LMS1xx: /home/laradmin/lar/sensors/laser/RCPRG_laser_drivers/LMS1xx/src/setConfig.cpp Source File

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00003 
00004  Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
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00038 #include <iostream>
00039 
00040 #include <boost/lexical_cast.hpp>
00041 
00042 #include <LMS1xx.h>
00043 
00044 void print_usage() {
00045 
00046         std::cout << " Usage : " << std::endl;
00047         std::cout << " set_config ip resolution rate " << std::endl;
00048         std::cout << " Exqample : " << std::endl;
00049         std::cout << " set_config 192.168.1.2 0.25 50 " << std::endl;
00050 }
00051 
00052 int main(int argc, char** argv) {
00053 
00054         LMS1xx laser;
00055         scanCfg sCfg;
00056 
00057         if(argc < 4) {
00058                 print_usage();
00059                 return 0;
00060         }
00061 
00062         laser.connect(argv[1]);
00063 
00064         if(!laser.isConnected()) {
00065                 std::cout << "Unable to connect to device at address : " << argv[1] << std::endl;
00066                 return 0;
00067         }
00068 
00069         sCfg.angleResolution = (int)(boost::lexical_cast<double>(std::string(argv[2])) * 10000);
00070         sCfg.scaningFrequency = boost::lexical_cast<int>(std::string(argv[3])) * 100;
00071 
00072         laser.login();
00073         laser.setScanCfg(sCfg);
00074         laser.saveConfig();
00075 
00076         sCfg = laser.getScanCfg();
00077 
00078         std::cout << "Configuration set to : " << std::endl;
00079         std::cout << "resolution : " << (double)sCfg.angleResolution/10000.0 << std::endl;
00080         std::cout << "frequency : " << (double)sCfg.scaningFrequency/100.0 << std::endl;
00081 
00082         laser.disconnect();
00083 
00084         return 0;
00085 }