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image_framework_ymj/include/Livox/livox_def.h

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2024-12-06 16:25:16 +08:00
//
// The MIT License (MIT)
//
// Copyright (c) 2019 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_DEF_H_
#define LIVOX_DEF_H_
#include <stdint.h>
#define kMaxLidarCount 32
/** Device type. */
typedef enum {
kDeviceTypeHub = 0, /**< Livox Hub. */
kDeviceTypeLidarMid40 = 1, /**< Mid-40. */
kDeviceTypeLidarTele = 2, /**< Tele. */
kDeviceTypeLidarHorizon = 3, /**< Horizon. */
kDeviceTypeLidarMid70 = 6, /**< Livox Mid-70. */
kDeviceTypeLidarAvia = 7 /**< Avia. */
} DeviceType;
/** Lidar state. */
typedef enum {
kLidarStateInit = 0, /**< Initialization state. */
kLidarStateNormal = 1, /**< Normal work state. */
kLidarStatePowerSaving = 2, /**< Power-saving state. */
kLidarStateStandBy = 3, /**< Standby state. */
kLidarStateError = 4, /**< Error state. */
kLidarStateUnknown = 5 /**< Unknown state. */
} LidarState;
/** Lidar mode. */
typedef enum {
kLidarModeNormal = 1, /**< Normal mode. */
kLidarModePowerSaving = 2, /**< Power-saving mode. */
kLidarModeStandby = 3 /**< Standby mode. */
} LidarMode;
/** Lidar feature. */
typedef enum {
kLidarFeatureNone = 0, /**< No feature. */
kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
} LidarFeature;
/** Lidar IP mode. */
typedef enum {
kLidarDynamicIpMode = 0, /**< Dynamic IP. */
kLidarStaticIpMode = 1 /**< Static IP. */
} LidarIpMode;
/** Lidar Scan Pattern. */
typedef enum {
kNoneRepetitiveScanPattern = 0, /**< None Repetitive Scan Pattern. */
kRepetitiveScanPattern = 1, /**< Repetitive Scan Pattern. */
} LidarScanPattern;
/** Function return value definition. */
typedef enum {
kStatusSendFailed = -9, /**< Command send failed. */
kStatusHandlerImplNotExist = -8, /**< Handler implementation not exist. */
kStatusInvalidHandle = -7, /**< Device handle invalid. */
kStatusChannelNotExist = -6, /**< Command channel not exist. */
kStatusNotEnoughMemory = -5, /**< No enough memory. */
kStatusTimeout = -4, /**< Operation timeouts. */
kStatusNotSupported = -3, /**< Operation is not supported on this device. */
kStatusNotConnected = -2, /**< Requested device is not connected. */
kStatusFailure = -1, /**< Failure. */
kStatusSuccess = 0 /**< Success. */
} LivoxStatus;
/** Fuction return value defination, refer to \ref LivoxStatus. */
typedef int32_t livox_status;
/** Device update type, indicating the change of device connection or working state. */
typedef enum {
kEventConnect = 0, /**< Device is connected. */
kEventDisconnect = 1, /**< Device is removed. */
kEventStateChange = 2, /**< Device working state changes or an error occurs. */
kEventHubConnectionChange = 3 /**< Hub is connected or LiDAR unit(s) is/are removed. */
} DeviceEvent;
/** Timestamp sync mode define. */
typedef enum {
kTimestampTypeNoSync = 0, /**< No sync signal mode. */
kTimestampTypePtp = 1, /**< 1588v2.0 PTP sync mode. */
kTimestampTypeRsvd = 2, /**< Reserved use. */
kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
kTimestampTypePps = 4, /**< pps only sync mode. */
kTimestampTypeUnknown = 5 /**< Unknown mode. */
} TimestampType;
/** Point data type. */
typedef enum {
kCartesian, /**< Cartesian coordinate point cloud. */
kSpherical, /**< Spherical coordinate point cloud. */
kExtendCartesian, /**< Extend cartesian coordinate point cloud. */
kExtendSpherical, /**< Extend spherical coordinate point cloud. */
kDualExtendCartesian, /**< Dual extend cartesian coordinate point cloud. */
kDualExtendSpherical, /**< Dual extend spherical coordinate point cloud. */
kImu, /**< IMU data. */
kTripleExtendCartesian, /**< Triple extend cartesian coordinate point cloud. */
kTripleExtendSpherical, /**< Triple extend spherical coordinate point cloud. */
kMaxPointDataType /**< Max Point Data Type. */
} PointDataType;
/** Point cloud return mode. */
typedef enum {
kFirstReturn, /**< First single return mode . */
kStrongestReturn, /**< Strongest single return mode. */
kDualReturn, /**< Dual return mode. */
kTripleReturn, /**< Triple return mode. */
} PointCloudReturnMode;
/** IMU push frequency. */
typedef enum {
kImuFreq0Hz, /**< IMU push closed. */
kImuFreq200Hz, /**< IMU push frequency 200Hz. */
} ImuFreq;
#pragma pack(1)
#define LIVOX_SDK_MAJOR_VERSION 2
#define LIVOX_SDK_MINOR_VERSION 3
#define LIVOX_SDK_PATCH_VERSION 0
#define kBroadcastCodeSize 16
/** The numeric version information struct. */
typedef struct {
int major; /**< major number */
int minor; /**< minor number */
int patch; /**< patch number */
} LivoxSdkVersion;
/** Cartesian coordinate format. */
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 */
} LivoxRawPoint;
/** Spherical coordinate format. */
typedef struct {
uint32_t depth; /**< Depth, Unit: mm */
uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
uint8_t reflectivity; /**< Reflectivity */
} LivoxSpherPoint;
/** Standard point cloud format */
typedef struct {
float x; /**< X axis, Unit:m */
float y; /**< Y axis, Unit:m */
float z; /**< Z axis, Unit:m */
uint8_t reflectivity; /**< Reflectivity */
} LivoxPoint;
/** Extend cartesian coordinate format. */
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 */
} LivoxExtendRawPoint;
/** Extend spherical coordinate format. */
typedef struct {
uint32_t depth; /**< Depth, Unit: mm */
uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
uint8_t reflectivity; /**< Reflectivity */
uint8_t tag; /**< Tag */
} LivoxExtendSpherPoint;
/** Dual extend cartesian coordinate format. */
typedef struct {
int32_t x1; /**< X axis, Unit:mm */
int32_t y1; /**< Y axis, Unit:mm */
int32_t z1; /**< Z axis, Unit:mm */
uint8_t reflectivity1; /**< Reflectivity */
uint8_t tag1; /**< Tag */
int32_t x2; /**< X axis, Unit:mm */
int32_t y2; /**< Y axis, Unit:mm */
int32_t z2; /**< Z axis, Unit:mm */
uint8_t reflectivity2; /**< Reflectivity */
uint8_t tag2; /**< Tag */
} LivoxDualExtendRawPoint;
/** Dual extend spherical coordinate format. */
typedef struct {
uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
uint32_t depth1; /**< Depth, Unit: mm */
uint8_t reflectivity1; /**< Reflectivity */
uint8_t tag1; /**< Tag */
uint32_t depth2; /**< Depth, Unit: mm */
uint8_t reflectivity2; /**< Reflectivity */
uint8_t tag2; /**< Tag */
} LivoxDualExtendSpherPoint;
/** Triple extend cartesian coordinate format. */
typedef struct {
int32_t x1; /**< X axis, Unit:mm */
int32_t y1; /**< Y axis, Unit:mm */
int32_t z1; /**< Z axis, Unit:mm */
uint8_t reflectivity1; /**< Reflectivity */
uint8_t tag1; /**< Tag */
int32_t x2; /**< X axis, Unit:mm */
int32_t y2; /**< Y axis, Unit:mm */
int32_t z2; /**< Z axis, Unit:mm */
uint8_t reflectivity2; /**< Reflectivity */
uint8_t tag2; /**< Tag */
int32_t x3; /**< X axis, Unit:mm */
int32_t y3; /**< Y axis, Unit:mm */
int32_t z3; /**< Z axis, Unit:mm */
uint8_t reflectivity3; /**< Reflectivity */
uint8_t tag3; /**< Tag */
} LivoxTripleExtendRawPoint;
/** Triple extend spherical coordinate format. */
typedef struct {
uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
uint32_t depth1; /**< Depth, Unit: mm */
uint8_t reflectivity1; /**< Reflectivity */
uint8_t tag1; /**< Tag */
uint32_t depth2; /**< Depth, Unit: mm */
uint8_t reflectivity2; /**< Reflectivity */
uint8_t tag2; /**< Tag */
uint32_t depth3; /**< Depth, Unit: mm */
uint8_t reflectivity3; /**< Reflectivity */
uint8_t tag3; /**< Tag */
} LivoxTripleExtendSpherPoint;
/** IMU data format. */
typedef struct {
float gyro_x; /**< Gyroscope X axis, Unit:rad/s */
float gyro_y; /**< Gyroscope Y axis, Unit:rad/s */
float gyro_z; /**< Gyroscope Z axis, Unit:rad/s */
float acc_x; /**< Accelerometer X axis, Unit:g */
float acc_y; /**< Accelerometer Y axis, Unit:g */
float acc_z; /**< Accelerometer Z axis, Unit:g */
} LivoxImuPoint;
/** LiDAR error code. */
typedef struct {
uint32_t temp_status : 2; /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
uint32_t volt_status : 2; /**< 0: Voltage in Normal State. 1: High. 2: Extremely High. */
uint32_t motor_status : 2; /**< 0: Motor in Normal State. 1: Motor in Warning State. 2:Motor in Error State, Unable to Work. */
uint32_t dirty_warn : 2; /**< 0: Not Dirty or Blocked. 1: Dirty or Blocked. */
uint32_t firmware_err : 1; /**< 0: Firmware is OK. 1: Firmware is Abnormal, Need to be Upgraded. */
uint32_t pps_status : 1; /**< 0: No PPS Signal. 1: PPS Signal is OK. */
uint32_t device_status : 1; /**< 0: Normal. 1: Warning for Approaching the End of Service Life. */
uint32_t fan_status : 1; /**< 0: Fan in Normal State. 1: Fan in Warning State. */
uint32_t self_heating : 1; /**< 0: Normal. 1: Low Temperature Self Heating On. */
uint32_t ptp_status : 1; /**< 0: No 1588 Signal. 1: 1588 Signal is OK. */
/** 0: System dose not start time synchronization.
* 1: Using PTP 1588 synchronization.
* 2: Using GPS synchronization.
* 3: Using PPS synchronization.
* 4: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
*/
uint32_t time_sync_status : 3;
uint32_t rsvd : 13; /**< Reserved. */
uint32_t system_status : 2; /**< 0: Normal. 1: Warning. 2: Error. */
} LidarErrorCode;
/** Hub error code. */
typedef struct {
/** 0: No synchronization signal.
* 1: 1588 synchronization.
* 2: GPS synchronization.
* 3: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
*/
uint32_t sync_status : 2;
uint32_t temp_status : 2; /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
uint32_t lidar_status : 1; /**< 0: LiDAR State is Normal. 1: LiDAR State is Abnormal. */
uint32_t lidar_link_status : 1; /**< 0: LiDAR Connection is Normal. 1: LiDAR Connection is Abnormal. */
uint32_t firmware_err : 1; /**< 0: LiDAR Firmware is OK. 1: LiDAR Firmware is Abnormal, Need to be Upgraded. */
uint32_t rsvd : 23; /**< Reserved. */
uint32_t system_status : 2; /**< 0: Normal. 1: Warning. 2: Error. */
} HubErrorCode;
/**
* Device error message.
*/
typedef union {
uint32_t error_code; /**< Error code. */
LidarErrorCode lidar_error_code; /**< Lidar error code. */
HubErrorCode hub_error_code; /**< Hub error code. */
} ErrorMessage;
/** Point cloud packet. */
typedef struct {
uint8_t version; /**< Packet protocol version. */
uint8_t slot; /**< Slot number used for connecting LiDAR. */
uint8_t id; /**< LiDAR id. */
uint8_t rsvd; /**< Reserved. */
uint32_t err_code; /**< Device error status indicator information. */
uint8_t timestamp_type; /**< Timestamp type. */
/** Point cloud coordinate format, refer to \ref PointDataType . */
uint8_t data_type;
uint8_t timestamp[8]; /**< Nanosecond or UTC format timestamp. */
uint8_t data[1]; /**< Point cloud data. */
} LivoxEthPacket;
/** Information of LiDAR work state. */
typedef union {
uint32_t progress; /**< LiDAR work state switching progress. */
ErrorMessage status_code; /**< LiDAR work state status code. */
} StatusUnion;
/** Information of the connected LiDAR or hub. */
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
uint8_t handle; /**< Device handle. */
uint8_t slot; /**< Slot number used for connecting LiDAR. */
uint8_t id; /**< LiDAR id. */
uint8_t type; /**< Device type, refer to \ref DeviceType. */
uint16_t data_port; /**< Point cloud data UDP port. */
uint16_t cmd_port; /**< Control command UDP port. */
uint16_t sensor_port; /**< IMU data UDP port. */
char ip[16]; /**< IP address. */
LidarState state; /**< LiDAR state. */
LidarFeature feature; /**< LiDAR feature. */
StatusUnion status; /**< LiDAR work state status. */
uint8_t firmware_version[4]; /**< Firmware version. */
} DeviceInfo;
/** The information of broadcast device. */
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
uint16_t reserved; /**< Reserved. */
char ip[16]; /**< Device ip. */
} BroadcastDeviceInfo;
/** The information of LiDAR units that are connected to the Livox Hub. */
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
uint8_t version[4]; /**< Firmware version. */
uint8_t slot; /**< Slot number used for connecting LiDAR units. */
uint8_t id; /**< Device id. */
} ConnectedLidarInfo;
/** LiDAR mode configuration information. */
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
uint8_t state; /**< LiDAR state, refer to \ref LidarMode. */
} LidarModeRequestItem;
typedef struct {
uint8_t ret_code; /**< Return code. */
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
} ReturnCode;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
} DeviceBroadcastCode;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t feature; /**< Close or open the rain and fog feature. */
} RainFogSuppressRequestItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t state; /**< Fan state: 1 for turn on fan, 0 for turn off fan. */
} FanControlRequestItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
} GetFanStateRequestItem;
typedef struct {
uint8_t ret_code; /**< Return code. */
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t state; /**< Fan state: 1 for fan is on, 0 for fan is off. */
} GetFanStateResponseItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t mode; /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
} SetPointCloudReturnModeRequestItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
} GetPointCloudReturnModeRequestItem;
typedef struct {
uint8_t ret_code; /**< Return code. */
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t mode; /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
} GetPointCloudReturnModeResponseItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t freq; /**< IMU push frequency, refer to \ref ImuFreq. */
} SetImuPushFrequencyRequestItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
} GetImuPushFrequencyRequestItem;
typedef struct {
uint8_t ret_code; /**< Return code. */
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
uint8_t freq; /**< IMU push frequency, refer to \ref ImuFreq. */
} GetImuPushFrequencyResponseItem;
/** LiDAR configuration information. */
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
float roll; /**< Roll angle, unit: degree. */
float pitch; /**< Pitch angle, unit: degree. */
float yaw; /**< Yaw angle, unit: degree. */
int32_t x; /**< X translation, unit: mm. */
int32_t y; /**< Y translation, unit: mm. */
int32_t z; /**< Z translation, unit: mm. */
} ExtrinsicParameterRequestItem;
/** LiDAR extrinsic parameters. */
typedef struct {
uint8_t ret_code; /**< Return code. */
char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
float roll; /**< Roll angle, unit: degree. */
float pitch; /**< Pitch angle, unit: degree. */
float yaw; /**< Yaw angle, unit: degree. */
int32_t x; /**< X translation, unit: mm. */
int32_t y; /**< Y translation, unit: mm. */
int32_t z; /**< Z translation, unit: mm. */
} ExtrinsicParameterResponseItem;
typedef struct {
char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
uint8_t state; /**< LiDAR state. */
uint8_t feature; /**< LiDAR feature. */
StatusUnion error_union; /**< LiDAR work state. */
} LidarStateItem;
/**
* The request body for the command of handshake.
*/
typedef struct {
uint32_t ip_addr; /**< IP address of the device. */
uint16_t data_port; /**< UDP port of the data connection. */
uint16_t cmd_port; /**< UDP port of the command connection. */
uint16_t sensor_port; /**< UDP port of the sensor connection. */
} HandshakeRequest;
/**
* The response body of querying device information.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t firmware_version[4]; /**< Firmware version. */
} DeviceInformationResponse;
/**
* The request body of the command for setting device's IP mode.
*/
typedef struct {
uint8_t ip_mode; /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
uint32_t ip_addr; /**< IP address. */
} SetDeviceIPModeRequest;
/**
* The response body of getting device's IP mode.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t ip_mode; /**< IP address mode: 0 for dynamic IP address, 1 for static IP address. */
uint32_t ip_addr; /**< IP address. */
uint32_t net_mask; /**< Subnet mask. */
uint32_t gw_addr; /**< Gateway address. */
} GetDeviceIpModeResponse;
/**
* The request body of the command for setting static device's IP mode.
*/
typedef struct {
uint32_t ip_addr; /**< IP address. */
uint32_t net_mask; /**< Subnet mask. */
uint32_t gw_addr; /**< Gateway address. */
} SetStaticDeviceIpModeRequest;
/**
* The body of heartbeat response.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t state; /**< Working state. */
uint8_t feature; /**< LiDAR feature. */
StatusUnion error_union; /**< LiDAR work state. */
} HeartbeatResponse;
/**
* The error code of Getting/Setting Device's Parameters.
*/
typedef enum {
kKeyNoError = 0, /**< No Error. */
kKeyNotSupported = 1, /**< The key is not supported. */
kKeyExecFailed = 2, /**< Execution failed. */
kKeyNotSupportedWritingState = 3, /**< The key cannot be written. */
kKeyValueError = 4, /**< Wrong value. */
kKeyValueLengthError = 5, /**< Wrong value length. */
kKeyNoEnoughMemory = 6, /**< Reading parameter length limit. */
kKeyLengthError = 7, /**< The number of parameters does not match. */
} KeyErrorCode;
/**
* The response body of setting device's parameter.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint16_t error_param_key; /**< Error Key. */
uint8_t error_code; /**< Error code, refer to \ref KeyErrorCode. */
} DeviceParameterResponse;
/**
* Keys of device's parameters.
*/
typedef enum {
kKeyDefault = 0, /**< Default key name. */
kKeyHighSensetivity = 1, /**< Key to get/set LiDAR' Sensetivity. */
kKeyScanPattern = 2, /**< Key to get/set LiDAR' ScanPattern. */
kKeySlotNum = 3, /**< Key to get/set LiDAR' Slot number. */
} DeviceParamKeyName;
/**
* Key and value of device's parameters.
*/
typedef struct {
uint16_t key; /*< Key, refer to \ref DeviceParamKeyName. */
uint16_t length; /*< Length of value */
uint8_t value[1]; /*< Value */
} KeyValueParam;
/**
* The response body of getting device's parameter.
*/
typedef struct {
DeviceParameterResponse rsp; /*< Return code. */
KeyValueParam kv; /*< Key and value of device's parameters. */
} GetDeviceParameterResponse;
/**
* The request body for the command of getting device's parameters.
*/
typedef struct {
uint8_t param_num; /*< Number of key. */
uint16_t key[1]; /*< Key, refer to \ref DeviceParamKeyName. */
} GetDeviceParameterRequest;
/**
* The request body for the command of resetting device's parameters.
*/
typedef struct {
uint8_t flag; /*< 0: for resetting all keys, 1: for resetting part of keys. */
uint8_t key_num; /*< number of keys to reset. */
uint16_t key[1]; /*< Keys to reset, refer to \ref DeviceParamKeyName. */
} ResetDeviceParameterRequest;
/**
* The request body for the command of setting Livox LiDAR's parameters.
*/
typedef struct {
float roll; /**< Roll angle, unit: degree. */
float pitch; /**< Pitch angle, unit: degree. */
float yaw; /**< Yaw angle, unit: degree. */
int32_t x; /**< X translation, unit: mm. */
int32_t y; /**< Y translation, unit: mm. */
int32_t z; /**< Z translation, unit: mm. */
} LidarSetExtrinsicParameterRequest;
/**
* The response body of getting Livox LiDAR's parameters.
*/
typedef struct {
uint8_t ret_code;
float roll; /**< Roll angle, unit: degree. */
float pitch; /**< Pitch angle, unit: degree. */
float yaw; /**< Yaw angle, unit: degree. */
int32_t x; /**< X translation, unit: mm. */
int32_t y; /**< Y translation, unit: mm. */
int32_t z; /**< Z translation, unit: mm. */
} LidarGetExtrinsicParameterResponse;
/**
* The response body of getting the Livox LiDAR's fan state.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t state; /**< Fan state: 1 for fan is on, 0 for fan is off. */
} LidarGetFanStateResponse;
/**
* The response body of getting the Livox LiDAR's point cloud return mode.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t mode; /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
} LidarGetPointCloudReturnModeResponse;
/**
* The response body of getting the Livox LiDAR's IMU push frequency.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t freq; /**< IMU push frequency, refer to \ref ImuFreq. */
} LidarGetImuPushFrequencyResponse;
/**
* The response body of setting the Livox LiDAR's Sync time.
*/
typedef struct {
uint8_t year;
uint8_t month;
uint8_t day;
uint8_t hour;
uint32_t microsecond;
} LidarSetUtcSyncTimeRequest;
/**
* The response body of querying the information of LiDAR units connected to the Livox Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of device_info_list. */
ConnectedLidarInfo device_info_list[1]; /**< Connected lidars information list. */
} HubQueryLidarInformationResponse;
/**
* The request body of setting Livox Hub's working mode.
*/
typedef struct {
uint8_t count; /**< Count of config_list. */
LidarModeRequestItem config_list[1]; /**< LiDAR mode configuration list. */
} HubSetModeRequest;
/**
* The response of setting Livox Hub's working mode.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of ret_state_list. */
ReturnCode ret_state_list[1]; /**< Return status list. */
} HubSetModeResponse;
/**
* The request body of toggling the power supply of the slot.
*/
typedef struct {
uint8_t slot; /**< Slot of the hub. */
uint8_t state; /**< Status of toggling the power supply. */
} HubControlSlotPowerRequest;
/**
* The request body of setting the Livox Hub's parameters.
*/
typedef struct {
uint8_t count; /**< Count of cfg_param_list. */
ExtrinsicParameterRequestItem parameter_list[1]; /**< Extrinsic parameter configuration list. */
} HubSetExtrinsicParameterRequest;
/**
* The response body of setting the Livox Hub's parameters.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of ret_code_list. */
ReturnCode ret_code_list[1]; /**< Return code list. */
} HubSetExtrinsicParameterResponse;
/**
* The request body of getting the Livox Hub's parameters.
*/
typedef struct {
uint8_t count; /**< Count of code_list. */
DeviceBroadcastCode code_list[1]; /**< Broadcast code list. */
} HubGetExtrinsicParameterRequest;
/**
* The response body of getting the Livox Hub's parameters.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of code_list. */
ExtrinsicParameterResponseItem parameter_list[1]; /**< Extrinsic parameter list. */
} HubGetExtrinsicParameterResponse;
/**
* The response body of getting sub LiDAR's state conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of state_list. */
LidarStateItem state_list[1]; /**< LiDAR units state list. */
} HubQueryLidarStatusResponse;
/**
* The request body of toggling the Livox Hub's rain and fog mode.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
RainFogSuppressRequestItem lidar_cfg_list[1]; /**< Rain fog suppress configuration list. */
} HubRainFogSuppressRequest;
/**
* The response body of toggling the Livox Hub's rain and fog mode.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of ret_state_list. */
ReturnCode ret_state_list[1]; /**< Return state list */
} HubRainFogSuppressResponse;
/**
* The response body of getting Hub slots' power state.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint16_t slot_power_state; /**< Slot power status. */
} HubQuerySlotPowerStatusResponse;
/**
* The request body of controlling the sub LiDAR's fan state conneted to Hub.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
FanControlRequestItem lidar_cfg_list[1]; /**< Fan control configuration list. */
} HubFanControlRequest;
/**
* The response body of controlling the sub LiDAR's fan state conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of return_list. */
ReturnCode return_list[1]; /**< Return list */
} HubFanControlResponse;
/**
* The request body of getting the sub LiDAR's fan state conneted to Hub.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
GetFanStateRequestItem lidar_cfg_list[1]; /**< Get Fan state list. */
} HubGetFanStateRequest;
/**
* The response body of getting the sub LiDAR's fan state conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of return_list. */
GetFanStateResponseItem return_list[1]; /**< Fan state list. */
} HubGetFanStateResponse;
/**
* The request body of setting point cloud return mode of sub LiDAR conneted to Hub.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
SetPointCloudReturnModeRequestItem lidar_cfg_list[1]; /**< Point cloud return mode configuration list. */
} HubSetPointCloudReturnModeRequest;
/**
* The response body of setting point cloud return mode of sub LiDAR conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of return_list. */
ReturnCode return_list[1]; /**< Return list. */
} HubSetPointCloudReturnModeResponse;
/**
* The request body of getting sub LiDAR's point cloud return mode conneted to Hub.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
GetPointCloudReturnModeRequestItem lidar_cfg_list[1]; /**< Get point cloud return mode list. */
} HubGetPointCloudReturnModeRequest;
/**
* The response body of getting sub LiDAR's point cloud return mode conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of return_list. */
GetPointCloudReturnModeResponseItem return_list[1]; /**< Point cloud return mode list. */
} HubGetPointCloudReturnModeResponse;
/**
* The request body of setting IMU push frequency of sub LiDAR conneted to Hub.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
SetImuPushFrequencyRequestItem lidar_cfg_list[1]; /**< IMU push frequency configuration list. */
} HubSetImuPushFrequencyRequest;
/**
* The response body of setting IMU push frequency of sub LiDAR conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of return_list. */
ReturnCode return_list[1]; /**< Return list. */
} HubSetImuPushFrequencyResponse;
/**
* The request body of getting sub LiDAR's IMU push frequency conneted to Hub.
*/
typedef struct {
uint8_t count; /**< Count of lidar_cfg_list. */
GetImuPushFrequencyRequestItem lidar_cfg_list[1]; /**< Get IMU push frequency list. */
} HubGetImuPushFrequencyRequest;
/**
* The response body of getting sub LiDAR's IMU push frequency conneted to Hub.
*/
typedef struct {
uint8_t ret_code; /**< Return code. */
uint8_t count; /**< Count of return_list. */
GetImuPushFrequencyResponseItem return_list[1]; /**< IMU push frequency list. */
} HubGetImuPushFrequencyResponse;
#pragma pack()
#endif // LIVOX_DEF_H_
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