test.cpp

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/*
 * test.cpp
 *
 *  Created on: 09-08-2010
 *  Author: Konrad Banachowicz
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU Lesser General Public            *
 *   License as published by the Free Software Foundation; either          *
 *   version 2.1 of the License, or (at your option) any later version.    *
 *                                                                         *
 *   This library is distributed in the hope that it will be useful,       *
 *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
 *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
 *   Lesser General Public License for more details.                       *
 *                                                                         *
 *   You should have received a copy of the GNU Lesser General Public      *
 *   License along with this library; if not, write to the Free Software   *
 *   Foundation, Inc., 59 Temple Place,                                    *
 *   Suite 330, Boston, MA  02111-1307  USA                                *
 *                                                                         *
 ***************************************************************************/

#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;
}