README.md

@@ -1,7 +1,3 @@
-# Official Q&A site
-
-https://groups.google.com/forum/#!forum/livox-lidars
-
 # 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. 
@@ -41,7 +37,8 @@ sudo apt install cmake libapr1-dev libboost-atomic-dev libboost-system-dev
 #### Compile Livox SDK
 In the Livox SDK directory, run the following commands to compile the project:
 ```
-cd build
+git clone https://github.com/Livox-SDK/Livox-SDK.git
+cd Livox-SDK/build
 cmake ..
 make
 sudo make install
@@ -97,4 +94,4 @@ After compiling the Livox SDK as shown in section 4.1.2, you can find `hub_sampl
 # 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
-* Github Issues
+* Github Issues

sample/hub/main.c

@@ -57,6 +57,10 @@ void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
     ++receive_packet_count;
     if (0 == (receive_packet_count % 10000)) {
       printf("receive packet count %d %d\n", data->id, receive_packet_count);
+
+	  /** Parsing the timestamp and the point cloud data. */
+	  uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
+	  LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
     }
     printf("receive packet from %d \n", (uint16_t) HubGetLidarHandle(data->slot, data->id));
   }
@@ -191,15 +195,24 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
 }
 
 int main(int argc, const char *argv[]) {
+  printf("Livox SDK initializing.\n");
+  /** Initialize Livox-SDK. */
   if (!Init()) {
-    return -1;
+	return -1;
   }
+  printf("Livox SDK has been initialized.\n");
+
+  LivoxSdkVersion _sdkversion;
+  GetLivoxSdkVersion(&_sdkversion);
+  printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
 
   memset(devices, 0, sizeof(devices));
   SetBroadcastCallback(OnDeviceBroadcast);
   SetDeviceStateUpdateCallback(OnDeviceChange);
 
   if (Start()) {
+	printf("Start discovering device.\n");
+
 #ifdef WIN32
     Sleep(20000);
 #else

sample/lidar/main.c

@@ -47,19 +47,24 @@ typedef struct {
 DeviceItem devices[kMaxLidarCount];
 uint32_t data_recveive_count[kMaxLidarCount];
 
-#define BROADCAST_CODE_LIST_SIZE 3
+char *broadcast_code_list[] = {
-char *broadcast_code_list[BROADCAST_CODE_LIST_SIZE] = {
+  "000000000000002",
-    "000000000000002",
+  "000000000000003",
-    "000000000000003",
+  "000000000000004"
-    "000000000000004"
 };
 
+#define BROADCAST_CODE_LIST_SIZE    (sizeof(broadcast_code_list) / sizeof(intptr_t))
+
 /** Receiving point cloud data from Livox LiDAR. */
 void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
   if (data) {
     data_recveive_count[handle] += data_num;
     if (data_recveive_count[handle] % 10000 == 0) {
       printf("receive packet count %d %d\n", handle, data_recveive_count[handle]);
+
+	  /** Parsing the timestamp and the point cloud data. */
+	  uint64_t cur_timestamp = *((uint64_t *)(data->timestamp));
+	  LivoxRawPoint *p_point_data = (LivoxRawPoint *)data->data;
     }
   }
 }
@@ -165,10 +170,16 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
 }
 
 int main(int argc, const char *argv[]) {
+  printf("Livox SDK initializing.\n");
   /** Initialize Livox-SDK. */
   if (!Init()) {
     return -1;
   }
+  printf("Livox SDK has been initialized.\n");
+
+  LivoxSdkVersion _sdkversion;
+  GetLivoxSdkVersion(&_sdkversion);
+  printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
 
   memset(devices, 0, sizeof(devices));
   memset(data_recveive_count, 0, sizeof(data_recveive_count));
@@ -186,6 +197,7 @@ int main(int argc, const char *argv[]) {
     Uninit();
     return -1;
   }
+  printf("Start discovering device.\n");
 
 #ifdef WIN32
   Sleep(30000);

sdk_core/include/livox_def.h

@@ -89,8 +89,19 @@ typedef enum {
 
 #pragma pack(1)
 
+#define LIVOX_SDK_MAJOR_VERSION       1
+#define LIVOX_SDK_MINOR_VERSION       0
+#define LIVOX_SDK_PATCH_VERSION       0
+
 #define kBroadcastCodeSize 16
 
+/** The numeric version information struct.  */
+typedef struct {
+  int major;      /**< major number */
+  int minor;      /**< minor number */
+  int patch;      /**< patch number */
+} LivoxSdkVersion;
+
 /** Cartesian coordinate format. */
 typedef struct {
   int32_t x;            /**< X axis, Unit:mm */
@@ -99,7 +110,7 @@ typedef struct {
   uint8_t reflectivity; /**< Reflectivity */
 } LivoxRawPoint;
 
-/** standard point cloud format */
+/** Standard point cloud format */
 typedef struct {
   float x;              /**< X axis, Unit:m */
   float y;              /**< X axis, Unit:m */

sdk_core/include/livox_sdk.h

@@ -33,6 +33,12 @@ extern "C" {
 #include <stdint.h>
 #include "livox_def.h"
 
+/**
+* Return SDK's version information in a numeric form.
+* @param version Pointer to a version structure for returning the version information.
+*/
+void GetLivoxSdkVersion(LivoxSdkVersion *version);
+
 /**
  * Initialize the SDK.
  * @return true if successfully initialized, otherwise false.

sdk_core/src/base/network_util.cpp

@@ -78,7 +78,7 @@ bool FindLocalIP(const struct sockaddr_in &client_addr, uint32_t &local_ip) {
 
 	IP_ADAPTER_INFO *pAdapter = reinterpret_cast<IP_ADAPTER_INFO *>(pAdapterInfo.get());
 	if (NO_ERROR == dlRetVal && pAdapter != NULL) {
-		while (pAdapterInfo) {
+		while (pAdapter) {
 			std::string str_ip = pAdapter->IpAddressList.IpAddress.String;
 			std::string str_mask = pAdapter->IpAddressList.IpMask.String;
 			ULONG host_ip = inet_addr(const_cast<char *>(str_ip.c_str()));

sdk_core/src/livox_sdk.cpp

@@ -30,6 +30,14 @@
 using namespace livox;
 IOThread *g_thread = NULL;
 
+void GetLivoxSdkVersion(LivoxSdkVersion *version) {
+  if (version != NULL) {
+    version->major = LIVOX_SDK_MAJOR_VERSION;
+    version->minor = LIVOX_SDK_MINOR_VERSION;
+    version->patch = LIVOX_SDK_PATCH_VERSION;
+  }
+}
+
 bool Init() {
   bool result = false;
   do {
@@ -59,7 +67,6 @@ bool Init() {
       result = false;
       break;
     }
-
     result = true;
   } while (0);