Optimize code

Author: Wang DeYou

app/custom_baudrate/main.cpp

@@ -66,18 +66,15 @@ void print_usage(int argc, const char* argv[])
         " %s <com port> [baudrate]\n"
         " The baudrate can be ANY possible values between 115200 to 512000.\n"
 
-        , "SL_LIDAR_SDK_VERSION", argv[0], argv[0]);
+        , "SL_LIDAR_SDK_VERSION", argv[0]);
 }
 
 
 int main(int argc, const char* argv[]) {
 
     const char* opt_port_dev;
-    sl_u32         opt_required_baudrate = 460000;
-    sl_result     op_result;
-
-
-    bool useArgcBaudrate = false;
+    sl_u32      opt_required_baudrate = 460000;
+    sl_result   op_result;
 
     IChannel* _channel;
 
@@ -116,12 +113,10 @@ int main(int argc, const char* argv[]) {
 
     _channel = (*createSerialPortChannel(opt_port_dev, opt_required_baudrate));
 
-    int result = 0;
     do {
 
         if (SL_IS_FAIL((drv)->connect(_channel))) {
             fprintf(stderr, "Error, failed to bind to the serial port.\n");
-            result = -2;
             break;
         }
 
@@ -131,7 +126,6 @@ int main(int argc, const char* argv[]) {
         if (SL_IS_FAIL((drv)->negotiateSerialBaudRate(opt_required_baudrate, &baudrateDetected)))
         {
             fprintf(stderr, "Error, cannot perform baudrate negotiation.\n");
-            result = -3;
             break;
         }
 
@@ -146,7 +140,6 @@ int main(int argc, const char* argv[]) {
 
         if (SL_IS_FAIL((drv)->connect(_channel))) { //reconnect, otherwise, corrupted data will be retrieved.
             fprintf(stderr, "Error, failed to bind to the serial port.\n");
-            result = -2;
             break;
         }
 
@@ -158,7 +151,6 @@ int main(int argc, const char* argv[]) {
 
             if (SL_IS_FAIL(op_result)) {
                 fprintf(stderr, "Neogiation failure, the new baudrate cannot be used.\n");
-                result = -4;
                 break;
             }
 

app/simple_grabber/main.cpp

@@ -58,7 +58,9 @@ void print_usage(int argc, const char * argv[])
            "Version:  %s \n"
            "Usage:\n"
            " For serial channel %s --channel --serial <com port> [baudrate]\n"
-           "The baudrate is 115200(for A2) , 256000(for A3 and S1), 1000000(for S2).\n"
+           " The baudrate used by different models is as follows:\n"
+           "  A1(115200),A2M7(256000),A2M8(115200),A2M12(256000),"
+           "A3(256000),S1(256000),S2(1000000),S3(1000000)\n"
 		   " For udp channel %s --channel --udp <ipaddr> [port NO.]\n"
            "The LPX default ipaddr is 192.168.11.2,and the port NO.is 8089. Please refer to the datasheet for details.\n"
            , "SL_LIDAR_SDK_VERSION",  argv[0], argv[0]);
@@ -69,7 +71,7 @@ void plot_histogram(sl_lidar_response_measurement_node_hq_t * nodes, size_t coun
 {
     const int BARCOUNT =  75;
     const int MAXBARHEIGHT = 20;
-    const float ANGLESCALE = 360.0f/BARCOUNT;
+    // const float ANGLESCALE = 360.0f/BARCOUNT;
 
     float histogram[BARCOUNT];
     for (int pos = 0; pos < _countof(histogram); ++pos) {
@@ -140,11 +142,11 @@ sl_result capture_and_display(ILidarDriver * drv)
 }
 
 int main(int argc, const char * argv[]) {
-	const char * opt_channel = NULL;
-    const char * opt_channel_param_first = NULL;
-    sl_u32         opt_channel_param_second = 0;
-    sl_result     op_result;
-	int          opt_channel_type = CHANNEL_TYPE_SERIALPORT;
+	const char *opt_channel = NULL;
+    const char *opt_channel_param_first = NULL;
+    sl_u32      opt_channel_param_second = 0;
+    sl_result   op_result;
+	int         opt_channel_type = CHANNEL_TYPE_SERIALPORT;
 
     IChannel* _channel;
 
@@ -206,7 +208,7 @@ int main(int argc, const char * argv[]) {
 						, opt_channel_param_first);
 					break;
 				case CHANNEL_TYPE_UDP:
-					fprintf(stderr, "Error, cannot connect to the ip addr  %s with the udp port %s.\n"
+					fprintf(stderr, "Error, cannot connect to the ip addr %s with the udp port %u.\n"
 						, opt_channel_param_first, opt_channel_param_second);
 					break;
 			}

app/ultra_simple/main.cpp

@@ -54,14 +54,14 @@ using namespace sl;
 
 void print_usage(int argc, const char * argv[])
 {
-    printf("Simple LIDAR data grabber for SLAMTEC LIDAR.\n"
-           "Version: %s \n"
-           "Usage:\n"
-           " For serial channel %s --channel --serial <com port> [baudrate]\n"
-           "The baudrate is 115200(for A2) or 256000(for A3).\n"
-		   " For udp channel %s --channel --udp <ipaddr> [port NO.]\n"
-           "The LPX default ipaddr is 192.168.11.2,and the port NO.is 8089. Please refer to the datasheet for details.\n"
-           , "SL_LIDAR_SDK_VERSION", argv[0], argv[0]);
+    printf("Usage:\n"
+           " For serial channel\n %s --channel --serial <com port> [baudrate]\n"
+           " The baudrate used by different models is as follows:\n"
+           "  A1(115200),A2M7(256000),A2M8(115200),A2M12(256000),"
+           "A3(256000),S1(256000),S2(1000000),S3(1000000)\n"
+		   " For udp channel\n %s --channel --udp <ipaddr> [port NO.]\n"
+           " The T1 default ipaddr is 192.168.11.2,and the port NO.is 8089. Please refer to the datasheet for details.\n"
+           , argv[0], argv[0]);
 }
 
 bool checkSLAMTECLIDARHealth(ILidarDriver * drv)