log_scans.cpp

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// a little program that dumps LMS scans to disk in ASCII.
//
// Copyright (C) 2010, Morgan Quigley
//
// I am distributing this code under the BSD license:
//
// Redistribution and use in source and binary forms, with or without 
// modification, are permitted provided that the following conditions are met:
//   * Redistributions of source code must retain the above copyright notice, 
//     this list of conditions and the following disclaimer.
//   * Redistributions in binary form must reproduce the above copyright 
//     notice, this list of conditions and the following disclaimer in the 
//     documentation and/or other materials provided with the distribution.
//   * Neither the name of Stanford University nor the names of its 
//     contributors may be used to endorse or promote products derived from 
//     this software without specific prior written permission.
//   
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
// POSSIBILITY OF SUCH DAMAGE.

#include <csignal>
extern "C" {
// not everyone has <cstdint>
#include <stdint.h>
}
#include <cstdio>
#include <sicklms-1.0/SickLMS.hh>
#include <ros/time.h>
using namespace SickToolbox;
using namespace std;

bool got_ctrlc = false;
void ctrlc_handler(int)
{
  got_ctrlc = true;
}

int main(int argc, char **argv)
{
  if (argc != 4)
  {
    printf("Usage: log_scans DEVICE BAUD_RATE FILENAME\n");
    return 1;
  }
  FILE *log = fopen(argv[3],"w");
  if (!log)
  {
    fprintf(stderr, "couldn't open logfile %s\n", argv[3]);
    return 1;
  }
  string lms_dev = argv[1];
  SickLMS::sick_lms_baud_t desired_baud = SickLMS::StringToSickBaud(argv[2]);
  if (desired_baud == SickLMS::SICK_BAUD_UNKNOWN)
  {
    printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n");
    return 1;
  }
  signal(SIGINT, ctrlc_handler);
  uint32_t values[SickLMS::SICK_MAX_NUM_MEASUREMENTS] = {0};
  uint32_t num_values = 0;
  SickLMS sick_lms(lms_dev);
  try
  {
    sick_lms.Initialize(desired_baud);
  }
  catch (...)
  {
    printf("initialize failed! are you using the correct device path?\n");
  }
  try
  {
    while (!got_ctrlc)
    {
      sick_lms.GetSickScan(values, num_values);
      // print 12 ranges to the console
      int inc = num_values / 11;
      printf("%5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n", 
             values[0],     values[inc], 
             values[2*inc], values[3*inc],
             values[4*inc], values[5*inc],
             values[6*inc], values[7*inc],
             values[8*inc], values[9*inc],
             values[10*inc], values[num_values-1]);
      // dump all these guys to disk
      fprintf(log, "%.6f ", ros::Time::now().toSec());
      for (unsigned i = 0; i < num_values; i++)
        fprintf(log, "%d ", values[i]);
      fprintf(log, "\n");
    }
  }
  catch (...)
  {
    printf("woah! error!\n");
  }
  try
  {
    sick_lms.Uninitialize();
  }
  catch (...)
  {
    printf("error during uninitialize\n");
    return 1;
  }
  fclose(log);
  printf("success.\n");
  return 0;
}