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Aurora Pure C Demo

This demo demonstrates how to use the Aurora Remote SDK with pure C API (without C++ wrapper) to retrieve device pose information. This example is ideal for projects that require C compatibility or cannot use C++ features.

Features

  • Pure C Implementation: Uses only C API functions, no C++ wrapper dependencies
  • Device Discovery: Auto-discovers Aurora devices or connects to specific device
  • Real-time Pose: Continuously displays device position (x, y, z coordinates)
  • Cross-platform: Compatible with both Windows and Unix-like systems
  • Minimal Dependencies: Only requires C11 compiler support

Requirements

  • Aurora device with active positioning system
  • Aurora Remote SDK
  • C11-compatible compiler (gcc, clang, MSVC)
  • Network connection between host and Aurora device

Usage

Basic Usage

# Auto-discover and connect to first available device
./pure_c_demo

# Connect to specific device by IP address
./pure_c_demo 192.168.1.100

Command Line Arguments

  • No arguments: Auto-discovers Aurora devices and connects to the first one found
  • <ip_address>: Direct connection to device at specified IP address (uses default port 8090)

Example Output

Auto-discovery Mode

Aurora SDK Version: 2.0.0-alpha
Searching for aurora devices...
Connecting to the first server: 192.168.1.100
Current pose: 1.234000, 2.567000, 0.089000
Current pose: 1.235000, 2.568000, 0.089000
Current pose: 1.236000, 2.569000, 0.089000
...

Direct Connection Mode

Aurora SDK Version: 2.0.0-alpha
Using connection string: 192.168.1.100
Current pose: 1.234000, 2.567000, 0.089000
Current pose: 1.235000, 2.568000, 0.089000
...

Key Concepts

Pure C API Usage

This demo demonstrates the core C API functions:

  • Session Management:

    • slamtec_aurora_sdk_create_session(): Creates an SDK session
    • slamtec_aurora_sdk_release_session(): Releases session resources

  • Device Discovery:

    • slamtec_aurora_sdk_controller_get_discovered_servers(): Discovers available devices

  • Connection Management:

    • slamtec_aurora_sdk_controller_connect(): Connects to a device
    • slamtec_aurora_sdk_controller_disconnect(): Disconnects from device

  • Data Retrieval:

    • slamtec_aurora_sdk_dataprovider_get_current_pose(): Gets current device pose

Data Structures

The demo uses C structures defined in the SDK:

  • slamtec_aurora_sdk_pose_t: Contains translation (x, y, z) and rotation components
  • slamtec_aurora_sdk_server_connection_info_t: Server connection information
  • slamtec_aurora_sdk_version_info_t: SDK version information

Technical Details

Cross-platform Sleep

  • Windows: Uses Sleep(milliseconds)
  • Unix/Linux: Uses sleep(seconds)

Error Handling

  • Functions return slamtec_aurora_sdk_errorcode_t values
  • SLAMTEC_AURORA_SDK_ERRORCODE_OK indicates success
  • Proper cleanup with session release

Memory Management

  • Automatic memory management for basic data types
  • Manual session cleanup required for proper resource management

Integration Example

Basic C integration in your project:

#include "aurora_pubsdk_inc.h"
#include <stdio.h>

int main() {
    // Create session
    slamtec_aurora_sdk_session_handle_t session = 
        slamtec_aurora_sdk_create_session(NULL, 0, NULL, NULL);
    
    if (session == NULL) {
        printf("Failed to create session\n");
        return -1;
    }
    
    // Setup connection info
    slamtec_aurora_sdk_server_connection_info_t info;
    memset(&info, 0, sizeof(info));
    strncpy(info.connection_info[0].address, "192.168.1.100", 
           sizeof(info.connection_info[0].address));
    strncpy(info.connection_info[0].protocol_type, 
           SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_PROTOCOL,
           sizeof(info.connection_info[0].protocol_type));
    info.connection_info[0].port = SLAMTEC_AURORA_SDK_REMOTE_SERVER_DEFAULT_PORT;
    info.connection_count = 1;
    
    // Connect
    if (slamtec_aurora_sdk_controller_connect(session, &info) == 
        SLAMTEC_AURORA_SDK_ERRORCODE_OK) {
        
        // Get pose
        slamtec_aurora_sdk_pose_t pose;
        slamtec_aurora_sdk_dataprovider_get_current_pose(session, &pose);
        
        printf("Position: %f, %f, %f\n", 
               pose.translation.x, pose.translation.y, pose.translation.z);
        
        // Cleanup
        slamtec_aurora_sdk_controller_disconnect(session);
    }
    
    slamtec_aurora_sdk_release_session(session);
    return 0;
}

Compilation

GCC/Clang

gcc -o pure_c_demo pure_c_demo.c -lslamtec_aurora_remote_sdk

MSVC

cl pure_c_demo.c slamtec_aurora_remote_sdk.lib

CMake

add_executable(pure_c_demo pure_c_demo.c)
target_link_libraries(pure_c_demo slamtec_aurora_remote_sdk)

Advanced Features

Multiple Device Handling

slamtec_aurora_sdk_server_connection_info_t servers[32];
int count = slamtec_aurora_sdk_controller_get_discovered_servers(session, servers, 32);

for (int i = 0; i < count; i++) {
    printf("Device %d: %s\n", i, servers[i].connection_info[0].address);
}

Error Checking

slamtec_aurora_sdk_errorcode_t result = 
    slamtec_aurora_sdk_controller_connect(session, &info);

switch (result) {
    case SLAMTEC_AURORA_SDK_ERRORCODE_OK:
        printf("Connection successful\n");
        break;
    case SLAMTEC_AURORA_SDK_ERRORCODE_CONNECTION_LOST:
        printf("Connection failed\n");
        break;
    default:
        printf("Unknown error: %d\n", result);
        break;
}

Use Cases

  • Embedded Systems: C-only environments without C++ support
  • Legacy Integration: Integration with existing C codebases
  • Minimal Footprint: Applications requiring minimal dependencies
  • Real-time Systems: Low-level control with predictable behavior
  • Cross-language Bindings: Base for creating bindings in other languages

Limitations

  • Less feature-rich compared to C++ wrapper
  • Manual memory management required for complex operations
  • No automatic resource management (RAII)
  • More verbose error handling

Best Practices

  • Always check return values for error codes
  • Properly release sessions and disconnect from devices
  • Use appropriate sleep functions for cross-platform compatibility
  • Initialize structures with memset() before use
  • Handle connection failures gracefully