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本页介绍了get_sensor_value的用法, 包含当前所有传感器的类型,安装位置,触发状态等。


本页内容


运行环境准备

  • 软件平台

    • Visual Studio 2010  SP1
    • Slamware Windows SDK:Slamware Windows SDK
    • RoboStudio(用于显示地图):Robostudio installer
    • Sample Code: 

      使用更高版本的Visual Studio可能会带来编译异常。

      使用Visual Studio 2010(无SP1)可能会因为无法与.Net Framework兼容而报编译错误,此时增加SP1更新包即可解决问题

  • 硬件平台

          (以下任选其一)

      • Slamware SDP mini 
      • Slamware SDP
      • Slamware 套装 (基于Slamware导航方案的用户机器人系统)
      • Zeus/Apollo等底盘系统


例程下载

Win32-例程下载


编译运行

  1. 打开samples工程,右键get_sensor_value, 将此工程设置成StartUp project


  2. 右键get_sensor_value, 打开属性选项,将Slamware SDK 的include目录和lib目录添加到工程

    Slamware SDK的include和lib目录无需复制到参考例程目录,只需在Visual Studio里指定路径即可。




  3. 右键get_sensor_value, 在Debugging页面中command Arguments处输入 192.168.11.1 
    格式说明:get_sensor_value <IP address> 


  4. 点击F5运行
  5. Console输出为(下图中0, 1两个bumper是触发状态,为0)


代码描述

  • 代码功能说明: 获取传感器数据

    获取传感器数据
    	
    		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; 
    			}		
    		}