快速开始

#include "xg/robot_sdk.h"
#include <cstdio>
#include <thread>
#include <chrono>

int main() {
    xg::Options opts;
    opts.deviceIp = "192.168.123.103";   // 改成你的设备 IP
    // opts.port = 0;                     // 0 = 默认 7448
    // opts.connectTimeoutMs = 0;         // 0 = 默认 5000ms

    xg::Error err = xg::Error::Ok;
    auto dev = xg::Device::open(opts, &err);
    if (!dev) {
        std::printf("连接失败: %s\n", xg::toString(err));
        return 1;
    }

    // 回调在 SDK 内部线程触发，勿阻塞
    dev->subscribePose([](const xg::Pose& p) {
        std::printf("t=%.3f pos=(%.3f, %.3f, %.3f)\n",
                    p.timestampSec, p.posX, p.posY, p.posZ);
    });

    std::this_thread::sleep_for(std::chrono::seconds(10));
    return 0;   // dev 析构自动取消订阅并断开，无需手动 close
}

if (dev->startRecord() != xg::Error::Ok) {
    // Timeout 时命令可能已送达，禁止直接重发，先 queryRecordStatus 再决定
}
xg::RecordStatus st;
while (true) {
    std::this_thread::sleep_for(
        std::chrono::milliseconds(XG_RECOMMENDED_POLL_INTERVAL_MS));  // 500ms
    if (dev->queryRecordStatus(&st) != xg::Error::Ok) continue;
    if (st.state == xg::RecordState::Recording) break;
    if (st.state == xg::RecordState::Error)     break;   // 处理故障
}

dev->subscribeCloud([](const xg::CloudFrame& f) {
    // f.points 指向 SDK 内部缓冲，仅本次回调有效！留用须拷贝：
    // std::vector<xg_point_t> saved(f.points, f.points + f.count);
    std::printf("cloud: %zu points\n", f.count);
});
dev->subscribeImu([](const xg::Device::Imu& imu) {          // 纯标量，可按值保存
    std::printf("acc=(%.2f,%.2f,%.2f)\n", imu.accX, imu.accY, imu.accZ);
});
dev->subscribeImage(xg::Device::CameraId::Left,
    [](const xg::Device::ImageFrame& f) {                   // jpegData 仅回调内有效
        std::printf("jpeg: %zu bytes\n", f.jpegSize);
    });