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Livox-SDK da19f31bc4 feature:support for conneting horizon
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&#160;<span id="projectnumber">V2.0.0</span>
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<div class="title">protocol.h</div> </div>
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<a href="protocol_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span>&#160;<span class="comment">// The MIT License (MIT)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span>&#160;<span class="comment">// Copyright (c) 2019 Livox. All rights reserved.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span>&#160;<span class="comment">// Permission is hereby granted, free of charge, to any person obtaining a copy</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span>&#160;<span class="comment">// of this software and associated documentation files (the &quot;Software&quot;), to deal</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span>&#160;<span class="comment">// in the Software without restriction, including without limitation the rights</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span>&#160;<span class="comment">// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span>&#160;<span class="comment">// copies of the Software, and to permit persons to whom the Software is</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span>&#160;<span class="comment">// furnished to do so, subject to the following conditions:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span>&#160;<span class="comment">// The above copyright notice and this permission notice shall be included in</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>&#160;<span class="comment">// all copies or substantial portions of the Software.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>&#160;<span class="comment">// THE SOFTWARE IS PROVIDED &quot;AS IS&quot;, WITHOUT WARRANTY OF ANY KIND, EXPRESS OR</span></div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span>&#160;<span class="comment">// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>&#160;<span class="comment">// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span>&#160;<span class="comment">// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER</span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>&#160;<span class="comment">// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,</span></div>
<div class="line"><a name="l00021"></a><span class="lineno"> 21</span>&#160;<span class="comment">// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE</span></div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span>&#160;<span class="comment">// SOFTWARE.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span>&#160;<span class="comment">//</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span>&#160; </div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span>&#160;<span class="preprocessor">#ifndef COMM_PROTOCOL_H_</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span>&#160;<span class="preprocessor">#define COMM_PROTOCOL_H_</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span>&#160; </div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span>&#160;<span class="preprocessor">#include &lt;stdint.h&gt;</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span>&#160; </div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacelivox.html">livox</a> {</div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="namespacelivox.html#af4e436d907dcafb14fcc88a760f75090"> 31</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> <a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a>;</div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span>&#160; </div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="namespacelivox.html#ad7370a98d65fd20693ed58a470ec9439"> 33</a></span>&#160;<span class="keyword">typedef</span> int (*<a class="code" href="namespacelivox.html#ad7370a98d65fd20693ed58a470ec9439">RequestPackCb</a>)(<a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> *packet);</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>&#160; </div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="line" href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61"> 35</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> { <a class="code" href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61aac306c9b5938dac53c45dfc4fcc9c132">kRequestPack</a>, <a class="code" href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61a9686d537f806d748aece1f03b523d50e">kAckPack</a>, <a class="code" href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61a195c6286a980061276877c88f4347a65">kMsgPack</a> } <a class="code" href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61">PacketType</a>;</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>&#160; </div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="line" href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807c"> 37</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> { <a class="code" href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807caa1131d8950d9c7527cafd32ececda15d">kLidarSdk</a>, <a class="code" href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807ca74908aea2df12e49a212f0b00bae1b25">kRsvd1</a>, <a class="code" href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807ca892dd3366a89802324e48987b8cb34e1">kProtocolUndef</a> } <a class="code" href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807c">ProtocolType</a>;</div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="line" href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209c"> 39</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> { <a class="code" href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209ca04b4a83f4d5f6af89e52b2d9cfadbb24">kNoNeed</a>, <a class="code" href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209ca0bfce7eeeb94e9fa66f051de4e0f8889">kNeedAck</a>, <a class="code" href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209caa59408252d4020dffb9cd35aa5917337">kDelayAck</a> } <a class="code" href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209c">NeedAckType</a>;</div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820"> 41</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">enum</span> { <a class="code" href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820a336a54b375b03cc744f69189037af991">kParseSuccess</a>, <a class="code" href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820a397580937b025c53bf21690ebeb11e7a">kParseFail</a> } <a class="code" href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820">ParseResult</a>;</div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html"> 43</a></span>&#160;<span class="keyword">typedef</span> <span class="keyword">struct </span><a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> {</div>
<div class="line"><a name="l00044"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a44673e979d10ca9f967fb6a75ffc5612"> 44</a></span>&#160; uint8_t <a class="code" href="structlivox_1_1_comm_packet.html#a44673e979d10ca9f967fb6a75ffc5612">packet_type</a>;</div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a670bd53de47c748164570decdb70c968"> 45</a></span>&#160; uint8_t <a class="code" href="structlivox_1_1_comm_packet.html#a670bd53de47c748164570decdb70c968">protocol</a>;</div>
<div class="line"><a name="l00046"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a7d4df6086cbac3cbaecedfda76d6c11e"> 46</a></span>&#160; uint8_t <a class="code" href="structlivox_1_1_comm_packet.html#a7d4df6086cbac3cbaecedfda76d6c11e">protocol_version</a>;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#af288b1ff799a0d0a9a1a8d0870bb5dd0"> 47</a></span>&#160; uint8_t <a class="code" href="structlivox_1_1_comm_packet.html#af288b1ff799a0d0a9a1a8d0870bb5dd0">cmd_set</a>;</div>
<div class="line"><a name="l00048"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a69485605f4d8113b178163d388defa89"> 48</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#a69485605f4d8113b178163d388defa89">cmd_code</a>;</div>
<div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#aae14b486474c57d0f82ed5c3c9e3e807"> 49</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#aae14b486474c57d0f82ed5c3c9e3e807">sender</a>;</div>
<div class="line"><a name="l00050"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a54efd9bf0a8bcd7f3e54219dce99f966"> 50</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#a54efd9bf0a8bcd7f3e54219dce99f966">sub_sender</a>;</div>
<div class="line"><a name="l00051"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#abd2c32ceba40ea285a0ca2990a7f345d"> 51</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#abd2c32ceba40ea285a0ca2990a7f345d">receiver</a>;</div>
<div class="line"><a name="l00052"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#ad48ad41ffbcd6ae5794668ba8c02f709"> 52</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#ad48ad41ffbcd6ae5794668ba8c02f709">sub_receiver</a>;</div>
<div class="line"><a name="l00053"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a8723e87d47e47da53e6741f82cc59faf"> 53</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#a8723e87d47e47da53e6741f82cc59faf">seq_num</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a7ba25954258f461a079911c180da2669"> 54</a></span>&#160; uint8_t *<a class="code" href="structlivox_1_1_comm_packet.html#a7ba25954258f461a079911c180da2669">data</a>;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a9586bf3ae947c5809c25d40aa3091ef7"> 55</a></span>&#160; uint16_t <a class="code" href="structlivox_1_1_comm_packet.html#a9586bf3ae947c5809c25d40aa3091ef7">data_len</a>;</div>
<div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="structlivox_1_1_comm_packet.html#a03bb9a2b86f81a5000369d43ceed043c"> 56</a></span>&#160; uint32_t <a class="code" href="structlivox_1_1_comm_packet.html#a03bb9a2b86f81a5000369d43ceed043c">padding</a>;</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>&#160; <span class="comment">// RequestPackCb *ack_request_cb;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>&#160; <span class="comment">// uint32_t retry_times;</span></div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>&#160; <span class="comment">// uint32_t timeout;</span></div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>&#160;} <a class="code" href="namespacelivox.html#af4e436d907dcafb14fcc88a760f75090">CommPacket</a>;</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classlivox_1_1_protocol.html"> 62</a></span>&#160;<span class="keyword">class </span><a class="code" href="classlivox_1_1_protocol.html">Protocol</a> {</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00064"></a><span class="lineno"><a class="line" href="classlivox_1_1_protocol.html#ad44a13b2298df2c134bb41537a2d8706"> 64</a></span>&#160; <span class="keyword">virtual</span> <a class="code" href="classlivox_1_1_protocol.html#ad44a13b2298df2c134bb41537a2d8706">~Protocol</a>(){};</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>&#160; </div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>&#160; <span class="keyword">virtual</span> int32_t <a class="code" href="classlivox_1_1_protocol.html#a0327374f8c1e7008805b8d87732fe4b8">ParsePacket</a>(uint8_t *i_buf, uint32_t i_len, <a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> *o_packet) = 0;</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>&#160; </div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>&#160; <span class="keyword">virtual</span> int32_t <a class="code" href="classlivox_1_1_protocol.html#a52573a66bbd0f40a624e23ec76465045">Pack</a>(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, <span class="keyword">const</span> <a class="code" href="structlivox_1_1_comm_packet.html">CommPacket</a> &amp;i_packet) = 0;</div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>&#160; <span class="keyword">virtual</span> uint32_t <a class="code" href="classlivox_1_1_protocol.html#a66113a1c1b0f523f05411ef3fab97808">GetPreambleLen</a>() = 0;</div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>&#160; <span class="keyword">virtual</span> uint32_t <a class="code" href="classlivox_1_1_protocol.html#afc5dbf8f0b6e52622fd5c6185db18aba">GetPacketWrapperLen</a>() = 0;</div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>&#160; </div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>&#160; <span class="keyword">virtual</span> uint32_t <a class="code" href="classlivox_1_1_protocol.html#a8a3949d5d8b4ed37a895cc3a53569200">GetPacketLen</a>(uint8_t *buf) = 0;</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>&#160; <span class="keyword">virtual</span> int32_t <a class="code" href="classlivox_1_1_protocol.html#acaf1a7dbf16f2deee49ded19e17a998a">CheckPreamble</a>(uint8_t *buf) = 0;</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>&#160; <span class="keyword">virtual</span> int32_t <a class="code" href="classlivox_1_1_protocol.html#af29b4a6d2966e31e19b7f640414ebeb7">CheckPacket</a>(uint8_t *buf) = 0;</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>&#160;};</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>&#160;} <span class="comment">// namespace livox</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>&#160;<span class="preprocessor">#endif // COMM_PROTOCOL_H_</span></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<div class="ttc" id="anamespacelivox_html_a6941cc71243dd1b067c904fdd91bfb61a195c6286a980061276877c88f4347a65"><div class="ttname"><a href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61a195c6286a980061276877c88f4347a65">livox::kMsgPack</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00035">protocol.h:35</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a8723e87d47e47da53e6741f82cc59faf"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a8723e87d47e47da53e6741f82cc59faf">livox::CommPacket::seq_num</a></div><div class="ttdeci">uint32_t seq_num</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00053">protocol.h:53</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html"><div class="ttname"><a href="classlivox_1_1_protocol.html">livox::Protocol</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00062">protocol.h:62</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_ad48ad41ffbcd6ae5794668ba8c02f709"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#ad48ad41ffbcd6ae5794668ba8c02f709">livox::CommPacket::sub_receiver</a></div><div class="ttdeci">uint32_t sub_receiver</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00052">protocol.h:52</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_acaf1a7dbf16f2deee49ded19e17a998a"><div class="ttname"><a href="classlivox_1_1_protocol.html#acaf1a7dbf16f2deee49ded19e17a998a">livox::Protocol::CheckPreamble</a></div><div class="ttdeci">virtual int32_t CheckPreamble(uint8_t *buf)=0</div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_af288b1ff799a0d0a9a1a8d0870bb5dd0"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#af288b1ff799a0d0a9a1a8d0870bb5dd0">livox::CommPacket::cmd_set</a></div><div class="ttdeci">uint8_t cmd_set</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00047">protocol.h:47</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a7ba25954258f461a079911c180da2669"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a7ba25954258f461a079911c180da2669">livox::CommPacket::data</a></div><div class="ttdeci">uint8_t * data</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00054">protocol.h:54</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a7d4df6086cbac3cbaecedfda76d6c11e"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a7d4df6086cbac3cbaecedfda76d6c11e">livox::CommPacket::protocol_version</a></div><div class="ttdeci">uint8_t protocol_version</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00046">protocol.h:46</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a03bb9a2b86f81a5000369d43ceed043c"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a03bb9a2b86f81a5000369d43ceed043c">livox::CommPacket::padding</a></div><div class="ttdeci">uint32_t padding</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00056">protocol.h:56</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_aae14b486474c57d0f82ed5c3c9e3e807"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#aae14b486474c57d0f82ed5c3c9e3e807">livox::CommPacket::sender</a></div><div class="ttdeci">uint32_t sender</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00049">protocol.h:49</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_af29b4a6d2966e31e19b7f640414ebeb7"><div class="ttname"><a href="classlivox_1_1_protocol.html#af29b4a6d2966e31e19b7f640414ebeb7">livox::Protocol::CheckPacket</a></div><div class="ttdeci">virtual int32_t CheckPacket(uint8_t *buf)=0</div></div>
<div class="ttc" id="anamespacelivox_html_afeebe28eda25022afdc079c1aaff209ca04b4a83f4d5f6af89e52b2d9cfadbb24"><div class="ttname"><a href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209ca04b4a83f4d5f6af89e52b2d9cfadbb24">livox::kNoNeed</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00039">protocol.h:39</a></div></div>
<div class="ttc" id="anamespacelivox_html_ab97b5b082d8b27d02cd14daeb8c9807ca74908aea2df12e49a212f0b00bae1b25"><div class="ttname"><a href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807ca74908aea2df12e49a212f0b00bae1b25">livox::kRsvd1</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00037">protocol.h:37</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a44673e979d10ca9f967fb6a75ffc5612"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a44673e979d10ca9f967fb6a75ffc5612">livox::CommPacket::packet_type</a></div><div class="ttdeci">uint8_t packet_type</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00044">protocol.h:44</a></div></div>
<div class="ttc" id="anamespacelivox_html_a6941cc71243dd1b067c904fdd91bfb61a9686d537f806d748aece1f03b523d50e"><div class="ttname"><a href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61a9686d537f806d748aece1f03b523d50e">livox::kAckPack</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00035">protocol.h:35</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a9586bf3ae947c5809c25d40aa3091ef7"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a9586bf3ae947c5809c25d40aa3091ef7">livox::CommPacket::data_len</a></div><div class="ttdeci">uint16_t data_len</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00055">protocol.h:55</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_a66113a1c1b0f523f05411ef3fab97808"><div class="ttname"><a href="classlivox_1_1_protocol.html#a66113a1c1b0f523f05411ef3fab97808">livox::Protocol::GetPreambleLen</a></div><div class="ttdeci">virtual uint32_t GetPreambleLen()=0</div></div>
<div class="ttc" id="anamespacelivox_html_ad7370a98d65fd20693ed58a470ec9439"><div class="ttname"><a href="namespacelivox.html#ad7370a98d65fd20693ed58a470ec9439">livox::RequestPackCb</a></div><div class="ttdeci">int(* RequestPackCb)(CommPacket *packet)</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00033">protocol.h:33</a></div></div>
<div class="ttc" id="anamespacelivox_html_afeebe28eda25022afdc079c1aaff209caa59408252d4020dffb9cd35aa5917337"><div class="ttname"><a href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209caa59408252d4020dffb9cd35aa5917337">livox::kDelayAck</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00039">protocol.h:39</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_abd2c32ceba40ea285a0ca2990a7f345d"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#abd2c32ceba40ea285a0ca2990a7f345d">livox::CommPacket::receiver</a></div><div class="ttdeci">uint32_t receiver</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00051">protocol.h:51</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_ad44a13b2298df2c134bb41537a2d8706"><div class="ttname"><a href="classlivox_1_1_protocol.html#ad44a13b2298df2c134bb41537a2d8706">livox::Protocol::~Protocol</a></div><div class="ttdeci">virtual ~Protocol()</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00064">protocol.h:64</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_a52573a66bbd0f40a624e23ec76465045"><div class="ttname"><a href="classlivox_1_1_protocol.html#a52573a66bbd0f40a624e23ec76465045">livox::Protocol::Pack</a></div><div class="ttdeci">virtual int32_t Pack(uint8_t *o_buf, uint32_t o_buf_size, uint32_t *o_len, const CommPacket &amp;i_packet)=0</div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a54efd9bf0a8bcd7f3e54219dce99f966"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a54efd9bf0a8bcd7f3e54219dce99f966">livox::CommPacket::sub_sender</a></div><div class="ttdeci">uint32_t sub_sender</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00050">protocol.h:50</a></div></div>
<div class="ttc" id="anamespacelivox_html_afeebe28eda25022afdc079c1aaff209ca0bfce7eeeb94e9fa66f051de4e0f8889"><div class="ttname"><a href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209ca0bfce7eeeb94e9fa66f051de4e0f8889">livox::kNeedAck</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00039">protocol.h:39</a></div></div>
<div class="ttc" id="anamespacelivox_html_aa0c7b20b2866108c5e232ff70bea4820"><div class="ttname"><a href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820">livox::ParseResult</a></div><div class="ttdeci">ParseResult</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00041">protocol.h:41</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_a0327374f8c1e7008805b8d87732fe4b8"><div class="ttname"><a href="classlivox_1_1_protocol.html#a0327374f8c1e7008805b8d87732fe4b8">livox::Protocol::ParsePacket</a></div><div class="ttdeci">virtual int32_t ParsePacket(uint8_t *i_buf, uint32_t i_len, CommPacket *o_packet)=0</div></div>
<div class="ttc" id="anamespacelivox_html_ab97b5b082d8b27d02cd14daeb8c9807caa1131d8950d9c7527cafd32ececda15d"><div class="ttname"><a href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807caa1131d8950d9c7527cafd32ececda15d">livox::kLidarSdk</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00037">protocol.h:37</a></div></div>
<div class="ttc" id="anamespacelivox_html_ab97b5b082d8b27d02cd14daeb8c9807c"><div class="ttname"><a href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807c">livox::ProtocolType</a></div><div class="ttdeci">ProtocolType</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00037">protocol.h:37</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_afc5dbf8f0b6e52622fd5c6185db18aba"><div class="ttname"><a href="classlivox_1_1_protocol.html#afc5dbf8f0b6e52622fd5c6185db18aba">livox::Protocol::GetPacketWrapperLen</a></div><div class="ttdeci">virtual uint32_t GetPacketWrapperLen()=0</div></div>
<div class="ttc" id="anamespacelivox_html_af4e436d907dcafb14fcc88a760f75090"><div class="ttname"><a href="namespacelivox.html#af4e436d907dcafb14fcc88a760f75090">livox::CommPacket</a></div><div class="ttdeci">struct CommPacket CommPacket</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00031">protocol.h:31</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html"><div class="ttname"><a href="structlivox_1_1_comm_packet.html">livox::CommPacket</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00043">protocol.h:43</a></div></div>
<div class="ttc" id="anamespacelivox_html"><div class="ttname"><a href="namespacelivox.html">livox</a></div><div class="ttdef"><b>Definition:</b> <a href="comm__port_8h_source.html#l00031">comm_port.h:31</a></div></div>
<div class="ttc" id="anamespacelivox_html_a6941cc71243dd1b067c904fdd91bfb61"><div class="ttname"><a href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61">livox::PacketType</a></div><div class="ttdeci">PacketType</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00035">protocol.h:35</a></div></div>
<div class="ttc" id="aclasslivox_1_1_protocol_html_a8a3949d5d8b4ed37a895cc3a53569200"><div class="ttname"><a href="classlivox_1_1_protocol.html#a8a3949d5d8b4ed37a895cc3a53569200">livox::Protocol::GetPacketLen</a></div><div class="ttdeci">virtual uint32_t GetPacketLen(uint8_t *buf)=0</div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a69485605f4d8113b178163d388defa89"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a69485605f4d8113b178163d388defa89">livox::CommPacket::cmd_code</a></div><div class="ttdeci">uint32_t cmd_code</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00048">protocol.h:48</a></div></div>
<div class="ttc" id="anamespacelivox_html_aa0c7b20b2866108c5e232ff70bea4820a397580937b025c53bf21690ebeb11e7a"><div class="ttname"><a href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820a397580937b025c53bf21690ebeb11e7a">livox::kParseFail</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00041">protocol.h:41</a></div></div>
<div class="ttc" id="anamespacelivox_html_a6941cc71243dd1b067c904fdd91bfb61aac306c9b5938dac53c45dfc4fcc9c132"><div class="ttname"><a href="namespacelivox.html#a6941cc71243dd1b067c904fdd91bfb61aac306c9b5938dac53c45dfc4fcc9c132">livox::kRequestPack</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00035">protocol.h:35</a></div></div>
<div class="ttc" id="anamespacelivox_html_ab97b5b082d8b27d02cd14daeb8c9807ca892dd3366a89802324e48987b8cb34e1"><div class="ttname"><a href="namespacelivox.html#ab97b5b082d8b27d02cd14daeb8c9807ca892dd3366a89802324e48987b8cb34e1">livox::kProtocolUndef</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00037">protocol.h:37</a></div></div>
<div class="ttc" id="anamespacelivox_html_aa0c7b20b2866108c5e232ff70bea4820a336a54b375b03cc744f69189037af991"><div class="ttname"><a href="namespacelivox.html#aa0c7b20b2866108c5e232ff70bea4820a336a54b375b03cc744f69189037af991">livox::kParseSuccess</a></div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00041">protocol.h:41</a></div></div>
<div class="ttc" id="anamespacelivox_html_afeebe28eda25022afdc079c1aaff209c"><div class="ttname"><a href="namespacelivox.html#afeebe28eda25022afdc079c1aaff209c">livox::NeedAckType</a></div><div class="ttdeci">NeedAckType</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00039">protocol.h:39</a></div></div>
<div class="ttc" id="astructlivox_1_1_comm_packet_html_a670bd53de47c748164570decdb70c968"><div class="ttname"><a href="structlivox_1_1_comm_packet.html#a670bd53de47c748164570decdb70c968">livox::CommPacket::protocol</a></div><div class="ttdeci">uint8_t protocol</div><div class="ttdef"><b>Definition:</b> <a href="protocol_8h_source.html#l00045">protocol.h:45</a></div></div>
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