README.md

@@ -233,5 +233,5 @@ Here is the example:
 # 5 Support
 
 You can get support from Livox with the following methods:
-* Send email to dev@livoxtech.com with a clear description of your problem and your setup
+* Send email to cs@livoxtech.com with a clear description of your problem and your setup
 * Github Issues

README_CN.md

@@ -234,5 +234,5 @@ char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
 # 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
+* 发送邮件到 cs@livoxtech.com 描述清楚问题和使用场景
 * Github Issues

sdk_core/include/livox_def.h

@@ -643,7 +643,7 @@ typedef struct {
   uint8_t month;
   uint8_t day;
   uint8_t hour;
-  uint32_t mircrosecond;
+  uint32_t microsecond;
 } LidarSetUtcSyncTimeRequest;
 
 /**

sdk_core/src/base/wake_up/unix/wake_up_pipe.cpp

@@ -67,30 +67,43 @@ bool WakeUpPipe::PipeDestroy() {
 }
 
 bool WakeUpPipe::PipeCreate() {
+  bool status = false;
   //in filedes[0]
   //out filedes[1]
-  int filedes[2];
+  int filedes[2]= {};
   if (pipe(filedes) == -1) {
     return false;
   }
+  do {
+    int flags = 0;
+    if ((flags = fcntl(filedes[0], F_GETFD)) == -1) {
+      break;
+    }
 
-  int flags = 0;
-  if ((flags = fcntl(filedes[0], F_GETFL|O_NONBLOCK)) == -1) {
-    return false;
-  }
+    flags |= FD_CLOEXEC;
+    if (fcntl(filedes[0], F_SETFD, flags) == -1) {
+      break;
+    }
 
-  flags |= FD_CLOEXEC;
-  if (fcntl(filedes[0], F_SETFL, flags) == -1) {
-    return false;
-  }
+    flags = 0;
+    if ((flags = fcntl(filedes[1], F_GETFD)) == -1) {
+      break;
+    }
 
-  flags = 0;
-  if ((flags = fcntl(filedes[1], F_GETFD)) == -1) {
-    return false;
-  }
+    flags |= FD_CLOEXEC;
+    if (fcntl(filedes[1], F_SETFD, flags) == -1) {
+      break;
+    }
+    status = true;
+  } while(0);
 
-  flags |= FD_CLOEXEC;
-  if (fcntl(filedes[1], F_SETFD, flags) == -1) {
+  if (!status) {
+    if (filedes[0] > 0) {
+      close(filedes[0]);
+    }
+    if (filedes[1] > 0) {
+      close(filedes[1]);
+    }
     return false;
   }
   pipe_out_ = filedes[0];

sdk_core/src/command_handler/command_impl.cpp

@@ -209,7 +209,7 @@ bool ParseRmcTime(const char* rmc, uint16_t rmc_len, LidarSetUtcSyncTimeRequest*
   }
 
   utc_time_req->hour = hour;
-  utc_time_req->mircrosecond = (minute * 60 * 1000 + second * 1000) * 1000;
+  utc_time_req->microsecond = (minute * 60 * 1000 + second * 1000) * 1000;
   return true;
 }