mmr/Livox-SDK
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feature:

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1.Add spdlog to save log file
2.Add program options to connect specific broadcast code and decide whether to save log file
3.Add comments in readme for windows 64-bit project compilation
This commit is contained in:
Livox-SDK
2019-04-12 10:09:56 +08:00
parent 12c954d175
commit b65ec710ce
70 changed files with 15690 additions and 89 deletions
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sdk_core/src/device_discovery.cpp
+13 -14
View File
@@ -52,7 +52,7 @@ uint16_t DeviceDiscovery::port_count = 0;
bool DeviceDiscovery::Init() {
apr_status_t rv = apr_pool_create(&mem_pool_, NULL);
if (rv != APR_SUCCESS) {
LOG_ERROR << PrintAPRStatus(rv) << std::endl;
LOG_ERROR(PrintAPRStatus(rv));
return false;
}
if (comm_port_ == NULL) {
@@ -68,7 +68,7 @@ bool DeviceDiscovery::Start(IOLoop *loop) {
loop_ = loop;
sock_ = util::CreateBindSocket(kListenPort, mem_pool_);
if (sock_ == NULL) {
LOG_ERROR << "DeviceDiscovery Create Socket Failed" << std::endl;
LOG_ERROR("DeviceDiscovery Create Socket Failed");
return false;
}
loop_->AddDelegate(sock_, this);
@@ -84,7 +84,7 @@ void DeviceDiscovery::OnData(apr_socket_t *sock, void *) {
comm_port_->UpdateCacheWrIdx(size);
if (rv != APR_SUCCESS) {
LOG_ERROR << " Receive Failed " << PrintAPRStatus(rv) << std::endl;
LOG_ERROR(" Receive Failed {}", PrintAPRStatus(rv));
return;
}
CommPacket packet;
@@ -107,14 +107,13 @@ void DeviceDiscovery::OnData(apr_socket_t *sock, void *) {
continue;
}
if (*(uint8_t *)packet.data == 0) {
LOG_INFO << "New Device " << std::endl;
LOG_INFO << "Handle: " << static_cast<uint16_t>(info.handle) << std::endl;
LOG_INFO << "Broadcast Code: " << info.broadcast_code << std::endl;
LOG_INFO << "Type: " << info.type << std::endl;
LOG_INFO << "IP: " << info.ip << std::endl;
LOG_INFO << "Command Port: " << info.cmd_port << std::endl;
LOG_INFO << "Data Port: " << info.data_port << std::endl;
LOG_INFO << std::endl;
LOG_INFO("New Device");
LOG_INFO("Handle: {}", static_cast<uint16_t>(info.handle));
LOG_INFO("Broadcast Code: {}", info.broadcast_code);
LOG_INFO("Type: {}", info.type);
LOG_INFO("IP: {}", info.ip);
LOG_INFO("Command Port: {}", info.cmd_port);
LOG_INFO("Data Port: {}", info.data_port);
DeviceFound(info);
}
}
@@ -159,7 +158,7 @@ void DeviceDiscovery::OnBroadcast(const CommPacket &packet, apr_sockaddr_t *addr
BroadcastDeviceInfo *device_info = (BroadcastDeviceInfo *)packet.data;
string broadcast_code = device_info->broadcast_code;
//LOG_INFO << " Boradcast broadcast code: " << broadcast_code << std::endl;
LOG_INFO(" Boradcast broadcast code: {}", broadcast_code);
device_manager().BroadcastDevices(device_info);
DeviceInfo lidar_info;
bool found = device_manager().FindDevice(broadcast_code, lidar_info);
@@ -180,14 +179,14 @@ void DeviceDiscovery::OnBroadcast(const CommPacket &packet, apr_sockaddr_t *addr
memset(&ip, 0, sizeof(ip));
apr_status_t rv = apr_sockaddr_ip_getbuf(ip, sizeof(ip), addr);
if (rv != APR_SUCCESS) {
LOG_ERROR << PrintAPRStatus(rv) << std::endl;
LOG_ERROR(PrintAPRStatus(rv));
return;
}
strncpy(lidar_info.ip, ip, sizeof(lidar_info.ip));
apr_pool_t *pool = NULL;
rv = apr_pool_create(&pool, mem_pool_);
if (rv != APR_SUCCESS) {
LOG_ERROR << PrintAPRStatus(rv) << std::endl;
LOG_ERROR(PrintAPRStatus(rv));
return;
}