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/CRoboPeakLidar.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/string_utils.h>
#include <mrpt/system/os.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::hwdrivers;
using namespace mrpt::obs;
using namespace mrpt::gui;
using namespace mrpt::system;
using namespace std;
 
string SERIAL_NAME;  // Name of the serial port to open
 
// ------------------------------------------------------
//                              Test_RPLIDAR
// ------------------------------------------------------
void Test_RPLIDAR()
{
        CRoboPeakLidar laser;
        string serName;
 
        if (SERIAL_NAME.empty())
        {
                std::cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0, "
                                         "ttyACM0): ";
                getline(cin, serName);
        }
        else
        {
                std::cout << "Using serial port: " << SERIAL_NAME << endl;
                serName = SERIAL_NAME;
        }
 
        // Set the laser serial port:
        laser.setSerialPort(serName);
 
        // Show GUI preview:
        laser.showPreview(true);
 
        // Config: Use defaults + selected port ( serial or ethernet )
        printf("Turning laser ON...\n");
        if (laser.turnOn())
                printf("Initialization OK!\n");
        else
        {
                printf("Initialization failed!\n");
                return;
        }
 
        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]);
 
                        obs.sensorPose = mrpt::poses::CPose3D(0, 0, 0);
 
                        tictac.Tic();
                }
 
                std::this_thread::sleep_for(5ms);
        };
}
 
int main(int argc, char** argv)
{
        try
        {
                if (argc > 1) SERIAL_NAME = string(argv[1]);
 
                Test_RPLIDAR();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "EXCEPCION: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}