Initial commit: Livox SDK2 source (excluding build artifacts)

samples/livox_lidar_rmc_time_sync/main.cpp

@@ -0,0 +1,125 @@
+//
+// 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 <winsock2.h>
+#else
+#include <unistd.h>
+#include <arpa/inet.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <thread>
+#include <chrono>
+#include <iostream>
+
+#include "synchro.h"
+
+static 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);
+
+}
+
+static 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);
+  
+  // set the work mode to kLivoxLidarNormal, namely start the lidar
+  SetLivoxLidarWorkMode(handle, kLivoxLidarNormal, WorkModeCallback, nullptr);
+
+  Synchro& synchro = Synchro::GetInstance();
+#ifdef WIN32
+  synchro.SetPortName("COM3");
+#else
+  synchro.SetPortName("/dev/ttyACM0");
+#endif
+
+/** Set Synchro's Baudrate: 9600. */
+  synchro.SetBaudRate(BR9600);
+/** Set Synchro's Parity: No parity (8N1). */
+  synchro.SetParity(P_8N1);
+/** SyncTimer Callback will trigger when Synchro's GPRMC/GNRMC signal is ready. */
+  synchro.SetSyncTimerCallback([handle](const char* rmc, uint16_t rmc_length) {
+    printf("GPRMC is:%s", rmc);
+    SetLivoxLidarRmcSyncTime(handle, rmc, rmc_length, [](livox_status status, uint32_t handle, LivoxLidarRmcSyncTimeResponse* data, void* client_data){
+      std::cout << "Lidar handle:" << handle << " response is: " << +data->ret << std::endl;
+    }, nullptr);
+    std::this_thread::sleep_for(std::chrono::milliseconds(800));
+  });
+  if (synchro.Start()) {
+    printf("Synchro start success.");
+  } else {
+    printf("Synchro start failed.");
+    return;
+  }
+}
+
+static void LivoxLidarPushMsgCallback(const uint32_t handle, const uint8_t dev_type, const char* info, void* client_data) {
+  struct in_addr tmp_addr;
+  tmp_addr.s_addr = handle;  
+  std::cout << "handle: " << handle << ", ip: " << inet_ntoa(tmp_addr) << ", push msg info: " << std::endl;
+  std::cout << info << std::endl;
+  return;
+}
+
+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];
+
+  // REQUIRED, to init Livox SDK2
+  if (!LivoxLidarSdkInit(path.c_str())) {
+    printf("Livox Init Failed\n");
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+  
+  SetLivoxLidarInfoCallback(LivoxLidarPushMsgCallback, nullptr);
+  
+  // REQUIRED, to get a handle to targeted lidar and set its work mode to NORMAL
+  SetLivoxLidarInfoChangeCallback(LidarInfoChangeCallback, nullptr);
+
+#ifdef WIN32
+  Sleep(300000);
+#else
+  sleep(300);
+#endif
+  LivoxLidarSdkUninit();
+  printf("Livox Quick Start Demo End!\n");
+  return 0;
+}