fix ROS2 Humble build error

fix: strncpy reads out of bounds

CMakeLists.txt

@@ -6,8 +6,22 @@ set(CMAKE_CXX_STANDARD 11)
 
 message(STATUS "main project dir: " ${PROJECT_SOURCE_DIR})
 
+if (CMAKE_CROSSCOMPILING)
+	set(THREADS_PTHREAD_ARG
+		"PLEASE_FILL_OUT-FAILED_TO_RUN"
+		CACHE STRING "Result from TRY_RUN" FORCE)
+endif()
+
+if (UNIX)
+	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
+endif(UNIX)
+
 add_subdirectory(sdk_core sdk_core)
 add_subdirectory(sample/hub)
 add_subdirectory(sample/lidar)
 add_subdirectory(sample/hub_lvx_file)
 add_subdirectory(sample/lidar_lvx_file)
+add_subdirectory(sample_cc/hub)
+add_subdirectory(sample_cc/lidar)
+add_subdirectory(sample_cc/trouble_shooting)
+add_subdirectory(sample_cc/lidar_utc_sync)

LICENSE.txt

@@ -3,75 +3,116 @@
 Livox-SDK
 ├── CMakeLists.txt
 ├── sample
-│   ├── hub
-│   │   ├── CMakeLists.txt
-│   │   └── main.c
-│   ├── hub_lvx_file
-│   │   ├── CMakeLists.txt
-│   │   ├── lvx_file.cpp
-│   │   ├── lvx_file.h
-│   │   └── main.cpp
-│   ├── lidar
-│   │   ├── CMakeLists.txt
-│   │   └── main.c
-│   └── lidar_lvx_file
-│          ├── CMakeLists.txt
-│          ├── lvx_file.cpp
-│          ├── lvx_file.h
-│          └── main.cpp
+│   ├── hub
+│   │   ├── CMakeLists.txt
+│   │   └── main.c
+│   ├── hub_lvx_file
+│   │   ├── CMakeLists.txt
+│   │   ├── lvx_file.cpp
+│   │   ├── lvx_file.h
+│   │   └── main.cpp
+│   ├── lidar
+│   │   ├── CMakeLists.txt
+│   │   └── main.c
+│   └── lidar_lvx_file
+│       ├── CMakeLists.txt
+│       ├── lvx_file.cpp
+│       ├── lvx_file.h
+│       └── main.cpp
+├── sample_cc
+│   ├── hub
+│   │   ├── CMakeLists.txt
+│   │   ├── lds_hub.cpp
+│   │   ├── lds_hub.h
+│   │   └── main.cpp
+│   ├── lidar
+│   │   ├── CMakeLists.txt
+│   │   ├── lds_lidar.cpp
+│   │   ├── lds_lidar.h
+│   │   └── main.cpp
+│   ├── lidar_utc_sync
+│   │   ├── CMakeLists.txt
+│   │   ├── lds_lidar.cpp
+│   │   ├── lds_lidar.h
+│   │   ├── main.cpp
+│   │   ├── synchro.cpp
+│   │   └── synchro.h
+│   └── trouble_shooting
+│       ├── CMakeLists.txt
+│       └── main.cpp
 └── sdk_core
     ├── CMakeLists.txt
     ├── include
-    │   ├── comm
-    │   │   ├── comm_port.h
-    │   │   └── protocol.h
-    │   ├── livox_def.h
-    │   └── livox_sdk.h
+    │   ├── comm
+    │   │   ├── comm_port.h
+    │   │   └── protocol.h
+    │   ├── config.h
+    │   ├── livox_def.h
+    │   └─ livox_sdk.h
     └── src
         ├── base
-        │   ├── command_callback.h
-        │   ├── io_loop.cpp
-        │   ├── io_loop.h
-        │   ├── io_thread.cpp
-        │   ├── io_thread.h
-        │   ├── logging.h
-        │   ├── logging.cpp
-        │   ├── network_util.cpp
-        │   ├── network_util.h
-        │   ├── noncopyable.h
-        │   ├── thread_base.cpp
-        │   ├── thread_base.h
-        │   ├── util.cpp
-        │   └── util.h
+        │   ├── command_callback.h
+        │   ├── io_loop.cpp
+        │   ├── io_loop.h
+        │   ├── io_thread.cpp
+        │   ├── io_thread.h
+        │   ├── logging.cpp
+        │   ├── logging.h
+        │   ├── multiple_io
+        │   │   ├── multiple_io_base.cpp
+        │   │   ├── multiple_io_base.h
+        │   │   ├── multiple_io_epoll.cpp
+        │   │   ├── multiple_io_epoll.h
+        │   │   ├── multiple_io_factory.h
+        │   │   ├── multiple_io_kqueue.cpp
+        │   │   ├── multiple_io_kqueue.h
+        │   │   ├── multiple_io_poll.cpp
+        │   │   ├── multiple_io_poll.h
+        │   │   ├── multiple_io_select.cpp
+        │   │   └── multiple_io_select.h
+        │   ├── network
+        │   │   ├── network_util.h
+        │   │   ├── unix
+        │   │   │   └── network_util.cpp
+        │   │   └── win
+        │   │       └── network_util.cpp
+        │   ├── noncopyable.h
+        │   ├── thread_base.cpp
+        │   ├── thread_base.h
+        │   └── wake_up
+        │       ├── unix
+        │       │   └── wake_up_pipe.cpp
+        │       ├── wake_up_pipe.h
+        │       └── win
+        │           └── wake_up_pipe.cpp
         ├── comm
-        │   ├── comm_port.cpp
-        │   ├── sdk_protocol.cpp
-        │   └── sdk_protocol.h
+        │   ├── comm_port.cpp
+        │   ├── sdk_protocol.cpp
+        │   └── sdk_protocol.h
         ├── command_handler
-        │   ├── command_channel.cpp
-        │   ├── command_channel.h
-        │   ├── command_handler.cpp
-        │   ├── command_handler.h
-        │   ├── command_impl.cpp
-        │   ├── command_impl.h
-        │   ├── hub_command_handler.cpp
-        │   ├── hub_command_handler.h
-        │   ├── lidar_command_handler.cpp
-        │   └── lidar_command_handler.h
+        │   ├── command_channel.cpp
+        │   ├── command_channel.h
+        │   ├── command_handler.cpp
+        │   ├── command_handler.h
+        │   ├── command_impl.cpp
+        │   ├── command_impl.h
+        │   ├── hub_command_handler.cpp
+        │   ├── hub_command_handler.h
+        │   ├── lidar_command_handler.cpp
+        │   └── lidar_command_handler.h
         ├── data_handler
-        │   ├── data_handler.cpp
-        │   ├── data_handler.h
-        │   ├── hub_data_handler.cpp
-        │   ├── hub_data_handler.h
-        │   ├── lidar_data_handler.cpp
-        │   └── lidar_data_handler.h
+        │   ├── data_handler.cpp
+        │   ├── data_handler.h
+        │   ├── hub_data_handler.cpp
+        │   ├── hub_data_handler.h
+        │   ├── lidar_data_handler.cpp
+        │   └── lidar_data_handler.h
         ├── device_discovery.cpp
         ├── device_discovery.h
         ├── device_manager.cpp
         ├── device_manager.h
         └── livox_sdk.cpp
 
-
 -------------------------------------------------------------
 The MIT License (MIT)
 
@@ -95,524 +136,6 @@ 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.
 ===============================================================
-LIVOX’s Livox SDK uses unmodified libraries of Apache Portable Runtime Library (APR)(https://github.com/apache/apr), which is licensed under Apache license. A copy of the Apache license is provided below and is also available at https://raw.githubusercontent.com/apache/apr/trunk/LICENSE.
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-From strings/apr_fnmatch.c, include/apr_fnmatch.h, misc/unix/getopt.c,
-file_io/unix/mktemp.c, strings/apr_strings.c:
-
-/* 
- * Copyright (c) 1987, 1993, 1994
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- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
- * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
- * SUCH DAMAGE.
-
-From network_io/unix/inet_ntop.c, network_io/unix/inet_pton.c:
-
-/* Copyright (c) 1996 by Internet Software Consortium.
- *
- * Permission to use, copy, modify, and distribute this software for any
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-From dso/aix/dso.c:
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- *  Based on libdl (dlfcn.c/dlfcn.h) which is
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-From strings/apr_strnatcmp.c, include/apr_strings.h:
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-From strings/apr_snprintf.c:
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- * The RSA copyright statement and Licence for that original material is
- * included below. This is followed by the Apache copyright statement and
- * licence for the modifications made to that material.
-
-   Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
-   rights reserved.
-
-   License to copy and use this software is granted provided that it
-   is identified as the "RSA Data Security, Inc. MD5 Message-Digest
-   Algorithm" in all material mentioning or referencing this software
-   or this function.
-
-   License is also granted to make and use derivative works provided
-   that such works are identified as "derived from the RSA Data
-   Security, Inc. MD5 Message-Digest Algorithm" in all material
-   mentioning or referencing the derived work.
-
-   RSA Data Security, Inc. makes no representations concerning either
-   the merchantability of this software or the suitability of this
-   software for any particular purpose. It is provided "as is"
-   without express or implied warranty of any kind.
-
-   These notices must be retained in any copies of any part of this
-   documentation and/or software.
-
- * The apr_md5_encode() routine uses much code obtained from the FreeBSD 3.0
- * MD5 crypt() function, which is licenced as follows:
- * ----------------------------------------------------------------------------
- * "THE BEER-WARE LICENSE" (Revision 42):
- * <phk@login.dknet.dk> wrote this file.  As long as you retain this notice you
- * can do whatever you want with this stuff. If we meet some day, and you think
- * this stuff is worth it, you can buy me a beer in return.  Poul-Henning Kamp
- * ----------------------------------------------------------------------------
-
-For the crypto\apr_md4.c component:
-
- * Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
- * rights reserved.
- *
- * License to copy and use this software is granted provided that it
- * is identified as the "RSA Data Security, Inc. MD4 Message-Digest
- * Algorithm" in all material mentioning or referencing this software
- * or this function.
- *
- * License is also granted to make and use derivative works provided
- * that such works are identified as "derived from the RSA Data
- * Security, Inc. MD4 Message-Digest Algorithm" in all material
- * mentioning or referencing the derived work.
- *
- * RSA Data Security, Inc. makes no representations concerning either
- * the merchantability of this software or the suitability of this
- * software for any particular purpose. It is provided "as is"
- * without express or implied warranty of any kind.
- *
- * These notices must be retained in any copies of any part of this
- * documentation and/or software.
-
-For the crypto\crypt_blowfish.c(.h) component:
-
- * Written by Solar Designer <solar at openwall.com> in 1998-2011.
- * No copyright is claimed, and the software is hereby placed in the public
- * domain.  In case this attempt to disclaim copyright and place the software
- * in the public domain is deemed null and void, then the software is
- * Copyright (c) 1998-2011 Solar Designer and it is hereby released to the
- * general public under the following terms:
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted.
- *
- * There's ABSOLUTELY NO WARRANTY, express or implied.
-
- See crypto/crypt_blowfish.c for more information.
-
-For the include\apr_md4.h component:
-
- * This is derived from material copyright RSA Data Security, Inc.
- * Their notice is reproduced below in its entirety.
- *
- * Copyright (C) 1991-2, RSA Data Security, Inc. Created 1991. All
- * rights reserved.
- *
- * License to copy and use this software is granted provided that it
- * is identified as the "RSA Data Security, Inc. MD4 Message-Digest
- * Algorithm" in all material mentioning or referencing this software
- * or this function.
- *
- * License is also granted to make and use derivative works provided
- * that such works are identified as "derived from the RSA Data
- * Security, Inc. MD4 Message-Digest Algorithm" in all material
- * mentioning or referencing the derived work.
- *
- * RSA Data Security, Inc. makes no representations concerning either
- * the merchantability of this software or the suitability of this
- * software for any particular purpose. It is provided "as is"
- * without express or implied warranty of any kind.
- *
- * These notices must be retained in any copies of any part of this
- * documentation and/or software.
-
-For the test\testmd4.c component:
-
- * This is derived from material copyright RSA Data Security, Inc.
- * Their notice is reproduced below in its entirety.
- *
- * Copyright (C) 1990-2, RSA Data Security, Inc. Created 1990. All
- * rights reserved.
- *
- * RSA Data Security, Inc. makes no representations concerning either
- * the merchantability of this software or the suitability of this
- * software for any particular purpose. It is provided "as is"
- * without express or implied warranty of any kind.
- *
- * These notices must be retained in any copies of any part of this
- * documentation and/or software.
-===============================================================
-LIVOX’s Livox SDK uses unmodified libraries of Boost (https://www.boost.org), which is licensed under the Boost Software license. A copy of the Boost Software license is provided below and is also available at https://www.boost.org/LICENSE_1_0.txt.
-
--------------------------------------------------------------
-Boost Software License - Version 1.0 - August 17th, 2003
-
-Permission is hereby granted, free of charge, to any person or organization
-obtaining a copy of the software and accompanying documentation covered by
-this license (the "Software") to use, reproduce, display, distribute,
-execute, and transmit the Software, and to prepare derivative works of the
-Software, and to permit third-parties to whom the Software is furnished to
-do so, all subject to the following:
-
-The copyright notices in the Software and this entire statement, including
-the above license grant, this restriction and the following disclaimer,
-must be included in all copies of the Software, in whole or in part, and
-all derivative works of the Software, unless such copies or derivative
-works are solely in the form of machine-executable object code generated by
-a source language processor.
-
-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, TITLE AND NON-INFRINGEMENT. IN NO EVENT
-SHALL THE COPYRIGHT HOLDERS OR ANYONE DISTRIBUTING THE SOFTWARE BE LIABLE
-FOR ANY DAMAGES OR OTHER LIABILITY, WHETHER IN CONTRACT, TORT OR OTHERWISE,
-ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER
-DEALINGS IN THE SOFTWARE.
-===============================================================
 FastCRC
 └── sdk_core
     ├── include
@@ -764,4 +287,39 @@ 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.
+IN THE SOFTWARE.
+
+===============================================================
+LIVOX’s Livox SDK uses modified libraries of cmdline (https://github.com/tanakh/cmdline). A copy of license is provided below and is also available at https://github.com/tanakh/cmdline/blob/master/LICENSE.
+
+-------------------------------------------------------------
+Copyright (c) 2009, Hideyuki Tanaka
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+
+    * Neither the name of Hideyuki Tanaka nor the names of other
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

README.md

@@ -1,3 +1,5 @@
+[中文版本使用说明](<https://github.com/Livox-SDK/Livox-SDK/blob/master/README_CN.md>)
+
 # 1 Introduction
 
 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. 
@@ -5,8 +7,8 @@ Livox SDK is the software development kit designed for all Livox products. It is
 Livox SDK consists of Livox SDK communication protocol, Livox SDK core, Livox SDK API, Linux sample, and ROS demo. 
 
 ## Prerequisites
-* Ubuntu 14.04/Ubuntu 16.04, both x86 and ARM (Nvidia TX2)
-* Windows 7/10, Visual Studio 2015/2017
+* Ubuntu 14.04/Ubuntu 16.04/Ubuntu 18.04, both x86 and ARM (Nvidia TX2)
+* Windows 7/10, Visual Studio 2015 Update3/2017/2019
 * C++11 compiler
 
 # 2 Livox SDK Communication Protocol
@@ -25,64 +27,127 @@ The Livox LiDAR sensors can be connected to host directly or through the Livox H
 
 # 4 Livox SDK API
 
-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://livox-sdk.github.io/Livox-SDK/) for further information.
+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://livox-sdk.github.io/Livox-SDK-Doc/) for further information.
 
 ## 4.1 Installation
-The installation procedures in Ubuntu 16.04/14.04 LTS and Windows 7/10 are shown here as examples. For Ubuntu 16.04/14.04 32-bit LTS and Mac, you can get it in [Livox-SDK wiki](https://github.com/Livox-SDK/Livox-SDK/wiki).
-### 4.1.1 Ubuntu 16.04/14.04 LTS
+The installation procedures in Ubuntu 18.04/16.04/14.04 LTS and Windows 7/10 are shown here as examples. For Ubuntu 18.04/16.04/14.04 32-bit LTS and Mac, you can get it in [Livox-SDK wiki](https://github.com/Livox-SDK/Livox-SDK/wiki).
+### 4.1.1 Ubuntu 18.04/16.04/14.04 LTS
 #### Dependencies
-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:
+Livox SDK requires [CMake 3.0.0+](https://cmake.org/) as dependencies. You can install these packages using apt:
 ```
-sudo apt install cmake pkg-config libapr1-dev libboost-atomic-dev libboost-system-dev
+sudo apt install cmake
 ```
 #### Compile Livox SDK
+
 In the Livox SDK directory, run the following commands to compile the project:
 ```
 git clone https://github.com/Livox-SDK/Livox-SDK.git
-cd Livox-SDK/build
-cmake ..
+cd Livox-SDK
+cd build && cmake ..
 make
 sudo make install
 ```
+
 ### 4.1.2 Windows 7/10
+
 #### Dependencies
-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:
-For the 32-bit project:
-```
-.\vcpkg install apr
-.\vcpkg install boost-atomic
-.\vcpkg install boost-system
-.\vcpkg install boost-thread
-.\vcpkg integrate install
-```
-For the 64-bit project:
-```
-.\vcpkg install apr:x64-windows
-.\vcpkg install boost-atomic:x64-windows
-.\vcpkg install boost-system:x64-windows
-.\vcpkg install boost-thread:x64-windows
-.\vcpkg integrate install
-```
-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.
+Livox SDK supports Visual Studio 2015 Update3/2017/2019 and requires install [CMake 3.0.0+](https://cmake.org/) as dependencies.  
+
+In the Livox SDK directory, run the following commands to create the Visual Studio solution file. 
 Generate the 32-bit project:
+
 ```
-cd build && \
-cmake .. "-DCMAKE_TOOLCHAIN_FILE=[vcpkgroot]\scripts\buildsystems\vcpkg.cmake"
+cd Livox-SDK/build
+```
+For Viusal Studio 2015 Update3/2017:
+```
+cmake ..
+```
+For Viusal Studio 2019:
+```
+cmake .. -G "Visual Studio 16 2019" -A Win32
 ```
 Generate the 64-bit project:
 ```
-cd build && \
-cmake .. -G "Visual Studio 15 2017 Win64" "-DCMAKE_TOOLCHAIN_FILE=[vcpkgroot]\scripts\buildsystems\vcpkg.cmake"
+cd Livox-SDK/build 
 ```
+For Viusal Studio 2015 Update3:
+```
+cmake .. -G "Visual Studio 14 2015 Win64"
+```
+For Viusal Studio 2017:
+```
+cmake .. -G "Visual Studio 15 2017 Win64"
+```
+For Viusal Studio 2019:
+```
+cmake .. -G "Visual Studio 16 2019" -A x64
+```
+
 #### Compile Livox SDK
 You can now compile the Livox SDK in Visual Studio.
+
+### 4.1.3 ARM-Linux Cross Compile
+
+The procedure of cross compile Livox-SDK in ARM-Linux are shown below.
+
+#### Dependencies
+
+Host machine requires install cmake. You can install these packages using apt:
+
+```
+sudo apt install cmake
+```
+
+#### Cross Compile Toolchain
+
+If your ARM board vendor provides a cross compile toolchain, you can skip the following step of installing the toolchain and use the vendor-supplied cross compile toolchain instead.
+
+The following commands will install C and C++ cross compiler toolchains for 32bit and 64bit ARM board. You need to install the correct toolchain for your ARM board. For 64bit SoC ARM board, only install 64bit toolchain, and for 32bit SoC ARM board, only install 32bit toolchain.
+
+Install **ARM 32 bits cross compile toolchain**：
+
+```
+ sudo apt-get install gcc-arm-linux-gnueabi g++-arm-linux-gnueabi
+```
+
+Install **ARM 64 bits cross compile toolchain**：
+
+```
+sudo apt-get install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
+```
+
+#### Cross Compile Livox-SDK
+
+For  **ARM 32 bits toolchain**，In the Livox SDK directory，run the following commands to cross compile the project:
+
+```
+cd Livox-SDK
+cd build && \
+cmake .. -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_C_COMPILER=arm-linux-gnueabi-gcc -DCMAKE_CXX_COMPILER=arm-linux-gnueabi-g++
+make
+```
+
+For **ARM 64 bits toolchain**，In the Livox SDK directory，run the following commands to cross compile the project:
+
+```
+cd Livox-SDK
+cd build && \
+cmake .. -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
+make
+```
+
+**Note:**
+
+- gcc  cross compiler need to support C ++11 standard
+
 ## 4.2 Run Livox SDK Sample
 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: 
 
 ![](doc/images/sample.png)
 
-### 4.2.1 Ubuntu 16.04 /14.04 LTS
-For Ubuntun 16.04/14.04 LTS, run the *lidar_sample* if connect with the LiDAR unit(s):
+### 4.2.1 Ubuntu 18.04/16.04 /14.04 LTS
+For Ubuntun 18.04/16.04/14.04 LTS, run the *lidar_sample* if connect with the LiDAR unit(s):
 ```
 cd sample/lidar && ./lidar_sample
 ```
@@ -121,8 +186,8 @@ We provide the following program options for connecting the specific units and s
 ```
 Here is the example:
 ```
-./lidar_sample -c "00000000000002&00000000000003&00000000000004" -l
-./hub_sample -c "00000000000001" -l
+./lidar_sample_cc -c "00000000000002&00000000000003&00000000000004" -l
+./hub_sample_cc -c "00000000000001" -l
 ```
 
 #### 4.3.2 Edit Broadcast Code List

README_CN.md

@@ -0,0 +1,238 @@
+[README](<https://github.com/Livox-SDK/Livox-SDK/blob/master/README.md>) - English Version of the README
+# 1 简介
+
+Livox SDK 是为 Livox 公司旗下所有产品设计的软件开发套件。它基于 C/C++ 语言开发，遵循 Livox SDK 通信协议，并为用户提供了易用的 C 语言风格的接口。通过 Livox SDK，用户可以快速地连接 Livox 产品并接收点云数据。
+
+Livox SDK 包括了 Livox SDK 通信协议，Livox SDK 内核，Livox SDK 应用接口，Windows/Linux 示例以及 ROS 示例。
+
+## 前置依赖
+* Ubuntu 14.04/Ubuntu 16.04/Ubuntu 18.04, x86 和 ARM (Nvidia TX2)
+* Windows 7/10, Visual Studio 2015 Update3/2017/2019
+* C++11 编译器
+
+# 2 Livox SDK 通信协议
+
+Livox SDK 通信协议对所有用户开放. 它定义了用户应用程序和 Livox 产品之间的通信协议. 协议内容包含了控制命令和点云数据格式。有关协议更详细的信息请查阅 [Livox SDK Communication Protocol](<https://github.com/Livox-SDK/Livox-SDK/wiki/Livox-SDK-Communication-Protocol>) 。
+
+# 3 Livox SDK 内核
+
+Livox SDK 提供了控制指令和点云数据传输的实现，以及提供了 C/C++ 应用接口。Livox SDK 内核的基本架构如下图所示 : 
+
+![Livox SDK Architecture](doc/images/sdk.png)
+
+UDP 协议被用于 Livox SDK 和 LiDAR 传感器之间的通信。请参照 Livox SDK 通信协议了解更多的信息. Point cloud data handler 负责点云数据传输，command handler 负责接收和发送控制指令。  C/C++ API 的实现基于 command handler 和 point cloud data handler。
+
+Livox LiDAR 传感器可以直接连接主机或者通过 Livox Hub 连接到主机，Livox SDK 支持了以上两种连接方式。当 LiDAR 直接连接到主机，主机会与每个 LiDAR 都各自通信，如果 LiDAR 通过 Hub 连接到主机，主机仅与 Livox Hub 通信，Hub 再与每个 LiDAR 进行通信。
+
+# 4 Livox SDK 应用接口
+
+Livox SDK 应用接口提供了一系列 C 风格的接口，可以很方便地集成进 C/C++ 程序。请查阅 [Livox SDK API Reference](https://livox-sdk.github.io/Livox-SDK-Doc/) 获取更多信息。
+
+## 4.1 安装
+以下将介绍 Ubuntu 18.04/16.04/14.04 LTS 系统、 Windows 7/10 系统和 ARM-Linux 交叉编译的安装过程. 对于 Ubuntu 18.04/16.04/14.04 32-bit LTS 和 Mac 系统, 您可以查阅 [Livox-SDK wiki](https://github.com/Livox-SDK/Livox-SDK/wiki)。
+### 4.1.1 Ubuntu 18.04/16.04/14.04 LTS
+#### 依赖
+Livox SDK 依赖于 cmake 。你可以通过 apt 工具安装这些依赖包 :
+```
+sudo apt install cmake
+```
+#### 编译 Livox SDK
+
+在 Livox SDK 目录中，执行以下指令编译工程:
+```
+git clone https://github.com/Livox-SDK/Livox-SDK.git
+cd Livox-SDK
+cd build && cmake ..
+make
+sudo make install
+```
+
+### 4.1.2 Windows 7/10
+
+#### 依赖
+Livox SDK 支持 Visual Studio 2015 Update3/2017/2019，需要安装 [CMake 3.0.0+](https://cmake.org/) 依赖。
+
+在 Livox SDK 目录中，执行以下指令生成 Visual Studio solution 文件。
+生成 32-bit 工程：
+
+```
+cd Livox-SDK/build
+```
+
+对于 Viusal Studio 2015 Update3/2017:
+
+```
+cmake ..
+```
+对于 Viusal Studio 2019:
+```
+cmake .. -G "Visual Studio 16 2019" -A Win32
+```
+生成 64-bit 工程：
+```
+cd Livox-SDK/build
+```
+对于 Viusal Studio 2015 Update3:
+```
+cmake .. -G "Visual Studio 14 2015 Win64"
+```
+对于 Viusal Studio 2017:
+```
+cmake .. -G "Visual Studio 15 2017 Win64"
+```
+对于 Viusal Studio 2019:
+```
+cmake .. -G "Visual Studio 16 2019" -A x64
+```
+#### 编译 Livox SDK
+然后就可以在 Visual Studio 中编译 Livox SDK 。
+
+### 4.1.3 ARM-Linux 交叉编译
+
+以下将介绍 ARM-Linux 的交叉编译过程。
+
+#### 依赖
+
+交叉编译需要在主机安装 cmake。 你可以通过 apt 工具安装这些依赖包 :
+
+```
+sudo apt install cmake
+```
+
+#### 交叉编译工具链
+
+如果你的 ARM 板厂商提供了交叉编译工具链，则可以跳过以下交叉编译工具链的安装步骤，采用厂商提供的交叉编译工具链。
+
+以下的指令分别对应 32bit 和 64bit ARM 板的 C 和 C++ 的交叉编译工具链的安装。你需要根据你 ARM 板的类型正确地安装交叉编译工具链，如果你的 ARM 板是 64bit SoC 架构，只需要安装 64bit 交叉编译工具链，如果你的 ARM板是 32bit SoC 架构，只需要安装 32bit 的交叉编译工具链。
+
+安装 **ARM 32 bits 交叉编译工具链**：
+
+```
+ sudo apt-get install gcc-arm-linux-gnueabi g++-arm-linux-gnueabi
+```
+
+安装 **ARM 64 bits 交叉编译工具链**：
+
+```
+sudo apt-get install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu
+```
+
+#### 交叉编译 Livox-SDK
+
+以 **ARM 32 bits 交叉编译工具链**为例，在 Livox SDK 目录中，执行以下指令交叉编译工程：
+
+```
+cd Livox-SDK
+cd build && \
+cmake .. -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_C_COMPILER=arm-linux-gnueabi-gcc -DCMAKE_CXX_COMPILER=arm-linux-gnueabi-g++
+make
+```
+
+以 **ARM 64 bits 交叉编译工具链**为例，在 Livox SDK 目录中，执行以下指令交叉编译工程：
+
+```
+cd Livox-SDK
+cd build && \
+cmake .. -DCMAKE_SYSTEM_NAME=Linux -DCMAKE_C_COMPILER=aarch64-linux-gnu-gcc -DCMAKE_CXX_COMPILER=aarch64-linux-gnu-g++
+make
+```
+
+**注意:**
+
+-  gcc交叉编译器的版本需要支持 C ++11 标准
+
+## 4.2 运行 Livox SDK 样例
+
+Livox SDK 中提供了两种类型的示例 : Sample/Lidar 和 Sample/Hub, 分别展示了 Livox SDK 直接连接 Livox LiDAR 和通过 Livox Hub 连接的情况下，如何配置 Livox 雷达和接收点云数据。Sample 运行的时序如下图所示 ：
+
+![](doc/images/sample.png)
+
+### 4.2.1 Ubuntu 18.04/16.04 /14.04 LTS
+对于 Ubuntu 18.04/16.04/14.04 LTS 系统，如果直接连接 Livox LiDAR，则运行 *lidar_sample* ：
+```
+cd sample/lidar && ./lidar_sample
+```
+或者如果通过 Livox Hub 连接雷达，则运行 *hub_sample* :
+```
+cd sample/hub && ./hub_sample
+```
+### 4.2.2 Windows 7/10
+在完成 4.1.2 章节中 Livox SDK 编译后，你可以分别在 {Livox-SDK}\build\sample\hub\Debug 或者 {Livox-SDK}\build\sample\lidar\Debug 文件夹中找到 `hub_sample.exe` 或者 `lidar_sample.exe` 。
+
+直接运行以上的程序，然后你就可以看到以下信息:
+
+![](doc/images/sdk_init.png)
+
+### 4.3 连接指定的 LiDAR
+
+默认情况下，我们提供的 Samples 会连接局域网络中的所有广播设备。有两种方式可以连接指定的 LiDAR 设备
+
+* 运行 sample 并指定输入程序选项
+
+* 在源代码中编辑 Broadcast Code list
+
+**注意:**
+
+每个 Livox LiDAR 都拥有一个唯一的广播码 。 广播码包含了序列号和一个额外的数字 (1,2, or 3)。序列号可以 LiDAR 机身找到 (在QR 码下面)。广播码在你想要连接指定的 LiDAR 时可能会用到.  具体的格式如下图所示 :
+
+![Broadcast Code](doc/images/broadcast_code.png)
+
+#### 4.3.1 程序选项
+
+我们提供了以下程序选项去连接指定的设备和生成日志文件 :
+```
+[-c]:Register LiDAR units by Broadcast Code. Connect the registered units ONLY. 
+[-l]:Save the log file(In the executable file's directory).
+[-h]:Show help.
+```
+这里是示例 :
+```
+./lidar_sample_cc -c "00000000000002&00000000000003&00000000000004" -l
+./hub_sample_cc -c "00000000000001" -l
+```
+
+#### 4.3.2 编辑广播码
+
+注释以下的代码块：
+
+```
+/** Connect all the broadcast device. */
+int lidar_count = 0;
+char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize];
+```
+
+在编译前移除以下代码块的注释，并且替换 broadcast code lists 为你指定的LiDAR 的广播码，对于 LiDAR sample ({Livox-SDK}/sample/lidar/main.c) 和 Hub sample ({Livox-SDK}/sample/hub/main.c)，设置 BROADCAST_CODE_LIST_SIZE 并且替换 在`main.c`  的 broadcast code lists。
+
+```
+/** Connect the broadcast device in list, please input the broadcast code and modify the BROADCAST_CODE_LIST_SIZE. */
+/*#define BROADCAST_CODE_LIST_SIZE  3
+int lidar_count = BROADCAST_CODE_LIST_SIZE;
+char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
+  "000000000000002",
+  "000000000000003",
+  "000000000000004"
+};*/
+```
+
+### 4.4 生成 lvx 文件
+
+我们为 Hub 连接和 LiDAR 直连的方式都提供了 C++ 生成 lvx 文件示例. 你可以通过 `4.2.1` and `4.2.2` 中描述的相同方式去运行它们。
+
+#### 4.4.1 程序选项
+
+你可以使用  `4.3.1`  提到的程序选项去连接指定的设备和生成日志文件, 我们为 lvx 文件提供了两个新的选项:
+```
+[-t] Time to save point cloud to the lvx file.(unit: s)
+[-p] Get the extrinsic parameter from standard extrinsic.xml file(The same as viewer) in the executable file's directory.(Especially for LiDAR unit(s) as the hub will calculate the extrinsic parameter by itself)
+```
+这里是示例 :
+```
+./lidar_lvx_sample -c "00000000000002&00000000000003&00000000000004" -l -t 10 -p
+./hub_lvx_sample -c "00000000000001" -l -t 10
+```
+
+# 5 支持
+
+你可以通过以下方式获取 Livox 的技术支持 :
+* 发送邮件到 dev@livoxtech.com 描述清楚问题和使用场景
+* Github Issues

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-<div class="title">fmt::v5::arg_formatter&lt; Range &gt; Member List</div>  </div>
-</div><!--header-->
-<div class="contents">
-
-<p>This is the complete list of members for <a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a>, including all inherited members.</p>
-<table class="directory">
-  <tr class="even"><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html#a0925c1315a81b793b5e020e496c9234c">arg_formatter</a>(context_type &amp;ctx, format_specs *spec=NULL)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">explicit</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html#adcd84c55fb1ae473917660743d000153">arg_formatter</a>(context_type &amp;ctx, format_specs &amp;spec)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html#a1f09a08ddcb054ae0d7dec1e8183ec9a">arg_formatter_base</a>(Range r, format_specs *s, locale_ref loc)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html">fmt::v5::internal::arg_formatter_base&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html#aeda72496f8e7ff87432a167689a07b60">format_specs</a> typedef</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a></td><td class="entry"></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html#ae170841fcffcd93c9d342f7898f9aef9">iterator</a> typedef</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html#a093e3203258d2dfa3fa0282cb41c6b4d">operator()</a>(typename basic_format_arg&lt; context_type &gt;::handle handle)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html#a8ae25aadcb11be0f632537d24bc3ba37">fmt::v5::internal::arg_formatter_base::operator()</a>(monostate)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html">fmt::v5::internal::arg_formatter_base&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html#a05e90e22d2222c1c458d625f8559599a">fmt::v5::internal::arg_formatter_base::operator()</a>(T value)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html">fmt::v5::internal::arg_formatter_base&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-  <tr><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html#a59b215cea8bf6e89883b58c47d4f0d94">fmt::v5::internal::arg_formatter_base::operator()</a>(basic_string_view&lt; char_type &gt; value)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html">fmt::v5::internal::arg_formatter_base&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
-  <tr class="even"><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html#a793d82c248d310c8b1bdf06b00a9bdf8">fmt::v5::internal::arg_formatter_base::operator()</a>(const void *value)</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html">fmt::v5::internal::arg_formatter_base&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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-  <tr class="even"><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html#a332fb38fd91d73717f0f3e0b2b09d3b7">range</a> typedef</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1arg__formatter.html">fmt::v5::arg_formatter&lt; Range &gt;</a></td><td class="entry"></td></tr>
-  <tr><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html#ab2e59146a8b73543a67737f28d7eb176">spec</a>()</td><td class="entry"><a class="el" href="classfmt_1_1v5_1_1internal_1_1arg__formatter__base.html">fmt::v5::internal::arg_formatter_base&lt; Range &gt;</a></td><td class="entry"><span class="mlabel">inline</span><span class="mlabel">protected</span></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><h3>template&lt;typename Range&gt;<br />
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-<p>The default argument formatter. </p>
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-<p class="definition">Definition at line <a class="el" href="format_8h_source.html#l02155">2155</a> of file <a class="el" href="format_8h_source.html">format.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#aeda72496f8e7ff87432a167689a07b60">&#9670;&nbsp;</a></span>format_specs</h2>
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-template&lt;typename Range &gt; </div>
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-<h2 class="memtitle"><span class="permalink"><a href="#a0925c1315a81b793b5e020e496c9234c">&#9670;&nbsp;</a></span>arg_formatter() <span class="overload">[1/2]</span></h2>
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-<p>This is the complete list of members for <a class="el" href="classfmt_1_1v5_1_1basic__format__context.html">fmt::v5::basic_format_context&lt; OutputIt, Char &gt;</a>, including all inherited members.</p>
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-Additional Inherited Members</h2></td></tr>
-<tr class="inherit_header pro_types_classfmt_1_1v5_1_1internal_1_1context__base"><td colspan="2" onclick="javascript:toggleInherit('pro_types_classfmt_1_1v5_1_1internal_1_1context__base')"><img src="closed.png" alt="-"/>&#160;Protected Types inherited from <a class="el" href="classfmt_1_1v5_1_1internal_1_1context__base.html">fmt::v5::internal::context_base&lt; OutputIt, basic_format_context&lt; OutputIt, Char &gt;, Char &gt;</a></td></tr>
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-<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
-<div class="textblock"><h3>template&lt;typename OutputIt, typename Char&gt;<br />
-class fmt::v5::basic_format_context&lt; OutputIt, Char &gt;</h3>
-
-
-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l01081">1081</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
-</div><h2 class="groupheader">Member Typedef Documentation</h2>
-<a id="aac5c87132bab71007a567bd1820f1a16"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#aac5c87132bab71007a567bd1820f1a16">&#9670;&nbsp;</a></span>char_type</h2>
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-template&lt;typename OutputIt, typename Char &gt; </div>
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-<p>The character type for the output. </p>
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-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l01086">1086</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
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-<h2 class="memtitle"><span class="permalink"><a href="#aa88412259a118ed5ac97e9bd1cee92e3">&#9670;&nbsp;</a></span>iterator</h2>
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-template&lt;typename OutputIt, typename Char &gt; </div>
-      <table class="memname">
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-</div>
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-<h2 class="memtitle"><span class="permalink"><a href="#adf22dc09de008340bf108c68281724f9">&#9670;&nbsp;</a></span>basic_format_context()</h2>
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-          <td>(</td>
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-          <td class="paramtype"><a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">basic_string_view</a>&lt; <a class="el" href="classfmt_1_1v5_1_1basic__format__context.html#aac5c87132bab71007a567bd1820f1a16">char_type</a> &gt;&#160;</td>
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-          <td class="paramtype"><a class="el" href="classfmt_1_1v5_1_1basic__format__args.html">basic_format_args</a>&lt; <a class="el" href="classfmt_1_1v5_1_1basic__format__context.html">basic_format_context</a>&lt; OutputIt, Char &gt; &gt;&#160;</td>
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-<p>Constructs a <code><a class="el" href="classfmt_1_1v5_1_1basic__format__context.html">basic_format_context</a></code> object. References to the arguments are stored in the object so make sure they have appropriate lifetimes. </p>
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-<p>\rst A dynamically growing memory buffer for trivially copyable/constructible types with the first <code>SIZE</code> elements stored in the object itself.</p>
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-class fmt::v5::basic_string_view&lt; Char &gt;</h3>
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-<p>An implementation of <code>std::basic_string_view</code> for pre-C++17. It provides a subset of the API. <code>fmt::basic_string_view</code> is used for format strings even if <code>std::string_view</code> is available to prevent issues when a library is compiled with a different <code>-std</code> option than the client code (which is not recommended). </p>
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-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l00350">350</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
-</div><h2 class="groupheader">Member Typedef Documentation</h2>
-<a id="a7dd9c65338332c1e3beb611a7ab883e5"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#a7dd9c65338332c1e3beb611a7ab883e5">&#9670;&nbsp;</a></span>char_type</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#a905e99019eff225d448868d9470dac4c">&#9670;&nbsp;</a></span>iterator</h2>
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-template&lt;typename Char&gt; </div>
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-        <tr>
-          <td class="memname">typedef const Char* <a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">fmt::v5::basic_string_view</a>&lt; Char &gt;::<a class="el" href="classfmt_1_1v5_1_1basic__string__view.html#a905e99019eff225d448868d9470dac4c">iterator</a></td>
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-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l00357">357</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
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-</div>
-</div>
-<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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-<h2 class="memtitle"><span class="permalink"><a href="#af700667b227e1aa54fa10e5536f0dd60">&#9670;&nbsp;</a></span>basic_string_view() <span class="overload">[1/4]</span></h2>
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-<div class="memtemplate">
-template&lt;typename Char&gt; </div>
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-      <table class="memname">
-        <tr>
-          <td class="memname"><a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">fmt::v5::basic_string_view</a>&lt; Char &gt;::<a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">basic_string_view</a> </td>
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-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l00359">359</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
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-      <table class="memname">
-        <tr>
-          <td class="memname"><a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">fmt::v5::basic_string_view</a>&lt; Char &gt;::<a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">basic_string_view</a> </td>
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-          <td class="paramtype">size_t&#160;</td>
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-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l00362">362</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
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-<a id="ab45c1b7cf97a9d4b7d6290ab374df761"></a>
-<h2 class="memtitle"><span class="permalink"><a href="#ab45c1b7cf97a9d4b7d6290ab374df761">&#9670;&nbsp;</a></span>basic_string_view() <span class="overload">[3/4]</span></h2>
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-          <td class="memname"><a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">fmt::v5::basic_string_view</a>&lt; Char &gt;::<a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">basic_string_view</a> </td>
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-<p>\rst Constructs a string reference object from a C string computing the size with <code>std::char_traits&lt;Char&gt;::length</code>. \endrst </p>
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-<p class="definition">Definition at line <a class="el" href="core_8h_source.html#l00371">371</a> of file <a class="el" href="core_8h_source.html">core.h</a>.</p>
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-<div class="memtemplate">
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-<table class="mlabels">
-  <tr>
-  <td class="mlabels-left">
-      <table class="memname">
-        <tr>
-          <td class="memname"><a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">fmt::v5::basic_string_view</a>&lt; Char &gt;::<a class="el" href="classfmt_1_1v5_1_1basic__string__view.html">basic_string_view</a> </td>
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-          <td align="right">throw </td><td>(</td><td colspan="2"></td>
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-<p>Constructs a string reference from a <code>std::basic_string</code> object. </p>
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-          <td class="memname">void <a class="el" href="classfmt_1_1v5_1_1basic__writer.html">fmt::v5::basic_writer</a>&lt; Range &gt;::write </td>
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