int main(int argc, char** argv){
has_to_stop=0;
signal(SIGINT, sigquit_handler);
//unsigned char buffer[8192];
sick_laser_t sick;
//int reply;
int config_retries=5;
//int connect_retries=5;
int i;
int connected=0;
int configured=0;
// int monitoringMode=0;
if (argc!=2){
fprintf(stderr, "usage: %s <device>\n", argv[0]);
return 0;
}
i=0;
fprintf(stderr, "device is %s\n", argv[1]);
connected=sick_connect(&sick, argv[1], 500000);
if (connected<=0)
return -1;
i=0;
do{
configured=sick_configure(&sick, 0, 80, 0, 100, 25);
i++;
}while (configured<=0 && i<config_retries);
return 0;
}
int main(int argc, char** argv) {
has_to_stop=0;
signal(SIGINT, sigquit_handler);
unsigned char buffer[8192];
sick_laser_t sick;
int reply;
int config_retries=5;
//int connect_retries=5;
int i;
int connected=0;
int configured=0;
//int monitoringMode=0;
if (argc!=2) {
fprintf(stderr, "usage: %s <device>\n", argv[0]);
return 0;
}
i=0;
fprintf(stderr, "device is %s\n", argv[1]);
connected=sick_connect(&sick, argv[1], 500000);
if (connected<=0)
return -1;
i=0;
do {
configured=sick_configure(&sick, 0, 80, 0, 180, 25);
i++;
} while (configured<=0 && i<config_retries);
if (configured<=0)
return -1;
sleep(1);
fprintf(stderr,"setting the continuous mode... ");
reply=sick_start_continuous_mode(&sick);
while(! has_to_stop) {
reply=sick_wait_packet(&sick, buffer);
if (reply) {
unsigned int n_ranges;
fprintf(stderr,"!");
sick_parse_measurement(&sick , NULL, &n_ranges, NULL, NULL, NULL, NULL, NULL, NULL, buffer);
fprintf(stderr,"(%d)",n_ranges);
}
}
fprintf(stderr,"Stopping Continuous Mode... \n");
/*monitoringMode=*/sick_stop_continuous_mode(&sick);
close(sick.fd);
return 0;
}
