Example #1
0
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;
}
Example #2
0
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;
}