Initial commit: Livox SDK2 source (excluding build artifacts)

2026-08-26 01:38:14 +09:00
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+//
+// 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.
+//
+
+#ifndef LIVOX_SDK_PROTOCOL_H_
+#define LIVOX_SDK_PROTOCOL_H_
+
+#include <stdint.h>
+#include "comm/protocol.h"
+#include "FastCRC/FastCRC.h"
+
+namespace livox {
+namespace lidar {
+
+typedef enum { kSdkVerNone, kSdkVer0, kSdkVer1 } SdkVersion;
+
+#pragma pack(1)
+
+typedef struct {
+  uint8_t sof;
+  uint8_t version;
+  uint16_t length;
+  uint32_t seq_num;
+  uint16_t cmd_id;
+  uint8_t cmd_type;
+  uint8_t sender_type;
+  char rsvd[6];
+  uint16_t crc16_h;
+  uint32_t crc32_d;
+} SdkPreamble;
+
+typedef struct {
+  uint8_t sof;
+  uint8_t version;
+  uint16_t length;
+  uint32_t seq_num;
+  uint16_t cmd_id;
+  uint8_t cmd_type;
+  uint8_t sender_type;
+  char rsvd[6];
+  uint16_t crc16_h;
+  uint32_t crc32_d;
+  uint8_t data[1];
+} SdkPacket;
+
+#pragma pack()
+
+class SdkProtocol : public Protocol {
+ public:
+  SdkProtocol();
+
+  ~SdkProtocol();
+
+  bool ParsePacket(uint8_t *i_buf, uint32_t buf_size, CommPacket *o_packet);
+
+  int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &i_packet);
+
+  uint32_t GetPreambleLen();
+
+  uint32_t GetPacketWrapperLen();
+
+  uint32_t GetPacketLen(uint8_t *buf);
+
+  bool CheckPreamble(uint8_t *buf, uint32_t buf_size);
+ private:
+  FastCRC16 crc_16_;
+  FastCRC32 crc_32_;
+};
+} // namespace lidar
+}  // namespace livox
+#endif  // LIVOX_SDK_PROTOCOL_H_