manifoldsdk
eb750f9fe0
1.Added camera point cloud extrinsic parameter rendering function 2.add image_compressed 3.fix imshow error about slam pointcloud
228 lines
7.0 KiB
C
228 lines
7.0 KiB
C
/*
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Copyright 2025 Manifold Tech Ltd.(www.manifoldtech.com.co)
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Licensed under the Apache License, Version 2.0 (the "License");
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you may not use this file except in compliance with the License.
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You may obtain a copy of the License at
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http://www.apache.org/licenses/LICENSE-2.0
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Unless required by applicable law or agreed to in writing, software
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distributed under the License is distributed on an "AS IS" BASIS,
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WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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See the License for the specific language governing permissions and
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limitations under the License.
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*/
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#ifndef LIDAR_API_H
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#define LIDAR_API_H
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/**
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* @file lidar_api.h
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* @brief LiDAR device API for controlling and accessing LiDAR sensor data
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*
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* This header provides the public interface for interacting with LiDAR devices.
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* It includes functions for device management, data streaming control, and
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* device configuration.
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*
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* @copyright Copyright (c) 2025, Manifold Tech Limited, All Rights Reserved
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* @version 1.0
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*/
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#include "lidar_api_type.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Initialize the LiDAR system
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*
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* Must be called before any other lidar function to set up the system resources.
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*
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* @param cb Callback function for device events (connection, disconnection)
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_system_init(lidar_device_callback_t cb);
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/**
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* @brief Deinitialize the LiDAR system
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*
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* Releases all resources allocated by the system. Should be called when
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* application is shutting down.
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*
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_system_deinit(void);
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/**
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* @brief Create a handle for a LiDAR device
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*
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* @param dev_info Information about the LiDAR device to create
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* @param device Pointer to receive the device handle upon success
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_create_device(lidar_device_info_t *dev_info, device_handle *device);
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/**
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* @brief Destroy a LiDAR device handle
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*
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* Releases resources associated with the device handle. Must be called
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* when the device is no longer needed.
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*
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* @param device Handle to the device to destroy
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_destory_device(device_handle device);
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/**
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* @brief Register callback function for receiving LiDAR data streams
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*
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* Sets up a callback function that will be called when new data is available.
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*
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* @param device Handle to the target device
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* @param cb Callback information containing function pointers for different data types
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_register_stream_callback(device_handle device, lidar_data_callback_info_t cb);
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/**
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* @brief Unregister stream callback for a device
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*
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* Stops the device from calling back when new data is available.
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*
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* @param device Handle to the target device
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_unregister_stream_callback(device_handle device);
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/**
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* @brief Open a LiDAR device for communication
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*
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* Establishes a connection to the physical device.
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*
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* @param device Handle to the device to open
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_open_device(device_handle device);
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/**
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* @brief Close a LiDAR device
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*
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* Closes the connection to the physical device.
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*
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* @param device Handle to the device to close
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_get_calib_file(device_handle device, const char* path);
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/**
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* @brief Get device calibration parameters
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*
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* Retrieves the current calibration parameters from the device.
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*
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* @param device Handle to the target device
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* @param param Pointer to receive the calibration parameters
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_close_device(device_handle device);
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/**
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* @brief Set the operating mode of the LiDAR device
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*
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* @param device Handle to the target device
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* @param mode Operating mode to set (see mode definitions in lidar_api_type.h)
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_set_mode(device_handle device, int mode);
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/**
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* @brief Start data streaming from the device
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*
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* Begins the flow of data from the device for the specified type.
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*
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* @param device Handle to the target device
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* @param type Type of data stream to start (see stream type definitions in lidar_api_type.h)
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_start_stream(device_handle device, int type);
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/**
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* @brief Stop data streaming from the device
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*
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* Stops the flow of data from the device for the specified type.
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*
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* @param device Handle to the target device
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* @param type Type of data stream to stop
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_stop_stream(device_handle device, int type);
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/**
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* @brief Activate a specific stream type on the device
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*
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* Enables a specific data stream type in the device configuration.
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*
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* @param device Handle to the target device
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* @param type Type of data stream to activate
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_activate_stream_type(device_handle device, int type);
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/**
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* @brief Deactivate a specific stream type on the device
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*
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* Disables a specific data stream type in the device configuration.
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*
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* @param device Handle to the target device
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* @param type Type of data stream to deactivate
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_deactivate_stream_type(device_handle device, int type);
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/**
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* @brief Perform over-the-air firmware update
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*
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* Updates the device firmware using the specified file.
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*
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* @param device Handle to the target device
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* @param type Type of OTA update to perform
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* @param filepath Path to the firmware file
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* @param process_cb Callback function to report update progress
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_ota_update(device_handle device, lidar_ota_type_e type, const char* filepath, void(*process_cb)(float process));
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/**
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* @brief Get device calibration parameters
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*
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* Retrieves the current calibration parameters from the device.
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*
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* @param device Handle to the target device
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* @param param Pointer to receive the calibration parameters
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_get_calibration(device_handle device, lidar_calibration_t* param);
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/**
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* @brief Set device calibration parameters
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*
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* Applies new calibration parameters to the device.
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*
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* @param device Handle to the target device
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* @param param Pointer to the calibration parameters to set
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* @return int 0 on success, negative error code on failure
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*/
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int lidar_set_calibration(device_handle device, const lidar_calibration_t *param);
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/**
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* @brief Set log verbosity level
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*
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* Controls the amount of log information generated by the LiDAR API.
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*
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* @param level Log level to set (see level definitions in lidar_api_type.h)
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*/
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void lidar_log_set_level(lidar_log_level_e level);
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#ifdef __cplusplus
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}
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#endif
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#endif // LIDAR_API_H
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