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/CSickLaserSerial.h>
#include <mrpt/gui/CDisplayWindowPlots.h>
#include <mrpt/maps/CSimplePointsMap.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/system/os.h>
#include <iostream>
 
using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::maps;
using namespace mrpt::gui;
using namespace mrpt::opengl;
using namespace mrpt::hwdrivers;
using namespace mrpt::poses;
using namespace std;
 
string SERIAL_NAME;  // Name of the serial port to open
 
// ------------------------------------------------------
//                              Test_PLS
// ------------------------------------------------------
void TestPLS()
{
        CSickLaserSerial laser;
 
        cout << "SICK LMS thru serial port test application." << endl << endl;
 
        if (SERIAL_NAME.empty())
        {
                cout << "Enter the serial port name (e.g. COM1, ttyS0, ttyUSB0, "
                                "ttyACM0): ";
                getline(cin, SERIAL_NAME);
        }
        else
        {
                cout << "Using serial port: " << SERIAL_NAME << endl;
        }
 
        laser.setSerialPort(SERIAL_NAME);
 
#if 1
        // laser.setBaudRate(500000);
        laser.setBaudRate(9600);
        laser.setScanFOV(180);
        laser.setScanResolution(50);  // 25=0.25deg, 50=0.5deg, 100=1deg
// laser.setMillimeterMode(true);
#endif
 
#if MRPT_HAS_WXWIDGETS
        CDisplayWindowPlots win("Laser scans");
#endif
 
        // Load config:
        // laser.loadConfig( CConfigFile( "./LASER_SCAN_TEST.ini") ,"PLS#1" );
 
        cout << "Trying to initialize the laser..." << endl;
        laser.initialize();  // This will raise an exception on error
        cout << "Initialized OK!" << endl;
 
        while (!mrpt::system::os::kbhit())
        {
                bool thereIsObservation, hardError;
                CObservation2DRangeScan obs;
 
                try
                {
                        laser.doProcessSimple(thereIsObservation, obs, hardError);
                }
                catch (std::exception& e)
                {
                        cerr << e.what() << endl;
                        hardError = true;
                }
 
                if (hardError) printf("[TEST] Hardware error=true!!\n");
 
                if (thereIsObservation)
                {
                        printf(
                                "[TEST] Observation received (%u ranges over %.02fdeg, "
                                "mid=%.03f)!!\n",
                                (unsigned int)obs.scan.size(), RAD2DEG(obs.aperture),
                                obs.scan[obs.scan.size() / 2]);
 
                        obs.sensorPose = CPose3D(0, 0, 0);
                        mrpt::maps::CSimplePointsMap theMap;
                        theMap.insertionOptions.minDistBetweenLaserPoints = 0;
                        theMap.insertObservation(&obs);
 
#if MRPT_HAS_WXWIDGETS
                        std::vector<float> xs, ys, zs;
                        theMap.getAllPoints(xs, ys, zs);
                        win.plot(xs, ys, ".b3");
                        win.axis_equal();
#endif
                }
                std::this_thread::sleep_for(15ms);
        };
 
        laser.turnOff();
}
 
int main(int argc, char** argv)
{
        try
        {
                if (argc > 1)
                {
                        SERIAL_NAME = string(argv[1]);
                }
 
                TestPLS();
                return 0;
        }
        catch (std::exception& e)
        {
                std::cout << "EXCEPCION: " << e.what() << std::endl;
                return -1;
        }
        catch (...)
        {
                printf("Another exception!!");
                return -1;
        }
}