.gitignore

@@ -1,14 +1,7 @@
+.cache/
+.vs/
+.vscode/
+/[Bb]uild
 
-# ignore dir
-#build/
-build/*.txt
-build/Makefile
-build/*.cmake
-build/CMakeFiles
-build/sdk_core
-build/sample
-
-#whitelist
-!build/notes.txt
-
-
+compile_commands.json
+CMakeUserPresets.json

CMakeLists.txt

@@ -2,10 +2,12 @@ cmake_minimum_required(VERSION 3.0)
 
 project(livox_sdk)
 
-set(CMAKE_CXX_STANDARD 11)
-
 message(STATUS "main project dir: " ${PROJECT_SOURCE_DIR})
 
+include(cmake/variables-and-options.cmake)
+
+set(CMAKE_CXX_STANDARD 11)
+
 if (CMAKE_CROSSCOMPILING)
 	set(THREADS_PTHREAD_ARG
 		"PLEASE_FILL_OUT-FAILED_TO_RUN"
@@ -16,12 +18,18 @@ if (UNIX)
 	set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pthread")
 endif(UNIX)
 
+if(WIN32)
+	add_compile_definitions("WIN32")
+endif(WIN32)
+
 add_subdirectory(sdk_core sdk_core)
-add_subdirectory(sample/hub)
-add_subdirectory(sample/lidar)
-add_subdirectory(sample/hub_lvx_file)
-add_subdirectory(sample/lidar_lvx_file)
-add_subdirectory(sample_cc/hub)
-add_subdirectory(sample_cc/lidar)
-add_subdirectory(sample_cc/trouble_shooting)
-add_subdirectory(sample_cc/lidar_utc_sync)
+if(BUILD_SAMPLES)
+	add_subdirectory(sample/hub)
+	add_subdirectory(sample/lidar)
+	add_subdirectory(sample/hub_lvx_file)
+	add_subdirectory(sample/lidar_lvx_file)
+	add_subdirectory(sample_cc/hub)
+	add_subdirectory(sample_cc/lidar)
+	add_subdirectory(sample_cc/trouble_shooting)
+	add_subdirectory(sample_cc/lidar_utc_sync)
+endif()

build/notes.txt

@@ -1,6 +0,0 @@
-// 2019/01/07
-The purpose of adding this file is to commit the build folder to git.
-
-// Must build the project in this folder,for example:
-cmake ..       // generate makefile,in the project root directory.
-make           // build the project.

cmake/install-config.cmake

@@ -0,0 +1 @@
+include("${CMAKE_CURRENT_LIST_DIR}/livox-sdkTargets.cmake")

cmake/install-rules.cmake

@@ -0,0 +1,35 @@
+include(GNUInstallDirs)
+include(CMakePackageConfigHelpers)
+
+# Name of the package to use when calling find_package(<package>) in consumer code. We use
+# kebap-case because vcpkg uses that for its port names.
+set(package livox-sdk)
+
+set(livox_sdk_INSTALL_LIBDIR "${CMAKE_INSTALL_LIBDIR}/${package}")
+set(livox_sdk_INSTALL_INCLUDEDIR "${CMAKE_INSTALL_INCLUDEDIR}/${package}")
+# Set the install directory for the *config.cmake files to the path where vcpkg looks by default
+set(livox_sdk_INSTALL_CMAKEDIR "share/${package}")
+
+# Install target types to the given destinations and create an export.
+install(TARGETS ${SDK_LIBRARY} EXPORT livox-sdkTargets
+    ARCHIVE DESTINATION "${livox_sdk_INSTALL_LIBDIR}"
+    LIBRARY DESTINATION "${livox_sdk_INSTALL_LIBDIR}"
+    PUBLIC_HEADER DESTINATION "${livox_sdk_INSTALL_INCLUDEDIR}")
+
+# Copy the package config file to the install location and give it the correct name
+install(FILES ../cmake/install-config.cmake
+    DESTINATION ${livox_sdk_INSTALL_CMAKEDIR}
+    RENAME "${package}Config.cmake")
+
+write_basic_package_version_file("../${package}ConfigVersion.cmake"
+    VERSION ${LIVOX_SDK_VERSION_STRING}
+    COMPATIBILITY SameMajorVersion)
+
+# Copy the package version file the the install location
+install(FILES "${PROJECT_BINARY_DIR}/${package}ConfigVersion.cmake"
+    DESTINATION ${livox_sdk_INSTALL_CMAKEDIR})
+
+# Generate and install a CMake file with code for installing targets from the given export
+install(EXPORT livox-sdkTargets
+    NAMESPACE livox_sdk::
+    DESTINATION ${livox_sdk_INSTALL_CMAKEDIR})

cmake/variables-and-options.cmake

@@ -0,0 +1,8 @@
+# This variable is set by project() in CMake 3.21+
+string(COMPARE EQUAL "${CMAKE_SOURCE_DIR}" "${PROJECT_SOURCE_DIR}" PROJECT_IS_TOP_LEVEL)
+
+if(PROJECT_IS_TOP_LEVEL)
+	option(shared_DEVELOPER_MODE "Enable developer mode" OFF)
+endif()
+
+option(BUILD_SAMPLES "Build the samples" OFF)

sample/hub_lvx_file/CMakeLists.txt

@@ -7,3 +7,7 @@ target_link_libraries(${DEMO_NAME}
         PRIVATE
         ${PROJECT_NAME}_static
         )
+target_include_directories(${DEMO_NAME}
+        PRIVATE
+        "${CMAKE_SOURCE_DIR}/sdk_core/include/third_party/cmdline"
+        )

sample/lidar_lvx_file/CMakeLists.txt

@@ -7,3 +7,7 @@ target_link_libraries(${DEMO_NAME}
         PRIVATE
         ${PROJECT_NAME}_static
         )
+target_include_directories(${DEMO_NAME}
+        PRIVATE
+        "${CMAKE_SOURCE_DIR}/sdk_core/include/third_party/cmdline"
+        )

sample_cc/hub/CMakeLists.txt

@@ -7,3 +7,7 @@ target_link_libraries(${DEMO_NAME}
         PRIVATE
         ${PROJECT_NAME}_static
         )
+target_include_directories(${DEMO_NAME}
+        PRIVATE
+        "${CMAKE_SOURCE_DIR}/sdk_core/include/third_party/cmdline"
+        )

sample_cc/lidar/CMakeLists.txt

@@ -7,3 +7,7 @@ target_link_libraries(${DEMO_NAME}
         PRIVATE
         ${PROJECT_NAME}_static
         )
+target_include_directories(${DEMO_NAME}
+        PRIVATE
+        "${CMAKE_SOURCE_DIR}/sdk_core/include/third_party/cmdline"
+        )

sample_cc/lidar_utc_sync/CMakeLists.txt

@@ -11,3 +11,7 @@ target_link_libraries(${DEMO_NAME}
         PRIVATE
         ${PROJECT_NAME}_static
         )
+target_include_directories(${DEMO_NAME}
+        PRIVATE
+        "${CMAKE_SOURCE_DIR}/sdk_core/include/third_party/cmdline"
+        )

sdk_core/CMakeLists.txt

@@ -2,6 +2,11 @@ cmake_minimum_required(VERSION 3.0)
 
 set(SDK_LIBRARY ${PROJECT_NAME}_static)
 add_library(${SDK_LIBRARY} STATIC "")
+add_library(livox_sdk::livox_sdk ALIAS ${SDK_LIBRARY})
+
+set_target_properties(${SDK_LIBRARY} PROPERTIES
+        EXPORT_NAME livox_sdk
+        OUTPUT_NAME livox_sdk)
 
 set(LIVOX_SDK_MAJOR_VERSION "2")
 set(LIVOX_SDK_MINOR_VERSION "3")
@@ -11,11 +16,10 @@ set(LIVOX_SDK_VERSION_STRING "${LIVOX_SDK_MAJOR_VERSION}.${LIVOX_SDK_MINOR_VERSI
 
 target_include_directories(${SDK_LIBRARY}
         PUBLIC
-        include
-        include/third_party/FastCRC
-        include/third_party/spdlog
-        include/third_party/cmdline
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
         PRIVATE
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/third_party/FastCRC>"
+        "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/third_party/spdlog>"
         src)
 
 set_target_properties(${SDK_LIBRARY} PROPERTIES PUBLIC_HEADER "include/livox_def.h;include/livox_sdk.h")
@@ -26,10 +30,13 @@ else(WIN32)
   set(PLATFORM unix)
 endif (WIN32)
 
-target_compile_options(${SDK_LIBRARY}
+# Warnings are only for developers
+if(shared_DEVELOPER_MODE)
+  target_compile_options(${SDK_LIBRARY}
         PRIVATE $<$<CXX_COMPILER_ID:GNU>:-Wall -Werror -Wno-c++11-long-long>
         PRIVATE $<$<CXX_COMPILER_ID:AppleClang>:-Wno-unknown-pragmas -Wall -Werror -Wno-c++11-long-long>
         PRIVATE $<$<CXX_COMPILER_ID:Clang>:-Wno-unknown-pragmas -Wall -Werror -Wno-c++11-long-long>)
+endif()
 
 target_sources(${SDK_LIBRARY}
         PRIVATE
@@ -84,8 +91,4 @@ target_sources(${SDK_LIBRARY}
         src/base/wake_up/wake_up_pipe.h
         src/base/wake_up/${PLATFORM}/wake_up_pipe.cpp)
 
-
-install(TARGETS ${SDK_LIBRARY}
-        PUBLIC_HEADER DESTINATION include
-        ARCHIVE DESTINATION lib
-        LIBRARY DESTINATION lib)
+include(../cmake/install-rules.cmake)

sdk_core/src/base/thread_base.h

@@ -25,6 +25,7 @@
 #ifndef LIVOX_THREAD_BASE_H_
 #define LIVOX_THREAD_BASE_H_
 #include <atomic>
+#include <memory>
 #include <thread>
 #include "noncopyable.h"