setConfig.cpp

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#include <iostream>

#include <boost/lexical_cast.hpp>

#include <lms1xx/lms1xx.h>

void print_usage() {

        std::cout << " Usage : " << std::endl;
        std::cout << " set_config ip resolution rate " << std::endl;
        std::cout << " Exqample : " << std::endl;
        std::cout << " set_config 192.168.1.2 0.25 50 " << std::endl;
}

int main(int argc, char** argv) {

        LMS1xx laser;
        scanCfg sCfg;

        if(argc < 4) {
                print_usage();
                return 0;
        }

        laser.connect(argv[1]);

        if(!laser.isConnected()) {
                std::cout << "Unable to connect to device at address : " << argv[1] << std::endl;
                return 0;
        }

        sCfg.angleResolution = (int)(boost::lexical_cast<double>(std::string(argv[2])) * 10000);
        sCfg.scaningFrequency = boost::lexical_cast<int>(std::string(argv[3])) * 100;

        laser.login();
        laser.setScanCfg(sCfg);
        laser.saveConfig();

        sCfg = laser.getScanCfg();

        std::cout << "Configuration set to : " << std::endl;
        std::cout << "resolution : " << (double)sCfg.angleResolution/10000.0 << std::endl;
        std::cout << "frequency : " << (double)sCfg.scaningFrequency/100.0 << std::endl;

        laser.disconnect();

        return 0;
}