mmr/Livox-SDK
Archived
1
0
Fork 0
Code Issues 105 Pull Requests 11 Actions Packages Projects Releases 9 Wiki Activity

feat:support Mid70 and Avia

Browse Source
This commit is contained in:
Livox-SDK
2020-10-26 20:25:42 +08:00
parent 9f316ced0a
commit eb19d42ce4
23 changed files with 441 additions and 113 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sample_cc/lidar/lds_lidar.cpp
+6 -2
View File
@@ -167,6 +167,10 @@ void LdsLidar::GetLidarDataCb(uint8_t handle, LivoxEthPacket *data,
LivoxDualExtendSpherPoint *p_point_data = (LivoxDualExtendSpherPoint *)data->data;
}else if ( data ->data_type == kImu) {
LivoxImuPoint *p_point_data = (LivoxImuPoint *)data->data;
}else if ( data ->data_type == kTripleExtendCartesian) {
LivoxTripleExtendRawPoint *p_point_data = (LivoxTripleExtendRawPoint *)data->data;
}else if ( data ->data_type == kTripleExtendSpherical) {
LivoxTripleExtendSpherPoint *p_point_data = (LivoxTripleExtendSpherPoint *)data->data;
}
}
}
@@ -261,7 +265,7 @@ void LdsLidar::OnDeviceChange(const DeviceInfo *info, DeviceEvent type) {
p_lidar->config.set_bits |= kConfigReturnMode;
}
if (kDeviceTypeLidarMid40 != info->type) {
if (kDeviceTypeLidarMid40 != info->type && kDeviceTypeLidarMid70 != info->type) {
LidarSetImuPushFrequency(handle, (ImuFreq)(p_lidar->config.imu_rate),\
LdsLidar::SetImuRatePushFrequencyCb, g_lidars);
p_lidar->config.set_bits |= kConfigImuRate;
@@ -443,7 +447,7 @@ void LdsLidar::AddLocalBroadcastCode(void) {
for (size_t i=0; i<sizeof(local_broadcast_code_list)/sizeof(intptr_t); ++i) {
std::string invalid_bd = "000000000";
printf("Local broadcast code : %s\n", local_broadcast_code_list[i]);
if ((kBroadcastCodeSize == strlen(local_broadcast_code_list[i]) - 1) && \
if ((kBroadcastCodeSize == strlen(local_broadcast_code_list[i]) + 1) && \
(nullptr == strstr(local_broadcast_code_list[i], invalid_bd.c_str()))) {
LdsLidar::AddBroadcastCodeToWhitelist(local_broadcast_code_list[i]);
} else {