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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,80 +1,60 @@ | ||
| //#include <RPLidar.h> | ||
| #include <RPLidar.h> | ||
| #include <memory> | ||
| #include <spdlog/spdlog.h> | ||
| #include <pybind11/embed.h> | ||
|
|
||
| //int run_native() { | ||
| // using namespace rplidar; | ||
| // spdlog::set_level(spdlog::level::debug); | ||
| // | ||
| // // auto lidar_result = RPLidar::create("/dev/ttyUSB0"); | ||
| // auto lidar_result = RPLidar::create("COM3"); | ||
| // if (!lidar_result.has_value()) | ||
| // { | ||
| // return 0; | ||
| // } | ||
| // auto& lidar = std::move(lidar_result.value()); | ||
| // | ||
| // auto info_result = lidar->get_info(); | ||
| // if (!info_result.has_value()) | ||
| // { | ||
| // std::cout << info_result.error(); | ||
| // return 0; | ||
| // } | ||
| // auto& info = info_result.value(); | ||
| // std::cout << fmt::format("model: {}, firmware: ({}, {}), hardware: {}, serialnumber: {}\n", info.model, info.firmware.first, info.firmware.second, info.hardware, info.serialNumber); | ||
| // | ||
| // auto health_result = lidar->get_health(); | ||
| // if (!health_result.has_value()) | ||
| // { | ||
| // std::cout << health_result.error(); | ||
| // return 0; | ||
| // } | ||
| // auto& health = health_result.value(); | ||
| // std::cout << fmt::format("({}, {})\n", health.status, health.errorCode); | ||
| // | ||
| // // std::function<std::vector<Measure>()> scanGenerator = lidar->iter_scans(); | ||
| // // for (int i = 0; i < 10; i++) | ||
| // // { | ||
| // // std::vector<Measure> scan = scanGenerator(); | ||
| // // std::cout << "Got " << scan.size() << " Measures!\n"; | ||
| // // for (const Measure &measure : scan) | ||
| // // { | ||
| // // // Access individual measurements in the scan | ||
| // // bool newScan = measure.newScan; | ||
| // // int quality = measure.quality; | ||
| // // float angle = measure.angle; | ||
| // // float distance = measure.distance; | ||
| // // } | ||
| // // } | ||
| // | ||
| // lidar->stop(); | ||
| // lidar->stop_motor(); | ||
| // lidar->disconnect(); | ||
| // return 0; | ||
| //} | ||
| int run_native() { | ||
| using namespace rplidar; | ||
| spdlog::set_level(spdlog::level::debug); | ||
|
|
||
| void run_python() { | ||
| namespace py = pybind11; | ||
| py::scoped_interpreter guard{}; | ||
| // auto lidar_result = RPLidar::create("/dev/ttyUSB0"); | ||
| auto lidar_result = RPLidar::create("COM3"); | ||
| if (!lidar_result.has_value()) | ||
| { | ||
| return 0; | ||
| } | ||
| auto& lidar = std::move(lidar_result.value()); | ||
|
|
||
| auto rplidar = py::module_::import("rplidar"); | ||
| auto RPLidar = rplidar.attr("RPLidar"); | ||
| auto lidar = RPLidar.call("COM3"); | ||
| auto info_result = lidar->get_info(); | ||
| if (!info_result.has_value()) | ||
| { | ||
| std::cout << info_result.error(); | ||
| return 0; | ||
| } | ||
| auto& info = info_result.value(); | ||
| std::cout << fmt::format("model: {}, firmware: ({}, {}), hardware: {}, serialnumber: {}\n", info.model, info.firmware.first, info.firmware.second, info.hardware, info.serialNumber); | ||
|
|
||
| auto info = lidar.attr("get_info")(); | ||
| py::print(info); | ||
| auto health_result = lidar->get_health(); | ||
| if (!health_result.has_value()) | ||
| { | ||
| std::cout << health_result.error(); | ||
| return 0; | ||
| } | ||
| auto& health = health_result.value(); | ||
| std::cout << fmt::format("({}, {})\n", health.status, health.errorCode); | ||
|
|
||
| auto health = lidar.attr("get_health")(); | ||
| py::print(health); | ||
| // std::function<std::vector<Measure>()> scanGenerator = lidar->iter_scans(); | ||
| // for (int i = 0; i < 10; i++) | ||
| // { | ||
| // std::vector<Measure> scan = scanGenerator(); | ||
| // std::cout << "Got " << scan.size() << " Measures!\n"; | ||
| // for (const Measure &measure : scan) | ||
| // { | ||
| // // Access individual measurements in the scan | ||
| // bool newScan = measure.newScan; | ||
| // int quality = measure.quality; | ||
| // float angle = measure.angle; | ||
| // float distance = measure.distance; | ||
| // } | ||
| // } | ||
|
|
||
| lidar.attr("stop")(); | ||
| lidar.attr("stop_motor")(); | ||
| lidar.attr("disconnect")(); | ||
| lidar->stop(); | ||
| lidar->stop_motor(); | ||
| lidar->disconnect(); | ||
| return 0; | ||
| } | ||
|
|
||
| int main() | ||
| { | ||
| run_python(); | ||
| run_native(); | ||
| return 1; | ||
| } |