livox2

A lightweight and pure Rust implementation of Livox SDK2, based on async-net and zerocopy.

Overview

livox2 is a pure Rust library for interfacing with Livox LiDAR devices. This crate see lidar data streams as a [streams::LidarStream], just like the socket data flows they are in low-level network communication.

Usage

To initialize the lidar data streams, use [LivoxLidarBuilder] to help you create the device instances by forwarding the configuration.

Or you can create the device instances by yourself, see also [streams] module.

Once you have the device instances, you can call [streams::LidarStream::next_packet] to receive the corresponding data packets.

[!NOTE] This crate doens't provide stream methods, because the [futures_core::Stream] trait doesn't guarantee the unique mutable access to the socket buffer between each yiled [futures_core::Stream::Item], and can't even return a reference.

Instead, to get iterate the lidar data streams, you must match the enum [streams::LidarStream::Packet] first, take the inner array slice, then iterate this array slice to read the data.

Example

See tests in crate lib.rs