text: //
  // The MIT License (MIT)
  //
  // Copyright (c) 2019 Livox. All rights reserved.
  //
  // Permission is hereby granted, free of charge, to any person obtaining a copy
  // of this software and associated documentation files (the "Software"), to deal
  // in the Software without restriction, including without limitation the rights
  // to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
  // copies of the Software, and to permit persons to whom the Software is
  // furnished to do so, subject to the following conditions:
  //
  // The above copyright notice and this permission notice shall be included in
  // all copies or substantial portions of the Software.
  //
  // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
  // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
  // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
  // AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
  // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
  // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
  // SOFTWARE.
  //
  
  #include <stdio.h>
  #include <stdlib.h>
  
  #ifdef WIN32
  #include <windows.h>
  #else
  #include <unistd.h>
  #endif
  
  #include <string.h>
  #include <apr_general.h>
  #include <apr_getopt.h>
  
  #include "lds_lidar.h"
  #include "livoxthread.h"
  
  #include <QApplication>
  #include "customscatter.h"
  using namespace QtDataVisualization;
  
  /** Cmdline input broadcast code */
  static std::vector<std::string> cmdline_broadcast_code;
  
  /** Set the program options.
  * You can input the registered device broadcast code and decide whether to save the log file.
  */
  static int SetProgramOption(int argc, char *argv[]) {
      apr_status_t rv;
      apr_pool_t *mp = NULL;
      static const apr_getopt_option_t opt_option[] = {
          /** Long-option, short-option, has-arg flag, description */
          { "code", 'c', 1, "Register device broadcast code" },
          { "log", 'l', 0, "Save the log file" },
          { "help", 'h', 0, "Show help" },
          { NULL, 0, 0, NULL },
      };
      apr_getopt_t *opt = NULL;
      int optch = 0;
      const char *optarg = NULL;
  
      if (apr_initialize() != APR_SUCCESS) {
          return -1;
      }
  
      if (apr_pool_create(&mp, NULL) != APR_SUCCESS) {
          return -1;
      }
  
      rv = apr_getopt_init(&opt, mp, argc, argv);
      if (rv != APR_SUCCESS) {
          printf("Program options initialization failed.\n");
          return -1;
      }
  
      /** Parse the all options based on opt_option[] */
      bool is_help = false;
      while ((rv = apr_getopt_long(opt, opt_option, &optch, &optarg)) == APR_SUCCESS) {
          switch (optch) {
              case 'c': {
                  printf("Register broadcast code: %s\n", optarg);
                  char *sn_list = (char *)malloc(sizeof(char)*(strlen(optarg) + 1));
                  strncpy(sn_list, optarg, sizeof(char)*(strlen(optarg) + 1));
                  char *sn_list_head = sn_list;
                  sn_list = strtok(sn_list, "&");
                  cmdline_broadcast_code.clear();
                  while (sn_list) {
                      cmdline_broadcast_code.push_back(sn_list);
                      sn_list = strtok(nullptr, "&");
                  }
                  free(sn_list_head);
                  sn_list_head = nullptr;
                  break;
              }
              case 'l': {
                  printf("Save the log file.\n");
                  SaveLoggerFile();
                  break;
              }
              case 'h': {
                  printf(
                              " [-c] Register device broadcast code\n"
                              " [-l] Save the log file\n"
                              " [-h] Show help\n"
                              );
                  is_help = true;
                  break;
              }
              default: {
                  break;
              }
          }
      }
  
      if (rv != APR_EOF) {
          printf("Invalid options.\n");
      }
  
      apr_pool_destroy(mp);
      mp = NULL;
      apr_terminate();
      if (is_help)
          return 1;
  
      return 0;
  }
  
  int main( int argc, char *argv[] )
  {
      if ( SetProgramOption( argc, argv ) )
          return 0;
  
      QApplication qapp( argc, argv );
  
      CustomScatter scatter;
  
      LivoxThread lthread( &scatter, cmdline_broadcast_code );
  
      lthread.start();
  
      qapp.exec();
  
      printf("Livox lidar demo end!\n");
  }
  