaticIp and \ref SetDynamicIp.
|
||||
* @param handle device handle.
|
||||
* @param req request sent to device.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t SetStaticDynamicIP(uint8_t handle,
|
||||
SetDeviceIPModeRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
livox_status SetStaticDynamicIP(uint8_t handle,
|
||||
SetDeviceIPModeRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
/**
|
||||
* Set device's static IP mode.
|
||||
* @note Mid40/100 is not supported to set subnet mask and gateway address.
|
||||
* \ref SetStaticDeviceIpModeRequest's setting: net_mask and gw_addr will not take effect on Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param req request sent to device.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status SetStaticIp(uint8_t handle,
|
||||
SetStaticDeviceIpModeRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Set device's dynamic IP mode.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status SetDynamicIp(uint8_t handle,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
/**
|
||||
* Callback function that gets device's IP information.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*GetDeviceIPInformationCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
GetDeviceIPModeResponse *response,
|
||||
void *client_data);
|
||||
typedef void (*GetDeviceIpInformationCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
GetDeviceIpModeResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get device's IP mode.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t GetDeviceIPInformation(uint8_t handle, GetDeviceIPInformationCallback cb, void *client_data);
|
||||
livox_status GetDeviceIpInformation(uint8_t handle, GetDeviceIpInformationCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Reboot device.
|
||||
* @note \ref RebootDevice is not supported for Mid40/100
|
||||
* @param handle device handle.
|
||||
* @param timeout reboot device after [timeout] ms.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status RebootDevice(uint8_t handle, uint16_t timeout, CommonCommandCallback cb, void * client_data);
|
||||
|
||||
/**
|
||||
* @c HubQueryLidarInformation response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubQueryLidarInformationCallback)(uint8_t status,
|
||||
typedef void (*HubQueryLidarInformationCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubQueryLidarInformationResponse *response,
|
||||
void *client_data);
|
||||
@@ -281,19 +329,19 @@ typedef void (*HubQueryLidarInformationCallback)(uint8_t status,
|
||||
* Query the information of LiDARs connected to the hub.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
|
||||
livox_status HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubSetMode response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubSetModeCallback)(uint8_t status, uint8_t handle, HubSetModeResponse *response, void *client_data);
|
||||
typedef void (*HubSetModeCallback)(livox_status status, uint8_t handle, HubSetModeResponse *response, void *client_data);
|
||||
|
||||
/**
|
||||
* Set the mode of LiDAR unit connected to the Livox Hub.
|
||||
@@ -301,47 +349,46 @@ typedef void (*HubSetModeCallback)(uint8_t status, uint8_t handle, HubSetModeRes
|
||||
* @param length length of req.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
|
||||
livox_status HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubQueryLidarStatus response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubQueryLidarStatusCallback)(uint8_t status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
|
||||
typedef void (*HubQueryLidarStatusCallback)(livox_status status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
|
||||
|
||||
/**
|
||||
* Get the state of LiDAR units connected to the Livox Hub.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
|
||||
livox_status HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Toggle the power supply of designated slots.
|
||||
* @param req request whether to enable or disable the power of designated slots.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
|
||||
uint8_t HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
|
||||
livox_status HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubSetExtrinsicParameter response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubSetExtrinsicParameterCallback)(uint8_t status,
|
||||
typedef void (*HubSetExtrinsicParameterCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubSetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
@@ -352,22 +399,22 @@ typedef void (*HubSetExtrinsicParameterCallback)(uint8_t status,
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
|
||||
uint16_t length,
|
||||
HubSetExtrinsicParameterCallback cb,
|
||||
void *client_data);
|
||||
livox_status HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
|
||||
uint16_t length,
|
||||
HubSetExtrinsicParameterCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubGetExtrinsicParameter response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubGetExtrinsicParameterCallback)(uint8_t status,
|
||||
typedef void (*HubGetExtrinsicParameterCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubGetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
@@ -376,29 +423,28 @@ typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
|
||||
* Get extrinsic parameters of LiDAR units connected to the Livox Hub.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
|
||||
livox_status HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Turn on or off the calculation of extrinsic parameters.
|
||||
* @param enable the request whether enable or disable calculating the extrinsic parameters.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
|
||||
uint8_t HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
|
||||
livox_status HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubRainFogSuppress response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubRainFogSuppressCallback)(uint8_t status,
|
||||
typedef void (*HubRainFogSuppressCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubRainFogSuppressResponse *response,
|
||||
void *client_data);
|
||||
@@ -409,48 +455,201 @@ typedef void (*HubRainFogSuppressCallback)(uint8_t status,
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
|
||||
uint16_t length,
|
||||
HubRainFogSuppressCallback cb,
|
||||
void *client_data);
|
||||
livox_status HubRainFogSuppress(HubRainFogSuppressRequest *req,
|
||||
uint16_t length,
|
||||
HubRainFogSuppressCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubQuerySlotPowerStatus response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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);
|
||||
typedef void(*HubQuerySlotPowerStatusCallback)(livox_status 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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
|
||||
livox_status HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubFanControl response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubFanControlCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubFanControlResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Turn on or off the fan of LiDAR unit connected to the Livox Hub.
|
||||
* @param req Fan control of LiDAR units.
|
||||
* @param length length of req.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status HubFanControl(HubFanControlRequest *req, uint16_t length, HubFanControlCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubGetFanControl response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubGetFanStateCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubGetFanStateResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get fan state of LiDAR unit connected to the Livox Hub.
|
||||
* @param req Get fan state of LiDAR units.
|
||||
* @param length length of req.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status HubGetFanState(HubGetFanStateRequest *req,
|
||||
uint16_t length,
|
||||
HubGetFanStateCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubSetPointCloudReturnMode response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubSetPointCloudReturnModeCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubSetPointCloudReturnModeResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Set point cloud return mode of LiDAR units connected to the Livox Hub.
|
||||
* @param req set point cloud return mode of LiDAR units.
|
||||
* @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 LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
|
||||
uint16_t length,
|
||||
HubSetPointCloudReturnModeCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubGetPointCloudReturnMode response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubGetPointCloudReturnModeCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubGetPointCloudReturnModeResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get point cloud return mode of LiDAR unit connected to the Livox Hub.
|
||||
* @param req Get point cloud return mode of LiDAR units.
|
||||
* @param length length of req.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
|
||||
uint16_t length,
|
||||
HubGetPointCloudReturnModeCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubSetImuPushFrequency response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubSetImuPushFrequencyCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubSetImuPushFrequencyResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Set IMU push frequency of LiDAR units connected to the Livox Hub.
|
||||
* @param req set IMU push frequency of LiDAR units.
|
||||
* @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 LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
|
||||
uint16_t length,
|
||||
HubSetImuPushFrequencyCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c HubGetImuPushFrequency response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*HubGetImuPushFrequencyCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
HubGetImuPushFrequencyResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get IMU push frequency of LiDAR units connected to the Livox Hub.
|
||||
* @param req get IMU push frequency of LiDAR units.
|
||||
* @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 LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
|
||||
uint16_t length,
|
||||
HubGetImuPushFrequencyCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Start LiDAR sampling.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
livox_status LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Stop LiDAR sampling.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
livox_status LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR mode.
|
||||
@@ -460,53 +659,194 @@ uint8_t LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client
|
||||
* @param mode the mode to change.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
|
||||
livox_status LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR extrinsic parameters.
|
||||
* @param handle device handle.
|
||||
* @param param the parameters to write.
|
||||
* @param req the parameters to write.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarSetExtrinsicParameter(uint8_t handle,
|
||||
LidarSetExtrinsicParameterRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
livox_status LidarSetExtrinsicParameter(uint8_t handle,
|
||||
LidarSetExtrinsicParameterRequest *req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* @c LidarGetExtrinsicParameter response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*LidarGetExtrinsicParameterCallback)(uint8_t status,
|
||||
uint8_t handle,
|
||||
LidarGetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
typedef void (*LidarGetExtrinsicParameterCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
LidarGetExtrinsicParameterResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get LiDAR extrinsic parameters.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
|
||||
livox_status LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Enable and disable the rain/fog suppression.
|
||||
* @note \ref LidarRainFogSuppress only support for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param enable enable and disable the rain/fog suppression.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Turn off the fan.
|
||||
* @note \ref LidarTurnOffFan is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @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.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
uint8_t LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
|
||||
livox_status LidarTurnOffFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* Turn on the fan.
|
||||
* @note \ref LidarTurnOnFan is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarTurnOnFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
||||
|
||||
/**
|
||||
* @c LidarGetFanState response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*LidarGetFanStateCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
LidarGetFanStateResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get state of the fan.
|
||||
* @note \ref LidarGetFanState is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarGetFanState(uint8_t handle, LidarGetFanStateCallback cb, void * client_data) ;
|
||||
|
||||
/**
|
||||
* Set point cloud return mode.
|
||||
* @note \ref LidarSetPointCloudReturnMode is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param mode point cloud return mode.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarSetPointCloudReturnMode(uint8_t handle, PointCloudReturnMode mode, CommonCommandCallback cb, void * client_data);
|
||||
|
||||
/**
|
||||
* @c LidaGetPointCloudReturnMode response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*LidarGetPointCloudReturnModeCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
LidarGetPointCloudReturnModeResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get point cloud return mode.
|
||||
* @note \ref LidarGetPointCloudReturnMode is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarGetPointCloudReturnMode(uint8_t handle, LidarGetPointCloudReturnModeCallback cb, void * client_data);
|
||||
|
||||
/**
|
||||
* Set IMU push frequency.
|
||||
* @note \ref LidarSetImuPushFrequency is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param freq IMU push frequency.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarSetImuPushFrequency(uint8_t handle, ImuFreq freq, CommonCommandCallback cb, void * client_data);
|
||||
|
||||
/**
|
||||
* @c LidaGetImuPushFrequency response callback function.
|
||||
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus 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 (*LidarGetImuPushFrequencyCallback)(livox_status status,
|
||||
uint8_t handle,
|
||||
LidarGetImuPushFrequencyResponse *response,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Get IMU push frequency.
|
||||
* @note \ref LidarGetImuPushFrequency is not supported for Mid40/100.
|
||||
* @param handle device handle.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarGetImuPushFrequency(uint8_t handle, LidarGetImuPushFrequencyCallback cb, void * client_data);
|
||||
|
||||
/**
|
||||
* Set GPRMC formate synchronization time.
|
||||
* @param handle device handle.
|
||||
* @param rmc GPRMC\GNRMC format data.
|
||||
* @param rmc_length lenth of gprmc.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarSetRmcSyncTime(uint8_t handle,
|
||||
const char* rmc,
|
||||
uint16_t rmc_length,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
|
||||
/**
|
||||
* Set UTC formate synchronization time.
|
||||
* @param handle device handle.
|
||||
* @param req UTC format data.
|
||||
* @param cb callback for the command.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
livox_status LidarSetUtcSyncTime(uint8_t handle,
|
||||
LidarSetUtcSyncTimeRequest* req,
|
||||
CommonCommandCallback cb,
|
||||
void *client_data);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user