test.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/gui/CDisplayWindowPlots.h>
#include <mrpt/hwdrivers/CSickLaserSerial.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 (const 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.getScanSize(), RAD2DEG(obs.aperture),
                obs.getScanRange(obs.getScanSize() / 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 (const std::exception& e)
    {
        std::cerr << "MRPT error: " << mrpt::exception_to_str(e) << std::endl;
        return -1;
    }
    catch (...)
    {
        printf("Another exception!!");
        return -1;
    }
}