48 lines
1.9 KiB
C++
48 lines
1.9 KiB
C++
// Test 2 Olei lidars (front + rear) concurrently.
|
|
#include "lidarlib/lidar.hpp"
|
|
#include <cstdio>
|
|
#include <thread>
|
|
|
|
static void run_lidar(const char* tag, const lidarlib::ModelConfig& cfg,
|
|
const std::string& local_ip, uint16_t port, bool inverted, int n_scans) {
|
|
lidarlib::Driver drv(cfg, local_ip, port, inverted);
|
|
lidarlib::ErrorCode err = drv.open();
|
|
if (err != lidarlib::ErrorCode::Ok) {
|
|
fprintf(stderr, "[%s] Khong mo duoc socket tren %s:%u (%s)\n",
|
|
tag, local_ip.c_str(), port, lidarlib::to_string(err));
|
|
return;
|
|
}
|
|
printf("[%s] Da bind %s:%u, dang doi scan...\n", tag, local_ip.c_str(), port);
|
|
|
|
for (int i = 0; i < n_scans; ++i) {
|
|
lidarlib::ScanResult result;
|
|
if (!drv.recv_scan(result, 2000)) {
|
|
fprintf(stderr, "[%s] Timeout/loi nhan packet (scan #%d)\n", tag, i);
|
|
continue;
|
|
}
|
|
const lidarlib::LaserScan& scan = result.scan;
|
|
const lidarlib::ExtraInfo& info = result.info;
|
|
printf("[%s] Scan #%d: %zu diem, ts=%u ms, err=0x%02X, model=%s\n",
|
|
tag, i, scan.ranges.size(), scan.timestamp_ms, info.error_status,
|
|
info.detected_model.c_str());
|
|
for (size_t j = 0; j < 20 && j < scan.ranges.size(); ++j) {
|
|
float angle_deg = (scan.angle_min + j * scan.angle_increment) * 180.f / 3.14159265f;
|
|
printf(" [%zu] angle=%.2f dist=%.3fm intensity=%.0f\n",
|
|
j, angle_deg, scan.ranges[j], scan.intensities[j]);
|
|
}
|
|
}
|
|
drv.close();
|
|
}
|
|
|
|
int main() {
|
|
// Real headers (UDP sniff): front = "OLELR-1BS2", rear = "OLELR-1BS5".
|
|
std::thread t_front(run_lidar, "front/scan_1", lidarlib::MODEL_AUTO,
|
|
"192.168.100.100", 2368, false, 5);
|
|
std::thread t_rear(run_lidar, "rear/scan_2", lidarlib::MODEL_AUTO,
|
|
"192.168.100.100", 2369, true, 5);
|
|
|
|
t_front.join();
|
|
t_rear.join();
|
|
return 0;
|
|
}
|