Initial commit: Livox SDK2 source (excluding build artifacts)

2026-08-26 01:38:14 +09:00
commit 34a9a52cd4
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+//
+// 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.
+//
+
+#include "livox_lidar_def.h"
+#include "livox_lidar_api.h"
+
+#ifdef _WIN32
+#include <winsock2.h>
+#else
+#include <unistd.h>
+#include <arpa/inet.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <thread>
+#include <chrono>
+#include <iostream>
+
+void PointCloudCallback(uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data) {
+  if (data == nullptr) {
+    return;
+  }
+  printf("point cloud handle: %u, data_num: %d, data_type: %d, length: %d, frame_counter: %d\n",
+      handle, data->dot_num, data->data_type, data->length, data->frame_cnt);
+
+  if (data->data_type == kLivoxLidarCartesianCoordinateHighData) {
+    LivoxLidarCartesianHighRawPoint *p_point_data = (LivoxLidarCartesianHighRawPoint *)data->data;
+    for (uint32_t i = 0; i < data->dot_num; i++) {
+      //p_point_data[i].x;
+      //p_point_data[i].y;
+      //p_point_data[i].z;
+    }
+  }
+  else if (data->data_type == kLivoxLidarCartesianCoordinateLowData) {
+    LivoxLidarCartesianLowRawPoint *p_point_data = (LivoxLidarCartesianLowRawPoint *)data->data;
+  } else if (data->data_type == kLivoxLidarSphericalCoordinateData) {
+    LivoxLidarSpherPoint* p_point_data = (LivoxLidarSpherPoint *)data->data;
+  }
+}
+
+void ImuDataCallback(uint32_t handle, const uint8_t dev_type,  LivoxLidarEthernetPacket* data, void* client_data) {
+  if (data == nullptr) {
+    return;
+  } 
+  printf("Imu data callback handle:%u, data_num:%u, data_type:%u, length:%u, frame_counter:%u.\n",
+      handle, data->dot_num, data->data_type, data->length, data->frame_cnt);
+}
+
+// void OnLidarSetIpCallback(livox_vehicle_status status, uint32_t handle, uint8_t ret_code, void*) {
+//   if (status == kVehicleStatusSuccess) {
+//     printf("lidar set ip slot: %d, ret_code: %d\n",
+//       slot, ret_code);
+//   } else if (status == kVehicleStatusTimeout) {
+//     printf("lidar set ip number timeout\n");
+//   }
+// }
+
+void EscModeSetCallback(livox_status status, uint32_t handle, LivoxLidarAsyncControlResponse *response, void *client_data) {
+  printf("set lidar esc mode, please power off and on lidar!!!!\n");
+  if (response == nullptr) {
+    return;
+  }
+  printf("EscModeSetCallback, status:%u, handle:%u, ret_code:%u, error_key:%u",
+      status, handle, response->ret_code, response->error_key);
+}
+
+void WorkModeCallback(livox_status status, uint32_t handle,LivoxLidarAsyncControlResponse *response, void *client_data) {
+  if (response == nullptr) {
+    return;
+  }
+  printf("WorkModeCallack, status:%u, handle:%u, ret_code:%u, error_key:%u",
+      status, handle, response->ret_code, response->error_key);
+
+}
+
+void RebootCallback(livox_status status, uint32_t handle, LivoxLidarRebootResponse* response, void* client_data) {
+  if (response == nullptr) {
+    return;
+  }
+  printf("RebootCallback, status:%u, handle:%u, ret_code:%u",
+      status, handle, response->ret_code);
+}
+
+void SetIpInfoCallback(livox_status status, uint32_t handle, LivoxLidarAsyncControlResponse *response, void *client_data) {
+  if (response == nullptr) {
+    return;
+  }
+  printf("LivoxLidarIpInfoCallback, status:%u, handle:%u, ret_code:%u, error_key:%u",
+      status, handle, response->ret_code, response->error_key);
+
+  if (response->ret_code == 0 && response->error_key == 0) {
+    LivoxLidarRequestReboot(handle, RebootCallback, nullptr);
+  }
+}
+
+void QueryInternalInfoCallback(livox_status status, uint32_t handle, 
+    LivoxLidarDiagInternalInfoResponse* response, void* client_data) {
+  if (status != kLivoxLidarStatusSuccess) {
+    printf("Query lidar internal info failed.\n");
+    QueryLivoxLidarInternalInfo(handle, QueryInternalInfoCallback, nullptr);
+    return;
+  }
+
+  if (response == nullptr) {
+    return;
+  }
+
+  uint8_t host_point_ipaddr[4] {0};
+  uint16_t host_point_port = 0;
+  uint16_t lidar_point_port = 0;
+
+  uint8_t host_imu_ipaddr[4] {0};
+  uint16_t host_imu_data_port = 0;
+  uint16_t lidar_imu_data_port = 0;
+
+  uint16_t off = 0;
+  for (uint8_t i = 0; i < response->param_num; ++i) {
+    LivoxLidarKeyValueParam* kv = (LivoxLidarKeyValueParam*)&response->data[off];
+    if (kv->key == kKeyLidarPointDataHostIpCfg) {
+      memcpy(host_point_ipaddr, &(kv->value[0]), sizeof(uint8_t) * 4);
+      memcpy(&(host_point_port), &(kv->value[4]), sizeof(uint16_t));
+      memcpy(&(lidar_point_port), &(kv->value[6]), sizeof(uint16_t));
+    } else if (kv->key == kKeyLidarImuHostIpCfg) {
+      memcpy(host_imu_ipaddr, &(kv->value[0]), sizeof(uint8_t) * 4);
+      memcpy(&(host_imu_data_port), &(kv->value[4]), sizeof(uint16_t));
+      memcpy(&(lidar_imu_data_port), &(kv->value[6]), sizeof(uint16_t));
+    }
+    off += sizeof(uint16_t) * 2;
+    off += kv->length;
+  }
+
+  printf("Host point cloud ip addr:%u.%u.%u.%u, host point cloud port:%u, lidar point cloud port:%u.\n",
+      host_point_ipaddr[0], host_point_ipaddr[1], host_point_ipaddr[2], host_point_ipaddr[3], host_point_port, lidar_point_port);
+
+  printf("Host imu ip addr:%u.%u.%u.%u, host imu port:%u, lidar imu port:%u.\n",
+    host_imu_ipaddr[0], host_imu_ipaddr[1], host_imu_ipaddr[2], host_imu_ipaddr[3], host_imu_data_port, lidar_imu_data_port);
+
+}
+
+void LidarInfoChangeCallback(const uint32_t handle, const LivoxLidarInfo* info, void* client_data) {
+  if (info == nullptr) {
+    printf("lidar info change callback failed, the info is nullptr.\n");
+    return;
+  } 
+  printf("LidarInfoChangeCallback Lidar handle: %u SN: %s\n", handle, info->sn);
+
+  // set lidar esc mode
+  SetLivoxLidarEscMode(handle, kLivoxEscSpeedSlow, EscModeSetCallback, nullptr);
+  
+  // set the work mode to kLivoxLidarNormal, namely start the lidar
+  SetLivoxLidarWorkMode(handle, kLivoxLidarNormal, WorkModeCallback, nullptr);
+
+  QueryLivoxLidarInternalInfo(handle, QueryInternalInfoCallback, nullptr);
+
+  // LivoxLidarIpInfo lidar_ip_info;
+  // strcpy(lidar_ip_info.ip_addr, "192.168.1.10");
+  // strcpy(lidar_ip_info.net_mask, "255.255.255.0");
+  // strcpy(lidar_ip_info.gw_addr, "192.168.1.1");
+  // SetLivoxLidarLidarIp(handle, &lidar_ip_info, SetIpInfoCallback, nullptr);
+}
+
+void LivoxLidarPushMsgCallback(const uint32_t handle, const uint8_t dev_type, const char* info, void* client_data) {
+  struct in_addr tmp_addr;
+  tmp_addr.s_addr = handle;  
+  std::cout << "handle: " << handle << ", ip: " << inet_ntoa(tmp_addr) << ", push msg info: " << std::endl;
+  std::cout << info << std::endl;
+  return;
+}
+
+int main(int argc, const char *argv[]) {
+  if (argc != 2) {
+    printf("Params Invalid, must input config path.\n");
+    return -1;
+  }
+  const std::string path = argv[1];
+
+  // REQUIRED, to init Livox SDK2
+  if (!LivoxLidarSdkInit(path.c_str())) {
+    printf("Livox Init Failed\n");
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+  
+  // REQUIRED, to get point cloud data via 'PointCloudCallback'
+  SetLivoxLidarPointCloudCallBack(PointCloudCallback, nullptr);
+  
+  // OPTIONAL, to get imu data via 'ImuDataCallback'
+  // some lidar types DO NOT contain an imu component
+  SetLivoxLidarImuDataCallback(ImuDataCallback, nullptr);
+  
+  SetLivoxLidarInfoCallback(LivoxLidarPushMsgCallback, nullptr);
+  
+  // REQUIRED, to get a handle to targeted lidar and set its work mode to NORMAL
+  SetLivoxLidarInfoChangeCallback(LidarInfoChangeCallback, nullptr);
+
+#ifdef WIN32
+  Sleep(300000);
+#else
+  sleep(300);
+#endif
+  LivoxLidarSdkUninit();
+  printf("Livox Quick Start Demo End!\n");
+  return 0;
+}