protected virtual void SensorInitialization()
{
// try {
sensor = new MBF.Sensors.URG("/dev/ttyACM0");
sensor.Connect();//TODO:Why connect ends app, unsing unplugged laser ? ??????
Console.WriteLine(sensor.GetVersionLines());
// }
// catch (Exception e) {
// sensor = new MBF.Sensors.URG();
// Console.WriteLine("URG Error:[{0}]", e.Message);
// }
}
public static void Main(string[] args)
{
Console.WriteLine ("Hello World from URG console test");
URG urg = new URG();
urg.Connect();
}
protected virtual void SensorInitialization()
{
sensor = new MBF.Sensors.URG("/dev/ttyACM0");
try {
sensor.Connect();
Console.WriteLine(sensor.ToString());
}
catch (Exception e) {
Console.WriteLine("URG Error: {0}", e.Message);
}
// Console.WriteLine("URG Error: {0}", 3);
}
public static void Main(string[] args)
{
Console.WriteLine("Hello URG!");
//OOP tests...
URG urg = new URG("/dev/ttyACM0");
//Connect
urg.Connect();
//Version Lines
//string version = urg.GetVersionLines();
//Console.WriteLine(version);
//URG parameters from properties...
//Console.WriteLine("Area Front: {0}", urg.FrontArea);
//Console.WriteLine("Area Max: {0}", urg.MaxArea);
//Console.WriteLine("Area Min: {0}", urg.MinArea);
//Console.WriteLine("Area Total: {0}", urg.TotalArea);
//Console.WriteLine("Distance Max: {0}", urg.MaxDistance);
//Console.WriteLine("Distance Min: {0}", urg.MinDistance);
//Console.WriteLine("Scan RPM: {0}", urg.ScanRPM);
//Console.WriteLine("Sensor Type: {0}", urg.SensorType);
//URG get parameter data from functions..
//Console.WriteLine("Distance Max: {0}", urg.UrgMaxDistance());
//Console.WriteLine("Distance Min: {0}", urg.UrgMinDistance());
//Full GD Data
//List<int> data = urg.GetFullGDData();
//int i = 0;
//foreach (int point in data){
// Console.WriteLine("Point {1}: \t{0}",point,i++);
//}
//MD Data
//List<List<int>> data = urg.GetFullMDData(1);
//int i = 0;
//foreach( List<int> list in data)
// foreach(int point in list)
// Console.WriteLine("Point {0}: \t{1}",i++,point);
//Partial GD Scan
//List<int> data = urg.PartialGDScan(6,urg.FrontArea,urg.FrontArea+10);
//int i =0;
//foreach(int point in data){
// Console.WriteLine("Point {1}: \t{0}",point,i++);
//}
//Partial GD Scan
//List<int> data2 = urg.PartialMDScan(6,urg.FrontArea,urg.FrontArea+10);
//i=0;
//foreach(int point in data2){
// Console.WriteLine("Point {1}: \t{0}",point,i++);
//}
//Index to Rad
// double val=urg.UrgIndex2Rad(6);
// Console.WriteLine("index to rad (val 6): \t{0}",val);
//Rad to index
// double val2=urg.UrgRad2Index((int)val);
// Console.WriteLine("rad to index (val {0}): \t{1}",((int)val),val2);
// Index to Deg
// double val=urg.UrgIndex2Deg(6);
// Console.WriteLine("index2Deg (val 6): \t{0}",val);
// Deg to index
// double val2=urg.Urg_Deg2Index(6);
// Console.WriteLine("Deg to index (val 6): \t{0}",val2);
//Close Connection
// urg.Disconnect();
//Native tests...
int ret;
// IntPtr urg = URG.Native.Urg_Initialise("/dev/ttyACM0");
//Requesting URG parameters
// IntPtr pParam = URG.Native.Urg_GetParameters(urg);
// URG.Native.urg_parameter parameter = new URG.Native.urg_parameter();
// parameter = (URG.Native.urg_parameter)Marshal.PtrToStructure(pParam, typeof(URG.Native.urg_parameter));
// Console.WriteLine("Area Front: {0}", parameter.area_front_);
// Console.WriteLine("Area Max: {0}", parameter.area_max_);
// Console.WriteLine("Area Min: {0}", parameter.area_min_);
// Console.WriteLine("Area Total: {0}", parameter.area_total_);
// Console.WriteLine("Distance Max: {0}", parameter.distance_max_);
// Console.WriteLine("Distance Min: {0}", parameter.distance_min_);
// Console.WriteLine("Scan RPM: {0}", parameter.scan_rpm_);
// Console.WriteLine("Sensor Type: {0}", new string(parameter.sensor_type));
//Requesting Version Lines
// IntPtr lines = URG.Native.Urg_GetVersionLines(urg);
// string s1 = Marshal.PtrToStringAnsi(lines);
// Console.WriteLine(s1);
//Using GD request data
// IntPtr pData = URG.Native.Urg_RequestFullGDData(urg);
// int n = URG.Native.GetInteger(URG.Native.URGIntegers.DATA_READED);
// int[] data = new int[n];
// Marshal.Copy(pData, data, 0, n);
// for (int i = 0; i < n; ++i) {
// /*Neglect the distance less than urg_minDistance() */
// Console.WriteLine("index: {0} data:{1}", i, data[i].ToString());
// }
//Using MD request data
// int Captimes = 10;
// int previous_timestamp;
// int timestamp;
// int remain_times;
//
// ret = URG.Native.Urg_InitMDRequest(urg, Captimes);
// //ret = URG.Native.Urg_InitMDRequest(urg, URG.Native.InfiniteTimes);
// if (ret >= 0)
// {
// IntPtr pData;
// int i=0;
// for (i = 0; i < Captimes; ++i) {
// //while(true){
// /* Reception */
// pData = URG.Native.Urg_RequestFullMDData(urg);
// int n = URG.Native.GetInteger(URG.Native.URGIntegers.DATA_READED);
// int[] data = new int[n];
// Marshal.Copy(pData, data, 0, n);
// System.Console.WriteLine("n = {0}", n);
// if (n < 0) {
// //TODO: Export urg_exit
// URG.Native.Urg_Exit(urg, "urg_receiveData()");
// } else if (n == 0) {
// System.Console.WriteLine("n == 0");
// --i;
// continue;
// }
//
// /* Display the front data with timestamp */
// /* Delay in reception of data at PC causes URG to discard the data which
// cannot be transmitted. This may results in remain_times to become
// discontinuous */
// previous_timestamp = URG.Native.GetInteger(URG.Native.URGIntegers.TIMESTAMP);
// timestamp = URG.Native.Urg_RecentTimestamp(urg);
// remain_times = URG.Native.Urg_RemainCaptureTimes(urg);
//
// /* Neglect the distance data if it is less than urg_minDistance() */
// System.Console.WriteLine("{0}/{1}: {2} [mm], {3} [msec], ({4})",
// remain_times, Captimes, URG.Native.GetInteger(URG.Native.URGIntegers.AREA_FRONT), timestamp,
// timestamp - previous_timestamp);
//
// System.Console.WriteLine("{0}, {1}", i, remain_times);
//
// if (remain_times <= 0) {
// break;
// }
// }
// }
//Request partial GD data
// IntPtr pParam = URG.Native.Urg_GetParameters(urg);
// URG.Native.urg_parameter parameter = new URG.Native.urg_parameter();
// parameter = (URG.Native.urg_parameter)Marshal.PtrToStructure(pParam, typeof(URG.Native.urg_parameter));
//
// int buffersize = 6;
// IntPtr pData= URG.Native.Urg_PartialGDScan(urg,parameter.area_front_, parameter.area_front_ + 20, buffersize);
//
// int[] data = new int[buffersize];
// Marshal.Copy(pData, data, 0, buffersize);
// for(int i =0; i<buffersize;i++)
// Console.WriteLine(data[i]);
//Request partial MD data
// IntPtr pParam = URG.Native.Urg_GetParameters(urg);
// URG.Native.urg_parameter parameter = new URG.Native.urg_parameter();
// parameter = (URG.Native.urg_parameter)Marshal.PtrToStructure(pParam, typeof(URG.Native.urg_parameter));
//
// int buffersize = 6;
// IntPtr pData= URG.Native.Urg_PartialMDScan(urg,parameter.area_front_, parameter.area_front_ + 20, buffersize);
//
// int[] data = new int[buffersize];
// Marshal.Copy(pData, data, 0, buffersize);
// for(int i =0; i<buffersize;i++)
// Console.WriteLine(data[i]);
//index to rad
// double val= URG.Native.Urg_Index2Rad(urg,6);
// Console.WriteLine("index to rad(val 6):\t {0}",val);
//rad to index
// double val=URG.Native.Urg_Rad2Index(-2);
// Console.WriteLine("Rad to index(val 6):\t {0}",val);
//index to deg
// double val= URG.Native.Urg_Index2Deg(urg,6);
// Console.WriteLine("index to Deg(val 6):\t {0}",val);
//deg to index
// double val= URG.Native.Urg_Deg2Index(urg,6);
// Console.WriteLine("Deg to index(val 6):\t {0}",val);
// URG.Native.Urg_Finalise(urg);
}
