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

打开samples工程

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
右键get_sensor_value, 将此工程设置成StartUp project
右键get_sensor_value, 在Debugging页面中command Arguments处输入 192.168.11.1 (Slamware AP 模式默认IP地址)。注：此sample为 windows console application, 也可以在console中用命令行执行，用法为：get_sensor_value <IP address>
点击F5运行
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：获取电量/充电状态

	
		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; 
			}		
		}