ultra_simple.cpp

/*
 *  RPLIDAR
 *  Ultra Simple Data Grabber Demo App
 *
 *  Copyright (c) 2009 - 2014 RoboPeak Team
 *  http://www.robopeak.com
 *  Copyright (c) 2014 - 2019 Shanghai Slamtec Co., Ltd.
 *  http://www.slamtec.com
 *
 */
/*
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 *
 */

#include <stdio.h>
#include <stdlib.h>

#include "rplidar.h" //RPLIDAR standard sdk, all-in-one header

#ifndef _countof
#define _countof(_Array) (int)(sizeof(_Array) / sizeof(_Array[0]))
#endif

#ifdef _WIN32
#include <Windows.h>
#define delay(x)   ::Sleep(x)
#else

#include <unistd.h>

static inline void delay(_word_size_t ms) {
    while (ms >= 1000) {
        usleep(1000 * 1000);
        ms -= 1000;
    };
    if (ms != 0)
        usleep(ms * 1000);
}

#endif

using namespace rp::standalone::rplidar;

bool checkRPLIDARHealth(RPlidarDriver *drv) {
    u_result op_result;
    rplidar_response_device_health_t healthinfo;


    op_result = drv->getHealth(healthinfo);
    if (IS_OK(op_result)) { // the macro IS_OK is the preperred way to judge whether the operation is succeed.
        printf("RPLidar health status : %d\n", healthinfo.status);
        if (healthinfo.status == RPLIDAR_STATUS_ERROR) {
            fprintf(stderr, "Error, rplidar internal error detected. Please reboot the device to retry.\n");
            // enable the following code if you want rplidar to be reboot by software
            // drv->reset();
            return false;
        } else {
            return true;
        }

    } else {
        fprintf(stderr, "Error, cannot retrieve the lidar health code: %x\n", op_result);
        return false;
    }
}

#include <signal.h>

bool ctrl_c_pressed;

void ctrlc(int) {
    ctrl_c_pressed = true;
}

int main(int argc, const char *argv[]) {
    const char *opt_com_path = NULL;
    _u32 baudrateArray[2] = {115200, 256000};
    _u32 opt_com_baudrate = 0;
    u_result op_result;

    bool useArgcBaudrate = false;

    printf("Ultra simple LIDAR data grabber for RPLIDAR.\n"
           "Version: " RPLIDAR_SDK_VERSION"\n");

    // read serial port from the command line...
    if (argc > 1) opt_com_path = argv[1]; // or set to a fixed value: e.g. "com3"

    // read baud rate from the command line if specified...
    if (argc > 2) {
        opt_com_baudrate = strtoul(argv[2], NULL, 10);
        useArgcBaudrate = true;
    }

    if (!opt_com_path) {
#ifdef _WIN32
        // use default com port
        opt_com_path = "\\\\.\\com3";
#else
        opt_com_path = "/dev/ttyUSB0";
#endif
    }

    // create the driver instance
    RPlidarDriver *drv = RPlidarDriver::CreateDriver(DRIVER_TYPE_SERIALPORT);
    if (!drv) {
        fprintf(stderr, "insufficent memory, exit\n");
        exit(-2);
    }

    rplidar_response_device_info_t devinfo;
    bool connectSuccess = false;
    // make connection...
    if (useArgcBaudrate) {
        if (!drv)
            drv = RPlidarDriver::CreateDriver(DRIVER_TYPE_SERIALPORT);
        if (IS_OK(drv->connect(opt_com_path, opt_com_baudrate))) {
            op_result = drv->getDeviceInfo(devinfo);

            if (IS_OK(op_result)) {
                connectSuccess = true;
            } else {
                delete drv;
                drv = NULL;
            }
        }
    } else {
        size_t baudRateArraySize = (sizeof(baudrateArray)) / (sizeof(baudrateArray[0]));
        for (size_t i = 0; i < baudRateArraySize; ++i) {
            if (!drv)
                drv = RPlidarDriver::CreateDriver(DRIVER_TYPE_SERIALPORT);
            if (IS_OK(drv->connect(opt_com_path, baudrateArray[i]))) {
                op_result = drv->getDeviceInfo(devinfo);

                if (IS_OK(op_result)) {
                    connectSuccess = true;
                    break;
                } else {
                    delete drv;
                    drv = NULL;
                }
            }
        }
    }
    if (!connectSuccess) {

        fprintf(stderr, "Error, cannot bind to the specified serial port %s.\n", opt_com_path);
        goto on_finished;
    }

    // print out the device serial number, firmware and hardware version number..
    printf("RPLIDAR S/N: ");
    for (int pos = 0; pos < 16; ++pos) {
        printf("%02X", devinfo.serialnum[pos]);
    }

    printf("\n"
           "Firmware Ver: %d.%02d\n"
           "Hardware Rev: %d\n", devinfo.firmware_version >> 8, devinfo.firmware_version & 0xFF,
           (int) devinfo.hardware_version);



    // check health...
    if (!checkRPLIDARHealth(drv)) {
        goto on_finished;
    }

    signal(SIGINT, ctrlc);

    drv->startMotor();
    // start scan...
    drv->startScan(0, 1);

    // fetech result and print it out...
    while (1) {
        rplidar_response_measurement_node_t nodes[8192];
        size_t count = _countof(nodes);

        op_result = drv->grabScanData(nodes, count);

        if (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].sync_quality & RPLIDAR_RESP_MEASUREMENT_SYNCBIT) ? "S " : "  ",
                       (nodes[pos].angle_q6_checkbit >> RPLIDAR_RESP_MEASUREMENT_ANGLE_SHIFT) / 64.0f,
                       nodes[pos].distance_q2 / 4.0f,
                       nodes[pos].sync_quality >> RPLIDAR_RESP_MEASUREMENT_QUALITY_SHIFT);
            }
        }

        if (ctrl_c_pressed) {
            break;
        }
    }

    drv->stop();
    drv->stopMotor();
    // done!
    on_finished:
    RPlidarDriver::DisposeDriver(drv);
    drv = NULL;
    return 0;
}