test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include <mrpt/hwdrivers/CHokuyoURG.h>
#include <mrpt/comms/CSerialPort.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/system/os.h>
#include <mrpt/system/CTicTac.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 =
mrpt::make_aligned_shared<opengl::CPointCloud>();
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 (std::exception& e)
        {
                std::cout << "EXCEPCION: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}