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* Add LiDAR type definition. * Add CLI configuration example. * Fix formating and linting * Fix build error. * Update documentations. * Update LiDAR setting documentation * Fix version selector to have descending order. --------- Co-authored-by: Jongkuk Lim <limjk@jmarple.ai>
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| [submodule "examples/config_cli/libs/cli"] | ||
| path = examples/config_cli/libs/cli | ||
| url = https://github.com/daniele77/cli.git | ||
| branch = v2.1.0 |
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| cmake_minimum_required(VERSION 3.0.2) | ||
| project(slambox_serial_config_cli_example) | ||
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| set(CMAKE_EXPORT_COMPILE_COMMANDS ON CACHE INTERNAL "") | ||
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| find_package(glog 0.6.0 REQUIRED) | ||
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| add_executable(slambox_serial_config_cli_example config_cli.cpp config_cli_app.cpp) | ||
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| if (NOT DEFINED slambox_sdk_LIBRARIES) | ||
| find_package(slambox_sdk 0.2.0 REQUIRED) | ||
| else() | ||
| set(slambox_sdk_LIBRARIES ${slambox_sdk_LIBRARIES};slambox_sdk_static) | ||
| endif() | ||
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| target_link_libraries(slambox_serial_config_cli_example | ||
| glog::glog | ||
| cli::cli | ||
| ${slambox_sdk_LIBRARIES} | ||
| ) | ||
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| add_subdirectory("libs/cli") | ||
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| # Config CLI | ||
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| This example demonstrates how to create CLI application for SLAMBOX setting with SLAMBOX Protocol. | ||
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| ## Dependency | ||
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| - This example requires [cli](https://github.com/daniele77/cli.git) library. Since [cli](https://github.com/daniele77/cli.git) library is included as submodule of this repository, you may need to update the submodules. | ||
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| ``` | ||
| git submodule update --init --recursive | ||
| ``` | ||
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| /// @file | ||
| /// @author Jongkuk Lim <limjk@jmarple.ai> | ||
| /// @copyright 2023 J.Marple | ||
| /// @brief SLAMBOX CLI configurator application | ||
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| #include <cli/cli.h> | ||
| #include <cli/clilocalsession.h> | ||
| #include <cli/filehistorystorage.h> | ||
| #include <cli/loopscheduler.h> | ||
| #include <glog/logging.h> | ||
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| #include "include/config_cli_app.hpp" | ||
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| /// @brief Print application usage | ||
| /// @param argv arguments | ||
| void print_usage(const std::string &binary_name) { | ||
| std::cout << "Usage: " << binary_name << " <serial_port> <baudrate>" | ||
| << std::endl; | ||
| std::cout << " ex) " << binary_name << " /dev/ttyUSB0 1500000" | ||
| << std::endl; | ||
| } | ||
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| /// @brief Process arguments and set port name and baudrate | ||
| /// @param argc argument count | ||
| /// @param argv argument values | ||
| /// @param port_name port name to be set | ||
| /// @param baudrate baudrate to be set | ||
| /// @return 0 if success, otherwise 1 | ||
| /// @note If argc is 2, then argv[1] is config file path | ||
| /// @note If argc is 3, then argv[1] is serial port name and argv[2] is baudrate | ||
| /// @note `port_name` and `baudrate` are inplace modified | ||
| int handle_arguments(int argc, char **argv, std::string *port_name, | ||
| int *baudrate) { | ||
| if (argc == 3) { | ||
| *port_name = argv[1]; | ||
| try { | ||
| *baudrate = std::stoi(argv[2]); | ||
| } catch (const std::invalid_argument &e) { | ||
| std::cout << "Error parsing baudrate " << argv[2] << std::endl; | ||
| std::cout << "Reason: " << e.what() << std::endl; | ||
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| print_usage(argv[0]); | ||
| return 1; | ||
| } | ||
| } | ||
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| return 0; | ||
| } | ||
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| int main(int argc, char **argv) { | ||
| // Handle arguments exception | ||
| if (argc < 2 || argc > 3) { | ||
| print_usage(argv[0]); | ||
| return 1; | ||
| } | ||
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| // Parse arguments | ||
| std::string port_name = "/dev/ttyUSB0"; | ||
| int baudrate = -1; | ||
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| if (handle_arguments(argc, argv, &port_name, &baudrate) != 0) { | ||
| return 1; | ||
| } | ||
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| FLAGS_stderrthreshold = google::INFO; | ||
| FLAGS_colorlogtostderr = true; | ||
| google::InitGoogleLogging(argv[0]); | ||
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| LOG(INFO) << "port_name: " << port_name << ", baud_rate: " << baudrate; | ||
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| try { | ||
| sbox::ConfigCLIApp config_cli_app(port_name, baudrate); | ||
| std::unique_ptr<cli::Menu> root_menu = config_cli_app.create_root_menu(); | ||
| cli::Cli cli( | ||
| std::move(root_menu), | ||
| std::make_unique<cli::FileHistoryStorage>(".config_cli_history")); | ||
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| cli.EnterAction([](std::ostream &out) { out << "Welcome" << std::endl; }); | ||
| cli.ExitAction([](std::ostream &out) { out << "Bye" << std::endl; }); | ||
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| cli.StdExceptionHandler( | ||
| [](std::ostream &out, const std::string &cmd, const std::exception &e) { | ||
| out << "Exception caught in cli handler: " << e.what() | ||
| << " handling command: " << cmd << ".\n"; | ||
| }); | ||
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| cli::SetColor(); | ||
| cli::LoopScheduler scheduler; | ||
| cli::CliLocalTerminalSession local_session(cli, scheduler, std::cout, 200); | ||
| local_session.ExitAction([&scheduler, &config_cli_app](auto &out) { | ||
| out << "Closing App...\n"; | ||
| scheduler.Stop(); | ||
| config_cli_app.stop(); | ||
| }); | ||
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| config_cli_app.set_session(&local_session); | ||
| config_cli_app.set_loop_scheduler(&scheduler); | ||
| config_cli_app.run(); | ||
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| if (!config_cli_app.is_running()) { | ||
| std::cerr << "Error: Failed to open serial communication" << std::endl; | ||
| return 1; | ||
| } | ||
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| scheduler.Run(); | ||
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| return 0; | ||
| } catch (const std::exception &e) { | ||
| std::cerr << "Error: " << e.what() << std::endl; | ||
| return 1; | ||
| } catch (...) { | ||
| std::cerr << "Error: Unknown exception" << std::endl; | ||
| return 1; | ||
| } | ||
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| return 1; | ||
| } |
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