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/*!
\file
\brief Thread sample
\author Satofumi KAMIMURA
$Id: thread_scan.cpp 1854 2010-07-14 00:55:57Z satofumi $
*/
#include "UrgDevice.h"
#include "Thread.h"
#include "delay.h"
#include <iostream>
#include <cstdlib>
using namespace qrk;
using namespace std;
#define AUTO_CAPTURE_TEST
static int thread_function(void* args)
{
UrgDevice urg;
const char* device = static_cast<const char*>(args);
if (! urg.connect(device)) {
cout << "UrgDevice::connect: " << urg.what() << endl;
exit(1);
}
#if defined(AUTO_CAPTURE_TEST)
urg.setCaptureMode(AutoCapture);
#endif
enum { CaptureTimes = 10 };
vector<long> data;
int scan_times = 0;
while (scan_times < CaptureTimes) {
data.clear();
long timestamp;
if (urg.capture(data, ×tamp)) {
cout << device << ": n = " << data.size()
<< ", (" << timestamp << ')'
<< ", " << scan_times << endl;
++scan_times;
} else {
#if defined(AUTO_CAPTURE_TEST)
delay(urg.scanMsec());
#endif
}
delay(1);
}
return 0;
}
int main(int argc, char *argv[])
{
// Change the port name appropriately
#ifdef WINDOWS_OS
const char *devices[] = {
"COM3",
"COM4",
};
#else
const char *devices[] = {
"/dev/ttyACM0",
"/dev/ttyACM1",
};
#endif
Thread *threads[2];
for (int i = 0; i < 2; ++i) {
threads[i] = new Thread(thread_function, const_cast<char *>(devices[i]));
threads[i]->run();
}
for (int i = 0; i < 2; ++i) {
threads[i]->wait();
}
#ifdef MSC
getchar();
#endif
return 0;
}
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