Initial commit: Livox SDK2 source (excluding build artifacts)
This commit is contained in:
gardentech
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//
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// The MIT License (MIT)
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//
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// Copyright (c) 2022 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_LIDAR_SDK_H_
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#define LIVOX_LIDAR_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_lidar_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 GetLivoxLidarSdkVer(LivoxLidarSdkVer *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 LivoxLidarSdkInit(const char* path, const char* host_ip = "", const LivoxLidarLoggerCfgInfo* log_cfg_info = nullptr);
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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 LivoxLidarSdkStart();
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/**
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* Uninitialize the SDK.
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*/
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void LivoxLidarSdkUninit();
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/**
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* Set the callback to receive point cloud data.
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* @param handle device handle.
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* @param client_data user data associated with the command.
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*/
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void SetLivoxLidarPointCloudCallBack(LivoxLidarPointCloudCallBack cb, void* client_data);
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/**
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* Add the lidar command data observer.
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* @param handle device handle.
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* @param client_data user data associated with the command.
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*/
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void LivoxLidarAddCmdObserver(LivoxLidarCmdObserverCallBack cb, void* client_data);
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/**
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* Remove the lidar command data observer.
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*/
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void LivoxLidarRemoveCmdObserver();
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/**
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* Set the point cloud observer.
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* @param cb callback to receive Status Info.
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* @param client_data user data associated with the command.
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*/
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uint16_t LivoxLidarAddPointCloudObserver(LivoxLidarPointCloudObserver cb, void *client_data);
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/**
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* remove point cloud observer.
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* @param id the observer id.
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*/
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void LivoxLidarRemovePointCloudObserver(uint16_t id);
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/**
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* Set the callback to receive IMU data.
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* @param cb callback to receive Status Info.
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* @param client_data user data associated with the command.
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*/
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void SetLivoxLidarImuDataCallback(LivoxLidarImuDataCallback cb, void* client_data);
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/**
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* Set the callback to receive Status Info.
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* @param cb callback to receive Status Info.
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* @param client_data user data associated with the command.
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*/
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void SetLivoxLidarInfoCallback(LivoxLidarInfoCallback cb, void* client_data);
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/**
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* DisableLivoxLidar console log output.
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*/
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void DisableLivoxSdkConsoleLogger();
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/**
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* Save the log file.
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*/
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void SaveLivoxLidarSdkLoggerFile();
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/**
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* Set the callback to receive Status Info.
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* @param cb callback to receive Status Info.
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* @param client_data user data associated with the command.
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*/
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void SetLivoxLidarInfoChangeCallback(LivoxLidarInfoChangeCallback cb, void* client_data);
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livox_status QueryLivoxLidarInternalInfo(uint32_t handle, QueryLivoxLidarInternalInfoCallback cb, void* client_data);
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livox_status QueryLivoxLidarFwType(uint32_t handle, QueryLivoxLidarInternalInfoCallback cb, void* client_data);
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livox_status QueryLivoxLidarFirmwareVer(uint32_t handle, QueryLivoxLidarInternalInfoCallback cb, void* client_data);
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/**
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* Set LiDAR pcl data type.
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* @param handle device handle.
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* @param data_type the type to change, the val:kLivoxLidarCartesianCoordinateHighData,
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* kLivoxLidarCartesianCoordinateLowData,
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* kLivoxLidarSphericalCoordinateData
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarPclDataType(uint32_t handle, LivoxLidarPointDataType data_type, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR sacn pattern.
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* @param handle device handle.
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* @param scan_type the type to change, the val:kLivoxLidarScanPatternRepetive,
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* kLivoxLidarScanPatternNoneRepetive
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarScanPattern(uint32_t handle, LivoxLidarScanPattern scan_pattern, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR dual emit.
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* @param handle device handle.
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* @param enable if set dual emit the enable is true, else the enable is false
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarDualEmit(uint32_t handle, bool enable, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Enbale LiDAR point send.
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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 LivoxStatus for other error code.
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*/
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livox_status EnableLivoxLidarPointSend(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Disable LiDAR point send.
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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 LivoxStatus for other error code.
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*/
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livox_status DisableLivoxLidarPointSend(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR Ip info.
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* @param handle device handle.
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* @param ipconfig lidar ip info.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarIp(uint32_t handle, LivoxLidarIpInfo* ip_config,
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LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR state Ip info.
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* @param handle device handle.
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* @param host_state_info_ipcfg lidar ip info.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarStateInfoHostIPCfg(uint32_t handle, HostStateInfoIpInfo* host_state_info_ipcfg,
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LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR point cloud host ip info.
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* @param handle device handle.
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* @param host_point_ipcfg lidar ip info.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarPointDataHostIPCfg(uint32_t handle, HostPointIPInfo* host_point_ipcfg,
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LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR imu data host ip info.
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* @param handle device handle.
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* @param host_imu_ipcfg lidar ip info.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarImuDataHostIPCfg(uint32_t handle, HostImuDataIPInfo* host_imu_ipcfg,
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LivoxLidarAsyncControlCallback cb, 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 install_attitude 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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarInstallAttitude(uint32_t handle, LivoxLidarInstallAttitude* install_attitude,
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LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR fov cfg0.
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* @param handle device handle.
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* @param fov_cfg0 fov cfg.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarFovCfg0(uint32_t handle, FovCfg* fov_cfg0, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR fov.
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* @param handle device handle.
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* @param fov_cfg1 fov cfg.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarFovCfg1(uint32_t handle, FovCfg* fov_cfg1, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Enable LiDAR fov cfg1.
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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 LivoxStatus for other error code.
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*/
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livox_status EnableLivoxLidarFov(uint32_t handle, uint8_t fov_en, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Disable LiDAR fov.
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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 LivoxStatus for other error code.
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*/
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livox_status DisableLivoxLidarFov(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR detect mode.
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* @param handle device handle.
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* @param mode detect mode
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarDetectMode(uint32_t handle, LivoxLidarDetectMode mode, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR func io cfg.
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* @param handle device handle.
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* @param func_io_cfg func io cfg; 0:IN0,1:IN1, 2:OUT0, 3:OUT1;Mid360 lidar 8, 10, 12, 11
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarFuncIOCfg(uint32_t handle, FuncIOCfg* func_io_cfg, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR blind spot.
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* @param handle device handle.
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* @param blind_spot blind spot.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarBlindSpot(uint32_t handle, uint32_t blind_spot, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR work mode.
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* @param handle device handle.
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* @param work_mode lidar work mode.
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarWorkMode(uint32_t handle, LivoxLidarWorkMode work_mode, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Enable glass heating functionality.
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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 LivoxStatus for other error code.
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*/
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livox_status EnableLivoxLidarGlassHeat(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Disable glass heating functionality.
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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 LivoxStatus for other error code.
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*/
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livox_status DisableLivoxLidarGlassHeat(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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// mid360 lidar does not support this function.
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/**
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* Enable LiDAR force heat function.
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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 LivoxStatus for other error code.
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*/
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livox_status StartForcedHeating(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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// mid360 lidar does not support this function.
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/**
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* Disable LiDAR force heat function.
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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 LivoxStatus for other error code.
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*/
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livox_status StopForcedHeating(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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// mid360 and hap lidar does not support this function.
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/**
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* Disable LiDAR force heat function.
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* @param handle device handle.
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* @param esc_mode lidar esc mode
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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 LivoxStatus for other error code.
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*/
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livox_status SetLivoxLidarEscMode(uint32_t handle, LivoxLidarEscMode esc_mode, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Set LiDAR glass heat.
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* @param handle device handle.
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* @param glass_heat lidar glass heat.
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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 LivoxStatus for other error code.
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*/
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[[deprecated("Please USE EnableLivoxLidarGlassHeat() / StartForcedHeating() / ... instead")]]
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livox_status SetLivoxLidarGlassHeat(uint32_t handle, LivoxLidarGlassHeat glass_heat, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Enable LiDAR imu data.
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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 LivoxStatus for other error code.
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*/
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livox_status EnableLivoxLidarImuData(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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/**
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* Disable LiDAR imu data.
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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 LivoxStatus for other error code.
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*/
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livox_status DisableLivoxLidarImuData(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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// mid360 lidar does not support
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/**
|
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* Enable LiDAR fusa function.
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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 LivoxStatus for other error code.
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||||
*/
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livox_status EnableLivoxLidarFusaFunciont(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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// mid360 lidar does not support
|
||||
/**
|
||||
* Disable LiDAR fusa function.
|
||||
* @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.
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||||
*/
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||||
livox_status DisableLivoxLidarFusaFunciont(uint32_t handle, LivoxLidarAsyncControlCallback cb, void* client_data);
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||||
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||||
/**
|
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* Reset LiDAR.
|
||||
* @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 LivoxLidarRequestReset(uint32_t handle, LivoxLidarResetCallback cb, void* client_data);
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||||
|
||||
/**
|
||||
* Start logger. Currently, only setting real-time log is supported.
|
||||
* @param handle device handle.
|
||||
* @param log_type The type of log file that has been configured.
|
||||
* @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 LivoxLidarStartLogger(const uint32_t handle, const LivoxLidarLogType log_type, LivoxLidarLoggerCallback cb, void* client_data);
|
||||
|
||||
/**
|
||||
* Start logger. Currently, only setting real-time log is supported.
|
||||
* @param handle device handle.
|
||||
* @param log_type The type of log file that has been configured.
|
||||
* @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 LivoxLidarStopLogger(const uint32_t handle, const LivoxLidarLogType log_type, LivoxLidarLoggerCallback cb, void* client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR debug point cloud switch.
|
||||
* @param handle device handle.
|
||||
* @param enable true for enabling debug point cloud
|
||||
* @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 codes.
|
||||
*/
|
||||
livox_status SetLivoxLidarDebugPointCloud(uint32_t handle, bool enable, LivoxLidarLoggerCallback cb, void* client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR GPS "GPRMC" string to synchronize the time.
|
||||
* @param handle device handle.
|
||||
* @param rmc GPS "GPRMC" string.
|
||||
* @param rmc_length GPS "GPRMC" string 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 codes.
|
||||
*/
|
||||
livox_status SetLivoxLidarRmcSyncTime(uint32_t handle, const char* rmc, uint16_t rmc_length, LivoxLidarRmcSyncTimeCallBack cb, void* client_data);
|
||||
|
||||
/**
|
||||
* Set LiDAR work mode after boot.
|
||||
* @param handle device handle.
|
||||
* @param work_mode lidar work mode after boot.
|
||||
* @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 SetLivoxLidarWorkModeAfterBoot(const uint32_t handle,const LivoxLidarWorkModeAfterBoot work_mode, LivoxLidarAsyncControlCallback cb, void* client_data);
|
||||
/*******Upgrade Module***********/
|
||||
|
||||
/**
|
||||
* Reboot lidar.
|
||||
* @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 LivoxLidarRequestReboot(uint32_t handle, LivoxLidarRebootCallback cb, void* client_data);
|
||||
|
||||
/**
|
||||
* Start the device scanning routine which runs on a separate thread.
|
||||
* @return true if successfully Open firmware file path, otherwise false.
|
||||
*/
|
||||
bool SetLivoxLidarUpgradeFirmwarePath(const char* firmware_path);
|
||||
|
||||
void SetLivoxLidarUpgradeProgressCallback(OnLivoxLidarUpgradeProgressCallback cb, void* client_data);
|
||||
|
||||
void UpgradeLivoxLidars(const uint32_t* handle, const uint8_t lidar_num);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // LIVOX_LIDAR_SDK_H_
|
||||
@@ -0,0 +1,49 @@
|
||||
//
|
||||
// The MIT License (MIT)
|
||||
//
|
||||
// Copyright (c) 2022 Livox. All rights reserved.
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
// SOFTWARE.
|
||||
//
|
||||
|
||||
#ifndef LIVOX_LIDAR_CONFIG_H_
|
||||
#define LIVOX_LIDAR_CONFIG_H_
|
||||
|
||||
#if defined(__linux__)
|
||||
#include <sys/epoll.h>
|
||||
#include <sys/time.h>
|
||||
#include <unistd.h>
|
||||
#define HAVE_EPOLL 1
|
||||
#elif defined(_WIN32)
|
||||
#include <winsock2.h>
|
||||
#define HAVE_SELECT 1
|
||||
#elif defined(__APPLE__) || defined(__FreeBSD__) || defined(__OpenBSD__) || defined (__NetBSD__)
|
||||
#include <sys/event.h>
|
||||
#include <sys/types.h>
|
||||
#include <fcntl.h>
|
||||
#include <unistd.h>
|
||||
#define HAVE_KQUEUE 1
|
||||
#else
|
||||
#include <sys/poll.h>
|
||||
#define HAVE_POLL 1
|
||||
#endif
|
||||
|
||||
#endif // CONFIG_H_
|
||||
|
||||
|
||||
@@ -0,0 +1,588 @@
|
||||
//
|
||||
// The MIT License (MIT)
|
||||
//
|
||||
// Copyright (c) 2022 Livox. All rights reserved.
|
||||
//
|
||||
// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
// of this software and associated documentation files (the "Software"), to deal
|
||||
// in the Software without restriction, including without limitation the rights
|
||||
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
// copies of the Software, and to permit persons to whom the Software is
|
||||
// furnished to do so, subject to the following conditions:
|
||||
//
|
||||
// The above copyright notice and this permission notice shall be included in
|
||||
// all copies or substantial portions of the Software.
|
||||
//
|
||||
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
|
||||
// SOFTWARE.
|
||||
//
|
||||
|
||||
#ifndef LIVOX_LIDAR_DEF_H_
|
||||
#define LIVOX_LIDAR_DEF_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#define kMaxLidarCount 32
|
||||
|
||||
#pragma pack(1)
|
||||
|
||||
#define LIVOX_LIDAR_SDK_MAJOR_VERSION 1
|
||||
#define LIVOX_LIDAR_SDK_MINOR_VERSION 3
|
||||
#define LIVOX_LIDAR_SDK_PATCH_VERSION 0
|
||||
|
||||
#define kBroadcastCodeSize 16
|
||||
|
||||
/** Fuction return value defination, refer to \ref LivoxStatus. */
|
||||
typedef int32_t livox_status;
|
||||
|
||||
|
||||
/** The numeric version information struct. */
|
||||
typedef struct {
|
||||
int major; /**< major number */
|
||||
int minor; /**< minor number */
|
||||
int patch; /**< patch number */
|
||||
} LivoxLidarSdkVer;
|
||||
|
||||
typedef struct {
|
||||
uint8_t dev_type;
|
||||
char sn[16];
|
||||
char lidar_ip[16];
|
||||
} LivoxLidarInfo;
|
||||
|
||||
/** Device type. */
|
||||
typedef enum {
|
||||
kLivoxLidarTypeHub = 0,
|
||||
kLivoxLidarTypeMid40 = 1,
|
||||
kLivoxLidarTypeTele = 2,
|
||||
kLivoxLidarTypeHorizon = 3,
|
||||
kLivoxLidarTypeMid70 = 6,
|
||||
kLivoxLidarTypeAvia = 7,
|
||||
kLivoxLidarTypeMid360 = 9,
|
||||
kLivoxLidarTypeIndustrialHAP = 10,
|
||||
kLivoxLidarTypeHAP = 15,
|
||||
kLivoxLidarTypePA = 16,
|
||||
kLivoxLidarTypeMid360s = 35,
|
||||
} LivoxLidarDeviceType;
|
||||
|
||||
typedef enum {
|
||||
kKeyPclDataType = 0x0000,
|
||||
kKeyPatternMode = 0x0001,
|
||||
kKeyDualEmitEn = 0x0002,
|
||||
kKeyPointSendEn = 0x0003,
|
||||
kKeyLidarIpCfg = 0x0004,
|
||||
kKeyStateInfoHostIpCfg = 0x0005,
|
||||
kKeyLidarPointDataHostIpCfg = 0x0006,
|
||||
kKeyLidarImuHostIpCfg = 0x0007,
|
||||
kKeyCtlHostIpCfg = 0x0008,
|
||||
kKeyLogHostIpCfg = 0x0009,
|
||||
|
||||
kKeyVehicleSpeed = 0x0010,
|
||||
kKeyEnvironmentTemp = 0x0011,
|
||||
kKeyInstallAttitude = 0x0012,
|
||||
kKeyBlindSpotSet = 0x0013,
|
||||
kKeyFrameRate = 0x0014,
|
||||
kKeyFovCfg0 = 0x0015,
|
||||
kKeyFovCfg1 = 0x0016,
|
||||
kKeyFovCfgEn = 0x0017,
|
||||
kKeyDetectMode = 0x0018,
|
||||
kKeyFuncIoCfg = 0x0019,
|
||||
kKeyWorkModeAfterBoot = 0x0020,
|
||||
kKeyWorkMode = 0x001A,
|
||||
kKeyGlassHeat = 0x001B,
|
||||
kKeyImuDataEn = 0x001C,
|
||||
kKeyFusaEn = 0x001D,
|
||||
kKeyForceHeatEn = 0x001E,
|
||||
kKeySetEscMode = 0x0021,
|
||||
|
||||
kKeyLogParamSet = 0x7FFF,
|
||||
|
||||
kKeySn = 0x8000,
|
||||
kKeyProductInfo = 0x8001,
|
||||
kKeyVersionApp = 0x8002,
|
||||
kKeyVersionLoader = 0x8003,
|
||||
kKeyVersionHardware = 0x8004,
|
||||
kKeyMac = 0x8005,
|
||||
kKeyCurWorkState = 0x8006,
|
||||
kKeyCoreTemp = 0x8007,
|
||||
kKeyPowerUpCnt = 0x8008,
|
||||
kKeyLocalTimeNow = 0x8009,
|
||||
kKeyLastSyncTime = 0x800A,
|
||||
kKeyTimeOffset = 0x800B,
|
||||
kKeyTimeSyncType = 0x800C,
|
||||
kKeyStatusCode = 0x800D,
|
||||
kKeyLidarDiagStatus = 0x800E,
|
||||
kKeyLidarFlashStatus = 0x800F,
|
||||
kKeyFwType = 0x8010,
|
||||
kKeyHmsCode = 0x8011,
|
||||
kKeyCurGlassHeatState = 0x8012,
|
||||
|
||||
kKeyRoiMode = 0xFFFE,
|
||||
kKeyLidarDiagInfoQuery = 0xFFFF
|
||||
} ParamKeyName;
|
||||
|
||||
typedef struct {
|
||||
uint8_t version;
|
||||
uint16_t length;
|
||||
uint16_t time_interval; /**< unit: 0.1 us */
|
||||
uint16_t dot_num;
|
||||
uint16_t udp_cnt;
|
||||
uint8_t frame_cnt;
|
||||
uint8_t data_type;
|
||||
uint8_t time_type;
|
||||
uint8_t rsvd[12];
|
||||
uint32_t crc32;
|
||||
uint8_t timestamp[8];
|
||||
uint8_t data[1]; /**< Point cloud data. */
|
||||
} LivoxLidarEthernetPacket;
|
||||
|
||||
typedef struct {
|
||||
uint8_t sof;
|
||||
uint8_t version;
|
||||
uint16_t length;
|
||||
uint32_t seq_num;
|
||||
uint16_t cmd_id;
|
||||
uint8_t cmd_type;
|
||||
uint8_t sender_type;
|
||||
char rsvd[6];
|
||||
uint16_t crc16_h;
|
||||
uint32_t crc32_d;
|
||||
uint8_t data[1];
|
||||
} LivoxLidarCmdPacket;
|
||||
|
||||
typedef struct {
|
||||
float gyro_x;
|
||||
float gyro_y;
|
||||
float gyro_z;
|
||||
float acc_x;
|
||||
float acc_y;
|
||||
float acc_z;
|
||||
} LivoxLidarImuRawPoint;
|
||||
|
||||
typedef struct {
|
||||
int32_t x; /**< X axis, Unit:mm */
|
||||
int32_t y; /**< Y axis, Unit:mm */
|
||||
int32_t z; /**< Z axis, Unit:mm */
|
||||
uint8_t reflectivity; /**< Reflectivity */
|
||||
uint8_t tag; /**< Tag */
|
||||
} LivoxLidarCartesianHighRawPoint;
|
||||
|
||||
typedef struct {
|
||||
int16_t x; /**< X axis, Unit:cm */
|
||||
int16_t y; /**< Y axis, Unit:cm */
|
||||
int16_t z; /**< Z axis, Unit:cm */
|
||||
uint8_t reflectivity; /**< Reflectivity */
|
||||
uint8_t tag; /**< Tag */
|
||||
} LivoxLidarCartesianLowRawPoint;
|
||||
|
||||
typedef struct {
|
||||
uint32_t depth;
|
||||
uint16_t theta;
|
||||
uint16_t phi;
|
||||
uint8_t reflectivity;
|
||||
uint8_t tag;
|
||||
} LivoxLidarSpherPoint;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarImuData = 0,
|
||||
kLivoxLidarCartesianCoordinateHighData = 0x01,
|
||||
kLivoxLidarCartesianCoordinateLowData = 0x02,
|
||||
kLivoxLidarSphericalCoordinateData = 0x03
|
||||
} LivoxLidarPointDataType;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarRealTimeLog = 0,
|
||||
kLivoxLidarExceptionLog = 0x01
|
||||
} LivoxLidarLogType;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarStatusSendFailed = -9, /**< Command send failed. */
|
||||
kLivoxLidarStatusHandlerImplNotExist = -8, /**< Handler implementation not exist. */
|
||||
kLivoxLidarStatusInvalidHandle = -7, /**< Device handle invalid. */
|
||||
kLivoxLidarStatusChannelNotExist = -6, /**< Command channel not exist. */
|
||||
kLivoxLidarStatusNotEnoughMemory = -5, /**< No enough memory. */
|
||||
kLivoxLidarStatusTimeout = -4, /**< Operation timeouts. */
|
||||
kLivoxLidarStatusNotSupported = -3, /**< Operation is not supported on this device. */
|
||||
kLivoxLidarStatusNotConnected = -2, /**< Requested device is not connected. */
|
||||
kLivoxLidarStatusFailure = -1, /**< Failure. */
|
||||
kLivoxLidarStatusSuccess = 0 /**< Success. */
|
||||
} LivoxLidarStatus;
|
||||
|
||||
typedef struct {
|
||||
uint16_t key; /*< Key, refer to \ref DeviceParamKeyName. */
|
||||
uint16_t length; /*< Length of value. */
|
||||
uint8_t value[1]; /*< Value. */
|
||||
} LivoxLidarKeyValueParam;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
uint16_t error_key;
|
||||
} LivoxLidarAsyncControlResponse;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
const char* lidar_info;
|
||||
} LivoxLidarInfoResponse;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
uint16_t param_num;
|
||||
uint8_t data[1];
|
||||
} LivoxLidarDiagInternalInfoResponse;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarScanPatternNoneRepetive = 0x00,
|
||||
kLivoxLidarScanPatternRepetive = 0x01,
|
||||
kLivoxLidarScanPatternRepetiveLowFrameRate = 0x02
|
||||
} LivoxLidarScanPattern;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarFrameRate10Hz = 0x00,
|
||||
kLivoxLidarFrameRate15Hz = 0x01,
|
||||
kLivoxLidarFrameRate20Hz = 0x02,
|
||||
kLivoxLidarFrameRate25Hz = 0x03,
|
||||
} LivoxLidarPointFrameRate;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarNormal = 0x01,
|
||||
kLivoxLidarWakeUp = 0x02,
|
||||
kLivoxLidarSleep = 0x03,
|
||||
kLivoxLidarError = 0x04,
|
||||
kLivoxLidarPowerOnSelfTest = 0x05,
|
||||
kLivoxLidarMotorStarting = 0x06,
|
||||
kLivoxLidarMotorStoping = 0x07,
|
||||
kLivoxLidarUpgrade = 0x08
|
||||
} LivoxLidarWorkMode;
|
||||
|
||||
typedef enum {
|
||||
kLivoxEscSpeedNormal = 0x00,
|
||||
kLivoxEscSpeedSlow = 0x01,
|
||||
} LivoxLidarEscMode;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarWorkModeAfterBootDefault = 0x00,
|
||||
kLivoxLidarWorkModeAfterBootNormal = 0x01,
|
||||
kLivoxLidarWorkModeAfterBootWakeUp = 0x02
|
||||
} LivoxLidarWorkModeAfterBoot;
|
||||
|
||||
typedef struct {
|
||||
float roll_deg;
|
||||
float pitch_deg;
|
||||
float yaw_deg;
|
||||
int32_t x; //mm
|
||||
int32_t y; //mm
|
||||
int32_t z; // mm
|
||||
} LivoxLidarInstallAttitude;
|
||||
|
||||
typedef struct {
|
||||
int32_t yaw_start;
|
||||
int32_t yaw_stop;
|
||||
int32_t pitch_start;
|
||||
int32_t pitch_stop;
|
||||
uint32_t rsvd;
|
||||
} FovCfg;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarDetectNormal = 0x00,
|
||||
kLivoxLidarDetectSensitive = 0x01
|
||||
} LivoxLidarDetectMode;
|
||||
|
||||
typedef struct {
|
||||
uint8_t in0;
|
||||
uint8_t int1;
|
||||
uint8_t out0;
|
||||
uint8_t out1;
|
||||
} FuncIOCfg;
|
||||
|
||||
typedef struct {
|
||||
bool lidar_log_enable;
|
||||
uint32_t lidar_log_cache_size;
|
||||
char lidar_log_path[1024];
|
||||
} LivoxLidarLoggerCfgInfo;
|
||||
|
||||
typedef struct {
|
||||
char ip_addr[16]; /**< IP address. */
|
||||
char net_mask[16]; /**< Subnet mask. */
|
||||
char gw_addr[16]; /**< Gateway address. */
|
||||
} LivoxLidarIpInfo;
|
||||
|
||||
typedef struct {
|
||||
char host_ip_addr[16]; /**< IP address. */
|
||||
uint16_t host_state_info_port;
|
||||
uint16_t lidar_state_info_port;
|
||||
} HostStateInfoIpInfo;
|
||||
|
||||
typedef struct {
|
||||
char host_ip_addr[16]; /**< IP address. */
|
||||
uint16_t host_point_data_port;
|
||||
uint16_t lidar_point_data_port;
|
||||
} HostPointIPInfo;
|
||||
|
||||
typedef struct {
|
||||
char host_ip_addr[16]; /**< IP address. */
|
||||
uint16_t host_imu_data_port; // resv
|
||||
uint16_t lidar_imu_data_port; // resv
|
||||
} HostImuDataIPInfo;
|
||||
|
||||
typedef struct {
|
||||
char ip_addr[16]; /**< IP address. */
|
||||
uint16_t dst_port;
|
||||
uint16_t src_port;
|
||||
} LivoxIpCfg;
|
||||
|
||||
typedef struct {
|
||||
uint8_t pcl_data_type;
|
||||
uint8_t pattern_mode;
|
||||
uint8_t dual_emit_en;
|
||||
uint8_t point_send_en;
|
||||
LivoxLidarIpInfo lidar_ip_info;
|
||||
HostPointIPInfo host_point_ip_info;
|
||||
HostImuDataIPInfo host_imu_ip_info;
|
||||
LivoxLidarInstallAttitude install_attitude;
|
||||
uint32_t blind_spot_set;
|
||||
uint8_t work_mode;
|
||||
uint8_t glass_heat;
|
||||
uint8_t imu_data_en;
|
||||
uint8_t fusa_en;
|
||||
char sn[16];
|
||||
char product_info[64];
|
||||
uint8_t version_app[4];
|
||||
uint8_t version_load[4];
|
||||
uint8_t version_hardware[4];
|
||||
uint8_t mac[6];
|
||||
uint8_t cur_work_state;
|
||||
uint64_t status_code;
|
||||
} LivoxLidarStateInfo;
|
||||
|
||||
typedef struct {
|
||||
uint8_t pcl_data_type; // 0x0000
|
||||
uint8_t pattern_mode; // 0x0001
|
||||
uint8_t dual_emit_en; // 0x0002
|
||||
uint8_t point_send_en; // 0x0003
|
||||
LivoxLidarIpInfo lidar_ipcfg; // 0x0004
|
||||
HostStateInfoIpInfo host_state_info; // 0x0005
|
||||
HostPointIPInfo pointcloud_host_ipcfg; // 0x0006
|
||||
HostImuDataIPInfo imu_host_ipcfg; // 0x0007
|
||||
LivoxIpCfg ctl_host_ipcfg; // 0x0008
|
||||
LivoxIpCfg log_host_ipcfg; // 0x0009
|
||||
|
||||
int32_t vehicle_speed; // 0x0010
|
||||
int32_t environment_temp; // 0x0011
|
||||
LivoxLidarInstallAttitude install_attitude; // 0x0012
|
||||
uint32_t blind_spot_set; // 0x0013
|
||||
uint8_t frame_rate; // 0x0014
|
||||
FovCfg fov_cfg0; // 0x0015
|
||||
FovCfg fov_cfg1; // 0x0016
|
||||
uint8_t fov_cfg_en; // 0x0017
|
||||
uint8_t detect_mode; // 0x0018
|
||||
uint8_t func_io_cfg[4]; // 0x0019
|
||||
uint8_t work_tgt_mode; // 0x001A
|
||||
uint8_t glass_heat; // 0x001B
|
||||
uint8_t imu_data_en; // 0x001C
|
||||
uint8_t fusa_en; // 0x001D
|
||||
uint8_t esc_mode; // 0x0021
|
||||
|
||||
char sn[16]; // 0x8000
|
||||
char product_info[64]; // 0x8001
|
||||
uint8_t version_app[4]; // 0x8002
|
||||
uint8_t version_loader[4]; // 0x8003
|
||||
uint8_t version_hardware[4]; // 0x8004
|
||||
uint8_t mac[6]; // 0x8005
|
||||
uint8_t cur_work_state; // 0x8006
|
||||
int32_t core_temp; // 0x8007
|
||||
uint32_t powerup_cnt; // 0x8008
|
||||
uint64_t local_time_now; // 0x8009
|
||||
uint64_t last_sync_time; // 0x800A
|
||||
int64_t time_offset; // 0x800B
|
||||
uint8_t time_sync_type; // 0x800C
|
||||
uint8_t status_code[32]; // 0x800D
|
||||
uint16_t lidar_diag_status; // 0x800E
|
||||
uint8_t lidar_flash_status; // 0x800F
|
||||
uint8_t fw_type; // 0x8010
|
||||
uint32_t hms_code[8]; // 0x8011
|
||||
uint8_t ROI_Mode; // 0xFFFE
|
||||
} DirectLidarStateInfo;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
LivoxLidarStateInfo livox_lidar_state_info;
|
||||
} LivoxLidarQueryInternalInfoResponse;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarStopPowerOnHeatingOrDiagnosticHeating = 0x00,
|
||||
kLivoxLidarTurnOnHeating = 0x01,
|
||||
kLivoxLidarDiagnosticHeating = 0x02,
|
||||
kLivoxLidarStopSelfHeating = 0x03
|
||||
} LivoxLidarGlassHeat;
|
||||
|
||||
typedef struct {
|
||||
uint8_t log_send_method;
|
||||
uint16_t log_id;
|
||||
uint16_t log_frequency;
|
||||
uint8_t is_save_setting;
|
||||
uint8_t check_code;
|
||||
} LivoxLidarLogParam;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
} LivoxLidarLoggerResponse;
|
||||
|
||||
typedef struct {
|
||||
uint16_t timeout; /**< delay reboot time */
|
||||
} LivoxLidarRebootRequest;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code. */
|
||||
} LivoxLidarRebootResponse;
|
||||
|
||||
typedef struct {
|
||||
uint8_t data[16];
|
||||
} LivoxLidarResetRequest;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
} LivoxLidarResetResponse;
|
||||
|
||||
/**
|
||||
* Upgrade related data struct
|
||||
*/
|
||||
typedef enum {
|
||||
kLivoxLidarUpgradeIdle = 0,
|
||||
kLivoxLidarUpgradeRequest = 1,
|
||||
kLivoxLidarUpgradeXferFirmware = 2,
|
||||
kLivoxLidarUpgradeCompleteXferFirmware = 3,
|
||||
kLivoxLidarUpgradeGetUpgradeProgress = 4,
|
||||
kLivoxLidarUpgradeComplete = 5,
|
||||
kLivoxLidarUpgradeTimeout = 6,
|
||||
kLivoxLidarUpgradeErr = 7,
|
||||
kLivoxLidarUpgradeUndef = 8
|
||||
} LivoxLidarFsmState;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarEventRequestUpgrade = 0,
|
||||
kLivoxLidarEventXferFirmware = 1,
|
||||
kLivoxLidarEventCompleteXferFirmware = 2,
|
||||
kLivoxLidarEventGetUpgradeProgress = 3,
|
||||
kLivoxLidarEventComplete = 4,
|
||||
kLivoxLidarEventReinit = 5,
|
||||
kLivoxLidarEventTimeout = 6,
|
||||
kLivoxLidarEventErr = 7,
|
||||
kLivoxLidarEventUndef = 8
|
||||
} LivoxLidarFsmEvent;
|
||||
|
||||
typedef struct {
|
||||
LivoxLidarFsmEvent state;
|
||||
uint8_t progress;
|
||||
} LivoxLidarUpgradeState;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret; // succ: 0, fail: 1
|
||||
} LivoxLidarRmcSyncTimeResponse;
|
||||
|
||||
#pragma pack()
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param handle device handle.
|
||||
* @param data device's data.
|
||||
* @param data_num number of points in data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarPointCloudCallBack)(const uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param handle device handle.
|
||||
* @param data device's command data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarCmdObserverCallBack)(const uint32_t handle, const LivoxLidarCmdPacket* data, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for point cloud observer.
|
||||
* @param handle device handle.
|
||||
* @param data device's data.
|
||||
* @param data_num number of points in data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarPointCloudObserver) (uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket *data, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving IMU data.
|
||||
* @param data device's data.
|
||||
* @param data_num number of IMU data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarImuDataCallback)(const uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving Status Info.
|
||||
* @param status_info status info.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void(*LivoxLidarInfoCallback)(const uint32_t handle, const uint8_t dev_type, const char* info, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving Status Info.
|
||||
* @param status status info.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void(*LivoxLidarInfoChangeCallback)(const uint32_t handle, const LivoxLidarInfo* info, void* client_data);
|
||||
|
||||
typedef void (*QueryLivoxLidarInternalInfoCallback)(livox_status status, uint32_t handle,
|
||||
LivoxLidarDiagInternalInfoResponse* response, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving response from the lidar on the configuration of parameter.
|
||||
* @param status status info.
|
||||
* @param response lidar return code and error key.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarAsyncControlCallback)(livox_status status, uint32_t handle,
|
||||
LivoxLidarAsyncControlResponse *response, void *client_data);
|
||||
/**
|
||||
* Callback function for receiving the reset setting response from lidar.
|
||||
* @param status status info.
|
||||
* @param response lidar return code.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarResetCallback)(livox_status status, uint32_t handle, LivoxLidarResetResponse* response, void* client_data);
|
||||
|
||||
|
||||
/**
|
||||
* Callback function for receiving the log setting response from lidar.
|
||||
* @param status status info.
|
||||
* @param response lidar return code.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarLoggerCallback)(livox_status status, uint32_t handle,
|
||||
LivoxLidarLoggerResponse* response, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving the Reboot setting response from lidar.
|
||||
* @param status status info.
|
||||
* @param response lidar return code.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarRebootCallback)(livox_status status, uint32_t handle, LivoxLidarRebootResponse* response, void* client_data);
|
||||
|
||||
typedef void (*OnLivoxLidarUpgradeProgressCallback)(uint32_t handle, LivoxLidarUpgradeState state, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param status status info.
|
||||
* @param handle device handle.
|
||||
* @param data device's command data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarRmcSyncTimeCallBack)(livox_status status, uint32_t handle, LivoxLidarRmcSyncTimeResponse* data, void* client_data);
|
||||
|
||||
#endif // LIVOX_LIDAR_DEF_H_
|
||||
Reference in New Issue
Block a user