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          |
   +------------------------------------------------------------------------+ */

/*
   This example was contributed by Adrien Barral - Robopec (France)
*/

#include <mrpt/gui.h>
#include <mrpt/hwdrivers/CLMS100eth.h>
#include <mrpt/opengl/CPlanarLaserScan.h>  // [mrpt-maps]
#include <iostream>

using namespace mrpt;
using namespace mrpt::obs;
using namespace mrpt::opengl;
using namespace mrpt::hwdrivers;
using namespace mrpt::gui;
using namespace std;

int main(int argc, char* argv[])
{
    if (argc < 3)
    {
        cout << "Usage : " << argv[0] << " <IP> <port> " << endl;
        return 0;
    }

    CLMS100Eth laser(string(argv[1]), atoi(argv[2]));
    laser.turnOn();

    bool isOutObs, hardwareError;
    CObservation2DRangeScan outObs;
    laser.doProcessSimple(isOutObs, outObs, hardwareError);

    CDisplayWindow3D win3D("Scan", 200, 200);

    COpenGLScene::Ptr ptr_scene = win3D.get3DSceneAndLock();

    opengl::CPlanarLaserScan::Ptr obj = opengl::CPlanarLaserScan::Create();
    obj->clear();
    obj->setColor(0, 0, 1);
    obj->setName("scan_LMS100");
    obj->setScan(outObs);
    ptr_scene->insert(obj);

    win3D.unlockAccess3DScene();
    win3D.forceRepaint();

    while (win3D.isOpen())
    {
        laser.doProcessSimple(isOutObs, outObs, hardwareError);

        ptr_scene = win3D.get3DSceneAndLock();
        opengl::CPlanarLaserScan::Ptr obj =
            std::dynamic_pointer_cast<opengl::CPlanarLaserScan>(
                ptr_scene->getByName("scan_LMS100"));
        obj->clear();
        obj->setScan(outObs);
        win3D.unlockAccess3DScene();
        win3D.forceRepaint();
        std::this_thread::sleep_for(20ms);
    }
    win3D.waitForKey();
    return 0;
}