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()) {
@@ -457,4 +476,4 @@ int main(int argc, const char *argv[]) {
 
 /** Uninitialize Livox-SDK. */
   Uninit();
-}
+}

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.
@@ -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

@@ -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, 
+livox_status HubFanControl(HubFanControlRequest *req,
-                           uint16_t length, 
+                           uint16_t length,
-                           HubFanControlCallback cb, 
+                           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, 
+livox_status HubGetFanState(HubGetFanStateRequest *req,
-                            uint16_t length, 
+                            uint16_t length,
-                            HubGetFanStateCallback cb, 
+                            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, 
+livox_status HubSetPointCloudReturnMode(HubSetPointCloudReturnModeRequest *req,
-                                        uint16_t length, 
+                                        uint16_t length,
-                                        HubSetPointCloudReturnModeCallback cb, 
+                                        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, 
+livox_status HubGetPointCloudReturnMode(HubGetPointCloudReturnModeRequest *req,
-                                        uint16_t length, 
+                                        uint16_t length,
-                                        HubGetPointCloudReturnModeCallback cb, 
+                                        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, 
+livox_status HubSetImuPushFrequency(HubSetImuPushFrequencyRequest *req,
-                                    uint16_t length, 
+                                    uint16_t length,
-                                    HubSetImuPushFrequencyCallback cb, 
+                                    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, 
+livox_status HubGetImuPushFrequency(HubGetImuPushFrequencyRequest *req,
-                                    uint16_t length, 
+                                    uint16_t length,
-                                    HubGetImuPushFrequencyCallback cb, 
+                                    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;