void toggleOrangeLed()
{
static char ledState = 0;
if((ledState ^= 1) == 1)
{
ledOrangeOn();
}
else
{
ledOrangeOff();
}
setLedState(ledState);
}
Driver::
Driver(const std::string& iIpAddress, const int iMtu) {
mImp.reset(new Imp(this));
mImp->mChannel = crl::multisense::Channel::Create(iIpAddress);
if (mImp->mChannel == NULL) {
std::cerr << "error: failed to create multisense channel" << std::endl;
return;
}
std::cout << "successfully connected to device" << std::endl;
auto status = mImp->mChannel->setMtu(iMtu);
if (crl::multisense::Status_Ok != status) {
std::cout << "warning: could not set mtu to " << iMtu << " (" <<
mImp->mChannel->statusString(status) << ")" << std::endl;
}
setLedState(false, 0);
mImp->mImu.reset(new Imu(mImp->mChannel));
mImp->mLaser.reset(new Laser(mImp->mChannel));
mImp->mCamera.reset(new Camera(mImp->mChannel));
}
bool Driver::
stop() {
if (!mImp->mIsRunning) return false;
mImp->mIsRunning = false;
if (mImp->mCommandSubscription != NULL) {
mImp->mSubscribeLcm->unsubscribe(mImp->mCommandSubscription);
}
mImp->mCamera->stop();
if (mImp->mEnableLaser) {
mImp->mLaser->stop();
}
if (mImp->mEnableImu) {
mImp->mImu->stop();
}
setLedState(false, 0);
std::cout << "driver stopped" << std::endl;
return true;
}
