hap status code

The length of the HAP status_code is 32 bytes , for byte 0~7, each bit label the fault as following:(each byte and bit index from 0)

BYTE IDX	BIT IDX	FAULT NAME	FAULT SUGGESTION
byte0	bit0-1	system module warning	report this issue to LIVOX with the log file
byte0	bit2-3	system module warning	report this issue to LIVOX with the log file
byte0	bit4-5	system module warning	report this issue to LIVOX with the log file
byte0	bit6-7	system module error	report this issue to LIVOX with the log file
byte1	bit0-1	system module warning	report this issue to LIVOX with the log file
byte1	bit2-3	system module warning	report this issue to LIVOX with the log file
byte1	bit4-5	system module error	report this issue to LIVOX with the log file
byte1	bit6-7	system module warning	report this issue to LIVOX with the log file
byte2	bit0-1	system module warning	report this issue to LIVOX with the log file
byte2	bit2-3	system module warning	report this issue to LIVOX with the log file
byte2	bit4-5	system module error	report this issue to LIVOX with the log file
byte2	bit6-7	system module warning	report this issue to LIVOX with the log file
byte3	bit0-1	system module warning	report this issue to LIVOX with the log file
byte3	bit2-3	system module warning	report this issue to LIVOX with the log file
byte3	bit4-5	system module warning and lidar inside sensor measured temperature is out of range	check the lidar environment temperature is in the range of -40℃ to 85℃ and report this issue to LIVOX with the log file
byte3	bit6-7	system module error	report this issue to LIVOX with the log file
byte4	bit0-1	system module warning and the window heater has fault and can't heat the window. Point cloud data could be used normally	report this issue to LIVOX with the log file
byte4	bit2-3	system module warning	report this issue to LIVOX with the log file
byte4	bit4-5	system module error	report this issue to LIVOX with the log file
byte4	bit6-7	system module warning and the network connection is link down	check the ethernet cable connection normally and report this issue to LIVOX with the log file
byte5	bit0-1	system module warning and the network connection quality is poor	check no electromagnetic interference existed and report this issue to LIVOX with the log file
byte5	bit2-3	system module warning	report this issue to LIVOX with the log file
byte5	bit4-5	system module error and and lidar inside sensor measured temperature is out of range	check the lidar environment temperature is in the range of -40℃ to 85℃ and report this issue to LIVOX with the log file
byte5	bit6-7	system module warning	report this issue to LIVOX with the log file
byte6	bit0-1	system module error and the supply voltage of the lidar is out of range	check whether the supply voltage is normal(9.0~32v) and report this issue to LIVOX with the log file
byte6	bit2-3	system module error	report this issue to LIVOX with the log file
byte6	bit4-5	system module warning and window dirty	check whether the lidar window is dirty and try to clean the window
byte6	bit6-7	system module warning and window block	check whether the lidar window is blocked and try to remove the obstacle.
byte7	bit0-1	system module warning	report this issue to LIVOX with the log file
byte7	bit2-3	system module warning and lidar received ethernet message with CRC abnormal	check whether the CRC of the command ethernet message from host is correctly and report this issue to LIVOX with the log file
byte7	bit4-5	system module warning and time synchronize warning	check whether the time synchronization master is configured correctly and report this issue to LIVOX with the log file
byte7	bit6-7	system module warning	report this issue to LIVOX with the log file

Note:

(1) System module warning and error label different behavior:

System module warning level means the fault will not stop lidar and point cloud data will continue transmit.  

System module error level means the fault will stop lidar and point cloud data will stop transmit.  

(2) Each fault with 2 bit with the following meaning:

00: fault vanish in current cycle and no fault confirmed  

01: fault occur in current cycle and fault not confirmed  

11: fault occur in current cycle and fault confirmed  

10: fault vanish in current cycle and no fault not confirmed