demo-api

1 Overview

"demo_api" 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 Build Cmake

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. Refer to SDK Installation Guide to download Windows Xvisio SDK.
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.

4. 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 All the examples in "Android.mk" can be compiled. The compilation is successful without error. The arm64-v8a in the android/libs/ directory will generate an executable binary file.

2.3.2 RUN

1. Refer to SDK installation guide to install Android Xvisio SDK.
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,excute: 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. Function Menu 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 function “main(....)” of “demo-api.cpp” is the entry function:

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

"meun_main[]" 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); } ....

Non-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 function menu 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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