test.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/config/CConfigFile.h>
#include <mrpt/hwdrivers/CPhidgetInterfaceKitProximitySensors.h>
#include <mrpt/obs/CObservationRange.h>
#include <mrpt/system/CTicTac.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 (const std::exception& e)
    {
        std::cerr << e.what();
        return 1;
    }
}