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Sending PTC Commands

This document describes how to send PTC commands to the LiDAR through the SDK in order to retrieve LiDAR information or configure its parameters.

Preparation

Open the file ptc_tool.cc.

Select the desired communication command:

// #define SET_NET
// #define SET_DES_IP_AND_PORT
// #define SET_RETURN_MODE
// #define SET_SYNC_ANGLE
// #define SET_STANDBY_MODE
// #define SET_SPIN_SPEED

#define DEFINE_YOURSELF
  1. SET_NET : Set LiDAR network configuration
  2. SET_DES_IP_AND_PORT : Set destination IP and port for point cloud data
  3. SET_RETURN_MODE : Set return mode of the LiDAR
  4. SET_SYNC_ANGLE : Set sync angle
  5. SET_STANDBY_MODE : Set operating mode of the LiDAR
  6. SET_SPIN_SPEED : Set spin speed of the LiDAR
  7. DEFINE_YOURSELF : Custom command

Steps

1 Compilation

In the HesaiLidar_SDK_2.0 folder, open a terminal and execute the following commands:

cd HesaiLidar_SDK_2.0/tool_ptc
mkdir build
cd build
cmake ..
make

2 Run

After successful compilation, run the generated executable file ptc_tool inside the build directory.

When executing, you need to provide the LiDAR's IP address and the PTC communication port:

./ptc_tool 192.168.1.201 9347

Reference

1 Setting Destination IP

Set the destination IP address and related ports:

std::string destination_ip = "255.255.255.255";  // Set to unicast, multicast, or broadcast
uint16_t udp_port = 2368;  // Set UDP port
uint16_t gps_udp_port = 10110;  // Set GPS UDP port

The following log indicates that the parameters were successfully set:

SetDesIpandPort succeeded!

2 Setting Network Configuration

Configure IP address, subnet mask, gateway, and VLAN:

std::string net_IP = "192.168.1.201";  // Set LiDAR IP
std::string net_mask = "255.255.255.0";  // Set subnet mask
std::string net_getway = "192.168.1.1";  // Set gateway
uint8_t vlan_flag = 0;  // VLAN flag, 0 means not set, 1 means set
uint16_t vlan_ID = 0;  // Set VLAN ID

The following log indicates that the parameters were successfully set:

SetNet succeeded!

Note: Running this command may terminate the program. You will need to reconfigure your network with the new LiDAR IP before proceeding with further operations.

3 Getting Correction File

In ptc_tool.cc, use the DEFINE_YOURSELF macro and add saving logic. This will generate a calibration file named correction.dat in the build directory:

#ifdef DEFINE_YOURSELF
    u8Array_t dataIn;       
    u8Array_t dataOut;      
    uint8_t ptc_cmd = 0x05;

    int ret = -1;
    ret = ptc_client_->QueryCommand(dataIn, dataOut, ptc_cmd);
    if (ret == 0) {
        LogInfo("GetCorrectionInfo succeeded!");
        // Save to a file, e.g., correction.dat
        FILE* fp = fopen("correction.dat", "wb");
        if (fp != nullptr) {
            fwrite(dataOut.data(), 1, dataOut.size(), fp);
            fclose(fp);
            LogInfo("Saved correction data to correction");
        } else {
            LogInfo("Failed to open file for writing correction data!");
        }
    } else {
        LogWarning("GetCorrectionInfo failed!");
    }
#endif

4 Adding Custom Commands Based on PTC Protocol

In ptc_tool.cc, define and use DEFINE_YOURSELF

#ifdef DEFINE_YOURSELF
    u8Array_t dataIn;       // Payload data, as defined by the PTC protocol. For extended commands, it also includes the extended command itself.
    u8Array_t dataOut;      // Response data, excluding header information, only contains payload data.
    uint8_t ptc_cmd = 0x05; // PTC command. For extended commands, it should be set to 0xFF uniformly.

    int ret = -1;
    ret = ptc_client_->QueryCommand(dataIn, dataOut, ptc_cmd);
    if (ret == 0) {
        LogInfo("Define yourself succeeded");
    } else {
        LogWarning("Define yourself failed! return_code: %d", ptc_client_->ret_code_); // If ret_code_ is positive, it represents an error code returned by PTC. If negative, it indicates some unexpected error. Refer to the code for details.
    }
#endif