livox_def.h File Reference

#include <stdint.h>

Go to the source code of this file.

Classes
struct	LivoxSdkVersion
struct	LivoxRawPoint
struct	LivoxSpherPoint
struct	LivoxPoint
struct	LivoxExtendRawPoint
struct	LivoxExtendSpherPoint
struct	LivoxDualExtendRawPoint
struct	LivoxDualExtendSpherPoint
struct	LivoxTripleExtendRawPoint
struct	LivoxTripleExtendSpherPoint
struct	LivoxImuPoint
struct	LidarErrorCode
struct	HubErrorCode
union	ErrorMessage
struct	LivoxEthPacket
union	StatusUnion
struct	DeviceInfo
struct	BroadcastDeviceInfo
struct	ConnectedLidarInfo
struct	LidarModeRequestItem
struct	ReturnCode
struct	DeviceBroadcastCode
struct	RainFogSuppressRequestItem
struct	FanControlRequestItem
struct	GetFanStateRequestItem
struct	GetFanStateResponseItem
struct	SetPointCloudReturnModeRequestItem
struct	GetPointCloudReturnModeRequestItem
struct	GetPointCloudReturnModeResponseItem
struct	SetImuPushFrequencyRequestItem
struct	GetImuPushFrequencyRequestItem
struct	GetImuPushFrequencyResponseItem
struct	ExtrinsicParameterRequestItem
struct	ExtrinsicParameterResponseItem
struct	LidarStateItem
struct	HandshakeRequest
struct	DeviceInformationResponse
struct	SetDeviceIPModeRequest
struct	GetDeviceIpModeResponse
struct	SetStaticDeviceIpModeRequest
struct	HeartbeatResponse
struct	DeviceParameterResponse
struct	KeyValueParam
struct	GetDeviceParameterResponse
struct	GetDeviceParameterRequest
struct	ResetDeviceParameterRequest
struct	LidarSetExtrinsicParameterRequest
struct	LidarGetExtrinsicParameterResponse
struct	LidarGetFanStateResponse
struct	LidarGetPointCloudReturnModeResponse
struct	LidarGetImuPushFrequencyResponse
struct	LidarSetUtcSyncTimeRequest
struct	HubQueryLidarInformationResponse
struct	HubSetModeRequest
struct	HubSetModeResponse
struct	HubControlSlotPowerRequest
struct	HubSetExtrinsicParameterRequest
struct	HubSetExtrinsicParameterResponse
struct	HubGetExtrinsicParameterRequest
struct	HubGetExtrinsicParameterResponse
struct	HubQueryLidarStatusResponse
struct	HubRainFogSuppressRequest
struct	HubRainFogSuppressResponse
struct	HubQuerySlotPowerStatusResponse
struct	HubFanControlRequest
struct	HubFanControlResponse
struct	HubGetFanStateRequest
struct	HubGetFanStateResponse
struct	HubSetPointCloudReturnModeRequest
struct	HubSetPointCloudReturnModeResponse
struct	HubGetPointCloudReturnModeRequest
struct	HubGetPointCloudReturnModeResponse
struct	HubSetImuPushFrequencyRequest
struct	HubSetImuPushFrequencyResponse
struct	HubGetImuPushFrequencyRequest
struct	HubGetImuPushFrequencyResponse

Macros
#define	kMaxLidarCount   32
#define	LIVOX_SDK_MAJOR_VERSION   2
#define	LIVOX_SDK_MINOR_VERSION   2
#define	LIVOX_SDK_PATCH_VERSION   0
#define	kBroadcastCodeSize   16

Typedefs
typedef int32_t	livox_status

Enumerations
enum	DeviceType {   kDeviceTypeHub = 0, kDeviceTypeLidarMid40 = 1, kDeviceTypeLidarTele = 2, kDeviceTypeLidarHorizon = 3,   kDeviceTypeLidarMid70 = 6, kDeviceTypeLidarAvia = 7 }
enum	LidarState {   kLidarStateInit = 0, kLidarStateNormal = 1, kLidarStatePowerSaving = 2, kLidarStateStandBy = 3,   kLidarStateError = 4, kLidarStateUnknown = 5 }
enum	LidarMode { kLidarModeNormal = 1, kLidarModePowerSaving = 2, kLidarModeStandby = 3 }
enum	LidarFeature { kLidarFeatureNone = 0, kLidarFeatureRainFog = 1 }
enum	LidarIpMode { kLidarDynamicIpMode = 0, kLidarStaticIpMode = 1 }
enum	LidarScanPattern { kNoneRepetitiveScanPattern = 0, kRepetitiveScanPattern = 1 }
enum	LivoxStatus {   kStatusSendFailed = -9, kStatusHandlerImplNotExist = -8, kStatusInvalidHandle = -7, kStatusChannelNotExist = -6,   kStatusNotEnoughMemory = -5, kStatusTimeout = -4, kStatusNotSupported = -3, kStatusNotConnected = -2,   kStatusFailure = -1, kStatusSuccess = 0 }
enum	DeviceEvent { kEventConnect = 0, kEventDisconnect = 1, kEventStateChange = 2, kEventHubConnectionChange = 3 }
enum	TimestampType {   kTimestampTypeNoSync = 0, kTimestampTypePtp = 1, kTimestampTypeRsvd = 2, kTimestampTypePpsGps = 3,   kTimestampTypePps = 4, kTimestampTypeUnknown = 5 }
enum	PointDataType {   kCartesian, kSpherical, kExtendCartesian, kExtendSpherical,   kDualExtendCartesian, kDualExtendSpherical, kImu, kTripleExtendCartesian,   kTripleExtendSpherical, kMaxPointDataType }
enum	PointCloudReturnMode { kFirstReturn, kStrongestReturn, kDualReturn, kTripleReturn }
enum	ImuFreq { kImuFreq0Hz, kImuFreq200Hz }
enum	KeyErrorCode {   kKeyNoError = 0, kKeyNotSupported = 1, kKeyExecFailed = 2, kKeyNotSupportedWritingState = 3,   kKeyValueError = 4, kKeyValueLengthError = 5, kKeyNoEnoughMemory = 6, kKeyLengthError = 7 }
enum	DeviceParamKeyName { kKeyDefault = 0, kKeyHighSensetivity = 1, kKeyScanPattern = 2, kKeySlotNum = 3 }

Macro Definition Documentation

#define kBroadcastCodeSize   16

Definition at line 146 of file livox_def.h.

#define kMaxLidarCount   32

Definition at line 30 of file livox_def.h.

#define LIVOX_SDK_MAJOR_VERSION   2

Definition at line 142 of file livox_def.h.

#define LIVOX_SDK_MINOR_VERSION   2

Definition at line 143 of file livox_def.h.

#define LIVOX_SDK_PATCH_VERSION   0

Definition at line 144 of file livox_def.h.

Typedef Documentation

typedef int32_t livox_status

Fuction return value defination, refer to LivoxStatus.

Definition at line 92 of file livox_def.h.

Enumeration Type Documentation

enum DeviceEvent

Device update type, indicating the change of device connection or working state.

Enumerator
kEventConnect	Device is connected.
kEventDisconnect	Device is removed.
kEventStateChange	Device working state changes or an error occurs.
kEventHubConnectionChange	Hub is connected or LiDAR unit(s) is/are removed.

Definition at line 95 of file livox_def.h.

enum DeviceParamKeyName

Keys of device's parameters.

Enumerator
kKeyDefault	Default key name.
kKeyHighSensetivity	Key to get/set LiDAR' Sensetivity.
kKeyScanPattern	Key to get/set LiDAR' ScanPattern.
kKeySlotNum	Key to get/set LiDAR' Slot number.

Definition at line 547 of file livox_def.h.

enum DeviceType

Device type.

Enumerator
kDeviceTypeHub	Livox Hub.
kDeviceTypeLidarMid40	Mid-40.
kDeviceTypeLidarTele	Tele.
kDeviceTypeLidarHorizon	Horizon.
kDeviceTypeLidarMid70	Livox Mid-70.
kDeviceTypeLidarAvia	Avia.

Definition at line 33 of file livox_def.h.

enum ImuFreq

IMU push frequency.

Enumerator
kImuFreq0Hz	IMU push closed.
kImuFreq200Hz	IMU push frequency 200Hz.

Definition at line 135 of file livox_def.h.

enum KeyErrorCode

The error code of Getting/Setting Device's Parameters.

Enumerator
kKeyNoError	No Error.
kKeyNotSupported	The key is not supported.
kKeyExecFailed	Execution failed.
kKeyNotSupportedWritingState	The key cannot be written.
kKeyValueError	Wrong value.
kKeyValueLengthError	Wrong value length.
kKeyNoEnoughMemory	Reading parameter length limit.
kKeyLengthError	The number of parameters does not match.

Definition at line 524 of file livox_def.h.

enum LidarFeature

Lidar feature.

Enumerator
kLidarFeatureNone	No feature.
kLidarFeatureRainFog	Rain and fog feature.

Definition at line 60 of file livox_def.h.

enum LidarIpMode

Lidar IP mode.

Enumerator
kLidarDynamicIpMode	Dynamic IP.
kLidarStaticIpMode	Static IP.

Definition at line 66 of file livox_def.h.

enum LidarMode

Lidar mode.

Enumerator
kLidarModeNormal	Normal mode.
kLidarModePowerSaving	Power-saving mode.
kLidarModeStandby	Standby mode.

Definition at line 53 of file livox_def.h.

enum LidarScanPattern

Lidar Scan Pattern.

Enumerator
kNoneRepetitiveScanPattern	None Repetitive Scan Pattern.
kRepetitiveScanPattern	Repetitive Scan Pattern.

Definition at line 72 of file livox_def.h.

enum LidarState

Lidar state.

Enumerator
kLidarStateInit	Initialization state.
kLidarStateNormal	Normal work state.
kLidarStatePowerSaving	Power-saving state.
kLidarStateStandBy	Standby state.
kLidarStateError	Error state.
kLidarStateUnknown	Unknown state.

Definition at line 43 of file livox_def.h.

enum LivoxStatus

Function return value definition.

Enumerator
kStatusSendFailed	Command send failed.
kStatusHandlerImplNotExist	Handler implementation not exist.
kStatusInvalidHandle	Device handle invalid.
kStatusChannelNotExist	Command channel not exist.
kStatusNotEnoughMemory	No enough memory.
kStatusTimeout	Operation timeouts.
kStatusNotSupported	Operation is not supported on this device.
kStatusNotConnected	Requested device is not connected.
kStatusFailure	Failure.
kStatusSuccess	Success.

Definition at line 78 of file livox_def.h.

enum PointCloudReturnMode

Point cloud return mode.

Enumerator
kFirstReturn	First single return mode .
kStrongestReturn	Strongest single return mode.
kDualReturn	Dual return mode.
kTripleReturn	Triple return mode.

Definition at line 127 of file livox_def.h.

enum PointDataType

Point data type.

Enumerator
kCartesian	Cartesian coordinate point cloud.
kSpherical	Spherical coordinate point cloud.
kExtendCartesian	Extend cartesian coordinate point cloud.
kExtendSpherical	Extend spherical coordinate point cloud.
kDualExtendCartesian	Dual extend cartesian coordinate point cloud.
kDualExtendSpherical	Dual extend spherical coordinate point cloud.
kImu	IMU data.
kTripleExtendCartesian	Triple extend cartesian coordinate point cloud.
kTripleExtendSpherical	Triple extend spherical coordinate point cloud.
kMaxPointDataType	Max Point Data Type.

Definition at line 113 of file livox_def.h.

enum TimestampType

Timestamp sync mode define.

Enumerator
kTimestampTypeNoSync	No sync signal mode.
kTimestampTypePtp	1588v2.0 PTP sync mode.
kTimestampTypeRsvd	Reserved use.
kTimestampTypePpsGps	pps+gps sync mode.
kTimestampTypePps	pps only sync mode.
kTimestampTypeUnknown	Unknown mode.

Definition at line 103 of file livox_def.h.