test.cpp

Go to the documentation of this file.

/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0
 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 
 
#include "lms1xx.h"
 
#include <iostream>
#include <unistd.h>
 
int main()
{
        LMS1xx laser;
        scanData data;
 
        laser.connect("192.168.1.2");
        if(!laser.isConnected())
        {
                std::cout << "connection failend" << std::endl;
                return 0;
        }
 
        std::cout << "Connected to laser" << std::endl;
 
        std::cout << "Loging in ..." << std::endl;
        laser.login();
 
        laser.stopMeas();
 
        std::cout << "Geting scan configuration ..." << ::std::endl;
        scanCfg c = laser.getScanCfg();
 
        //std::cout << "Scanning Frequency : " << c.scaningFrequency/100.0 << "Hz AngleResolution : " << c.angleResolution/10000.0 << "deg " << std::endl;
 
        c.angleResolution = 5000;
        c.scaningFrequency = 5000;
 
        laser.setScanCfg(c);
 
        scanDataCfg cc;
        cc.deviceName = false;
        cc.encoder = 0;
        cc.outputChannel = 3;
        cc.remission = true;
        cc.resolution = 0;
        cc.position = false;
        cc.outputInterval = 1;
 
        laser.setScanDataCfg(cc);
 
        int ret = 0;
        std::cout << "Start measurements ..." << std::endl;
        laser.startMeas();
 
        std::cout << "Wait for ready status ..." << std::endl;
        ret = 0;
        while (ret != 7)
        {
                ret = laser.queryStatus();
                std::cout << "status : " << ret << std::endl;
                sleep(1);
        }
        std::cout << "Laser ready" << std::endl;
 
        std::cout << "Start continuous data transmission ..." << std::endl;
        laser.scanContinous(1);
 
        for(int i =0; i < 3; i++)
        {
                std::cout << "Receive data sample ..." << std::endl;
                laser.getData(data);
        }
 
        std::cout << "Stop continuous data transmission ..." << std::endl;
        laser.scanContinous(0);
 
        laser.stopMeas();
 
        std::cout << "Disconnect from laser" << std::endl;
        laser.disconnect();
 
        return 0;
}