Measure/thirdpart/rs_driver/demo/demo_online.cpp

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#include <rs_driver/api/lidar_driver.hpp>

#ifdef ENABLE_PCL_POINTCLOUD
#include <rs_driver/msg/pcl_point_cloud_msg.hpp>
#else
#include <rs_driver/msg/point_cloud_msg.hpp>
#endif

typedef PointXYZI PointT;
typedef PointCloudT<PointT> PointCloudMsg;

using namespace robosense::lidar;

std::shared_ptr<PointCloudMsg> pointCloudGetCallback(void)
{
  return std::make_shared<PointCloudMsg>();
}

/**
 * @brief The point cloud callback function. This function will be registered to lidar driver.
 *              When the point cloud message is ready, driver can send out messages through this function.
 * @param msg  The lidar point cloud message.
 */
void pointCloudPutCallback(std::shared_ptr<PointCloudMsg> msg)
{
  /* Note: Please do not put time-consuming operations in the callback function! */
  /* Make a copy of the message and process it in another thread is recommended*/
  RS_MSG << "msg: " << msg->seq << " point cloud size: " << msg->points.size() << RS_REND;
}

/**
 * @brief The exception callback function. This function will be registered to lidar driver.
 * @param code The error code struct.
 */
void exceptionCallback(const Error& code)
{
  /* Note: Please do not put time-consuming operations in the callback function! */
  /* Make a copy of the error message and process it in another thread is recommended*/
  RS_WARNING << code.toString() << RS_REND;
}

int main(int argc, char* argv[])
{
  RS_TITLE << "------------------------------------------------------" << RS_REND;
  RS_TITLE << "            RS_Driver Core Version: v" << getDriverVersion() << RS_REND;
  RS_TITLE << "------------------------------------------------------" << RS_REND;

  RSDriverParam param;                  ///< Create a parameter object
  param.input_type = InputType::ONLINE_LIDAR;
  param.input_param.msop_port = 6699;   ///< Set the lidar msop port number, the default is 6699
  param.input_param.difop_port = 7788;  ///< Set the lidar difop port number, the default is 7788
  param.lidar_type = LidarType::RSM1;   ///< Set the lidar type. Make sure this type is correct
  param.print();

  LidarDriver<PointCloudMsg> driver;
  driver.regPointCloudCallback(pointCloudGetCallback, pointCloudPutCallback); ///< Register the point cloud callback function 
  driver.regExceptionCallback(exceptionCallback);  ///< Register the exception callback function
  if (!driver.init(param))                         ///< Call the init function
  {
    RS_ERROR << "Driver Initialize Error..." << RS_REND;
    return -1;
  }
  driver.start();  ///< The driver thread will start
  RS_DEBUG << "RoboSense Lidar-Driver Linux online demo start......" << RS_REND;

  while (true)
  {
    std::this_thread::sleep_for(std::chrono::seconds(1));
  }

  return 0;
}