169 lines
4.4 KiB
C++
169 lines
4.4 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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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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ArSickPacket sick;
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ArSickPacket *packet;
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ArSickPacketReceiver receiver(&con);
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ArTime start;
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unsigned int value;
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int numReadings;
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ArTime lastReading;
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ArTime packetTime;
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start.setToNow();
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// open the connection, if it fails, exit
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if ((ret = con.open()) != 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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start.setToNow();
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printf("Waiting for laser to power on\n");
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sick.empty();
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sick.uByteToBuf(0x10);
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sick.finalizePacket();
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con.write(sick.getBuf(), sick.getLength());
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while (start.secSince() < 70 &&
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((packet = receiver.receivePacket(100)) == NULL
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|| (packet->getID() != 0x90)));
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if (packet != NULL)
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printf("Laser powered on\n");
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else
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exit(1);
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printf("Changing baud\n");
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sick.empty();
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sick.byteToBuf(0x20);
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sick.byteToBuf(0x40);
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sick.finalizePacket();
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con.write(sick.getBuf(), sick.getLength());
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ArUtil::sleep(10);
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if (!con.setBaud(38400))
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{
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printf("Could not set baud, exiting\n");
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}
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/*packet = receiver.receivePacket(100);
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if (packet != NULL)
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packet->log();
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*/
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sick.empty();
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sick.uByteToBuf(0x3B);
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sick.uByte2ToBuf(180);
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sick.uByte2ToBuf(100);
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sick.finalizePacket();
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con.write(sick.getBuf(), sick.getLength());
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packet = receiver.receivePacket(100);
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if (packet != NULL)
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packet->log();
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sick.empty();
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sick.byteToBuf(0x20);
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sick.byteToBuf(0x24);
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sick.finalizePacket();
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con.write(sick.getBuf(), sick.getLength());
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packet = receiver.receivePacket(100);
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if (packet != NULL)
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packet->log();
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printf("Starting to report back from port, it took %ld ms to get here:\n",
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start.mSecSince());
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start.setToNow();
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while (start.secSince() < 6)
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{
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packetTime.setToNow();
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packet = receiver.receivePacket();
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if (packet != NULL)
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printf("####### %ld ms was how long the packet took\n", packetTime.mSecSince());
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if (packet != NULL)
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{
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if (packet->getLength() < 10)
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packet->log();
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else if (packet->getID() == 0x90)
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{
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char strBuf[512];
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packet->log();
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//printf("%x\n", packet->bufToUByte());
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packet->bufToStr(strBuf, 512);
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printf("0x%x %s\n", packet->getID(), strBuf);
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sick.empty();
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sick.uByteToBuf(0x3B);
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sick.uByte2ToBuf(180);
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sick.uByte2ToBuf(100);
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sick.finalizePacket();
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con.write(sick.getBuf(), sick.getLength());
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packet = receiver.receivePacket(100);
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sick.empty();
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sick.uByteToBuf(0x20);
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sick.uByteToBuf(0x24);
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sick.finalizePacket();
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con.write(sick.getBuf(), sick.getLength());
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}
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else
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{
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value = packet->bufToUByte2();
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numReadings = value & 0x3ff;
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printf("%ld ms after last reading.\n", lastReading.mSecSince());
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/*
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printf("Reading number %d, complete %d, unit: %d %d:\n", value & 0x3ff, !(bool)(value & ArUtil::BIT13), (bool)(value & ArUtil::BIT14), (bool)(value & ArUtil::BIT15));
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for (i = 0; i < numReadings; i++)
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{
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value = packet->bufToUByte2();
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if (value & ArUtil::BIT13)
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printf("D");
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printf("%d ", value & 0x1fff);
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}
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printf("\n");
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*/
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lastReading.setToNow();
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}
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}
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else
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{
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//printf("No packet\n");
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}
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}
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}
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