modelec/detection_adversaire
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Merge branch 'main' of https://github.com/modelec/detection_adversaire

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Allan Cueff
2024-02-04 20:15:55 +01:00
parent 66fc70ad6b 66d014b567
commit 404fe2a2fd
1 changed files with 0 additions and 57 deletions
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57
starter.cpp
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@@ -1,57 +0,0 @@
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <unistd.h>
#include <signal.h>
#include "sl_lidar.h"
#include "sl_lidar_driver.h"
#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif
bool stop_signal_received;
void stop_loop(int) {
stop_signal_received = true;
}
using namespace sl;
int main(int argc, const char * argv[]) {
Result<IChannel*> channel = createSerialPortChannel("/dev/ttyUSB0", 115200);
ILidarDriver * drv = *createLidarDriver();
auto res = drv->connect(*channel);
if(SL_IS_OK(res)){
drv->startScan(0,1);
sl_result op_result;
signal(SIGINT, stop_loop);
while(true) {
sl_lidar_response_measurement_node_hq_t nodes[8192];
size_t count = _countof(nodes);
op_result = drv->grabScanDataHq(nodes, count);
if (SL_IS_OK(op_result)) {
drv->ascendScanData(nodes, count);
for (int pos = 0; pos < (int)count ; ++pos) {
printf("%s theta: %03.2f Dist: %08.2f Q: %d \n",
(nodes[pos].flag & SL_LIDAR_RESP_HQ_FLAG_SYNCBIT) ?"S ":" ",
(nodes[pos].angle_z_q14 * 90.f) / 16384.f,
nodes[pos].dist_mm_q2/4.0f,
nodes[pos].quality >> SL_LIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
}
}
if (stop_signal_received){
break;
}
}
drv->stop();
drv->setMotorSpeed(0);
drv->disconnect();
}
delete *channel;
delete drv;
drv = nullptr;
return 0;
}