856 lines
33 KiB
C
856 lines
33 KiB
C
//
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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_DEF_H_
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#define LIVOX_DEF_H_
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#include <stdint.h>
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#define kMaxLidarCount 32
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/** Device type. */
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typedef enum {
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kDeviceTypeHub = 0, /**< Livox Hub. */
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kDeviceTypeLidarMid40 = 1, /**< Mid-40. */
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kDeviceTypeLidarTele = 2, /**< Tele. */
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kDeviceTypeLidarHorizon = 3, /**< Horizon. */
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kDeviceTypeLidarMid70 = 6, /**< Livox Mid-70. */
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kDeviceTypeLidarAvia = 7 /**< Avia. */
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} DeviceType;
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/** Lidar state. */
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typedef enum {
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kLidarStateInit = 0, /**< Initialization state. */
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kLidarStateNormal = 1, /**< Normal work state. */
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kLidarStatePowerSaving = 2, /**< Power-saving state. */
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kLidarStateStandBy = 3, /**< Standby state. */
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kLidarStateError = 4, /**< Error state. */
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kLidarStateUnknown = 5 /**< Unknown state. */
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} LidarState;
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/** Lidar mode. */
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typedef enum {
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kLidarModeNormal = 1, /**< Normal mode. */
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kLidarModePowerSaving = 2, /**< Power-saving mode. */
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kLidarModeStandby = 3 /**< Standby mode. */
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} LidarMode;
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/** Lidar feature. */
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typedef enum {
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kLidarFeatureNone = 0, /**< No feature. */
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kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
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} LidarFeature;
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/** Lidar IP mode. */
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typedef enum {
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kLidarDynamicIpMode = 0, /**< Dynamic IP. */
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kLidarStaticIpMode = 1 /**< Static IP. */
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} LidarIpMode;
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/** Lidar Scan Pattern. */
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typedef enum {
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kNoneRepetitiveScanPattern = 0, /**< None Repetitive Scan Pattern. */
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kRepetitiveScanPattern = 1, /**< Repetitive Scan Pattern. */
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} LidarScanPattern;
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/** Function return value definition. */
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typedef enum {
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kStatusSendFailed = -9, /**< Command send failed. */
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kStatusHandlerImplNotExist = -8, /**< Handler implementation not exist. */
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kStatusInvalidHandle = -7, /**< Device handle invalid. */
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kStatusChannelNotExist = -6, /**< Command channel not exist. */
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kStatusNotEnoughMemory = -5, /**< No enough memory. */
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kStatusTimeout = -4, /**< Operation timeouts. */
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kStatusNotSupported = -3, /**< Operation is not supported on this device. */
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kStatusNotConnected = -2, /**< Requested device is not connected. */
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kStatusFailure = -1, /**< Failure. */
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kStatusSuccess = 0 /**< Success. */
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} LivoxStatus;
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/** Fuction return value defination, refer to \ref LivoxStatus. */
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typedef int32_t livox_status;
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/** Device update type, indicating the change of device connection or working state. */
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typedef enum {
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kEventConnect = 0, /**< Device is connected. */
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kEventDisconnect = 1, /**< Device is removed. */
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kEventStateChange = 2, /**< Device working state changes or an error occurs. */
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kEventHubConnectionChange = 3 /**< Hub is connected or LiDAR unit(s) is/are removed. */
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} DeviceEvent;
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/** Timestamp sync mode define. */
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typedef enum {
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kTimestampTypeNoSync = 0, /**< No sync signal mode. */
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kTimestampTypePtp = 1, /**< 1588v2.0 PTP sync mode. */
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kTimestampTypeRsvd = 2, /**< Reserved use. */
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kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
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kTimestampTypePps = 4, /**< pps only sync mode. */
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kTimestampTypeUnknown = 5 /**< Unknown mode. */
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} TimestampType;
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/** Point data type. */
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typedef enum {
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kCartesian, /**< Cartesian coordinate point cloud. */
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kSpherical, /**< Spherical coordinate point cloud. */
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kExtendCartesian, /**< Extend cartesian coordinate point cloud. */
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kExtendSpherical, /**< Extend spherical coordinate point cloud. */
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kDualExtendCartesian, /**< Dual extend cartesian coordinate point cloud. */
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kDualExtendSpherical, /**< Dual extend spherical coordinate point cloud. */
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kImu, /**< IMU data. */
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kTripleExtendCartesian, /**< Triple extend cartesian coordinate point cloud. */
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kTripleExtendSpherical, /**< Triple extend spherical coordinate point cloud. */
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kMaxPointDataType /**< Max Point Data Type. */
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} PointDataType;
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/** Point cloud return mode. */
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typedef enum {
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kFirstReturn, /**< First single return mode . */
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kStrongestReturn, /**< Strongest single return mode. */
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kDualReturn, /**< Dual return mode. */
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kTripleReturn, /**< Triple return mode. */
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} PointCloudReturnMode;
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/** IMU push frequency. */
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typedef enum {
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kImuFreq0Hz, /**< IMU push closed. */
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kImuFreq200Hz, /**< IMU push frequency 200Hz. */
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} ImuFreq;
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#pragma pack(1)
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#define LIVOX_SDK_MAJOR_VERSION 2
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#define LIVOX_SDK_MINOR_VERSION 3
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#define LIVOX_SDK_PATCH_VERSION 0
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#define kBroadcastCodeSize 16
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/** The numeric version information struct. */
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typedef struct {
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int major; /**< major number */
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int minor; /**< minor number */
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int patch; /**< patch number */
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} LivoxSdkVersion;
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/** Cartesian coordinate format. */
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typedef struct {
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int32_t x; /**< X axis, Unit:mm */
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int32_t y; /**< Y axis, Unit:mm */
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int32_t z; /**< Z axis, Unit:mm */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxRawPoint;
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/** Spherical coordinate format. */
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typedef struct {
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uint32_t depth; /**< Depth, Unit: mm */
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uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
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uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxSpherPoint;
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/** Standard point cloud format */
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typedef struct {
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float x; /**< X axis, Unit:m */
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float y; /**< Y axis, Unit:m */
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float z; /**< Z axis, Unit:m */
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uint8_t reflectivity; /**< Reflectivity */
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} LivoxPoint;
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/** Extend cartesian coordinate format. */
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typedef struct {
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int32_t x; /**< X axis, Unit:mm */
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int32_t y; /**< Y axis, Unit:mm */
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int32_t z; /**< Z axis, Unit:mm */
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uint8_t reflectivity; /**< Reflectivity */
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uint8_t tag; /**< Tag */
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} LivoxExtendRawPoint;
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/** Extend spherical coordinate format. */
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typedef struct {
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uint32_t depth; /**< Depth, Unit: mm */
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uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
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uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
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uint8_t reflectivity; /**< Reflectivity */
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uint8_t tag; /**< Tag */
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} LivoxExtendSpherPoint;
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/** Dual extend cartesian coordinate format. */
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typedef struct {
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int32_t x1; /**< X axis, Unit:mm */
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int32_t y1; /**< Y axis, Unit:mm */
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int32_t z1; /**< Z axis, Unit:mm */
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uint8_t reflectivity1; /**< Reflectivity */
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uint8_t tag1; /**< Tag */
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int32_t x2; /**< X axis, Unit:mm */
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int32_t y2; /**< Y axis, Unit:mm */
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int32_t z2; /**< Z axis, Unit:mm */
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uint8_t reflectivity2; /**< Reflectivity */
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uint8_t tag2; /**< Tag */
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} LivoxDualExtendRawPoint;
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/** Dual extend spherical coordinate format. */
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typedef struct {
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uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
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uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
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uint32_t depth1; /**< Depth, Unit: mm */
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uint8_t reflectivity1; /**< Reflectivity */
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uint8_t tag1; /**< Tag */
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uint32_t depth2; /**< Depth, Unit: mm */
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uint8_t reflectivity2; /**< Reflectivity */
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uint8_t tag2; /**< Tag */
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} LivoxDualExtendSpherPoint;
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/** Triple extend cartesian coordinate format. */
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typedef struct {
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int32_t x1; /**< X axis, Unit:mm */
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int32_t y1; /**< Y axis, Unit:mm */
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int32_t z1; /**< Z axis, Unit:mm */
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uint8_t reflectivity1; /**< Reflectivity */
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uint8_t tag1; /**< Tag */
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int32_t x2; /**< X axis, Unit:mm */
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int32_t y2; /**< Y axis, Unit:mm */
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int32_t z2; /**< Z axis, Unit:mm */
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uint8_t reflectivity2; /**< Reflectivity */
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uint8_t tag2; /**< Tag */
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int32_t x3; /**< X axis, Unit:mm */
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int32_t y3; /**< Y axis, Unit:mm */
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int32_t z3; /**< Z axis, Unit:mm */
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uint8_t reflectivity3; /**< Reflectivity */
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uint8_t tag3; /**< Tag */
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} LivoxTripleExtendRawPoint;
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/** Triple extend spherical coordinate format. */
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typedef struct {
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uint16_t theta; /**< Zenith angle[0, 18000], Unit: 0.01 degree */
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uint16_t phi; /**< Azimuth[0, 36000], Unit: 0.01 degree */
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uint32_t depth1; /**< Depth, Unit: mm */
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uint8_t reflectivity1; /**< Reflectivity */
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uint8_t tag1; /**< Tag */
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uint32_t depth2; /**< Depth, Unit: mm */
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uint8_t reflectivity2; /**< Reflectivity */
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uint8_t tag2; /**< Tag */
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uint32_t depth3; /**< Depth, Unit: mm */
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uint8_t reflectivity3; /**< Reflectivity */
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uint8_t tag3; /**< Tag */
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} LivoxTripleExtendSpherPoint;
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/** IMU data format. */
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typedef struct {
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float gyro_x; /**< Gyroscope X axis, Unit:rad/s */
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float gyro_y; /**< Gyroscope Y axis, Unit:rad/s */
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float gyro_z; /**< Gyroscope Z axis, Unit:rad/s */
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float acc_x; /**< Accelerometer X axis, Unit:g */
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float acc_y; /**< Accelerometer Y axis, Unit:g */
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float acc_z; /**< Accelerometer Z axis, Unit:g */
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} LivoxImuPoint;
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/** LiDAR error code. */
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typedef struct {
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uint32_t temp_status : 2; /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
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uint32_t volt_status : 2; /**< 0: Voltage in Normal State. 1: High. 2: Extremely High. */
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uint32_t motor_status : 2; /**< 0: Motor in Normal State. 1: Motor in Warning State. 2:Motor in Error State, Unable to Work. */
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uint32_t dirty_warn : 2; /**< 0: Not Dirty or Blocked. 1: Dirty or Blocked. */
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uint32_t firmware_err : 1; /**< 0: Firmware is OK. 1: Firmware is Abnormal, Need to be Upgraded. */
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uint32_t pps_status : 1; /**< 0: No PPS Signal. 1: PPS Signal is OK. */
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uint32_t device_status : 1; /**< 0: Normal. 1: Warning for Approaching the End of Service Life. */
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uint32_t fan_status : 1; /**< 0: Fan in Normal State. 1: Fan in Warning State. */
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uint32_t self_heating : 1; /**< 0: Normal. 1: Low Temperature Self Heating On. */
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uint32_t ptp_status : 1; /**< 0: No 1588 Signal. 1: 1588 Signal is OK. */
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/** 0: System dose not start time synchronization.
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* 1: Using PTP 1588 synchronization.
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* 2: Using GPS synchronization.
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* 3: Using PPS synchronization.
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* 4: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
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*/
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uint32_t time_sync_status : 3;
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uint32_t rsvd : 13; /**< Reserved. */
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uint32_t system_status : 2; /**< 0: Normal. 1: Warning. 2: Error. */
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} LidarErrorCode;
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/** Hub error code. */
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typedef struct {
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/** 0: No synchronization signal.
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* 1: 1588 synchronization.
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* 2: GPS synchronization.
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* 3: System time synchronization is abnormal.(The highest priority synchronization signal is abnormal)
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*/
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uint32_t sync_status : 2;
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uint32_t temp_status : 2; /**< 0: Temperature in Normal State. 1: High or Low. 2: Extremely High or Extremely Low. */
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uint32_t lidar_status : 1; /**< 0: LiDAR State is Normal. 1: LiDAR State is Abnormal. */
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uint32_t lidar_link_status : 1; /**< 0: LiDAR Connection is Normal. 1: LiDAR Connection is Abnormal. */
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uint32_t firmware_err : 1; /**< 0: LiDAR Firmware is OK. 1: LiDAR Firmware is Abnormal, Need to be Upgraded. */
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uint32_t rsvd : 23; /**< Reserved. */
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uint32_t system_status : 2; /**< 0: Normal. 1: Warning. 2: Error. */
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} HubErrorCode;
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/**
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* Device error message.
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*/
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typedef union {
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uint32_t error_code; /**< Error code. */
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LidarErrorCode lidar_error_code; /**< Lidar error code. */
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HubErrorCode hub_error_code; /**< Hub error code. */
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} ErrorMessage;
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/** Point cloud packet. */
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typedef struct {
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uint8_t version; /**< Packet protocol version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint8_t rsvd; /**< Reserved. */
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uint32_t err_code; /**< Device error status indicator information. */
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uint8_t timestamp_type; /**< Timestamp type. */
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/** Point cloud coordinate format, refer to \ref PointDataType . */
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uint8_t data_type;
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uint8_t timestamp[8]; /**< Nanosecond or UTC format timestamp. */
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uint8_t data[1]; /**< Point cloud data. */
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} LivoxEthPacket;
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/** Information of LiDAR work state. */
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typedef union {
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uint32_t progress; /**< LiDAR work state switching progress. */
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ErrorMessage status_code; /**< LiDAR work state status code. */
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} StatusUnion;
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/** Information of the connected LiDAR or hub. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t handle; /**< Device handle. */
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uint8_t slot; /**< Slot number used for connecting LiDAR. */
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uint8_t id; /**< LiDAR id. */
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uint8_t type; /**< Device type, refer to \ref DeviceType. */
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uint16_t data_port; /**< Point cloud data UDP port. */
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uint16_t cmd_port; /**< Control command UDP port. */
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uint16_t sensor_port; /**< IMU data UDP port. */
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char ip[16]; /**< IP address. */
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LidarState state; /**< LiDAR state. */
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LidarFeature feature; /**< LiDAR feature. */
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StatusUnion status; /**< LiDAR work state status. */
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uint8_t firmware_version[4]; /**< Firmware version. */
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} DeviceInfo;
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/** The information of broadcast device. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
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uint16_t reserved; /**< Reserved. */
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char ip[16]; /**< Device ip. */
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} BroadcastDeviceInfo;
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/** The information of LiDAR units that are connected to the Livox Hub. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t dev_type; /**< Device type, refer to \ref DeviceType. */
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uint8_t version[4]; /**< Firmware version. */
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uint8_t slot; /**< Slot number used for connecting LiDAR units. */
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uint8_t id; /**< Device id. */
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} ConnectedLidarInfo;
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/** LiDAR mode configuration information. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
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uint8_t state; /**< LiDAR state, refer to \ref LidarMode. */
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} LidarModeRequestItem;
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} ReturnCode;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} DeviceBroadcastCode;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t feature; /**< Close or open the rain and fog feature. */
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} RainFogSuppressRequestItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t state; /**< Fan state: 1 for turn on fan, 0 for turn off fan. */
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} FanControlRequestItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} GetFanStateRequestItem;
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t state; /**< Fan state: 1 for fan is on, 0 for fan is off. */
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} GetFanStateResponseItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t mode; /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
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} SetPointCloudReturnModeRequestItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} GetPointCloudReturnModeRequestItem;
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t mode; /**< Point cloud return mode, refer to \ref PointCloudReturnMode. */
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} GetPointCloudReturnModeResponseItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t freq; /**< IMU push frequency, refer to \ref ImuFreq. */
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} SetImuPushFrequencyRequestItem;
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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} GetImuPushFrequencyRequestItem;
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typedef struct {
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uint8_t ret_code; /**< Return code. */
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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uint8_t freq; /**< IMU push frequency, refer to \ref ImuFreq. */
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} GetImuPushFrequencyResponseItem;
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/** LiDAR configuration information. */
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typedef struct {
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char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
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float roll; /**< Roll angle, unit: degree. */
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float pitch; /**< Pitch angle, unit: degree. */
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float yaw; /**< Yaw angle, unit: degree. */
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int32_t x; /**< X translation, unit: mm. */
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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_
|