feature:support for conneting horizon

sample_cc/trouble_shooting/main.cpp

@@ -0,0 +1,94 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2019 Livox. All rights reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a copy
+// of this software and associated documentation files (the "Software"), to deal
+// in the Software without restriction, including without limitation the rights
+// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+// copies of the Software, and to permit persons to whom the Software is
+// furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included in
+// all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+// SOFTWARE.
+//
+
+#include <stdio.h>
+#include <stdlib.h>
+#ifdef WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+#include <string>
+#include <map>
+#include "livox_sdk.h"
+
+
+/** Connect all the broadcast device. */
+std::map<std::string,std::string> broadcast_code_list;
+
+
+/** Callback function when broadcast message received. */
+void OnDeviceBroadcast(const BroadcastDeviceInfo *info) {
+  if (info == NULL) {
+    return;
+  }
+
+  printf("Receive Broadcast Code %s\n", info->broadcast_code);
+  
+  if (broadcast_code_list.find(info->ip) == broadcast_code_list.end()) {
+    broadcast_code_list[info->ip] = info->broadcast_code;
+    return;
+  }
+  
+  if (broadcast_code_list[info->ip] == info->broadcast_code) {
+    return;
+  }
+  
+  printf("broadcast_code: {%s} is conflicted with broadcast_code: {%s}, which ip is : {%s}\n", \
+    broadcast_code_list[info->ip].c_str(), info->broadcast_code, info->ip);
+}
+
+int main(int argc, const char *argv[]) {
+
+  printf("Livox SDK initializing.\n");
+/** Initialize Livox-SDK. */
+  if (!Init()) {
+    return -1;
+  }
+  printf("Livox SDK has been initialized.\n");
+
+  LivoxSdkVersion _sdkversion;
+  GetLivoxSdkVersion(&_sdkversion);
+  printf("Livox SDK version %d.%d.%d .\n", _sdkversion.major, _sdkversion.minor, _sdkversion.patch);
+
+/** Set the callback function receiving broadcast message from Livox LiDAR. */
+  SetBroadcastCallback(OnDeviceBroadcast);
+
+/** Start the device discovering routine. */
+  printf("Start IP Conflict detection.\n");
+  if (!Start()) {
+    Uninit();
+    return -1;
+  }
+  printf("Start discovering device.\n");
+
+#ifdef WIN32
+  Sleep(10000);
+#else
+  sleep(10);
+#endif
+
+/** Uninitialize Livox-SDK. */
+  Uninit();
+}