SickLDMRS-Acq.cpp

Example that shows how to acquire Sick LD-MRS laser measurements.

Warning

For the moment, this example is only working on UNIX platforms since the Sick LD-MRS driver was not ported to Windows.

/****************************************************************************
 *
 * $Id: SickLDMRS-Acq.cpp 4604 2014-01-21 14:15:23Z fspindle $
 *
 * This file is part of the ViSP software.
 * Copyright (C) 2005 - 2014 by INRIA. All rights reserved.
 * 
 * This software is free software; you can redistribute it and/or
 * modify it under the terms of the GNU General Public License
 * ("GPL") version 2 as published by the Free Software Foundation.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact INRIA about acquiring a ViSP Professional 
 * Edition License.
 *
 * See http://www.irisa.fr/lagadic/visp/visp.html for more information.
 * 
 * This software was developed at:
 * INRIA Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 * http://www.irisa.fr/lagadic
 *
 * If you have questions regarding the use of this file, please contact
 * INRIA at visp@inria.fr
 * 
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 *
 *
 * Description:
 * Sick LD-MRS laser driver.
 *
 * Authors:
 * Fabien Spindler
 *
 *****************************************************************************/


#include <visp/vpDebug.h>
#include <visp/vpSickLDMRS.h>
#include <visp/vpParseArgv.h>


#if !defined(_WIN32) && (defined(__unix__) || defined(__unix) || (defined(__APPLE__) && defined(__MACH__)))

int main()
{
  try {
    vpSickLDMRS laser;
    std::string ip = "131.254.12.119";

    laser.setIpAddress(ip);
    laser.setup();
    unsigned long int iter = 0;

    for ( ; ; ) {
      double t1 = vpTime::measureTimeMs();
      vpLaserScan laserscan[4];
      if (laser.measure(laserscan) == false)
        continue;

      iter ++;
      std::cout << "iter: " << iter << " time: "
                << vpTime::measureTimeMs() - t1 << " ms" << std::endl;
    }
    return 0;
  }
  catch(vpException e) {
    std::cout << "Catch an exception: " << e << std::endl;
    return 1;
  }
}

#else // #ifdef UNIX

int main()
{ 
  std::cout << "This example is only working on UNIX platforms \n"
            << "since the Sick LD-MRS driver was not ported to Windows."
            << std::endl;

  return 0;
}
#endif // #ifdef UNIX