125 lines
3.4 KiB
C++
125 lines
3.4 KiB
C++
/*
|
|
Adept MobileRobots Robotics Interface for Applications (ARIA)
|
|
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
|
|
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
|
|
Copyright (C) 2011, 2012, 2013 Adept Technology
|
|
|
|
This program is free software; you can redistribute it and/or modify
|
|
it under the terms of the GNU General Public License as published by
|
|
the Free Software Foundation; either version 2 of the License, or
|
|
(at your option) any later version.
|
|
|
|
This program is distributed in the hope that it will be useful,
|
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
|
GNU General Public License for more details.
|
|
|
|
You should have received a copy of the GNU General Public License
|
|
along with this program; if not, write to the Free Software
|
|
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
|
|
|
|
If you wish to redistribute ARIA under different terms, contact
|
|
Adept MobileRobots for information about a commercial version of ARIA at
|
|
robots@mobilerobots.com or
|
|
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
|
|
*/
|
|
#include "Aria.h"
|
|
|
|
ArSick *sick;
|
|
|
|
void failedConnect(void)
|
|
{
|
|
printf("Failed connect\n");
|
|
system("echo 'Failed' >> results");
|
|
sick->stopRunning();
|
|
sick->disconnect();
|
|
exit(0);
|
|
}
|
|
|
|
int main(int argc, char **argv)
|
|
{
|
|
int ret;
|
|
std::string str;
|
|
ArSerialConnection con;
|
|
double dist, angle;
|
|
std::list<ArPoseWithTime *> *readings;
|
|
std::list<ArPoseWithTime *>::iterator it;
|
|
double farDist, farAngle;
|
|
bool found;
|
|
ArGlobalFunctor failedConnectCB(&failedConnect);
|
|
|
|
Aria::init();
|
|
|
|
sick = new ArSick;
|
|
// open the connection, if it fails, exit
|
|
if ((ret = con.open("/dev/ttyS2")) != 0)
|
|
{
|
|
str = con.getOpenMessage(ret);
|
|
printf("Open failed: %s\n", str.c_str());
|
|
Aria::shutdown();
|
|
return 1;
|
|
}
|
|
|
|
sick->configure(false);
|
|
sick->setDeviceConnection(&con);
|
|
|
|
sick->setFilterNearDist(0);
|
|
sick->setMinRange(0);
|
|
sick->addFailedConnectCB(&failedConnectCB, ArListPos::FIRST);
|
|
sick->runAsync();
|
|
|
|
ArUtil::sleep(100);
|
|
sick->lockDevice();
|
|
sick->asyncConnect();
|
|
sick->unlockDevice();
|
|
while (!sick->isConnected())
|
|
ArUtil::sleep(100);
|
|
|
|
printf("Connected\n");
|
|
// while (sick->isConnected())
|
|
int times = 0;
|
|
while (sick->getRunning())
|
|
{
|
|
//dist = sick->getCurrentBuffer().getClosestPolar(-90, 90, ArPose(0, 0), 30000, &angle);
|
|
sick->lockDevice();
|
|
dist = sick->currentReadingPolar(-90, 90, &angle);
|
|
if (dist < sick->getMaxRange())
|
|
printf("Closest reading %.2f mm away at %.2f degrees\n", dist, angle);
|
|
else
|
|
printf("No close reading.\n");
|
|
readings = sick->getCurrentBuffer();
|
|
int i = 0;
|
|
for (it = readings->begin(), found = false; it != readings->end(); it++)
|
|
{
|
|
i++;
|
|
dist = (*it)->findDistanceTo(ArPose(0, 0));
|
|
angle = (*it)->findAngleTo(ArPose(0, 0));
|
|
if (!found || dist > farDist)
|
|
{
|
|
found = true;
|
|
farDist = dist;
|
|
farAngle = angle;
|
|
}
|
|
}
|
|
if (found)
|
|
printf("Furthest reading %.2f mm away at %.2f degrees\n",
|
|
farDist, farAngle);
|
|
else
|
|
printf("No far reading found.\n");
|
|
printf("%d readings\n\n", i);
|
|
|
|
sick->unlockDevice();
|
|
ArUtil::sleep(100);
|
|
}
|
|
sick->lockDevice();
|
|
sick->stopRunning();
|
|
sick->disconnect();
|
|
sick->unlockDevice();
|
|
system("echo 'succeeded' >> results");
|
|
return 0;
|
|
}
|
|
|
|
|
|
|
|
|