int main()
{
signal(SIGINT, sig_handler);
int ret;
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_create(&job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST config.\r\n"));
//ret = sj_config(job, 50, 180, 360, 5, 0.5, -45, 0);
//ret = sj_config(job, 50, 0, 360, 5, 0.125, 0, 90);
ret = sj_config(job, 50, 0, 360, 5, 0.25, -45, 90);
//ret = sj_config(job, 50, 0, 90, 5, 0.5, -45, -20);
// ret = sj_config(job, 50, 160, 200, 5, 0.5, -45, 90);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_start(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_wait(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST PASSED.\r\n"));
sj_destroy(job);
}
/*
* Class: com_hd_scan_SickLD
* Method: main
* Signature: ()I
*/
JNIEXPORT jint JNICALL Java_com_hd_scan_SickLD_main
(JNIEnv *env, jclass clazz)
{
int ret;
scan_job job;
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_create(&job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST config.\r\n"));
//ret = sj_config(job, 50, 180, 360, 5, 0.5, -45, 0);
//ret = sj_config(job, 50, 0, 360, 5, 0.5, 0, 90);//???频繁出现取数据错误?sick 3030
ret = sj_config(job, 50, 0, 360, 5, 0.25, -45, 90);
//ret = sj_config(job, 50, 0, 90, 5, 0.5, -45, -20);
//ret = sj_config(job, 50, 160, 200, 5, 0.5, -45, 90);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_start(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST start.\r\n"));
ret = sj_wait(job);
e_assert(ret>0, ret);
DMSG((STDOUT,"LASER scan TEST PASSED.\r\n"));
sj_destroy(job);
return ret;
}
/*
* Class: com_hd_internal_Scan
* Method: sj_start
* Signature: (J)I
*/
JNIEXPORT jint JNICALL Java_com_hd_internal_Scan_sj_1start
(JNIEnv *env, jclass clazz, jlong priv) {
int ret;
struct scan_job_t* scan = (struct scan_job_t*) priv;
DMSG((STDOUT,"TRY START SCAN."));
e_assert(scan!=NULL, 0);
ret = sj_start(scan);
e_assert(ret>0, 0);
DMSG((STDOUT,"START SCAN SUCCESS."));
return 1;
}
