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<feat> compatible with odin1 firmware version 0.8.0

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1. add option to use host ros time as data timestamp, not recommanded unless specifically require this setup
2. only pub odm-map tf in relocal mode
3. add option to also not pub odm-base_link tf, not recommanded unless specifically require this setup
4. dev_status.csv now have device timestamp to better help analyzing
5. add control option to enable encrtypted device debug log, should only enable when instructed by official support
This commit is contained in:
mt-lifan
2025-12-02 17:06:17 +08:00
parent b4adaf355d
commit 5efa57da6e
8 changed files with 474 additions and 286 deletions
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include/host_sdk_sample.h
+174 -209
View File
@@ -182,6 +182,10 @@ class RosNodeControlInterface {
virtual ~RosNodeControlInterface() = default;
virtual void setDtofSubframeODR(int odr) = 0;
virtual int getDtofSubframeODR() const = 0;
virtual void setUseHostRosTime(bool use_host_ros_time) = 0;
virtual bool useHostRosTime() const = 0;
virtual void setSendOdomBaseLinkTF(bool send_odom_baselink_tf) = 0;
virtual bool sendOdomBaseLinkTF() const = 0;
};
RosNodeControlInterface* getRosNodeControl();
@@ -233,7 +237,15 @@ public:
ros::Imu imu_msg;
#endif
imu_msg.header.stamp = ns_to_ros_time(stream->stamp);
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
imu_msg.header.stamp = node_->now();
#else
imu_msg.header.stamp = ros::Time::now();
#endif
} else {
imu_msg.header.stamp = ns_to_ros_time(stream->stamp);
}
imu_msg.header.frame_id = "imu_link";
imu_msg.linear_acceleration.y = -1 * stream->accel_x;
@@ -499,7 +511,7 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
}
}
void publishIntensityCloud(capture_Image_List_t* stream, int idx)
void publishIntensityCloud(capture_Image_List_t* stream, int idx)
{
// Check index validity
if (idx < 0 || idx >= 10) {
@@ -534,7 +546,15 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
// Set message header
msg->header.frame_id = "odin1_base_link";
msg->header.stamp = ns_to_ros_time(cloud.timestamp);
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
msg->header.stamp = node_->now();
#else
msg->header.stamp = ros::Time::now();
#endif
} else {
msg->header.stamp = ns_to_ros_time(cloud.timestamp);
}
msg->height = cloud.height;
msg->width = cloud.width;
@@ -653,173 +673,51 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
#endif
}
void publishGrayUInt8(capture_Image_List_t *stream, int idx) {
ImageMsg msg;
msg.header.stamp = ns_to_ros_time(stream->imageList[idx].timestamp);
msg.header.frame_id = "map";
int width = stream->imageList[idx].width;
int height = stream->imageList[idx].height;
msg.height = height;
msg.width = width;
msg.encoding = "mono8";
msg.is_bigendian = false;
msg.step = width * sizeof(uint8_t);
size_t image_size = msg.step * height;
msg.data.resize(image_size);
memcpy(msg.data.data(), stream->imageList[idx].pAddr, image_size);
void publishGrayUInt8(capture_Image_List_t *stream, int idx) {
ImageMsg msg;
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
intensity_gray_pub_->publish(msg);
msg.header.stamp = node_->now();
#else
intensity_gray_pub_.publish(msg);
msg.header.stamp = ros::Time::now();
#endif
} else {
msg.header.stamp = ns_to_ros_time(stream->imageList[idx].timestamp);
}
msg.header.frame_id = "map";
void publishRgb(capture_Image_List_t *stream) {
int width = stream->imageList[idx].width;
int height = stream->imageList[idx].height;
msg.height = height;
msg.width = width;
msg.encoding = "mono8";
msg.is_bigendian = false;
msg.step = width * sizeof(uint8_t);
size_t image_size = msg.step * height;
msg.data.resize(image_size);
memcpy(msg.data.data(), stream->imageList[idx].pAddr, image_size);
#ifdef ROS2
intensity_gray_pub_->publish(msg);
#else
intensity_gray_pub_.publish(msg);
#endif
}
void publishRgb(capture_Image_List_t *stream) {
buffer_List_t &image = stream->imageList[0];
// old version yuv data
if (image.length == image.width * image.height * 3 / 2) {
try {
const int height_nv12 = image.height * 3 / 2;
cv::Mat nv12_mat(height_nv12, image.width, CV_8UC1, image.pAddr);
cv::Mat bgr;
cv::cvtColor(nv12_mat, bgr, cv::COLOR_YUV2BGR_NV12);
if (bgr.empty()) {
#ifndef ROS2
ROS_ERROR("Failed to convert NV12 to BGR");
#endif
return;
}
//Create ROS image message
#ifdef ROS2
auto header = std::make_shared<std_msgs::msg::Header>();
header->stamp = ns_to_ros_time(image.timestamp); // Offset compensation
//RCLCPP_INFO(rclcpp::get_logger("device_cb"), "image rgb %ld",image.timestamp);
header->frame_id = "camera_rgb_frame";
auto cv_image = std::make_shared<cv_bridge::CvImage>(*header, "bgr8", bgr);
auto msg = cv_image->toImageMsg();
// Add to unified queue
if (g_sendcloudrender) {
std::lock_guard<std::mutex> lock(rgb_queue_mutex_);
if (rgb_image_queue_.size() >= 10) {
rgb_image_queue_.pop_front();
}
rgb_image_queue_.push_back(msg);
}
// Publish original image message
rgb_pub_->publish(*msg);
// Create compressed image message
auto compressed_msg = std::make_shared<sensor_msgs::msg::CompressedImage>();
compressed_msg->header = *header;
compressed_msg->format = "jpeg";
// Set compression parameters
std::vector<int> compression_params;
compression_params.push_back(cv::IMWRITE_JPEG_QUALITY);
compression_params.push_back(80);
// Compress image
cv::imencode(".JPEG", bgr, compressed_msg->data, compression_params);
// Enqueue binary logging for image
if (data_logger_) {
const uint32_t idx_now = image_index_.fetch_add(1, std::memory_order_relaxed);
const double ts_sec = static_cast<double>(image.timestamp) / 1e9;
const uint32_t jpeg_size = static_cast<uint32_t>(compressed_msg->data.size());
std::vector<uint8_t> blob;
blob.reserve(sizeof(uint32_t) + sizeof(double) + sizeof(uint32_t) + jpeg_size);
auto append_pod = [&](const auto& v) {
const uint8_t* p = reinterpret_cast<const uint8_t*>(&v);
blob.insert(blob.end(), p, p + sizeof(v));
};
append_pod(idx_now);
append_pod(ts_sec);
append_pod(jpeg_size);
blob.insert(blob.end(), compressed_msg->data.begin(), compressed_msg->data.end());
data_logger_->enqueueImageFrame(std::move(blob));
}
compressed_rgb_pub_->publish(*compressed_msg);
#else
// ROS1 version
std_msgs::Header header;
header.stamp = ns_to_ros_time(image.timestamp); // Offset compensation
header.frame_id = "camera_rgb_frame";
auto cv_image = boost::make_shared<cv_bridge::CvImage>(header, "bgr8", bgr);
auto msg = cv_image->toImageMsg();
// Add to unified queue
if (g_sendcloudrender) {
std::lock_guard<std::mutex> lock(rgb_queue_mutex_);
if (rgb_image_queue_.size() >= 10) {
rgb_image_queue_.pop_front();
}
rgb_image_queue_.push_back(msg);
}
// Publish original image message
rgb_pub_.publish(msg);
// Publish compressed image - always publish
// Create compressed image message
sensor_msgs::CompressedImagePtr compressed_msg(new sensor_msgs::CompressedImage());
compressed_msg->header = header;
compressed_msg->format = "jpeg";
// Set compression parameters
std::vector<int> compression_params;
compression_params.push_back(cv::IMWRITE_JPEG_QUALITY);
compression_params.push_back(80); // JPEG quality 80%
// Compress image
cv::imencode(".jpg", bgr, compressed_msg->data, compression_params);
// Enqueue binary logging for image
if (data_logger_) {
const uint32_t idx_now = image_index_.fetch_add(1, std::memory_order_relaxed);
// Convert ROS1 header.stamp to seconds
const double ts_sec = static_cast<double>(header.stamp.sec) + static_cast<double>(header.stamp.nsec) / 1e9;
const uint32_t jpeg_size = static_cast<uint32_t>(compressed_msg->data.size());
std::vector<uint8_t> blob;
blob.reserve(sizeof(uint32_t) + sizeof(double) + sizeof(uint32_t) + jpeg_size);
auto append_pod = [&](const auto& v) {
const uint8_t* p = reinterpret_cast<const uint8_t*>(&v);
blob.insert(blob.end(), p, p + sizeof(v));
};
append_pod(idx_now);
append_pod(ts_sec);
append_pod(jpeg_size);
blob.insert(blob.end(), compressed_msg->data.begin(), compressed_msg->data.end());
data_logger_->enqueueImageFrame(std::move(blob));
}
compressed_rgb_pub_.publish(compressed_msg);
#endif
} catch (const cv::Exception& e) {
#ifndef ROS2
ROS_ERROR("OpenCV error in publishRgb: %s", e.what());
#endif
} catch (const std::exception& e) {
#ifndef ROS2
ROS_ERROR("Exception in publishRgb: %s", e.what());
#endif
}
#ifdef ROS2
RCLCPP_INFO(rclcpp::get_logger("publishRgb"), "old format rgb data, please upgrade device firmware");
#else
ROS_INFO("old format rgb data, please upgrade device firmware");
#endif
} else {// new version jpeg data
std::vector<uint8_t> jpeg_data(static_cast<uint8_t*>(image.pAddr),
@@ -829,7 +727,15 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
cv::Mat decoded_image = cv::imdecode(jpeg_data, cv::IMREAD_COLOR);
cv_bridge::CvImage cv_image;
cv_image.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
cv_image.header.stamp = node_->now();
#else
cv_image.header.stamp = ros::Time::now();
#endif
} else {
cv_image.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
}
cv_image.encoding = "bgr8";
cv_image.image = decoded_image;
@@ -865,10 +771,19 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
if (m_undistort_map_init_success) {
cv::remap(decoded_image, undistorted_image, m_undistort_map_x, m_undistort_map_y, cv::INTER_LINEAR);
cv_undistorted_image.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
cv_undistorted_image.header.stamp = node_->now();
#else
cv_undistorted_image.header.stamp = ros::Time::now();
#endif
} else {
cv_undistorted_image.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
}
cv_undistorted_image.encoding = "bgr8";
cv_undistorted_image.image = undistorted_image;
}
#ifdef ROS2
{
rgb_pub_->publish(*cv_image.toImageMsg());
@@ -878,7 +793,11 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
// original jpeg
sensor_msgs::msg::CompressedImage jpeg_msg;
jpeg_msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
if (getRosNodeControl()->useHostRosTime()) {
jpeg_msg.header.stamp = node_->now();
} else {
jpeg_msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
}
jpeg_msg.format = "jpeg";
jpeg_msg.data = jpeg_data;
@@ -893,9 +812,11 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
// original jpeg
sensor_msgs::CompressedImagePtr jpeg_msg(new sensor_msgs::CompressedImage());
// compressed_msg->header = header;
// compressed_msg->format = "jpeg";
jpeg_msg->header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
if (getRosNodeControl()->useHostRosTime()) {
jpeg_msg->header.stamp = ros::Time::now();
} else {
jpeg_msg->header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
}
jpeg_msg->format = "jpeg";
jpeg_msg->data = jpeg_data;
@@ -912,7 +833,11 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
#ifdef ROS2
sensor_msgs::msg::PointCloud2 msg;
msg.header.frame_id = "odom";
msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
if (getRosNodeControl()->useHostRosTime()) {
msg.header.stamp = node_->now();
} else {
msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
}
//RCLCPP_INFO(rclcpp::get_logger("device_cb"), "Point cloudrgba %ld",stream->imageList[0].timestamp);
@@ -940,7 +865,11 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
#else
sensor_msgs::PointCloud2 msg;
msg.header.frame_id = "odom";
msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
if (getRosNodeControl()->useHostRosTime()) {
msg.header.stamp = ros::Time::now();
} else {
msg.header.stamp = ns_to_ros_time(stream->imageList[0].timestamp);
}
size_t pt_size = sizeof(int32_t) * 3 + sizeof(int32_t) * 4;
uint32_t points = stream->imageList[idx].length / pt_size;
@@ -1054,7 +983,15 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
if (data_len == sizeof(ros_odom_convert_complete_t)) {
ros_odom_convert_complete_t* odom_data = (ros_odom_convert_complete_t*)stream->imageList[0].pAddr;
msg.header.stamp = ns_to_ros_time(odom_data->timestamp_ns);
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
msg.header.stamp = node_->now();
#else
msg.header.stamp = ros::Time::now();
#endif
} else {
msg.header.stamp = ns_to_ros_time(odom_data->timestamp_ns);
}
msg.pose.pose.position.x = static_cast<double>(odom_data->pos[0]) / 1e6;
msg.pose.pose.position.y = static_cast<double>(odom_data->pos[1]) / 1e6;
@@ -1109,7 +1046,15 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
} else if (data_len == sizeof(ros2_odom_convert_t)) {
ros2_odom_convert_t* odom_data = (ros2_odom_convert_t*)stream->imageList[0].pAddr;
msg.header.stamp = ns_to_ros_time(odom_data->timestamp_ns);
if (getRosNodeControl()->useHostRosTime()) {
#ifdef ROS2
msg.header.stamp = node_->now();
#else
msg.header.stamp = ros::Time::now();
#endif
} else {
msg.header.stamp = ns_to_ros_time(odom_data->timestamp_ns);
}
msg.pose.pose.position.x = static_cast<double>(odom_data->pos[0]) / 1e6;
msg.pose.pose.position.y = static_cast<double>(odom_data->pos[1]) / 1e6;
@@ -1125,18 +1070,24 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
switch(odom_type) {
case OdometryType::STANDARD:
{
geometry_msgs::msg::TransformStamped transformStamped;
transformStamped.header.stamp = msg.header.stamp;
transformStamped.header.frame_id = "odom";
transformStamped.child_frame_id = "odin1_base_link";
transformStamped.transform.translation.x = msg.pose.pose.position.x;
transformStamped.transform.translation.y = msg.pose.pose.position.y;
transformStamped.transform.translation.z = msg.pose.pose.position.z;
transformStamped.transform.rotation.x = msg.pose.pose.orientation.x;
transformStamped.transform.rotation.y = msg.pose.pose.orientation.y;
transformStamped.transform.rotation.z = msg.pose.pose.orientation.z;
transformStamped.transform.rotation.w = msg.pose.pose.orientation.w;
tf_broadcaster->sendTransform(transformStamped);
if (getRosNodeControl()->sendOdomBaseLinkTF()) {
geometry_msgs::msg::TransformStamped transformStamped;
if (getRosNodeControl()->useHostRosTime()) {
transformStamped.header.stamp = node_->now();
} else {
transformStamped.header.stamp = msg.header.stamp;
}
transformStamped.header.frame_id = "odom";
transformStamped.child_frame_id = "odin1_base_link";
transformStamped.transform.translation.x = msg.pose.pose.position.x;
transformStamped.transform.translation.y = msg.pose.pose.position.y;
transformStamped.transform.translation.z = msg.pose.pose.position.z;
transformStamped.transform.rotation.x = msg.pose.pose.orientation.x;
transformStamped.transform.rotation.y = msg.pose.pose.orientation.y;
transformStamped.transform.rotation.z = msg.pose.pose.orientation.z;
transformStamped.transform.rotation.w = msg.pose.pose.orientation.w;
tf_broadcaster->sendTransform(transformStamped);
}
odom_publisher_->publish(msg);
// Publish odom trajectory as visualization markers (green lines connecting adjacent points)
@@ -1201,7 +1152,11 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
case OdometryType::TRANSFORM:
{
geometry_msgs::msg::TransformStamped transformStamped;
transformStamped.header.stamp = msg.header.stamp;
if (getRosNodeControl()->useHostRosTime()) {
transformStamped.header.stamp = node_->now();
} else {
transformStamped.header.stamp = msg.header.stamp;
}
transformStamped.header.frame_id = "odom";
transformStamped.child_frame_id = "map";
transformStamped.transform.translation.x = msg.pose.pose.position.x;
@@ -1219,18 +1174,24 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
switch(odom_type) {
case OdometryType::STANDARD:
{
geometry_msgs::TransformStamped transformStamped;
transformStamped.header.stamp = msg.header.stamp;
transformStamped.header.frame_id = "odom";
transformStamped.child_frame_id = "odin1_base_link";
transformStamped.transform.translation.x = msg.pose.pose.position.x;
transformStamped.transform.translation.y = msg.pose.pose.position.y;
transformStamped.transform.translation.z = msg.pose.pose.position.z;
transformStamped.transform.rotation.x = msg.pose.pose.orientation.x;
transformStamped.transform.rotation.y = msg.pose.pose.orientation.y;
transformStamped.transform.rotation.z = msg.pose.pose.orientation.z;
transformStamped.transform.rotation.w = msg.pose.pose.orientation.w;
tf_broadcaster->sendTransform(transformStamped);
if (getRosNodeControl()->sendOdomBaseLinkTF()) {
geometry_msgs::TransformStamped transformStamped;
if (getRosNodeControl()->useHostRosTime()) {
transformStamped.header.stamp = ros::Time::now();
} else {
transformStamped.header.stamp = msg.header.stamp;
}
transformStamped.header.frame_id = "odom";
transformStamped.child_frame_id = "odin1_base_link";
transformStamped.transform.translation.x = msg.pose.pose.position.x;
transformStamped.transform.translation.y = msg.pose.pose.position.y;
transformStamped.transform.translation.z = msg.pose.pose.position.z;
transformStamped.transform.rotation.x = msg.pose.pose.orientation.x;
transformStamped.transform.rotation.y = msg.pose.pose.orientation.y;
transformStamped.transform.rotation.z = msg.pose.pose.orientation.z;
transformStamped.transform.rotation.w = msg.pose.pose.orientation.w;
tf_broadcaster->sendTransform(transformStamped);
}
odom_publisher_.publish(msg);
if (show_path) {
@@ -1296,7 +1257,11 @@ void process_pair(const ImageConstPtr &rgb_msg, const PointCloud2ConstPtr &pcd_m
case OdometryType::TRANSFORM:
{
geometry_msgs::TransformStamped transformStamped;
transformStamped.header.stamp = msg.header.stamp;
if (getRosNodeControl()->useHostRosTime()) {
transformStamped.header.stamp = ros::Time::now();
} else {
transformStamped.header.stamp = msg.header.stamp;
}
transformStamped.header.frame_id = "odom";
transformStamped.child_frame_id = "map";
transformStamped.transform.translation.x = msg.pose.pose.position.x;
@@ -1533,18 +1498,18 @@ private:
}
#ifdef ROS1
void initialize_publishers(ros::NodeHandle& nh) {
imu_pub_ = nh.advertise<ros::Imu>("odin1/imu", 10);
rgb_pub_ = nh.advertise<ros::Image>("odin1/image", 10);
cloud_pub_ = nh.advertise<ros::PointCloud2>("odin1/cloud_raw", 10);
xyzrgbacloud_pub_ = nh.advertise<ros::PointCloud2>("odin1/cloud_slam", 10);
odom_publisher_ = nh.advertise<ros::Odometry>("odin1/odometry", 10);
odom_highfreq_publisher_ = nh.advertise<ros::Odometry>("odin1/odometry_highfreq", 10);
path_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("odin1/path", 10);
pub_camera_pose_visual_ = nh.advertise<visualization_msgs::MarkerArray>("odin1/camera_pose_visual", 10);
rgbcloud_pub_ = nh.advertise<sensor_msgs::PointCloud2>("odin1/cloud_render", 10);
compressed_rgb_pub_ = nh.advertise<sensor_msgs::CompressedImage>("odin1/image/compressed", 10);
undistort_rgb_pub_ = nh.advertise<sensor_msgs::Image>("odin1/image/undistorted", 10);
intensity_gray_pub_ = nh.advertise<sensor_msgs::Image>("odin1/image/intensity_gray", 10);
imu_pub_ = nh.advertise<ros::Imu>("odin1/imu", 4000);
rgb_pub_ = nh.advertise<ros::Image>("odin1/image", 100);
cloud_pub_ = nh.advertise<ros::PointCloud2>("odin1/cloud_raw", 100);
xyzrgbacloud_pub_ = nh.advertise<ros::PointCloud2>("odin1/cloud_slam", 100);
odom_publisher_ = nh.advertise<ros::Odometry>("odin1/odometry", 100);
odom_highfreq_publisher_ = nh.advertise<ros::Odometry>("odin1/odometry_highfreq", 4000);
path_publisher_ = nh.advertise<visualization_msgs::MarkerArray>("odin1/path", 100);
pub_camera_pose_visual_ = nh.advertise<visualization_msgs::MarkerArray>("odin1/camera_pose_visual", 100);
rgbcloud_pub_ = nh.advertise<sensor_msgs::PointCloud2>("odin1/cloud_render", 100);
compressed_rgb_pub_ = nh.advertise<sensor_msgs::CompressedImage>("odin1/image/compressed", 100);
undistort_rgb_pub_ = nh.advertise<sensor_msgs::Image>("odin1/image/undistorted", 100);
intensity_gray_pub_ = nh.advertise<sensor_msgs::Image>("odin1/image/intensity_gray", 100);
tf_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>();
}
#endif
include/lidar_api.h
+10
View File
@@ -245,6 +245,16 @@ int lidar_get_custom_parameter(device_handle device, const char* param_name, int
*/
int lidar_get_mapping_result(device_handle device, const char* dest_dir, const char* file_name);
/**
* @brief enable device log
*
*
* @param device Handle to the target device
* @param dest_dir Destination directory to save the logs
* @return int 0 on success, -1 on failure
*/
int lidar_enable_encrypted_device_log(device_handle device, const char* dest_dir);
#ifdef __cplusplus
}
#endif
include/lidar_api_type.h
+11
View File
@@ -56,12 +56,14 @@ typedef enum {
LIDAR_DT_DEV_STATUS,
LIDAR_DT_SLAM_ODOMETRY_HIGHFREQ,
LIDAR_DT_SLAM_ODOMETRY_TF,
LIDAR_DT_SLAM_WIWC
} lidar_data_type_e;
typedef struct {
int8_t serial[LIDAR_SERIAL_MAX];
int8_t model[LIDAR_MODEL_MAX];
bool online;
uint32_t initial_state;
} lidar_device_info_t;
typedef struct {
@@ -187,6 +189,7 @@ typedef struct{
} lidar_soc_thermal_t;
typedef struct
{
double uptime_seconds;
lidar_soc_thermal_t soc_thermal;
int cpu_use_rate[8]; /* cpu usage rate */
@@ -202,6 +205,14 @@ typedef struct
} lidar_device_status_t;
typedef enum {
LIDAR_DEVICE_NONE = 0,
LIDAR_DEVICE_NOT_INITIALIZED,
LIDAR_DEVICE_INITIALIZED,
LIDAR_DEVICE_STREAMING,
LIDAR_DEVICE_STREAM_STOPPED,
} lidar_device_initial_state_e;
#ifdef __cplusplus
}
#endif