/*
*??3iRoboticsLIDAR?System?II
*??Driver?Interface
*
*??Copyright?2017?3iRobotics
*??All?rights?reserved.
*
*	Author:?3iRobotics?Data:2017-09-15
*
*/


#include?“C3iroboticsLidar.h“
#include?“CSerialConnection.h“

#define?DEG2RAD（x）?（（x）*M_PI/180.）


typedef?struct?_rslidar_data
{
????_rslidar_data（）
????{
????????signal?=?0;
????????angle?=?0.0;
????????distance?=?0.0;
????}
????uint8_t?signal;
????float???angle;
????float???distance;
}RslidarDataComplete;

using?namespace?std;
using?namespace?everest::hwdrivers;


int?main（int?argc?char?*?argv[]）
{
	int????opt_com_baudrate?=?230400;
????string?opt_com_path?=?“/dev/ttyUSB0“;

????CSerialConnection?serial_connect;
????C3iroboticsLidar?robotics_lidar;

????serial_connect.setBaud（opt_com_baudrate）;
????serial_connect.setPort（opt_com_path.c_str（））;
????if（serial_connect.openSimple（））
????{
????????printf（“[AuxCtrl]?Open?serail?port?sucessful!\n“）;
????????printf（“baud?rate:%d\n“serial_connect.getBaud（））;
????}
????else
????{
????????printf（“[AuxCtrl]?Open?serail?port?%s?failed!?\n“?opt_com_path.c_str（））;
????????return?-1;
????}

????printf（“C3iroboticslidar?connected\n“）;

????robotics_lidar.initilize（&serial_connect）;


????while?（1）
????{
		TLidarGrabResult?result?=?robotics_lidar.getScanData（）;
????????switch（result）
????????{
????????????case?LIDAR_GRAB_ING:
????????????{
????????????????break;
????????????}
????????????case?LIDAR_GRAB_SUCESS:
????????????{
????????????????TLidarScan?lidar_scan?=?robotics_lidar.getLidarScan（）;
????????????????size_t?lidar_scan_size?=?lidar_scan.getSize（）;
????????????????std::vector?send_lidar_scan_data;
????????????????send_lidar_scan_data.resize（lidar_scan_size）;
????????????????RslidarDataComplete?one_lidar_data;
????????????????for（size_t?i?=?0;?i?????????????????{
????????????????????one_lidar_data.signal?=?lidar_scan.signal[i];
????????????????????one_lidar_data.angle?=?lidar_scan.angle[i];
????????????????????one_lidar_data.distance?=?lidar_scan.distance[i];
????????????????????send_lidar_scan_data[i]?=?one_lidar_data;
????????????????}

????????????????printf（“Lidar?count?%d!\n“?lidar_scan_size）;


????????????????break;
????????????}
????????????case?LIDAR_GRAB_ERRO:
????????????{
????????????????break;
????????????}
????????????case?LIDAR_GRAB_ELSE:
????????????{
????????????????printf（“[Main]?LIDAR_GRAB_ELSE!\n“）;
????????????????break;
????????????}
????????}
????????//usleep（50）;
????}

????return?0;
}

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\
?????文件???????45508??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\CMakeOutput.log
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdC\
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdC\tmp\
?????文件???????18076??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdC\CMakeCCompilerId.c
?????文件????????8400??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdC\a.out
?????文件?????????402??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeSystem.cmake
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdCXX\
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdCXX\tmp\
?????文件???????17631??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdCXX\CMakeCXXCompilerId.cpp
?????文件????????8408??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CompilerIdCXX\a.out
?????文件????????2219??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeCCompiler.cmake
?????文件????????4849??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeCXXCompiler.cmake
?????文件????????8240??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeDetermineCompilerABI_C.bin
?????文件????????8256??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\3.10.2\CMakeDetermineCompilerABI_CXX.bin
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\CMakeTmp\
?????文件?????????688??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\feature_tests.c
?????文件???????10011??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\feature_tests.cxx
?????文件??????????85??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\cmake.check_cache
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\
?????文件???????29394??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\build.make
?????文件?????????276??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\flags.make
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\app\
?????文件???????82480??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\app\node.cpp.o
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\
?????目錄???????????0??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\src\
?????文件??????188072??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\src\C3iroboticsLidar.cpp.o
?????文件????????1640??2018-12-06?02:18??Delta_2B_linux\build\CMakeFiles\delta_2b_lidar_node.dir\src\src\CArcTime.cpp.o
............此處省略57個文件信息