This document introduces the demo project of "go_sensor_value", including how to get the data of sersors like type,installation position and value.

Content

IDE Preperation

  • Software

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(for map display):Robostudio installer 

    • Sample Code: 

      Higher version of Visual Studio will cause errors. Sometime you will need to upgrade SP1 package to make your VS compatable with .Net Framework.

  • Hardware

          （Either one of following）

    • Slamware SDP mini 
    • Slamware SDP
    • Slamware Kit 
    • Zeus/Apollo robot base

Download

Win32-Demo


Compiling

  1. Right click on "get_sensor_value" project, set as StartUp project.


  2. Right click on "get_sensor_value", then " Properties"，configure "include" and "lib" directories to the corresponding folder path of Slamware SDK.

    It's not necessary to copy files to the project directory, user will only need to configure the path of SDK.




  3. Right click on "get_sensor_value", then "properties"，set "Command Arguments" as follows: 
    Syntax ：get_sensor_value <IP address>> 


  4. Click " F5" to execute.
  5. The output from console will be as follows(0, 1 is used to indicate the trigger state of the bumper. If it's triggered, the value is 0.):

Code

  • Get the data of the sensors

    Get the data of the sensors
    	
		SlamwareCorePlatform sdp = SlamwareCorePlatform::connect(argv[1], 1445);
        std::cout <<"SDK Version: " << sdp.getSDKVersion() << std::endl;
        std::cout <<"SDP Version: " << sdp.getSDPVersion() << std::endl;

		std::vector<ImpactSensorInfo> sensors;
		bool result = sdp.getSensors(sensors);
		if (result) {
			for (std::vector<ImpactSensorInfo>::iterator it = sensors.begin(); it != sensors.end(); ++it) {
				std::cout << "Sensor id : " << it->id << std::endl;
				if (it->kind == ImpactSensorKindBumper) 
					std::cout << "Sensor Kind: Bumper" << std::endl;
				else if (it->kind == ImpactSensorKindCliff)
					std::cout << "Sensor Kind: Cliff" << std::endl;
				else if (it->kind == ImpactSensorKindSonar)
					std::cout << "Sensor Kind: Sonar" << std::endl;		
				else 
					return 1;
				if (it->type == ImpactSensorTypeAnalog)
					std::cout << "Sensor Type: Analog" << std::endl;
				else if (it->type == ImpactSensorTypeDigital)
					std::cout << "Sensor Type: Digital" << std::endl;		
				else 
					return 1;
				std::cout << "Sensor Position: ( " <<  it->pose.x() << " , " << it->pose.y() << " , " << \
					it->pose.z() << " ) ;  Yaw = " << it->pose.yaw() << std::endl;
				ImpactSensorValue value;
				sdp.getSensorValue(it->id, value);
				std::cout << "Sensor Value : " << value.value<< std::endl; 
			}		
		}
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