Initial commit: Livox SDK2 source (excluding build artifacts)

2026-08-26 01:38:14 +09:00
commit 34a9a52cd4
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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.
+//
+
+#include <string.h>
+
+#include "firmware.h"
+
+namespace livox {
+namespace lidar {
+
+Firmware::Firmware() : data_(nullptr), file_size_(0) {
+  memset((void *)&header_, 0, sizeof(header_));
+  memset((void *)&tail_, 0, sizeof(tail_));
+}
+
+Firmware::~Firmware() {
+  if (data_) {
+    delete[] data_;
+  }
+}
+void Firmware::Close() {
+  file_.close();
+}
+
+bool Firmware::Open(const char *firmware_path) {
+  if (!firmware_path) {
+    return false;
+  }
+
+  file_.open(firmware_path,
+             std::ios::in | std::ifstream::binary | std::ios_base::ate);
+  if (!file_.is_open()) {
+    printf("Open %s firmware file fail!\n", firmware_path);
+    return false;
+  }
+
+  file_size_ = file_.tellg();
+  file_.seekg(0, std::ios::beg);
+  if (file_size_ < MiniFileSize()) {
+    printf("Firmware file size is too small!\n");
+    return false;
+  }
+
+  if (!ReadAndCheckHeader()) {
+    printf("Firmware file header is wrong!\n");
+    return false;
+  }
+
+  //printf("Firmware file total size %lu\n", file_size_);
+  return true;
+}
+
+uint64_t Firmware::MiniFileSize() {
+  return sizeof(header_) + sizeof(tail_) + 1;
+}
+
+bool Firmware::ReadAndCheckHeader() {
+  file_.seekg(0, std::ios::beg);
+  file_.read((char *)(&header_), sizeof(header_));
+  printf("This firmware is used for device[%d].\n", header_.device_type);
+
+  uint16_t crc = crc16_.mcrf4xx(
+      (uint8_t *)(&header_), (uint16_t)(sizeof(header_) - sizeof(uint16_t)));
+  if (crc != header_.header_checksum) {
+    printf("Header checksum[%4x %4x] error!\n", crc, header_.header_checksum);
+    return false;
+  }
+
+  printf("Firmware raw data size : %d\n", header_.firmware_length);
+  data_ = new uint8_t[header_.firmware_length];
+  file_.read((char *)(data_), header_.firmware_length);
+  file_.read((char *)(&tail_), sizeof(tail_));
+
+  if (file_) {
+    printf("All firmware data have be read successfully.\n");
+  } else {
+    printf("Read firmware fail[%ld]!\n", file_.gcount());
+  }
+
+  return true;
+}
+
+}
+}