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_
|
||||
Reference in New Issue
Block a user