113 lines
3.1 KiB
C++
113 lines
3.1 KiB
C++
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/*
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Adept MobileRobots Robotics Interface for Applications (ARIA)
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Copyright (C) 2004, 2005 ActivMedia Robotics LLC
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Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
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Copyright (C) 2011, 2012, 2013 Adept Technology
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This program is free software; you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation; either version 2 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to the Free Software
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Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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If you wish to redistribute ARIA under different terms, contact
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Adept MobileRobots for information about a commercial version of ARIA at
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robots@mobilerobots.com or
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Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
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*/
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#include "Aria.h"
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// this test prints out the middle readings of the laser continually
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ArSick *sick;
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void failedConnect(void)
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{
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printf("Failed connect\n");
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system("echo 'Failed' >> results");
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sick->stopRunning();
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sick->disconnect();
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exit(0);
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}
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int main(int argc, char **argv)
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{
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int ret;
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std::string str;
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ArSerialConnection con;
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const std::list<ArSensorReading *> *readings;
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std::list<ArSensorReading *>::const_iterator it;
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int i;
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ArGlobalFunctor failedConnectCB(&failedConnect);
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Aria::init();
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sick = new ArSick;
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// open the connection, if it fails, exit
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if ((ret = con.open("/dev/ttyS2")) != 0)
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{
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str = con.getOpenMessage(ret);
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printf("Open failed: %s\n", str.c_str());
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Aria::shutdown();
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return 1;
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}
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sick->configure(false);
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sick->setDeviceConnection(&con);
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sick->addFailedConnectCB(&failedConnectCB, ArListPos::FIRST);
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sick->runAsync();
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ArUtil::sleep(100);
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sick->lockDevice();
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sick->asyncConnect();
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sick->unlockDevice();
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while (!sick->isConnected())
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ArUtil::sleep(100);
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printf("Connected\n");
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// while (sick->isConnected())
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while (1)
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{
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//dist = sick->getCurrentBuffer().getClosestPolar(-90, 90, ArPose(0, 0), 30000, &angle);
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sick->lockDevice();
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if (!sick->getRunning() || !sick->isConnected())
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{
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break;
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}
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printf("\r");
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readings = sick->getRawReadings();
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if (readings != NULL)
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{
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for (i = 0, it = readings->begin(); it != readings->end(); it++, i++)
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{
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if (abs(i - readings->size()/2) < 3)
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printf("(%.2f %d) ", (*it)->getSensorTh(), (*it)->getRange());
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}
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}
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// switch the commenting in out of the fflush and the
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// printf("\n"); if you want to print on the same line or have it
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// scrolling
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fflush(stdout);
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//printf("\n");
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sick->unlockDevice();
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ArUtil::sleep(100);
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}
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sick->lockDevice();
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sick->stopRunning();
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sick->disconnect();
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sick->unlockDevice();
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return 0;
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}
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