1000 lines
45 KiB
C
Executable File
1000 lines
45 KiB
C
Executable File
//
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// The MIT License (MIT)
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//
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// Copyright (c) 2019 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in
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// all copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef LIVOX_SDK_H_
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#define LIVOX_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_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 GetLivoxSdkVersion(LivoxSdkVersion *version);
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/**
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* Disable console log output.
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*/
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void DisableConsoleLogger();
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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 Init();
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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 Start();
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/**
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* Uninitialize the SDK.
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*/
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void Uninit();
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/**
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* Save the log file.
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*/
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void SaveLoggerFile();
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/**
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* @c SetBroadcastCallback response callback function.
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* @param info information of the broadcast device, becomes invalid after the function returns.
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*/
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typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);
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/**
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* Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb
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* is called.
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* @param cb callback for device broadcast.
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*/
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void SetBroadcastCallback(DeviceBroadcastCallback cb);
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/**
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* @c SetDeviceStateUpdateCallback response callback function.
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* @param device information of the connected device.
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* @param type the update type that indicates connection/disconnection of the device or change of working state.
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*/
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typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);
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/**
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* @brief Add a callback for device connection or working state changing event.
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* @note Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to
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* the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by
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* this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If
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* you want to get information of the LiDAR unit(s) connected to hub, see \ref HubQueryLidarInformation.
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* @note 3 conditions can trigger this callback:
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* 1. Connection and disconnection of device.
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* 2. A change of device working state.
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* 3. An error occurs.
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* @param cb callback for device connection/disconnection.
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*/
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void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
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/**
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* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
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* broadcast code is unique for every device.
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* @param broadcast_code device's broadcast code.
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* @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
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* the corresponding handle is (slot-1)*3+id-1.
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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 AddHubToConnect(const char *broadcast_code, uint8_t *handle);
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/**
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* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
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* broadcast code is unique for every device.
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* @param broadcast_code device's broadcast code.
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* @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
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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 AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
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/**
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* Get all connected devices' information.
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* @param devices list of connected devices' information.
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* @param size number of devices connected.
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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 GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
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/**
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* Function type of callback that queries device's information.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*DeviceInformationCallback)(livox_status status,
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uint8_t handle,
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DeviceInformationResponse *response,
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void *client_data);
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/**
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* Command to query device's information.
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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 QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
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/**
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* Callback function for receiving point cloud data.
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* @param handle device handle.
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* @param data device's data.
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* @param data_num number of points in data.
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* @param client_data user data associated with the command.
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*/
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typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data);
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/**
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* Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
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* cloud data callback before beginning sampling.
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* @param handle device handle.
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* @param cb callback to receive point cloud data.
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* @note 1: Don't do any blocking operations in callback function, it will affects further data's receiving;
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* 2: For different device handle, callback to receive point cloud data will run on its own thread. If you bind
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* different handle to same callback function, please make sure that operations in callback function are thread-safe;
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* 3: callback function's data pointer will be invalid after callback fuction returns. It's recommended to
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* copy all data_num of point cloud every time callback is triggered.
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* @param client_data user data associated with the command.
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*/
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void SetDataCallback(uint8_t handle, DataCallback cb, void *client_data);
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/**
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* Function type of callback with 1 byte of response.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*CommonCommandCallback)(livox_status status, uint8_t handle, uint8_t response, void *client_data);
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/**
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* Start hub sampling.
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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 HubStartSampling(CommonCommandCallback cb, void *client_data);
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/**
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* Stop the Livox Hub's sampling.
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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 HubStopSampling(CommonCommandCallback cb, void *client_data);
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/**
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* Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
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* @param slot Livox Hub's slot.
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* @param id Livox Hub's id.
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* @return LiDAR unit handle.
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*/
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uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
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/**
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* Disconnect divice.
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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 DisconnectDevice(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Change point cloud coordinate system to cartesian coordinate.
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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 SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Change point cloud coordinate system to spherical coordinate.
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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 SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
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/**
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* Callback of the error status message.
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* kStatusSuccess on successful return, see \ref LivoxStatus for other
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* @param handle device handle.
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* @param response response from the device.
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*/
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typedef void (*ErrorMessageCallback)(livox_status status, uint8_t handle, ErrorMessage *message);
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/**
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* Add error status callback for the device.
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* error code.
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* @param handle device handle.
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* @param cb callback for 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 SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
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/**
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* Set device's IP mode.
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* @note \ref SetStaticDynamicIP only supports setting Hub or Mid40/100's IP mode.
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* If you want to set Horizon or Tele's IP mode, see \ref SetStaticIp and \ref SetDynamicIp.
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* @param handle device handle.
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* @param req request sent to device.
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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 SetStaticDynamicIP(uint8_t handle,
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SetDeviceIPModeRequest *req,
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CommonCommandCallback cb,
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void *client_data);
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/**
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* Set device's static IP mode.
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* @note Mid40/100 is not supported to set subnet mask and gateway address.
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* \ref SetStaticDeviceIpModeRequest's setting: net_mask and gw_addr will not take effect on Mid40/100.
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* @param handle device handle.
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* @param req request sent to device.
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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 SetStaticIp(uint8_t handle,
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SetStaticDeviceIpModeRequest *req,
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CommonCommandCallback cb,
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void *client_data);
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/**
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* Set device's dynamic IP mode.
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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 SetDynamicIp(uint8_t handle,
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CommonCommandCallback cb,
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void *client_data);
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/**
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* Callback function that gets device's IP information.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*GetDeviceIpInformationCallback)(livox_status status,
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uint8_t handle,
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GetDeviceIpModeResponse *response,
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void *client_data);
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/**
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* Get device's IP mode.
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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 GetDeviceIpInformation(uint8_t handle, GetDeviceIpInformationCallback cb, void *client_data);
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/**
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* Reboot device.
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* @note \ref RebootDevice is not supported for Mid40/100 firmware version < 03.07.0000.
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* @param handle device handle.
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* @param timeout reboot device after [timeout] ms.
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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 RebootDevice(uint8_t handle, uint16_t timeout, CommonCommandCallback cb, void * client_data);
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/**
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* @c SetDeviceParameters' response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*SetDeviceParametersCallback)(livox_status status,
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uint8_t handle,
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DeviceParameterResponse *response,
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void *client_data);
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/**
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* LiDAR Enable HighSensitivity.
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* @note \ref LidarEnableHighSensitivity only support for Tele/Avia.
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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 LidarEnableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
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/**
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* LiDAR Disable HighSensitivity.
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* @note \ref LidarDisableHighSensitivity only support for Tele/Avia.
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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 LidarDisableHighSensitivity(uint8_t handle, SetDeviceParametersCallback cb, void *client_data);
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/**
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* @c GetDeviceParameters' response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*GetDeviceParametersCallback)(livox_status status,
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uint8_t handle,
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GetDeviceParameterResponse *response,
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void *client_data);
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/**
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* LiDAR Get HighSensitivity State.
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* @note \ref LidarGetHighSensitivityState only support for Tele/Avia.
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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 LidarGetHighSensitivityState(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
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/**
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* LiDAR Set Scan Pattern.
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* @note \ref LidarSetScanPattern only support for Avia.
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* @param handle device handle.
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* @param pattern scan pattern of LiDAR, see \ref LidarScanPattern for detail.
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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 LidarSetScanPattern(uint8_t handle, LidarScanPattern pattern, SetDeviceParametersCallback cb, void *client_data);
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/**
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* LiDAR Get Scan Pattern.
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* @note \ref LidarGetScanPattern only support for Avia.
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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 LidarGetScanPattern(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
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/**
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* LiDAR Set Slot Number.
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* @note \ref LidarSetSlotNum only support for Mid70/Avia.
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* @param handle device handle.
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* @param slot slot number of LiDAR, range from 1 to 9.
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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 LidarSetSlotNum(uint8_t handle, uint8_t slot, SetDeviceParametersCallback cb, void *client_data);
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/**
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* LiDAR Get Slot Number.
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* @note \ref LidarGetSlotNum only support for Mid70/Avia.
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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 LidarGetSlotNum(uint8_t handle, GetDeviceParametersCallback cb, void *client_data);
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/**
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* @c DeviceResetParameters' response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*DeviceResetParametersCallback)(livox_status status,
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uint8_t handle,
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DeviceParameterResponse *response,
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void *client_data);
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/**
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* Reset LiDAR/Hub's All Parameters, see \ref DeviceParamKeyName for all parameters.
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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 DeviceResetAllParameters(uint8_t handle, DeviceResetParametersCallback cb, void *client_data);
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/**
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* Reset LiDAR/Hub's Parameters, see \ref DeviceParamKeyName for all parameters.
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* @param handle device handle.
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* @param keys keys to reset, see \ref DeviceParamKeyName for all parameters.
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* @param num num of keys to reset.
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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 DeviceResetParameters(uint8_t handle, DeviceParamKeyName * keys, uint8_t num, DeviceResetParametersCallback cb, void *client_data);
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/**
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* @c HubQueryLidarInformation response callback function.
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* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
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* error code.
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* @param handle device handle.
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* @param response response from the device.
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* @param client_data user data associated with the command.
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*/
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typedef void (*HubQueryLidarInformationCallback)(livox_status status,
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uint8_t handle,
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HubQueryLidarInformationResponse *response,
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void *client_data);
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/**
|
|
* Query the information of LiDARs connected to the hub.
|
|
* @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 HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c HubSetMode response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubSetModeCallback)(livox_status status, uint8_t handle, HubSetModeResponse *response, void *client_data);
|
|
|
|
/**
|
|
* Set the mode of LiDAR unit connected to the Livox Hub.
|
|
* @param req mode configuration of LiDAR units.
|
|
* @param length length of req.
|
|
* @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 HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c HubQueryLidarStatus response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubQueryLidarStatusCallback)(livox_status status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
|
|
|
|
/**
|
|
* Get the state of LiDAR units connected to the Livox Hub.
|
|
* @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 HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Toggle the power supply of designated slots.
|
|
* @param req request whether to enable or disable the power of designated slots.
|
|
* @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 HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c HubSetExtrinsicParameter response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubSetExtrinsicParameterCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubSetExtrinsicParameterResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Set extrinsic parameters of LiDAR units connected to the Livox Hub.
|
|
* @param req the parameters to write.
|
|
* @param length the request's 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 code.
|
|
*/
|
|
livox_status HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
|
|
uint16_t length,
|
|
HubSetExtrinsicParameterCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c HubGetExtrinsicParameter response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubGetExtrinsicParameterCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubGetExtrinsicParameterResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get extrinsic parameters of LiDAR units connected to the Livox Hub.
|
|
* @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 HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Turn on or off the calculation of extrinsic parameters.
|
|
* @param enable the request whether enable or disable calculating the extrinsic parameters.
|
|
* @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 HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c HubRainFogSuppress response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubRainFogSuppressCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubRainFogSuppressResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Toggling the rain and fog mode for lidars connected to the hub.
|
|
* @param req the request whether open or close the rain and fog mode.
|
|
* @param length the request's 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 code.
|
|
*/
|
|
livox_status HubRainFogSuppress(HubRainFogSuppressRequest *req,
|
|
uint16_t length,
|
|
HubRainFogSuppressCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c HubQuerySlotPowerStatus response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void(*HubQuerySlotPowerStatusCallback)(livox_status status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data);
|
|
|
|
/**
|
|
* Get the power supply state of each hub slot.
|
|
* @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 HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c HubFanControl response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubFanControlCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubFanControlResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Turn on or off the fan of LiDAR unit connected to the Livox Hub.
|
|
* @param req Fan control of LiDAR units.
|
|
* @param length length of req.
|
|
* @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 HubFanControl(HubFanControlRequest *req, uint16_t length, HubFanControlCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c HubGetFanControl response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubGetFanStateCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubGetFanStateResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get fan state of LiDAR unit connected to the Livox Hub.
|
|
* @param req Get fan state of LiDAR units.
|
|
* @param length length of req.
|
|
* @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 HubGetFanState(HubGetFanStateRequest *req,
|
|
uint16_t length,
|
|
HubGetFanStateCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c HubSetPointCloudReturnMode response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubSetPointCloudReturnModeCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubSetPointCloudReturnModeResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Set point cloud return mode of LiDAR units connected to the Livox Hub.
|
|
* @param req set point cloud return mode of LiDAR units.
|
|
* @param length the request's 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 code.
|
|
*/
|
|
livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
|
|
uint16_t length,
|
|
HubSetPointCloudReturnModeCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c HubGetPointCloudReturnMode response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubGetPointCloudReturnModeCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubGetPointCloudReturnModeResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get point cloud return mode of LiDAR unit connected to the Livox Hub.
|
|
* @param req Get point cloud return mode of LiDAR units.
|
|
* @param length length of req.
|
|
* @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 HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
|
|
uint16_t length,
|
|
HubGetPointCloudReturnModeCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c HubSetImuPushFrequency response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubSetImuPushFrequencyCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubSetImuPushFrequencyResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Set IMU push frequency of LiDAR units connected to the Livox Hub.
|
|
* @param req set IMU push frequency of LiDAR units.
|
|
* @param length the request's 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 code.
|
|
*/
|
|
livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
|
|
uint16_t length,
|
|
HubSetImuPushFrequencyCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c HubGetImuPushFrequency response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*HubGetImuPushFrequencyCallback)(livox_status status,
|
|
uint8_t handle,
|
|
HubGetImuPushFrequencyResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get IMU push frequency of LiDAR units connected to the Livox Hub.
|
|
* @param req get IMU push frequency of LiDAR units.
|
|
* @param length the request's 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 code.
|
|
*/
|
|
livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
|
|
uint16_t length,
|
|
HubGetImuPushFrequencyCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Start LiDAR sampling.
|
|
* @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 LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Stop LiDAR sampling.
|
|
* @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 LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Set LiDAR mode.
|
|
* @note Successful callback function status only means LiDAR successfully starting the changing process of mode.
|
|
* You need to observe the actually change of mode in DeviceStateUpdateCallback function.
|
|
* @param handle device handle.
|
|
* @param mode the mode to change.
|
|
* @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 LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Set LiDAR extrinsic parameters.
|
|
* @param handle device handle.
|
|
* @param req the parameters to write.
|
|
* @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 LidarSetExtrinsicParameter(uint8_t handle,
|
|
LidarSetExtrinsicParameterRequest *req,
|
|
CommonCommandCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* @c LidarGetExtrinsicParameter response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*LidarGetExtrinsicParameterCallback)(livox_status status,
|
|
uint8_t handle,
|
|
LidarGetExtrinsicParameterResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get LiDAR extrinsic parameters.
|
|
* @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 LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Enable and disable the rain/fog suppression.
|
|
* @note \ref LidarRainFogSuppress only support for Mid40/100.
|
|
* @param handle device handle.
|
|
* @param enable enable and disable the rain/fog suppression.
|
|
* @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 LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Turn off the fan.
|
|
* @note \ref LidarTurnOffFan is not supported for Mid40/100.
|
|
* @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 LidarTurnOffFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* Turn on the fan.
|
|
* @note \ref LidarTurnOnFan is not supported for Mid40/100.
|
|
* @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 LidarTurnOnFan(uint8_t handle, CommonCommandCallback cb, void *client_data);
|
|
|
|
/**
|
|
* @c LidarGetFanState response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*LidarGetFanStateCallback)(livox_status status,
|
|
uint8_t handle,
|
|
LidarGetFanStateResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get state of the fan.
|
|
* @note \ref LidarGetFanState is not supported for Mid40/100.
|
|
* @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 LidarGetFanState(uint8_t handle, LidarGetFanStateCallback cb, void * client_data) ;
|
|
|
|
/**
|
|
* Set point cloud return mode.
|
|
* @note \ref LidarSetPointCloudReturnMode is not supported for Mid40/100.
|
|
* @param handle device handle.
|
|
* @param mode point cloud return mode.
|
|
* @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 LidarSetPointCloudReturnMode(uint8_t handle, PointCloudReturnMode mode, CommonCommandCallback cb, void * client_data);
|
|
|
|
/**
|
|
* @c LidaGetPointCloudReturnMode response callback function.
|
|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
|
|
typedef void (*LidarGetPointCloudReturnModeCallback)(livox_status status,
|
|
uint8_t handle,
|
|
LidarGetPointCloudReturnModeResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get point cloud return mode.
|
|
* @note \ref LidarGetPointCloudReturnMode is not supported for Mid40/100.
|
|
* @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 LidarGetPointCloudReturnMode(uint8_t handle, LidarGetPointCloudReturnModeCallback cb, void * client_data);
|
|
|
|
/**
|
|
* Set IMU push frequency.
|
|
* @note \ref LidarSetImuPushFrequency is not supported for Mid40/100.
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* @param handle device handle.
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* @param freq IMU push frequency.
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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 LidarSetImuPushFrequency(uint8_t handle, ImuFreq freq, CommonCommandCallback cb, void * client_data);
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|
|
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/**
|
|
* @c LidaGetImuPushFrequency response callback function.
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|
* @param status kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref LivoxStatus for other
|
|
* error code.
|
|
* @param handle device handle.
|
|
* @param response response from the device.
|
|
* @param client_data user data associated with the command.
|
|
*/
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|
typedef void (*LidarGetImuPushFrequencyCallback)(livox_status status,
|
|
uint8_t handle,
|
|
LidarGetImuPushFrequencyResponse *response,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Get IMU push frequency.
|
|
* @note \ref LidarGetImuPushFrequency is not supported for Mid40/100.
|
|
* @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 LidarGetImuPushFrequency(uint8_t handle, LidarGetImuPushFrequencyCallback cb, void * client_data);
|
|
|
|
/**
|
|
* Set GPRMC formate synchronization time.
|
|
* @note \ref LidarSetRmcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
|
|
* @param handle device handle.
|
|
* @param rmc GPRMC/GNRMC format data.
|
|
* @param rmc_length lenth of gprmc.
|
|
* @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 LidarSetRmcSyncTime(uint8_t handle,
|
|
const char* rmc,
|
|
uint16_t rmc_length,
|
|
CommonCommandCallback cb,
|
|
void *client_data);
|
|
|
|
/**
|
|
* Set UTC formate synchronization time.
|
|
* @note \ref LidarSetUtcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.
|
|
* @param handle device handle.
|
|
* @param req UTC format data.
|
|
* @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 LidarSetUtcSyncTime(uint8_t handle,
|
|
LidarSetUtcSyncTimeRequest* req,
|
|
CommonCommandCallback cb,
|
|
void *client_data);
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif
|
|
|
|
#endif // LIVOX_SDK_H_
|