packets.cpp
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1 
31 #include "create/create.h"
32 
33 #include <iostream>
34 
35 int main(int argc, char** argv) {
36  // Select robot. Assume Create 2 unless argument says otherwise
38  std::string port = "/dev/ttyUSB0";
39  int baud = 115200;
40  if (argc > 1 && std::string(argv[1]) == "create1") {
42  baud = 57600;
43  std::cout << "Running driver for Create 1" << std::endl;
44  }
45  else {
46  std::cout << "Running driver for Create 2" << std::endl;
47  }
48 
49  // Construct robot object
50  create::Create robot(model);
51 
52  // Connect to robot
53  if (robot.connect(port, baud))
54  std::cout << "Connected to robot" << std::endl;
55  else {
56  std::cout << "Failed to connect to robot on port " << port.c_str() << std::endl;
57  return 1;
58  }
59 
60  while (true) {
61  // Get serial packet statistics
62  const uint64_t total_packets = robot.getTotalPackets();
63  const uint64_t num_corrupt_packets = robot.getNumCorruptPackets();
64 
65  // Print packet stats
66  std::cout << "\rTotal packets: " << total_packets << " Corrupt packets: " << num_corrupt_packets;
67 
68  usleep(100000); // 10 Hz
69  }
70 
71  return 0;
72 }
uint64_t getTotalPackets() const
Get the total number of serial packets received (including corrupt packets) since first connecting to...
Definition: create.cpp:1111
static RobotModel CREATE_1
Compatible with Create 1 or Roomba 500 series.
Definition: types.h:68
uint64_t getNumCorruptPackets() const
Get the number of corrupt serial packets since first connecting to Create. This value is ideally zero...
Definition: create.cpp:1107
int main(int argc, char **argv)
Definition: packets.cpp:35
bool connect(const std::string &port, const int &baud)
Make a serial connection to Create.
Definition: create.cpp:269
static RobotModel CREATE_2
Compatible with Create 2 or Roomba 600 series and greater.
Definition: types.h:73


libcreate
Author(s): Jacob Perron
autogenerated on Sat Jan 2 2021 04:00:49