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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 sdm 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); | ||
|
|
||
| //初始化 | ||
| ydlidar::os_init(); | ||
| //初始化串口号 | ||
| std::string port = "/dev/ttyCH341USB0"; | ||
| // 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 %s\n", | ||
| // id, it->first.c_str(), it->second.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 = 921600; //默认串口号 | ||
|
|
||
| bool isSingleChannel = false; | ||
|
|
||
| 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)); | ||
| /// sdm lidar | ||
| int optval = TYPE_DTS; | ||
| laser.setlidaropt(LidarPropLidarType, &optval, sizeof(int)); | ||
| /// device type | ||
| optval = YDLIDAR_TYPE_SERIAL; | ||
| laser.setlidaropt(LidarPropDeviceType, &optval, sizeof(int)); | ||
| /// sample rate | ||
| optval = 4; | ||
| laser.setlidaropt(LidarPropSampleRate, &optval, sizeof(int)); | ||
| /// abnormal count | ||
| optval = 3; | ||
| 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 = 20.f; | ||
| laser.setlidaropt(LidarPropMaxRange, &f_optvalue, sizeof(float)); | ||
| f_optvalue = 0.025f; | ||
| laser.setlidaropt(LidarPropMinRange, &f_optvalue, sizeof(float)); | ||
| /// unit: Hz | ||
| float frequency = 10.0; | ||
| laser.setlidaropt(LidarPropScanFrequency, &frequency, sizeof(float)); | ||
|
|
||
| // laser.setEnableDebug(true); //打印串口原始数据 | ||
|
|
||
| // 雷达初始化 | ||
| bool ret = laser.initialize(); | ||
| if (!ret) | ||
| { | ||
| fprintf(stderr, "[YDLIDAR] Fail to initialize %s\n", laser.DescribeError()); | ||
| return -1; | ||
| } | ||
| // 启动扫描 | ||
| ret = laser.turnOn(); | ||
| if (!ret) | ||
| { | ||
| fprintf(stderr, "[YDLIDAR] Fail to turn on %s\n", laser.DescribeError()); | ||
| return -1; | ||
| } | ||
|
|
||
| LaserScan scan; | ||
| while (ret && ydlidar::os_isOk()) | ||
| { | ||
| if (laser.doProcessSimple(scan)) | ||
| { | ||
| for (size_t i = 0; i < scan.points.size(); ++i) | ||
| { | ||
| const LaserPoint &p = scan.points.at(i); | ||
| printf("r %.01f p %.01f\n", | ||
| p.range * 1000.0f, p.intensity); | ||
| } | ||
| fflush(stdout); | ||
| } | ||
| else | ||
| { | ||
| fprintf(stderr, "[YDLIDAR] Failed to get lidar data\n"); | ||
| fflush(stderr); | ||
| } | ||
| } | ||
|
|
||
| laser.turnOff(); | ||
| laser.disconnecting(); | ||
|
|
||
| return 0; | ||
| } |
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