int main(int argc, char *argv[]) { const char address[] = "192.168.0.10"; short port = 10940; TcpipSocket tcpip; if (! tcpip.connect(address, port)) { printf("TcpipSocket::connect: %s\n", tcpip.what()); exit(1); } UrgCtrl urg; urg.setConnection(&tcpip); urg.loadParameter(); int scan_msec = urg.scanMsec(); urg.setCaptureMode(IntensityCapture); urg.setCaptureRange(0, 760); enum { CaptureTimes = 10, }; vector<long> data; vector<long> intensity_data; long previous_timestamp = 0; for (int i = 0; i < CaptureTimes; ++i) { fprintf(stderr, "."); long timestamp = 0; int data_n = urg.captureWithIntensity(data, intensity_data, ×tamp); if (data_n > 0) { int front_index = urg.rad2index(0.0); #if 1 printf("%d: %ld [mm] (%ld), %ld [msec] (%ld)\n", i, data[front_index], intensity_data[front_index], timestamp, timestamp - previous_timestamp); #else (void)front_index; for (int j = 0; j < data_n; ++j) { printf("%ld(%ld), ", data[j], intensity_data[j]); } printf("\n"); #endif previous_timestamp = timestamp; } else { --i; delay(scan_msec); } } #ifdef MSC getchar(); #endif return 0; }