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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 f43d2679ce
commit ba2af205cc
70 changed files with 15690 additions and 89 deletions
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sample/hub/main.c
+87 -15
View File
@@ -30,6 +30,8 @@
#include <unistd.h>
#endif
#include <string.h>
#include <apr_general.h>
#include <apr_getopt.h>
#include "livox_sdk.h"
typedef enum {
@@ -46,10 +48,16 @@ typedef struct {
DeviceItem devices[kMaxLidarCount];
#define BROADCAST_CODE_LIST_SIZE 1
char *broadcast_code_list[BROADCAST_CODE_LIST_SIZE] = {
"00000000000001"
};
#define BROADCAST_CODE_LIST_SIZE 1
/** Connect all the broadcast device. */
bool is_connect_all_broadcast_device = true;
char broadcast_code_list[BROADCAST_CODE_LIST_SIZE][kBroadcastCodeSize];
/** Connect the broadcast device in list, please input the broadcast code. */
/*bool is_connect_all_broadcast_device = false;
char broadcast_code_list[BROADCAST_CODE_LIST_SIZE][kBroadcastCodeSize] = {
"00000000000001"
};*/
void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
static uint32_t receive_packet_count = 0;
@@ -171,17 +179,19 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
}
printf("Receive Broadcast Code %s\n", info->broadcast_code);
bool found = false;
int i = 0;
for (i = 0; i < BROADCAST_CODE_LIST_SIZE; ++i) {
if (strncmp(info->broadcast_code, broadcast_code_list[i], kBroadcastCodeSize) == 0) {
found = true;
break;
if (!is_connect_all_broadcast_device) {
bool found = false;
int i = 0;
for (i = 0; i < BROADCAST_CODE_LIST_SIZE; ++i) {
if (strncmp(info->broadcast_code, broadcast_code_list[i], kBroadcastCodeSize) == 0) {
found = true;
break;
}
}
if (!found) {
return;
}
}
if (!found) {
return;
}
bool result = false;
@@ -194,11 +204,74 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
}
}
/** 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 = 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;
apr_initialize();
apr_pool_create(&mp, NULL);
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);
strncpy(broadcast_code_list[0], optarg, kBroadcastCodeSize);
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;
}
}
if (rv != APR_EOF) {
printf("Invalid options.\n");
}
apr_pool_destroy(mp);
mp = NULL;
apr_terminate();
if (is_help)
return 1;
return 0;
}
int main(int argc, const char *argv[]) {
/** Set the program options. */
if (SetProgramOption(argc, argv))
return 0;
printf("Livox SDK initializing.\n");
/** Initialize Livox-SDK. */
if (!Init()) {
return -1;
return -1;
}
printf("Livox SDK has been initialized.\n");
@@ -228,5 +301,4 @@ int main(int argc, const char *argv[]) {
}
Uninit();
}
sample/lidar/main.c
+98 -14
View File
@@ -30,6 +30,8 @@
#include <unistd.h>
#endif
#include <string.h>
#include <apr_general.h>
#include <apr_getopt.h>
#include "livox_sdk.h"
typedef enum {
@@ -47,13 +49,18 @@ typedef struct {
DeviceItem devices[kMaxLidarCount];
uint32_t data_recveive_count[kMaxLidarCount];
char *broadcast_code_list[] = {
/** Connect all the broadcast device. */
int lidar_count = 0;
char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize];
/** Connect the broadcast device in list, please input the broadcast code and modify the BROADCAST_CODE_LIST_SIZE. */
/*#define BROADCAST_CODE_LIST_SIZE 3
int lidar_count = BROADCAST_CODE_LIST_SIZE;
char broadcast_code_list[kMaxLidarCount][kBroadcastCodeSize] = {
"000000000000002",
"000000000000003",
"000000000000004"
};
#define BROADCAST_CODE_LIST_SIZE (sizeof(broadcast_code_list) / sizeof(intptr_t))
};*/
/** Receiving point cloud data from Livox LiDAR. */
void GetLidarData(uint8_t handle, LivoxEthPacket *data, uint32_t data_num) {
@@ -145,17 +152,19 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
}
printf("Receive Broadcast Code %s\n", info->broadcast_code);
bool found = false;
int i = 0;
for (i = 0; i < BROADCAST_CODE_LIST_SIZE; ++i) {
if (strncmp(info->broadcast_code, broadcast_code_list[i], kBroadcastCodeSize) == 0) {
found = true;
break;
if (lidar_count > 0) {
bool found = false;
int i = 0;
for (i = 0; i < lidar_count; ++i) {
if (strncmp(info->broadcast_code, broadcast_code_list[i], kBroadcastCodeSize) == 0) {
found = true;
break;
}
}
if (!found) {
return;
}
}
if (!found) {
return;
}
bool result = false;
@@ -169,9 +178,84 @@ void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
}
}
/** 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 = 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;
apr_initialize();
apr_pool_create(&mp, NULL);
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, "&");
int i = 0;
while (sn_list) {
strncpy(broadcast_code_list[i], sn_list, kBroadcastCodeSize);
sn_list = strtok(NULL, "&");
i++;
}
lidar_count = i;
free(sn_list_head);
sn_list_head = NULL;
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;
}
}
if (rv != APR_EOF) {
printf("Invalid options.\n");
}
apr_pool_destroy(mp);
mp = NULL;
apr_terminate();
if (is_help)
return 1;
return 0;
}
int main(int argc, const char *argv[]) {
/** Set the program options. */
if (SetProgramOption(argc, argv))
return 0;
printf("Livox SDK initializing.\n");
/** Initialize Livox-SDK. */
/** Initialize Livox-SDK. */
if (!Init()) {
return -1;
}