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