u_result MainWindow::captureAndDisplay()
{
u_result ans;
rplidar_response_measurement_node_t nodes[360*2];
size_t count = _countof(nodes);
printf("waiting for data...\n");
// fetech extactly one 0-360 degrees' scan
ans = mDrv->grabScanData(nodes, count);
if (IS_OK(ans) || ans == RESULT_OPERATION_TIMEOUT)
{
mDrv->ascendScanData(nodes, count);
plotHistogram(nodes, count);
/*
printf("Do you want to see all the data? (y/n) ");
int key = getchar();
if (key == 'Y' || key == 'y')
{
for (int pos = 0; pos < (int)count ; ++pos)
{
printf("%s theta: %03.2f Dist: %08.2f \n",
(nodes[pos].sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) ?"S ":" ",
(nodes[pos].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT)/64.0f,
nodes[pos].distance_q2/4.0f);
}
}
*/
}
else
{
printf("error code: %x\n", ans);
}
return ans;
}
int
main(int argc, char **argv) {
argc = AS_configure(argc, argv);
merylArgs *args = new merylArgs(argc, argv);
gkpStoreFile::registerFile();
gkpStoreChain::registerFile();
switch (args->personality) {
case 'P':
estimate(args);
break;
case 'B':
build(args);
break;
case 'd':
dumpDistanceBetweenMers(args);
break;
case 't':
dumpThreshold(args);
break;
case 'p':
dumpPositions(args);
break;
case 'c':
countUnique(args);
break;
case 'h':
plotHistogram(args);
break;
case PERSONALITY_MIN:
case PERSONALITY_MINEXIST:
case PERSONALITY_MAX:
case PERSONALITY_MAXEXIST:
case PERSONALITY_ADD:
case PERSONALITY_AND:
case PERSONALITY_NAND:
case PERSONALITY_OR:
case PERSONALITY_XOR:
multipleOperations(args);
break;
case PERSONALITY_SUB:
case PERSONALITY_ABS:
case PERSONALITY_DIVIDE:
binaryOperations(args);
break;
case PERSONALITY_LEQ:
case PERSONALITY_GEQ:
case PERSONALITY_EQ:
unaryOperations(args);
break;
default:
args->usage();
fprintf(stderr, "%s: unknown personality. Specify -P, -B, -S or -M!\n", args->execName);
exit(1);
break;
}
delete args;
return(0);
}
