Livox-SDK
411 lines
15 KiB
C
411 lines
15 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_DEF_H_
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#define LIVOX_DEF_H_
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#include <stdint.h>
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#define kMaxLidarCount 32
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/** Device type. */
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typedef enum {
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kDeviceTypeHub = 0, /**< Livox Hub. */
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kDeviceTypeLidarMid40 = 1, /**< Mid-40. */
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kDeviceTypeLidarTele = 2, /**< Tele. */
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kDeviceTypeLidarHorizon = 3 /**< Horizon. */
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} DeviceType;
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/** Lidar state. */
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typedef enum {
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kLidarStateInit = 0, /**< Initialization state. */
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kLidarStateNormal = 1, /**< Normal work state. */
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kLidarStatePowerSaving = 2, /**< Power-saving state. */
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kLidarStateStandBy = 3, /**< Standby state. */
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kLidarStateError = 4, /**< Error state. */
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kLidarStateUnknown = 5
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} LidarState;
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/** Lidar mode. */
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typedef enum {
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kLidarModeNormal = 1, /**< Normal mode. */
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kLidarModePowerSaving = 2, /**< Power-saving mode. */
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kLidarModeStandby = 3 /**< Standby mode. */
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} LidarMode;
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/** Lidar feature. */
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typedef enum {
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kLidarFeatureNone = 0, /**< No feature. */
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kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
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} LidarFeature;
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/** Function return value definition. */
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typedef enum {
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kStatusSuccess = 0, /**< Success. */
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kStatusFailure = 1, /**< Failure. */
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kStatusNotConnected = 2, /**< Requested device is not connected. */
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kStatusNotSupported = 3, /**< Operation is not supported on this device. */
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kStatusTimeout = 4, /**< Operation timeouts. */
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kStatusNotEnoughMemory = 5 /**< No enough memory. */
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} ResponseStatus;
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/** Device update type, indicating the change of device connection or working state. */
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typedef enum {
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kEventConnect = 0, /**< Device is connected. */
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kEventDisconnect = 1, /**< Device is removed. */
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kEventStateChange = 2 /**< Device working state changes or an error occurs. */
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} DeviceEvent;
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/** Timestamp sync mode define. */
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typedef enum {
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kTimestampTypeNoSync = 0, /**< No sync signal mode. */
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kTimestampTypePtp = 1, /**< 1588v2.0 PTP sync mode. */
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kTimestampTypeRsvd = 2, /**< Reserved use. */
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kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
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kTimestampTypePps = 4, /**< pps only sync mode. */
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kTimestampTypeUnknown = 5 /**< Unknown mode. */
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} TimestampType;
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#pragma pack(1)
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#define LIVOX_SDK_MAJOR_VERSION 1
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#define LIVOX_SDK_MINOR_VERSION 2
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#define LIVOX_SDK_PATCH_VERSION 1
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#define kBroadcastCodeSize 16
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/** The numeric version information struct. */
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typedef struct {
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int major; /**< major number */
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int minor; /**< minor number */
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int patch; /**< patch number */
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} LivoxSdkVersion;
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/** Cartesian coordinate format. */
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typedef struct {
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int32_t x; /**< X axis, Unit:mm */
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int32_t y; /**< Y axis, Unit:mm */
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int32_t z; /**< Z axis, Unit:mm */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxRawPoint;
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/** Spherical coordinate format. */
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typedef struct {
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uint32_t depth; /**< Radial distance, Unit:mm */
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uint16_t theta; /**< Polar angle, Unit:0.01rad */
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uint16_t phi; /**< Azimuthal angle, Unit:0.01rad */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxSpherPoint;
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/** Standard point cloud format */
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typedef struct {
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float x; /**< X axis, Unit:m */
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float y; /**< X axis, Unit:m */
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float z; /**< X axis, Unit:m */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxPoint;
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/** Point cloud packet. */
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typedef struct {
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uint8_t version; /**< Packet protocol version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint8_t rsvd; /**< Reserved. */
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uint32_t err_code; /**< Device error status indicator information. */
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uint8_t timestamp_type; /**< Timestamp type. */
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/** Point cloud coordinate format, 1 for spherical coordinate data, 0 for cartesian coordinate data. */
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uint8_t data_type;
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uint8_t timestamp[8]; /**< Nanosecond or UTC format timestamp. */
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uint8_t data[1]; /**< Point cloud data. */
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} LivoxEthPacket;
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/** Information of LiDAR work state. */
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typedef union {
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uint32_t status_code; /**< LiDAR work state status code. */
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uint32_t progress; /**< LiDAR work state switching progress. */
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} StatusUnion;
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/** Information of the connected LiDAR or hub. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t handle; /**< Device handle. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint8_t type; /**< Device type, refer to \ref DeviceType. */
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uint16_t data_port; /**< Point cloud data UDP port. */
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uint16_t cmd_port; /**< Control command UDP port. */
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char ip[16]; /**< IP address. */
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LidarState state; /**< LiDAR state. */
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LidarFeature feature; /**< LiDAR feature. */
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StatusUnion status; /** LiDAR work state status. */
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} DeviceInfo;
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/** The information of broadcast device. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
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uint16_t reserved; /**< Reserved. */
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} BroadcastDeviceInfo;
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/** The information of LiDAR units that are connected to the Livox Hub. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
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uint8_t version[4]; /**< Firmware version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR units. */
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uint8_t id; /**< Device id. */
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} ConnectedLidarInfo;
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/** LiDAR mode configuration information. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t state; /**< LiDAR state. */
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} LidarModeRequestItem;
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} ReturnCode;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} DeviceBroadcastCode;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t feature; /**< Close or open the rain and fog feature. */
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} RainFogSuppressRequestItem;
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/** LiDAR configuration information. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} ExtrinsicParameterRequestItem;
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/** LiDAR extrinsic parameters. */
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} ExtrinsicParameterResponseItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
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uint8_t state; /**< LiDAR state. */
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uint8_t feature; /**< LiDAR feature. */
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StatusUnion error_union; /** LiDAR work state. */
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} LidarStateItem;
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/**
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* The request body for the command of handshake.
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*/
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typedef struct {
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uint32_t ip_addr; /**< IP address of the device. */
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uint16_t data_port; /**< UDP port of the data connection. */
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uint16_t cmd_port; /**< UDP port of the command connection. */
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} HandshakeRequest;
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/**
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* The response body of querying device information.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t firmware_version[4]; /**< Firmware version. */
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} DeviceInformationResponse;
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/**
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* The response body of getting device error status.
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*/
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typedef struct {
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uint32_t error_code; /**< Error code. */
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} ErrorMessage;
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/**
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* The request body of the command for setting device's IP mode.
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*/
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typedef struct {
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uint8_t ip_mode; /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
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uint32_t ip_addr; /**< IP address. */
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} SetDeviceIPModeRequest;
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/**
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* The response body of getting device's IP mode.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t ip_mode; /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
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uint32_t ip_addr; /**< IP address. */
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} GetDeviceIPModeResponse;
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/**
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* The body of heartbeat response.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t state; /**< Working state. */
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uint8_t feature; /**< LiDAR feature. */
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StatusUnion error_union; /**< LiDAR work state. */
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} HeartbeatResponse;
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/**
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* The request body for the command of setting LiDAR's parameters.
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*/
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typedef struct {
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} LidarSetExtrinsicParameterRequest;
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/**
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* The response body of getting LiDAR's parameters.
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*/
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typedef struct {
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uint8_t ret_code;
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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int32_t y; /**< Y translation, unit: mm. */
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int32_t z; /**< Z translation, unit: mm. */
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} LidarGetExtrinsicParameterResponse;
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/**
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* The response body of querying the information of LiDAR units connected to the Livox Hub.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code from device. */
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uint8_t count; /**< Count of device_info_list. */
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ConnectedLidarInfo device_info_list[1]; /**< Connected lidars information. */
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} HubQueryLidarInformationResponse;
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/**
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* The request body of setting LiDAR units working mode.
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*/
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typedef struct {
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uint8_t count; /**< Number of LiDAR units to set. */
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LidarModeRequestItem config_list[1]; /**< LiDAR mode configuration list. */
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} HubSetModeRequest;
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/**
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* The response of setting LiDAR units working mode.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code from device. */
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uint8_t count; /**< Count of ret_state_list. */
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ReturnCode ret_state_list[1]; /**< Return status list. */
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} HubSetModeResponse;
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/**
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* The request body of toggling the power supply of the slot.
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*/
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typedef struct {
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uint8_t slot; /**< Slot of the hub. */
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uint8_t state; /**< Status of toggling the power supply. */
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} HubControlSlotPowerRequest;
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/**
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* The request body of setting the Livox Hub's parameters.
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*/
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typedef struct {
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uint8_t count; /**< Count of cfg_param_list. */
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ExtrinsicParameterRequestItem parameter_list[1]; /**< Configuration parameter list. */
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} HubSetExtrinsicParameterRequest;
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/**
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* The response body of setting the Livox Hub's parameters.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t count; /**< Count of ret_code_list. */
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ReturnCode ret_code_list[1]; /**< Return code */
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} HubSetExtrinsicParameterResponse;
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/**
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* The request body of getting the Livox Hub's parameters.
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*/
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typedef struct {
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uint8_t count; /**< Count of code_list. */
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DeviceBroadcastCode code_list[1]; /**< Broadcast code list. */
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} HubGetExtrinsicParameterRequest;
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/**
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* The response body of getting the Livox Hub's parameters.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t count; /**< Number of LiDAR units connected to the Livox Hub. */
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ExtrinsicParameterResponseItem parameter_list[1]; /**< Postion parameters of connected LiDAR unit(s). */
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} HubGetExtrinsicParameterResponse;
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/**
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* The response body of getting sub LiDAR's state.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t count; /**< Number of LiDAR connected to the Livox Hub. */
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LidarStateItem state_list[1]; /**< Device information of connected LiDAR units. */
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} HubQueryLidarStatusResponse;
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/**
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* The request body of toggling the LiDAR units rain and fog mode.
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*/
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typedef struct {
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uint8_t count; /**< Number of LiDAR units connected to the Livox Hub. */
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RainFogSuppressRequestItem lidar_cfg_list[1]; /**< Command data of connected LiDAR units. */
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} HubRainFogSuppressRequest;
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/**
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* The response body of toggling the LiDAR units rain and fog mode.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint8_t count; /**< Count of ret_state_list. */
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ReturnCode ret_state_list[1]; /**< Return code */
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} HubRainFogSuppressResponse;
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/**
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* The response body of getting hub slots' power state.
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*/
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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uint16_t slot_power_state; /**< Slot power status. */
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} HubQuerySlotPowerStatusResponse;
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#pragma pack()
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#endif // LIVOX_DEF_H_
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