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; }