forked from xtdrone/XTDrone
119 lines
3.7 KiB
C++
119 lines
3.7 KiB
C++
///////////////////////////////////////////////////////////////////////////////
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// a little program that dumps LMS scans to disk in ASCII.
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//
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// Copyright (C) 2010, Morgan Quigley
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//
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// I am distributing this code under the BSD license:
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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// * Redistributions of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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// * Neither the name of Stanford University nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include <csignal>
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extern "C" {
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// not everyone has <cstdint>
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#include <stdint.h>
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}
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#include <cstdio>
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#include <sicktoolbox/SickLMS2xx.hh>
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#include <ros/time.h>
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using namespace SickToolbox;
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using namespace std;
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bool got_ctrlc = false;
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void ctrlc_handler(int)
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{
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got_ctrlc = true;
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}
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int main(int argc, char **argv)
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{
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if (argc != 4)
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{
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printf("Usage: log_scans DEVICE BAUD_RATE FILENAME\n");
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return 1;
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}
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FILE *log = fopen(argv[3],"w");
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if (!log)
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{
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fprintf(stderr, "couldn't open logfile %s\n", argv[3]);
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return 1;
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}
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string lms_dev = argv[1];
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SickLMS2xx::sick_lms_2xx_baud_t desired_baud = SickLMS2xx::StringToSickBaud(argv[2]);
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if (desired_baud == SickLMS2xx::SICK_BAUD_UNKNOWN)
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{
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printf("bad baud rate. must be one of {9600, 19200, 38400, 500000}\n");
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return 1;
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}
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signal(SIGINT, ctrlc_handler);
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uint32_t values[SickLMS2xx::SICK_MAX_NUM_MEASUREMENTS] = {0};
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uint32_t num_values = 0;
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SickLMS2xx sick_lms(lms_dev);
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try
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{
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sick_lms.Initialize(desired_baud);
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}
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catch (...)
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{
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printf("initialize failed! are you using the correct device path?\n");
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}
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try
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{
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while (!got_ctrlc)
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{
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sick_lms.GetSickScan(values, num_values);
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// print 12 ranges to the console
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int inc = num_values / 11;
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printf("%5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d %5d\n",
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values[0], values[inc],
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values[2*inc], values[3*inc],
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values[4*inc], values[5*inc],
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values[6*inc], values[7*inc],
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values[8*inc], values[9*inc],
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values[10*inc], values[num_values-1]);
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// dump all these guys to disk
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fprintf(log, "%.6f ", ros::Time::now().toSec());
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for (unsigned i = 0; i < num_values; i++)
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fprintf(log, "%d ", values[i]);
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fprintf(log, "\n");
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}
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}
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catch (...)
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{
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printf("woah! error!\n");
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}
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try
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{
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sick_lms.Uninitialize();
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}
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catch (...)
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{
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printf("error during uninitialize\n");
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return 1;
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}
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fclose(log);
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printf("success.\n");
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return 0;
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}
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