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remove dependency on APR library

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Livox-SDK
2020-12-04 22:01:38 +08:00
parent eb19d42ce4
commit 7cf759a760
564 changed files with 2880 additions and 181270 deletions
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sample/lidar_lvx_file/CMakeLists.txt
-7
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@@ -3,13 +3,6 @@ cmake_minimum_required(VERSION 3.0)
set(DEMO_NAME lidar_lvx_sample)
add_executable(${DEMO_NAME} main.cpp lvx_file.cpp)
if (WIN32)
add_custom_command(TARGET ${DEMO_NAME} POST_BUILD
COMMAND ${CMAKE_COMMAND} -E copy_if_different
"${PROJECT_SOURCE_DIR}/third_party/apr/bin/libapr-1.dll"
$<TARGET_FILE_DIR:${DEMO_NAME}>)
endif()
target_link_libraries(${DEMO_NAME}
PRIVATE
${PROJECT_NAME}_static
sample/lidar_lvx_file/lvx_file.cpp
+1
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@@ -24,6 +24,7 @@
#include <time.h>
#include <cmath>
#include <cstring>
#include "lvx_file.h"
#include "third_party/rapidxml/rapidxml.hpp"
#include "third_party/rapidxml/rapidxml_utils.hpp"
sample/lidar_lvx_file/lvx_file.h
-3
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@@ -22,9 +22,6 @@
// SOFTWARE.
//
#include <apr_thread_cond.h>
#include <apr_thread_mutex.h>
#include <apr_thread_proc.h>
#include <condition_variable>
#include <memory>
#include <fstream>
sample/lidar_lvx_file/main.cpp
+31 -91
View File
@@ -22,11 +22,10 @@
// SOFTWARE.
//
#include <apr_general.h>
#include <apr_getopt.h>
#include <algorithm>
#include <string.h>
#include "lvx_file.h"
#include "cmdline.h"
DeviceItem devices[kMaxLidarCount];
LvxFileHandle lvx_file_handler;
@@ -43,7 +42,6 @@ uint8_t connected_lidar_count = 0;
#define FRAME_RATE 20
using namespace std::chrono;
/** Connect all the broadcast device in default and connect specific device when use program options or broadcast_code_list is not empty. */
@@ -270,7 +268,7 @@ void AddDevicesToConnect() {
continue;
}
uint8_t handle = 0;
bool result = AddLidarToConnect(broadcast_code_rev[i].c_str(), &handle);
livox_status result = AddLidarToConnect(broadcast_code_rev[i].c_str(), &handle);
if (result == kStatusSuccess) {
/** Set the point cloud data for a specific Livox LiDAR. */
SetDataCallback(handle, GetLidarData, nullptr);
@@ -281,104 +279,46 @@ void AddDevicesToConnect() {
}
}
/** Set the program options.
* You can input the registered device broadcast code and decide whether to save the log file.
*/
int SetProgramOption(int argc, const char *argv[]) {
apr_status_t rv;
apr_pool_t *mp = nullptr;
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" },
{ "time", 't', 1, "Time to save point cloud to the lvx file" },
{ "param", 'p', 0, "Get the extrinsic parameter from extrinsic.xml file" },
{ "help", 'h', 0, "Show help" },
{ nullptr, 0, 0, nullptr },
};
apr_getopt_t *opt = nullptr;
int optch = 0;
const char *optarg = nullptr;
if (apr_initialize() != APR_SUCCESS) {
return -1;
void SetProgramOption(int argc, const char *argv[]) {
cmdline::parser cmd;
cmd.add<std::string>("code", 'c', "Register device broadcast code", false);
cmd.add("log", 'l', "Save the log file");
cmd.add<int>("time", 't', "Time to save point cloud to the lvx file", false);
cmd.add("param", 'p', "Get the extrinsic parameter from extrinsic.xml file");
cmd.add("help", 'h', "Show help");
cmd.parse_check(argc, const_cast<char **>(argv));
if (cmd.exist("code")) {
std::string sn_list = cmd.get<std::string>("code");
printf("Register broadcast code: %s\n", sn_list.c_str());
size_t pos = 0;
broadcast_code_list.clear();
while ((pos = sn_list.find("&")) != std::string::npos) {
broadcast_code_list.push_back(sn_list.substr(0, pos));
sn_list.erase(0, pos + 1);
}
broadcast_code_list.push_back(sn_list);
}
if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
return -1;
if (cmd.exist("log")) {
printf("Save the log file.\n");
SaveLoggerFile();
}
rv = apr_getopt_init(&opt, mp, argc, argv);
if (rv != APR_SUCCESS) {
printf("Program options initialization failed.\n");
return -1;
if (cmd.exist("time")) {
printf("Time to save point cloud to the lvx file:%d.\n", cmd.get<int>("time"));
lvx_file_save_time = cmd.get<int>("time");
}
/** 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, "&");
int i = 0;
broadcast_code_list.clear();
while (sn_list) {
broadcast_code_list.push_back(sn_list);
sn_list = strtok(nullptr, "&");
i++;
}
free(sn_list_head);
sn_list_head = nullptr;
break;
}
case 'l': {
printf("Save the log file.\n");
SaveLoggerFile();
break;
}
case 't': {
printf("Time to save point cloud to the lvx file:%s.\n", optarg);
lvx_file_save_time = atoi(optarg);
break;
}
case 'p': {
printf("Get the extrinsic parameter from extrinsic.xml file.\n");
is_read_extrinsic_from_xml = true;
break;
}
case 'h': {
printf(
" [-c] Register device broadcast code\n"
" [-l] Save the log file\n"
" [-t] Time to save point cloud to the lvx file\n"
" [-p] Get the extrinsic parameter from extrinsic.xml file\n"
" [-h] Show help\n"
);
is_help = true;
break;
}
}
if (cmd.exist("param")) {
printf("Get the extrinsic parameter from extrinsic.xml file.\n");
is_read_extrinsic_from_xml = true;
}
if (rv != APR_EOF) {
printf("Invalid options.\n");
}
apr_pool_destroy(mp);
mp = nullptr;
if (is_help)
return 1;
return 0;
return;
}
int main(int argc, const char *argv[]) {
/** Set the program options. */
if (SetProgramOption(argc, argv))
return 0;
SetProgramOption(argc, argv);
printf("Livox SDK initializing.\n");
/** Initialize Livox-SDK. */