feat:support AVIA and Mid-70

Livox-SDK · Oct 26, 2020 · fb5669b · fb5669b
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diff --git a/README.md b/README.md
@@ -2,6 +2,16 @@
 
 livox_ros_driver is a new ROS package, specially used to connect LiDAR products produced by Livox. The driver can be run under ubuntu 14.04/16.04/18.04 operating system with ROS environment (indigo, kinetic, melodic) installed. Tested hardware platforms that can run livox_ros_driver include: Intel x86 cpu platforms, and some ARM64 hardware platforms (such as nvida TX2 / Xavier, etc.).
 
+## 0. Version and Release History
+
+### 0.1 Current Version
+
+[v2.6.0](https://github.com/Livox-SDK/livox_ros_driver/releases)
+
+### 0.2 Release History
+
+[Release History](https://github.com/Livox-SDK/livox_ros_driver/releases)
+
 ## 1. Install dependencies
 
 Before running livox_ros_driver, ROS and Livox-SDK must be installed.
@@ -171,14 +181,12 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li
 &ensp;&ensp;&ensp;&ensp;The parameter attributes in the above json file are described in the following table :
 
 <center>LiDAR configuration parameter</center>
-
 | Parameter                  | Type    | Description                                                  | Default         |
 | :------------------------- | ------- | ------------------------------------------------------------ | --------------- |
 | broadcast_code             | String  | LiDAR broadcast code, 15 characters, consisting of a 14-character length serial number plus a character-length additional code | 0TFDG3B006H2Z11 |
 | enable_connect             | Boolean | Whether to connect to this LiDAR<br>true -- Connect this LiDAR<br>false --Do not connect this LiDAR | false           |
-| enable_fan                 | Boolean | Whether to automatically control the fan of this LiDAR<br>true -- Automatically control the fan of this LiDAR<br>false -- Does not automatically control the fan of this LiDAR | true            |
 | return_mode                | Int     | return mode<br>0 -- First single return mode<br>1 -- Strongest single return mode<br>2 -- Dual return mode | 0               |
-| coordinate                 | Int     | Coordinate<br>0 -- Cartesian<br>1 -- Spherical             | 0               |
+| coordinate                 | Int     | Coordinate<br>0 -- Cartesian<br>1 -- Spherical               | 0               |
 | imu_rate                   | Int     | Push frequency of IMU sensor data<br>0 -- stop push<br>1 -- 200 Hz<br>Others -- undefined, it will cause unpredictable behavior<br>Currently only Horizon supports this, MID serials do not support it | 0               |
 | extrinsic_parameter_source | Int     | Whether to enable extrinsic parameter automatic compensation<br>0 -- Disable automatic compensation of LiDAR external reference<br>1 -- Automatic compensation of LiDAR external reference | 0               |
 
@@ -198,7 +206,6 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li
    "lidar_config": [
       {
          "broadcast_code": "0TFDG3B006H2Z11",
-         "enable_fan": true,
          "return_mode": 0,
          "imu_rate": 1
       }
@@ -209,7 +216,6 @@ In the "ws_livox/src/livox_ros_driver/launch" path, there are two json files, li
 &ensp;&ensp;&ensp;&ensp;The main difference between the content of Hub json configuration file and the content of the LiDAR json configuration file is that the Hub configuration item "hub_config" is added, and the related configuration content of the Hub is shown in the following table :
 
 <center>HUB configuration parameter</center>
-
 | Parameter      | Type    | Description                                                  | Default         |
 | -------------- | ------- | ------------------------------------------------------------ | --------------- |
 | broadcast_code | String  | HUB broadcast code, 15 characters, consisting of a 14-character length serial number plus a character-length additional code | 13UUG1R00400170 |
@@ -251,7 +257,6 @@ $GPRMC,190430,A,4812.3038,S,07330.7690,W,3.7,3.8,090210,13.7,E,D*26
 livox_ros_driver only supports the timestamp synchronization function when connected to LiDAR. The timestamp related configuration item timesync_config is in the livox_lidar_config.json file. The detailed configuration content is shown in the table below :
 
 <center>Timestamp synchronization function configuration instructions</center>
-
 | Parameter        | Type     | Description                                                  | Default        |
 | ---------------- | -------- | ------------------------------------------------------------ | -------------- |
 | enable_timesync  | Boolean  | Whether to enable the timestamp synchronization <br>true -- Enable timestamp synchronization<br>false -- Disable timestamp synchronization | false          |

diff --git a/README_CN.md b/README_CN.md
@@ -3,6 +3,16 @@
 览沃ROS驱动程序是一个全新的 ROS 包，专门用于连接览沃生产的 LiDAR 产品。该驱动程序可以在安装了
 ROS 环境（ indigo,kinetic,melodic ）的 ubuntu14.04/16.04/18.04 操作系统下运行。经测试可以运行览沃 ROS 驱动程序的硬件平台包括：intel x86 主流 cpu 平台，部分 ARM64 硬件平台（如，nvida TX2/Xavier 等）。
 
+## 0. 版本和发布记录
+
+### 0.1 当前版本
+
+v2.6.0
+
+### 0.2 发布记录
+
+[发布记录](https://github.com/Livox-SDK/livox_ros_driver/releases)
+
 ## 1. 安装依赖
 
 运行览沃 ROS 驱动程序之前，必须安装 ROS 和 Livox-SDK。
@@ -165,7 +175,6 @@ uint8 line              # laser number in lidar
          {
             "broadcast_code": "0TFDG3B006H2Z11",
             "enable_connect": true,
-            "enable_fan": true,
             "return_mode": 0,
             "coordinate": 0,
             "imu_rate": 1,
@@ -178,12 +187,10 @@ uint8 line              # laser number in lidar
 &ensp;&ensp;&ensp;&ensp;上面 json 文件中各参数属性说明如下表：
 
 <center>LiDAR 配置参数说明</center>
-
 | 属性                       | 类型   | 描述                                                         | 默认值          |
 | :------------------------- | ------ | ------------------------------------------------------------ | --------------- |
 | broadcast_code             | 字符串 | LiDAR 广播码，15位字符，由14位字符长度序列号加一个字符长度附加码组成 | 0TFDG3B006H2Z11 |
 | enable_connect             | 布尔值 | 是否连接此 LiDAR<br>true -- 连接此 LiDAR<br>false -- 禁止连接此 LiDAR | false           |
-| enable_fan                 | 布尔值 | 是否自动控制此 LiDAR 风扇<br>true -- 自动控制 LiDAR 风扇<br>false -- 禁止自动控制此 LiDAR 风扇 | true            |
 | return_mode                | 整型   | 回波模式<br>0 -- 第一个回波模式<br>1 -- 最强回波模式<br>2 -- 双回波模式 | 0               |
 | coordinate                 | 整型   | 原始点云数据的坐标轴类型<br>0 -- 直角坐标系<br>1 -- 球坐标系 | 0               |
 | imu_rate                   | 整型   | IMU 传感器数据的推送频率<br>0 -- 关闭 IMU 传感器数据推送<br>1 --  以 200Hz 频率推送 IMU 传感器数据<br>其他值 -- 未定义，会导致不可预测的行为发生<br>目前只有 Horizon/Tele 支持此选项，MID 序列不支持 | 0               |
@@ -206,7 +213,6 @@ uint8 line              # laser number in lidar
       "lidar_config": [
          {
             "broadcast_code": "0TFDG3B006H2Z11",
-            "enable_fan": true,
             "return_mode": 0,
             "imu_rate": 1
          }
@@ -217,7 +223,6 @@ uint8 line              # laser number in lidar
 &ensp;&ensp;&ensp;&ensp;中心板 json 配置文件内容与 LiDAR 配置文件的主要区别在于，增加了中心板配置项 hub_config ，中心板相关的具体配置内容见下表：
 
 <center>HUB 配置参数说明</center>
-
 | 属性           | 类型   | 描述                                                         | 默认值          |
 | -------------- | ------ | ------------------------------------------------------------ | --------------- |
 | broadcast_code | 字符串 | HUB 广播码，15位字符，由14位字符长度的序列号加一个字符长度的附加码组成 | 13UUG1R00400170 |
@@ -261,7 +266,6 @@ uint8 line              # laser number in lidar
 览沃 ROS 驱动程序只有在与 LiDAR 连接的时候才支持时间戳同步功能，时间戳相关的配置项 timesync_config 位于 livox_lidar_config.json 文件中，详细的配置内容见下表：
 
 <center>时间戳同步功能配置说明</center>
-
 | 属性             | 类型   | 描述                                                         | 默认值         |
 | ---------------- | ------ | ------------------------------------------------------------ | -------------- |
 | enable_timesync  | 布尔值 | 是否使能时间戳同步功能<br>true -- 使能时间戳同步功能<br>false -- 禁止时间戳同步功能 | false          |

diff --git a/livox_ros_driver/common/FastCRC/FastCRC.h b/livox_ros_driver/common/FastCRC/FastCRC.h
@@ -49,32 +49,32 @@
 // ================= 16-BIT CRC ===================
 
 class FastCRC16 {
-public:
+ public:
   FastCRC16(uint16_t seed);
 
   // change function name from mcrf4xx_upd to mcrf4xx
-  uint16_t
-  mcrf4xx_calc(const uint8_t *data,
-               const uint16_t datalen); // Equivalent to _crc_ccitt_update() in
-                                        // crc16.h from avr_libc
+  uint16_t mcrf4xx_calc(
+      const uint8_t *data,
+      const uint16_t datalen);  // Equivalent to _crc_ccitt_update() in
+                                // crc16.h from avr_libc
 
-private:
+ private:
   uint16_t seed_;
 };
 
 // ================= 32-BIT CRC ===================
 
 class FastCRC32 {
-public:
+ public:
   FastCRC32(uint32_t seed);
 
   // change function name from crc32_upd to crc32
   uint32_t crc32_calc(
       const uint8_t *data,
-      uint16_t len); // Call for subsequent calculations with previous seed
+      uint16_t len);  // Call for subsequent calculations with previous seed
 
-private:
+ private:
   uint32_t seed_;
 };
 
-#endif // FASTCRC_FASTCRC_H_
+#endif  // FASTCRC_FASTCRC_H_
diff --git a/livox_ros_driver/common/FastCRC/FastCRCsw.cpp b/livox_ros_driver/common/FastCRC/FastCRCsw.cpp
@@ -55,7 +55,6 @@ FastCRC16::FastCRC16(uint16_t seed) { seed_ = seed; }
  */
 
 uint16_t FastCRC16::mcrf4xx_calc(const uint8_t *data, uint16_t len) {
-
   uint16_t crc = seed_;
 
   while (((uintptr_t)data & 3) && len) {
@@ -90,11 +89,11 @@ FastCRC32::FastCRC32(uint32_t seed) { seed_ = seed; }
   crc = (table[(crc & 0xff) + 0x300]) ^ (table[((crc >> 8) & 0xff) + 0x200]) ^ \
         (table[((crc >> 16) & 0xff) + 0x100]) ^ (table[(crc >> 24) & 0xff]);
 
-#define crcsm_n4d(crc, data, table)                                            \
-  crc ^= data;                                                                 \
-  crc = (crc >> 8) ^ (table[crc & 0xff]);                                      \
-  crc = (crc >> 8) ^ (table[crc & 0xff]);                                      \
-  crc = (crc >> 8) ^ (table[crc & 0xff]);                                      \
+#define crcsm_n4d(crc, data, table)       \
+  crc ^= data;                            \
+  crc = (crc >> 8) ^ (table[crc & 0xff]); \
+  crc = (crc >> 8) ^ (table[crc & 0xff]); \
+  crc = (crc >> 8) ^ (table[crc & 0xff]); \
   crc = (crc >> 8) ^ (table[crc & 0xff]);
 
 /** CRC32
@@ -110,7 +109,6 @@ FastCRC32::FastCRC32(uint32_t seed) { seed_ = seed; }
 #endif
 
 uint32_t FastCRC32::crc32_calc(const uint8_t *data, uint16_t len) {
-
   uint32_t crc = seed_ ^ 0xffffffff;
 
   while (((uintptr_t)data & 3) && len) {

diff --git a/livox_ros_driver/common/comm/comm_device.h b/livox_ros_driver/common/comm/comm_device.h
@@ -67,5 +67,5 @@ typedef struct {
   } config;
 } CommDevConfig;
 
-} // namespace livox_ros
-#endif // COMM_COMM_DEVICE_H_
+}  // namespace livox_ros
+#endif  // COMM_COMM_DEVICE_H_
diff --git a/livox_ros_driver/common/comm/comm_protocol.cpp b/livox_ros_driver/common/comm/comm_protocol.cpp
@@ -23,9 +23,9 @@
 //
 
 #include "comm_protocol.h"
-#include <iostream>
 #include <stdio.h>
 #include <string.h>
+#include <iostream>
 
 namespace livox_ros {
 
@@ -116,23 +116,23 @@ int32_t CommProtocol::ParseCommStream(CommPacket *o_pack) {
   while ((GetValidDataSize() > protocol_->GetPreambleLen()) &&
          (GetValidDataSize() > offset_to_read_index_)) {
     switch (fsm_parse_step_) {
-    case kSearchPacketPreamble: {
-      FsmSearchPacketPreamble();
-      break;
-    }
-    case kFindPacketLength: {
-      FsmFindPacketLength();
-      break;
-    }
-    case kGetPacketData: {
-      ret = FsmGetPacketData(o_pack);
-      break;
-    }
-    default: { FsmParserStateTransfer(kSearchPacketPreamble); }
+      case kSearchPacketPreamble: {
+        FsmSearchPacketPreamble();
+        break;
+      }
+      case kFindPacketLength: {
+        FsmFindPacketLength();
+        break;
+      }
+      case kGetPacketData: {
+        ret = FsmGetPacketData(o_pack);
+        break;
+      }
+      default: { FsmParserStateTransfer(kSearchPacketPreamble); }
     }
 
     /* Must exit when in the below case */
-    if ((ret == kParseSuccess) || (ret == kParseNeedMoreData)) break; 
+    if ((ret == kParseSuccess) || (ret == kParseNeedMoreData)) break;
   }
 
   return ret;
@@ -221,4 +221,4 @@ int32_t CommProtocol::FsmGetPacketData(CommPacket *o_pack) {
   return ret;
 }
 
-} // namespace livox_ros
+}  // namespace livox_ros
diff --git a/livox_ros_driver/common/comm/comm_protocol.h b/livox_ros_driver/common/comm/comm_protocol.h
@@ -25,10 +25,10 @@
 #ifndef COMM_COMM_PROTOCOL_H_
 #define COMM_COMM_PROTOCOL_H_
 
+#include <stdint.h>
 #include "gps_protocol.h"
 #include "protocol.h"
 #include "sdk_protocol.h"
-#include <stdint.h>
 
 namespace livox_ros {
 const uint32_t kCacheSize = 8192;
@@ -50,7 +50,7 @@ typedef struct {
 } CommCache;
 
 class CommProtocol {
-public:
+ public:
   CommProtocol(ProtocolConfig &config);
   ~CommProtocol();
 
@@ -67,7 +67,7 @@ class CommProtocol {
 
   void ResetParser();
 
-private:
+ private:
   uint32_t GetCacheTailSize();
   uint32_t GetValidDataSize();
   void UpdateCache(void);
@@ -101,5 +101,5 @@ class CommProtocol {
   }
 };
 
-} // namespace livox_ros
-#endif // COMM_COMM_PROTOCOL_H_
+}  // namespace livox_ros
+#endif  // COMM_COMM_PROTOCOL_H_
diff --git a/livox_ros_driver/common/comm/gps_protocol.cpp b/livox_ros_driver/common/comm/gps_protocol.cpp
@@ -49,7 +49,7 @@ int32_t GpsProtocol::ParsePacket(const uint8_t *i_buf, uint32_t i_len,
   // GpsPacket *gps_packet = (GpsPacket *)i_buf;
 
   if (i_len < GetPacketWrapperLen()) {
-    return -1; // packet length error
+    return -1;  // packet length error
   }
   memset((void *)o_packet, 0, sizeof(CommPacket));
   o_packet->protocol = kGps;
@@ -114,14 +114,12 @@ uint8_t GpsProtocol::CalcGpsPacketChecksum(const uint8_t *buf,
 
 uint8_t AscciiToHex(const uint8_t *TwoChar) {
   uint8_t h = toupper(TwoChar[0]) - 0x30;
-  if (h > 9)
-    h -= 7;
+  if (h > 9) h -= 7;
 
   uint8_t l = toupper(TwoChar[1]) - 0x30;
-  if (l > 9)
-    l -= 7;
+  if (l > 9) l -= 7;
 
   return h * 16 + l;
 }
 
-} // namespace livox_ros
+}  // namespace livox_ros
diff --git a/livox_ros_driver/common/comm/gps_protocol.h b/livox_ros_driver/common/comm/gps_protocol.h
@@ -25,8 +25,8 @@
 #ifndef LIVOX_GPS_PROTOCOL_H_
 #define LIVOX_GPS_PROTOCOL_H_
 
-#include "protocol.h"
 #include <stdint.h>
+#include "protocol.h"
 
 namespace livox_ros {
 
@@ -47,7 +47,7 @@ typedef struct {
 uint8_t AscciiToHex(const uint8_t *TwoChar);
 
 class GpsProtocol : public Protocol {
-public:
+ public:
   GpsProtocol();
   ~GpsProtocol() = default;
 
@@ -69,11 +69,11 @@ class GpsProtocol : public Protocol {
 
   int32_t CheckPacket(const uint8_t *buf) override;
 
-private:
+ private:
   uint32_t found_length_;
 
   uint8_t CalcGpsPacketChecksum(const uint8_t *buf, uint32_t length);
 };
 
-} // namespace livox_ros
-#endif // LIVOX_GPS_PROTOCOL_H_
+}  // namespace livox_ros
+#endif  // LIVOX_GPS_PROTOCOL_H_
diff --git a/livox_ros_driver/common/comm/protocol.h b/livox_ros_driver/common/comm/protocol.h
@@ -60,9 +60,6 @@ typedef struct CommPacket {
   uint8_t *data;
   uint16_t data_len;
   uint32_t padding;
-  //  RequestPackCb *ack_request_cb;
-  //  uint32_t retry_times;
-  //  uint32_t timeout;
 } CommPacket;
 
 /** SDK Protocol info config */
@@ -72,9 +69,7 @@ typedef struct {
 } SdkProtocolConfig;
 
 /** NAME-0183 Protocol info config for gps */
-typedef struct {
-  void *data;
-} GpsProtocolConfig;
+typedef struct { void *data; } GpsProtocolConfig;
 
 typedef struct {
   uint8_t type;
@@ -85,7 +80,7 @@ typedef struct {
 } ProtocolConfig;
 
 class Protocol {
-public:
+ public:
   virtual ~Protocol() = default;
 
   virtual int32_t ParsePacket(const uint8_t *i_buf, uint32_t i_len,
@@ -107,5 +102,5 @@ class Protocol {
   virtual int32_t CheckPacket(const uint8_t *buf) = 0;
 };
 
-} // namespace livox_ros
-#endif // COMM_PROTOCOL_H_
+}  // namespace livox_ros
+#endif  // COMM_PROTOCOL_H_