Support saving debug point cloud of Hap.

Support setting the default work mode after boot of Hap.

CHANGELOG.md

@@ -1,6 +1,11 @@
 # Changelog
 
 All notable changes to Livox-SDK2 will be documentd in this file.
+## [1.2.5]
+### Added
+
+- Support saving debug point cloud of Hap.
+- Support setting the default work mode after boot of Hap.
 
 ## [1.2.4]
 ### Added

include/livox_lidar_api.h

@@ -446,6 +446,15 @@ livox_status SetLivoxLidarDebugPointCloud(uint32_t handle, bool enable, LivoxLid
  */
 livox_status SetLivoxLidarRmcSyncTime(uint32_t handle, const char* rmc, uint16_t rmc_length, LivoxLidarRmcSyncTimeCallBack cb, void* client_data);
 
+/**
+ * Set LiDAR work mode after boot.
+ * @param  handle                 device handle.
+ * @param  work_mode              lidar work mode after boot.
+ * @param  cb                     callback for the command.
+ * @param  client_data            user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref LivoxStatus for other error code.
+ */
+livox_status SetLivoxLidarWorkModeAfterBoot(const uint32_t handle,const LivoxLidarWorkModeAfterBoot work_mode, LivoxLidarAsyncControlCallback cb, void* client_data);
 /*******Upgrade Module***********/
 
 /**

include/livox_lidar_def.h

@@ -31,9 +31,9 @@
 
 #pragma pack(1)
 
-#define LIVOX_LIDAR_SDK_MAJOR_VERSION       3
-#define LIVOX_LIDAR_SDK_MINOR_VERSION       1
-#define LIVOX_LIDAR_SDK_PATCH_VERSION       1
+#define LIVOX_LIDAR_SDK_MAJOR_VERSION       1
+#define LIVOX_LIDAR_SDK_MINOR_VERSION       2
+#define LIVOX_LIDAR_SDK_PATCH_VERSION       5
 
 #define kBroadcastCodeSize 16
 
@@ -90,6 +90,7 @@ typedef enum {
   kKeyFovCfgEn                = 0x0017,
   kKeyDetectMode              = 0x0018,
   kKeyFuncIoCfg               = 0x0019,
+  kKeyWorkModeAfterBoot       = 0x0020,
   kKeyWorkMode                = 0x001A,
   kKeyGlassHeat               = 0x001B,
   kKeyImuDataEn               = 0x001C,
@@ -255,6 +256,12 @@ typedef enum {
   kLivoxLidarUpgrade = 0x08
 } LivoxLidarWorkMode;
 
+typedef enum {
+  kLivoxLidarWorkModeAfterBootDefault = 0x00,
+  kLivoxLidarWorkModeAfterBootNormal = 0x01,
+  kLivoxLidarWorkModeAfterBootWakeUp = 0x02
+} LivoxLidarWorkModeAfterBoot;
+
 typedef struct {
   float roll_deg;
   float pitch_deg;

samples/livox_lidar_rmc_time_sync/win/synchro.cpp

@@ -29,7 +29,7 @@
 
 Synchro::Synchro() {
   hfile_ = INVALID_HANDLE_VALUE;
-  is_quite_ = false;
+  is_quit_ = false;
   rmc_buff_.resize(128,0);
 }
 
@@ -53,13 +53,13 @@ bool Synchro::Start() {
   if (!Open()) {
     return false;
   }
-  is_quite_ = false;
+  is_quit_ = false;
   listener_ = std::make_shared<std::thread>(&Synchro::IOLoop, this);
   return true;
 }
 
 void Synchro::Stop() {
-  is_quite_ = true;
+  is_quit_ = true;
   if (listener_) {
     listener_->join();
     listener_ = nullptr;
@@ -70,7 +70,7 @@ void Synchro::Stop() {
 void Synchro::IOLoop() {
   uint8_t buff[READ_BUF];
   size_t size = 0;
-  while (!is_quite_) {
+  while (!is_quit_) {
     if (0 < (size = Read(buff, READ_BUF))) {
       Decode(buff, size);
     }

sdk_core/comm/define.h

@@ -181,6 +181,7 @@ static const uint16_t kHAPPushMsgPort   = 56000;
 static const uint16_t kHAPPointDataPort = 57000;
 static const uint16_t kHAPIMUPort       = 58000;
 static const uint16_t kHAPLogPort       = 59000;
+static const uint16_t kHAPDebugPointCloudPort = 60000;
 
 /** kLogPort, which is the log port to be banned. */
 static const uint16_t kLogPort = 0;

sdk_core/command_handler/command_impl.cpp

@@ -759,6 +759,28 @@ livox_status CommandImpl::SetLivoxLidarRmcSyncTime(uint32_t handle, const char*
                     MakeCommandCallback<LivoxLidarRmcSyncTimeResponse>(cb, client_data));
 }
 
+livox_status CommandImpl::SetLivoxLidarWorkModeAfterBoot(uint32_t handle, LivoxLidarWorkModeAfterBoot work_mode, LivoxLidarAsyncControlCallback cb, void* client_data) {
+  uint8_t req_buff[kMaxCommandBufferSize] = {0};
+  uint16_t req_len = 0;
+
+  uint16_t key_num = 1;
+  memcpy(&req_buff[req_len], &key_num, sizeof(key_num));
+  req_len = sizeof(key_num) + sizeof(uint16_t);
+
+  LivoxLidarKeyValueParam * kv = (LivoxLidarKeyValueParam *)&req_buff[req_len];
+  kv->key = static_cast<uint16_t>(kKeyWorkModeAfterBoot);
+  kv->length = sizeof(uint8_t);
+  uint8_t* val_work_mode = reinterpret_cast<uint8_t*>(&kv->value[0]);
+  *val_work_mode = work_mode;
+  req_len += sizeof(LivoxLidarKeyValueParam) - 1 + sizeof(uint8_t);
+
+  return GeneralCommandHandler::GetInstance().SendCommand(handle,
+                    kCommandIDLidarWorkModeControl,
+                    req_buff,
+                    req_len,
+                    MakeCommandCallback<LivoxLidarAsyncControlResponse>(cb, client_data));
+}
+
 // Upgrade
 livox_status CommandImpl::LivoxLidarStartUpgrade(uint32_t handle, uint8_t *data, uint16_t length,
     LivoxLidarStartUpgradeCallback cb, void* client_data) {

sdk_core/command_handler/command_impl.h

@@ -110,6 +110,8 @@ class CommandImpl {
 
   static livox_status SetLivoxLidarRmcSyncTime(uint32_t handle, const char* rmc, uint16_t rmc_length, LivoxLidarRmcSyncTimeCallBack cb, void* client_data);
 
+  static livox_status SetLivoxLidarWorkModeAfterBoot(uint32_t handle, LivoxLidarWorkModeAfterBoot work_mode, LivoxLidarAsyncControlCallback cb, void* client_data);
+
   /*******Upgrade Module***********/    
   static livox_status LivoxLidarRequestReboot(uint32_t handle, LivoxLidarRebootCallback cb, void* client_data);
 

sdk_core/device_manager.cpp

@@ -473,7 +473,7 @@ void DeviceManager::OnData(socket_t sock, void *client_data) {
     return;
   }
 
-  if (port == kMid360LidarDebugPointCloudPort) {
+  if (port == kMid360LidarDebugPointCloudPort || port == kHAPDebugPointCloudPort) {
     DebugPointCloudManager::GetInstance().Handler(handle, port, (uint8_t*)(buf.get()), size);
   }
 

sdk_core/livox_lidar_sdk.cpp

@@ -298,6 +298,10 @@ livox_status SetLivoxLidarRmcSyncTime(uint32_t handle, const char* rmc, uint16_t
   return CommandImpl::SetLivoxLidarRmcSyncTime(handle, rmc, rmc_length, cb, client_data);
 }
 
+livox_status SetLivoxLidarWorkModeAfterBoot(const uint32_t handle,const LivoxLidarWorkModeAfterBoot work_mode, LivoxLidarAsyncControlCallback cb, void* client_data){
+  return CommandImpl::SetLivoxLidarWorkModeAfterBoot(handle, work_mode, cb, client_data);
+}
+
 // reset lidar
 livox_status LivoxLidarRequestReset(uint32_t handle, LivoxLidarResetCallback cb, void* client_data) {
   return CommandImpl::LivoxLidarRequestReset(handle, cb, client_data);