Product Support for FJD Trion SLAM SDK

Quick Start

Public Methods

Usage Example

Precautions

Overview

SLAM SDK is a C++ library for communicating with S2/P2/P1 devices, providing functions such as device discovery, map scanning, and data downloading.

Namespace

namespace fjminislam

Constant Definition

Port Configuration

Constant name	Value	Description
BROADCAST_PORT	29527	Device broadcast port
PORT	9090	Device communication ports

Download Data Type Enumeration

enum DownloadDataType
{
    FJDSLAM = 1,   // FJDSLAM format data
    PLY     = 2,   // PLY format point cloud data
    PTS     = 3,   // PTS format point cloud data
    LAS     = 5,   // LAS format point cloud data
    FJDRTK  = 6,   // FJDRTK format data
    RTCM    = 9,   // RTCM format data
    INSV    = 99,  // INSV format data
};

Device Structure

struct Device{std::string serialno; // Device serial numberstd::string ip; // Device IP addressstd::string fwversion; // Firmware version};

SDK Class

Constructor and Destructor Function

SDK(); // Default constructor
~SDK(); // Destructor

Public Member Variable

std::vector<fjminislam::Device> device_list; // Device list

get_available_devices

std::vector<fjminislam::Device> get_available_devices(int search_time=3);

Function: Search for available devices

Parameter:

search_time

Search duration, unit: seconds, default: 3 seconds

Return value : Device list

get_maplist

json get_maplist();

Function: Get map list information

Return Value : Map information in JSON format, containing the following fields:

Field name	Type	Description
result	bool	Request result, true indicates success
values.has_camera	array<int>	With or without a camera, 1 means yes and 0 means no
values.maplist	array<string>	List of map names
values.match_status	array<int>	Whether to continue scanning at a breakpoint, 1 means yes, 0 means no
values.rtk_locked_percent	array<int>	RTK lock percentage
values.slam_dis_in_m	array<int>	Mission mileage, unit meters
values.task_time_in_sec	array<int>	Task time, in seconds
values.vec_data_types_for_download	array<int>	Downloadable data type, 1 indicates existence

start_map

json start_map(std::string mapname="");

Function: Start scanning task

Parameter:

mapname

Custom map name, optional

Return value : The startup result in JSON format, containing the following fields:

Field name	Type	Description
result	bool	Request result, true indicates success
values.status	int	Task status: 0 - Mission aborted 1 - Normal status -1 - Initialization failed -2 - Busy equipment -4 - Task processing -6 - Insta camera storage is insufficient

stop_map

json stop_map();

Function: Stop scanning task

Return value : Stop result in JSON format, containing the following fields:

Field name	Type	Description
result	bool	Request result, true indicates success
values.message	string	Message description
values.success	bool	Whether the stop was successful

check_device_task

json check_device_task(bool force_check=true);

Function: Obtain or execute device self-check

Parameter:

force_check

Whether to enforce self-check, true indicates only obtaining the result, false indicates performing self-check

Return Value: Self-check result in JSON format, containing the following fields:

Field name	Type	Description
result	bool	Request result, true indicates success
values.status	int	Device Status: 7 - All devices are fine 5 - LiDAR anomalies

download_map_data

bool download_map_data(std::string mapname, fjminislam::DownloadDataType type, std::string save_path);

Function: Download scan data

Parameters:

mapname

Map Name

type

Download data type, see enumeration:

DownloadDataType

save_path

Data save path, e.g.:

/tmp/

Return value : true indicates successful download, false indicates failed download

time_syn

json time_syn();

Function: Synchronize time to scanner

Return Value : Time synchronization result in JSON format, containing the following fields:

Field name	Type	Description
result	bool	Request result, true indicates success
values.left_time	int	Time remaining
values.status	bool	Synchronization status, true indicates success

check_scanner_connection

bool check_scanner_connection();

Function: Check the scanner connection status

Return Value : true indicates normal connection, false indicates abnormal connection

connect_device

bool connect_device(fjminislam::Device device);

Function: Connect to the specified device

Parameter:

device

Information of the device to be connected

Return value : true indicates successful connection, false indicates connection failure

get_current_name

std::string get_current_name();

Function: Get the name of the currently connected device

Return Value : Device Name

get_version

std::string get_version();

Function: Get SDK Version

Return Value : SDK Version Number

Basic Usage Process

#include "fjminislam_sdk.h"

int main() {
    fjminislam::SDK sdk = fjminislam::SDK();
    sdk.get_version();
    fjminislam::Device selected_scanner;
    std::vector<fjminislam::Device> devices_list = sdk.get_available_devices();
    if (devices_list.size() == 0) {
        printf("no scanner found\n");
        return 1;
    }
    selected_scanner = devices_list[0];
    printf("selectd device,serialno:%s ip:%s\n",selected_scanner.serialno.c_str(), selected_scanner.ip.c_str());

    std::string sdk_version = sdk.get_version();
    printf("sdk_version: %s\n", sdk_version.c_str());

    if (!sdk.connect_device(selected_scanner)) {
        printf("connect_device failed\n",);
        return 2;
    }

    if (!sdk.check_scanner_connection()) {
        printf("check_scanner_connection failed\n");
        return 3;
    }

    json time_syn_result = sdk.time_syn();
    printf("time_syn response: %s\n", time_syn_result.dump().c_str());

    json start_map_result = sdk.start_map("test1");
    printf("start_map response: %s\n", start_map_result.dump().c_str());
    
#ifdef _WIN32
    Sleep(30);
#else
    sleep(30);
#endif
    std::string cur_name = sdk.get_current_name();
    printf("cur_name: %s\n", cur_name.c_str());

    json stop_map_result = sdk.stop_map();
    printf("stop_map response: %s\n", stop_map_result.dump().c_str());

    json get_maplist_result = sdk.get_maplist();
    printf("get_maplist response: %s\n", get_maplist_result.dump().c_str());

    bool download_result = sdk.download_map_data(cur_name, fjminislam::DownloadDataType::LAS, "./");
    printf("download_map_data response: %d\n", download_result);
    return 0;
}

Before using the SDK, please ensure that the device is properly connected to the network
Please keep the device stable during the scanning process and avoid sudden movements
Please ensure there is sufficient space in the storage path when downloading data
It is recommended to check the device connection status before calling the API

Basic Usage Process

#include "fjminislam_sdk.h"

int main() {
    fjminislam::SDK sdk = fjminislam::SDK();
    sdk.get_version();
    fjminislam::Device selected_scanner;
    std::vector<fjminislam::Device> devices_list = sdk.get_available_devices();
    if (devices_list.size() == 0) {
        printf("no scanner found\n");
        return 1;
    }
    selected_scanner = devices_list[0];
    printf("selectd device,serialno:%s ip:%s\n",selected_scanner.serialno.c_str(), selected_scanner.ip.c_str());

    std::string sdk_version = sdk.get_version();
    printf("sdk_version: %s\n", sdk_version.c_str());

    if (!sdk.connect_device(selected_scanner)) {
        printf("connect_device failed\n",);
        return 2;
    }

    if (!sdk.check_scanner_connection()) {
        printf("check_scanner_connection failed\n");
        return 3;
    }

    json time_syn_result = sdk.time_syn();
    printf("time_syn response: %s\n", time_syn_result.dump().c_str());

    json start_map_result = sdk.start_map("test1");
    printf("start_map response: %s\n", start_map_result.dump().c_str());
    
#ifdef _WIN32
    Sleep(30);
#else
    sleep(30);
#endif
    std::string cur_name = sdk.get_current_name();
    printf("cur_name: %s\n", cur_name.c_str());

    json stop_map_result = sdk.stop_map();
    printf("stop_map response: %s\n", stop_map_result.dump().c_str());

    json get_maplist_result = sdk.get_maplist();
    printf("get_maplist response: %s\n", get_maplist_result.dump().c_str());

    bool download_result = sdk.download_map_data(cur_name, fjminislam::DownloadDataType::LAS, "./");
    printf("download_map_data response: %d\n", download_result);
    return 0;
}

FJD Trion S1 Robot-dog Mount

User Manual

Product Brochure

Unboxing Video

FJD Trion S1 Robot-dog Mount

User Manual

Product Brochure

Unboxing Video

SDK Package Download

Windows

Linux-arrch64

Linux-x86
ubuntu-22.04-gcc-11.4.0

Linux-x86
ubuntu-18.04-gcc-7.5.0

Linux-x86
ubuntu-20.04-gcc-9.4.0

Data Structure

Device Structure

struct Device
{
std::string serialno; // Device serial number
std::string ip; // Device IP 
addressstd::string fwversion; // Firmware version
};

SDK Class

Constructor

Constructor and Destructor Function

Public Member Variable

D

Before using the SDK, please ensure that the device is properly connected to the network
Please keep the device stable during the scanning process and avoid sudden movements
Please ensure there is sufficient space in the storage path when downloading data
It is recommended to check the device connection status before calling the API