Livox-SDK
495 lines
21 KiB
C
495 lines
21 KiB
C
//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef LIVOX_SDK_H_
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#define LIVOX_SDK_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include <stdbool.h>
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#include <stdint.h>
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#include "livox_def.h"
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/**
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* Return SDK's version information in a numeric form.
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* @param version Pointer to a version structure for returning the version information.
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*/
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void GetLivoxSdkVersion(LivoxSdkVersion *version);
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/**
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* Initialize the SDK.
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* @return true if successfully initialized, otherwise false.
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*/
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bool Init();
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/**
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* Start the device scanning routine which runs on a separate thread.
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* @return true if successfully started, otherwise false.
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*/
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bool Start();
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/**
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* Uninitialize the SDK.
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*/
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void Uninit();
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/**
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* @c SetBroadcastCallback response callback function.
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* @param info information of the broadcast device, becomes invalid after the function returns.
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*/
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typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);
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/**
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* Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb
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* is called.
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* @param cb callback for device broadcast.
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*/
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void SetBroadcastCallback(DeviceBroadcastCallback cb);
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/**
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* @c SetDeviceStateUpdateCallback response callback function.
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* @param device information of the connected device.
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* @param type the update type that indicates connection/disconnection of the device or change of working state.
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*/
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typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);
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/**
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* @brief Add a callback for device connection or working state changing event.
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* @note Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to
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* the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by
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* this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If
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* you want to get information of the LiDAR unit(s) connected to hub, see \ref HubQueryLidarInformation.
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* @note 3 conditions can trigger this callback:
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* 1. Connection and disconnection of device.
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* 2. A change of device working state.
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* 3. An error occurs.
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* @param cb callback for device connection/disconnection.
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*/
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void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
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/**
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* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
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* broadcast code is unique for every device.
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* @param broadcast_code device's broadcast code.
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* @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
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* the corresponding handle is (slot-1)*3+id-1.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t AddHubToConnect(const char *broadcast_code, uint8_t *handle);
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/**
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* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
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* broadcast code is unique for every device.
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* @param broadcast_code device's broadcast code.
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* @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
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/**
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* Get all connected devices' information.
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* @param devices list of connected devices' information.
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* @param size number of devices connected.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
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/**
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* Function type of callback that queries device's information.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*DeviceInformationCallback)(uint8_t status,
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uint8_t handle,
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DeviceInformationResponse *response,
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void *client_data);
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/**
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* Command to query device's information.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
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/**
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* Callback function for receiving point cloud data.
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* @param handle device handle.
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* @param data device's data.
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* @param data_num number of points in data.
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*/
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typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num);
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/**
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* Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
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* cloud data callback before beginning sampling.
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* @param cb callback to receive point cloud data.
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*/
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void SetDataCallback(uint8_t handle, DataCallback cb);
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/**
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* Function type of callback with 1 byte of response.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*CommonCommandCallback)(uint8_t status, uint8_t handle, uint8_t response, void *client_data);
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/**
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* Start hub sampling.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubStartSampling(CommonCommandCallback cb, void *client_data);
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/**
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* Stop the Livox Hub's sampling.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubStopSampling(CommonCommandCallback cb, void *client_data);
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/**
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* Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
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* @param slot Livox Hub's slot.
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* @param id Livox Hub's id.
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* @return LiDAR unit handle.
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*/
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uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
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/**
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* Command to change point cloud coordinate system to cartesian coordinate.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Change point cloud coordinate system to spherical coordinate.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Callback of the error status message.
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* @param handle device handle.
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* @param response response from the device.
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*/
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typedef void (*ErrorMessageCallback)(uint8_t handle, ErrorMessage *message);
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/**
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* Add error status callback for the device.
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* @param handle device handle.
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* @param cb callback for the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
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/**
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* Set device's IP mode.
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* @param handle device handle.
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* @param req request sent to device.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t SetStaticDynamicIP(uint8_t handle,
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SetDeviceIPModeRequest *req,
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CommonCommandCallback cb,
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void *client_data);
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/**
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* Callback function that gets device's IP information.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*GetDeviceIPInformationCallback)(uint8_t status,
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uint8_t handle,
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GetDeviceIPModeResponse *response,
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void *client_data);
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/**
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* Get device's IP mode.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t GetDeviceIPInformation(uint8_t handle, GetDeviceIPInformationCallback cb, void *client_data);
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/**
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* @c HubQueryLidarInformation response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubQueryLidarInformationCallback)(uint8_t status,
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uint8_t handle,
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HubQueryLidarInformationResponse *response,
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void *client_data);
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/**
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* Query the information of LiDARs connected to the hub.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
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/**
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* @c HubSetMode response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubSetModeCallback)(uint8_t status, uint8_t handle, HubSetModeResponse *response, void *client_data);
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/**
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* Set the mode of LiDAR unit connected to the Livox Hub.
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* @param req mode configuration of LiDAR units.
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* @param length length of req.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
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/**
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* @c HubQueryLidarStatus response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubQueryLidarStatusCallback)(uint8_t status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
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/**
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* Get the state of LiDAR units connected to the Livox Hub.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
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/**
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* Toggle the power supply of designated slots.
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* @param req request whether to enable or disable the power of designated slots.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
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/**
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* @c HubSetExtrinsicParameter response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubSetExtrinsicParameterCallback)(uint8_t status,
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uint8_t handle,
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HubSetExtrinsicParameterResponse *response,
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void *client_data);
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/**
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* Set extrinsic parameters of LiDAR units connected to the Livox Hub.
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* @param req the parameters to write.
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* @param length the request's length.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
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uint16_t length,
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HubSetExtrinsicParameterCallback cb,
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void *client_data);
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/**
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* @c HubGetExtrinsicParameter response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
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uint8_t handle,
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HubGetExtrinsicParameterResponse *response,
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void *client_data);
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/**
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* Get extrinsic parameters of LiDAR units connected to the Livox Hub.
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* @param req the LiDAR units broadcast code list.
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* @param length the request's length.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
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uint16_t length,
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HubGetExtrinsicParameterCallback cb,
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void *client_data);
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/**
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* Turn on or off the calculation of extrinsic parameters.
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* @param enable the request whether enable or disable calculating the extrinsic parameters.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
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/**
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* @c HubRainFogSuppress response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubRainFogSuppressCallback)(uint8_t status,
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uint8_t handle,
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HubRainFogSuppressResponse *response,
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void *client_data);
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/**
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* Toggling the rain and fog mode for lidars connected to the hub.
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* @param req the request whether open or close the rain and fog mode.
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* @param length the request's length.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
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uint16_t length,
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HubRainFogSuppressCallback cb,
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void *client_data);
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/**
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* Start LiDAR sampling.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Stop LiDAR sampling.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Set LiDAR mode.
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* @note Successful callback function status only means LiDAR successfully starting the changing process of mode.
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* You need to observe the actually change of mode in DeviceStateUpdateCallback function.
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* @param handle device handle.
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* @param mode the mode to change.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
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/**
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* Set LiDAR extrinsic parameters.
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* @param handle device handle.
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* @param param the parameters to write.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t LidarSetExtrinsicParameter(uint8_t handle,
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LidarSetExtrinsicParameterRequest *req,
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CommonCommandCallback cb,
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void *client_data);
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/**
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* @c LidarGetExtrinsicParameter response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*LidarGetExtrinsicParameterCallback)(uint8_t status,
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uint8_t handle,
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LidarGetExtrinsicParameterResponse *response,
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void *client_data);
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/**
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* Get LiDAR extrinsic parameters.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
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/**
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* Enable and disable the rain/fog suppression.
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* @param handle device handle.
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* @param cb callback for the command.
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* @param client_data user data associated with the command.
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* @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
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*/
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uint8_t LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
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#ifdef __cplusplus
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}
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#endif
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#endif // LIVOX_SDK_H_
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