25 int main(
int argc,
char* argv[]) {
30 unsigned int num_range_values;
31 unsigned int num_reflect_values;
32 unsigned int range_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
33 unsigned int reflect_values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
36 if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],
"--help") == 0)) {
37 cout <<
"Usage: lms2xx_stream_range_and_reflect PATH [BAUD RATE]" << endl
38 <<
"Ex: lms2xx_stream_range_and_reflect /dev/ttyUSB0 9600" << endl;
50 if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) {
51 cerr <<
"Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl;
69 cerr <<
"Initialize failed! Are you using the correct device path?" << endl;
83 for (
unsigned int i=0; i < 10; i++) {
84 sick_lms_2xx.
GetSickScan(range_values,reflect_values,num_range_values,num_reflect_values);
85 cout <<
"Num. Range Vals: " << num_range_values <<
" Num. Reflect Vals: " << num_reflect_values << endl;
91 cerr <<
"An error occurred!" << endl;
97 cerr <<
"Oops... Your Sick is NOT an LMS Fast!" << endl;
98 cerr <<
"It doesn't support this kind of stream." << endl;
109 cerr <<
"Uninitialize failed!" << endl;
SickLMS2xx * sick_lms_2xx
Definition of class SickLMS2xx. Code by Jason C. Derenick and Thomas H. Miller. Contact derenick(at)l...
int main(int argc, char *argv[])