main.cc
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00001 
00018 #include <stdlib.h>
00019 #include <string>
00020 #include <iostream>
00021 #include <sicktoolbox/SickLMS2xx.hh>
00022 
00023 using namespace std;
00024 using namespace SickToolbox;
00025 
00026 int main(int argc, char* argv[])
00027 {
00028   
00029   string device_str;                      
00030   SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::SICK_BAUD_38400;
00031 
00032   unsigned int values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0}; // Uses macro defined in SickLMS2xx.hh
00033   unsigned int num_values = 0;                                   // Holds the number of measurements returned
00034   unsigned int telegram_idx = 0;
00035   unsigned int real_time_idx = 0;
00036   
00037   /* Check for a device path.  If it's not present, print a usage statement. */
00038   if ((argc != 2 && argc != 3) || (argc == 2 && strcasecmp(argv[1],"--help") == 0)) {
00039     cout << "Usage: lms2xx_real_time_indices PATH [BAUD RATE]" << endl
00040          << "Ex: lms2xx_real_time_indices /dev/ttyUSB0 9600" << endl;
00041     return -1;
00042   }
00043 
00044   /* Only device path is given */
00045   if (argc == 2) {
00046     device_str = argv[1];
00047   }
00048 
00049   /* Device path and baud are given */
00050   if (argc == 3) {    
00051     device_str = argv[1];
00052     if ((desired_baud = SickLMS2xx::StringToSickBaud(argv[2])) == SickLMS2xx::SICK_BAUD_UNKNOWN) {
00053       cerr << "Invalid baud value! Valid values are: 9600, 19200, 38400, and 500000" << endl;
00054       return -1;
00055     }
00056   }
00057 
00058   /*
00059    * Instantiate an instance
00060    */
00061   SickLMS2xx sick_lms_2xx(device_str);
00062 
00063   /*
00064    * Initialize the Sick LMS 2xx
00065    */
00066   try {
00067     sick_lms_2xx.Initialize(desired_baud);
00068   }
00069 
00070   catch(...) {
00071     cerr << "Initialize failed! Are you using the correct device path?" << endl;
00072     return -1;
00073   }
00074 
00075   /*
00076    * Ensure real-time indices are enabled
00077    */
00078   if (sick_lms_2xx.GetSickAvailability() & SickLMS2xx::SICK_FLAG_AVAILABILITY_REAL_TIME_INDICES) {
00079 
00080     try {
00081     
00082       /*
00083        * Acquire a few scans from the Sick LMS
00084        */
00085       for (unsigned int i=0; i < 10; i++) {
00086         
00087         /* We don't want Fields A,B, or C, so we pass NULL */
00088         sick_lms_2xx.GetSickScan(values,num_values,NULL,NULL,NULL,&telegram_idx,&real_time_idx);
00089         cout << "\t  Num. Values: " << num_values << ", Msg Idx: " << telegram_idx
00090              << ", Real-time Idx: " << real_time_idx << endl;
00091         
00092       }
00093       
00094     }
00095     
00096     /* Catch anything else and exit */ 
00097     catch(...) {
00098       cerr << "An error occurred!" << endl;
00099       return -1;
00100     }
00101 
00102   }
00103     
00104   else {
00105     cout << "Please set the Sick LMS to an availability w/ real-time indices..." << endl;
00106     cout << "Hint: Use the lms_config utility/example! :o)"<< endl;
00107   }
00108 
00109   /*
00110    * Uninitialize the device
00111    */
00112   try {
00113     sick_lms_2xx.Uninitialize();
00114   }
00115   
00116   catch(...) {
00117     cerr << "Uninitialize failed!" << endl;
00118     return -1;
00119   }
00120   
00121   /* Success! */
00122   return 0;
00123 
00124 }
00125     


sicktoolbox
Author(s): Jason Derenick , Thomas Miller
autogenerated on Thu Aug 27 2015 15:17:16