feat: 初始化 Go2 导航代码与配置

Livox-SDK2/samples/livox_lidar_ip_set/CMakeLists.txt

@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 3.0)
+
+set(DEMO_NAME livox_lidar_ip_set)
+add_executable(${DEMO_NAME} main.cpp)
+
+target_link_libraries(${DEMO_NAME}
+        PUBLIC
+        livox_lidar_sdk_static
+)

Livox-SDK2/samples/livox_lidar_ip_set/avia2_config.json

@@ -0,0 +1,21 @@
+{
+  "Avia2": {
+    "lidar_net_info" : {
+      "cmd_data_port"  : 56100,
+      "push_msg_port"  : 56200,
+      "point_data_port": 56300,
+      "imu_data_port"  : 56400,
+      "log_data_port"  : 56500
+    },
+    "host_net_info" : [
+      {
+        "host_ip"        : "192.168.1.5",
+        "cmd_data_port"  : 56101,
+        "push_msg_port"  : 56201,
+        "point_data_port": 56301,
+        "imu_data_port"  : 56401,
+        "log_data_port"  : 56501
+      }
+    ]
+  }
+}

Livox-SDK2/samples/livox_lidar_ip_set/main.cpp

@@ -0,0 +1,107 @@
+//
+// The MIT License (MIT)
+//
+// Copyright (c) 2022 Livox. All rights reserved.
+//
+
+#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 <atomic>
+#include <thread>
+#include <chrono>
+#include <iostream>
+
+// Target lidar IP config to apply. Override via CLI: <config> <ip> <mask> <gw>
+static char g_target_ip[16]   = "192.168.1.10";
+static char g_target_mask[16] = "255.255.255.0";
+static char g_target_gw[16]   = "192.168.1.1";
+
+static std::atomic<bool> g_done{false};
+
+void RebootCallback(livox_status status, uint32_t handle, LivoxLidarRebootResponse* response, void*) {
+  if (response == nullptr) {
+    printf("Reboot response is null, status:%u handle:%u\n", status, handle);
+    return;
+  }
+  printf("Reboot ack, status:%u handle:%u ret_code:%u\n", status, handle, response->ret_code);
+  g_done.store(true);
+}
+
+void SetIpInfoCallback(livox_status status, uint32_t handle, LivoxLidarAsyncControlResponse* response, void*) {
+  if (response == nullptr) {
+    printf("SetIp response is null, status:%u handle:%u\n", status, handle);
+    return;
+  }
+  printf("SetLivoxLidarIp ack, status:%u handle:%u ret_code:%u error_key:%u\n",
+         status, handle, response->ret_code, response->error_key);
+
+  if (status == kLivoxLidarStatusSuccess && response->ret_code == 0 && response->error_key == 0) {
+    printf("SetLivoxLidarIp OK, rebooting lidar to apply new IP...\n");
+    LivoxLidarRequestReboot(handle, RebootCallback, nullptr);
+  } else {
+    printf("SetLivoxLidarIp failed, skip reboot.\n");
+    g_done.store(true);
+  }
+}
+
+void LidarInfoChangeCallback(const uint32_t handle, const LivoxLidarInfo* info, void*) {
+  if (info == nullptr) {
+    printf("LidarInfoChangeCallback: info is null.\n");
+    return;
+  }
+  struct in_addr addr;
+  addr.s_addr = handle;
+  printf("Lidar online, handle:%u ip:%s sn:%s dev_type:%u\n",
+         handle, inet_ntoa(addr), info->sn, info->dev_type);
+
+  LivoxLidarIpInfo lidar_ip_info;
+  memset(&lidar_ip_info, 0, sizeof(lidar_ip_info));
+  strncpy(lidar_ip_info.ip_addr,  g_target_ip,   sizeof(lidar_ip_info.ip_addr)  - 1);
+  strncpy(lidar_ip_info.net_mask, g_target_mask, sizeof(lidar_ip_info.net_mask) - 1);
+  strncpy(lidar_ip_info.gw_addr,  g_target_gw,   sizeof(lidar_ip_info.gw_addr)  - 1);
+
+  printf("Apply lidar ip -> %s / mask %s / gw %s\n",
+         lidar_ip_info.ip_addr, lidar_ip_info.net_mask, lidar_ip_info.gw_addr);
+
+  SetLivoxLidarIp(handle, &lidar_ip_info, SetIpInfoCallback, nullptr);
+}
+
+int main(int argc, const char* argv[]) {
+  if (argc < 2 || argc > 5) {
+    printf("Usage: %s <config.json> [lidar_ip] [subnet_mask] [gateway]\n", argv[0]);
+    printf("  defaults: %s %s %s\n", g_target_ip, g_target_mask, g_target_gw);
+    return -1;
+  }
+  const std::string path = argv[1];
+  if (argc >= 3) strncpy(g_target_ip,   argv[2], sizeof(g_target_ip)   - 1);
+  if (argc >= 4) strncpy(g_target_mask, argv[3], sizeof(g_target_mask) - 1);
+  if (argc >= 5) strncpy(g_target_gw,   argv[4], sizeof(g_target_gw)   - 1);
+
+  if (!LivoxLidarSdkInit(path.c_str())) {
+    printf("Livox Init Failed\n");
+    LivoxLidarSdkUninit();
+    return -1;
+  }
+
+  SetLivoxLidarInfoChangeCallback(LidarInfoChangeCallback, nullptr);
+
+  const int timeout_sec = 60;
+  for (int i = 0; i < timeout_sec && !g_done.load(); ++i) {
+    std::this_thread::sleep_for(std::chrono::seconds(1));
+  }
+
+  LivoxLidarSdkUninit();
+  printf("set_lidar_ip demo end.\n");
+  return 0;
+}