Livox-SDK
107 lines
3.4 KiB
C++
107 lines
3.4 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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#include <thread>
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#include <chrono>
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#include <string.h>
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#include "cmdline.h"
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#include "lds_lidar.h"
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#include "synchro.h"
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/** Cmdline input broadcast code */
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static std::vector<std::string> cmdline_broadcast_code;
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/** Set the program options.
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* You can input the registered device broadcast code and decide whether to save the log file.
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*/
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void SetProgramOption(int argc, const char *argv[]) {
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cmdline::parser cmd;
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cmd.add<std::string>("code", 'c', "Register device broadcast code", false);
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cmd.add("log", 'l', "Save the log file");
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cmd.add("help", 'h', "Show help");
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cmd.parse_check(argc, const_cast<char **>(argv));
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if (cmd.exist("code")) {
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std::string sn_list = cmd.get<std::string>("code");
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printf("Register broadcast code: %s\n", sn_list.c_str());
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size_t pos = 0;
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cmdline_broadcast_code.clear();
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while ((pos = sn_list.find("&")) != std::string::npos) {
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cmdline_broadcast_code.push_back(sn_list.substr(0, pos));
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sn_list.erase(0, pos + 1);
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}
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cmdline_broadcast_code.push_back(sn_list);
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}
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if (cmd.exist("log")) {
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printf("Save the log file.\n");
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SaveLoggerFile();
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}
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return;
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}
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int main(int argc, const char *argv[]) {
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/** Set the program options. */
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SetProgramOption(argc, argv);
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LdsLidar& read_lidar = LdsLidar::GetInstance();
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int ret = read_lidar.InitLdsLidar(cmdline_broadcast_code);
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if (!ret) {
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printf("Init lds lidar success!\n");
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} else {
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printf("Init lds lidar fail!\n");
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return 0;
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}
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printf("Start discovering device.\n");
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Synchro& synchro = Synchro::GetInstance();
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#ifdef WIN32
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synchro.SetPortName("COM3");
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#else
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synchro.SetPortName("/dev/ttyUSB0");
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#endif
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/** Set Synchro's Baudrate: 9600. */
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synchro.SetBaudRate(BR9600);
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/** Set Synchro's Parity: No parity (8N1). */
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synchro.SetParity(P_8N1);
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/** SyncTimer Callback will trigger when Synchro's GPRMC/GNRMC signal is ready. */
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synchro.SetSyncTimerCallback(read_lidar.SetRmcSyncTime);
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if (synchro.Start()) {
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printf("Synchro start success");
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} else {
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printf("Synchro start failed");
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return 0;
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}
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std::this_thread::sleep_for(std::chrono::seconds(100));
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synchro.Stop();
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read_lidar.DeInitLdsLidar();
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printf("Livox lidar demo end!\n");
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}
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