time_scans.cpp

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// this program is just a little test to make sure the laser is working.
// it's mostly just to familiarize myself with the sicktoolbox library.
// it's heavily lifted from the sicktoolbox lms_simple_app program.
//
// Copyright (C) 2008, 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 <cstdlib>
#include <csignal>
#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 != 3)
  {
    printf("Usage: print_scans DEVICE BAUD_RATE\n");
    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
  {
    ros::Time prev_scan_time = ros::Time::now();
    while (!got_ctrlc)
    {
      sick_lms.GetSickScan(values, num_values);
      ros::Time t = ros::Time::now();
      double delta = t.toSec() - prev_scan_time.toSec();
      printf("%f (%f)\n", delta, 1.0 / delta);
      prev_scan_time = t;
    }
  }
  catch (...)
  {
    printf("woah! error!\n");
  }
  try
  {
    sick_lms.Uninitialize();
  }
  catch (...)
  {
    printf("error during uninitialize\n");
    return 1;
  }
  printf("success.\n");
  return 0;
}