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gdCaptureSample.cpp
1 
11 #include "UrgCtrl.h"
12 #include <cstdlib>
13 
14 using namespace qrk;
15 using namespace std;
16 
17 
19 int main(int argc, char *argv[])
20 {
21  //const char device[] = "COM3";
22  const char device[] = "/dev/ttyACM0";
23 
24  UrgCtrl urg;
25  if (! urg.connect(device)) {
26  printf("UrgCtrl::connect: %s\n", urg.what());
27  exit(1);
28  }
29 
30  // Scans for the number of times specified as in GD command and outputs the data.
31  enum { CaptureTimes = 1 };
32  for (int i = 0; i < CaptureTimes; ++i) {
33  long timestamp = 0;
34  vector<long> data;
35 
36  // Get the data
37  int n = urg.capture(data, &timestamp);
38 
39  // Output
40  printf("timestamp: %ld\n", timestamp);
41  for (int j = 0; j < n; ++j) {
42  // The distance data that are less than urg_minDistance() are shown as invalide values
43  printf("%d:%ld, ", j, data[j]);
44  }
45  printf("\n");
46  }
47  return 0;
48 }