Initial commit: Livox SDK2 source (excluding build artifacts)

samples/debug_point_cloud/main.cpp

@@ -0,0 +1,148 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 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 "livox_lidar_def.h"
+#include "livox_lidar_api.h"
+
+#ifdef WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <thread>
+#include <chrono>
+#include <iostream>
+#include <string>
+#include <vector>
+#include <mutex>
+#include <condition_variable>
+#include <map>
+
+#include <csignal>
+
+std::condition_variable quit_condition;
+std::mutex mtx;
+
+void PointCloudCallback(uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data) {
+  if (data == nullptr) {
+    return;
+  }
+  printf("point cloud handle: %d, data_num: %d, data_type: %d, length: %d, frame_counter: %d\n",
+      handle, data->dot_num, data->data_type, data->length, data->frame_cnt);
+}
+
+void ImuDataCallback(uint32_t handle, const uint8_t dev_type,  LivoxLidarEthernetPacket* data, void* client_data) {
+  if (data == nullptr) {
+    return;
+  }
+  printf("Imu data callback handle:%u, data_num:%u, data_type:%u, length:%u, frame_counter:%u.\n",
+      handle, data->dot_num, data->data_type, data->length, data->frame_cnt);
+}
+     
+void WorkModeCallback(livox_status status, uint32_t handle,LivoxLidarAsyncControlResponse *response, void *client_data) {
+  if (response == nullptr) {
+    return;
+  }
+  printf("WorkModeCallack, status:%u, handle:%u, ret_code:%u, error_key:%u",
+      status, handle, response->ret_code, response->error_key);
+}
+
+void LoggerStartCallback(livox_status status, uint32_t handle, LivoxLidarLoggerResponse* response, void* client_data) {
+  if (status != kLivoxLidarStatusSuccess) {
+    printf("Start logger failed, the status :%d\n", status);
+    LivoxLidarStartLogger(handle,  kLivoxLidarRealTimeLog, LoggerStartCallback, nullptr);
+    return;
+  }
+
+  if (response == nullptr) {
+    printf("Start logger failed, the response is nullptr.\n");
+    LivoxLidarStartLogger(handle,  kLivoxLidarRealTimeLog, LoggerStartCallback, nullptr);
+    return;
+  }
+
+  if (response->ret_code != 0) {
+    printf("Start logger failed, the response ret_Code:%d.\n", response->ret_code);
+    LivoxLidarStartLogger(handle,  kLivoxLidarRealTimeLog, LoggerStartCallback, nullptr);
+    return;
+  }
+
+  printf("The lidar[%u] start logger succ.\n", handle);
+}
+
+void DebugPointCloudCallback(livox_status status, uint32_t handle, LivoxLidarLoggerResponse* response, void* client_data) {
+  printf("--------------------------------------------------------------------------------\n");
+  printf("livox_status = %d, Lidar: %u response is %d\n", status, handle, response->ret_code);
+  printf("--------------------------------------------------------------------------------\n");
+}
+
+void LidarInfoChangeCallback(const uint32_t handle, const LivoxLidarInfo* info, void* client_data) {
+  if (info == nullptr) {
+    printf("lidar info change callback failed, the info is nullptr.\n");
+    return;
+  } 
+  printf("LidarInfoChangeCallback Lidar handle: %u SN: %s\n", handle, info->sn);
+  SetLivoxLidarWorkMode(handle, kLivoxLidarNormal, WorkModeCallback, nullptr);
+  LivoxLidarStartLogger(handle, kLivoxLidarRealTimeLog, LoggerStartCallback, nullptr);
+  SetLivoxLidarDebugPointCloud(handle, true, DebugPointCloudCallback, nullptr);
+  // sleep(10);
+  // SetLivoxLidarDebugPointCloud(handle, false, DebugPointCloudCallback, nullptr);
+}
+
+void Stop(int signal) {
+  quit_condition.notify_all();
+}
+
+int main(int argc, const char *argv[]) {
+  if (argc != 2) {
+    printf("Params Invalid, must input config path.\n");
+    return -1;
+  }
+  const std::string path = argv[1];
+
+  if (!LivoxLidarSdkInit(path.c_str())) {
+    printf("Livox Init Failed\n");
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+  // SetLivoxLidarPointCloudCallBack(PointCloudCallback, nullptr);
+  // SetLivoxLidarImuDataCallback(ImuDataCallback, nullptr);
+  SetLivoxLidarInfoChangeCallback(LidarInfoChangeCallback, nullptr);
+
+  // capture Ctrl + C signal.
+  std::signal(SIGINT, Stop);
+
+  std::unique_lock<std::mutex> lock(mtx);
+  quit_condition.wait(lock);
+  printf("Deivice Logger exit.\n");
+
+
+  LivoxLidarSdkUninit();
+  printf("Livox Quick Start Demo End!\n");
+  return 0;
+}
+