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/*!
\example gdCaptureSample.cpp
\brief Sample to get data using GD command
\author Satofumi KAMIMURA
$Id: gdCaptureSample.cpp 1683 2010-02-10 10:28:05Z satofumi $
*/
#include "UrgCtrl.h"
#include <cstdlib>
#include <cstdio>
using namespace qrk;
using namespace std;
//! main
int main(int argc, char *argv[])
{
#ifdef WINDOWS_OS
const char device[] = "COM3";
#else
const char device[] = "/dev/ttyACM0";
#endif
UrgCtrl urg;
if (! urg.connect(device)) {
printf("UrgCtrl::connect: %s\n", urg.what());
exit(1);
}
// Scans for the number of times specified as in GD command and outputs
// the data.
enum { CaptureTimes = 1 };
for (int i = 0; i < CaptureTimes; ++i) {
long timestamp = 0;
vector<long> data;
// Get the data
int n = urg.capture(data, ×tamp);
// Display
printf("timestamp: %ld\n", timestamp);
for (int j = 0; j < n; ++j) {
// The distance data that are less than urg_minDistance() are shown as
// invalide values
printf("%d:%ld, ", j, data[j]);
}
printf("\n");
}
#ifdef MSC
getchar();
#endif
return 0;
}
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