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+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#ifndef LIVOX_ROS_DRIVER2_COMM_H_
+#define LIVOX_ROS_DRIVER2_COMM_H_
+
+#include <math.h>
+#include <stdint.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <iostream>
+#include <string>
+#include <vector>
+#include <memory>
+#include <map>
+
+#include "lidar_imu_data_queue.h"
+
+namespace livox_ros {
+
+/** Max lidar data source num */
+const uint8_t kMaxSourceLidar = 32;
+
+
+/** Eth packet relative info parama */
+const uint32_t kMaxPointPerEthPacket = 100;
+const uint32_t kMinEthPacketQueueSize = 32;     /**< must be 2^n */
+const uint32_t kMaxEthPacketQueueSize = 131072; /**< must be 2^n */
+const uint32_t kImuEthPacketQueueSize = 256;
+
+/** Max packet length according to Ethernet MTU */
+const uint32_t KEthPacketMaxLength = 1500;
+const uint32_t KEthPacketHeaderLength = 18;     /**< (sizeof(LivoxEthPacket) - 1) */
+const uint32_t KCartesianPointSize = 13;
+const uint32_t KSphericalPointSzie = 9;
+
+const uint64_t kRosTimeMax = 4294967296000000000; /**< 2^32 * 1000000000ns */
+const int64_t kPacketTimeGap = 1000000;           /**< 1ms = 1000000ns */
+/**< the threshold of packet continuous */
+const int64_t kMaxPacketTimeGap = 1700000;
+/**< the threshold of device disconect */
+const int64_t kDeviceDisconnectThreshold = 1000000000;
+const uint32_t kNsPerSecond = 1000000000; /**< 1s  = 1000000000ns */
+const uint32_t kNsTolerantFrameTimeDeviation = 1000000; /**< 1ms  = 1000000ns */
+const uint32_t kRatioOfMsToNs = 1000000; /**< 1ms  = 1000000ns */
+
+const int kPathStrMinSize = 4;   /**< Must more than 4 char */
+const int kPathStrMaxSize = 256; /**< Must less than 256 char */
+const int kBdCodeSize = 15;
+
+const uint32_t kPointXYZRSize = 16;
+const uint32_t kPointXYZRTRSize = 18;
+
+const double PI = 3.14159265358979323846;
+
+constexpr uint32_t kMaxBufferSize = 0x8000;  // 32k bytes
+
+/** Device Line Number **/
+const uint8_t kLineNumberDefault = 1;
+const uint8_t kLineNumberMid360 = 4;
+const uint8_t kLineNumberHAP = 6;    
+
+// SDK related
+typedef enum {
+  kIndustryLidarType = 1,
+  kVehicleLidarType = 2,
+  kDirectLidarType = 4,
+  kLivoxLidarType = 8
+} LidarProtoType;
+
+// SDK related
+/** Timestamp sync mode define. */
+typedef enum {
+  kTimestampTypeNoSync = 0, /**< No sync signal mode. */
+  kTimestampTypeGptpOrPtp = 1,    /**< gPTP or PTP sync mode */
+  kTimestampTypeGps = 2   /**< GPS sync mode. */
+} TimestampType;
+
+/** Lidar connect state */
+typedef enum {
+  kConnectStateOff = 0,
+  kConnectStateOn = 1,
+  kConnectStateConfig = 2,
+  kConnectStateSampling = 3,
+} LidarConnectState;
+
+/** Device data source type */
+typedef enum {
+  kSourceRawLidar = 0, /**< Data from raw lidar. */
+  kSourceRawHub = 1,   /**< Data from lidar hub. */
+  kSourceLvxFile,      /**< Data from parse lvx file. */
+  kSourceUndef,
+} LidarDataSourceType;
+
+typedef enum { kCoordinateCartesian = 0, kCoordinateSpherical } CoordinateType;
+
+typedef enum {
+  kConfigDataType = 1 << 0,
+  kConfigScanPattern = 1 << 1,
+  kConfigBlindSpot = 1 << 2,
+  kConfigDualEmit = 1 << 3,
+  kConfigUnknown
+} LivoxLidarConfigCodeBit;
+
+typedef enum {
+  kNoneExtrinsicParameter,
+  kExtrinsicParameterFromLidar,
+  kExtrinsicParameterFromXml
+} ExtrinsicParameterType;
+
+typedef struct {
+ uint8_t lidar_type {};
+} LidarSummaryInfo;
+
+/** 8bytes stamp to uint64_t stamp */
+typedef union {
+  struct {
+    uint32_t low;
+    uint32_t high;
+  } stamp_word;
+
+  uint8_t stamp_bytes[8];
+  int64_t stamp;
+} LdsStamp;
+
+#pragma pack(1)
+
+typedef struct {
+  float x;            /**< X axis, Unit:m */
+  float y;            /**< Y axis, Unit:m */
+  float z;            /**< Z axis, Unit:m */
+  float reflectivity; /**< Reflectivity   */
+  uint8_t tag;        /**< Livox point tag   */
+  uint8_t line;       /**< Laser line id     */
+  double timestamp;   /**< Timestamp of point*/
+} LivoxPointXyzrtlt;
+
+typedef struct {
+  float x;
+  float y;
+  float z;
+  float intensity;
+  uint8_t tag;
+  uint8_t line;
+  uint64_t offset_time;
+} PointXyzlt;
+
+typedef struct {
+  uint32_t handle;
+  uint8_t lidar_type; ////refer to LivoxLidarType
+  uint32_t points_num;
+  PointXyzlt* points;
+} PointPacket;
+
+typedef struct {
+  uint64_t base_time[kMaxSourceLidar] {};
+  uint8_t lidar_num {};
+  PointPacket lidar_point[kMaxSourceLidar] {};
+} PointFrame;
+
+#pragma pack()
+
+typedef struct {
+  LidarProtoType lidar_type;
+  uint32_t handle;
+  uint64_t base_time;
+  uint32_t points_num;
+  std::vector<PointXyzlt> points;
+} StoragePacket;
+
+typedef struct {
+  LidarProtoType lidar_type;
+  uint32_t handle;
+  bool extrinsic_enable;
+  uint32_t point_num;
+  uint8_t data_type;
+  uint8_t line_num;
+  uint64_t time_stamp;
+  uint64_t point_interval;
+  std::vector<uint8_t> raw_data;
+} RawPacket;
+
+typedef struct {
+  StoragePacket *storage_packet;
+  volatile uint32_t rd_idx;
+  volatile uint32_t wr_idx;
+  uint32_t mask;
+  uint32_t size; /**< must be power of 2. */
+} LidarDataQueue;
+
+/*****************************/
+/* About Extrinsic Parameter */
+typedef struct {
+  float roll;  /**< Roll angle, unit: degree. */
+  float pitch; /**< Pitch angle, unit: degree. */
+  float yaw;   /**< Yaw angle, unit: degree. */
+  int32_t x;   /**< X translation, unit: mm. */
+  int32_t y;   /**< Y translation, unit: mm. */
+  int32_t z;   /**< Z translation, unit: mm. */
+} ExtParameter;
+
+typedef float TranslationVector[3]; /**< x, y, z translation, unit: mm. */
+typedef float RotationMatrix[3][3];
+
+typedef struct {
+  TranslationVector trans;
+  RotationMatrix rotation;
+} ExtParameterDetailed;
+
+typedef struct {
+  LidarProtoType lidar_type;
+  uint32_t handle;
+  ExtParameter param;
+} LidarExtParameter;
+
+/** Configuration in json config file for livox lidar */
+typedef struct {
+  char broadcast_code[16];
+  bool enable_connect;
+  bool enable_fan;
+  uint32_t return_mode;
+  uint32_t coordinate;
+  uint32_t imu_rate;
+  uint32_t extrinsic_parameter_source;
+  bool enable_high_sensitivity;
+} UserRawConfig;
+
+typedef struct {
+  bool enable_fan;
+  uint32_t return_mode;
+  uint32_t coordinate;              /**< 0 for CartesianCoordinate; others for SphericalCoordinate. */
+  uint32_t imu_rate;
+  uint32_t extrinsic_parameter_source;
+  bool enable_high_sensitivity;
+  volatile uint32_t set_bits;
+  volatile uint32_t get_bits;
+} UserConfig;
+
+typedef struct {
+  uint32_t handle;
+  int8_t pcl_data_type;
+  int8_t pattern_mode;
+  int32_t blind_spot_set;
+  int8_t dual_emit_en;
+  ExtParameter extrinsic_param;
+  volatile uint32_t set_bits;
+  volatile uint32_t get_bits;
+} UserLivoxLidarConfig;
+
+/** Lidar data source info abstract */
+typedef struct {
+  uint8_t lidar_type;
+  uint32_t handle;
+  // union {
+  //   uint8_t slot : 4; //slot for LivoxLidarType::kVehicleLidarType
+  //   uint8_t handle : 4;  // handle for LivoxLidarType::kIndustryLidarType
+  // };
+  uint8_t data_src;                  /**< From raw lidar or livox file. */
+  volatile LidarConnectState connect_state;
+  // DeviceInfo info;
+
+  LidarDataQueue data;
+  LidarImuDataQueue imu_data;
+
+  uint32_t firmware_ver; /**< Firmware version of lidar  */
+  UserLivoxLidarConfig livox_config;
+} LidarDevice;
+
+constexpr uint32_t kMaxProductType = 10;
+constexpr uint32_t kDeviceTypeLidarMid70 = 6;
+
+/***********************************/
+/* Global function for general use */
+bool IsFilePathValid(const char *path_str);
+uint32_t CalculatePacketQueueSize(const double publish_freq);
+std::string IpNumToString(uint32_t ip_num);
+uint32_t IpStringToNum(std::string ip_string);
+std::string ReplacePeriodByUnderline(std::string str);
+
+} // namespace livox_ros
+
+#endif // LIVOX_ROS_DRIVER2_COMM_H_