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Proposal for the bind interface

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This commit is contained in:
David Serret
2020-04-02 13:01:30 +02:00
committed by diegoalonso29
parent daf849ef45
commit 5f0e3fd0cd
3 changed files with 62 additions and 25 deletions
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sample/lidar_lvx_file/main.cpp
+22 -3
View File
@@ -222,6 +222,11 @@ void OnDeviceInfoChange(const DeviceInfo *info, DeviceEvent type) {
}
}
void OnDeviceInfoChangeExtra(int param, const DeviceInfo *info, DeviceEvent type) {
// ... Do stuff with the extra param
}
/** Callback function when broadcast message received.
* You need to add listening device broadcast code and set the point cloud data callback in this function.
*/
@@ -238,6 +243,15 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
}
}
struct OptBcast{
int a;
int b;
};
void OnDeviceBroadcastExtra(OptBcast o, const BroadcastDeviceInfo *info) {
// ... Do stuff with the extra param
}
/** Wait until no new device arriving in 2 second. */
void WaitForDevicesReady( ) {
bool device_ready = false;
@@ -391,14 +405,19 @@ int main(int argc, const char *argv[]) {
printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
memset(devices, 0, sizeof(devices));
using namespace std::placeholders;
/** Set the callback function receiving broadcast message from Livox LiDAR. */
SetBroadcastCallback(OnDeviceBroadcast);
OptBcast bcastopts;
std::function<void(const BroadcastDeviceInfo *info)> cb_bcast(std::bind(OnDeviceBroadcastExtra, bcastopts, _1));
SetBroadcastCallback(cb_bcast);
/** Set the callback function called when device state change,
* which means connection/disconnection and changing of LiDAR state.
*/
SetDeviceStateUpdateCallback(OnDeviceInfoChange);
std::function<void(const DeviceInfo *, DeviceEvent)> cb_device_state(std::bind(OnDeviceInfoChangeExtra, 1, _1, _2));
SetDeviceStateUpdateCallback(cb_device_state);
/** Start the device discovering routine. */
if (!Start()) {
@@ -457,4 +476,4 @@ int main(int argc, const char *argv[]) {
/** Uninitialize Livox-SDK. */
Uninit();
}
}
sdk_core/include/livox_sdk.h
+11 -1
View File
@@ -25,7 +25,10 @@
#ifndef LIVOX_SDK_H_
#define LIVOX_SDK_H_
#ifdef __cplusplus
#include<functional>
extern "C" {
#endif
@@ -100,6 +103,8 @@ typedef void (*DeviceStateUpdateCallback)(const DeviceInfo *device, DeviceEvent
*/
void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb);
/**
* Add a broadcast code to the connecting list and only devices with broadcast code in this list will be connected. The
* broadcast code is unique for every device.
@@ -261,7 +266,7 @@ livox_status SetStaticDynamicIP(uint8_t handle,
void *client_data);
/**
* Set device's static IP mode.
* @note Mid40/100 is not supported to set subnet mask and gateway address.
* @note Mid40/100 is not supported to set subnet mask and gateway address.
* \ref SetStaticDeviceIpModeRequest's setting: net_mask and gw_addr will not take effect on Mid40/100.
* @param handle device handle.
* @param req request sent to device.
@@ -857,6 +862,11 @@ livox_status LidarSetUtcSyncTime(uint8_t handle,
#ifdef __cplusplus
}
void SetDeviceStateUpdateCallback(const std::function<void(const DeviceInfo *, DeviceEvent)> &cb);
void SetBroadcastCallback(const std::function<void(const BroadcastDeviceInfo *info)> &cb );
#endif
#endif // LIVOX_SDK_H_
sdk_core/src/command_handler/command_impl.cpp
+29 -21
View File
@@ -42,10 +42,18 @@ void SetDeviceStateUpdateCallback(DeviceStateUpdateCallback cb) {
device_manager().SetDeviceConnectedCallback(cb);
}
void SetDeviceStateUpdateCallback(const std::function<void(const DeviceInfo *, DeviceEvent)> &cb){
device_manager().SetDeviceConnectedCallback(cb);
}
void SetBroadcastCallback(DeviceBroadcastCallback cb) {
device_manager().SetDeviceBroadcastCallback(cb);
}
void SetBroadcastCallback(const std::function<void(const BroadcastDeviceInfo *info)> &cb ){
device_manager().SetDeviceBroadcastCallback(cb);
}
livox_status AddHubToConnect(const char *broadcast_code, uint8_t *handle) {
bool result = device_manager().AddListeningDevice(broadcast_code, kDeviceModeHub, *handle);
if (result) {
@@ -317,7 +325,7 @@ livox_status SetStaticDynamicIP(uint8_t handle,
livox_status SetDynamicIp(uint8_t handle, CommonCommandCallback cb, void *client_data) {
SetDeviceIpExtendModeRequest req;
req.ip_mode = kLidarDynamicIpMode;
req.ip_mode = kLidarDynamicIpMode;
return SetDeviceIp(handle, &req, cb, client_data);
}
@@ -403,7 +411,7 @@ livox_status LidarGetExtrinsicParameter(uint8_t handle, LidarGetExtrinsicParamet
}
livox_status LidarRainFogSuppress(uint8_t handle, bool enable, CommonCommandCallback cb, void *client_data) {
if (device_manager().device_mode() != kDeviceModeLidar
if (device_manager().device_mode() != kDeviceModeLidar
|| !device_manager().IsLidarMid40(handle)) {
return kStatusNotSupported;
}
@@ -629,9 +637,9 @@ livox_status HubQuerySlotPowerStatus(HubQuerySlotPowerStatusCallback cb, void *c
return result;
}
livox_status HubFanControl(HubFanControlRequest *req,
uint16_t length,
HubFanControlCallback cb,
livox_status HubFanControl(HubFanControlRequest *req,
uint16_t length,
HubFanControlCallback cb,
void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
@@ -645,9 +653,9 @@ livox_status HubFanControl(HubFanControlRequest *req,
return result;
}
livox_status HubGetFanState(HubGetFanStateRequest *req,
uint16_t length,
HubGetFanStateCallback cb,
livox_status HubGetFanState(HubGetFanStateRequest *req,
uint16_t length,
HubGetFanStateCallback cb,
void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
@@ -661,9 +669,9 @@ livox_status HubGetFanState(HubGetFanStateRequest *req,
return result;
}
livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
uint16_t length,
HubSetPointCloudReturnModeCallback cb,
livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
uint16_t length,
HubSetPointCloudReturnModeCallback cb,
void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
@@ -677,9 +685,9 @@ livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
return result;
}
livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
uint16_t length,
HubGetPointCloudReturnModeCallback cb,
livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
uint16_t length,
HubGetPointCloudReturnModeCallback cb,
void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
@@ -693,9 +701,9 @@ livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
return result;
}
livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
uint16_t length,
HubSetImuPushFrequencyCallback cb,
livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
uint16_t length,
HubSetImuPushFrequencyCallback cb,
void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
@@ -709,9 +717,9 @@ livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
return result;
}
livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
uint16_t length,
HubGetImuPushFrequencyCallback cb,
livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
uint16_t length,
HubGetImuPushFrequencyCallback cb,
void *client_data) {
if (device_manager().device_mode() != kDeviceModeHub) {
return kStatusNotSupported;
@@ -756,7 +764,7 @@ livox_status LidarSetRmcSyncTime(uint8_t handle,
return kStatusNotSupported;
}
}
LidarSetUtcSyncTimeRequest utc_time_req;
if (!ParseRmcTime(rmc, rmc_length, &utc_time_req)) {
return kStatusFailure;