debug

#include <iostream>
#include <boost/asio.hpp>
#include "livox_lidar_api.h"
#include "livox_lidar_def.h"

using boost::asio::ip::udp;

const std::string SERVER_IP = "192.168.0.102"; // 중앙 서버 IP
const int SERVER_PORT = 12345; // 중앙 서버 포트

// UDP 소켓 설정
boost::asio::io_context io_context;
udp::socket socket(io_context, udp::endpoint(udp::v4(), 0));
udp::endpoint server_endpoint(boost::asio::ip::address::from_string(SERVER_IP), SERVER_PORT);

// LiDAR 데이터 콜백 함수
void PointCloudCallback(uint32_t handle, const uint8_t dev_type, LivoxLidarEthernetPacket* data, void* client_data) {
    if (data == nullptr || data->data_type != kLivoxLidarCartesianCoordinateHighData) {
        return;
    }

    auto* points = reinterpret_cast<const LivoxLidarCartesianHighRawPoint*>(data->data);
    size_t point_count = data->length / sizeof(LivoxLidarCartesianHighRawPoint);

    // 데이터를 직렬화하여 전송
    std::vector<uint8_t> serialized_data(reinterpret_cast<const uint8_t*>(points),
                                         reinterpret_cast<const uint8_t*>(points) + data->length);

    try {
        socket.send_to(boost::asio::buffer(serialized_data), server_endpoint);
        std::cout << "Sent " << serialized_data.size() << " bytes to server." << std::endl;
    } catch (std::exception& e) {
        std::cerr << "Error sending data: " << e.what() << std::endl;
    }
}

int main(int argc, const char* argv[]) {
    if (argc != 2) {
        std::cerr << "Usage: " << argv[0] << " <config_path>" << std::endl;
        return -1;
    }

    const std::string config_path = argv[1];

    if (!LivoxLidarSdkInit(config_path.c_str())) {
        std::cerr << "Failed to initialize Livox SDK." << std::endl;
        return -1;
    }

    SetLivoxLidarPointCloudCallBack(PointCloudCallback, nullptr);

    std::this_thread::sleep_for(std::chrono::seconds(30));
    LivoxLidarSdkUninit();
    return 0;
}