├── .clang-format ├── .gitignore ├── .gitmodules ├── 3mf ├── LivoxCap.3mf ├── LivoxCap.png ├── ScannerAssembly.3mf └── ScannerAssembly.png ├── 3rd ├── Livox-SDK2 │ ├── .gitignore │ ├── 3rdparty │ │ ├── FastCRC │ │ │ ├── FastCRC.h │ │ │ ├── FastCRC_tables.hpp │ │ │ ├── FastCRCsw.cpp │ │ │ ├── LICENSE.md │ │ │ └── README.md │ │ ├── rapidjson │ │ │ ├── allocators.h │ │ │ ├── cursorstreamwrapper.h │ │ │ ├── document.h │ │ │ ├── encodedstream.h │ │ │ ├── encodings.h │ │ │ ├── error │ │ │ │ ├── en.h │ │ │ │ └── error.h │ │ │ ├── filereadstream.h │ │ │ ├── filewritestream.h │ │ │ ├── fwd.h │ │ │ ├── internal │ │ │ │ ├── biginteger.h │ │ │ │ ├── clzll.h │ │ │ │ ├── diyfp.h │ │ │ │ ├── dtoa.h │ │ │ │ ├── ieee754.h │ │ │ │ ├── itoa.h │ │ │ │ ├── meta.h │ │ │ │ ├── pow10.h │ │ │ │ ├── regex.h │ │ │ │ ├── stack.h │ │ │ │ ├── strfunc.h │ │ │ │ ├── strtod.h │ │ │ │ └── swap.h │ │ │ ├── istreamwrapper.h │ │ │ ├── license.txt │ │ │ ├── memorybuffer.h │ │ │ ├── memorystream.h │ │ │ ├── msinttypes │ │ │ │ ├── inttypes.h │ │ │ │ └── stdint.h │ │ │ ├── ostreamwrapper.h │ │ │ ├── pointer.h │ │ │ ├── prettywriter.h │ │ │ ├── rapidjson.h │ │ │ ├── reader.h │ │ │ ├── schema.h │ │ │ ├── stream.h │ │ │ ├── stringbuffer.h │ │ │ └── writer.h │ │ └── spdlog │ │ │ ├── LICENSE │ │ │ └── spdlog │ │ │ ├── async.h │ │ │ ├── async_logger.h │ │ │ ├── common.h │ │ │ ├── details │ │ │ ├── async_logger_impl.h │ │ │ ├── circular_q.h │ │ │ ├── console_globals.h │ │ │ ├── file_helper.h │ │ │ ├── fmt_helper.h │ │ │ ├── log_msg.h │ │ │ ├── logger_impl.h │ │ │ ├── mpmc_blocking_q.h │ │ │ ├── null_mutex.h │ │ │ ├── os.h │ │ │ ├── pattern_formatter.h │ │ │ ├── periodic_worker.h │ │ │ ├── registry.h │ │ │ └── thread_pool.h │ │ │ ├── fmt │ │ │ ├── bin_to_hex.h │ │ │ ├── bundled │ │ │ │ ├── LICENSE.rst │ │ │ │ ├── chrono.h │ │ │ │ ├── color.h │ │ │ │ ├── core.h │ │ │ │ ├── format-inl.h │ │ │ │ ├── format.h │ │ │ │ ├── locale.h │ │ │ │ ├── ostream.h │ │ │ │ ├── posix.h │ │ │ │ ├── printf.h │ │ │ │ ├── ranges.h │ │ │ │ └── time.h │ │ │ ├── fmt.h │ │ │ └── ostr.h │ │ │ ├── formatter.h │ │ │ ├── logger.h │ │ │ ├── sinks │ │ │ ├── android_sink.h │ │ │ ├── ansicolor_sink.h │ │ │ ├── base_sink.h │ │ │ ├── basic_file_sink.h │ │ │ ├── daily_file_sink.h │ │ │ ├── dist_sink.h │ │ │ ├── msvc_sink.h │ │ │ ├── null_sink.h │ │ │ ├── ostream_sink.h │ │ │ ├── rotating_file_sink.h │ │ │ ├── sink.h │ │ │ ├── stdout_color_sinks.h │ │ │ ├── stdout_sinks.h │ │ │ ├── syslog_sink.h │ │ │ └── wincolor_sink.h │ │ │ ├── spdlog.h │ │ │ ├── tweakme.h │ │ │ └── version.h │ ├── CHANGELOG.md │ ├── CMakeLists.txt │ ├── LICENSE.txt │ ├── README.md │ ├── git_log.txt │ ├── include │ │ ├── livox_lidar_api.h │ │ ├── livox_lidar_cfg.h │ │ └── livox_lidar_def.h │ ├── samples │ │ ├── CMakeLists.txt │ │ ├── livox_lidar_quick_start │ │ │ ├── CMakeLists.txt │ │ │ ├── config.json │ │ │ ├── hap_config.json │ │ │ ├── main.cpp │ │ │ └── mid360_config.json │ │ ├── logger │ │ │ ├── CMakeLists.txt │ │ │ ├── config.json │ │ │ ├── hap_config.json │ │ │ ├── main.cpp │ │ │ └── mid360_config.json │ │ └── multi_lidars_upgrade │ │ │ ├── CMakeLists.txt │ │ │ ├── config.json │ │ │ ├── hap_config.json │ │ │ ├── main.cpp │ │ │ └── mid360_config.json │ └── sdk_core │ │ ├── CMakeLists.txt │ │ ├── CMakeLists.txt.lixiang │ │ ├── base │ │ ├── command_callback.h │ │ ├── io_loop.cpp │ │ ├── io_loop.h │ │ ├── io_thread.cpp │ │ ├── io_thread.h │ │ ├── logging.cpp │ │ ├── logging.h │ │ ├── multiple_io │ │ │ ├── multiple_io_base.cpp │ │ │ ├── multiple_io_base.h │ │ │ ├── multiple_io_epoll.cpp │ │ │ ├── multiple_io_epoll.h │ │ │ ├── multiple_io_factory.h │ │ │ ├── multiple_io_kqueue.cpp │ │ │ ├── multiple_io_kqueue.h │ │ │ ├── multiple_io_poll.cpp │ │ │ ├── multiple_io_poll.h │ │ │ ├── multiple_io_select.cpp │ │ │ └── multiple_io_select.h │ │ ├── network │ │ │ ├── network_util.h │ │ │ ├── unix │ │ │ │ └── network_util.cpp │ │ │ └── win │ │ │ │ └── network_util.cpp │ │ ├── noncopyable.h │ │ ├── thread_base.cpp │ │ ├── thread_base.h │ │ └── wake_up │ │ │ ├── unix │ │ │ └── wake_up_pipe.cpp │ │ │ ├── wake_up_pipe.h │ │ │ └── win │ │ │ └── wake_up_pipe.cpp │ │ ├── comm │ │ ├── CRC │ │ │ ├── Crc.cpp │ │ │ ├── Crc.h │ │ │ ├── Crc_Cfg.cpp │ │ │ └── Crc_Cfg.h │ │ ├── comm_port.cpp │ │ ├── comm_port.h │ │ ├── define.h │ │ ├── generate_seq.cpp │ │ ├── generate_seq.h │ │ ├── protocol.h │ │ ├── sdk_protocol.cpp │ │ └── sdk_protocol.h │ │ ├── command_handler │ │ ├── build_request.cpp │ │ ├── build_request.h │ │ ├── command_handler.h │ │ ├── command_impl.cpp │ │ ├── command_impl.h │ │ ├── general_command_handler.cpp │ │ ├── general_command_handler.h │ │ ├── hap_command_handler.cpp │ │ ├── hap_command_handler.h │ │ ├── mid360_command_handler.cpp │ │ ├── mid360_command_handler.h │ │ ├── pa_command_handler.cpp │ │ ├── pa_command_handler.h │ │ ├── parse_lidar_state_info.cpp │ │ └── parse_lidar_state_info.h │ │ ├── data_handler │ │ ├── data_handler.cpp │ │ └── data_handler.h │ │ ├── device_manager.cpp │ │ ├── device_manager.h │ │ ├── livox_lidar_sdk.cpp │ │ ├── logger_handler │ │ ├── file_manager.cpp │ │ ├── file_manager.h │ │ ├── logger_handler.cpp │ │ ├── logger_handler.h │ │ ├── logger_manager.cpp │ │ └── logger_manager.h │ │ ├── params_check.cpp │ │ ├── params_check.h │ │ ├── parse_cfg_file.cpp │ │ ├── parse_cfg_file.h │ │ ├── upgrade │ │ ├── firmware.cpp │ │ ├── firmware.h │ │ ├── livox_lidar_upgrader.cpp │ │ └── livox_lidar_upgrader.h │ │ ├── upgrade_manager.cpp │ │ └── upgrade_manager.h ├── jquery-3.3.1.js └── json │ └── json.hpp ├── CMakeLists.txt ├── LICENSE ├── README.md ├── code ├── FileSystemClient.cpp ├── FileSystemClient.h ├── LivoxClient.cpp ├── LivoxClient.h ├── OutPutDir.cpp ├── button_demo.cpp ├── compilation_constants.h.in ├── fake_pps.cpp ├── gnss.cpp ├── gnss.h ├── gpios.cpp ├── gpios.h ├── hardware_config │ ├── .mandeye-pro.h.swp │ ├── hardware_common.h │ ├── mandeye-direct-cm5.h │ ├── mandeye-pro-cm4-bookworm.h │ ├── mandeye-pro-cm4-bullseye.h │ ├── mandeye-standard-rpi4.h │ ├── mandeye-standard-rpi5.h │ ├── mandeye.h │ ├── mandeye_pro.md │ └── mandeye_pro.ucf ├── led_demo.cpp ├── main.cpp ├── mandeye_utils.h ├── publisher.cpp ├── publisher.h ├── save_laz.cpp ├── save_laz.h ├── state.h ├── utils │ ├── TimeStampProvider.h │ ├── TimeStampReceiver.cpp │ └── TimeStampReceiver.h └── web_page.h ├── doc ├── BIM.md ├── appendix_ptp.md ├── manual │ └── manual_v0_2 │ │ ├── TeX_files │ │ ├── chapter01.aux │ │ ├── chapter01.tex │ │ ├── chapter02.aux │ │ └── chapter02.tex │ │ ├── main.aux │ │ ├── main.log │ │ ├── main.synctex.gz │ │ ├── main.toc │ │ ├── mandeye_dev_manual_v0_2.aux │ │ ├── mandeye_dev_manual_v0_2.log │ │ ├── mandeye_dev_manual_v0_2.out │ │ ├── mandeye_dev_manual_v0_2.pdf │ │ ├── mandeye_dev_manual_v0_2.synctex.gz │ │ ├── mandeye_dev_manual_v0_2.tex │ │ ├── mandeye_dev_manual_v0_2.toc │ │ └── photos │ │ ├── IMG_0121.jpg │ │ ├── IMG_0325.jpg │ │ ├── IMG_0327.jpg │ │ ├── IMG_0328.jpg │ │ ├── IMG_9458.jpg │ │ ├── IMG_9478.jpg │ │ ├── IMG_9479.jpg │ │ ├── IMG_9481.jpg │ │ ├── IMG_9481b.jpg │ │ ├── IMG_9482.jpg │ │ ├── IMG_9483.jpg │ │ ├── IMG_9484.jpg │ │ ├── IMG_9490.jpg │ │ ├── IMG_9492.jpg │ │ ├── IMG_9493.jpg │ │ ├── IMG_9494.jpg │ │ ├── IMG_9495.jpg │ │ ├── IMG_9498.jpg │ │ ├── IMG_9499.jpg │ │ ├── IMG_95011.jpg │ │ ├── IMG_95021.jpg │ │ ├── mandeye_npp.png │ │ ├── npp_all_madeye_jackal.jpg │ │ ├── river.jpg │ │ └── river2.jpg ├── rpi.md └── wiring │ ├── raspberryGPIO.jpg │ ├── rj45.jpg │ └── wiring.md ├── extras ├── CMakeLists.txt ├── libcamera │ ├── CMakeLists.txt │ ├── LibCameraWrapper.cpp │ ├── LibCameraWrapper.h │ ├── docs │ │ └── img.png │ ├── index.html.h │ ├── json.hpp │ ├── main.cpp │ ├── readme.md │ └── services │ │ ├── mandeye_libcamera_cam0.service │ │ ├── mandeye_libcamera_cam1.service │ │ └── postinst ├── picamera2 │ ├── CMakeLists.txt │ ├── README.md │ ├── camera.py │ ├── ftp_config_server.py │ └── services │ │ ├── mandeye_picamera.service │ │ └── mandeye_picamera_ftp.service └── zmqDemo │ ├── CMakeLists.txt │ ├── 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