void* sensor_init(void *null_pointer) {
port = scipConnect("/dev/ttyACM0");
if (port == NULL) {
perror("Could not connect to the sensor ");
exit(EXIT_FAILURE);
}
// use SCIP2.0
switchToScip2(port);
if(scip2SetComSpeed(port,115200)!=0) {
fprintf(stderr,"Could not change speed\n");
exit(EXIT_FAILURE);
}
last_poll = utime() - poll_time;
}
void* sensor_init(void *null_pointer) {
int max_data_size;
urg_connection_type_t type_eth = URG_ETHERNET;
urg_measurement_type_t m_type_eth = URG_MULTIECHO;
char *device_eth = "192.168.0.10";
char *device_usb = "/dev/ttyACM0";
eth = 0;
usb = 0;
if (urg_open(&connection_eth, type_eth, device_eth, 10940) < 0) {
printf("Could not connect to the ethernet sensor\n");
} else eth = 1;
connection_usb = scipConnect(device_usb);
if (connection_usb == NULL) {
printf("Could not connect to the usb sensor\n");
} else usb = 1;
// start measurement
if (eth) {
max_data_size = urg_max_data_size(&connection_eth);
buffer_eth = malloc(sizeof(int)*max_data_size);
urg_start_measurement(&connection_eth, m_type_eth, 0, 0);
last_poll_eth = utime() - poll_time_eth;
}
if (usb) {
switchToScip2(connection_usb);
scip2SetComSpeed(connection_usb,115200);
last_poll_usb = utime() - poll_time_usb;
}
return NULL;
}