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/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology
This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
If you wish to redistribute ARIA under different terms, contact
Adept MobileRobots for information about a commercial version of ARIA at
robots@mobilerobots.com or
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/
// This tests standalone use of the LMS2xx class.
// It first tries connecting to a robot and sending it the command
// to switch on power to the primary laser. Then it connects
// to the SICK LMS2xx using the ArLMS2xx class directly, not using
// ArLaserConnector or ArRobot.
#include "Aria.h"
int main(int argc, char **argv)
{
Aria::init();
/* Connect to robot just so we can turn on laser power if neccesary */
ArArgumentParser parser(&argc, argv);
ArRobot robot;
ArRobotConnector robotConnector(&parser, &robot);
if(robotConnector.connectRobot())
{
robot.runAsync(true);
ArLog::log(ArLog::Normal, "Connected to robot, issusing LRF_POWER command...");
robot.comInt(ArCommands::POWER_LRF, 1);
robot.disableSonar();
}
else
{
ArLog::log(ArLog::Normal, "No robot or unable to connect.");
}
/* Now connect to laser. ArRobot is not used. */
ArSerialConnection con;
ArLMS2xx laser(0);
con.setPort(ArUtil::COM3);
if(con.open(ArUtil::COM3) != 0) {
ArLog::log(ArLog::Terse, "Error opening serial port %s", con.getPort());
Aria::exit(1);
}
laser.setDeviceConnection(&con);
laser.setPowerControlled(true);
laser.chooseAutoBaud("38400");
laser.chooseDegrees("180");
laser.chooseIncrement("one");
laser.runAsync();
if(!laser.blockingConnect()) {
ArLog::log(ArLog::Terse, "Error connecting to SICK LMS2xx on %s", con.getPort());
Aria::exit(2);
}
while(laser.isConnected()) {
ArUtil::sleep(2000);
ArLog::log(ArLog::Normal, "%d readings/sec.", laser.getReadingCount());
}
ArLog::log(ArLog::Normal, "Laser disconnected.");
Aria::exit(0);
}
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