support HAP linenum & custom msg

Livox-SDK · Aug 26, 2022 · 1180cdd · 1180cdd
1 parent 0a2e9bc
commit 1180cdd
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diff --git a/.gitignore b/.gitignore
@@ -0,0 +1,5 @@
+.vscode
+build
+dedicated_sdk/build
+/CMakeList.txt
+package.xml
diff --git a/CMakeLists_ROS1.txt b/CMakeLists_ROS1.txt
@@ -90,23 +90,20 @@ set(CMAKE_CXX_EXTENSIONS OFF)
 ## make sure the livox_sdk_static library is installed
 find_library(LIVOX_SDK_LIBRARY liblivox_sdk_static.a /usr/local/lib)
 find_library(LIVOX_SDK_VEHICLE_LIBRARY liblivox_sdk_vehicle_static.a /usr/local/lib)
-find_library(LIVOX_SDK_DIRECT_LIBRARY  liblivox_sdk_direct_static.a  /usr/local/lib)
 find_library(LIVOX_SDK_COMMON_LIBRARY  liblivox_sdk_common_static.a  /usr/local/lib)
 find_library(LIVOX_LIDAR_SDK_LIBRARY  liblivox_lidar_sdk_static.a    /usr/local/lib)
 
 include_directories(
   ./
 	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk/sdk_core/include
 	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk_vehicle/sdk_core/include
-	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk_direct/sdk_core/include
 	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk_common/include
 )
 
 link_directories(
   ./
 	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk/build/sdk_core
 	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk_vehicle/build/sdk_core
-	${CMAKE_CURRENT_SOURCE_DIR}/livox_sdk_direct/build/sdk_core
 )
 
 
@@ -144,7 +141,7 @@ target_sources(${PROJECT_NAME}_node
 	src/lds_lidar.cpp
 	src/lds_hub.cpp
 	src/lddc.cpp
-	src/livox_ros_driver.cpp
+	src/livox_ros_driver2.cpp
 
 	src/vehicle_lidar_thread.cpp
  	src/comm/comm.cpp
@@ -154,14 +151,12 @@ target_sources(${PROJECT_NAME}_node
 	src/comm/cache_index.cpp
 
 	src/parse_cfg_file/parse_cfg_file.cpp
-	src/parse_cfg_file/parse_direct_lidar_cfg.cpp
 	src/parse_cfg_file/parse_industrial_lidar_cfg.cpp
 	src/parse_cfg_file/parse_vehicle_lidar_cfg.cpp
 	src/parse_cfg_file/parse_livox_lidar_cfg.cpp
 
 	src/call_back/industrial_lidar_callback.cpp
 	src/call_back/vehicle_lidar_callback.cpp
-	src/call_back/direct_lidar_callback.cpp
   src/call_back/lidar_common_callback.cpp
 	src/call_back/hub_callback.cpp
 	src/call_back/livox_lidar_callback.cpp
@@ -196,7 +191,6 @@ target_include_directories(${PROJECT_NAME}_node
 target_link_libraries(${PROJECT_NAME}_node
 	${LIVOX_SDK_LIBRARY}
 	${LIVOX_SDK_VEHICLE_LIBRARY}
-	${LIVOX_SDK_DIRECT_LIBRARY}
 	${LIVOX_SDK_COMMON_LIBRARY}
 	${LIVOX_LIDAR_SDK_LIBRARY}
 	${Boost_LIBRARY}

diff --git a/README.md b/README.md
@@ -9,7 +9,6 @@ Livox ROS Driver 2 of current version support only ROS1 (noetic recommended), an
 ### 1.1 Prerequisites
 * OS: Ubuntu 18.04/20.04
 * ROS: Noetic Ninjemys (ROS2 would be supported in the near future)
-* SDK: A dedicated Livox SDK (dedicatedly applied to Livox ROS Driver 2)
 
 ### 1.2 Install ROS
 For ROS Noetic installation, please refer to:
@@ -18,8 +17,8 @@ For ROS Noetic installation, please refer to:
 Desktop-Full installation is recommend.
 
 
-### 1.3 Install the dedicated Livox SDK
-1. Clone Livox ROS Driver 2 source code from GitHub:
+## 2. Build & run Livox ROS Driver 2
+1. Clone Livox ROS Driver 2 source code:
 ```shell
 git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2
 ```
@@ -28,23 +27,19 @@ git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_
 cd ws_livox/src/livox_ros_driver2
 sudo ./dedicated_sdk/build.sh ROS1
 ```
-
-
-## 2. Build & run Livox ROS Driver 2
-1. Change directory to the folder 'livox_ros_driver2' (as in the previous step).
-2. Build the Livox ROS Driver 2 (take Noetic as example):
+3. Build the Livox ROS Driver 2 (take Noetic as example):
 ```shell
 source /opt/ros/noetic/setup.sh
 ./build.sh ROS1
 ```
-3. In the same terminal (and in the same directory) with the previous step, use the following commands to run Livox ROS Driver 2:
+4. Run Livox ROS Driver 2:
 ```shell
 source ../../devel/setup.sh
 roslaunch livox_ros_driver2 [launch file]
 ```
-in which,
-* livox_ros_driver2: the ROS package name of Livox ROS Driver 2;
-* [launch file]: the ROS launch file in the 'launch_ROS1' folder, containing the launch info and config about the target LiDAR(s);
+in which,  
+* livox_ros_driver2: the ROS package name of Livox ROS Driver 2;  
+* [launch file]: the ROS launch file in the 'launch_ROS1' folder, containing the launch info and config about the target LiDAR(s);  
 
 A rviz launch example for HAP LiDAR would be:
 ```shell

diff --git a/cmake/version.cmake b/cmake/version.cmake
@@ -1,16 +1,16 @@
 #---------------------------------------------------------------------------------------
-# Get livox_ros_driver version from include/livox_ros_driver.h
+# Get livox_ros_driver2 version from include/livox_ros_driver2.h
 #---------------------------------------------------------------------------------------
-file(READ "${CMAKE_CURRENT_LIST_DIR}/../src/include/livox_ros_driver.h" LIVOX_ROS_DRIVER_VERSION_FILE)
-string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_MAJOR ([0-9]+)" _  "${LIVOX_ROS_DRIVER_VERSION_FILE}")
+file(READ "${CMAKE_CURRENT_LIST_DIR}/../src/include/livox_ros_driver2.h" LIVOX_ROS_DRIVER2_VERSION_FILE)
+string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_MAJOR ([0-9]+)" _  "${LIVOX_ROS_DRIVER2_VERSION_FILE}")
 set(ver_major ${CMAKE_MATCH_1})
 
-string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_MINOR ([0-9]+)" _  "${LIVOX_ROS_DRIVER_VERSION_FILE}")
+string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_MINOR ([0-9]+)" _  "${LIVOX_ROS_DRIVER2_VERSION_FILE}")
 set(ver_minor ${CMAKE_MATCH_1})
-string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_PATCH ([0-9]+)" _  "${LIVOX_ROS_DRIVER_VERSION_FILE}")
+string(REGEX MATCH "LIVOX_ROS_DRIVER2_VER_PATCH ([0-9]+)" _  "${LIVOX_ROS_DRIVER2_VERSION_FILE}")
 set(ver_patch ${CMAKE_MATCH_1})
 
 if (NOT DEFINED ver_major OR NOT DEFINED ver_minor OR NOT DEFINED ver_patch)
-    message(FATAL_ERROR "Could not extract valid version from include/livox_ros_driver.h")
+    message(FATAL_ERROR "Could not extract valid version from include/livox_ros_driver2.h")
 endif()
 set (LIVOX_ROS_DRIVER2_VERSION "${ver_major}.${ver_minor}.${ver_patch}")
diff --git a/config_ROS1/HAP_config.json b/config_ROS1/HAP_config.json
@@ -3,8 +3,6 @@
 			"lidar_type": 8
 	},
 	"HAP": {
-		"device_type" : "HAP",
-		"lidar_ipaddr": "",
 		"lidar_net_info" : {
 			"cmd_data_port": 56000,
 			"push_msg_port": 0,
@@ -32,12 +30,12 @@
 			"pattern_mode" : 0,
 			"blind_spot_set" : 50,
 			"extrinsic_parameter" : {
-				"roll": 1.1,
-				"pitch": 2.2,
-				"yaw": 3.3,
-				"x": 4,
-				"y": 5,
-				"z": 6
+				"roll": 0.0,
+				"pitch": 0.0,
+				"yaw": 0.0,
+				"x": 0,
+				"y": 0,
+				"z": 0
 			}
 		}
 	]

diff --git a/dedicated_sdk/CMakeLists.txt b/dedicated_sdk/CMakeLists.txt
@@ -17,38 +17,26 @@ if (UNIX)
 endif(UNIX)
 
 add_subdirectory(livox_sdk/sdk_core sdk_core)
-
 add_subdirectory(livox_sdk_vehicle/sdk_core vehicle_sdk_core)
-
 add_subdirectory(livox_lidar_sdk/sdk_core livox_sdk_core)
-
-add_subdirectory(livox_sdk_direct/sdk_core direct_sdk_core)
 add_subdirectory(livox_sdk_common)
 
-
-
-add_subdirectory(sample/industry_lidar_sample)
-add_subdirectory(sample/vehicle_lidar_quick_start)
-add_subdirectory(sample/vehicle_lidar_preconfig)
-add_subdirectory(sample/parse_lvx_file)
-add_subdirectory(sample/record_lvx2_file)
-add_subdirectory(sample/record_lvx2_file_industrial)
-add_subdirectory(sample/vehicle_lidar_upgrade)
-add_subdirectory(sample/industry_lidar_upgrade)
-add_subdirectory(sample/obstacle_avoidance_test)
-add_subdirectory(sample/direct_custom_lidar)
-add_subdirectory(sample/direct_lidar)
-add_subdirectory(sample/direct_lidars_upgrade)
-add_subdirectory(sample/direct_lidar_update)
-add_subdirectory(sample/direct_lidar_reset)
-
-add_subdirectory(sample/vehicle_multi_lidar_upgrade)
-
-add_subdirectory(sample/livox_multi_lidar_upgrade)
-add_subdirectory(sample/livox_lidar_quick_start)
-add_subdirectory(sample/livox_lidar_view_quick_start)
-add_subdirectory(sample/livox_lidar_for_test)
-add_subdirectory(sample/livox_lidar_record_lvx2_file)
-add_subdirectory(sample/livox_lidar_parse_lvx2_file)
-
-
+add_subdirectory(sample/industry/industry_lidar_sample)
+add_subdirectory(sample/industry/industry_lidar_upgrade)
+
+add_subdirectory(sample/lvx/parse_lvx_file)
+add_subdirectory(sample/lvx/record_lvx2_file)
+add_subdirectory(sample/lvx/record_lvx2_file_industrial)
+add_subdirectory(sample/lvx/obstacle_avoidance_test)
+
+add_subdirectory(sample/vehicle/vehicle_multi_lidar_upgrade)
+add_subdirectory(sample/vehicle/vehicle_lidar_upgrade)
+add_subdirectory(sample/vehicle/vehicle_lidar_quick_start)
+add_subdirectory(sample/vehicle/vehicle_lidar_preconfig)
+
+add_subdirectory(sample/hap/livox_multi_lidar_upgrade)
+add_subdirectory(sample/hap/livox_lidar_quick_start)
+add_subdirectory(sample/hap/livox_lidar_view_quick_start)
+add_subdirectory(sample/hap/livox_lidar_for_test)
+add_subdirectory(sample/hap/livox_lidar_record_lvx2_file)
+add_subdirectory(sample/hap/livox_lidar_parse_lvx2_file)
diff --git a/dedicated_sdk/CMakeLists.txt.shared b/dedicated_sdk/CMakeLists.txt.shared
@@ -19,7 +19,6 @@ endif(UNIX)
 
 add_subdirectory(livox_sdk/sdk_core sdk_core)
 add_subdirectory(livox_sdk_vehicle/sdk_core vehicle_sdk_core)
-add_subdirectory(livox_sdk_direct/sdk_core direct_sdk_core)
 add_subdirectory(livox_lidar_sdk/sdk_core livox_lidar_sdk_core)
 
 add_subdirectory(livox_sdk_common)
diff --git a/dedicated_sdk/CMakeLists.txt.static b/dedicated_sdk/CMakeLists.txt.static
@@ -17,38 +17,26 @@ if (UNIX)
 endif(UNIX)
 
 add_subdirectory(livox_sdk/sdk_core sdk_core)
-
 add_subdirectory(livox_sdk_vehicle/sdk_core vehicle_sdk_core)
-
 add_subdirectory(livox_lidar_sdk/sdk_core livox_sdk_core)
-
-add_subdirectory(livox_sdk_direct/sdk_core direct_sdk_core)
 add_subdirectory(livox_sdk_common)
 
-
-
-add_subdirectory(sample/industry_lidar_sample)
-add_subdirectory(sample/vehicle_lidar_quick_start)
-add_subdirectory(sample/vehicle_lidar_preconfig)
-add_subdirectory(sample/parse_lvx_file)
-add_subdirectory(sample/record_lvx2_file)
-add_subdirectory(sample/record_lvx2_file_industrial)
-add_subdirectory(sample/vehicle_lidar_upgrade)
-add_subdirectory(sample/industry_lidar_upgrade)
-add_subdirectory(sample/obstacle_avoidance_test)
-add_subdirectory(sample/direct_custom_lidar)
-add_subdirectory(sample/direct_lidar)
-add_subdirectory(sample/direct_lidars_upgrade)
-add_subdirectory(sample/direct_lidar_update)
-add_subdirectory(sample/direct_lidar_reset)
-
-add_subdirectory(sample/vehicle_multi_lidar_upgrade)
-
-add_subdirectory(sample/livox_multi_lidar_upgrade)
-add_subdirectory(sample/livox_lidar_quick_start)
-add_subdirectory(sample/livox_lidar_view_quick_start)
-add_subdirectory(sample/livox_lidar_for_test)
-add_subdirectory(sample/livox_lidar_record_lvx2_file)
-add_subdirectory(sample/livox_lidar_parse_lvx2_file)
-
-
+add_subdirectory(sample/industry/industry_lidar_sample)
+add_subdirectory(sample/industry/industry_lidar_upgrade)
+
+add_subdirectory(sample/lvx/parse_lvx_file)
+add_subdirectory(sample/lvx/record_lvx2_file)
+add_subdirectory(sample/lvx/record_lvx2_file_industrial)
+add_subdirectory(sample/lvx/obstacle_avoidance_test)
+
+add_subdirectory(sample/vehicle/vehicle_multi_lidar_upgrade)
+add_subdirectory(sample/vehicle/vehicle_lidar_upgrade)
+add_subdirectory(sample/vehicle/vehicle_lidar_quick_start)
+add_subdirectory(sample/vehicle/vehicle_lidar_preconfig)
+
+add_subdirectory(sample/hap/livox_multi_lidar_upgrade)
+add_subdirectory(sample/hap/livox_lidar_quick_start)
+add_subdirectory(sample/hap/livox_lidar_view_quick_start)
+add_subdirectory(sample/hap/livox_lidar_for_test)
+add_subdirectory(sample/hap/livox_lidar_record_lvx2_file)
+add_subdirectory(sample/hap/livox_lidar_parse_lvx2_file)
diff --git a/dedicated_sdk/build.sh b/dedicated_sdk/build.sh
@@ -26,8 +26,6 @@ function CheckParams() {
 #             rm /usr/local/lib/liblivox_sdk_common_static.a
 #         fi
 
-#         if [ -f "/usr/local/lib/liblivox_sdk_direct_static.a"]; then
-#             rm /usr/local/lib/liblivox_sdk_direct_static.a
 #         fi
 #         if [ -f "/usr/local/lib/liblivox_sdk_static.a"]; then
 #             rm /usr/local/lib/liblivox_sdk_static.a
@@ -45,15 +43,13 @@ function GenerateCmakeFile() {
         cp ./CMakeLists.txt.static ./CMakeLists.txt
         cp ./livox_sdk/sdk_core/CMakeLists.txt.static ./livox_sdk/sdk_core/CMakeLists.txt
         cp ./livox_sdk_common/CMakeLists.txt.static ./livox_sdk_common/CMakeLists.txt
-        cp ./livox_sdk_direct/sdk_core/CMakeLists.txt.static ./livox_sdk_direct/sdk_core/CMakeLists.txt
         cp ./livox_sdk_vehicle/sdk_core/CMakeLists.txt.static ./livox_sdk_vehicle/sdk_core/CMakeLists.txt
         cp ./livox_lidar_sdk/sdk_core/CMakeLists.txt.static ./livox_lidar_sdk/sdk_core/CMakeLists.txt
 
     elif [ ${ROS_VERSION} = ${VERSION_ROS2} ]; then
         cp ./CMakeLists.txt.shared ./CMakeLists.txt
         cp ./livox_sdk/sdk_core/CMakeLists.txt.shared ./livox_sdk/sdk_core/CMakeLists.txt
         cp ./livox_sdk_common/CMakeLists.txt.shared ./livox_sdk_common/CMakeLists.txt
-        cp ./livox_sdk_direct/sdk_core/CMakeLists.txt.shared ./livox_sdk_direct/sdk_core/CMakeLists.txt
         cp ./livox_sdk_vehicle/sdk_core/CMakeLists.txt.shared ./livox_sdk_vehicle/sdk_core/CMakeLists.txt
         cp ./livox_lidar_sdk/sdk_core/CMakeLists.txt.shared ./livox_lidar_sdk/sdk_core/CMakeLists.txt
     fi
@@ -63,7 +59,8 @@ function Complier() {
     if [ ! -d "./build" ];then
         mkdir build
     else
-        echo "文件夹已经存在"
+        rm build -R
+        mkdir build
     fi
 
     cd ./build

diff --git a/dedicated_sdk/livox_lidar_sdk/LICENSE.txt b/dedicated_sdk/livox_lidar_sdk/LICENSE.txt
@@ -47,8 +47,8 @@ Livox-SDK
     │   │   ├── comm_port.h
     │   │   └── protocol.h
     │   ├── config.h
-    │   ├── livox_direct_def.h
-    │   └─ livox_direct_sdk.h
+    │   ├── livox_lidar_def.h
+    │   └─ livox_lidar_api.h
     └── src
         ├── base
         │   ├── command_callback.h

diff --git a/dedicated_sdk/livox_lidar_sdk/sdk_core/CMakeLists.txt b/dedicated_sdk/livox_lidar_sdk/sdk_core/CMakeLists.txt
@@ -2,15 +2,13 @@ cmake_minimum_required(VERSION 3.0)
 
 set(SDK_LIBRARY livox_lidar_sdk_static)
 
-
 add_library(${SDK_LIBRARY} STATIC "")
 
 set(LIVOX_SDK_MAJOR_VERSION "2")
 set(LIVOX_SDK_MINOR_VERSION "3")
 set(LIVOX_SDK_PATCH_VERSION "0")
 set(LIVOX_SDK_VERSION_STRING "${LIVOX_SDK_MAJOR_VERSION}.${LIVOX_SDK_MINOR_VERSION}.${LIVOX_SDK_PATCH_VERSION}")
 
-
 target_include_directories(${SDK_LIBRARY}
         PUBLIC
         include
@@ -22,7 +20,7 @@ target_include_directories(${SDK_LIBRARY}
         PRIVATE
         src)
 
-set_target_properties(${SDK_LIBRARY} PROPERTIES PUBLIC_HEADER "include/livox_lidar_def.h;include/livox_lidar_sdk.h")
+set_target_properties(${SDK_LIBRARY} PROPERTIES PUBLIC_HEADER "include/livox_lidar_def.h;include/livox_lidar_api.h")
 
 if(WIN32)
   set(PLATFORM win)
@@ -59,7 +57,6 @@ target_sources(${SDK_LIBRARY}
         src/device_manager.h
         src/device_manager.cpp
 
-
         src/comm/comm_port.cpp
         src/comm/sdk_protocol.h
         src/comm/sdk_protocol.cpp
@@ -76,12 +73,22 @@ target_sources(${SDK_LIBRARY}
         src/data_handler/data_handler.cpp
 
         src/command_handler/command_handler.h
+        src/command_handler/command_impl.h
+        src/command_handler/command_impl.cpp
         src/command_handler/general_command_handler.h
         src/command_handler/general_command_handler.cpp
         src/command_handler/hap_command_handler.h
         src/command_handler/hap_command_handler.cpp
+        src/command_handler/mid360_command_handler.h
+        src/command_handler/mid360_command_handler.cpp
+        src/command_handler/pa_command_handler.h
+        src/command_handler/pa_command_handler.cpp
+
         src/command_handler/build_request.h
         src/command_handler/build_request.cpp
+
+        src/command_handler/parse_lidar_state_info.h
+        src/command_handler/parse_lidar_state_info.cpp
 
         src/base/multiple_io/multiple_io_base.h
         src/base/multiple_io/multiple_io_base.cpp
@@ -97,7 +104,6 @@ target_sources(${SDK_LIBRARY}
         src/base/wake_up/wake_up_pipe.h
         src/base/wake_up/${PLATFORM}/wake_up_pipe.cpp)
 
-
 install(TARGETS ${SDK_LIBRARY}
         PUBLIC_HEADER DESTINATION include
         ARCHIVE DESTINATION lib