sick_generic_caller.cpp

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#include <stdio.h>
#include <stdlib.h>
#include <string.h>

#include "sick_scan/sick_generic_laser.h"
#include "sick_scan/sick_generic_imu.h"
#include "sick_scan/binScanf.hpp"
#include "sick_scan/binPrintf.hpp"
#include "sick_scan/dataDumper.h"

#ifdef _MSC_VER
#include "sick_scan/rosconsole_simu.hpp"
#endif

#define MAX_NAME_LEN (1024)

// 001.001.000 Switch to multithreaded processing of data
// 001.001.001: Documentation added
// 001.002.001: Bug in bin_scanf fixed (number of counted arguments was always 1)
// 001.002.002: MRS1xxx/LMS1xxx - legacy device ident cmd. changed to new device ident cmd
// 001.002.003: MRS1xxx/LMS1xxx - support of hector_slam integrated
// 001.002.004: RMS3xx - profiling and radar support optimized
// 001.002.005: Startup process changed to state machine
// 001.002.006: Signal handler for ctrl-c added
// 001.002.007: Fix for multi echo handling with lookup table
// 001.002.008: IMU Parser structure added
// 001.002.009: Application setting modified for MRS1104
// 001.002.010: First version of IMU parser
// 001.002.011: Ip Address change added, bugfixing
// 001.003.000: Jan 2019  release 0.0.14
// 001.003.001: Jan 2019  release 0.0.14 address handling for ip v4 parsing fixed
// 001.003.002: Feb 2019 Fixing and optimizing console output
// 001.003.016: Feb 2019 Profiling+instructions, Caching of Ros-Params
// 001.003.017: May 2019 stability issues, scan rate and angular resolution settings added
// 001.003.018: May 2019 LMS1000 Min/Max angel settings added and tested
// 001.003.020: May 2019 Bloom process prepared
#define SICK_GENERIC_MAJOR_VER "001"
#define SICK_GENERIC_MINOR_VER "003"
#define SICK_GENERIC_PATCH_LEVEL "020"

#include <algorithm> // for std::min




std::string getVersionInfo();
int main(int argc, char **argv)
{


  DataDumper::instance().writeToFileNameWhenBufferIsFull("/tmp/sickscan_debug.csv");
        char nameId[] = "__name:=";
        char nameVal[MAX_NAME_LEN] = { 0 };
        char **argv_tmp; // argv_tmp[0][0] argv_tmp[0] identisch ist zu (*argv_tmp)
        int argc_tmp;
        std::string scannerName = "????";

        // sick_scan::SickScanImu::imuParserTest();

        argc_tmp = argc;
        argv_tmp = argv;

        const int MAX_STR_LEN = 1024;
        char nameTagVal[MAX_STR_LEN] = { 0 };
        char logTagVal[MAX_STR_LEN] = { 0 };
        char internalDebugTagVal[MAX_STR_LEN] = { 0 };
        char sensorEmulVal[MAX_STR_LEN] = { 0 };

        if (argc == 1) // just for testing without calling by roslaunch
        {
                // recommended call for internal debugging as an example: __name:=sick_rms_320 __internalDebug:=1
                // strcpy(nameTagVal, "__name:=sick_rms_3xx");  // sick_rms_320 -> radar
                strcpy(nameTagVal, "__name:=sick_tim_5xx");  // sick_rms_320 -> radar
                strcpy(logTagVal, "__log:=/tmp/tmp.log");
                strcpy(internalDebugTagVal, "__internalDebug:=1");
                // strcpy(sensorEmulVal, "__emulSensor:=1");
        strcpy(sensorEmulVal, "__emulSensor:=0");
                argc_tmp = 5;
                argv_tmp = (char **)malloc(sizeof(char *) * argc_tmp);

                argv_tmp[0] = argv[0];
                argv_tmp[1] = nameTagVal;
                argv_tmp[2] = logTagVal;
                argv_tmp[3] = internalDebugTagVal;
                argv_tmp[4] = sensorEmulVal;

        }
  //
        std::string versionInfo = "sick_generic_caller V. ";
        versionInfo += std::string(SICK_GENERIC_MAJOR_VER) + '.';
        versionInfo += std::string(SICK_GENERIC_MINOR_VER) + '.';
        versionInfo += std::string(SICK_GENERIC_PATCH_LEVEL);

        setVersionInfo(versionInfo);
  ROS_INFO("%s", versionInfo.c_str());
        for (int i = 0; i < argc_tmp; i++)
        {
                if (strstr(argv_tmp[i], nameId) == argv_tmp[i])
                {
                        strcpy(nameVal, argv_tmp[i] + strlen(nameId));
                        scannerName = nameVal;
                }
                ROS_INFO("Program arguments: %s", argv_tmp[i]);
        }

        int result = mainGenericLaser(argc_tmp, argv_tmp, scannerName);
        return result;

}