Lely core libraries  2.4.0
Lely core libraries

The Lely core libraries are a collection of C and C++ libraries and tools, providing hih-performance I/O and sensor/actuator control for robotics and IoT applications. The libraries are cross-platform and have few dependencies. They can be even be used on bare-metal microcontrollers with as little as 32 kB RAM.


The Lely core libraries consist of:

  • C11 and POSIX compatibility library (liblely-libc)
  • Test Anything Protocol (TAP) library (liblely-tap)
  • Utilities library (liblely-util)
  • Event library (liblely-ev)
  • Asynchronous I/O library (liblely-io2)
  • CANopen library (liblely-co)
  • C++ CANopen application library (liblely-coapp)

Click here for more details.

Getting started


Pre-built Debian packages are available on our Ubuntu PPA.

You can download the source code from the Releases page, or clone this repository with

$ git clone https://gitlab.com/lely_industries/lely-core.git

Build and install

This project uses the GNU Build System (configure, make, make install), available on Linux and Windows (through Cygwin). To build the libraries and tools, you need to install the autotools (autoconf, automake and libtool). After the initial clone or download of the source, generate the configure script by running

$ autoreconf -i

in root directory of the project. This step only has to be repeated if configure.ac or one the the Makefile.am files changes.

First, configure the build system by running

$ ./configure --disable-cython

If you do not want to clutter the source directories with object files, you can run configure from another directory. --disable-cython disables the deprecated Python bindings. The configure script supports many other options. The full list can be shown with

$ ./configure --help

and is documented here.

Once the build system is configured, the libraries and tools can be built with

$ make

The optional test suite can be run with

$ make check

If you have doxygen and Graphviz installed, you can build the HTML documentation of the API with

$ make html

Finally, install the binaries, headers and documentation by running

# make install

as root.

Click here for more information about building the lely-core libraries from source, as well as instructions for cross-compilation.

For more details on setup and tools used for the development of the library, you can check the docker/ folder for all images used by the Continuous Integration system configuration. See docker/README.md more for details.


The doxygen-generated API documentation of the latest development version can be found here.


Copyright 2013-2021 Lely Industries N.V.

Licensed under the Apache License, Version 2.0 (the "License"); you may not use this file except in compliance with the License. You may obtain a copy of the License at


Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.