feature:support for conneting horizon

sample/hub_lvx_file/lvx_file.h

@@ -33,6 +33,10 @@
 #include <mutex>
 #include "livox_sdk.h"
 
+
+#define kMaxPointSize 1500
+#define kDefaultFrameDurationTime 50
+
 typedef enum {
   kDeviceStateDisconnect = 0,
   kDeviceStateConnect = 1,
@@ -51,13 +55,20 @@ typedef struct {
   uint8_t signature[16];
   uint8_t version[4];
   uint32_t magic_code;
-}LvxFileHeader;
+} LvxFilePublicHeader;
+
+typedef struct {
+  uint32_t frame_duration;
+  uint8_t device_count;
+} LvxFilePrivateHeader;
+
 
 typedef struct {
   uint8_t lidar_broadcast_code[16];
   uint8_t hub_broadcast_code[16];
   uint8_t device_index;
   uint8_t device_type;
+  uint8_t extrinsic_enable;
   float roll;
   float pitch;
   float yaw;
@@ -76,15 +87,15 @@ typedef struct {
   uint8_t timestamp_type;
   uint8_t data_type;
   uint8_t timestamp[8];
-  LivoxPoint point[100];
-}LvxBasePackDetail;
+  uint8_t raw_point[kMaxPointSize];
+  uint32_t pack_size;
+} LvxBasePackDetail;
 
 typedef struct {
   uint64_t current_offset;
   uint64_t next_offset;
   uint64_t frame_index;
-  uint64_t package_count;
-}FrameHeader;
+} FrameHeader;
 
 #pragma pack()
 
@@ -107,4 +118,5 @@ private:
   std::vector<LvxDeviceInfo> device_info_list_;
   uint32_t cur_frame_index_;
   uint64_t cur_offset_;
+  uint32_t frame_duration_;
 };