Livox viewer - Time sync

3Dcloud

When using Livox viewer and sync cable, will Avia get its time from local network NTP?
The manual states, if a sync PPS is recevied the recorded time stamp is UTC format.

3Dcloud

I recorded two sessions. On without PPS and UTC sync and one with PPS and SYNC.
I have gnss sending GPRMC UTC and sync puls.
In the CSV file with PPS and sync i got "timestamp type" nr 4 but also an error code i could not find in the SDK pages. If someone could have look.
Timestamp type nr4, does that correct nr for synchronization? or should it be nr3
And meaning of the error code.

https://drive.google.com/drive/f ... vrIGElz?usp=sharing

3Dcloud

Well, more reading and computing.
Error code is timesync issue. Related to Timestamp type 4
4: System time synchronization is abnormal (The highest priority synchronization signal is abnormal)

But what does it really mean? The highest priority synchronization signal is abnormal

Livox Support

In the CSV file, timestamp type_4 means LiDAR sync is PPS synchronization source，it's not an errorcode.It seems that your ptp or GPS master did not work in system.
The error code is generally print  under the LiDAR S/N line in Livox-viewer and displayed in red or yellow highlight. Please check that.

3Dcloud

Thank you for the quick reponse and viewer tip
Comparing the records from livox viewer and log recorded with the SDK sample tool i get two different "error codes" or timestamp sync issues.
In Livox Viewer the error code is 0x0000c200. So there seems to be an issue with a stream somewhere or the nmea messages is not getting where it should. Or the it fails during "handshake" session.

Regarding 0x0A Update UTC synchronize time {#utc_cmd} here
https://github.com/Livox-SDK/Liv ... ronize-time-utc_cmd

Is that already coded into SDK sample/Livox Viewer ?

3Dcloud

Also if Avia support
this https://github.com/Livox-SDK/Liv ... ation-manual#21-ptp
and/or
this https://github.com/Livox-SDK/Liv ... -livox-converter-20

Livox Support

Hi 3Dcloud,
  Thanks for contacting Livox.
  It seems that you are trying to using GPS or PPS time-synchronized method. If Viewer showing
  "0x0000c200" it should be alright. It just a reminder for not using abnormal(PTP) method.
  Back to your original question,  Avia will not get its time from local network NTP, there are
  three methods for getting the time PTP, PPS and GPRMC
  Please visit this link for more information:
  https://github.com/Livox-SDK/Liv ... chronization-manual
  If you have any further question, please feel free to contact us. We are always here to help.
  Best regards,
Hannibal.Wu
Livox Technical Support
Website: http://www.livoxtech.com
Forum：https://forum.livoxtech.com/

3Dcloud

Update.
Been trying to troubleshoot any error but can not get Avia to sync with GPS and PPS from the gnss.
I have Avia connected to the same switch the computer is connected to. I have used two different nmea readers on the computer to verify data is coming through from the gnss unit. The gnss is a Reach M2 from Emlid.
See attached screenshot.

Also runing this from the Linux and try both lidar sample and lidar_utc_sync i get this error. Do you know what it states?

1. <div>[WARNING] Lidar sn: [3JEDHAF00100321] StateChange!!!</div><div>Device Working State 1</div><div>Device State Error Code 0X00010200</div><div>Device feature 0</div>

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Log from a session this error poped up

1. <div>root@ubuntu:/home/ubuntu/Livox-SDK/build/sample_cc/lidar_utc_sync# ./lidar_utc_sync</div><div>Livox SDK version 2.3.0</div><div>Local broadcast code : 000000000000001</div><div>Invalid local broadcast code : 000000000000001</div><div>No broadcast code was added to whitelist, swith to automatic connection mode!</div><div>Livox-SDK init success!</div><div>Init lds lidar success!</div><div>Start discovering device.</div><div>[Baudrate]: 2 13</div><div>Set baudrate success.</div><div>Synchro start success[2021-02-23 01:41:33.333] [console] [info]  Broadcast broadcast code: 3JEDHAF00100321  [device_discovery.cpp] [OnBroadcast] [150]</div><div>In automatic connection mode, will connect 3JEDHAF00100321</div><div>[2021-02-23 01:41:33.335] [console] [info] LocalIP: 192.168.1.166  [device_discovery.cpp] [OnBroadcast] [201]</div><div>[2021-02-23 01:41:33.335] [console] [info] DeviceIP: 192.168.1.132  [device_discovery.cpp] [OnBroadcast] [202]</div><div>[2021-02-23 01:41:33.335] [console] [info] Command Port: 55501  [device_discovery.cpp] [OnBroadcast] [203]</div><div>[2021-02-23 01:41:33.335] [console] [info] Data Port: 56001  [device_discovery.cpp] [OnBroadcast] [204]</div><div>[2021-02-23 01:41:33.339] [console] [info] New Device  [device_discovery.cpp] [OnData] [99]</div><div>[2021-02-23 01:41:33.339] [console] [info] Handle: 0  [device_discovery.cpp] [OnData] [100]</div><div>[2021-02-23 01:41:33.339] [console] [info] Broadcast Code: 3JEDHAF00100321  [device_discovery.cpp] [OnData] [101]</div><div>[2021-02-23 01:41:33.339] [console] [info] Type: 7  [device_discovery.cpp] [OnData] [102]</div><div>[2021-02-23 01:41:33.339] [console] [info] IP: 192.168.1.132  [device_discovery.cpp] [OnData] [103]</div><div>[2021-02-23 01:41:33.339] [console] [info] Command Port: 55501  [device_discovery.cpp] [OnData] [104]</div><div>[2021-02-23 01:41:33.339] [console] [info] Data Port: 56001  [device_discovery.cpp] [OnData] [105]</div><div>[2021-02-23 01:41:33.340] [console] [info]  Send Command: Set 0 Id 2 Seq 3  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:33.343] [console] [info]  Recieve Ack: Set 0 Id 2 Seq 3  [command_handler.cpp] [OnCommand] [118]</div><div>[WARNING] Lidar sn: [3JEDHAF00100321] Connect!!!</div><div>Device Working State 5</div><div>Device State Error Code 0X00000000</div><div>Device feature 0</div><div>[2021-02-23 01:41:33.343] [console] [info]  Send Command: Set 0 Id 2 Seq 4  [command_channel.cpp] [Send] [243]</div><div>Rmc: $GNRMC,163019.20,A,6016.5433296,N,00505.0919643,E,0.06,,180421,,,A*55</div><div>[2021-02-23 01:41:33.352] [console] [info]  Recieve Ack: Set 0 Id 2 Seq 4  [command_handler.cpp] [OnCommand] [118]</div><div>firm ver: 11.7.0.0</div><div>[2021-02-23 01:41:33.409] [console] [info]  Update State to 1, device connect true  [device_manager.cpp] [UpdateDeviceState] [257]</div><div>[WARNING] Lidar sn: [3JEDHAF00100321] StateChange!!!</div><div>Device Working State 1</div><div>Device State Error Code 0X00010200</div><div>Device feature 0</div><div>Rmc: $GNRMC,163020.20,A,6016.5433402,N,00505.0919898,E,0.02,,180421,,,A*58</div><div>[2021-02-23 01:41:34.368] [console] [info]  Send Command: Set 1 Id 10 Seq 7  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:34.373] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 7  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163021.20,A,6016.5433528,N,00505.0919900,E,0.06,,180421,,,A*54</div><div>[2021-02-23 01:41:35.382] [console] [info]  Send Command: Set 1 Id 10 Seq 9  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:35.385] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 9  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>[WARNING] Lidar sn: [3JEDHAF00100321] StateChange!!!</div><div>Device Working State 1</div><div>Device State Error Code 0X00008200</div><div>Device feature 0</div><div>Rmc: $GNRMC,163022.20,A,6016.5433660,N,00505.0919875,E,0.02,,180421,,,A*5F</div><div>[2021-02-23 01:41:36.395] [console] [info]  Send Command: Set 1 Id 10 Seq 11  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:36.403] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 11  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163023.20,A,6016.5433873,N,00505.0919989,E,0.08,,180421,,,A*5A</div><div>[2021-02-23 01:41:37.366] [console] [info]  Send Command: Set 1 Id 10 Seq 13  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:37.369] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 13  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163024.20,A,6016.5434140,N,00505.0920095,E,0.12,,180421,,,A*56</div><div>[2021-02-23 01:41:38.384] [console] [info]  Send Command: Set 1 Id 10 Seq 16  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:38.389] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 16  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163025.20,A,6016.5434382,N,00505.0919985,E,0.04,,180421,,,A*5E</div><div>[2021-02-23 01:41:39.398] [console] [info]  Send Command: Set 1 Id 10 Seq 18  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:39.406] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 18  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163026.20,A,6016.5434693,N,00505.0919854,E,0.04,,180421,,,A*55</div><div>[2021-02-23 01:41:40.362] [console] [info]  Send Command: Set 1 Id 10 Seq 20  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:40.466] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 20  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163027.20,A,6016.5434993,N,00505.0919851,E,0.08,,180421,,,A*52</div><div>[2021-02-23 01:41:41.371] [console] [info]  Send Command: Set 1 Id 10 Seq 22  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:41.374] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 22  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163028.20,A,6016.5435128,N,00505.0920011,E,0.04,,180421,,,A*5E</div><div>[2021-02-23 01:41:42.387] [console] [info]  Send Command: Set 1 Id 10 Seq 25  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:42.391] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 25  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163029.20,A,6016.5435300,N,00505.0920250,E,0.00,,180421,,,A*54</div><div>[2021-02-23 01:41:43.400] [console] [info]  Send Command: Set 1 Id 10 Seq 27  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:43.407] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 27  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163030.20,A,6016.5435379,N,00505.0920385,E,0.10,,180421,,,A*5A</div><div>[2021-02-23 01:41:44.366] [console] [info]  Send Command: Set 1 Id 10 Seq 29  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:44.369] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 29  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163031.20,A,6016.5435368,N,00505.0920384,E,0.08,,180421,,,A*53</div><div>[2021-02-23 01:41:45.379] [console] [info]  Send Command: Set 1 Id 10 Seq 31  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:45.383] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 31  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163032.20,A,6016.5435520,N,00505.0920397,E,0.04,,180421,,,A*54</div><div>[2021-02-23 01:41:46.391] [console] [info]  Send Command: Set 1 Id 10 Seq 33  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:46.395] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 33  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0.</div><div>Rmc: $GNRMC,163033.20,A,6016.5435595,N,00505.0920466,E,0.06,,180421,,,A*50</div><div>[2021-02-23 01:41:47.369] [console] [info]  Send Command: Set 1 Id 10 Seq 36  [command_channel.cpp] [Send] [243]</div><div>[2021-02-23 01:41:47.373] [console] [info]  Recieve Ack: Set 1 Id 10 Seq 36  [command_handler.cpp] [OnCommand] [118]</div><div>OnLidarSetRmcSyncTimeCallback statue 0 handle 0 response 0</div>

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3Dcloud

Ok, some progress. Seems running ./lidar_utc_sync and livox record at the same time is messing things up.

Could you verify if ./lidar_utc_sync is run 1 time at start or if it need to be continuously for GPS/PPS synchronization to work?

https://github.com/Livox-SDK/Liv ... -livox-converter-20