livox_sdk.h

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//
// The MIT License (MIT)
//
// Copyright (c) 2019 Livox. All rights reserved.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to deal
// in the Software without restriction, including without limitation the rights
// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
// copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
// SOFTWARE.
//

#ifndef LIVOX_SDK_H_
#define LIVOX_SDK_H_

#ifdef __cplusplus
extern "C" {
#endif

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

void GetLivoxSdkVersion(LivoxSdkVersion *version);

void DisableConsoleLogger();

bool Init();

bool Start();

void Uninit();

void SaveLoggerFile();

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

void SetBroadcastCallback(DeviceBroadcastCallback cb);

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

void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);

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);

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

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

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

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

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

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

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

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

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

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


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

livox_status HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);

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

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

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

livox_status HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);

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

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

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

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

livox_status HubGetExtrinsicParameter(HubGetExtrinsicParameterCallback cb, void *client_data);

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

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

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

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

livox_status HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *client_data);

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

#ifdef __cplusplus
}
#endif

#endif  // LIVOX_SDK_H_