fix:add dependencies for gnenerate messages, fix compilation error on the first compilation

feature:add Livox-SDK binary lib only for ROS Distro jenkins build
change:use ExternalProject_add to get thirdparty library

livox_ros_driver/CMakeLists.txt

@@ -37,27 +37,6 @@ find_package(Boost REQUIRED COMPONENTS thread)
 ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
 # catkin_python_setup()
 
-## make sure the livox_sdk_static library is installed
-find_library(LIVOX_SDK_LIBRARY liblivox_sdk_static.a /usr/local/lib)
-
-if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
-	# couldn't find the livox sdk library
-	message("Coudn't find livox sdk library")
-	include(ExternalProject)
-	ExternalProject_Add(
-		Livox-SDK
-		GIT_REPOSITORY https://github.com/Livox-SDK/Livox-SDK.git
-		TIMEOUT 15
-		CONFIGURE_COMMAND ""
-		BUILD_COMMAND ""
-		INSTALL_COMMAND ""
-		UPDATE_COMMAND ""
-		PATCH_COMMAND ""
-	)
-
-else()
-	message("find livox sdk library success")
-endif()
 
 
 ################################################
@@ -155,9 +134,9 @@ catkin_package(
 ## Specify additional locations of header files
 ## Your package locations should be listed before other locations
 include_directories(
-# include
+	#include
 	${catkin_INCLUDE_DIRS}
-#  ${PCL_INCLUDE_DIRS}
+    #${PCL_INCLUDE_DIRS}
 )
 
 ## Declare a C++ library
@@ -195,49 +174,95 @@ endif (APR_FOUND)
 include_directories(
 	./
 	${APR_INCLUDE_DIRS}
-	               )
+)
-
 
 ## PCL library
 #link_directories(${PCL_LIBRARY_DIRS})
 #add_definitions(${PCL_DEFINITIONS})
 
-add_executable(${PROJECT_LIDAR}_node
+## make sure the livox_sdk_static library is installed
-	${PROJECT_LIDAR_SRC})
+find_library(LIVOX_SDK_LIBRARY liblivox_sdk_static.a /usr/local/lib)
 
-## Rename C++ executable without prefix
+if((NOT LIVOX_SDK_LIBRARY) OR (NOT EXISTS ${LIVOX_SDK_LIBRARY}))
-## The above recommended prefix causes long target names, the following renames the
+	# couldn't find the livox sdk library
-## target back to the shorter version for ease of user use
+	message("Coudn't find livox sdk library!")
-## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+	message("Download Livox-SDK from github and build&install it please!")
-# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+	message("Download Livox-SDK from github and build&install it please!")
     
-## Add cmake target dependencies of the executable
+	message("Use Livox-SDK binary lib in x86_64 platform, only for ROS distro jenkins build!")
-## same as for the library above
+	include_directories(
-# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+    	./lib_backup
+    )
 
-## Specify libraries to link a library or executable target against
+	link_directories(
-target_link_libraries(${PROJECT_LIDAR}_node
+    	./lib_backup
+    )
+#    link_directories(
+#	
+#	)
+	## add lidar project here
+	add_executable(${PROJECT_LIDAR}_node
+		${PROJECT_LIDAR_SRC}
+	)
+	
+#add_dependencies(${PROJECT_LIDAR}_node liblivox_sdk_static.a)
+
+	target_link_libraries(${PROJECT_LIDAR}_node
 		livox_sdk_static.a
 		${APR_LIBRARIES}
-#    ${PCL_LIBRARIES}
 		${catkin_LIBRARIES}
 		${Boost_LIBRARIES}
 		-lrt
 	)
 
-## add hub project here
+	## add hub project here
-add_executable(${PROJECT_HUB}_node
+	add_executable(${PROJECT_HUB}_node
-	${PROJECT_HUB_SRC})
+		${PROJECT_HUB_SRC}
+	)
 
-target_link_libraries(${PROJECT_HUB}_node
+	target_link_libraries(${PROJECT_HUB}_node
     	livox_sdk_static.a
 		${APR_LIBRARIES}
-#    ${PCL_LIBRARIES}
 		${catkin_LIBRARIES}
     	${Boost_LIBRARIES}
     	-lrt
 	)
 
+else()
+	message("find livox sdk library success")
+
+	## add lidar project here
+	add_executable(${PROJECT_LIDAR}_node
+		${PROJECT_LIDAR_SRC}
+	)
+	
+	add_dependencies(${PROJECT_LIDAR}_node livox_ros_driver_generate_messages_cpp)
+	
+	target_link_libraries(${PROJECT_LIDAR}_node
+		livox_sdk_static.a
+		${APR_LIBRARIES}
+		${catkin_LIBRARIES}
+		${Boost_LIBRARIES}
+		-lrt
+	)
+
+	## add hub project here
+	add_executable(${PROJECT_HUB}_node
+		${PROJECT_HUB_SRC}
+	)
+
+	add_dependencies(${PROJECT_HUB}_node livox_ros_driver_generate_messages_cpp)
+	
+	target_link_libraries(${PROJECT_HUB}_node
+    	livox_sdk_static.a
+		${APR_LIBRARIES}
+		${catkin_LIBRARIES}
+    	${Boost_LIBRARIES}
+    	-lrt
+	)
+
+endif()
+
 #############
 ## Install ##
 #############

livox_ros_driver/lib_backup/livox_def.h

@@ -0,0 +1,394 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_DEF_H_
+#define LIVOX_DEF_H_
+
+#include <stdint.h>
+
+#define kMaxLidarCount 32
+
+/** Device type. */
+typedef enum {
+  kDeviceTypeHub = 0,     /**< Livox Hub. */
+  kDeviceTypeLidarMid40 = 1, /**< Mid-40. */
+  kDeviceTypeLidarTele = 2, /**< Tele. */
+  kDeviceTypeLidarHorizon = 3  /**< Horizon. */
+} DeviceType;
+
+/** Lidar state. */
+typedef enum {
+  kLidarStateInit = 0,        /**< Initialization state. */
+  kLidarStateNormal = 1,      /**< Normal work state. */
+  kLidarStatePowerSaving = 2, /**< Power-saving state. */
+  kLidarStateStandBy = 3,     /**< Standby state. */
+  kLidarStateError = 4,       /**< Error state. */
+  kLidarStateUnknown = 5
+} LidarState;
+
+/** Lidar mode. */
+typedef enum {
+  kLidarModeNormal = 1,      /**< Normal mode. */
+  kLidarModePowerSaving = 2, /**< Power-saving mode. */
+  kLidarModeStandby = 3      /**< Standby mode. */
+} LidarMode;
+
+/** Lidar feature. */
+typedef enum {
+  kLidarFeatureNone = 0,   /**< No feature. */
+  kLidarFeatureRainFog = 1 /**< Rain and fog feature. */
+} LidarFeature;
+
+/** Function return value definition. */
+typedef enum {
+  kStatusSuccess = 0,        /**< Success. */
+  kStatusFailure = 1,        /**< Failure. */
+  kStatusNotConnected = 2,   /**< Requested device is not connected. */
+  kStatusNotSupported = 3,   /**< Operation is not supported on this device. */
+  kStatusTimeout = 4,        /**< Operation timeouts. */
+  kStatusNotEnoughMemory = 5 /**< No enough memory. */
+} ResponseStatus;
+
+/** Device update type, indicating the change of device connection or working state. */
+typedef enum {
+  kEventConnect = 0,    /**< Device is connected. */
+  kEventDisconnect = 1, /**< Device is removed. */
+  kEventStateChange = 2 /**< Device working state changes or an error occurs. */
+} DeviceEvent;
+
+/** Timestamp sync mode define. */
+typedef enum {
+  kTimestampTypeNoSync = 0, /**< No sync signal mode. */
+  kTimestampTypePtp = 1,    /**< 1588v2.0 PTP sync mode. */
+  kTimestampTypeRsvd = 2,   /**< Reserved use. */
+  kTimestampTypePpsGps = 3, /**< pps+gps sync mode. */
+  kTimestampTypePps = 4,    /**< pps only sync mode. */
+  kTimestampTypeUnknown = 5 /**< Unknown mode. */
+} TimestampType;
+
+#pragma pack(1)
+
+#define LIVOX_SDK_MAJOR_VERSION       1
+#define LIVOX_SDK_MINOR_VERSION       1
+#define LIVOX_SDK_PATCH_VERSION       0
+
+#define kBroadcastCodeSize 16
+
+/** The numeric version information struct.  */
+typedef struct {
+  int major;      /**< major number */
+  int minor;      /**< minor number */
+  int patch;      /**< patch number */
+} LivoxSdkVersion;
+
+/** Cartesian coordinate format. */
+typedef struct {
+  int32_t x;            /**< X axis, Unit:mm */
+  int32_t y;            /**< Y axis, Unit:mm */
+  int32_t z;            /**< Z axis, Unit:mm */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxRawPoint;
+
+/** Standard point cloud format */
+typedef struct {
+  float x;              /**< X axis, Unit:m */
+  float y;              /**< X axis, Unit:m */
+  float z;              /**< X axis, Unit:m */
+  uint8_t reflectivity; /**< Reflectivity */
+} LivoxPoint;
+
+/** Point cloud packet. */
+typedef struct {
+  uint8_t version;        /**< Packet protocol version. */
+  uint8_t slot;           /**< Slot number used for connecting LiDAR. */
+  uint8_t id;             /**< LiDAR id. */
+  uint8_t rsvd;           /**< Reserved. */
+  uint32_t err_code;      /**< Device error status indicator information. */
+  uint8_t timestamp_type; /**< Timestamp type. */
+  /** Point cloud coordinate format, 1 for spherical coordinate data, 0 for cartesian coordinate data. */
+  uint8_t data_type;
+  uint8_t timestamp[8]; /**< Nanosecond or UTC format timestamp. */
+  uint8_t data[1];      /**< Point cloud data. */
+} LivoxEthPacket;
+
+/** Information of LiDAR work state. */
+typedef union {
+  uint32_t status_code; /**< LiDAR work state status code. */
+  uint32_t progress;   /**< LiDAR work state switching progress. */
+} StatusUnion;
+
+/** Information of the connected LiDAR or hub. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t handle;                          /**< Device handle. */
+  uint8_t slot;                            /**< Slot number used for connecting LiDAR. */
+  uint8_t id;                              /**< LiDAR id. */
+  uint32_t type;                           /**< Device type, refer to \ref DeviceType. */
+  uint16_t data_port;                      /**< Point cloud data UDP port. */
+  uint16_t cmd_port;                       /**< Control command UDP port. */
+  char ip[16];                             /**< IP address. */
+  LidarState state;                        /**< LiDAR state. */
+  LidarFeature feature;                    /**< LiDAR feature. */
+  StatusUnion status;                      /** LiDAR work state status. */
+} DeviceInfo;
+
+/** The information of broadcast device. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t dev_type;                        /**< Device type, refer to \ref DeviceType. */
+  uint16_t reserved;                           /**< Reserved. */
+} BroadcastDeviceInfo;
+
+/** The information of LiDAR units that are connected to the Livox Hub. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t dev_type;                        /**< Device type, refer to \ref DeviceType. */
+  uint8_t version[4];                      /**< Firmware version. */
+  uint8_t slot;                            /**< Slot number used for connecting LiDAR units. */
+  uint8_t id;                              /**< Device id. */
+} ConnectedLidarInfo;
+
+/** LiDAR mode configuration information. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code, null-terminated string, 15 characters at most. */
+  uint8_t state;                           /**< LiDAR state. */
+} LidarModeRequestItem;
+
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} ReturnCode;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+} DeviceBroadcastCode;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  uint8_t feature;                         /**< Close or open the rain and fog feature. */
+} RainFogSuppressRequestItem;
+
+/** LiDAR configuration information. */
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Device broadcast code. */
+  float roll;                              /**< Roll angle, unit: degree. */
+  float pitch;                             /**< Pitch angle, unit: degree. */
+  float yaw;                               /**< Yaw angle, unit: degree. */
+  int32_t x;                               /**< X translation, unit: mm. */
+  int32_t y;                               /**< Y translation, unit: mm. */
+  int32_t z;                               /**< Z translation, unit: mm. */
+} ExtrinsicParameterRequestItem;
+
+/** LiDAR extrinsic parameters. */
+typedef struct {
+  uint8_t ret_code;                        /**< Return code. */
+  char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
+  float roll;                              /**< Roll angle, unit: degree. */
+  float pitch;                             /**< Pitch angle, unit: degree. */
+  float yaw;                               /**< Yaw angle, unit: degree. */
+  int32_t x;                               /**< X translation, unit: mm. */
+  int32_t y;                               /**< Y translation, unit: mm. */
+  int32_t z;                               /**< Z translation, unit: mm. */
+} ExtrinsicParameterResponseItem;
+
+typedef struct {
+  char broadcast_code[kBroadcastCodeSize]; /**< Broadcast code. */
+  uint8_t state;                           /**< LiDAR state. */
+  uint8_t feature;                         /**< LiDAR feature. */
+  StatusUnion error_union;                  /** LiDAR work state. */
+} LidarStateItem;
+
+/**
+ * The request body for the command of handshake.
+ */
+typedef struct {
+  uint32_t ip_addr;   /**< IP address of the device. */
+  uint16_t data_port; /**< UDP port of the data connection. */
+  uint16_t cmd_port;  /**< UDP port of the command connection. */
+} HandshakeRequest;
+
+/**
+ * The response body of querying device information.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t firmware_version[4]; /**< Firmware version. */
+} DeviceInformationResponse;
+
+/**
+ * The response body of getting device error status.
+ */
+typedef struct {
+  uint32_t error_code; /**< Error code. */
+} ErrorMessage;
+
+/**
+ * The request body of the command for setting device's IP mode.
+ */
+typedef struct {
+  uint8_t ip_mode;  /**< IP address mode: 0 for dynamic IP address, 1 for static IP address.  */
+  uint32_t ip_addr; /**< IP address. */
+} SetDeviceIPModeRequest;
+
+/**
+ * The response body of getting device's IP mode.
+ */
+typedef struct {
+  uint8_t ret_code; /**< Return code. */
+  uint8_t ip_mode;  /**< IP address mode: 0 for dynamic IP address, 1 for static IP address.  */
+  uint32_t ip_addr; /**< IP address. */
+} GetDeviceIPModeResponse;
+
+/**
+ * The body of heartbeat response.
+ */
+typedef struct {
+  uint8_t ret_code;       /**< Return code. */
+  uint8_t state;          /**< Working state. */
+  uint8_t feature;        /**< LiDAR feature. */
+  StatusUnion error_union; /**< LiDAR work state. */
+} HeartbeatResponse;
+
+/**
+ * The request body for the command of setting LiDAR's parameters.
+ */
+typedef struct {
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} LidarSetExtrinsicParameterRequest;
+
+/**
+ * The response body of getting LiDAR's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} LidarGetExtrinsicParameterResponse;
+
+/**
+ * The response body of querying the information of LiDAR units connected to the Livox Hub.
+ */
+typedef struct {
+  uint8_t ret_code;                       /**< Return code from device. */
+  uint8_t count;                          /**< Count of device_info_list. */
+  ConnectedLidarInfo device_info_list[1]; /**< Connected lidars information. */
+} HubQueryLidarInformationResponse;
+
+/**
+ * The request body of setting LiDAR units working mode.
+ */
+typedef struct {
+  uint8_t count;                  /**< Number of LiDAR units to set. */
+  LidarModeRequestItem config_list[1]; /**< LiDAR mode configuration list. */
+} HubSetModeRequest;
+
+/**
+ * The response of setting LiDAR units working mode.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code from device. */
+  uint8_t count;                /**< Count of ret_state_list. */
+  ReturnCode ret_state_list[1]; /**< Return status list. */
+} HubSetModeResponse;
+
+/**
+ * The request body of toggling the power supply of the slot.
+ */
+typedef struct {
+  uint8_t slot;  /**< Slot of the hub. */
+  uint8_t state; /**< Status of toggling the power supply. */
+} HubControlSlotPowerRequest;
+
+/**
+ * The request body of setting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t count;                 /**< Count of cfg_param_list. */
+  ExtrinsicParameterRequestItem parameter_list[1]; /**< Configuration parameter list. */
+} HubSetExtrinsicParameterRequest;
+
+/**
+ * The response body of setting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;            /**< Return code. */
+  uint8_t count;               /**< Count of ret_code_list. */
+  ReturnCode ret_code_list[1]; /**< Return code */
+} HubSetExtrinsicParameterResponse;
+
+/**
+ * The request body of getting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t count;                    /**< Count of code_list. */
+  DeviceBroadcastCode code_list[1]; /**< Broadcast code list. */
+} HubGetExtrinsicParameterRequest;
+
+/**
+ * The response body of getting the Livox Hub's parameters.
+ */
+typedef struct {
+  uint8_t ret_code;        /**< Return code. */
+  uint8_t count;           /**< Number of LiDAR units connected to the Livox Hub. */
+  ExtrinsicParameterResponseItem parameter_list[1]; /**< Postion parameters of connected LiDAR unit(s). */
+} HubGetExtrinsicParameterResponse;
+
+/**
+ * The response body of getting sub LiDAR's state.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Number of LiDAR connected to the Livox Hub. */
+  LidarStateItem state_list[1]; /**< Device information of connected LiDAR units. */
+} HubQueryLidarStatusResponse;
+
+/**
+ * The request body of toggling the LiDAR units rain and fog mode.
+ */
+typedef struct {
+  uint8_t count;                                   /**< Number of LiDAR units connected to the Livox Hub. */
+  RainFogSuppressRequestItem lidar_cfg_list[1]; /**< Command data of connected LiDAR units. */
+} HubRainFogSuppressRequest;
+
+/**
+ * The response body of toggling the LiDAR units rain and fog mode.
+ */
+typedef struct {
+  uint8_t ret_code;             /**< Return code. */
+  uint8_t count;                /**< Count of ret_state_list. */
+  ReturnCode ret_state_list[1]; /**< Return code */
+} HubRainFogSuppressResponse;
+
+#pragma pack()
+
+#endif  // LIVOX_DEF_H_

livox_ros_driver/lib_backup/livox_sdk.h

@@ -0,0 +1,499 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_SDK_H_
+#define LIVOX_SDK_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include "livox_def.h"
+
+/**
+* Return SDK's version information in a numeric form.
+* @param version Pointer to a version structure for returning the version information.
+*/
+void GetLivoxSdkVersion(LivoxSdkVersion *version);
+
+/**
+ * Initialize the SDK.
+ * @return true if successfully initialized, otherwise false.
+ */
+bool Init();
+
+/**
+ * Start the device scanning routine which runs on a separate thread.
+ * @return true if successfully started, otherwise false.
+ */
+bool Start();
+
+/**
+ * Uninitialize the SDK.
+ */
+void Uninit();
+
+/**
+* Save the log file.
+*/
+void SaveLoggerFile();
+
+/**
+ * @c SetBroadcastCallback response callback function.
+ * @param info information of the broadcast device, becomes invalid after the function returns.
+ */
+typedef void (*DeviceBroadcastCallback)(const BroadcastDeviceInfo *info);
+
+/**
+ * Set the callback of listening device broadcast message. When broadcast message is received from Livox Hub/LiDAR, cb
+ * is called.
+ * @param cb callback for device broadcast.
+ */
+void SetBroadcastCallback(DeviceBroadcastCallback cb);
+
+/**
+ * @c SetDeviceStateUpdateCallback response callback function.
+ * @param device  information of the connected device.
+ * @param type    the update type that indicates connection/disconnection of the device or change of working state.
+ */
+typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent type);
+
+/**
+ * @brief Add a callback for device connection or working state changing event.
+ * @note Livox SDK supports two hardware connection modes. 1: Directly connecting to the LiDAR device; 2. Connecting to
+ * the LiDAR device(s) via the Livox Hub. In the first mode, connection/disconnection of every LiDAR unit is reported by
+ * this callback. In the second mode, only connection/disconnection of the Livox Hub is reported by this callback. If
+ * you want to get information of the LiDAR unit(s) connected to hub, see \ref HubQueryLidarInformation.
+ * @note 3 conditions can trigger this callback:
+ *         1. Connection and disconnection of device.
+ *         2. A change of device working state.
+ *         3. An error occurs.
+ * @param cb callback for device connection/disconnection.
+ */
+void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
+
+/**
+ * Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
+ * broadcast code is unique for every device.
+ * @param broadcast_code device's broadcast code.
+ * @param handle device handle. For Livox Hub, the handle is always 31; for LiDAR units connected to the Livox Hub,
+ * the corresponding handle is (slot-1)*3+id-1.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t AddHubToConnect(const char *broadcast_code, uint8_t *handle);
+
+/**
+ * Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
+ * broadcast code is unique for every device.
+ * @param broadcast_code device's broadcast code.
+ * @param handle device handle. The handle is the same as the order calling AddLidarToConnect starting from 0.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t AddLidarToConnect(const char *broadcast_code, uint8_t *handle);
+
+/**
+ * Get all connected devices' information.
+ * @param devices list of connected devices' information.
+ * @param size    number of devices connected.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t GetConnectedDevices(DeviceInfo *devices, uint8_t *size);
+
+/**
+ * Function type of callback that queries device's information.
+ * @param status   kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle   device handle.
+ * @param response response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*DeviceInformationCallback)(uint8_t status,
+                                          uint8_t handle,
+                                          DeviceInformationResponse *response,
+                                          void *client_data);
+
+/**
+ * Command to query device's information.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t QueryDeviceInformation(uint8_t handle, DeviceInformationCallback cb, void *client_data);
+
+/**
+ * Callback function for receiving point cloud data.
+ * @param handle   device handle.
+ * @param data     device's data.
+ * @param data_num number of points in data.
+ */
+typedef void (*DataCallback)(uint8_t handle, LivoxEthPacket *data, uint32_t data_num);
+
+/**
+ * Set the callback to receive point cloud data. Only one callback is supported for a specific device. Set the point
+ * cloud data callback before beginning sampling.
+ * @param cb callback to receive point cloud data.
+ */
+void SetDataCallback(uint8_t handle, DataCallback cb);
+
+/**
+ * Function type of callback with 1 byte of response.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*CommonCommandCallback)(uint8_t status, uint8_t handle, uint8_t response, void *client_data);
+
+/**
+ * Start hub sampling.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubStartSampling(CommonCommandCallback cb, void *client_data);
+
+/**
+ * Stop the Livox Hub's sampling.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubStopSampling(CommonCommandCallback cb, void *client_data);
+
+/**
+ * Get the LiDAR unit handle used in the Livox Hub data callback function from slot and id.
+ * @param  slot   Livox Hub's slot.
+ * @param  id     Livox Hub's id.
+ * @return LiDAR unit handle.
+ */
+uint8_t HubGetLidarHandle(uint8_t slot, uint8_t id);
+
+/**
+ * Command to change point cloud coordinate system to cartesian coordinate.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t SetCartesianCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Change point cloud coordinate system to spherical coordinate.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t SetSphericalCoordinate(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Callback of the error status message.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ */
+typedef void (*ErrorMessageCallback)(uint8_t handle, ErrorMessage *message);
+
+/**
+ * Add error status callback for the device.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t SetErrorMessageCallback(uint8_t handle, ErrorMessageCallback cb);
+
+/**
+ * Set device's IP mode.
+ * @param  handle        device handle.
+ * @param  req           request sent to device.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t SetStaticDynamicIP(uint8_t handle,
+                           SetDeviceIPModeRequest *req,
+                           CommonCommandCallback cb,
+                           void *client_data);
+
+/**
+ * Callback function that gets device's IP information.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*GetDeviceIPInformationCallback)(uint8_t status,
+                                        uint8_t handle,
+                                        GetDeviceIPModeResponse *response,
+                                        void *client_data);
+
+/**
+ * Get device's IP mode.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t GetDeviceIPInformation(uint8_t handle, GetDeviceIPInformationCallback cb, void *client_data);
+
+/**
+ * @c HubQueryLidarInformation response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubQueryLidarInformationCallback)(uint8_t status,
+                                                 uint8_t handle,
+                                                 HubQueryLidarInformationResponse *response,
+                                                 void *client_data);
+
+/**
+ * Query the information of LiDARs connected to the hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubQueryLidarInformation(HubQueryLidarInformationCallback cb, void *client_data);
+
+/**
+ * @c HubSetMode response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetModeCallback)(uint8_t status, uint8_t handle, HubSetModeResponse *response, void *client_data);
+
+/**
+ * Set the mode of LiDAR unit connected to the Livox Hub.
+ * @param  req           mode configuration of LiDAR units.
+ * @param  length        length of req.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubSetMode(HubSetModeRequest *req, uint16_t length, HubSetModeCallback cb, void *client_data);
+
+/**
+ * @c HubQueryLidarStatus response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubQueryLidarStatusCallback)(uint8_t status, uint8_t handle, HubQueryLidarStatusResponse *response, void *client_data);
+
+/**
+ * Get the state of LiDAR units connected to the Livox Hub.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubQueryLidarStatus(HubQueryLidarStatusCallback cb, void *client_data);
+
+/**
+ * Toggle the power supply of designated slots.
+ * @param  req           request whether to enable or disable the power of designated slots.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+
+uint8_t HubControlSlotPower(HubControlSlotPowerRequest *req, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c HubSetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubSetExtrinsicParameterCallback)(uint8_t status,
+                                                 uint8_t handle,
+                                                 HubSetExtrinsicParameterResponse *response,
+                                                 void *client_data);
+
+/**
+ * Set extrinsic parameters of LiDAR units connected to the Livox Hub.
+ * @param  req           the parameters to write.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubSetExtrinsicParameter(HubSetExtrinsicParameterRequest *req,
+                                 uint16_t length,
+                                 HubSetExtrinsicParameterCallback cb,
+                                 void *client_data);
+
+/**
+ * @c HubGetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubGetExtrinsicParameterCallback)(uint8_t status,
+                                                 uint8_t handle,
+                                                 HubGetExtrinsicParameterResponse *response,
+                                                 void *client_data);
+
+/**
+ * Get extrinsic parameters of LiDAR units connected to the Livox Hub.
+ * @param  req           the LiDAR units broadcast code list.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubGetExtrinsicParameter(HubGetExtrinsicParameterRequest *req,
+                                 uint16_t length,
+                                 HubGetExtrinsicParameterCallback cb,
+                                 void *client_data);
+
+/**
+ * Turn on or off the calculation of extrinsic parameters.
+ * @param  enable        the request whether enable or disable calculating the extrinsic parameters.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+
+uint8_t HubExtrinsicParameterCalculation(bool enable, CommonCommandCallback cb, void *client_data);
+
+/**
+ * @c HubRainFogSuppress response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*HubRainFogSuppressCallback)(uint8_t status,
+                                           uint8_t handle,
+                                           HubRainFogSuppressResponse *response,
+                                           void *client_data);
+
+/**
+ * Toggling the rain and fog mode for lidars connected to the hub.
+ * @param  req           the request whether open or close the rain and fog mode.
+ * @param  length        the request's length.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t HubRainFogSuppress(HubRainFogSuppressRequest *req,
+                           uint16_t length,
+                           HubRainFogSuppressCallback cb,
+                           void *client_data);
+
+/**
+ * Start LiDAR sampling.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t LidarStartSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Stop LiDAR sampling.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t LidarStopSampling(uint8_t handle, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Set LiDAR mode.
+ * @note Successful callback function status only means LiDAR successfully starting the changing process of mode.
+ * You need to observe the actually change of mode in DeviceStateUpdateCallback function.
+ * @param  handle        device handle.
+ * @param  mode          the mode to change.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t LidarSetMode(uint8_t handle, LidarMode mode, CommonCommandCallback cb, void *client_data);
+
+/**
+ * Set LiDAR extrinsic parameters.
+ * @param  handle        device handle.
+ * @param  param         the parameters to write.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t LidarSetExtrinsicParameter(uint8_t handle,
+                                   LidarSetExtrinsicParameterRequest *req,
+                                   CommonCommandCallback cb,
+                                   void *client_data);
+
+/**
+ * @c LidarGetExtrinsicParameter response callback function.
+ * @param status      kStatusSuccess on successful return, kStatusTimeout on timeout, see \ref ResponseStatus for other
+ * error code.
+ * @param handle      device handle.
+ * @param response    response from the device.
+ * @param client_data user data associated with the command.
+ */
+typedef void (*LidarGetExtrinsicParameterCallback)(uint8_t status,
+                                          uint8_t handle,
+                                          LidarGetExtrinsicParameterResponse *response,
+                                          void *client_data);
+
+/**
+ * Get LiDAR extrinsic parameters.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParameterCallback cb, void *client_data);
+
+/**
+ * Enable and disable the rain/fog suppression.
+ * @param  handle        device handle.
+ * @param  cb            callback for the command.
+ * @param  client_data   user data associated with the command.
+ * @return kStatusSuccess on successful return, see \ref ResponseStatus for other error code.
+ */
+uint8_t LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // LIVOX_SDK_H_