sick_generic_caller.cpp

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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
 
#include "sick_scan/sick_generic_laser.h"
#include "sick_scan/dataDumper.h"
 
#include "sick_scan/helper/angle_compensator.h"
#ifdef _MSC_VER
#include "sick_scan/rosconsole_simu.hpp"
#endif
 
#define MAX_NAME_LEN (1024)
 
// 001.001.000 Switch to multithreaded processing of data
// 001.001.001: Documentation added
// 001.002.001: Bug in bin_scanf fixed (number of counted arguments was always 1)
// 001.002.002: MRS1xxx/LMS1xxx - legacy device ident cmd. changed to new device ident cmd
// 001.002.003: MRS1xxx/LMS1xxx - support of hector_slam integrated
// 001.002.004: RMS3xx - profiling and radar support optimized
// 001.002.005: Startup process changed to state machine
// 001.002.006: Signal handler for ctrl-c added
// 001.002.007: Fix for multi echo handling with lookup table
// 001.002.008: IMU Parser structure added
// 001.002.009: Application setting modified for MRS1104
// 001.002.010: First version of IMU parser
// 001.002.011: Ip Address change added, bugfixing
// 001.003.000: Jan 2019  release 0.0.14
// 001.003.001: Jan 2019  release 0.0.14 address handling for ip v4 parsing fixed
// 001.003.002: Feb 2019 Fixing and optimizing console output
// 001.003.016: Feb 2019 Profiling+instructions, Caching of Ros-Params
// 001.003.017: May 2019 stability issues, scan rate and angular resolution settings added
// 001.003.018: May 2019 LMS1000 Min/Max angel settings added and tested
// 001.003.020: May 2019 Bloom process prepared
// 001.003.022: Sep 2019 LMS 4xxx added
// 001.004.000: Oct 2019 ENCODER Support added
// 001.004.001: Nov 2019 IMU Timestamp Fix
// 1.5.0: 2019-11-20: Radar implementation moved to a singleton
// 1.5.1: 2020-03-04: First support of TiM240 prototype
// 1.5.3: 2020-03-19: Fixes for LMS1xx
// 1.5.4: 2020-03-26: Fixes for 16 bit resolution flag
// 1.5.5: 2020-04-01: MRS6xxx check
// 1.5.5: 2020-05-14: NAV 2xx support
// 1.7.0: 2020-06-01: TiM443 added
// 1.7.1: 2020-06-04: NAV 2xx angle correction added
// 1.7.2: 2020-06-09: TiM433 added and launch file info for TiM4xx added
// 1.7.3: 2020-06-10: NAV 3xx angle correction added
// 1.7.4: 2020-06-10: NAV 3xx angle correction improved
// 1.7.5: 2020-06-25: Preparing for Release Noetic
// 1.7.6: 2020-07-14: NAV310 handling optimized (angle calculation and compensation), barebone quaterion to euler
// 1.7.7: 2020-07-21: barebone quaterion to euler
#define SICK_GENERIC_MAJOR_VER "1"
#define SICK_GENERIC_MINOR_VER "12"
#define SICK_GENERIC_PATCH_LEVEL "1"
 
#include <algorithm> // for std::min
 
 
std::string getVersionInfo();
 
int main(int argc, char **argv)
{
 
  DataDumper::instance().writeToFileNameWhenBufferIsFull("/tmp/sickscan_debug.csv");
  char nameId[] = "__name:=";
  char nameVal[MAX_NAME_LEN] = {0};
  char **argv_tmp; // argv_tmp[0][0] argv_tmp[0] identisch ist zu (*argv_tmp)
  int argc_tmp;
  std::string scannerName = "????";
 
  // sick_scan::SickScanImu::imuParserTest();
 
  argc_tmp = argc;
  argv_tmp = argv;
 
  const int MAX_STR_LEN = 1024;
  char nameTagVal[MAX_STR_LEN] = {0};
  char logTagVal[MAX_STR_LEN] = {0};
  char internalDebugTagVal[MAX_STR_LEN] = {0};
  char sensorEmulVal[MAX_STR_LEN] = {0};
 
  if (argc == 1) // just for testing without calling by roslaunch
  {
    // recommended call for internal debugging as an example: __name:=sick_rms_320 __internalDebug:=1
    // strcpy(nameTagVal, "__name:=sick_rms_3xx");  // sick_rms_320 -> radar
    strcpy(nameTagVal, "__name:=sick_tim_5xx");  // sick_rms_320 -> radar
    strcpy(logTagVal, "__log:=/tmp/tmp.log");
    strcpy(internalDebugTagVal, "__internalDebug:=1");
    // strcpy(sensorEmulVal, "__emulSensor:=1");
    strcpy(sensorEmulVal, "__emulSensor:=0");
    argc_tmp = 5;
    argv_tmp = (char **) malloc(sizeof(char *) * argc_tmp);
 
    argv_tmp[0] = argv[0];
    argv_tmp[1] = nameTagVal;
    argv_tmp[2] = logTagVal;
    argv_tmp[3] = internalDebugTagVal;
    argv_tmp[4] = sensorEmulVal;
 
  }
  //
  std::string versionInfo = "sick_generic_caller V. ";
  versionInfo += std::string(SICK_GENERIC_MAJOR_VER) + '.';
  versionInfo += std::string(SICK_GENERIC_MINOR_VER) + '.';
  versionInfo += std::string(SICK_GENERIC_PATCH_LEVEL);
 
  setVersionInfo(versionInfo);
  ROS_INFO("%s", versionInfo.c_str());
  for (int i = 0; i < argc_tmp; i++)
  {
    if (strstr(argv_tmp[i], nameId) == argv_tmp[i])
    {
      strcpy(nameVal, argv_tmp[i] + strlen(nameId));
      scannerName = nameVal;
    }
    ROS_INFO("Program arguments: %s", argv_tmp[i]);
  }
 
  int result = mainGenericLaser(argc_tmp, argv_tmp, scannerName);
  return result;
 
}