aurora_pubsdk_inc.h

/*
 *  SLAMTEC Aurora
 *  Copyright 2013 - 2024 SLAMTEC Co., Ltd.
 *
 *  http://www.slamtec.com
 *
 *  Aurora Remote SDK
 *  Main Header of the SDK
 *
 */
 
 
#pragma once
 
// extern C if in C++
#ifdef __cplusplus
extern "C" {
#endif
#include <stddef.h>
#include "aurora_pubsdk_common_def.h"
#include "aurora_pubsdk_objects.h"
 
 // end of Aurora_SDK group
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_get_version_info(slamtec_aurora_sdk_version_info_t * info_out);
 
 
 
slamtec_aurora_sdk_session_handle_t AURORA_SDK_API slamtec_aurora_sdk_create_session(const slamtec_aurora_sdk_session_config_t* config, size_t config_size, const slamtec_aurora_sdk_listener_t * listener, slamtec_aurora_sdk_errorcode_t * error_code);
 
void AURORA_SDK_API slamtec_aurora_sdk_release_session(slamtec_aurora_sdk_session_handle_t handle);
 
 
 
// utility functions
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_convert_quaternion_to_euler(const slamtec_aurora_sdk_quaternion_t* q, slamtec_aurora_sdk_euler_angle_t* euler_out);
 
 
 
// controller operations
 
int AURORA_SDK_API slamtec_aurora_sdk_controller_get_discovered_servers(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_server_connection_info_t* servers, size_t max_server_count);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_connect(slamtec_aurora_sdk_session_handle_t handle, const slamtec_aurora_sdk_server_connection_info_t* server_conn_info);
 
void AURORA_SDK_API slamtec_aurora_sdk_controller_disconnect(slamtec_aurora_sdk_session_handle_t handle);
 
int AURORA_SDK_API slamtec_aurora_sdk_controller_is_connected(slamtec_aurora_sdk_session_handle_t handle);
 
void AURORA_SDK_API slamtec_aurora_sdk_controller_set_low_rate_mode(slamtec_aurora_sdk_session_handle_t handle, int enable);
 
void AURORA_SDK_API slamtec_aurora_sdk_controller_set_map_data_syncing(slamtec_aurora_sdk_session_handle_t handle, int enable);
 
void AURORA_SDK_API slamtec_aurora_sdk_controller_resync_map_data(slamtec_aurora_sdk_session_handle_t handle, int invalidate_cache);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_set_raw_data_subscription(slamtec_aurora_sdk_session_handle_t handle, int enable);
 
int AURORA_SDK_API slamtec_aurora_sdk_controller_is_raw_data_subscribed(slamtec_aurora_sdk_session_handle_t handle);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_map_reset(slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_pure_localization_mode(slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms);
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_mapping_mode(slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_require_relocalization(slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms);
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_cancel_relocalization(slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_set_loop_closure(slamtec_aurora_sdk_session_handle_t handle, int enable, uint64_t timeout_ms);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_controller_send_custom_command(slamtec_aurora_sdk_session_handle_t handle, uint64_t timeout_ms, uint64_t cmd, const void* data, size_t data_size, void* response, size_t response_buffer_size, size_t * response_retrieved_size);
 
 
 
// map manager operations
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_mapmanager_start_storage_session(slamtec_aurora_sdk_session_handle_t handle, const char* map_file_name, slamtec_aurora_sdk_mapstorage_session_type_t session_type, slamtec_aurora_sdk_mapstorage_session_result_callback_t  callback, void * user_data);
 
 
void AURORA_SDK_API slamtec_aurora_sdk_mapmanager_abort_session(slamtec_aurora_sdk_session_handle_t handle);
 
 
int AURORA_SDK_API slamtec_aurora_sdk_mapmanager_is_storage_session_active(slamtec_aurora_sdk_session_handle_t handle);
 
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_mapmanager_query_storage_status(slamtec_aurora_sdk_session_handle_t handle,  slamtec_aurora_sdk_mapstorage_session_status_t* progress_out);
 
 
 
 
// dataprovider operations
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_current_pose_se3(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_pose_se3_t* pose_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_current_pose(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_pose_t* pose_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_mapping_flags(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_mapping_flag_t * flags_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_last_device_status(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_device_status_t* status_out, uint64_t * timestamp_ns_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_relocalization_status(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_relocalization_status_type_t * status_out, uint64_t * timestamp_ns_out);
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_peek_tracking_data(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_tracking_info_t* tracking_data_out, const slamtec_aurora_sdk_tracking_data_buffer_t* provided_buffer_info);
 
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_peek_recent_lidar_scan_singlelayer(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_lidar_singlelayer_scandata_info_t* header_out, slamtec_aurora_sdk_lidar_scan_point_t* scan_points_out, size_t buffer_count, slamtec_aurora_sdk_pose_se3_t * scanpose, int forceLatest);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_peek_imu_data(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_imu_data_t* imu_data_out, size_t buffer_count, size_t* actual_count_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_imu_info(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_imu_info_t * info_out);
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_global_mapping_info(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_global_map_desc_t* desc_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_get_all_map_info(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_map_desc_t* desc_buffer, size_t buffer_count, size_t* actual_count_out);
 
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_dataprovider_access_map_data(slamtec_aurora_sdk_session_handle_t handle, const slamtec_aurora_sdk_map_data_visitor_t* visitor, uint32_t* map_ids, size_t map_count);
 
 
 
 
// LIDAR 2D Map operations
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_get_supported_grid_resultion_range(slamtec_aurora_sdk_session_handle_t handle, float* min_resolution, float* max_resolution);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_get_supported_max_grid_cell_count(slamtec_aurora_sdk_session_handle_t handle, size_t* max_cell_count);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_require_redraw(slamtec_aurora_sdk_session_handle_t handle);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_start_background_update(slamtec_aurora_sdk_session_handle_t handle, const slamtec_aurora_sdk_2d_gridmap_generation_options_t * build_options);
 
void AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_stop_background_update(slamtec_aurora_sdk_session_handle_t handle);
 
int AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_is_background_updating(slamtec_aurora_sdk_session_handle_t handle);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_get_and_reset_update_dirty_rect(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_rect_t* dirty_rect_out, int * map_big_change);
/*
 * @brief Get the generation options of the LIDAR 2D preview map
 * @details Caller can use this function to get the current generation options of the LIDAR 2D preview map.
 * @details If the auto floor detection is enabled, caller can use this function to get the current height range used to generate the preview map.
 * @ingroup LIDAR2DMap_Operations LIDAR 2D Map Operations
 * 
 * @param handle - the session handle
 * @param options_out - the generation options will be stored in this pointer
 * @return the error code
 */
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_get_generation_options(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_2d_gridmap_generation_options_t* options_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_set_auto_floor_detection(slamtec_aurora_sdk_session_handle_t handle, int enable);
 
int AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_is_auto_floor_detection(slamtec_aurora_sdk_session_handle_t handle);
 
const slamtec_aurora_sdk_occupancy_grid_2d_handle_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_previewmap_get_gridmap_handle(slamtec_aurora_sdk_session_handle_t handle);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_generate_fullmap(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_occupancy_grid_2d_handle_t* generated_gridmap_handle_out, const slamtec_aurora_sdk_2d_gridmap_generation_options_t* build_options, int wait_for_data_sync, uint64_t timeout_ms);
 
void AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_release(slamtec_aurora_sdk_occupancy_grid_2d_handle_t gridmap_handle);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_get_resolution(const slamtec_aurora_sdk_occupancy_grid_2d_handle_t gridmap_handle, float* resolution_out);
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_get_dimension(const slamtec_aurora_sdk_occupancy_grid_2d_handle_t gridmap_handle, slamtec_aurora_sdk_2dmap_dimension_t* dimension_out, int get_max_capcity);
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_lidar2dmap_gridmap_read_cell_data(const slamtec_aurora_sdk_occupancy_grid_2d_handle_t gridmap_handle, const slamtec_aurora_sdk_rect_t* fetch_rect, slamtec_aurora_sdk_2d_gridmap_fetch_info_t* info_out, uint8_t* cell_buffer, size_t cell_buffer_size, int l2p_mapping);
 
 
// Auto Floor Detection operations
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_autofloordetection_get_current_detection_desc(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_floor_detection_desc_t* desc_out);
 
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_autofloordetection_get_all_detection_info(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_floor_detection_desc_t* desc_buffer, size_t buffer_count, size_t* actual_count_out, int * current_floor_id);
 
 
slamtec_aurora_sdk_errorcode_t AURORA_SDK_API slamtec_aurora_sdk_autofloordetection_get_detection_histogram(slamtec_aurora_sdk_session_handle_t handle, slamtec_aurora_sdk_floor_detection_histogram_info_t* header_out, float* histogram_buffer, size_t buffer_count);
 
 
#ifdef __cplusplus
}
#endif
 
 
 
#ifdef __cplusplus
 
// include C++ headers
#include "cxx/slamtec_remote_public.hxx"
 
#endif