print_scans.cpp
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00001 
00002 // this program is just a little test to make sure the laser is working.
00003 // it's mostly just to familiarize myself with the sicktoolbox library.
00004 // it's heavily lifted from the sicktoolbox lms_simple_app program.
00005 //
00006 // Copyright (C) 2008, Morgan Quigley
00007 //
00008 // I am distributing this code under the BSD license:
00009 //
00010 // Redistribution and use in source and binary forms, with or without 
00011 // modification, are permitted provided that the following conditions are met:
00012 //   * Redistributions of source code must retain the above copyright notice, 
00013 //     this list of conditions and the following disclaimer.
00014 //   * Redistributions in binary form must reproduce the above copyright 
00015 //     notice, this list of conditions and the following disclaimer in the 
00016 //     documentation and/or other materials provided with the distribution.
00017 //   * Neither the name of Stanford University nor the names of its 
00018 //     contributors may be used to endorse or promote products derived from 
00019 //     this software without specific prior written permission.
00020 //   
00021 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00022 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
00023 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
00024 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
00025 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
00026 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
00027 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
00028 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
00029 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
00030 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
00031 // POSSIBILITY OF SUCH DAMAGE.
00032 
00033 #include <csignal>
00034 extern "C" {
00035 // not everyone has <cstdint>
00036 #include <stdint.h>
00037 }
00038 #include <cstdio>
00039 #include <sicklms-1.0/SickLMS.hh>
00040 using namespace SickToolbox;
00041 using namespace std;
00042 
00043 bool got_ctrlc = false;
00044 void ctrlc_handler(int)
00045 {
00046   got_ctrlc = true;
00047 }
00048 
00049 int main(int argc, char **argv)
00050 {
00051   if (argc != 3)
00052   {
00053     printf("Usage: print_scans DEVICE BAUD_RATE\n");
00054     return 1;
00055   }
00056   string lms_dev = argv[1];
00057   SickLMS::sick_lms_baud_t desired_baud = SickLMS::StringToSickBaud(argv[2]);
00058   if (desired_baud == SickLMS::SICK_BAUD_UNKNOWN)
00059   {
00060     printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n");
00061     return 1;
00062   }
00063   signal(SIGINT, ctrlc_handler);
00064   uint32_t values[SickLMS::SICK_MAX_NUM_MEASUREMENTS] = {0};
00065   uint32_t num_values = 0;
00066   SickLMS sick_lms(lms_dev);
00067   try
00068   {
00069     sick_lms.Initialize(desired_baud);
00070   }
00071   catch (...)
00072   {
00073     printf("initialize failed! are you using the correct device path?\n");
00074   }
00075   try
00076   {
00077     while (!got_ctrlc)
00078     {
00079       sick_lms.GetSickScan(values, num_values);
00080       // print 12 ranges to the console
00081       int inc = num_values / 11;
00082       printf("%5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n", 
00083              values[0],     values[inc], 
00084              values[2*inc], values[3*inc],
00085              values[4*inc], values[5*inc],
00086              values[6*inc], values[7*inc],
00087              values[8*inc], values[9*inc],
00088              values[10*inc], values[num_values-1]);
00089     }
00090   }
00091   catch (...)
00092   {
00093     printf("woah! error!\n");
00094   }
00095   try
00096   {
00097     sick_lms.Uninitialize();
00098   }
00099   catch (...)
00100   {
00101     printf("error during uninitialize\n");
00102     return 1;
00103   }
00104   printf("success.\n");
00105   return 0;
00106 }
00107 


sicktoolbox_wrapper
Author(s): Morgan Quigley
autogenerated on Tue Apr 22 2014 18:56:50