Proposal for the bind interface

sample/lidar_lvx_file/main.cpp

@@ -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()) {

sdk_core/include/livox_sdk.h

@@ -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.
@@ -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

@@ -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) {