livox_sdk.h File Reference

#include <stdbool.h>
#include <stdint.h>
#include "livox_def.h"

Go to the source code of this file.

Typedefs
typedef void(*	DeviceBroadcastCallback) (const BroadcastDeviceInfo *info)
typedef void(*	DeviceStateUpdateCallback) (const DeviceInfo *device, DeviceEvent type)
typedef void(*	DeviceInformationCallback) (livox_status status, uint8_t handle, DeviceInformationResponse *response, void *client_data)
typedef void(*	DataCallback) (uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data)
typedef void(*	CommonCommandCallback) (livox_status status, uint8_t handle, uint8_t response, void *client_data)
typedef void(*	ErrorMessageCallback) (livox_status status, uint8_t handle, ErrorMessage *message)
typedef void(*	GetDeviceIpInformationCallback) (livox_status status, uint8_t handle, GetDeviceIpModeResponse *response, void *client_data)
typedef void(*	SetDeviceParametersCallback) (livox_status status, uint8_t handle, DeviceParameterResponse *response, void *client_data)
typedef void(*	GetDeviceParametersCallback) (livox_status status, uint8_t handle, GetDeviceParameterResponse *response, void *client_data)
typedef void(*	DeviceResetParametersCallback) (livox_status status, uint8_t handle, DeviceParameterResponse *response, void *client_data)
typedef void(*	HubQueryLidarInformationCallback) (livox_status status, uint8_t handle, HubQueryLidarInformationResponse *response, void *client_data)
typedef void(*	HubSetModeCallback) (livox_status status, uint8_t handle, HubSetModeResponse *response, void *client_data)
typedef void(*	HubQueryLidarStatusCallback) (livox_status status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data)
typedef void(*	HubSetExtrinsicParameterCallback) (livox_status status, uint8_t handle, HubSetExtrinsicParameterResponse *response, void *client_data)
typedef void(*	HubGetExtrinsicParameterCallback) (livox_status status, uint8_t handle, HubGetExtrinsicParameterResponse *response, void *client_data)
typedef void(*	HubRainFogSuppressCallback) (livox_status status, uint8_t handle, HubRainFogSuppressResponse *response, void *client_data)
typedef void(*	HubQuerySlotPowerStatusCallback) (livox_status status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data)
typedef void(*	HubFanControlCallback) (livox_status status, uint8_t handle, HubFanControlResponse *response, void *client_data)
typedef void(*	HubGetFanStateCallback) (livox_status status, uint8_t handle, HubGetFanStateResponse *response, void *client_data)
typedef void(*	HubSetPointCloudReturnModeCallback) (livox_status status, uint8_t handle, HubSetPointCloudReturnModeResponse *response, void *client_data)
typedef void(*	HubGetPointCloudReturnModeCallback) (livox_status status, uint8_t handle, HubGetPointCloudReturnModeResponse *response, void *client_data)
typedef void(*	HubSetImuPushFrequencyCallback) (livox_status status, uint8_t handle, HubSetImuPushFrequencyResponse *response, void *client_data)
typedef void(*	HubGetImuPushFrequencyCallback) (livox_status status, uint8_t handle, HubGetImuPushFrequencyResponse *response, void *client_data)
typedef void(*	LidarGetExtrinsicParameterCallback) (livox_status status, uint8_t handle, LidarGetExtrinsicParameterResponse *response, void *client_data)
typedef void(*	LidarGetFanStateCallback) (livox_status status, uint8_t handle, LidarGetFanStateResponse *response, void *client_data)
typedef void(*	LidarGetPointCloudReturnModeCallback) (livox_status status, uint8_t handle, LidarGetPointCloudReturnModeResponse *response, void *client_data)
typedef void(*	LidarGetImuPushFrequencyCallback) (livox_status status, uint8_t handle, LidarGetImuPushFrequencyResponse *response, void *client_data)

Functions
void	GetLivoxSdkVersion (LivoxSdkVersion *version)
void	DisableConsoleLogger ()
bool	Init ()
bool	Start ()
void	Uninit ()
void	SaveLoggerFile ()
void	SetBroadcastCallback (DeviceBroadcastCallback cb)
void	SetDeviceStateUpdateCallback (DeviceStateUpdateCallback cb)
	Add a callback for device connection or working state changing event. More...
livox_status	AddHubToConnect (const char *broadcast_code, uint8_t *handle)
livox_status	AddLidarToConnect (const char *broadcast_code, uint8_t *handle)
livox_status	GetConnectedDevices (DeviceInfo *devices, uint8_t *size)
livox_status	QueryDeviceInformation (uint8_t handle, DeviceInformationCallback cb, void *client_data)
void	SetDataCallback (uint8_t handle, DataCallback cb, void *client_data)
livox_status	HubStartSampling (CommonCommandCallback cb, void *client_data)
livox_status	HubStopSampling (CommonCommandCallback cb, void *client_data)
livox_status	HubGetLidarHandle (uint8_t slot, uint8_t id)
livox_status	DisconnectDevice (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	SetCartesianCoordinate (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	SetSphericalCoordinate (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	SetErrorMessageCallback (uint8_t handle, ErrorMessageCallback cb)
livox_status	SetStaticDynamicIP (uint8_t handle, SetDeviceIPModeRequest *req, CommonCommandCallback cb, void *client_data)
livox_status	SetStaticIp (uint8_t handle, SetStaticDeviceIpModeRequest *req, CommonCommandCallback cb, void *client_data)
livox_status	SetDynamicIp (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	GetDeviceIpInformation (uint8_t handle, GetDeviceIpInformationCallback cb, void *client_data)
livox_status	RebootDevice (uint8_t handle, uint16_t timeout, CommonCommandCallback cb, void *client_data)
livox_status	LidarEnableHighSensitivity (uint8_t handle, SetDeviceParametersCallback cb, void *client_data)
livox_status	LidarDisableHighSensitivity (uint8_t handle, SetDeviceParametersCallback cb, void *client_data)
livox_status	LidarGetHighSensitivityState (uint8_t handle, GetDeviceParametersCallback cb, void *client_data)
livox_status	LidarSetScanPattern (uint8_t handle, LidarScanPattern pattern, SetDeviceParametersCallback cb, void *client_data)
livox_status	LidarGetScanPattern (uint8_t handle, GetDeviceParametersCallback cb, void *client_data)
livox_status	LidarSetSlotNum (uint8_t handle, uint8_t slot, SetDeviceParametersCallback cb, void *client_data)
livox_status	LidarGetSlotNum (uint8_t handle, GetDeviceParametersCallback cb, void *client_data)
livox_status	DeviceResetAllParameters (uint8_t handle, DeviceResetParametersCallback cb, void *client_data)
livox_status	DeviceResetParameters (uint8_t handle, DeviceParamKeyName *keys, uint8_t num, DeviceResetParametersCallback cb, void *client_data)
livox_status	HubQueryLidarInformation (HubQueryLidarInformationCallback cb, void *client_data)
livox_status	HubSetMode (HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data)
livox_status	HubQueryLidarStatus (HubQueryLidarStatusCallback cb, void *client_data)
livox_status	HubControlSlotPower (HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data)
livox_status	HubSetExtrinsicParameter (HubSetExtrinsicParameterRequest *req, uint16_t length, HubSetExtrinsicParameterCallback cb, void *client_data)
livox_status	HubGetExtrinsicParameter (HubGetExtrinsicParameterCallback cb, void *client_data)
livox_status	HubExtrinsicParameterCalculation (bool enable, CommonCommandCallback cb, void *client_data)
livox_status	HubRainFogSuppress (HubRainFogSuppressRequest *req, uint16_t length, HubRainFogSuppressCallback cb, void *client_data)
livox_status	HubQuerySlotPowerStatus (HubQuerySlotPowerStatusCallback cb, void *client_data)
livox_status	HubFanControl (HubFanControlRequest *req, uint16_t length, HubFanControlCallback cb, void *client_data)
livox_status	HubGetFanState (HubGetFanStateRequest *req, uint16_t length, HubGetFanStateCallback cb, void *client_data)
livox_status	HubSetPointCloudReturnMode (HubSetPointCloudReturnModeRequest *req, uint16_t length, HubSetPointCloudReturnModeCallback cb, void *client_data)
livox_status	HubGetPointCloudReturnMode (HubGetPointCloudReturnModeRequest *req, uint16_t length, HubGetPointCloudReturnModeCallback cb, void *client_data)
livox_status	HubSetImuPushFrequency (HubSetImuPushFrequencyRequest *req, uint16_t length, HubSetImuPushFrequencyCallback cb, void *client_data)
livox_status	HubGetImuPushFrequency (HubGetImuPushFrequencyRequest *req, uint16_t length, HubGetImuPushFrequencyCallback cb, void *client_data)
livox_status	LidarStartSampling (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	LidarStopSampling (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	LidarSetMode (uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data)
livox_status	LidarSetExtrinsicParameter (uint8_t handle, LidarSetExtrinsicParameterRequest *req, CommonCommandCallback cb, void *client_data)
livox_status	LidarGetExtrinsicParameter (uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data)
livox_status	LidarRainFogSuppress (uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data)
livox_status	LidarTurnOffFan (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	LidarTurnOnFan (uint8_t handle, CommonCommandCallback cb, void *client_data)
livox_status	LidarGetFanState (uint8_t handle, LidarGetFanStateCallback cb, void *client_data)
livox_status	LidarSetPointCloudReturnMode (uint8_t handle, PointCloudReturnMode mode, CommonCommandCallback cb, void *client_data)
livox_status	LidarGetPointCloudReturnMode (uint8_t handle, LidarGetPointCloudReturnModeCallback cb, void *client_data)
livox_status	LidarSetImuPushFrequency (uint8_t handle, ImuFreq freq, CommonCommandCallback cb, void *client_data)
livox_status	LidarGetImuPushFrequency (uint8_t handle, LidarGetImuPushFrequencyCallback cb, void *client_data)
livox_status	LidarSetRmcSyncTime (uint8_t handle, const char *rmc, uint16_t rmc_length, CommonCommandCallback cb, void *client_data)
livox_status	LidarSetUtcSyncTime (uint8_t handle, LidarSetUtcSyncTimeRequest *req, CommonCommandCallback cb, void *client_data)

Typedef Documentation

typedef void(* CommonCommandCallback) (livox_status status, uint8_t handle, uint8_t response, void *client_data)

Function type of callback with 1 byte of response.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 183 of file livox_sdk.h.

typedef void(* DataCallback) (uint8_t handle, LivoxEthPacket *data, uint32_t data_num, void *client_data)

Callback function for receiving point cloud data.

Parameters

handle	device handle.
data	device's data.
data_num	number of points in data.
client_data	user data associated with the command.

Definition at line 159 of file livox_sdk.h.

typedef void(* DeviceBroadcastCallback) (const BroadcastDeviceInfo *info)

SetBroadcastCallback response callback function.

Parameters

info	information of the broadcast device, becomes invalid after the function returns.

Definition at line 73 of file livox_sdk.h.

typedef void(* DeviceInformationCallback) (livox_status status, uint8_t handle, DeviceInformationResponse *response, void *client_data)

Function type of callback that queries device's information.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 138 of file livox_sdk.h.

typedef void(* DeviceResetParametersCallback) (livox_status status, uint8_t handle, DeviceParameterResponse *response, void *client_data)

DeviceResetParameters' response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 431 of file livox_sdk.h.

typedef void(* DeviceStateUpdateCallback) (const DeviceInfo *device, DeviceEvent type)

SetDeviceStateUpdateCallback response callback function.

Parameters

device	information of the connected device.
type	the update type that indicates connection/disconnection of the device or change of working state.

Definition at line 87 of file livox_sdk.h.

typedef void(* ErrorMessageCallback) (livox_status status, uint8_t handle, ErrorMessage *message)

Callback of the error status message. kStatusSuccess on successful return, see LivoxStatus for other

Parameters

handle	device handle.
response	response from the device.

Definition at line 242 of file livox_sdk.h.

typedef void(* GetDeviceIpInformationCallback) (livox_status status, uint8_t handle, GetDeviceIpModeResponse *response, void *client_data)

Callback function that gets device's IP information.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 300 of file livox_sdk.h.

typedef void(* GetDeviceParametersCallback) (livox_status status, uint8_t handle, GetDeviceParameterResponse *response, void *client_data)

GetDeviceParameters' response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 366 of file livox_sdk.h.

typedef void(* HubFanControlCallback) (livox_status status, uint8_t handle, HubFanControlResponse *response, void *client_data)

HubFanControl response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 633 of file livox_sdk.h.

typedef void(* HubGetExtrinsicParameterCallback) (livox_status status, uint8_t handle, HubGetExtrinsicParameterResponse *response, void *client_data)

HubGetExtrinsicParameter response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 559 of file livox_sdk.h.

typedef void(* HubGetFanStateCallback) (livox_status status, uint8_t handle, HubGetFanStateResponse *response, void *client_data)

HubGetFanControl response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 656 of file livox_sdk.h.

typedef void(* HubGetImuPushFrequencyCallback) (livox_status status, uint8_t handle, HubGetImuPushFrequencyResponse *response, void *client_data)

HubGetImuPushFrequency response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 760 of file livox_sdk.h.

typedef void(* HubGetPointCloudReturnModeCallback) (livox_status status, uint8_t handle, HubGetPointCloudReturnModeResponse *response, void *client_data)

HubGetPointCloudReturnMode response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 708 of file livox_sdk.h.

typedef void(* HubQueryLidarInformationCallback) (livox_status status, uint8_t handle, HubQueryLidarInformationResponse *response, void *client_data)

HubQueryLidarInformation response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 465 of file livox_sdk.h.

typedef void(* HubQueryLidarStatusCallback) (livox_status status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data)

HubQueryLidarStatus response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 506 of file livox_sdk.h.

typedef void(* HubQuerySlotPowerStatusCallback) (livox_status status, uint8_t handle, HubQuerySlotPowerStatusResponse *response, void *client_data)

HubQuerySlotPowerStatus response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 615 of file livox_sdk.h.

typedef void(* HubRainFogSuppressCallback) (livox_status status, uint8_t handle, HubRainFogSuppressResponse *response, void *client_data)

HubRainFogSuppress response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 589 of file livox_sdk.h.

typedef void(* HubSetExtrinsicParameterCallback) (livox_status status, uint8_t handle, HubSetExtrinsicParameterResponse *response, void *client_data)

HubSetExtrinsicParameter response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 533 of file livox_sdk.h.

typedef void(* HubSetImuPushFrequencyCallback) (livox_status status, uint8_t handle, HubSetImuPushFrequencyResponse *response, void *client_data)

HubSetImuPushFrequency response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 734 of file livox_sdk.h.

typedef void(* HubSetModeCallback) (livox_status status, uint8_t handle, HubSetModeResponse *response, void *client_data)

HubSetMode response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 486 of file livox_sdk.h.

typedef void(* HubSetPointCloudReturnModeCallback) (livox_status status, uint8_t handle, HubSetPointCloudReturnModeResponse *response, void *client_data)

HubSetPointCloudReturnMode response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 682 of file livox_sdk.h.

typedef void(* LidarGetExtrinsicParameterCallback) (livox_status status, uint8_t handle, LidarGetExtrinsicParameterResponse *response, void *client_data)

LidarGetExtrinsicParameter response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 829 of file livox_sdk.h.

typedef void(* LidarGetFanStateCallback) (livox_status status, uint8_t handle, LidarGetFanStateResponse *response, void *client_data)

LidarGetFanState response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 882 of file livox_sdk.h.

typedef void(* LidarGetImuPushFrequencyCallback) (livox_status status, uint8_t handle, LidarGetImuPushFrequencyResponse *response, void *client_data)

LidaGetImuPushFrequency response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 950 of file livox_sdk.h.

typedef void(* LidarGetPointCloudReturnModeCallback) (livox_status status, uint8_t handle, LidarGetPointCloudReturnModeResponse *response, void *client_data)

LidaGetPointCloudReturnMode response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 916 of file livox_sdk.h.

typedef void(* SetDeviceParametersCallback) (livox_status status, uint8_t handle, DeviceParameterResponse *response, void *client_data)

SetDeviceParameters' response callback function.

Parameters

status	kStatusSuccess on successful return, kStatusTimeout on timeout, see LivoxStatus for other error code.
handle	device handle.
response	response from the device.
client_data	user data associated with the command.

Definition at line 333 of file livox_sdk.h.

Function Documentation

livox_status AddHubToConnect	(	const char *	broadcast_code,
		uint8_t *	handle
	)

Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The broadcast code is unique for every device.

Parameters

broadcast_code	device's broadcast code.
handle	device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub, the corresponding handle is (slot-1)*3+id-1.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status AddLidarToConnect	(	const char *	broadcast_code,
		uint8_t *	handle
	)

Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The broadcast code is unique for every device.

Parameters

broadcast_code	device's broadcast code.
handle	device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status DeviceResetAllParameters	(	uint8_t	handle,
		DeviceResetParametersCallback	cb,
		void *	client_data
	)

Reset LiDAR/Hub's All Parameters, see DeviceParamKeyName for all parameters.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status DeviceResetParameters	(	uint8_t	handle,
		DeviceParamKeyName *	keys,
		uint8_t	num,
		DeviceResetParametersCallback	cb,
		void *	client_data
	)

Reset LiDAR/Hub's Parameters, see DeviceParamKeyName for all parameters.

Parameters

handle	device handle.
keys	keys to reset, see DeviceParamKeyName for all parameters.
num	num of keys to reset.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

void DisableConsoleLogger

(

)

Disable console log output.

livox_status DisconnectDevice	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Disconnect divice.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status GetConnectedDevices	(	DeviceInfo *	devices,
		uint8_t *	size
	)

Get all connected devices' information.

Parameters

devices	list of connected devices' information.
size	number of devices connected.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status GetDeviceIpInformation	(	uint8_t	handle,
		GetDeviceIpInformationCallback	cb,
		void *	client_data
	)

Get device's IP mode.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

void GetLivoxSdkVersion

(

LivoxSdkVersion *

version

)

Return SDK's version information in a numeric form.

Parameters

version

Pointer to a version structure for returning the version information.

livox_status HubControlSlotPower	(	HubControlSlotPowerRequest *	req,
		CommonCommandCallback	cb,
		void *	client_data
	)

Toggle the power supply of designated slots.

Parameters

req	request whether to enable or disable the power of designated slots.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubExtrinsicParameterCalculation	(	bool	enable,
		CommonCommandCallback	cb,
		void *	client_data
	)

Turn on or off the calculation of extrinsic parameters.

Parameters

enable	the request whether enable or disable calculating the extrinsic parameters.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubFanControl	(	HubFanControlRequest *	req,
		uint16_t	length,
		HubFanControlCallback	cb,
		void *	client_data
	)

Turn on or off the fan of LiDAR unit connected to the Livox Hub.

Parameters

req	Fan control of LiDAR units.
length	length of req.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubGetExtrinsicParameter	(	HubGetExtrinsicParameterCallback	cb,
		void *	client_data
	)

Get extrinsic parameters of LiDAR units connected to the Livox Hub.

Parameters

cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubGetFanState	(	HubGetFanStateRequest *	req,
		uint16_t	length,
		HubGetFanStateCallback	cb,
		void *	client_data
	)

Get fan state of LiDAR unit connected to the Livox Hub.

Parameters

req	Get fan state of LiDAR units.
length	length of req.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubGetImuPushFrequency	(	HubGetImuPushFrequencyRequest *	req,
		uint16_t	length,
		HubGetImuPushFrequencyCallback	cb,
		void *	client_data
	)

Get IMU push frequency of LiDAR units connected to the Livox Hub.

Parameters

req	get IMU push frequency of LiDAR units.
length	the request's length.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubGetLidarHandle	(	uint8_t	slot,
		uint8_t	id
	)

Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.

Parameters

slot	Livox Hub's slot.
id	Livox Hub's id.

Returns

LiDAR unit handle.

livox_status HubGetPointCloudReturnMode	(	HubGetPointCloudReturnModeRequest *	req,
		uint16_t	length,
		HubGetPointCloudReturnModeCallback	cb,
		void *	client_data
	)

Get point cloud return mode of LiDAR unit connected to the Livox Hub.

Parameters

req	Get point cloud return mode of LiDAR units.
length	length of req.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubQueryLidarInformation	(	HubQueryLidarInformationCallback	cb,
		void *	client_data
	)

Query the information of LiDARs connected to the hub.

Parameters

cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubQueryLidarStatus	(	HubQueryLidarStatusCallback	cb,
		void *	client_data
	)

Get the state of LiDAR units connected to the Livox Hub.

Parameters

cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubQuerySlotPowerStatus	(	HubQuerySlotPowerStatusCallback	cb,
		void *	client_data
	)

Get the power supply state of each hub slot.

Parameters

cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubRainFogSuppress	(	HubRainFogSuppressRequest *	req,
		uint16_t	length,
		HubRainFogSuppressCallback	cb,
		void *	client_data
	)

Toggling the rain and fog mode for lidars connected to the hub.

Parameters

req	the request whether open or close the rain and fog mode.
length	the request's length.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubSetExtrinsicParameter	(	HubSetExtrinsicParameterRequest *	req,
		uint16_t	length,
		HubSetExtrinsicParameterCallback	cb,
		void *	client_data
	)

Set extrinsic parameters of LiDAR units connected to the Livox Hub.

Parameters

req	the parameters to write.
length	the request's length.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubSetImuPushFrequency	(	HubSetImuPushFrequencyRequest *	req,
		uint16_t	length,
		HubSetImuPushFrequencyCallback	cb,
		void *	client_data
	)

Set IMU push frequency of LiDAR units connected to the Livox Hub.

Parameters

req	set IMU push frequency of LiDAR units.
length	the request's length.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubSetMode	(	HubSetModeRequest *	req,
		uint16_t	length,
		HubSetModeCallback	cb,
		void *	client_data
	)

Set the mode of LiDAR unit connected to the Livox Hub.

Parameters

req	mode configuration of LiDAR units.
length	length of req.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubSetPointCloudReturnMode	(	HubSetPointCloudReturnModeRequest *	req,
		uint16_t	length,
		HubSetPointCloudReturnModeCallback	cb,
		void *	client_data
	)

Set point cloud return mode of LiDAR units connected to the Livox Hub.

Parameters

req	set point cloud return mode of LiDAR units.
length	the request's length.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubStartSampling	(	CommonCommandCallback	cb,
		void *	client_data
	)

Start hub sampling.

Parameters

cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status HubStopSampling	(	CommonCommandCallback	cb,
		void *	client_data
	)

Stop the Livox Hub's sampling.

Parameters

cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

bool Init

(

)

Initialize the SDK.

Returns

true if successfully initialized, otherwise false.

livox_status LidarDisableHighSensitivity	(	uint8_t	handle,
		SetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Disable HighSensitivity.

Note

LidarDisableHighSensitivity only support for Tele/Avia.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarEnableHighSensitivity	(	uint8_t	handle,
		SetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Enable HighSensitivity.

Note

LidarEnableHighSensitivity only support for Tele/Avia.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetExtrinsicParameter	(	uint8_t	handle,
		LidarGetExtrinsicParameterCallback	cb,
		void *	client_data
	)

Get LiDAR extrinsic parameters.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetFanState	(	uint8_t	handle,
		LidarGetFanStateCallback	cb,
		void *	client_data
	)

Get state of the fan.

Note

LidarGetFanState is not supported for Mid40/100.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetHighSensitivityState	(	uint8_t	handle,
		GetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Get HighSensitivity State.

Note

LidarGetHighSensitivityState only support for Tele/Avia.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetImuPushFrequency	(	uint8_t	handle,
		LidarGetImuPushFrequencyCallback	cb,
		void *	client_data
	)

Get IMU push frequency.

Note

LidarGetImuPushFrequency is not supported for Mid40/100.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetPointCloudReturnMode	(	uint8_t	handle,
		LidarGetPointCloudReturnModeCallback	cb,
		void *	client_data
	)

Get point cloud return mode.

Note

LidarGetPointCloudReturnMode is not supported for Mid40/100.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetScanPattern	(	uint8_t	handle,
		GetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Get Scan Pattern.

Note

LidarGetScanPattern only support for Avia.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarGetSlotNum	(	uint8_t	handle,
		GetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Get Slot Number.

Note

LidarGetSlotNum only support for Mid70/Avia.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarRainFogSuppress	(	uint8_t	handle,
		bool	enable,
		CommonCommandCallback	cb,
		void *	client_data
	)

Enable and disable the rain/fog suppression.

Note

LidarRainFogSuppress only support for Mid40/100.

Parameters

handle	device handle.
enable	enable and disable the rain/fog suppression.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetExtrinsicParameter	(	uint8_t	handle,
		LidarSetExtrinsicParameterRequest *	req,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set LiDAR extrinsic parameters.

Parameters

handle	device handle.
req	the parameters to write.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetImuPushFrequency	(	uint8_t	handle,
		ImuFreq	freq,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set IMU push frequency.

Note

LidarSetImuPushFrequency is not supported for Mid40/100.

Parameters

handle	device handle.
freq	IMU push frequency.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetMode	(	uint8_t	handle,
		LidarMode	mode,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set LiDAR mode.

Note

Successful callback function status only means LiDAR successfully starting the changing process of mode. You need to observe the actually change of mode in DeviceStateUpdateCallback function.

Parameters

handle	device handle.
mode	the mode to change.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetPointCloudReturnMode	(	uint8_t	handle,
		PointCloudReturnMode	mode,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set point cloud return mode.

Note

LidarSetPointCloudReturnMode is not supported for Mid40/100.

Parameters

handle	device handle.
mode	point cloud return mode.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetRmcSyncTime	(	uint8_t	handle,
		const char *	rmc,
		uint16_t	rmc_length,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set GPRMC formate synchronization time.

Note

LidarSetRmcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.

Parameters

handle	device handle.
rmc	GPRMC/GNRMC format data.
rmc_length	lenth of gprmc.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetScanPattern	(	uint8_t	handle,
		LidarScanPattern	pattern,
		SetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Set Scan Pattern.

Note

LidarSetScanPattern only support for Avia.

Parameters

handle	device handle.
pattern	scan pattern of LiDAR, see LidarScanPattern for detail.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetSlotNum	(	uint8_t	handle,
		uint8_t	slot,
		SetDeviceParametersCallback	cb,
		void *	client_data
	)

LiDAR Set Slot Number.

Note

LidarSetSlotNum only support for Mid70/Avia.

Parameters

handle	device handle.
slot	slot number of LiDAR, range from 1 to 9.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarSetUtcSyncTime	(	uint8_t	handle,
		LidarSetUtcSyncTimeRequest *	req,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set UTC formate synchronization time.

Note

LidarSetUtcSyncTime is not supported for Mid40/100 firmware version < 03.07.0000.

Parameters

handle	device handle.
req	UTC format data.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarStartSampling	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Start LiDAR sampling.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarStopSampling	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Stop LiDAR sampling.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarTurnOffFan	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Turn off the fan.

Note

LidarTurnOffFan is not supported for Mid40/100.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status LidarTurnOnFan	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Turn on the fan.

Note

LidarTurnOnFan is not supported for Mid40/100.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status QueryDeviceInformation	(	uint8_t	handle,
		DeviceInformationCallback	cb,
		void *	client_data
	)

Command to query device's information.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status RebootDevice	(	uint8_t	handle,
		uint16_t	timeout,
		CommonCommandCallback	cb,
		void *	client_data
	)

Reboot device.

Note

RebootDevice is not supported for Mid40/100 firmware version < 03.07.0000.

Parameters

handle	device handle.
timeout	reboot device after [timeout] ms.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

void SaveLoggerFile

(

)

Save the log file.

void SetBroadcastCallback

(

DeviceBroadcastCallback

cb

)

Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb is called.

Parameters

cb	callback for device broadcast.

livox_status SetCartesianCoordinate	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Change point cloud coordinate system to cartesian coordinate.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

void SetDataCallback	(	uint8_t	handle,
		DataCallback	cb,
		void *	client_data
	)

Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point cloud data callback before beginning sampling.

Parameters

handle	device handle.
cb	callback to receive point cloud data.

Note

1: Don't do any blocking operations in callback function, it will affects further data's receiving; 2: For different device handle, callback to receive point cloud data will run on its own thread. If you bind different handle to same callback function, please make sure that operations in callback function are thread-safe; 3: callback function's data pointer will be invalid after callback fuction returns. It's recommended to copy all data_num of point cloud every time callback is triggered.

Parameters

client_data

user data associated with the command.

void SetDeviceStateUpdateCallback

(

DeviceStateUpdateCallback

cb

)

Add a callback for device connection or working state changing event.

Note

Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If you want to get information of the LiDAR unit(s) connected to hub, see HubQueryLidarInformation.

3 conditions can trigger this callback:

1. Connection and disconnection of device.
2. A change of device working state.
3. An error occurs.

Parameters

cb	callback for device connection/disconnection.

livox_status SetDynamicIp	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set device's dynamic IP mode.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status SetErrorMessageCallback	(	uint8_t	handle,
		ErrorMessageCallback	cb
	)

Add error status callback for the device. error code.

Parameters

handle	device handle.
cb	callback for the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status SetSphericalCoordinate	(	uint8_t	handle,
		CommonCommandCallback	cb,
		void *	client_data
	)

Change point cloud coordinate system to spherical coordinate.

Parameters

handle	device handle.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status SetStaticDynamicIP	(	uint8_t	handle,
		SetDeviceIPModeRequest *	req,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set device's IP mode.

Note

SetStaticDynamicIP only supports setting Hub or Mid40/100's IP mode. If you want to set Horizon or Tele's IP mode, see SetStaticIp and SetDynamicIp.

Parameters

handle	device handle.
req	request sent to device.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

livox_status SetStaticIp	(	uint8_t	handle,
		SetStaticDeviceIpModeRequest *	req,
		CommonCommandCallback	cb,
		void *	client_data
	)

Set device's static IP mode.

Note

Mid40/100 is not supported to set subnet mask and gateway address. SetStaticDeviceIpModeRequest's setting: net_mask and gw_addr will not take effect on Mid40/100.

Parameters

handle	device handle.
req	request sent to device.
cb	callback for the command.
client_data	user data associated with the command.

Returns

kStatusSuccess on successful return, see LivoxStatus for other error code.

bool Start

(

)

Start the device scanning routine which runs on a separate thread.

Returns

true if successfully started, otherwise false.

void Uninit

(

)

Uninitialize the SDK.