add lost file
This commit is contained in:
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3
livox_ros_driver2/.gitignore
vendored
3
livox_ros_driver2/.gitignore
vendored
@@ -1,4 +1,3 @@
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.vscode
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build
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package.xml
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__pycache__
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__pycache__
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580
livox_ros_driver2/src/livox_lidar_def.h
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580
livox_ros_driver2/src/livox_lidar_def.h
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@@ -0,0 +1,580 @@
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//
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// The MIT License (MIT)
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//
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// Copyright (c) 2022 Livox. All rights reserved.
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
|
||||
// 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,
|
||||
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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//
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#ifndef LIVOX_LIDAR_DEF_H_
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#define LIVOX_LIDAR_DEF_H_
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#include <stdint.h>
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#define kMaxLidarCount 32
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#pragma pack(1)
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#define LIVOX_LIDAR_SDK_MAJOR_VERSION 1
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#define LIVOX_LIDAR_SDK_MINOR_VERSION 2
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#define LIVOX_LIDAR_SDK_PATCH_VERSION 5
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#define kBroadcastCodeSize 16
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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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||||
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||||
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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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} LivoxLidarSdkVer;
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typedef struct {
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uint8_t dev_type;
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char sn[16];
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char lidar_ip[16];
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} LivoxLidarInfo;
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/** Device type. */
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typedef enum {
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kLivoxLidarTypeHub = 0,
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kLivoxLidarTypeMid40 = 1,
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kLivoxLidarTypeTele = 2,
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kLivoxLidarTypeHorizon = 3,
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kLivoxLidarTypeMid70 = 6,
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kLivoxLidarTypeAvia = 7,
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kLivoxLidarTypeMid360 = 9,
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kLivoxLidarTypeIndustrialHAP = 10,
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kLivoxLidarTypeHAP = 15,
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kLivoxLidarTypePA = 16,
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} LivoxLidarDeviceType;
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typedef enum {
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kKeyPclDataType = 0x0000,
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kKeyPatternMode = 0x0001,
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kKeyDualEmitEn = 0x0002,
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kKeyPointSendEn = 0x0003,
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kKeyLidarIpCfg = 0x0004,
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kKeyStateInfoHostIpCfg = 0x0005,
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kKeyLidarPointDataHostIpCfg = 0x0006,
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kKeyLidarImuHostIpCfg = 0x0007,
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kKeyCtlHostIpCfg = 0x0008,
|
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kKeyLogHostIpCfg = 0x0009,
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|
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kKeyVehicleSpeed = 0x0010,
|
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kKeyEnvironmentTemp = 0x0011,
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kKeyInstallAttitude = 0x0012,
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kKeyBlindSpotSet = 0x0013,
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kKeyFrameRate = 0x0014,
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kKeyFovCfg0 = 0x0015,
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kKeyFovCfg1 = 0x0016,
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kKeyFovCfgEn = 0x0017,
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kKeyDetectMode = 0x0018,
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kKeyFuncIoCfg = 0x0019,
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kKeyWorkModeAfterBoot = 0x0020,
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kKeyWorkMode = 0x001A,
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kKeyGlassHeat = 0x001B,
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kKeyImuDataEn = 0x001C,
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kKeyFusaEn = 0x001D,
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kKeyForceHeatEn = 0x001E,
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kKeyLogParamSet = 0x7FFF,
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kKeySn = 0x8000,
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kKeyProductInfo = 0x8001,
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||||
kKeyVersionApp = 0x8002,
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kKeyVersionLoader = 0x8003,
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kKeyVersionHardware = 0x8004,
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kKeyMac = 0x8005,
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kKeyCurWorkState = 0x8006,
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kKeyCoreTemp = 0x8007,
|
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kKeyPowerUpCnt = 0x8008,
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kKeyLocalTimeNow = 0x8009,
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kKeyLastSyncTime = 0x800A,
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kKeyTimeOffset = 0x800B,
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kKeyTimeSyncType = 0x800C,
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kKeyStatusCode = 0x800D,
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kKeyLidarDiagStatus = 0x800E,
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kKeyLidarFlashStatus = 0x800F,
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kKeyFwType = 0x8010,
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kKeyHmsCode = 0x8011,
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kKeyCurGlassHeatState = 0x8012,
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kKeyRoiMode = 0xFFFE,
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kKeyLidarDiagInfoQuery = 0xFFFF
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} ParamKeyName;
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typedef struct {
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uint8_t version;
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uint16_t length;
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uint16_t time_interval; /**< unit: 0.1 us */
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uint16_t dot_num;
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uint16_t udp_cnt;
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uint8_t frame_cnt;
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uint8_t data_type;
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uint8_t time_type;
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uint8_t rsvd[12];
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uint32_t crc32;
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uint8_t timestamp[8];
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uint8_t data[1]; /**< Point cloud data. */
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} LivoxLidarEthernetPacket;
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typedef struct {
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uint8_t sof;
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uint8_t version;
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uint16_t length;
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uint32_t seq_num;
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uint16_t cmd_id;
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uint8_t cmd_type;
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uint8_t sender_type;
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char rsvd[6];
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uint16_t crc16_h;
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uint32_t crc32_d;
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uint8_t data[1];
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} LivoxLidarCmdPacket;
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|
||||
typedef struct {
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||||
float gyro_x;
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float gyro_y;
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float gyro_z;
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float acc_x;
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float acc_y;
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float acc_z;
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} LivoxLidarImuRawPoint;
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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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} LivoxLidarCartesianHighRawPoint;
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typedef struct {
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int16_t x; /**< X axis, Unit:cm */
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int16_t y; /**< Y axis, Unit:cm */
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int16_t z; /**< Z axis, Unit:cm */
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uint8_t reflectivity; /**< Reflectivity */
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uint8_t tag; /**< Tag */
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} LivoxLidarCartesianLowRawPoint;
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typedef struct {
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uint32_t depth;
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uint16_t theta;
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uint16_t phi;
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uint8_t reflectivity;
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uint8_t tag;
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} LivoxLidarSpherPoint;
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typedef enum {
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kLivoxLidarImuData = 0,
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kLivoxLidarCartesianCoordinateHighData = 0x01,
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kLivoxLidarCartesianCoordinateLowData = 0x02,
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kLivoxLidarSphericalCoordinateData = 0x03
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} LivoxLidarPointDataType;
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typedef enum {
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kLivoxLidarRealTimeLog = 0,
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kLivoxLidarExceptionLog = 0x01
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} LivoxLidarLogType;
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typedef enum {
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kLivoxLidarStatusSendFailed = -9, /**< Command send failed. */
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kLivoxLidarStatusHandlerImplNotExist = -8, /**< Handler implementation not exist. */
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kLivoxLidarStatusInvalidHandle = -7, /**< Device handle invalid. */
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kLivoxLidarStatusChannelNotExist = -6, /**< Command channel not exist. */
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kLivoxLidarStatusNotEnoughMemory = -5, /**< No enough memory. */
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kLivoxLidarStatusTimeout = -4, /**< Operation timeouts. */
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kLivoxLidarStatusNotSupported = -3, /**< Operation is not supported on this device. */
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kLivoxLidarStatusNotConnected = -2, /**< Requested device is not connected. */
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kLivoxLidarStatusFailure = -1, /**< Failure. */
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kLivoxLidarStatusSuccess = 0 /**< Success. */
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} LivoxLidarStatus;
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typedef struct {
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uint16_t key; /*< Key, refer to \ref DeviceParamKeyName. */
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uint16_t length; /*< Length of value. */
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uint8_t value[1]; /*< Value. */
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} LivoxLidarKeyValueParam;
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typedef struct {
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uint8_t ret_code;
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uint16_t error_key;
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} LivoxLidarAsyncControlResponse;
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typedef struct {
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uint8_t ret_code;
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const char* lidar_info;
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} LivoxLidarInfoResponse;
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typedef struct {
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uint8_t ret_code;
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uint16_t param_num;
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uint8_t data[1];
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} LivoxLidarDiagInternalInfoResponse;
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typedef enum {
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kLivoxLidarScanPatternNoneRepetive = 0x00,
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kLivoxLidarScanPatternRepetive = 0x01,
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kLivoxLidarScanPatternRepetiveLowFrameRate = 0x02
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} LivoxLidarScanPattern;
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typedef enum {
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kLivoxLidarFrameRate10Hz = 0x00,
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kLivoxLidarFrameRate15Hz = 0x01,
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kLivoxLidarFrameRate20Hz = 0x02,
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kLivoxLidarFrameRate25Hz = 0x03,
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} LivoxLidarPointFrameRate;
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typedef enum {
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kLivoxLidarNormal = 0x01,
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kLivoxLidarWakeUp = 0x02,
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kLivoxLidarSleep = 0x03,
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kLivoxLidarError = 0x04,
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kLivoxLidarPowerOnSelfTest = 0x05,
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kLivoxLidarMotorStarting = 0x06,
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kLivoxLidarMotorStoping = 0x07,
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kLivoxLidarUpgrade = 0x08
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} LivoxLidarWorkMode;
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typedef enum {
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kLivoxLidarWorkModeAfterBootDefault = 0x00,
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kLivoxLidarWorkModeAfterBootNormal = 0x01,
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kLivoxLidarWorkModeAfterBootWakeUp = 0x02
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} LivoxLidarWorkModeAfterBoot;
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typedef struct {
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float roll_deg;
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float pitch_deg;
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float yaw_deg;
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int32_t x; //mm
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int32_t y; //mm
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int32_t z; // mm
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} LivoxLidarInstallAttitude;
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typedef struct {
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int32_t yaw_start;
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int32_t yaw_stop;
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int32_t pitch_start;
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int32_t pitch_stop;
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uint32_t rsvd;
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} FovCfg;
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typedef enum {
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kLivoxLidarDetectNormal = 0x00,
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kLivoxLidarDetectSensitive = 0x01
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} LivoxLidarDetectMode;
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|
||||
typedef struct {
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||||
uint8_t in0;
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uint8_t int1;
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uint8_t out0;
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uint8_t out1;
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} FuncIOCfg;
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typedef struct {
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bool lidar_log_enable;
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uint32_t lidar_log_cache_size;
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char lidar_log_path[1024];
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} LivoxLidarLoggerCfgInfo;
|
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typedef struct {
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||||
char ip_addr[16]; /**< IP address. */
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char net_mask[16]; /**< Subnet mask. */
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||||
char gw_addr[16]; /**< Gateway address. */
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} LivoxLidarIpInfo;
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typedef struct {
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char host_ip_addr[16]; /**< IP address. */
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uint16_t host_state_info_port;
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uint16_t lidar_state_info_port;
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} HostStateInfoIpInfo;
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||||
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typedef struct {
|
||||
char host_ip_addr[16]; /**< IP address. */
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uint16_t host_point_data_port;
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uint16_t lidar_point_data_port;
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} HostPointIPInfo;
|
||||
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typedef struct {
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||||
char host_ip_addr[16]; /**< IP address. */
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uint16_t host_imu_data_port; // resv
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||||
uint16_t lidar_imu_data_port; // resv
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} HostImuDataIPInfo;
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||||
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||||
typedef struct {
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||||
char ip_addr[16]; /**< IP address. */
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uint16_t dst_port;
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||||
uint16_t src_port;
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||||
} LivoxIpCfg;
|
||||
|
||||
typedef struct {
|
||||
uint8_t pcl_data_type;
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||||
uint8_t pattern_mode;
|
||||
uint8_t dual_emit_en;
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||||
uint8_t point_send_en;
|
||||
LivoxLidarIpInfo lidar_ip_info;
|
||||
HostPointIPInfo host_point_ip_info;
|
||||
HostImuDataIPInfo host_imu_ip_info;
|
||||
LivoxLidarInstallAttitude install_attitude;
|
||||
uint32_t blind_spot_set;
|
||||
uint8_t work_mode;
|
||||
uint8_t glass_heat;
|
||||
uint8_t imu_data_en;
|
||||
uint8_t fusa_en;
|
||||
char sn[16];
|
||||
char product_info[64];
|
||||
uint8_t version_app[4];
|
||||
uint8_t version_load[4];
|
||||
uint8_t version_hardware[4];
|
||||
uint8_t mac[6];
|
||||
uint8_t cur_work_state;
|
||||
uint64_t status_code;
|
||||
} LivoxLidarStateInfo;
|
||||
|
||||
typedef struct {
|
||||
uint8_t pcl_data_type; // 0x0000
|
||||
uint8_t pattern_mode; // 0x0001
|
||||
uint8_t dual_emit_en; // 0x0002
|
||||
uint8_t point_send_en; // 0x0003
|
||||
LivoxLidarIpInfo lidar_ipcfg; // 0x0004
|
||||
HostStateInfoIpInfo host_state_info; // 0x0005
|
||||
HostPointIPInfo pointcloud_host_ipcfg; // 0x0006
|
||||
HostImuDataIPInfo imu_host_ipcfg; // 0x0007
|
||||
LivoxIpCfg ctl_host_ipcfg; // 0x0008
|
||||
LivoxIpCfg log_host_ipcfg; // 0x0009
|
||||
|
||||
int32_t vehicle_speed; // 0x0010
|
||||
int32_t environment_temp; // 0x0011
|
||||
LivoxLidarInstallAttitude install_attitude; // 0x0012
|
||||
uint32_t blind_spot_set; // 0x0013
|
||||
uint8_t frame_rate; // 0x0014
|
||||
FovCfg fov_cfg0; // 0x0015
|
||||
FovCfg fov_cfg1; // 0x0016
|
||||
uint8_t fov_cfg_en; // 0x0017
|
||||
uint8_t detect_mode; // 0x0018
|
||||
uint8_t func_io_cfg[4]; // 0x0019
|
||||
uint8_t work_tgt_mode; // 0x001A
|
||||
uint8_t glass_heat; // 0x001B
|
||||
uint8_t imu_data_en; // 0x001C
|
||||
uint8_t fusa_en; // 0x001D
|
||||
|
||||
char sn[16]; // 0x8000
|
||||
char product_info[64]; // 0x8001
|
||||
uint8_t version_app[4]; // 0x8002
|
||||
uint8_t version_loader[4]; // 0x8003
|
||||
uint8_t version_hardware[4]; // 0x8004
|
||||
uint8_t mac[6]; // 0x8005
|
||||
uint8_t cur_work_state; // 0x8006
|
||||
int32_t core_temp; // 0x8007
|
||||
uint32_t powerup_cnt; // 0x8008
|
||||
uint64_t local_time_now; // 0x8009
|
||||
uint64_t last_sync_time; // 0x800A
|
||||
int64_t time_offset; // 0x800B
|
||||
uint8_t time_sync_type; // 0x800C
|
||||
uint8_t status_code[32]; // 0x800D
|
||||
uint16_t lidar_diag_status; // 0x800E
|
||||
uint8_t lidar_flash_status; // 0x800F
|
||||
uint8_t fw_type; // 0x8010
|
||||
uint32_t hms_code[8]; // 0x8011
|
||||
uint8_t ROI_Mode; // 0xFFFE
|
||||
} DirectLidarStateInfo;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
LivoxLidarStateInfo livox_lidar_state_info;
|
||||
} LivoxLidarQueryInternalInfoResponse;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarStopPowerOnHeatingOrDiagnosticHeating = 0x00,
|
||||
kLivoxLidarTurnOnHeating = 0x01,
|
||||
kLivoxLidarDiagnosticHeating = 0x02,
|
||||
kLivoxLidarStopSelfHeating = 0x03
|
||||
} LivoxLidarGlassHeat;
|
||||
|
||||
typedef struct {
|
||||
uint8_t log_send_method;
|
||||
uint16_t log_id;
|
||||
uint16_t log_frequency;
|
||||
uint8_t is_save_setting;
|
||||
uint8_t check_code;
|
||||
} LivoxLidarLogParam;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
} LivoxLidarLoggerResponse;
|
||||
|
||||
typedef struct {
|
||||
uint16_t timeout; /**< delay reboot time */
|
||||
} LivoxLidarRebootRequest;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code; /**< Return code. */
|
||||
} LivoxLidarRebootResponse;
|
||||
|
||||
typedef struct {
|
||||
uint8_t data[16];
|
||||
} LivoxLidarResetRequest;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret_code;
|
||||
} LivoxLidarResetResponse;
|
||||
|
||||
/**
|
||||
* Upgrade related data struct
|
||||
*/
|
||||
typedef enum {
|
||||
kLivoxLidarUpgradeIdle = 0,
|
||||
kLivoxLidarUpgradeRequest = 1,
|
||||
kLivoxLidarUpgradeXferFirmware = 2,
|
||||
kLivoxLidarUpgradeCompleteXferFirmware = 3,
|
||||
kLivoxLidarUpgradeGetUpgradeProgress = 4,
|
||||
kLivoxLidarUpgradeComplete = 5,
|
||||
kLivoxLidarUpgradeTimeout = 6,
|
||||
kLivoxLidarUpgradeErr = 7,
|
||||
kLivoxLidarUpgradeUndef = 8
|
||||
} LivoxLidarFsmState;
|
||||
|
||||
typedef enum {
|
||||
kLivoxLidarEventRequestUpgrade = 0,
|
||||
kLivoxLidarEventXferFirmware = 1,
|
||||
kLivoxLidarEventCompleteXferFirmware = 2,
|
||||
kLivoxLidarEventGetUpgradeProgress = 3,
|
||||
kLivoxLidarEventComplete = 4,
|
||||
kLivoxLidarEventReinit = 5,
|
||||
kLivoxLidarEventTimeout = 6,
|
||||
kLivoxLidarEventErr = 7,
|
||||
kLivoxLidarEventUndef = 8
|
||||
} LivoxLidarFsmEvent;
|
||||
|
||||
typedef struct {
|
||||
LivoxLidarFsmEvent state;
|
||||
uint8_t progress;
|
||||
} LivoxLidarUpgradeState;
|
||||
|
||||
typedef struct {
|
||||
uint8_t ret; // succ: 0, fail: 1
|
||||
} LivoxLidarRmcSyncTimeResponse;
|
||||
|
||||
#pragma pack()
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param handle device handle.
|
||||
* @param data device's data.
|
||||
* @param data_num number of points in data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarPointCloudCallBack)(const uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param handle device handle.
|
||||
* @param data device's command data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarCmdObserverCallBack)(const uint32_t handle, const LivoxLidarCmdPacket* data, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for point cloud observer.
|
||||
* @param handle device handle.
|
||||
* @param data device's data.
|
||||
* @param data_num number of points in data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarPointCloudObserver) (uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket *data, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving IMU data.
|
||||
* @param data device's data.
|
||||
* @param data_num number of IMU data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarImuDataCallback)(const uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving Status Info.
|
||||
* @param status_info status info.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void(*LivoxLidarInfoCallback)(const uint32_t handle, const uint8_t dev_type, const char* info, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving Status Info.
|
||||
* @param status status info.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void(*LivoxLidarInfoChangeCallback)(const uint32_t handle, const LivoxLidarInfo* info, void* client_data);
|
||||
|
||||
typedef void (*QueryLivoxLidarInternalInfoCallback)(livox_status status, uint32_t handle,
|
||||
LivoxLidarDiagInternalInfoResponse* response, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving response from the lidar on the configuration of parameter.
|
||||
* @param status status info.
|
||||
* @param response lidar return code and error key.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarAsyncControlCallback)(livox_status status, uint32_t handle,
|
||||
LivoxLidarAsyncControlResponse *response, void *client_data);
|
||||
/**
|
||||
* Callback function for receiving the reset setting response from lidar.
|
||||
* @param status status info.
|
||||
* @param response lidar return code.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarResetCallback)(livox_status status, uint32_t handle, LivoxLidarResetResponse* response, void* client_data);
|
||||
|
||||
|
||||
/**
|
||||
* Callback function for receiving the log setting response from lidar.
|
||||
* @param status status info.
|
||||
* @param response lidar return code.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarLoggerCallback)(livox_status status, uint32_t handle,
|
||||
LivoxLidarLoggerResponse* response, void* client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving the Reboot setting response from lidar.
|
||||
* @param status status info.
|
||||
* @param response lidar return code.
|
||||
* @param client_data user data associated with the command.
|
||||
* @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
|
||||
*/
|
||||
typedef void (*LivoxLidarRebootCallback)(livox_status status, uint32_t handle, LivoxLidarRebootResponse* response, void* client_data);
|
||||
|
||||
typedef void (*OnLivoxLidarUpgradeProgressCallback)(uint32_t handle, LivoxLidarUpgradeState state, void *client_data);
|
||||
|
||||
/**
|
||||
* Callback function for receiving point cloud data.
|
||||
* @param status status info.
|
||||
* @param handle device handle.
|
||||
* @param data device's command data.
|
||||
* @param client_data user data associated with the command.
|
||||
*/
|
||||
typedef void (*LivoxLidarRmcSyncTimeCallBack)(livox_status status, uint32_t handle, LivoxLidarRmcSyncTimeResponse* data, void* client_data);
|
||||
|
||||
#endif // LIVOX_LIDAR_DEF_H_
|
||||
Reference in New Issue
Block a user