LivoxProto1: Print when Lidar isn't ready for work

2025-10-24 00:51:28 -04:00
parent 83c937ae8f
commit bede123691
3 changed files with 126 additions and 2 deletions
@@ -280,6 +280,25 @@ struct SamplingResponse
 	bool validateCrc32() const;
 } __attribute__((packed));

+/**		EXPLANATION:
+ * Complete heartbeat ACK response frame from Livox devices.
+ * This is the complete wire format including header, command fields, data, and footer.
+ */
+struct HeartbeatACK
+{
+	Header header;			// 0-8: Protocol frame header
+	Command command;		// 9-10: Command identification
+	uint8_t ret_code;		// 11: Return Code (0x00 = Success, 0x01 = Fail)
+	uint8_t work_state;		// 12: LiDAR/Hub State (0x00: Initializing, 0x01: Normal, 0x02: Power-Saving, 0x03: Standby, 0x04: Error)
+	uint8_t feature_msg;	// 13: LiDAR Feature Message (Bit0: Rain/Fog Suppression Switch)
+	uint32_t ack_msg;		// 14-17: ACK Message (Initialization Progress or Status Code)
+	Footer footer;			// 18-21: Protocol frame footer
+
+	void swapContentsToHostEndianness();
+	bool sanityCheck() const;
+	bool validateCrc32() const;
+} __attribute__((packed));
+
 } // namespace comms
 } // namespace livoxProto1