gdCaptureSample.cpp

#include "UrgCtrl.h"
#include <cstdlib>

using namespace qrk;
using namespace std;


int main(int argc, char *argv[])
{
  //const char device[] = "COM3";
  const char device[] = "/dev/ttyACM0";

  UrgCtrl urg;
  if (! urg.connect(device)) {
    printf("UrgCtrl::connect: %s\n", urg.what());
    exit(1);
  }

  // Scans for the number of times specified as in GD command and outputs the data.
  enum { CaptureTimes = 1 };
  for (int i = 0; i < CaptureTimes; ++i) {
    long timestamp = 0;
    vector<long> data;

    // Get the data
    int n = urg.capture(data, &timestamp);

    // Output
    printf("timestamp: %ld\n", timestamp);
    for (int j = 0; j < n; ++j) {
      // The distance data that are less than urg_minDistance() are shown as invalide values
      printf("%d:%ld, ", j, data[j]);
    }
    printf("\n");
  }
  return 0;
}