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demo_cascade.cpp
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demo_cascade.cpp
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/**
* @file main.cpp
* @author LDRobot ([email protected])
* @brief main process App
* This code is only applicable to LDROBOT LiDAR
* products sold by Shenzhen LDROBOT Co., LTD
* @version 0.1
* @date 2022-05-27
*
* @copyright Copyright (c) 2021 SHENZHEN LDROBOT CO., LTD. All rights
* reserved. Licensed under the MIT License (the "License"); you may not use
* this file except in compliance with the License. You may obtain a copy of the
* License in the file LICENSE Unless required by applicable law or agreed to in
* writing, software distributed under the License is distributed on an "AS IS"
* BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
* implied. See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "rtrnet.h"
#define isTrigMode 0
int main(int argc, char **argv) {
if (argc != 4) {
std::cout << "please input:" << std::endl;
std::cout << "./ldlidar_ssl <product_type1> <product_type2> <port_name>" << std::endl;
std::cout << "example: " << std::endl;
std::cout << "./ldlidar_ssl SSL20N SSL20L /dev/ttyUSB0" << std::endl;
exit(EXIT_FAILURE);
}
// 1. 激光雷达数据处理类实例化
ldlidar::RTRNet* lidar_comm = new ldlidar::RTRNet();
// 2. 串口应用类实例化
ldlidar::CmdInterfaceLinux* cmd_port = new ldlidar::CmdInterfaceLinux();
std::cout << "[ldrobot] SDK Pack Version is " << lidar_comm->GetSdkPackVersionNumber() << std::endl;
ldlidar::LDType type1;
ldlidar::LDType type2;
std::string product_type1(argv[1]);
std::string product_type2(argv[2]);
std::string port_name(argv[3]);
if ("SSL20L" == product_type1) {
type1 = ldlidar::LDType::LD_SSL20_L;
}else if ("SSL20N" == product_type1) {
type1 = ldlidar::LDType::LD_SSL20_N;
}else if ("SSL20P" == product_type1) {
type1 = ldlidar::LDType::LD_SSL20_P;
}else if ("LD07N" == product_type1) {
type1 = ldlidar::LDType::LD_07N;
}else {
type1 = ldlidar::LDType::LD_NO_TYPE;
}
if ("SSL20L" == product_type2) {
type2 = ldlidar::LDType::LD_SSL20_L;
}else if ("SSL20N" == product_type2) {
type2 = ldlidar::LDType::LD_SSL20_N;
}else if ("SSL20P" == product_type2) {
type2 = ldlidar::LDType::LD_SSL20_P;
}else if ("LD07N" == product_type2) {
type2 = ldlidar::LDType::LD_07N;
}else {
type2 = ldlidar::LDType::LD_NO_TYPE;
}
// 3. 设置产品型号
if (!lidar_comm->SetProductType(ldlidar::LDType::LD_SSL20_N)) {
std::cout << "[ldrobot] set product type is fail" << std::endl;
exit(EXIT_FAILURE);
}
// 4. 打开激光雷达对应的串口设备
if(!cmd_port->Open(port_name, ldlidar::STDBaudRateType::BAUD_921600)) {
std::cout << "[ldrobot] open " << port_name << " device is fail" << std::endl;
exit(EXIT_FAILURE);
} else {
std::cout << "[ldrobot] open " << port_name << " device is success" << std::endl;
}
// 5. 设置串口设备读数据处理回调
cmd_port->SetReadCallback(std::bind(&ldlidar::RTRNet::CommReadCallback, lidar_comm, std::placeholders::_1, std::placeholders::_2));
// if (!lidar_comm->SendCmd(cmd_port, 0, ldlidar::PACK_RESET_SYSTEM)) {
// std::cout << "[ldrobot] send to PACK_CONFIG_ADDRESS cmd fail" << std::endl;
// exit(EXIT_FAILURE);
// }
// 10. 发送停止激光雷达扫描命令
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_STOP)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_STOP_DISTANCE_TRANS cmd fail" << std::endl;
} else {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_STOP_DISTANCE_TRANS cmd success" << std::endl;
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_STOP)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_STOP_DISTANCE_TRANS cmd fail" << std::endl;
} else {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_STOP_DISTANCE_TRANS cmd success" << std::endl;
}
sleep(1);
// 6. 发送命令并获取激光雷达参数
int error = 0;
while (!lidar_comm->IsParametersReady()) {
if (!lidar_comm->SendCmd(cmd_port, 0, ldlidar::PACK_CONFIG_ADDRESS)) {
std::cout << "[ldrobot] send to PACK_CONFIG_ADDRESS cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_GET_COE)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_GET_COE cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_GET_COE)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_GET_COE cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_VIDEO_SIZE)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_VIDEO_SIZE cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_VIDEO_SIZE)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_VIDEO_SIZE cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
sleep(1);
error++;
if (error > 2) { /* Exit if the number of errors is more than 2*/
std::cout << "[ldrobot] Error: get ssl20 lidar parameters fail" << std::endl;
exit(EXIT_FAILURE);
}
}
lidar_comm->ResetParametersReady();
std::cout << "[ldrobot] get ssl20 lidar parameters success" << std::endl;
//插值距离模式输出
uint8_t send_parbuf = 0;
send_parbuf = 0; //1：开启插值模式，0：关闭插值模式
if (!lidar_comm->sendbytes(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_COE_INTERPOLATION, &send_parbuf, 1, 0)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_COE_INTERPOLATION cmd fail" << std::endl;
exit(EXIT_FAILURE);
} else {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_COE_INTERPOLATION cmd success" << std::endl;
}
if (!lidar_comm->sendbytes(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_COE_INTERPOLATION, &send_parbuf, 1, 0)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_COE_INTERPOLATION cmd fail" << std::endl;
exit(EXIT_FAILURE);
} else {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_COE_INTERPOLATION cmd success" << std::endl;
}
lidar_comm->SetDistanceModule(send_parbuf);
sleep(1);
if (type1== ldlidar::LDType::LD_SSL20_N) {
uint8_t send_parbuf[256] = {0};
uint32_t GroundDistance = 180;
strcpy((char *)send_parbuf, "ground distance");
memcpy(&send_parbuf[PACK_STRING_LEN], (uint8_t *)&GroundDistance, 4);
if (!lidar_comm->sendWords(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_SET_GROUND_DISTANCE, (uint32_t *)send_parbuf, 4 + PACK_STRING_LEN, 0)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_SET_GROUND_DISTANCE cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
}
if (type2== ldlidar::LDType::LD_SSL20_N) {
uint8_t send_parbuf[256] = {0};
uint32_t GroundDistance = 180;
strcpy((char *)send_parbuf, "ground distance");
memcpy(&send_parbuf[PACK_STRING_LEN], (uint8_t *)&GroundDistance, 4);
if (!lidar_comm->sendWords(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_SET_GROUND_DISTANCE, (uint32_t *)send_parbuf, 4 + PACK_STRING_LEN, 0)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_SET_GROUND_DISTANCE cmd fail" << std::endl;
exit(EXIT_FAILURE);
}
}
// 7. 发送启动激光雷达扫描命令
//级联软件级联同步模式
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_GET_DISTANCE)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_GET_DISTANCE cmd fail" << std::endl;
} else {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_GET_DISTANCE cmd success" << std::endl;
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_GET_DISTANCE)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_GET_DISTANCE cmd fail" << std::endl;
} else {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_GET_DISTANCE cmd success" << std::endl;
}
sleep(1);
auto last_time = std::chrono::steady_clock::now();
while (1) {
if (lidar_comm->IsFrameReady()) { // 8. 判断激光扫描数据是否就绪
lidar_comm->ResetFrameReady();// 清除就绪标志
last_time = std::chrono::steady_clock::now();
// 9. 获取级联激光扫描数据
uint8_t device_addr_id = lidar_comm->GetDeviceAddress();
switch (device_addr_id) {
case LIDAR_DEVICE_01: {
ldlidar::Points2D laser_scan = lidar_comm->GetLaserScanData();
std::cout << "[ldrobot] pub laser1" << std::endl;
for (auto point : laser_scan) {
std::cout << "[ldrobot] [1] angle: " << point.angle << " "
<< " distance(m): " << point.distance << " "
<< " intensity: " << (int)point.intensity << std::endl;
}
break;
}
case LIDAR_DEVICE_02: {
ldlidar::Points2D laser_scan = lidar_comm->GetLaserScanData();
std::cout << "[ldrobot] pub laser2" << std::endl;
for (auto point : laser_scan) {
std::cout << "[ldrobot] [2] angle: " << point.angle << " "
<< " distance(m): " << point.distance << " "
<< " intensity: " << (int)point.intensity << std::endl;
}
break;
}
default:
break;
}
}
if (std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::steady_clock::now()-last_time).count() > 1000) {
// 数据发布超时或者串口设备拔出处理
std::cout << "[ldrobot] lidar pub data is time out, please check lidar device" << std::endl;
// exit(EXIT_FAILURE);
}
usleep(5*1000);
}
// 10. 发送停止激光雷达扫描命令
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_01, ldlidar::PACK_STOP)) {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_STOP_DISTANCE_TRANS cmd fail" << std::endl;
} else {
std::cout << "[ldrobot] [DEVICE_01] send to PACK_STOP_DISTANCE_TRANS cmd success" << std::endl;
}
sleep(1);
if (!lidar_comm->SendCmd(cmd_port, LIDAR_DEVICE_02, ldlidar::PACK_STOP)) {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_STOP_DISTANCE_TRANS cmd fail" << std::endl;
} else {
std::cout << "[ldrobot] [DEVICE_02] send to PACK_STOP_DISTANCE_TRANS cmd success" << std::endl;
}
sleep(1);
// 11. 关闭串口设备
cmd_port->Close();
delete lidar_comm;
lidar_comm = nullptr;
delete cmd_port;
cmd_port = nullptr;
return 0;
}
/********************* (C) COPYRIGHT SHENZHEN LDROBOT CO., LTD *******END OF
* FILE ********/