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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
*/
#include "Aria.h"
ArSick *sick;
void failedConnect(void)
{
printf("Failed connect\n");
system("echo 'Failed' >> results");
sick->stopRunning();
sick->disconnect();
exit(0);
}
int main(int argc, char **argv)
{
int ret;
std::string str;
ArSerialConnection con;
double dist, angle;
std::list<ArPoseWithTime *> *readings;
std::list<ArPoseWithTime *>::iterator it;
double farDist, farAngle;
bool found;
ArGlobalFunctor failedConnectCB(&failedConnect);
Aria::init();
sick = new ArSick;
// open the connection, if it fails, exit
if ((ret = con.open("/dev/ttyS2")) != 0)
{
str = con.getOpenMessage(ret);
printf("Open failed: %s\n", str.c_str());
Aria::shutdown();
return 1;
}
sick->configure(false);
sick->setDeviceConnection(&con);
sick->setFilterNearDist(0);
sick->setMinRange(0);
sick->addFailedConnectCB(&failedConnectCB, ArListPos::FIRST);
sick->runAsync();
ArUtil::sleep(100);
sick->lockDevice();
sick->asyncConnect();
sick->unlockDevice();
while (!sick->isConnected())
ArUtil::sleep(100);
printf("Connected\n");
// while (sick->isConnected())
int times = 0;
while (sick->getRunning())
{
//dist = sick->getCurrentBuffer().getClosestPolar(-90, 90, ArPose(0, 0), 30000, &angle);
sick->lockDevice();
dist = sick->currentReadingPolar(-90, 90, &angle);
if (dist < sick->getMaxRange())
printf("Closest reading %.2f mm away at %.2f degrees\n", dist, angle);
else
printf("No close reading.\n");
readings = sick->getCurrentBuffer();
int i = 0;
for (it = readings->begin(), found = false; it != readings->end(); it++)
{
i++;
dist = (*it)->findDistanceTo(ArPose(0, 0));
angle = (*it)->findAngleTo(ArPose(0, 0));
if (!found || dist > farDist)
{
found = true;
farDist = dist;
farAngle = angle;
}
}
if (found)
printf("Furthest reading %.2f mm away at %.2f degrees\n",
farDist, farAngle);
else
printf("No far reading found.\n");
printf("%d readings\n\n", i);
sick->unlockDevice();
ArUtil::sleep(100);
}
sick->lockDevice();
sick->stopRunning();
sick->disconnect();
sick->unlockDevice();
system("echo 'succeeded' >> results");
return 0;
}
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