83 lines
2.8 KiB
C++
83 lines
2.8 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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// This tests standalone use of the LMS2xx class.
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// It first tries connecting to a robot and sending it the command
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// to switch on power to the primary laser. Then it connects
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// to the SICK LMS2xx using the ArLMS2xx class directly, not using
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// ArLaserConnector or ArRobot.
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#include "Aria.h"
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int main(int argc, char **argv)
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{
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Aria::init();
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/* Connect to robot just so we can turn on laser power if neccesary */
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ArArgumentParser parser(&argc, argv);
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ArRobot robot;
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ArRobotConnector robotConnector(&parser, &robot);
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if(robotConnector.connectRobot())
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{
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robot.runAsync(true);
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ArLog::log(ArLog::Normal, "Connected to robot, issusing LRF_POWER command...");
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robot.comInt(ArCommands::POWER_LRF, 1);
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robot.disableSonar();
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}
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else
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{
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ArLog::log(ArLog::Normal, "No robot or unable to connect.");
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}
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/* Now connect to laser. ArRobot is not used. */
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ArSerialConnection con;
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ArLMS2xx laser(0);
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con.setPort(ArUtil::COM3);
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if(con.open(ArUtil::COM3) != 0) {
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ArLog::log(ArLog::Terse, "Error opening serial port %s", con.getPort());
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Aria::exit(1);
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}
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laser.setDeviceConnection(&con);
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laser.setPowerControlled(true);
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laser.chooseAutoBaud("38400");
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laser.chooseDegrees("180");
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laser.chooseIncrement("one");
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laser.runAsync();
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if(!laser.blockingConnect()) {
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ArLog::log(ArLog::Terse, "Error connecting to SICK LMS2xx on %s", con.getPort());
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Aria::exit(2);
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}
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while(laser.isConnected()) {
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ArUtil::sleep(2000);
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ArLog::log(ArLog::Normal, "%d readings/sec.", laser.getReadingCount());
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}
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ArLog::log(ArLog::Normal, "Laser disconnected.");
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Aria::exit(0);
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}
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