Merge pull request #3 from Livox-SDK/support_windows
Support for windows.
This commit is contained in:
livox
GitHub
@@ -1,14 +1,18 @@
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# Introduction
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# 1 Introduction
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Livox SDK is the software development kit designed for all Livox products. It is developed based on C/C++ following Livox SDK Communication Protocol, and provides easy-to-use C style API. With Livox SDK, users can quickly connect to Livox products and receive point cloud data.
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Livox SDK consists of Livox SDK communication protocol, Livox SDK core, Livox SDK API, Linux sample, and ROS demo.
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# Livox SDK Communication Protocol
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## Prerequisites
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* Ubuntu 14.04/Ubuntu 16.04, both x86 and ARM (Nvidia TX2)
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* Windows 7/10, Visual Studio 2015/2017
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Livox SDK communication protocol opens to all users. It is the communication protocol between user programs and Livox products. The protocol consists of control commands and data format. Please refer to the [Livox SDK Communication Protocol](https://www.livoxtech.com/sdk/downloads) for detailed information.
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# 2 Livox SDK Communication Protocol
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# Livox SDK Core
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Livox SDK communication protocol opens to all users. It is the communication protocol between user programs and Livox products. The protocol consists of control commands and data format. Please refer to the [Livox SDK Communication Protocol](doc/Livox_SDK_Communication_Protocol_EN_20190117.pdf) for detailed information.
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# 3 Livox SDK Core
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Livox SDK provides the implementation of control commands and point cloud data transmission, as well as the C/C++ API. The basic structure of Livox SDK core is shown as below:
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@@ -18,106 +22,75 @@ User Datagram Protocol (UDP) is used for communication between Livox SDK and LiD
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The Livox LiDAR sensors can be connected to host directly or through the Livox Hub. Livox SDK supports both connection methods. When LiDAR units are connected to host directly, the host will establish communication with each LiDAR unit individually. And if the LiDAR units connect to host through Hub, then the host only communicates with the Livox Hub while the Hub communicates with each LiDAR unit.
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# Livox SDK API
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# 4 Livox SDK API
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Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](https://www.livoxtech.com/sdk/downloads) for detailed information.
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## Build Notes
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### Dependencies
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LivoxTech SDK requires cmake 3.0.0+, Apache Portable Runtime (APR) 1.61+ and Boost 1.54+.
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Here we use the Ubuntu 16.04 LTS system as an example to show you how to compile LivoxTech sdk's dependency libraries using apt or direct compiling the source code of apr and boost lib.
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###### Ubuntu 16.04 LTS
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The following package are required (feel free to cut and paste the apt-get command below):
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Livox SDK API provides a set of C style functions which can be conveniently integrated in C/C++ programs. Please refer to the [Livox SDK API Reference](doc/Livox_LiDAR_SDK_API_Reference.pdf) for further information.
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## 4.1 Installation
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The installation procedures in Ubuntu 16.04 LTS and Windows 7/10 are shown here as examples.
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### 4.1.1 Ubuntu 16.04 LTS
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#### Dependencies
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Livox SDK requires [CMake 3.0.0+](https://cmake.org/), [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/) and [Boost 1.54+](https://www.boost.org/) as dependencies. You can install these packages using apt:
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```
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sudo apt install cmake
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sudo apt install cmake libapr1-dev libboost-atomic-dev libboost-system-dev
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```
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###### Use Apt Install
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The following commands can be used to download and install it:
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#### Compile Livox SDK
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In the Livox SDK directory, run the following commands to compile the project:
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```
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sudo apt install \
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libapr1-dev \
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libboost-atomic-dev \
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libboost-system-dev
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cd build
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cmake ..
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make
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sudo make install
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```
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###### Compile the Source Code
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You can download the apr source code from http://apr.apache.org/download.cgi and boost source code from http://sourceforge.net/projects/boost/files/boost/1.54.0/. The following commands can be used to compile and install it.
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### 4.1.2 Windows 7/10
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#### Dependencies
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Livox SDK supports Visual Studio 2015/2017 and requires [CMake 3.0.0+](https://cmake.org/), [Apache Portable Runtime (APR) 1.61+](http://apr.apache.org/) and [Boost 1.54+](https://www.boost.org/) as dependencies. [vcpkg](https://github.com/Microsoft/vcpkg) is recommended for building the dependency libraries as follows:
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```
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tar zxf apr-1.6.5.tar.gz && \
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cd apr-1.6.5 && \
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./configure --prefix=/usr && \
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make && \
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make install
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.\vcpkg install apr
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.\vcpkg install boost-atomic
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.\vcpkg install boost-system
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.\vcpkg install boost-thread
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.\vcpkg integrate install
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```
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Then, in the Livox SDK directory, run the following commands to create the Visual Studio solution file. Please replace [vcpkgroot] with your vcpkg installation path.
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```
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tar zxf boost_1_54_0.tar.gz && \
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cd boost_1_54_0 && \
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./bootstrap.sh --with-libraries=atomic,system && \
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./b2 install --prefix=/usr
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cd build && \
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cmake .. "-DCMAKE_TOOLCHAIN_FILE=[vcpkgroot]\scripts\buildsystems\vcpkg.cmake"
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```
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###### Compile the Project
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In the LivoxTech SDK directory (e.g. the checkout root or the archive unpack root), run the following commands to compile the project:
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```
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mkdir build && cd build && \
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cmake .. && \
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make -j $(nproc)
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```
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###### Run the Project
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Run the following commands to run the hub or lidar sample:
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```
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cd sample\hub && \
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./hub_sample
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```
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```
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cd sample\lidar && \
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./lidar_sample
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```
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# Livox SDK Linux Sample
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Two samples are provided in Sample/Lidar and Sample/Hub, which demonstrate how to configure Livox LiDAR units and receive the point cloud data when directly connecting Livox-SDK to LiDAR units or by using a Livox Hub, respectively. The sequence diagram is shown as below:
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#### Compile Livox SDK
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You can now compile the Livox SDK in Visual Studio.
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## 4.2 Run Livox SDK Sample
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Two samples are provided in Sample/Lidar and Sample/Hub, which demonstrate how to configure Livox LiDAR units and receive the point cloud data when directly connecting Livox SDK to LiDAR units or by using a Livox Hub, respectively. The sequence diagram is shown as below:
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# Livox Ros Demo
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**NOTE**: Please replace the broadcast code lists in the `main.c` for both LiDAR sample ({Livox-SDK}/sample/lidar/main.c) and Hub sample ({Livox-SDK}/sample/hub/main.c) with the broadcast code of your devices before building. The corresponding code section in `main.c` is as follows:
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```
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#define BROADCAST_CODE_LIST_SIZE 3
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char *broadcast_code_list[BROADCAST_CODE_LIST_SIZE] = {
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"00000000000002",
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"00000000000003",
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"00000000000004"
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};
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```
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The broadcast code consists of its serial number and an additional number (1,2, or 3). The serial number can be found on the body of the LiDAR unit (below the QR code). The detailed format is shown as below:
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Livox ROS demo is an application software running under ROS environment. It supports point cloud display using rviz. The Livox ROS demo includes two software packages, which are applicable when the host is connected to LiDAR sensors directly or when a Livox Hub is in use, respectively. This Livox ROS demo supports Ubuntu 14.04/Ubuntu 16.04, both x86 and ARM. It has been tested on Intel i7 and Nvidia TX2.
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## Livox ROS Demo User Guide
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Again, steps for running the samples in Ubuntu 16.04 LTS and Windows 7/10 are shown here as examples.
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### 4.2.1 Ubuntu 16.04 LTS
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For Ubuntun 16.04 LTS, run the following commands to run the hub or lidar sample:
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```
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cd sample\hub && ./hub_sample
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```
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or
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```
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cd sample\lidar && ./lidar_sample
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```
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### 4.2.2 Windows 7/10
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After compiling the Livox SDK as shown in section 4.1.2, you can find `hub_sample.exe` or `lidar_sample.exe` in the {Livox-SDK}\build\sample\hub\Debug or {Livox-SDK}\build\sample\lidar\Debug folder, respectively, which can be run directly.
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The Livox-SDK-ROS directory is organized in the form of ROS workspace, and is fully compatible with ROS workspace. Only a subfolder named src can be found under the Livox-SDK-ROS directory. Inside the src directory, there are two ROS software packages: display_lidar_points and display_hub_points.
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1. Download or clone the code from the Livox-SDK/Livox-SDK-ROS repository on GitHub.
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2. Compile the ROS code package under the Livox-SDK-ROS directory by typing the following command in terminal:
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`catkin_make`
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3. Run the compiled ROS nodes:
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`rosrun display_lidar_points display_lidar_points_node`
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or
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`rosrun display_hub_points display_hub_points_node`
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4. Open a new terminal, and run roscore under the Livox-SDK-ROS directory:
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`roscore`
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5. Open another new terminal, and run rviz under the Livox-SDK-ROS directory:
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`rosrun rviz rviz`
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6. Set ROS RVIZ:
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1. Create new visualization by display type, and select PointCloud;
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2. Set the Fixed Frame to “sensor_frame” in Global Options and set Frame Rate to 20;
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3. Select “/cloud” in Topic under the newly created PointCLoud.
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# 5 Support
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You can get support from Livox with the following methods:
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* Send email to dev@livoxtech.com with a clear description of your problem and your setup
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* Github Issues
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After Width: | Height: | Size: 120 KiB |
@@ -24,7 +24,11 @@
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#include <stdio.h>
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#include <stdlib.h>
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#ifdef WIN32
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#include <windows.h>
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#else
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#include <unistd.h>
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#endif
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#include <string.h>
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#include "livox_sdk.h"
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@@ -196,10 +200,18 @@ int main(int argc, const char *argv[]) {
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SetDeviceStateUpdateCallback(OnDeviceChange);
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if (Start()) {
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#ifdef WIN32
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Sleep(20000);
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#else
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sleep(20);
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#endif
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HubStopSampling(OnStopSampleCallback, NULL);
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printf("stop sample\n");
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#ifdef WIN32
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Sleep(10000);
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#else
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sleep(10);
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#endif
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}
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Uninit();
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+11
-3
@@ -24,7 +24,11 @@
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#include <stdio.h>
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#include <stdlib.h>
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#ifdef WIN32
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#include <windows.h>
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#else
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#include <unistd.h>
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#endif
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#include <string.h>
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#include "livox_sdk.h"
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@@ -45,9 +49,9 @@ uint32_t data_recveive_count[kMaxLidarCount];
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#define BROADCAST_CODE_LIST_SIZE 3
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char *broadcast_code_list[BROADCAST_CODE_LIST_SIZE] = {
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"00000000000002",
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"00000000000003",
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"00000000000004"
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"000000000000002",
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"000000000000003",
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"000000000000004"
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};
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/** Receiving point cloud data from Livox LiDAR. */
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@@ -183,7 +187,11 @@ int main(int argc, const char *argv[]) {
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return -1;
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}
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#ifdef WIN32
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Sleep(30000);
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#else
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sleep(30);
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#endif
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int i = 0;
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for (i = 0; i < kMaxLidarCount; ++i) {
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+16
-8
@@ -3,25 +3,32 @@ cmake_minimum_required(VERSION 3.0)
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set(SDK_LIBRARY ${PROJECT_NAME}_static)
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add_library(${SDK_LIBRARY} STATIC "")
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find_package(PkgConfig)
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pkg_check_modules(APR apr-1)
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if (WIN32)
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find_path(APR_INCLUDE_DIRS apr.h)
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find_library(APR_LIBRARIES libapr-1)
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if (APR_LIBRARIES AND APR_INCLUDE_DIRS)
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set(APR_FOUND "YES")
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endif (APR_LIBRARIES AND APR_INCLUDE_DIRS)
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else (WIN32)
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find_package(PkgConfig)
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pkg_check_modules(APR apr-1)
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endif (WIN32)
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if (APR_FOUND)
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target_include_directories(${SDK_LIBRARY}
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PRIVATE
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${APR_INCLUDE_DIRS})
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target_link_libraries(${SDK_LIBRARY}
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PRIVATE
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PUBLIC
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${APR_LIBRARIES})
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elseif ()
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message("Can't find Apache Runtime Library, please install.")
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endif ()
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find_package(Boost 1.54 REQUIRED COMPONENTS system)
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if (Boost_FOUND AND Boost_VERSION LESS 106900)
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target_link_libraries(${SDK_LIBRARY}
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PRIVATE
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${Boost_LIBRARIES})
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PUBLIC
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Boost::boost
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Boost::system)
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endif ()
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target_include_directories(${SDK_LIBRARY}
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@@ -84,3 +91,4 @@ install(TARGETS ${SDK_LIBRARY}
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib)
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@@ -39,8 +39,14 @@ bool IOLoop::Init() {
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if (mem_pool_ == NULL) {
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return false;
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}
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#ifdef WIN32
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apr_status_t rv =
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apr_pollset_create(&pollset_, kMaxPollCount, mem_pool_, APR_POLLSET_WAKEABLE);
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#else
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apr_status_t rv =
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apr_pollset_create(&pollset_, kMaxPollCount, mem_pool_, APR_POLLSET_THREADSAFE | APR_POLLSET_WAKEABLE);
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#endif
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if (rv != APR_SUCCESS) {
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LOG_ERROR << PrintAPRStatus(rv) << std::endl;
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return false;
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@@ -23,7 +23,17 @@
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//
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#include "network_util.h"
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#ifdef WIN32
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#include <boost/scoped_array.hpp>
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#include <Winsock2.h>
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#include <Iphlpapi.h>
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#include <string>
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#pragma comment(lib,"Iphlpapi.lib")
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#pragma comment(lib,"ws2_32.lib")
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#else
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#include <ifaddrs.h>
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#endif
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namespace livox {
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namespace util {
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apr_socket_t *CreateBindSocket(uint16_t port, apr_pool_t *mem_pool, bool nonblock) {
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@@ -55,6 +65,37 @@ apr_socket_t *CreateBindSocket(uint16_t port, apr_pool_t *mem_pool, bool nonbloc
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return s;
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}
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#ifdef WIN32
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bool FindLocalIP(const struct sockaddr_in &client_addr, uint32_t &local_ip) {
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bool found = false;
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ULONG ulOutbufLen = sizeof(IP_ADAPTER_INFO);
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boost::scoped_array<uint8_t> pAdapterInfo(new uint8_t[ulOutbufLen]);
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DWORD dlRetVal = GetAdaptersInfo(reinterpret_cast<IP_ADAPTER_INFO *>(pAdapterInfo.get()), &ulOutbufLen);
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if (dlRetVal == ERROR_BUFFER_OVERFLOW) {
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pAdapterInfo.reset(new uint8_t[ulOutbufLen]);
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dlRetVal = GetAdaptersInfo(reinterpret_cast<IP_ADAPTER_INFO *>(pAdapterInfo.get()), &ulOutbufLen);
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}
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IP_ADAPTER_INFO *pAdapter = reinterpret_cast<IP_ADAPTER_INFO *>(pAdapterInfo.get());
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if (NO_ERROR == dlRetVal && pAdapter != NULL) {
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while (pAdapterInfo) {
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std::string str_ip = pAdapter->IpAddressList.IpAddress.String;
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std::string str_mask = pAdapter->IpAddressList.IpMask.String;
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ULONG host_ip = inet_addr(const_cast<char *>(str_ip.c_str()));
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ULONG host_mask = inet_addr(const_cast<char *>(str_mask.c_str()));
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if ((host_ip & host_mask) ==
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(client_addr.sin_addr.S_un.S_addr & host_mask)) {
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local_ip = host_ip;
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found = true;
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break;
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}
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pAdapter = pAdapter->Next;
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}
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}
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return found;
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}
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#else
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bool FindLocalIP(const struct sockaddr_in &client_addr, uint32_t &local_ip) {
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struct ifaddrs *if_addrs = NULL, *addrs = NULL;
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if (getifaddrs(&if_addrs) == -1) {
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@@ -85,6 +126,6 @@ bool FindLocalIP(const struct sockaddr_in &client_addr, uint32_t &local_ip) {
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}
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return found;
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}
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#endif
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} // namespace util
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} // namespace livox
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} // namespace livox
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@@ -26,6 +26,10 @@
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#define LIVOX_NETWORK_UTIL_H_
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#include <apr_general.h>
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#include <apr_network_io.h>
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#ifdef WIN32
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#include <stdint.h>
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#endif
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namespace livox {
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namespace util {
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@@ -30,7 +30,11 @@
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#include <vector>
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#include "apr_network_io.h"
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#include "apr_pools.h"
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#ifdef WIN32
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#include "winsock.h"
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#else
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#include "arpa/inet.h"
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#endif
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#include "base/logging.h"
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#include "base/network_util.h"
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#include "command_handler/command_impl.h"
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@@ -172,6 +172,9 @@ bool DeviceManager::AddListeningDevice(const string &broadcast_code, DeviceMode
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strncpy(ite->info.broadcast_code, broadcast_code.c_str(), sizeof(ite->info.broadcast_code));
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ite->info.handle = handle;
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return true;
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} else if (strncmp(ite->info.broadcast_code, broadcast_code.c_str(), sizeof(ite->info.broadcast_code)) == 0) {
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handle = ite->info.handle;
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return true;
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}
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}
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return false;
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Reference in New Issue
Block a user