128 lines
3.5 KiB
C++
128 lines
3.5 KiB
C++
/*
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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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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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double dist, angle;
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std::list<ArPoseWithTime *> *readings;
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std::list<ArPoseWithTime *>::iterator it;
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double farDist, farAngle;
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bool found;
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ArGlobalFunctor failedConnectCB(&failedConnect);
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std::string port;
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if (argc > 1)
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port = argv[1];
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else
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port = "/dev/ttyS2";
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printf("Opening sick on port %s\n", port.c_str());
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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(port.c_str())) != 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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int times = 0;
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while (times++ < 3)
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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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dist = sick->currentReadingPolar(-90, 90, &angle);
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if (dist < sick->getMaxRange())
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printf("Closest reading %.2f mm away at %.2f degrees\n", dist, angle);
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else
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printf("No close reading.\n");
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readings = sick->getCurrentBuffer();
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int i = 0;
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for (it = readings->begin(), found = false; it != readings->end(); it++)
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{
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i++;
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dist = (*it)->findDistanceTo(ArPose(0, 0));
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angle = (*it)->findAngleTo(ArPose(0, 0));
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if (!found || dist > farDist)
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{
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found = true;
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farDist = dist;
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farAngle = angle;
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}
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}
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printf("%d readings\n", i);
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if (found)
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printf("Furthest reading %.2f mm away at %.2f degrees\n",
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farDist, farAngle);
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else
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printf("No far reading found.\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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system("echo 'succeeded' >> results");
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return 0;
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}
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