//! main
int main(int argc, char *argv[])
{
#ifdef WINDOWS_OS
const char device[] = "COM3";
#else
const char device[] = "/dev/ttyACM0";
#endif
UrgDevice urg;
if (! urg.connect(device)) {
printf("UrgDevice::connect: %s\n", urg.what());
exit(1);
}
vector<string> lines;
// Receive version information
urg.versionLines(lines);
if (lines.empty()) {
cerr << "UrgDevice::versionLines: " << urg.what() << endl;
exit(1);
}
// Display
for (vector<string>::iterator it = lines.begin();
it != lines.end(); ++it) {
cout << *it << endl;
}
#ifdef MSC
getchar();
#endif
return 0;
}
//! main
int main(int argc, char *argv[])
{
// Change the port name appropriately
#ifdef WINDOWS_OS
const char device[] = "COM3";
#else
const char device[] = "/dev/ttyACM0";
#endif
UrgDevice urg;
if (! urg.connect(device)) {
printf("UrgDevice::connect: %s\n", urg.what());
exit(1);
}
// Display parameter information
RangeSensorParameter parameters = urg.parameter();
printf("model: %s\n", parameters.model.c_str());
printf("distance_min: %ld\n", parameters.distance_min);
printf("distance_max: %ld\n", parameters.distance_max);
printf("area_total: %d\n", parameters.area_total);
printf("area_min: %d\n", parameters.area_min);
printf("area_max: %d\n", parameters.area_max);
printf("area_front: %d\n", parameters.area_front);
printf("scan_rpm: %d\n", parameters.scan_rpm);
#ifdef MSC
getchar();
#endif
return 0;
}
void connect()
{
qrk::LockGuard guard(urg_mutex);
if (! urg.connect(device.c_str())) {
printf("UrgDevice::connect: %s\n", urg.what());
exit(1);
}
}
void update()
{
qrk::LockGuard guard(urg_mutex);
urg.capture(data, ×tamp);
vector<float> angles;
for (int i=0; i<data.size(); i++) {
angles.push_back( urg.index2rad(i));
}
urg_data.setData(data);
urg_data.setDataAngles(angles);
}
//! main
int main(int argc, char *argv[])
{
if (argc < 3) {
cerr << "usage:" << endl
<< "\t" << argv[0] << " <number of scans> <output file>\n"
<< endl;
exit(1);
}
int scan_times = atoi(argv[1]);
max(scan_times, 0);
ofstream fout(argv[2]);
if (! fout.is_open()) {
perror(argv[2]);
}
// Search URG port
vector<string> ports;
findUrgPorts(ports);
if (ports.empty()) {
cerr << "no ports." << endl;
exit(1);
}
UrgDevice urg;
if (! urg.connect(ports[0].c_str())) {
cerr << "UrgDevice::connect: " << urg.what() << endl;
exit(1);
}
// Get data by GD command
vector<long> data;
for (int i = 0; i < scan_times; ++i) {
int n = urg.capture(data);
if (n < 0) {
continue;
}
outputCsv(fout, data);
cout << (i + 1) << " scaned." << endl;
}
#ifdef MSC
getchar();
#endif
return 0;
}
void setup(const std::string& host, int port){
if ( socket.connect(host.c_str(), port) ) {
urg.setConnection(&socket);
urg.connect(host.c_str(), port);
}
}
inline double index2rad(const int index) const { return urg.index2rad(index); }
inline double maxScanAngle() const { return urg.index2rad(urg.maxScanLines()); }
inline int maxScanIndex() const { return urg.maxScanLines(); }
inline long maxDistance() const { return urg.maxDistance(); }
inline long minDistance() const { return urg.minDistance(); }
void disconnect()
{
urg.disconnect();
}