int main(int argc, char **argv)
{
if (argc < 2)
return usage();
const char *cmd = argv[1];
perish_if(libusb_init(NULL) < 0, "Couldn't init libusb");
libusb_device_handle *h = libusb_open_device_with_vid_pid(NULL,
VENDOR_ID,
PRODUCT_ID);
perish_if(h == NULL, "couldn't find or open device. check permissions?");
perish_if(0 != libusb_claim_interface(h, 0), "couldn't claim interface");
printf("device opened successfully.\n");
signal(SIGINT, signal_handler);
if (!strcmp(cmd, "stream"))
stream(h);
else if (!strcmp(cmd, "blink"))
blink(h);
else if (!strcmp(cmd, "spin"))
spin(h);
else if (!strcmp(cmd, "listen"))
{
ros::init(argc, argv, "roscar_driver");
roscar_listen(h);
}
libusb_exit(NULL);
return 0;
}
int main(int argc, char **argv)
{
if (argc < 2)
return usage();
const char *cmd = argv[1];
perish_if(libusb_init(NULL) < 0, "Couldn't init libusb");
libusb_device_handle *h = libusb_open_device_with_vid_pid(NULL,
VENDOR_ID,
PRODUCT_ID);
perish_if(h == NULL, "couldn't find device");
perish_if(0 != libusb_claim_interface(h, 0), "couldn't claim interface");
printf("device opened successfully.\n");
signal(SIGINT, signal_handler);
if (!strcmp(cmd, "dump"))
dump(h);
else if (!strcmp(cmd, "burn") && argc >= 3)
burn(h, argv[2]);
else if (!strcmp(cmd, "configure"))
configure(h);
else if (!strcmp(cmd, "poe") && argc >= 3)
poe_power(h, atoi(argv[2]));
libusb_exit(NULL);
return 0;
}
int main(int argc, char **argv)
{
signal(SIGINT, signal_handler);
if (argc != 2)
usage();
const char *serial_device = argv[1];
LightweightSerial *port = new LightweightSerial(serial_device, 1000000);
perish_if(!port, "Could't open the specified serial port");
uint8_t b = 0;
while (port->is_ok() && !g_done)
{
if (port->read(&b))
{
putc(b, stdout);
fflush(stdout);
}
else
usleep(1000);
}
return 0;
}
