Initial commit: Livox SDK2 source (excluding build artifacts)

samples/multi_lidars_upgrade/main.cpp

@@ -0,0 +1,131 @@
+//
+// 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"
+
+#include <condition_variable>
+#include <mutex>
+
+#ifdef WIN32
+#include <windows.h>
+#else
+#include <unistd.h>
+#endif
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <thread>
+#include <chrono>
+#include <vector>
+#include <iostream>
+#include <set>
+
+std::condition_variable cv;
+std::mutex mtx;
+
+uint8_t lidars_num = 1; // lidar num
+
+std::vector<uint32_t> handles;
+
+void WorkModeCallback(livox_status status, uint32_t handle,LivoxLidarAsyncControlResponse *response, void *client_data) {
+  if (response == nullptr) {
+    return;
+  }
+  printf("Work_Mode_Call_Back, status:%u, handle:%u, ret_code:%u, error_key:%u",
+      status, handle, response->ret_code, response->error_key);
+  cv.notify_one();
+}
+
+
+void QueryInternalInfoCallback(livox_status status, uint32_t handle, 
+    LivoxLidarDiagInternalInfoResponse* response, void* client_data) {
+  if (response == nullptr) {
+    return;
+  }
+  printf("QueryInternalInfoCallback, status:%u, handle:%u, ret_code:%u.\n",
+        status, handle, response->ret_code);
+}
+
+void LidarInfoChangeCallback(const uint32_t handle, const LivoxLidarInfo* info, void* client_data) {
+  if (info == nullptr) {
+    return;
+  }
+  printf("LidarInfoChangeCallback Lidar handle: %u SN: %s\n", handle, info->sn);
+  SetLivoxLidarWorkMode(handle, kLivoxLidarUpgrade, WorkModeCallback, nullptr);
+  handles.push_back(handle);
+}
+
+
+void LivoxLidarUpgradeProgressCallback(uint32_t handle, LivoxLidarUpgradeState state, void* client_data) {
+  printf("Upgrade Progress Callback, handle: %u, state: %d progress: %d\n", handle, state.state, state.progress);
+  if (state.progress == 100) {
+    cv.notify_one();
+  }
+}
+
+int main(int argc, const char *argv[]) {
+  if (argc != 3) {
+    printf("Params Invalid, must input config path and firmware path.\n");
+    return -1;
+  }
+  const std::string path = argv[1];
+  const std::string firmware_path = argv[2];
+
+  printf("path:%s.\n", path.c_str());
+  printf("firmware_path:%s.\n", firmware_path.c_str());
+
+  if (!LivoxLidarSdkInit(path.c_str())) {
+    printf("Livox Init Failed\n");
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+  SetLivoxLidarInfoChangeCallback(LidarInfoChangeCallback, nullptr);
+
+    //Lidar Upgrade
+  if (!SetLivoxLidarUpgradeFirmwarePath(firmware_path.c_str())) {
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+  SetLivoxLidarUpgradeProgressCallback(LivoxLidarUpgradeProgressCallback, nullptr);
+
+  while(handles.size() < lidars_num) {
+    {
+      std::unique_lock<std::mutex> lock(mtx);
+      cv.wait(lock);
+    }
+    UpgradeLivoxLidars(handles.data(), handles.size());
+    break;
+  }
+
+#ifdef WIN32
+  Sleep(3000000000);
+#else
+  sleep(3000000);
+#endif
+  LivoxLidarSdkUninit();
+	printf("Livox Lidars Update Demo End!\n");
+  return 0;
+}