Livox HAP - Communication and Software; Communication Protocols: ACK and Info Push; Livox Viewer 2 Software Guide

LIVOX HAP
User Manual
©
2022 Livox Tech All Rights Reserved.
17
Calculate oset with sync and follow_up:
oset = (t2' - t1') - link_delay
The AUTOSAR standard Specication of Time Synchronization over Ethernet includes the special
requirements for IEEE 802.1AS in automotive applications, such as:
• No support of Announce messages.
• No support for Best Master Clock Algorithm (BCMA).
• Master does not send delay_req message.
As the time synchronization method of HAP (TX) integrates AUTOSAR gPTP, HAP (TX) follows
above requirements.
Control Command ACK
Master sends control commands to the HAP (TX). HAP (TX) sends ACK messages once receiving
the control command. Refer to the Control Command section in the SDK Communication
Protocols for specic information.
Information Push
In normal conditions, the HAP (TX) pushes status information at 1 Hz (such as the status of the
LiDAR sensor, error code, flash status); In abnormal conditions, the HAP (TX) keeps pushing
status information at 100 Hz for 100 ms for users to quickly recognize the error and take action.
The HAP (TX) will automatically push log data once anything abnormal happens. Users need to
save these log data and provide them to Livox Support for analysis. Contact Livox Support for
detailed denitions of the messages indicating abnormal situations.
Livox Viewer 2
Livox Viewer 2 is software specially designed for Livox LiDAR sensors. It displays and records
real-time point cloud data, replays point cloud videos and analyzes the 3D point cloud data.
Users can set product parameters and calibrate extrinsics using Livox Viewer 2. The simple
interface makes it easy to use.
Visit www.livoxtech.com to download the latest Livox Viewer 2. Livox Viewer 2 supports
Windows
®
10 (64 bit) and Ubuntu
TM
18.04 (64 bit). Follow the steps below to use the Livox
Viewer 2.
For Windows users, Livox Viewer 2 may fail to detect LiDAR sensors if Windows Firewall is turned
on. In this situation, go to the Control Panel to turn o Windows Firewall and restart Livox Viewer 2.
For Windows users: Unzip the Livox Viewer 2 le and click to open the .exe le named “Livox
Viewer 2”.
Ubuntu users: unzip the Livox Viewer 2 le and click to open the “./livox_viewer_2.sh” le under
the root directory.
For more information, download the Livox Viewer 2 User Manual from the ocial website www.
livox.com.