Livox2

Overview

livox2 is a pure Rust library for interfacing with Livox LiDAR devices. This crate provides the [lidar_port] API, and each port is actually a lidar data flow, like the point cloud port.

Usage

To initialize the lidar data ports, see [lidar_port::LidarPortConfig] new methods to help you build the data ports.

Or you can create the device port instances by yourself, see also [lidar_port] sub-modules.

Once you have the device port instances, you can call next_packet_ref method to receive the corresponding data packets.

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

Instead, to get iterate the lidar data streams, you must match the packet data first, like: CoordinateData, take the inner array slice, then iterate this array slice to read the data.

Example

See also example