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| /********************************************************************* | ||
| * Software License Agreement (BSD License) | ||
| * | ||
| * Copyright (c) 2018, EAIBOT, Inc. | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions | ||
| * are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above | ||
| * copyright notice, this list of conditions and the following | ||
| * disclaimer in the documentation and/or other materials provided | ||
| * with the distribution. | ||
| * * Neither the name of the Willow Garage nor the names of its | ||
| * contributors may be used to endorse or promote products derived | ||
| * from this software without specific prior written permission. | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS | ||
| * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT | ||
| * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS | ||
| * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE | ||
| * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, | ||
| * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, | ||
| * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; | ||
| * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER | ||
| * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT | ||
| * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN | ||
| * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| *********************************************************************/ | ||
| #include "CYdLidar.h" | ||
| #include <iostream> | ||
| #include <string> | ||
| #include <algorithm> | ||
| #include <cctype> | ||
| using namespace std; | ||
| using namespace ydlidar; | ||
|
|
||
| #if defined(_MSC_VER) | ||
| #pragma comment(lib, "ydlidar_sdk.lib") | ||
| #endif | ||
|
|
||
| /** | ||
| * @brief ydlidar test | ||
| * @param argc | ||
| * @param argv | ||
| * @return | ||
| * @par Flow chart | ||
| * Step1: instance CYdLidar.\n | ||
| * Step2: set paramters.\n | ||
| * Step3: initialize SDK and LiDAR.(::CYdLidar::initialize)\n | ||
| * Step4: Start the device scanning routine which runs on a separate thread and enable motor.(::CYdLidar::turnOn)\n | ||
| * Step5: Get the LiDAR Scan Data.(::CYdLidar::doProcessSimple)\n | ||
| * Step6: Stop the device scanning thread and disable motor.(::CYdLidar::turnOff)\n | ||
| * Step7: Uninitialize the SDK and Disconnect the LiDAR.(::CYdLidar::disconnecting)\n | ||
| */ | ||
|
|
||
| int main(int argc, char *argv[]) { | ||
| printf("__ ______ _ ___ ____ _ ____ \n"); | ||
| printf("\\ \\ / / _ \\| | |_ _| _ \\ / \\ | _ \\ \n"); | ||
| printf(" \\ V /| | | | | | || | | |/ _ \\ | |_) | \n"); | ||
| printf(" | | | |_| | |___ | || |_| / ___ \\| _ < \n"); | ||
| printf(" |_| |____/|_____|___|____/_/ \\_\\_| \\_\\ \n"); | ||
| printf("\n"); | ||
| fflush(stdout); | ||
| std::string port; | ||
| ydlidar::os_init(); | ||
|
|
||
| std::map<std::string, std::string> ports = | ||
| ydlidar::lidarPortList(); | ||
| std::map<std::string, std::string>::iterator it; | ||
|
|
||
| if (ports.size() == 1) { | ||
| port = ports.begin()->second; | ||
| } else { | ||
| int id = 0; | ||
|
|
||
| for (it = ports.begin(); it != ports.end(); it++) { | ||
| printf("%d. %s\n", id, it->first.c_str()); | ||
| id++; | ||
| } | ||
|
|
||
| if (ports.empty()) { | ||
| printf("Not Lidar was detected. Please enter the lidar serial port:"); | ||
| std::cin >> port; | ||
| } else { | ||
| while (ydlidar::os_isOk()) { | ||
| printf("Please select the lidar port:"); | ||
| std::string number; | ||
| std::cin >> number; | ||
|
|
||
| if ((size_t)atoi(number.c_str()) >= ports.size()) { | ||
| continue; | ||
| } | ||
|
|
||
| it = ports.begin(); | ||
| id = atoi(number.c_str()); | ||
|
|
||
| while (id) { | ||
| id--; | ||
| it++; | ||
| } | ||
|
|
||
| port = it->second; | ||
| break; | ||
| } | ||
| } | ||
| } | ||
|
|
||
| int baudrate = 230400; | ||
| std::map<int, int> baudrateList; | ||
| baudrateList[0] = 115200; | ||
| baudrateList[1] = 128000; | ||
| baudrateList[2] = 153600; | ||
| baudrateList[3] = 230400; | ||
| baudrateList[4] = 460800; | ||
| baudrateList[5] = 512000; | ||
|
|
||
| printf("Baudrate:\n"); | ||
|
|
||
| for (std::map<int, int>::iterator it = baudrateList.begin(); | ||
| it != baudrateList.end(); it++) { | ||
| printf("%d. %d\n", it->first, it->second); | ||
| } | ||
|
|
||
| while (ydlidar::os_isOk()) { | ||
| printf("Please select the lidar baudrate:"); | ||
| std::string number; | ||
| std::cin >> number; | ||
|
|
||
| if ((size_t)atoi(number.c_str()) > baudrateList.size()) { | ||
| continue; | ||
| } | ||
|
|
||
| baudrate = baudrateList[atoi(number.c_str())]; | ||
| break; | ||
| } | ||
|
|
||
| if (!ydlidar::os_isOk()) { | ||
| return 0; | ||
| } | ||
|
|
||
| bool isSingleChannel = false; | ||
| std::string input_channel; | ||
| printf("Whether the Lidar is one-way communication[yes/no]:"); | ||
| std::cin >> input_channel; | ||
| std::transform(input_channel.begin(), input_channel.end(), | ||
| input_channel.begin(), | ||
| [](unsigned char c) { | ||
| return std::tolower(c); // correct | ||
| }); | ||
|
|
||
| if (input_channel.find("y") != std::string::npos) { | ||
| isSingleChannel = true; | ||
| } | ||
|
|
||
| if (!ydlidar::os_isOk()) { | ||
| return 0; | ||
| } | ||
|
|
||
| std::string input_frequency; | ||
|
|
||
| float frequency = 8.0; | ||
|
|
||
| while (ydlidar::os_isOk() && !isSingleChannel) { | ||
| printf("Please enter the lidar scan frequency[5-12]:"); | ||
| std::cin >> input_frequency; | ||
| frequency = atof(input_frequency.c_str()); | ||
|
|
||
| if (frequency <= 12 && frequency >= 5.0) { | ||
| break; | ||
| } | ||
|
|
||
| fprintf(stderr, | ||
| "Invalid scan frequency,The scanning frequency range is 5 to 12 HZ, Please re-enter.\n"); | ||
| } | ||
|
|
||
| if (!ydlidar::os_isOk()) { | ||
| return 0; | ||
| } | ||
|
|
||
| CYdLidar laser; | ||
| //////////////////////string property///////////////// | ||
| /// lidar port | ||
| laser.setlidaropt(LidarPropSerialPort, port.c_str(), port.size()); | ||
| /// ignore array | ||
| std::string ignore_array; | ||
| ignore_array.clear(); | ||
| laser.setlidaropt(LidarPropIgnoreArray, ignore_array.c_str(), | ||
| ignore_array.size()); | ||
|
|
||
| //////////////////////int property///////////////// | ||
| /// lidar baudrate | ||
| laser.setlidaropt(LidarPropSerialBaudrate, &baudrate, sizeof(int)); | ||
| /// tof lidar | ||
| int optval = TYPE_TRIANGLE; | ||
| laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int)); | ||
| /// device type | ||
| optval = YDLIDAR_TYPE_SERIAL; | ||
| laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int)); | ||
| /// sample rate | ||
| optval = isSingleChannel ? 3 : 4; | ||
| laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int)); | ||
| /// abnormal count | ||
| optval = 4; | ||
| laser.setlidaropt(LidarPropAbnormalCheckCount, &optval, sizeof(int)); | ||
| /// Intenstiy bit count | ||
| optval = 8; | ||
| laser.setlidaropt(LidarPropIntenstiyBit, &optval, sizeof(int)); | ||
|
|
||
| //////////////////////bool property///////////////// | ||
| /// fixed angle resolution | ||
| bool b_optvalue = false; | ||
| laser.setlidaropt(LidarPropFixedResolution, &b_optvalue, sizeof(bool)); | ||
| /// rotate 180 | ||
| laser.setlidaropt(LidarPropReversion, &b_optvalue, sizeof(bool)); | ||
| /// Counterclockwise | ||
| laser.setlidaropt(LidarPropInverted, &b_optvalue, sizeof(bool)); | ||
| b_optvalue = true; | ||
| laser.setlidaropt(LidarPropAutoReconnect, &b_optvalue, sizeof(bool)); | ||
| /// one-way communication | ||
| laser.setlidaropt(LidarPropSingleChannel, &isSingleChannel, sizeof(bool)); | ||
| /// intensity | ||
| b_optvalue = true; | ||
| laser.setlidaropt(LidarPropIntenstiy, &b_optvalue, sizeof(bool)); | ||
| /// Motor DTR | ||
| b_optvalue = true; | ||
| laser.setlidaropt(LidarPropSupportMotorDtrCtrl, &b_optvalue, sizeof(bool)); | ||
| /// HeartBeat | ||
| b_optvalue = false; | ||
| laser.setlidaropt(LidarPropSupportHeartBeat, &b_optvalue, sizeof(bool)); | ||
|
|
||
| //////////////////////float property///////////////// | ||
| /// unit: ° | ||
| float f_optvalue = 180.0f; | ||
| laser.setlidaropt(LidarPropMaxAngle, &f_optvalue, sizeof(float)); | ||
| f_optvalue = -180.0f; | ||
| laser.setlidaropt(LidarPropMinAngle, &f_optvalue, sizeof(float)); | ||
| /// unit: m | ||
| f_optvalue = 64.f; | ||
| laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float)); | ||
| f_optvalue = 0.05f; | ||
| laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float)); | ||
| /// unit: Hz | ||
| laser.setlidaropt(LidarPropScanFrequency, &frequency, sizeof(float)); | ||
|
|
||
| bool ret = laser.initialize(); | ||
| if (!ret) { | ||
| fprintf(stderr, "Fail to initialize %s\n", laser.DescribeError()); | ||
| fflush(stderr); | ||
| return -1; | ||
| } | ||
|
|
||
| ret = laser.turnOn(); | ||
| if (!ret) { | ||
| fprintf(stderr, "Fail to start %s\n", laser.DescribeError()); | ||
| fflush(stderr); | ||
| return -1; | ||
| } | ||
|
|
||
| LaserScan scan; | ||
| while (ydlidar::os_isOk()) | ||
| { | ||
| if (laser.doProcessSimple(scan)) | ||
| { | ||
| printf("Scan received at [%lu] %u points is [%f]Hz\n", | ||
| scan.stamp / 1000000, | ||
| (unsigned int)scan.points.size(), | ||
| 1.0 / scan.config.scan_time); | ||
| // for (size_t i=0; i<scan.points.size(); ++i) | ||
| // { | ||
| // const LaserPoint& p = scan.points.at(i); | ||
| // printf("%d d %f i %f\n", i, p.range, p.intensity); | ||
| // } | ||
| fflush(stdout); | ||
| } | ||
| else | ||
| { | ||
| fprintf(stderr, "Failed to get Lidar Data\n"); | ||
| fflush(stderr); | ||
| } | ||
| } | ||
|
|
||
| laser.turnOff(); | ||
| laser.disconnecting(); | ||
|
|
||
| return 0; | ||
| } |
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