Initial commit: Livox SDK2 source (excluding build artifacts)

2026-08-26 01:38:14 +09:00
commit 34a9a52cd4
221 changed files with 54102 additions and 0 deletions
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.0)
+
+set(DEMO_NAME lidar_cmd_observer)
+add_executable(${DEMO_NAME} main.cpp)
+
+target_include_directories(
+        ${DEMO_NAME}
+        PRIVATE
+        ../../3rdparty/
+        )
+
+target_link_libraries(${DEMO_NAME}
+        PUBLIC
+        livox_lidar_sdk_static
+				)
@@ -0,0 +1,23 @@
+{
+	"MID360": {
+		"lidar_net_info" : {
+			"cmd_data_port": 56100,
+			"push_msg_port": 56200,
+			"point_data_port": 56300,
+			"imu_data_port": 56400,
+			"log_data_port": 56500
+		},
+		"host_net_info" : {
+			"cmd_data_ip" : "192.168.1.5",
+			"cmd_data_port": 56101,
+			"push_msg_ip": "192.168.1.5",
+			"push_msg_port": 56201,
+			"point_data_ip": "192.168.1.5",
+			"point_data_port": 56301,
+			"imu_data_ip" : "192.168.1.5",
+			"imu_data_port": 56401,
+			"log_data_ip" : "192.168.1.5",
+			"log_data_port": 56501
+		}
+	}
+}	
@@ -0,0 +1,22 @@
+{
+  "HAP": {
+    "lidar_net_info" : {
+      "cmd_data_port"  : 56000,
+      "push_msg_port"  : 0,
+      "point_data_port": 57000,
+      "imu_data_port"  : 58000,
+      "log_data_port"  : 59000
+    },
+    "host_net_info" : [
+      {
+        "host_ip"        : "192.168.1.5",
+        "multicast_ip"   : "224.1.1.5",
+        "cmd_data_port"  : 56000,
+        "push_msg_port"  : 0,
+        "point_data_port": 57000,
+        "imu_data_port"  : 58000,
+        "log_data_port"  : 59000
+      }
+    ]
+  }
+}
@@ -0,0 +1,89 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include "livox_lidar_def.h"
+#include "livox_lidar_api.h"
+
+#ifdef _WIN32
+#include <winsock2.h>
+#else
+#include <unistd.h>
+#include <arpa/inet.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <thread>
+#include <chrono>
+#include <iostream>
+
+#include "FastCRC/FastCRC.h"
+
+int main(int argc, const char *argv[]) {
+  if (argc != 2) {
+    printf("Params Invalid, must input config path.\n");
+    return -1;
+  }
+  const std::string path = argv[1];
+
+  // REQUIRED, to init Livox SDK2
+  if (!LivoxLidarSdkInit(path.c_str())) {
+    printf("Livox Init Failed\n");
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+
+  LivoxLidarAddCmdObserver([](const uint32_t handle, const LivoxLidarCmdPacket* data, void* client_data) {
+    static FastCRC16 crc_16;
+    static FastCRC32 crc_32;
+    static const uint8_t offset_of_crc16 = offsetof(LivoxLidarCmdPacket, crc16_h);
+    static const uint8_t offset_of_data  = offsetof(LivoxLidarCmdPacket, data);
+    struct in_addr tmp_addr;
+    tmp_addr.s_addr = handle;
+    if (crc_16.ccitt(reinterpret_cast<const uint8_t*>(data), offset_of_crc16) != data->crc16_h) {
+      printf("Error: liadr: %s, crc16 check failure.\n", inet_ntoa(tmp_addr));
+      exit(-1);
+    }
+    if (crc_32.crc32(reinterpret_cast<const uint8_t*>(data) + offset_of_data, data->length - offset_of_data) != data->crc32_d) {
+      printf("Error: liadr: %s, crc32 check failure.\n", inet_ntoa(tmp_addr));
+      exit(-1);
+    }
+    printf("--------------------------------------------------\n");
+    printf("liadr: %s, crc check success.\n", inet_ntoa(tmp_addr));
+    printf("--------------------------------------------------\n");
+  }, nullptr);
+
+#ifdef WIN32
+  Sleep(300000);
+#else
+  sleep(300);
+#endif
+
+  LivoxLidarRemoveCmdObserver();
+
+  LivoxLidarSdkUninit();
+  printf("Livox Quick Start Demo End!\n");
+  return 0;
+}
@@ -0,0 +1,22 @@
+{
+  "MID360": {
+    "lidar_net_info" : {
+      "cmd_data_port"  : 56100,
+      "push_msg_port"  : 56200,
+      "point_data_port": 56300,
+      "imu_data_port"  : 56400,
+      "log_data_port"  : 56500
+    },
+    "host_net_info" : [
+      {
+        "host_ip"        : "192.168.1.5",
+        "multicast_ip"   : "224.1.1.5",
+        "cmd_data_port"  : 56101,
+        "push_msg_port"  : 56201,
+        "point_data_port": 56301,
+        "imu_data_port"  : 56401,
+        "log_data_port"  : 56501
+      }
+    ]
+  }
+}
@@ -0,0 +1,22 @@
+{
+  "Mid360s": {
+    "lidar_net_info" : {
+      "cmd_data_port"  : 56100,
+      "push_msg_port"  : 56200,
+      "point_data_port": 56300,
+      "imu_data_port"  : 56400,
+      "log_data_port"  : 56500
+    },
+    "host_net_info" : [
+      {
+        "host_ip"        : "192.168.1.5",
+        "multicast_ip"   : "224.1.1.5",
+        "cmd_data_port"  : 56101,
+        "push_msg_port"  : 56201,
+        "point_data_port": 56301,
+        "imu_data_port"  : 56401,
+        "log_data_port"  : 56501
+      }
+    ]
+  }
+}