test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/CPhidgetInterfaceKitProximitySensors.h>
#include <mrpt/config/CConfigFile.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/obs/CObservationRange.h>
#include <iostream>
#include <thread>
 
using namespace mrpt::hwdrivers;
using namespace mrpt::system;
using namespace mrpt::obs;
using namespace mrpt::config;
using namespace std;
 
/** Usage : ./test <conf file name>.ini
 */
int main(int argc, char** argv)
{
        try
        {
                string confFileName;
                if (argc < 2)
                        confFileName = string("./conf.ini");
                else
                        confFileName = string(argv[1]);
 
                CPhidgetInterfaceKitProximitySensors ik;
                string section("IK_1");
                CConfigFile conf(confFileName);
                ik.loadConfig(conf, section);
                ik.initialize();
                CObservationRange obs;
                do
                {
                        ik.doProcess();
                        ik.getObservation(obs);
                        for (size_t i = 0; i < obs.sensedData.size(); i++)
                        {
                                cout << obs.sensedData[i].sensedDistance << "\t";
                        }
                        cout << endl;
                        std::this_thread::sleep_for(10ms);
                } while (!mrpt::system::os::kbhit());
 
                return 0;
        }
        catch (std::exception& e)
        {
                std::cerr << e.what();
                return 1;
        }
}