demo-api

1 Overview

The demo_api sample program provides the use of numeric characters to select the execution function to demonstrate the basic functions of the Xvisio device and the corresponding SDK API, as well as the sample code corresponding to the execution function.

2 Build and Run

2.1 Linux/Ubuntu

2.1.1 Cmake Build

1. First, you need to install the Xvisio SDK on the Linux/Ubuntu host and can refer to SDK Installation Guide。
2. Start the terminal and navigate to the demo-api installation path "/usr/share/xvsdk/demo-api" , or copy "/usr/share/xvsdk/demo-api" to the working directory and navigate to the "demo-api" directory.
   cp -r /usr/share/xvsdk/demo-api <path_to_work>
cp -r /usr/share/xvsdk/pipe_srv <path_to_work>
cd <path_to_work>/demo-api
3. Generating Makefiles with Cmake
   mkdir build
cd build
cmake ..
4. Build
   make
   A successful build will generate an executable binary named 'demo-api'.

2.1.2 RUN

1. Connect the xvisio device and the Ubunut host with a USB cable.

2. To view the USB device status, open a terminal anywhere and type:
   lsusb
   Observe the terminal output usb status information where VID:PID is "040e:f408", and the USB device whose device name is "MCCI XVisio vSLAM" is the Xvisio device.
   Confirm that the current device enumeration is USB3.0 or USB2.0 by the USB Bus number of the Xvisio device and the corresponding BUS HUB type.
   Please ensure proper enumeration of Xvisio device
   The above description is shown in the following figure:
   

3. Start terminal and navigate to the "<path_to_work>/demo-api/build/" directory and execute:
   ./demo-api
   Before doing this step, you need to make sure that the program has been successfully built and 'demo-api' has been generated.

4. Start another terminal in the same location and execute:
   ./pipe_srv
   pipe_srv and demo-api must be started in the same directory.
   After the startup is successful, the terminal will output the function menu print, as follows:
   pipe server recv has already exist
pipe server send has already exist
wait for client connect....
pipe server get send handle: 3
pipe server get recv handle: 4
ready handle: send:3,recv:4


Demo
------------------------------
1 : Init SDK and get IMU
2 : Stop get IMU, start slam, get 6dof
....
0 : exit program
------------------------------
enter select:

5. Menu function
   Type the corresponding numeric character on the terminal of pipe-srv and press Enter to execute the corresponding function, and observe the output of the demo-api terminal.
   Function Menu Description

2.2 Windows10/11

2.2.1 Build

1. First, you need to install the Xvisio SDK on the Windows host, you can refer to SDK Installation Guide。
2. After the SDK is installed successfully and then go to the demo-api sample directory in the installation directory, for example: C:\Program Files\xvsdk\samples\demo-api .
3. visual studio compile

• Visual studio needs to be pre-installed, currently supports 2017 and 2019 versions, click to enter the official website 2019 version download page
• Need to pre-install cmake, click to download then install.

1. Cmake generates sln file

• Start the windows powershell tool and navigate to the demo-api directory in the installation directory.
• Execute the corresponding build project command according to the current visual studio version:

  Version	cmake command
  VS2019 64 bits	cmake -G "Visual Studio 16 2019" -A x64
  VS2019 32 bits	cmake -G "Visual Studio 16 2019" -A Win32
  VS2017 64 bits	cmake -G "Visual Studio 15 2017" -A x64
  VS2017 32 bits	cmake -G "Visual Studio 15 2017" -A Win32

• The demo-api.sln file will be generated in the dmeo-api directory
• Open demo-api.sln with visual studio
• Build (generate) the demo-api project in the solution. If the build is successful, demo-api.exe will be generated in the corresponding directory.

2.2.2 RUN

1. Connect the xvisio device and the Windows host with a USB cable.
2. Use USB to connect the Xvisio device to the PC. If the Xvisio device is connected normally, there are usually 3 devices enumerated. You can view the device status through the system's device manager:
   
   Please check "VSC interface" device status, camera device "XVisio vSLAM" status, "USB Composite Device" status. If the status is abnormal, please check whether the USB cable, Xvisio device firmware is normal, and whether the Windows host USB status meets the requirements, ** or please contact Xvisio FAE personnel for support**.
3. Start the windows powershell tool and navigate to the bin directory under the installation directory, enter the program name and press Enter:
   ./demo-api.exe
   
4. After the startup is successful, the powershell window will output the function menu print.
5. Menu function
   Type the corresponding numeric character on the powershell and press Enter to execute the corresponding function, and observe the output of the powershell.
   Function Menu Description

2.3 Android

Notice:

1. The demo-api demo can only be run on android devices with root SDK installed. Therefore, the introduction in this section is only for the root version of the Android SDK.
2. This article selects the linux platform as the NDK compilation platform as an example to introduce.

2.3.1 Build

1. Install NDK

• Download
  It can be downloaded from this link NDK, the r21e version is recommended, please select the NDK package suitable for your linux or windows development platform and download it. This article selects the linux platform as an example.
• Decompress
  unzip android-ndk-r21e-linux-x86_64.zip
• Set environment variables
  sudo gedit ~/.bashrc
  add at the end of the file.
  export ANDROID_NDK_ROOT=/path_from_yours/android-ndk-r21e/
export NDK=${ANDROID_NDK_ROOT}
export PATH=${PATH}:$NDK
  Where "/path_from_yours/android-ndk-r21e/" is replaced with the absolute path of NDK decompression.
  sourc ~/.bashrc
• Check the settings
  ndk-build -v
  The version information is correct and no errors are reported.

2. Download SDK

• Get the latest installation package,Please select the compressed package in the download directory: xvsdk_3.2.x-xxxxxxxx_android.zip .
• Unzip xvsdk_3.2.x-xxxxxxxx_android.zip, and enter the unzipped folder.

3. compile
   cd android/jni/
ndk-build
   The example programs of all links in "Android.mk" will be compiled.
   The compilation is successful and no error is reported. The arm64-v8a in the android/libs/ directory will generate a executable binary file.

2.3.2 RUN

1. First, you need to install the Xvisio SDK on the android host, you can refer to "Introduction to the installation of Android SDK (root version)" in SDK installation guide.
2. ADB connects the android device to the host, ensure that the adb environment is normal, ensure that the Android device has the remount permission, and ensure the existence of the push directory. The example directory here is "/data/test/" .
3. push sdk
   Start terminal and navigate to the android/libs/ directory inside the sdk unzipped folder, execute:
   adb root
adb remount
   If remount fails can do:
   adb disable-verity
adb reboot
adb root
adb remount
   If it still fails, please contact the Android device vendor for support
   arm64 example:
   adb push arm64-v8a /data/test/
   arm32 example:
   adb push armeavi-v7a /data/test/
4. Run demo-api:

• Start a terminal and execute:
  adb shell
cd /data/test/arm64-v8a/
LD_LIBRARY_PATH=./ ./demo-api
• Start another terminal and run pipe_srv:
  adb shell
cd /data/test/arm64-v8a/
LD_LIBRARY_PATH=./ ./pipe_srv
• pipe_srv and demo-api must be started in the same directory.
  After the startup is successful, the terminal will output the function menu print, as follows:
  pipe server recv has already exist
pipe server send has already exist
wait for client connect....
pipe server get send handle: 3
pipe server get recv handle: 4
ready handle: send:3,recv:4


Demo
------------------------------
1 : Init SDK and get IMU
2 : Stop get IMU, start slam, get 6dof
....
0 : exit program
------------------------------
enter select:

5. Menu function
   Type the corresponding numeric character on the terminal of pipe-srv and press Enter to execute the corresponding function, and observe the output of the demo-api terminal.
   Function Menu Description

3 Code introduction

3.1 Path

3.2 File

3.3 Code Introduction

The main(....) function of the demo-api.cpp file is the entry function:

int main( int argc, char* argv[] ) try{....}

The meun_main[] array is the preset function menu:

static const char meun_main[] = { ....}

while loop to wait for input character command parsing,

while (cond) {

The Windows platform does not use pipes, by entering the character 'm' to stop an already running function and output the menu

#ifdef _WIN32
std::cin >> cCmd;
if (cCmd == "m")
{
if (device)
{
//stop all running items
if (device->display())
{
device->display()->close();
}
if (device->orientationStream())
{
//device->orientationStream()->stop();
device->orientationStream()->unregisterCallback(imuId);
} ....

on-Windows platforms wait for piped commands:

#else
cmd = requestCmdAllPlatform(meun_main, sizeof(meun_main));
#endif

Parse command:

switch (cmd) {
case 1:
{
....
}
break;
case 3:
case 22:
case 28:
case 36:
....

The menu function corresponding to the serial number is executed in each case, and the description of the menu function is shown in Section 4.

4 Function Menu Description

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