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Viewing changes to samples/cpp/mdScan.cpp

Committer: Bazaar Package Importer
Author(s): Albert Huang
Date: 2011-05-20 11:33:03 UTC
mfrom: (1.1.1 upstream)
Revision ID: james.westby@ubuntu.com-20110520113303-u8niofzwzcea0osk

Tags: 0.8.12-1

http://bugs.debian.org/624987

* New upstream release (closes: #624987)
* Add debian/watch file
* Bump standards-version to 3.9.2

files added:
debian/watch

include/c/urg_delay.h

include/c/urg_ticks.h

include/cpp/UrgDevice.h

include/cpp/mUrgDevice.h

samples/c/convert_2d.c

samples/c/convert_2d_vc8

samples/c/convert_2d_vc8/convert_2d.vcproj

samples/cpp/acquire_data.cpp

samples/cpp/acquire_data_vc8

samples/cpp/acquire_data_vc8/acquire_data.vcproj

samples/cpp/findUrgPorts.cpp

samples/cpp/findUrgPorts_vc8

samples/cpp/findUrgPorts_vc8/findUrgPorts.vcproj

samples/cpp/gdScan.cpp

samples/cpp/gdScan_vc8

samples/cpp/gdScan_vc8/gdScan.vcproj

samples/cpp/intensityScan.cpp

samples/cpp/intensityScan_vc8

samples/cpp/intensityScan_vc8/intensityScan.vcproj

samples/cpp/mdScan.cpp

samples/cpp/mdScan_vc8

samples/cpp/mdScan_vc8/mdScan.vcproj

samples/cpp/parameterLines.cpp

samples/cpp/parameterLines_vc8

samples/cpp/parameterLines_vc8/parameterLines.vcproj

samples/cpp/serialId.cpp

samples/cpp/serialId_vc8

samples/cpp/serialId_vc8/serialId.vcproj

samples/cpp/thread_scan.cpp

samples/cpp/thread_scan_vc8

samples/cpp/thread_scan_vc8/thread_scan.vcproj

samples/cpp/versionLines.cpp

samples/cpp/versionLines_vc8

samples/cpp/versionLines_vc8/versionLines.vcproj

src/c/system/urg_delay.c

src/c/system/urg_delay.h

src/c/system/urg_ticks.c

src/c/system/urg_ticks.h

src/cpp/monitor/mUrgDevice.cpp

src/cpp/monitor/mUrgDevice.h

src/cpp/urg/UrgDevice.cpp

files removed:
include/c/delay.h

include/c/ticks.h

include/cpp/findFiles.h

include/cpp/mUrgCtrl.h

m4/ax_boost_base.m4

samples/c/expand_2d.c

samples/c/expand_2d_vc8

samples/c/expand_2d_vc8/expand_2d.vcproj

samples/cpp/captureIntensitySample.cpp

samples/cpp/captureIntensitySample_vc8

samples/cpp/captureIntensitySample_vc8/captureIntensitySample.vcproj

samples/cpp/findUrgPortsSample.cpp

samples/cpp/findUrgPortsSample_vc8

samples/cpp/findUrgPortsSample_vc8/findUrgPortsSample.vcproj

samples/cpp/gdCaptureSample.cpp

samples/cpp/gdCaptureSample_vc8

samples/cpp/gdCaptureSample_vc8/gdCaptureSample.vcproj

samples/cpp/mdCaptureSample.cpp

samples/cpp/mdCaptureSample_vc8

samples/cpp/mdCaptureSample_vc8/mdCaptureSample.vcproj

samples/cpp/urg_acquire.cpp

samples/cpp/urg_acquire_vc8

samples/cpp/urg_acquire_vc8/urg_acquire.vcproj

samples/cpp/viewPpSample.cpp

samples/cpp/viewPpSample_vc8

samples/cpp/viewPpSample_vc8/viewPpSample.vcproj

samples/cpp/viewSerialIdSample.cpp

samples/cpp/viewSerialIdSample_vc8

samples/cpp/viewSerialIdSample_vc8/viewSerialIdSample.vcproj

samples/cpp/viewVvSample.cpp

samples/cpp/viewVvSample_vc8

samples/cpp/viewVvSample_vc8/viewVvSample.vcproj

src/c/system/delay.c

src/c/system/delay.h

src/c/system/ticks.c

src/c/system/ticks.h

src/cpp/monitor/mUrgCtrl.cpp

src/cpp/monitor/mUrgCtrl.h

src/cpp/system/findFiles.cpp

src/cpp/system/findFiles.h

src/cpp/urg/UrgCtrl.h

files modified:
ChangeLog

Makefile.am

Makefile.in

README

README.txt

aclocal.m4

config.h.in

configure

configure.in

debian/changelog

debian/control

include/Makefile.in

include/c/Makefile.am

include/c/Makefile.in

include/c/detect_os.h

include/c/ring_buffer.h

include/c/urg_ctrl.h

include/cpp/Angle.h

include/cpp/Connection.h

include/cpp/ConnectionUtils.h

include/cpp/FindComPorts.h

include/cpp/IsUsbCom.h

include/cpp/Lock.h

include/cpp/LockGuard.h

include/cpp/Makefile.am

include/cpp/Makefile.in

include/cpp/MathUtils.h

include/cpp/Point.h

include/cpp/Position.h

include/cpp/RangeCaptureMode.h

include/cpp/RingBuffer.h

include/cpp/Semaphore.h

include/cpp/SerialDevice.h

include/cpp/TcpipSocket.h

include/cpp/UrgCtrl.h

include/cpp/delay.h

include/cpp/isUsingComDriver.h

include/cpp/log_printf.h

include/cpp/split.h

include/cpp/ticks.h

samples/Makefile.in

samples/c/Makefile.am

samples/c/Makefile.in

samples/c/capture_sample.c

samples/c/gd_scan.c

samples/c/get_parameters.c

samples/c/get_timestamp.c

samples/c/get_version_lines.c

samples/c/intensity_sample.c

samples/c/md_scan.c

samples/c/multi_urg.c

samples/c/partial_scan.c

samples/c/samples_c.sln *

samples/cpp/Makefile.am

samples/cpp/Makefile.in

samples/cpp/connectById.cpp

samples/cpp/samples_cpp.sln

samples/cpp_ethernet/Makefile.in

samples/cpp_ethernet/captureIntensitySample.cpp

samples/scip_samples/Makefile.in

src/Makefile.in

src/c/Makefile.in

src/c/connection/Makefile.in

src/c/connection/ring_buffer.c

src/c/connection/ring_buffer.h

src/c/system/Makefile.am

src/c/system/Makefile.in

src/c/system/detect_os.h

src/c/urg/Makefile.in

src/c/urg/scip_handler.c

src/c/urg/scip_handler.h

src/c/urg/urg_ctrl.c

src/c/urg/urg_ctrl.h

src/cpp/Makefile.in

src/cpp/common/Makefile.in

src/cpp/common/RingBuffer.h

src/cpp/common/split.cpp

src/cpp/common/split.h

src/cpp/connection/Connection.h

src/cpp/connection/ConnectionUtils.cpp

src/cpp/connection/ConnectionUtils.h

src/cpp/connection/FindComPorts.cpp

src/cpp/connection/FindComPorts.h

src/cpp/connection/IsUsbCom.h

src/cpp/connection/Makefile.am

src/cpp/connection/Makefile.in

src/cpp/connection/SerialDevice.cpp

src/cpp/connection/SerialDevice.h

src/cpp/connection/SerialDevice_lin.cpp

src/cpp/connection/SerialDevice_win.cpp

src/cpp/connection/TcpipSocket.h

src/cpp/connection/isUsingComDriver.cpp

src/cpp/connection/isUsingComDriver.h

src/cpp/connection/sdl/Makefile.in

src/cpp/connection/sdl/SdlNetInit.cpp

src/cpp/connection/sdl/SdlNetInit.h

src/cpp/connection/sdl/SocketSet.cpp

src/cpp/connection/sdl/SocketSet.h

src/cpp/connection/sdl/TcpipServer.cpp

src/cpp/connection/sdl/TcpipServer.h

src/cpp/connection/sdl/TcpipSocket.cpp

src/cpp/coordinate/Makefile.in

src/cpp/geometry/Angle.cpp

src/cpp/geometry/Angle.h

src/cpp/geometry/Makefile.in

src/cpp/geometry/Point.h

src/cpp/geometry/Position.h

src/cpp/monitor/Makefile.am

src/cpp/monitor/Makefile.in

src/cpp/system/Lock.h

src/cpp/system/LockGuard.h

src/cpp/system/Makefile.am

src/cpp/system/Makefile.in

src/cpp/system/MathUtils.cpp

src/cpp/system/MathUtils.h

src/cpp/system/Semaphore.h

src/cpp/system/delay.h

src/cpp/system/log_printf.h

src/cpp/system/system_ticks.cpp

src/cpp/system/system_ticks.h

src/cpp/system/ticks.cpp

src/cpp/system/ticks.h

src/cpp/urg/Makefile.am

src/cpp/urg/Makefile.in

src/cpp/urg/RangeCaptureMode.h

src/cpp/urg/ScipHandler.cpp

src/cpp/urg/UrgCtrl.cpp

vc8/c/c_urg.vcproj

vc8/cpp/urg.vcproj

Show diffs side-by-side

added added

removed removed

samples/cpp/mdScan.cpp

/*!

\example mdScan.cpp

\brief Sample to get data using MD command

\author Satofumi KAMIMURA

$Id: mdScan.cpp 1737 2010-03-06 07:15:19Z satofumi $

#include "UrgDevice.h"

#include "delay.h"

#include "ticks.h"

#include <cstdlib>

#include <cstdio>

using namespace qrk;

using namespace std;

//! main

int main(int argc, char *argv[])

{

// Change the port name appropriately

#ifdef WINDOWS_OS

const char device[] = "COM3";

#else

const char device[] = "/dev/ttyACM0";

#endif

UrgDevice urg;

if (! urg.connect(device)) {

printf("UrgDevice::connect: %s\n", urg.what());

exit(1);

}

#if 1

// Set to MD mode to acquire data

urg.setCaptureMode(AutoCapture);

#else

// Mode to get distance data and intensity data

urg.setCaptureMode(IntensityCapture);

urg.setCaptureSkipLines(2);

#endif

int scan_msec = urg.scanMsec();

#if 0

// Set range of acquisition from the center to left 90 degree.

// Set range of acquistion from center to right to 90 degree.

// So In total it will be 180 degree.

const double rad90 = 90.0 * M_PI / 180.0;

urg.setCaptureRange(urg.rad2index(-rad90), urg.rad2index(rad90));

#endif

int pre_timestamp = ticks();

// Data is acquired continuously using MD command

// but outputs data of specified number of times.

enum { CaptureTimes = 10};

urg.setCaptureTimes(CaptureTimes);

for (int i = 0; i < CaptureTimes;) {

long timestamp = 0;

vector<long> data;

// Get data

int n = urg.capture(data, &timestamp);

if (n <= 0) {

delay(scan_msec);

continue;

}

// Display

printf("timestamp: %ld, (%ld), %ld\n",

timestamp, ticks(), timestamp - pre_timestamp);

pre_timestamp = timestamp;

#if 0

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");

#endif

++i;

}

#ifdef MSC

getchar();

#endif

return 0;

}

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