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/hwdrivers/CRoboPeakLidar.h>
#include <mrpt/obs/CObservation2DRangeScan.h>
#include <mrpt/system/CTicTac.h>
#include <mrpt/system/os.h>
#include <mrpt/system/string_utils.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.getScanSize(), RAD2DEG(obs.aperture), FPS,
                obs.getScanRange(obs.getScanSize() / 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 (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}