main.cpp

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//
// main.cpp
//
// LD-MRS example driver and application.
// This code should compile under Linux.
//
// The main() function contains calls to several demo applications. 
// Most of the scanner parameters - including its IP address - are set up
// directly in the LDMRS class constructor.
//
// All source code provided here is intended for demonstration and reference purposes only.
// SICK provides no warranty whatsoever for the function of this code.
//
// Note that not all features are available with all firmware versions of the MRS. Please refer
// to the manual if the intended functionality is available with your device.
//
// Change log:
// 2013-09-18, willhvo:
//  - Started change log.
// 2014-03-04, willhvo:
//  - Added NtpTimeApp demo.
// 2014-12-18, willhvo:
//  - Added ScanpointCoordinateApp demo.
//

#include "tools/errorhandler.hpp"
#include "BasicDatatypes.hpp"
#include "manager.hpp"

//
// This example demonstrates setting and receiving the NTP timestamp of the MRS. The timestamp
// can be set with two commands, and is automatically included in every data packet received
// from the sensor. 
// This feature is available in all firmware versions.
//
// The MRS device should be configured like this:
// m_weWantScanData:          true
// m_weWantObjectData:        false
// m_weWantFieldData:         false
// m_weWantScanDataFromSopas: false
//
int mrsNtpTimeApp()
{
        // First, create the manager object. The manager handles devices, collects
        // device data and forwards it to the application(s).
        printInfoMessage("mrsNtpTimeApp: Creating the manager.", true);
        Manager manager;
        
        Sourcetype type;
        std::string name;
        UINT16 id;
        bool result = false;
        
        // Add the MRS device (sensor)
        printInfoMessage("mrsNtpTimeApp: Adding the LDMRS device.", true);
        type = Sourcetype_LDMRS;
        name = "LDMRS-1";
        id = 1;
        result = manager.addAndRunDevice(type, name, id);
        if (result == false)
        {
                printError("mrsNtpTimeApp: Failed to add device " + name + ", aborting!");
                return 0;
        }
        
        // Add the application. As the devices may send configuration data only once
        // at startup, the applications may want to be present before the devices are
        // started. But - this is not needed here.
        printInfoMessage("mrsNtpTimeApp: Adding the application MrsNtpTimeApp.", true);
        type = Sourcetype_MrsNtpTimeApp;
        name = "MRS Example NTP time App";
        id = 51;
        result = manager.addApplication(type, name, id);
        if (result == false)
        {
                printError("mrsNtpTimeApp: Failed to add application " + name + ", aborting!");
                return 0;
        }
        printInfoMessage("mrsNtpTimeApp: Application NTP-time is running.", true);

        
        // This loop never ends
        while (1)
        {
                // Sleep 100 ms
                usleep(100000);
        }
        
        return 0;
}


//
// This example demonstrates setting and checking the FlexibleResolution feature of the
// LDMRS. This feature is not available in all firmware versions.
//
// The MRS device should be configured like this:
// m_weWantScanData:          true
// m_weWantObjectData:        false
// m_weWantFieldData:         false
// m_weWantScanDataFromSopas: false
//
int sectorChangeApp()
{
        // First, create the manager object. The manager handles devices, collects
        // device data and forwards it to the application(s).
        printInfoMessage("sectorChangeApp: Creating the manager.", true);
        Manager manager;
        
        Sourcetype type;
        std::string name;
        UINT16 id;
        bool result = false;
        
        // Add the MRS device (sensor)
        printInfoMessage("sectorChangeApp: Adding the LDMRS device.", true);
        type = Sourcetype_LDMRS;
        name = "LDMRS-1";
        id = 1;
        result = manager.addAndRunDevice(type, name, id);
        if (result == false)
        {
                printError("sectorChangeApp: Failed to add device " + name + ", aborting!");
                return 0;
        }
        
        // Add the application. As the devices may send configuration data only once
        // at startup, the applications may want to be present before the devices are
        // started. But - this is not needed here.
        printInfoMessage("sectorChangeApp: Adding the application MrsSectorChangeApp.", true);
        type = Sourcetype_MrsChangeApp;
        name = "MRS Example Sector Change App";
        id = 51;
        result = manager.addApplication(type, name, id);
        if (result == false)
        {
                printError("sectorChangeApp: Failed to add application " + name + ", aborting!");
                return 0;
        }
        printInfoMessage("sectorChangeApp: Application SectorChange is running.", true);

        
        // This loop never ends
        while (1)
        {
                // Sleep 100 ms
                usleep(100000);
        }
        
        return 0;
}


//
// SOPAS scan data reception application.
// This example shows the reception of scan data via the SOPAS interface.
// Note 1: If only scan data is required, it is recommended to use the MRS interface instead.
// Note 2: Not all MRS devices have a SOPAS interface.
//
// The MRS device should be configured like this:
// m_weWantScanData:          false
// m_weWantObjectData:        false
// m_weWantFieldData:         false
// m_weWantScanDataFromSopas: true
//
int mrsSopasScandataApp()
{
        // First, create the manager object. The manager handles devices, collects
        // device data and forwards it to the application(s).
        printInfoMessage("mrsSopasScandataApp: Creating the manager.", true);
        Manager manager;
        
        // Add the application. As the devices may send configuration data only once
        // at startup, the applications must be present before the devices are
        // started. Here, we are using the general data display app because we only want
        // to show the received data.
        Sourcetype type;
        std::string name;
        UINT16 id;
        bool result = false;

        printInfoMessage("mrsSopasScandataApp: Adding the application MrsApp.", true);
        type = Sourcetype_MrsApp;
        name = "MRS ExampleApp";
        id = 50;
        result = manager.addApplication(type, name, id);
        if (result == false)
        {
                printError("mrsSopasScandataApp: Failed to add application " + name + ", aborting!");
                return 0;
        }
        printInfoMessage("mrsSopasScandataApp: Application is running.", true);
        
        //
        // Add and run the sensor
        //
        printInfoMessage("mrsSopasScandataApp: Adding the LDMRS device.", true);
        type = Sourcetype_LDMRS;
        name = "LDMRS-1";
        id = 1;
        result = manager.addAndRunDevice(type, name, id);
        if (result == false)
        {
                printError("mrsSopasScandataApp: Failed to add device " + name + ", aborting!");
                return 0;
        }

        // This loop never ends
        while (1)
        {
                // Sleep 100 ms
                usleep(100000);
        }
        
        return 0;
}


//
// Field setting application.
//
// The MRS device should be configured like this:
// m_weWantScanData:          false
// m_weWantObjectData:        false
// m_weWantFieldData:         true
// m_weWantScanDataFromSopas: false
//
int mrsFieldApp()
{
        // First, create the manager object. The manager handles devices, collects
        // device data and forwards it to the application(s).
        printInfoMessage("mrsFieldApp: Creating the manager.", true);
        Manager manager;
        
        // Add the application. As the devices may send configuration data only once
        // at startup, the applications must be present before the devices are
        // started.
        Sourcetype type;
        std::string name;
        UINT16 id;
        bool result = false;

        printInfoMessage("mrsFieldApp: Adding the application MrsFieldApp.", true);
        type = Sourcetype_MrsFieldApp;
        name = "MRS FieldApp";
        id = 50;
        result = manager.addApplication(type, name, id);
        if (result == false)
        {
                printError("mrsFieldApp: Failed to add application " + name + ", aborting!");
                return 0;
        }
        printInfoMessage("mrsFieldApp: Application is running.", true);
        
        //
        // Add and run the sensor
        //
        printInfoMessage("mrsFieldApp: Adding the LDMRS device.", true);
        type = Sourcetype_LDMRS;
        name = "LDMRS-1";
        id = 1;
        result = manager.addAndRunDevice(type, name, id);
        if (result == false)
        {
                printError("mrsFieldApp: Failed to add device " + name + ", aborting!");
                return 0;
        }

        // This loop never ends
        while (1)
        {
                // Sleep 100 ms
                usleep(100000);
        }
        
        return 0;
}


//
// Demo application for scanpoint coordinate calculation. Receives the scanpoints, and prints coordinates of the points at the
// configured scan angle.
//
// The MRS device could be configured like this:
// m_weWantScanData:          true
// m_weWantObjectData:        false
// m_weWantFieldData:         false
// m_weWantScanDataFromSopas: false
//
int mrsScanpointCoordinateApp()
{
        // First, create the manager object. The manager handles devices, collects
        // device data and forwards it to the application(s).
        printInfoMessage("mrsScanpointCoordinateApp: Creating the manager.", true);
        Manager manager;
        
        // Add the application. As the devices may send configuration data only once
        // at startup, the applications must be present before the devices are
        // started.
        Sourcetype type;
        std::string name;
        UINT16 id;
        bool result = false;

        printInfoMessage("mrsScanpointCoordinateApp: Adding the application MrsScanpointCoordinateApp.", true);
        type = Sourcetype_MrsScanpointCoordinateApp;
        name = "MRS CoordinateApp";
        id = 50;
        result = manager.addApplication(type, name, id);
        if (result == false)
        {
                printError("mrsScanpointCoordinateApp: Failed to add application " + name + ", aborting!");
                return 0;
        }
        printInfoMessage("mrsScanpointCoordinateApp: Application is running.", true);
        
        //
        // Add and run the sensor
        //
        printInfoMessage("mrsScanpointCoordinateApp: Adding the LDMRS device.", true);
        type = Sourcetype_LDMRS;
        name = "LDMRS-1";
        id = 1;
        result = manager.addAndRunDevice(type, name, id);
        if (result == false)
        {
                printError("mrsScanpointCoordinateApp: Failed to add device " + name + ", aborting!");
                return 0;
        }

        // This loop never ends
        while (1)
        {
                // Sleep 100 ms
                usleep(100000);
        }
        
        return 0;
}



//
// Minimal demo application. Receives all datatypes and just prints the data.
//
// The MRS device could be configured like this:
// m_weWantScanData:          true
// m_weWantObjectData:        true
// m_weWantFieldData:         false
// m_weWantScanDataFromSopas: false
//
int mrsApp()
{
        // First, create the manager object. The manager handles devices, collects
        // device data and forwards it to the application(s).
        printInfoMessage("mrsApp: Creating the manager.", true);
        Manager manager;
        
        // Add the application. As the devices may send configuration data only once
        // at startup, the applications must be present before the devices are
        // started.
        Sourcetype type;
        std::string name;
        UINT16 id;
        bool result = false;

        printInfoMessage("mrsApp: Adding the application MrsApp.", true);
        type = Sourcetype_MrsApp;
        name = "MRS ExampleApp";
        id = 50;
        result = manager.addApplication(type, name, id);
        if (result == false)
        {
                printError("mrsApp: Failed to add application " + name + ", aborting!");
                return 0;
        }
        printInfoMessage("mrsApp: Application is running.", true);
        
        //
        // Add and run the sensor
        //
        printInfoMessage("mrsApp: Adding the LDMRS device.", true);
        type = Sourcetype_LDMRS;
        name = "LDMRS-1";
        id = 1;
        result = manager.addAndRunDevice(type, name, id);
        if (result == false)
        {
                printError("mrsApp: Failed to add device " + name + ", aborting!");
                return 0;
        }

        // This loop never ends
        while (1)
        {
                // Sleep 100 ms
                usleep(100000);
        }
        
        return 0;
}


//
// The main program.
// Choose the desired application here.
//
int main(int argc, char **argv)
{
        //
        // LD-MRS Example
        //
        int result;
        
        // The MRS-App connects to an MRS, reads its configuration and receives all incoming data.
        result = mrsApp();
        
        // The MRS-App connects to an MRS, reads its configuration and displays scanpoint coordinates.
//      result = mrsScanpointCoordinateApp();
        
        // The MRS NtpTimeApp demonstrates setting and reading the NTP timestamp.
//      result = mrsNtpTimeApp();
        
        // The SectorChangeApp demonstrates the usage of the FlexRes feature.
//      result = sectorChangeApp();
        
        // The FieldApp demonstrates the usage of the SOPAS interface. It removes and creates fields and
        // eval cases.
//      result = mrsFieldApp();
        
        // The SopasScandataApp demonstrates reading scan data via the SOPAS interface.
//      result = mrsSopasScandataApp();

        
        return result;
}