remove dependency on APR library

sample_cc/lidar_utc_sync/main.cpp

@@ -24,16 +24,10 @@
 
 #include <stdio.h>
 #include <stdlib.h>
-
-#ifdef WIN32
-#include <windows.h>
-#else
-#include <unistd.h>
-#endif
-
+#include <thread>
+#include <chrono>
 #include <string.h>
-#include <apr_general.h>
-#include <apr_getopt.h>
+#include "cmdline.h"
 #include "lds_lidar.h"
 #include "synchro.h"
 
@@ -44,91 +38,33 @@ 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;
-      }
+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("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;
+    cmdline_broadcast_code.clear();
+    while ((pos = sn_list.find("&")) != std::string::npos) {
+      cmdline_broadcast_code.push_back(sn_list.substr(0, pos));
+      sn_list.erase(0, pos + 1);
     }
+    cmdline_broadcast_code.push_back(sn_list);
   }
-
-  if (rv != APR_EOF) {
-    printf("Invalid options.\n");
+  if (cmd.exist("log")) {
+    printf("Save the log file.\n");
+    SaveLoggerFile();
   }
-
-  apr_pool_destroy(mp);
-  mp = NULL;
-  apr_terminate();
-  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);
 
   LdsLidar& read_lidar = LdsLidar::GetInstance();
 
@@ -162,11 +98,7 @@ int main(int argc, const char *argv[]) {
     return 0;
   }
 
-#ifdef WIN32
-  Sleep(100000);
-#else
-  sleep(100);
-#endif
+  std::this_thread::sleep_for(std::chrono::seconds(100));
 
   synchro.Stop();
   read_lidar.DeInitLdsLidar();