Ejemplo n.º 1
0
	void SamIter(void)
	{
	bool thereIsObservation,hardError;	
	CObservation2DRangeScan myscan;
	
	
    laser.doProcessSimple( thereIsObservation, myscan, hardError );
	Bottle &Send = myfirst.prepare();
	Send.clear();

	if(thereIsObservation )
		{
			//scan only 512 points for 180 deg, ignore the first,last 85 points
			for(int x=0;x<myscan.scan.size()-85;x++)
			{
				//if(myscan.scan[x]<mindistance){myscan.scan[x]=0;}
				if(x>84) 
				{
					Send.addDouble(myscan.scan[x]);

					if(myscan.scan[x]==1.0)
						std::cout << "obst sensed at " << x <<std::endl;
					
					//if(myscan.scan[x]<mindistance){myscan.scan[x]=0;}
				}
				//std::cout << "Scan size Vlaser" << myscan.scan.size() <<std::endl;
			}
		myfirst.writeStrict();
		}
	//std::cout<< " laser size " <<Send.size() <<std::endl;
	}
Ejemplo n.º 2
0
bool receiveDataFromSensor(CObservation2DRangeScan* pObs, int laser_model)
{
	bool		thereIsObservation, hardError;

	int count =0;
	while(true)  {

	  if(laser_model == SICK){
		sick.doProcessSimple(thereIsObservation, *pObs, hardError);
	  }else if(laser_model == HOKUYO){
		hokuyo.doProcessSimple(thereIsObservation, *pObs, hardError);
	  }
	  

	  if(thereIsObservation && !hardError)
		break;
	  else{
		count++;
	  }

	  if(count>10)	{
		cout << "Receive Data Error... and Exit" << endl;
		//		sick.stop();
		return false;
	  }
	}
	return true;
}
Ejemplo n.º 3
0
	void SamInit(void)
	{
	puts("in laser");
	laser.setSerialPort("COM10");
	
	puts("set serial \n Starting laser, this may take a minute");

	bool TurnedOn = false;

	while(!TurnedOn) // sometimes the coms are busy, wait untill we get what we want 
	{
		try{TurnedOn = laser.turnOn();}
		catch (...){}
	}
	puts("laser turned on");
	RecognisePort("Out");
	StartModule("/Laser");
	myfirst.open("/Laser_Out"); //myPortStatus
	myfirst.setReporter(myPortStatus);
	

	}
Ejemplo n.º 4
0
void initLaser(){
  cout << "[init Laser start....]" << endl;
  //  if(LASER_MODEL == SICK){
	if(sick.start()){

	  cout << "Sick initialized successfully" << endl;
	}
	else   {
	  cout << "Error in initLaser" << endl;
	  exit;
	}
	//  }else if(LASER_MODEL == HOKUYO){
	hokuyo.m_com_port = "ttyACM0";
	hokuyo.turnOn();
	//  }

  cout << "[init Laser end....]" << endl;
}
Ejemplo n.º 5
0
	void Disconnect()
	{
		laser.turnOff();
	
	}
Ejemplo n.º 6
0
// ------------------------------------------------------
//				Test_HOKUYO
// ------------------------------------------------------
void Test_HOKUYO()
{
	CHokuyoURG		laser;

	string 			serName;
	cout << "HOKUYO laser range finder test application." << endl << endl;

	if (SERIAL_NAME.empty())
	{
        cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0, ttyACM0): ";
        getline(cin,serName);
	}
	else
	{
        cout << "Using serial port: " << SERIAL_NAME << endl;
	    serName = SERIAL_NAME;
	}

	// Set the laser serial port:
	laser.m_com_port = serName;

	// Config: Use defaults + selected serial port

	printf("[TEST] Turning laser ON...\n");
	if (laser.turnOn())
		printf("[TEST] Initialization OK!\n");
	else
	{
		printf("[TEST] Initialization failed!\n");
		return;
	}

#if MRPT_HAS_WXWIDGETS
	CDisplayWindowPlots		win("Laser scans");
#endif

	cout << "Press any key to stop capturing..." << endl;

	CTicTac     tictac;
	tictac.Tic();

	while (!mrpt::system::os::kbhit())
	{
		bool						thereIsObservation,hardError;
		CObservation2DRangeScan		obs;

		laser.doProcessSimple( thereIsObservation, obs, hardError );

		if (hardError)
			printf("[TEST] Hardware error=true!!\n");

		if (thereIsObservation)
		{
		    double FPS = 1.0 / tictac.Tac();


			printf("Scan received: %u ranges, FOV: %.02fdeg, %.03fHz: mid rang=%fm\n",
				(unsigned int)obs.scan.size(),
				RAD2DEG(obs.aperture),
				FPS,
				obs.scan[obs.scan.size()/2]);

			obs.sensorPose = CPose3D(0,0,0);

			mrpt::slam::CSimplePointsMap		theMap;
			theMap.insertionOptions.minDistBetweenLaserPoints	= 0;
			theMap.insertObservation( &obs );
			//map.save2D_to_text_file("_out_scan.txt");

			/*
			COpenGLScene			scene3D;
			opengl::CPointCloudPtr	points = opengl::CPointCloud::Create();
			points->loadFromPointsMap(&map);
			scene3D.insert(points);
			CFileStream("_out_point_cloud.3Dscene",fomWrite) << scene3D;
			*/

#if MRPT_HAS_WXWIDGETS
			vector_float	xs,ys,zs;
			theMap.getAllPoints(xs,ys,zs);
			win.plot(xs,ys,".b3");
			win.axis_equal();
#endif

            tictac.Tic();
		}

		mrpt::system::sleep(5);
	};

	laser.turnOff();
}