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

需要

软件平台

• Visual Studio 2010 
• Slamware Windows SDK:Slamware Windows SDK
• RoboStudio:Robostudio installer
• Sample Code: 

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

编译运行

1. 打开samples工程
   
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
   
3. 右键get_sensor_value, 将此工程设置成StartUp project
4. 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> 
   
5. 点击F5运行
6. 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; 
  			}		
  		}