test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include <mrpt/comms/CSerialPort.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/hwdrivers/CHokuyoURG.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>
#include <mrpt/system/string_utils.h>
#include <iostream>

using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::gui;
using namespace mrpt::poses;
using namespace mrpt::system;
using namespace std;

string SERIAL_NAME;  // Name of the serial port to open

// ------------------------------------------------------
//              Test_HOKUYO
// ------------------------------------------------------
void Test_HOKUYO()
{
    CHokuyoURG laser;

    string serName, type;

    string ip;

    unsigned int port;

    cout << "Specify the type of the Hokuyo connection, usb or ethernet: ";
    getline(cin, type);

    while ((mrpt::system::lowerCase(type) != "usb") &&
           (mrpt::system::lowerCase(type) != "ethernet"))
    {
        cout << "Incorrect type" << endl;
        cout << "Specify the type of the Hokuyo connection, usb or ethernet: ";
        getline(cin, type);
    }

    cout << endl
         << endl
         << "HOKUYO laser range finder test application." << endl
         << endl;

    if (mrpt::system::lowerCase(type) == "usb")
    {
        if (SERIAL_NAME.empty())
        {
            cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0, "
                    "ttyACM0): ";
            getline(cin, serName);
        }
        else
        {
            cout << "Using serial port: " << SERIAL_NAME << endl;
            serName = SERIAL_NAME;
        }

        // Set the laser serial port:
        laser.setSerialPort(serName);
    }
    else
    {
        cout << "Enter the ip direction: ";
        getline(cin, ip);

        cout << "Enter the port number: ";
        cin >> port;

        // Set the laser serial port:
        laser.setIPandPort(ip, port);
    }
    string intensity;
    cout << endl << endl << "Enable intensity [y/n]:";
    getline(cin, intensity);
    laser.setIntensityMode(mrpt::system::lowerCase(intensity) == "y");

    // Config: Use defaults + selected port ( serial or ethernet )

    printf("[TEST] Turning laser ON...\n");
    if (laser.turnOn())
        printf("[TEST] Initialization OK!\n");
    else
    {
        printf("[TEST] Initialization failed!\n");
        return;
    }

#if MRPT_HAS_WXWIDGETS
    CDisplayWindowPlots win("Laser scans");
#endif

    cout << "Press any key to stop capturing..." << endl;

    CTicTac tictac;
    tictac.Tic();

    while (!mrpt::system::os::kbhit())
    {
        bool thereIsObservation, hardError;
        CObservation2DRangeScan obs;

        laser.doProcessSimple(thereIsObservation, obs, hardError);

        if (hardError) printf("[TEST] Hardware error=true!!\n");

        if (thereIsObservation)
        {
            double FPS = 1.0 / tictac.Tac();

            printf(
                "Scan received: %u ranges, FOV: %.02fdeg, %.03fHz: mid "
                "rang=%fm\n",
                (unsigned int)obs.scan.size(), RAD2DEG(obs.aperture), FPS,
                obs.scan[obs.scan.size() / 2]);

            if (obs.hasIntensity())
            {
                size_t i;
                std::cout << "[ ";
                for (i = 0; i < obs.intensity.size() - 1; i++)
                {
                    std::cout << obs.intensity[i] << ",\t";
                    if (i % 10 == 9) std::cout << std::endl;
                }
                std::cout << obs.intensity[i] << " ]" << std::endl;
            }

            obs.sensorPose = CPose3D(0, 0, 0);

            mrpt::maps::CSimplePointsMap theMap;
            theMap.insertionOptions.minDistBetweenLaserPoints = 0;
            theMap.insertObservation(obs);
            // map.save2D_to_text_file("_out_scan.txt");

            /*
            COpenGLScene            scene3D;
            opengl::CPointCloud::Ptr    points =
            opengl::CPointCloud::Create();
            points->loadFromPointsMap(&map);
            scene3D.insert(points);
            CFileStream("_out_point_cloud.3Dscene",fomWrite) << scene3D;
            */

#if MRPT_HAS_WXWIDGETS
            std::vector<float> xs, ys, zs;
            theMap.getAllPoints(xs, ys, zs);
            win.plot(xs, ys, ".b3");
            win.axis_equal();
#endif

            tictac.Tic();
        }

        std::this_thread::sleep_for(15ms);
    };

    laser.turnOff();
}

int main(int argc, char** argv)
{
    try
    {
        if (argc > 1)
        {
            SERIAL_NAME = string(argv[1]);
        }

        Test_HOKUYO();
        return 0;
    }
    catch (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}