feature:add C++ sample

sample_cc/lidar/main.cpp

@@ -0,0 +1,151 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 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.
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#ifdef WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include <string.h>
+#include <apr_general.h>
+#include <apr_getopt.h>
+#include "lds_lidar.h"
+
+/** Cmdline input broadcast code */
+static std::vector<std::string> cmdline_broadcast_code;
+
+/** Set the program options.
+* You can input the registered device broadcast code and decide whether to save the log file.
+*/
+static int SetProgramOption(int argc, const char *argv[]) {
+  apr_status_t rv;
+  apr_pool_t *mp = NULL;
+  static const apr_getopt_option_t opt_option[] = {
+    /** Long-option, short-option, has-arg flag, description */
+    { "code", 'c', 1, "Register device broadcast code" },
+    { "log", 'l', 0, "Save the log file" },
+    { "help", 'h', 0, "Show help" },
+    { NULL, 0, 0, NULL },
+  };
+  apr_getopt_t *opt = NULL;
+  int optch = 0;
+  const char *optarg = NULL;
+
+  if (apr_initialize() != APR_SUCCESS) {
+    return -1;
+  }
+
+  if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
+    return -1;
+  }
+
+  rv = apr_getopt_init(&opt, mp, argc, argv);
+  if (rv != APR_SUCCESS) {
+    printf("Program options initialization failed.\n");
+    return -1;
+  }
+
+  /** Parse the all options based on opt_option[] */
+  bool is_help = false;
+  while ((rv = apr_getopt_long(opt, opt_option, &optch, &optarg)) == APR_SUCCESS) {
+    switch (optch) {
+      case 'c': {
+        printf("Register broadcast code: %s\n", optarg);
+        char *sn_list = (char *)malloc(sizeof(char)*(strlen(optarg) + 1));
+        strncpy(sn_list, optarg, sizeof(char)*(strlen(optarg) + 1));
+        char *sn_list_head = sn_list;
+        sn_list = strtok(sn_list, "&");
+        cmdline_broadcast_code.clear();
+        while (sn_list) {
+          cmdline_broadcast_code.push_back(sn_list);
+          sn_list = strtok(nullptr, "&");
+        }
+        free(sn_list_head);
+        sn_list_head = nullptr;
+        break;
+      }
+      case 'l': {
+        printf("Save the log file.\n");
+        SaveLoggerFile();
+        break;
+      }
+      case 'h': {
+        printf(
+          " [-c] Register device broadcast code\n"
+          " [-l] Save the log file\n"
+          " [-h] Show help\n"
+        );
+        is_help = true;
+        break;
+      }
+      default: {
+        break;
+      }
+    }
+  }
+
+  if (rv != APR_EOF) {
+    printf("Invalid options.\n");
+  }
+
+  apr_pool_destroy(mp);
+  mp = NULL;
+  apr_terminate();
+  if (is_help)
+    return 1;
+
+  return 0;
+}
+
+int main(int argc, const char *argv[]) {
+/** Set the program options. */
+  if (SetProgramOption(argc, argv)) {
+    return 0;
+  }
+
+  LdsLidar& read_lidar = LdsLidar::GetInstance();
+
+  int ret = read_lidar.InitLdsLidar(cmdline_broadcast_code);
+  if (!ret) {
+    printf("Init lds lidar success!\n");
+  } else {
+    printf("Init lds lidar fail!\n");
+  }
+
+  printf("Start discovering device.\n");
+
+#ifdef WIN32
+  Sleep(100000);
+#else
+  sleep(100);
+#endif
+
+  read_lidar.DeInitLdsLidar();
+  printf("Livox lidar demo end!\n");
+
+}