void checkAndConnect(Hok_t *hok) {
if (!hok->isWorking) {
printf("%sHokuyo not connected, trying to connect to %s\n", PREFIX, hok->path);
int error = urg_connect(hok->urg, hok->path, 115200);
if (error < 0) {
printf("%sCan't connect to hokuyo : %s\n", PREFIX, urg_error(hok->urg));
hok->isWorking = 0;
} else {
hok->imin = urg_rad2index(hok->urg, hok->cone_min);
hok->imax = urg_rad2index(hok->urg, hok->cone_max);
urg_setCaptureTimes(hok->urg, UrgInfinityTimes);
error = urg_requestData(hok->urg, URG_MD, hok->imin, hok->imax);
if (error < 0) {
printf("%sCan't connect to hokuyo\n", PREFIX);
hok->isWorking = 0;
} else {
printf("%sHokuyo connected\n", PREFIX);
hok->isWorking = 1;
printf("%sRequesting data on indexes %d to %d from %s OK\n", PREFIX, hok->imin, hok->imax, hok->path);
hok->nb_data = urg_dataMax(hok->urg);
double *angles = malloc(hok->nb_data * sizeof(double));
int i;
for (i=0; i<hok->nb_data; i++) {
angles[i] = modTwoPi(urg_index2rad(hok->urg, i) + hok->orientation);
}
hok->fm = initFastmath(hok->nb_data, angles);
free(angles);
printf("%sCalculted sin/cos data for %s\n", PREFIX, hok->path);
}
}
}
}
static void mdlStart(SimStruct *S)
{
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
}
int CSCIPRadarComm::StartRadar(void)
{
int ret;
ret = urg_connect(&urg, m_comDevice, m_bitRate);
if (ret < 0)
{
return -1;
}
return 1;
}
/*-----------------------------------------------------------*/
int init_urg_laser(urg_t **urg,int modality)
{
int ret;
/*Switching capturing mode*/
urg_capturing_mode=modality;
/*Memory structure allocation*/
*urg=malloc(sizeof(urg_t));
/*Printing and signalling allocation error*/
if (!(*urg)) {
fprintf(stderr, "Error in urg memory allocation\n");
return -1;
}
/*Urg laser connection (structure, file descriptor, baud rate)*/
ret = urg_connect(*urg, DEVICE, 115200);
if (ret < 0) {
return ret;
}
/*Switching on the laser scanner*/
urg_laserOn(*urg);
pthread_mutex_init(&mutex_laser_read, NULL);
/*Getting parameters*/
if(!parameter)
parameter=malloc(sizeof(urg_parameter_t));
urg_parameters(*urg, parameter);
frontal_index=get_frontal_index(*urg);
/*Switch to select the laser range finder acquiring mode*/
switch (urg_capturing_mode)
{
case CONTINUOUS:
/*keep capturing*/
urg_setCaptureTimes(*urg, UrgInfinityTimes);
/*request all the data*/
urg_requestData(*urg, URG_MD, URG_FIRST, URG_LAST);
break;
case HYBRID:
/*keep capturing capture_times*/
urg_setCaptureTimes(*urg, capture_times);
/*request data*/
urg_requestData(*urg, URG_MD, URG_FIRST, URG_LAST);
break;
case ON_DEMAND:
urg_requestData(*urg, URG_GD, URG_FIRST, URG_LAST);
break;
default:
break;
}
return ret;
}
//! main
int main(int argc, char *argv[])
{
#ifdef WINDOWS_OS
const char device[] = "COM3"; /* For Windows */
#else
const char device[] = "/dev/ttyACM0"; /* For Linux */
#endif
urg_t urg;
urg_parameter_t parameters;
int ret;
/* Connection */
urg_initialize(&urg);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
/* Get sensor parameter */
ret = urg_parameters(&urg, ¶meters);
printf("urg_getParameters: %s\n", urg_error(&urg));
if (ret < 0) {
urg_disconnect(&urg);
exit(1);
}
/* Display */
printf("distance_min: %ld\n", parameters.distance_min_);
printf("distance_max: %ld\n", parameters.distance_max_);
printf("area_total: %d\n", parameters.area_total_);
printf("area_min: %d\n", parameters.area_min_);
printf("area_max: %d\n", parameters.area_max_);
printf("area_front: %d\n", parameters.area_front_);
printf("scan_rpm: %d\n", parameters.scan_rpm_);
printf("\n");
/* Display information from URG structure (same resource as above) */
printf("urg_getDistanceMax(): %ld\n", urg_maxDistance(&urg));
printf("urg_getDistanceMin(): %ld\n", urg_minDistance(&urg));
printf("urg_getScanMsec(): %d\n", urg_scanMsec(&urg));
printf("urg_getDataMax(): %d\n", urg_dataMax(&urg));
#ifdef MSC
getchar();
#endif
return 0;
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
const real_T *Upos = (const real_T*) ssGetInputPortSignal(S,1);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
stepperMove(*Upos, stepper);
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
//Lidar setup
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
//Stepper Setup
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
//Zero prameters
counter = 0;
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
const real_T *Upos = (const real_T*) ssGetInputPortSignal(S,1);
const int32_T *potVal = (const int32_T*) ssGetInputPortSignal(S,0);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
//Zero prameters
int zeroPos = 418;
int dpot;
int dstep;
//Zero stepper on start
if (zeroPos > *potVal) {
zeroPos = 418;
}
if (zeroPos < *potVal) {
zeroPos = 419;
}
printf("potVal:%d\n",*potVal);
dpot = zeroPos - *potVal;
printf("Dpot:%d\n",dpot);
dstep = -1036/45*dpot;
printf("Dstep:%d\n",dstep);
//stepperMove(dstep, stepper);
CPhidgetStepper_setCurrentPosition(stepper, 0, 0);
stepperMove(*Upos, stepper);
}
LaserRangeFinder::LaserRangeFinder(const std::string& device, int baud_rate)
: m_bufsiz(0), m_retsiz(0), m_buffer(0),
m_angle_range(0, 0), m_distance_range(-1, -1), m_distances(0)
{
if (urg_connect(& m_handle, device.c_str(), baud_rate) < 0)
throw lrf_error(LRF_CONNECTION_FAILURE) ;
m_bufsiz = urg_getDataMax(& m_handle) ;
m_buffer = new long[m_bufsiz] ;
std::fill_n(m_buffer, m_bufsiz, 0) ;
m_angle_range.reset(urg_index2deg(& m_handle, 0),
urg_index2deg(& m_handle, m_bufsiz - 1)) ;
m_distances = new int[m_angle_range.size()] ;
std::fill_n(m_distances, m_angle_range.size(), 0) ;
m_distance_range.reset(static_cast<int>(urg_getDistanceMin(& m_handle)),
static_cast<int>(urg_getDistanceMax(& m_handle))) ;
}
int main(int argc, char *argv[])
{
enum {
LinesMax = 5,
};
//const char device[] = "COM3"; /* Example for Windows */
const char device[] = "/dev/ttyACM0"; /* Example for Linux */
char buffer[LinesMax][UrgLineWidth];
char *lines[LinesMax];
int ret;
int i;
/* Connection */
urg_t urg;
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
/* Get version information */
for (i = 0; i < LinesMax; ++i) {
lines[i] = buffer[i];
}
ret = urg_versionLines(&urg, lines, LinesMax);
printf("urg_getVersion: %s\n", urg_error(&urg));
if (ret < 0) {
urg_disconnect(&urg);
exit(1);
}
/* Display */
for (i = 0; i < LinesMax; ++i) {
printf("%s\n", lines[i]);
}
/* Disconnect */
urg_disconnect(&urg);
return 0;
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S)
{
//Lidar setup
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
//Stepper Setup
CPhidgetStepper_create(&stepper);
stepperConnect(600000, 1214,stepper);
//Zero prameters
counter = 0;
// Webcam SetUp
capture1 = cvCaptureFromCAM( -1 ); //Sets up Camera Object
if ( !capture1 )
fprintf( stderr, "ERROR: capture is NULL \n" );
}
/*! main */
int main(int argc, char *argv[])
{
enum {
CaptureTimes = 10,
};
#ifdef WINDOWS_OS
const char device[] = "COM3"; /* For Windows */
#else
const char device[] = "/dev/ttyACM0"; /* For Linux */
#endif
long timestamp = 0;
int ret = 0;
int i;
/* Connection */
urg_t urg;
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
/* Transit to timestamp mode and displays time stamp */
urg_enableTimestampMode(&urg);
for (i = 0; i < CaptureTimes; ++i) {
timestamp = urg_currentTimestamp(&urg);
printf("%02d: timestamp: %ld [msec]\n", i, timestamp);
}
urg_disableTimestampMode(&urg);
#ifdef MSC
getchar();
#endif
return 0;
}
/* Function: mdlStart =======================================================
* Abstract:
* This function is called once at start of model execution. If you
* have states that should be initialized once, this is the place
* to do it.
*/
static void mdlStart(SimStruct *S) {
// Lidar Setup
ret = urg_connect(&urg, device, 115200);
if(ret<0)
urg_exit(&urg, "urg_connect()");
else
urg_setCaptureTimes(&urg, UrgInfinityTimes);
// Stepper Setup
// Default 1214 Speed before Speed Input
CPhidgetStepper_create(&stepper);
stepperConnect(1000000, 1214, stepper);
// Zero Counter variables
counter = 0;
camCounter = 0;
lidarCounter = 0;
bothCounter = 0;
// Webcam Setup
capture1 = cvCaptureFromCAM( -1 ); //Sets up Camera Object
if (!capture1)
fprintf( stderr, "ERROR: capture is NULL \n" );
}
/*-----------激光初始化------------------
入口参数：
port:激光所用串口 0-6表示COM1-COM7
baudrate:串口通讯速率选择 0-2 表示 19200，57600，115200
出口参数：
urg_state:激光状态读取地址
return:激光数据最大量
-----------------------------------------*/
int Laser_Init(int port,int baudrate,urg_state_t *urg_state)
{
int i=0;
const char* com_port[7] ={ "COM1", "COM2", "COM3","COM4","COM5","COM6","COM7" };
const long com_baudrate[3] ={ 19200, 57600, 115200 };
int max_size=0,recv_n=0; //串口大小
// Connect with URG
int ret = urg_connect(urg_state, com_port[port], com_baudrate[baudrate]);
if (ret < 0) {
// Show error message and end
AfxMessageBox("连接激光失败");
urg_disconnect(); //断开连接
return 0;
}else{
max_size = urg_state->max_size;
urg_sendMessage("BM", Timeout, &recv_n); //开始接收激光数据
// SetTimer(1,100,NULL);
}
return max_size;
}
/*! main */
int main(int argc, char *argv[])
{
#ifdef WINDOWS_OS
const char device[] = "COM3"; /* For Windows */
#else
const char device[] = "/dev/ttyACM0"; /* For Linux */
#endif
long *data = NULL;
int data_max;
int min_length = 0;
int max_length = 0;
int ret;
int n;
int i;
/* Connection */
urg_t urg;
urg_initialize(&urg);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
/* Reserve for Reception data */
data_max = urg_dataMax(&urg);
data = (long*)malloc(sizeof(long) * data_max);
if (data == NULL) {
perror("data buffer");
exit(1);
}
/* Request for GD data */
ret = urg_requestData(&urg, URG_GD, URG_FIRST, URG_LAST);
if (ret < 0) {
urg_exit(&urg, "urg_requestData()");
}
/* Reception */
n = urg_receiveData(&urg, data, data_max);
if (n < 0) {
urg_exit(&urg, "urg_receiveData()");
}
/* Output as 2 dimensional data */
/* Consider front of URG as positive direction of X axis */
min_length = urg_minDistance(&urg);
max_length = urg_maxDistance(&urg);
for (i = 0; i < n; ++i) {
int x, y;
long length = data[i];
/* Neglect the out of range values */
if ((length <= min_length) || (length >= max_length)) {
continue;
}
x = (int)(length * cos(urg_index2rad(&urg, i)));
y = (int)(length * sin(urg_index2rad(&urg, i)));
printf("%d\t%d\t# %d, %ld\n", x, y, i, length);
}
urg_disconnect(&urg);
free(data);
#ifdef MSC
getchar();
#endif
return 0;
}
/*! main */
int main(int argc, char *argv[])
{
enum {
CaptureTimes = 10,
};
#ifdef WINDOWS_OS
const char device[] = "COM3"; /* For Windows */
#else
const char device[] = "/dev/ttyACM0"; /* For Linux */
#endif
int data_max;
long* data;
urg_parameter_t parameter;
int ret;
int n;
int i;
/* Connection */
urg_t urg;
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
/* Request for Data using GD */
data_max = urg_dataMax(&urg);
data = (long*)malloc(sizeof(long) * data_max);
if (data == NULL) {
perror("data buffer");
exit(1);
}
urg_parameters(&urg, ¶meter);
/* Request for Data using GD */
printf("GD capture\n");
for (i = 0; i < CaptureTimes; ++i) {
/* Request for data */
ret = urg_requestData(&urg, URG_GD, URG_FIRST, URG_LAST);
if (ret < 0) {
urg_exit(&urg, "urg_requestData()");
}
/* Reception */
n = urg_receiveData(&urg, data, data_max);
if (n < 0) {
urg_exit(&urg, "urg_receiveData()");
}
/* Display */
printData(&urg, ¶meter, data);
}
printf("\n");
/* Request for Data using MD */
printf("MD capture\n");
/* set data acquisition frequency equal to infinity, to get the data more
than 100 times */
/* urg_setCaptureTimes(&urg, UrgInfinityTimes); */
assert(CaptureTimes < 100);
urg_setCaptureTimes(&urg, CaptureTimes);
/* Request for data */
ret = urg_requestData(&urg, URG_MD, URG_FIRST, URG_LAST);
if (ret < 0) {
urg_exit(&urg, "urg_requestData()");
}
for (i = 0; i < CaptureTimes; ++i) {
/* Reception */
n = urg_receiveData(&urg, data, data_max);
if (n < 0) {
urg_exit(&urg, "urg_receiveData()");
}
/* Display */
printData(&urg, ¶meter, data);
}
urg_disconnect(&urg);
free(data);
#ifdef MSC
getchar();
#endif
return 0;
}
/*! main */
int main(int argc, char *argv[])
{
enum {
Times = 10,
Urgs = 2,
};
urg_t urg[Urgs];
long *data[Urgs];
int data_max[Urgs];
int timestamp;
int ret;
int n;
int i;
int k;
#ifdef WINDOWS_OS
const char *devices[] = { "COM3", "COM4" }; /* For Windows */
#else
const char *devices[] = { "/dev/ttyACM0", "/dev/ttyACM1" }; /* For Linux */
#endif
/* Connection */
for (i = 0; i < Urgs; ++i) {
urg_initialize(&urg[i]);
ret = urg_connect(&urg[i], devices[i], 115200);
if (ret < 0) {
urg_exit(&urg[i], "urg_connect()");
}
/* To clear existing MD command*/
urg_laserOff(&urg[i]);
/* It will become easy if some frames are skipped. */
/* If specified skip is 2, then transferred data becomes half. */
/* urg_setSkipLines(&urg[i], 2); */
/* Reserve for receive buffer */
data_max[i] = urg_dataMax(&urg[i]);
data[i] = (long*)malloc(sizeof(long) * data_max[i]);
if (data[i] == NULL) {
perror("data buffer");
exit(1);
}
}
/* Request for MD data */
for (i = 0; i < Urgs; ++i) {
urg_setCaptureTimes(&urg[i], Times);
/* Request for data */
ret = urg_requestData(&urg[i], URG_MD, URG_FIRST, URG_LAST);
if (ret < 0) {
urg_exit(&urg[i], "urg_requestData()");
}
}
for (k = 0; k < Times; ++k) {
for (i = 0; i < Urgs; ++i) {
/* Ends when data reception is completed */
int remain_times = urg_remainCaptureTimes(&urg[i]);
printf(" %d: ", i);
printf("(%03d/%03d): ", remain_times, Times);
if (remain_times <= 0) {
printf("\n");
continue;
}
/* Reception */
n = urg_receiveData(&urg[i], data[i], data_max[i]);
if (n < 0) {
/* Continue processing, because there is chances of receiving the
data next time. */
printf("%s: %s\n", "urg_receiveData()", urg_error(urg));
} else {
/* Display */
timestamp = urg_recentTimestamp(&urg[i]);
printf("timestamp: %d, ", timestamp);
#if 0
{
int j;
for (j = 0; j < n; ++j) {
/* Neglect if distance data is less than urg_minDistance() */
printf("%d:%ld, ", j, data[i][j]);
}
printf("\n");
}
#endif
printf("\n");
}
}
}
/* Disconnect */
for (i = 0; i < Urgs; ++i) {
urg_disconnect(&urg[i]);
free(data[i]);
}
#ifdef MSC
getchar();
#endif
return 0;
}
void Hokuyo::open(const char *deviceString, cvg_int bps) {
close();
if (urg_connect(&urg, deviceString, bps) < 0)
outError("Unable to connect to device");
started = true;
}
int main(int argc, char *argv[])
{
#ifdef WINDOWS_OS
const char device[] = "COM3"; /* For Windows */
#else
const char device[] = "/dev/ttyACM0"; /* For Linux */
#endif
int data_max;
long *data;
int timestamp;
int ret;
int n;
int i;
/* Connection */
urg_t urg;
urg_initialize(&urg);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
}
/* Reserve for reception data */
data_max = urg_dataMax(&urg);
data = (long*)malloc(sizeof(long) * data_max);
if (data == NULL) {
perror("malloc");
exit(1);
}
/* Request for GD data */
ret = urg_requestData(&urg, URG_GD, URG_FIRST, URG_LAST);
if (ret < 0) {
urg_exit(&urg, "urg_requestData()");
}
/* Reception */
n = urg_receiveData(&urg, data, data_max);
printf("# n = %d\n", n);
if (n < 0) {
urg_exit(&urg, "urg_receiveData()");
}
/* Display */
timestamp = urg_recentTimestamp(&urg);
printf("# timestamp: %d\n", timestamp);
for (i = 0; i < n; ++i) {
/*Neglect the distance less than urg_minDistance() */
printf("%d %ld, ", i, data[i]);
}
printf("\n");
urg_disconnect(&urg);
free(data);
#ifdef MSC
getchar();
#endif
return 0;
}
//! main
int main(int argc, char *argv[])
{
enum {
CaptureTimes = 10,
};
#ifdef WINDOWS_OS
const char device[] = "COM3"; /* For Windows */
#else
const char device[] = "/dev/ttyACM0"; /* For Linux */
#endif
int data_max;
long* data;
int timestamp = -1;
int previous_timestamp;
int remain_times;
//int scan_msec;
urg_parameter_t parameter;
int ret;
int n;
int i;
urg_t urg;
/* Connection */
urg_initialize(&urg);
ret = urg_connect(&urg, device, 115200);
if (ret < 0) {
urg_exit(&urg, "urg_connect()");
exit(1);
}
/* Reserve for receive buffer */
data_max = urg_dataMax(&urg);
data = (long*)malloc(sizeof(long) * data_max);
if (data == NULL) {
fprintf(stderr, "data_max: %d\n", data_max);
perror("data buffer");
exit(1);
}
urg_parameters(&urg, ¶meter);
//scan_msec = urg_scanMsec(&urg);
/* Request for MD data */
/* To get data continuously for more than 100 times, set capture times equal
to infinity times(UrgInfinityTimes) */
/* urg_setCaptureTimes(&urg, UrgInfinityTimes); */
assert(CaptureTimes < 100);
urg_setCaptureTimes(&urg, CaptureTimes);
/* Request for data */
ret = urg_requestData(&urg, URG_MD, URG_FIRST, URG_LAST);
if (ret < 0) {
urg_exit(&urg, "urg_requestData()");
}
for (i = 0; i < CaptureTimes; ++i) {
/* Reception */
n = urg_receiveData(&urg, data, data_max);
printf("n = %d\n", n);
if (n < 0) {
urg_exit(&urg, "urg_receiveData()");
} else if (n == 0) {
printf("n == 0\n");
--i;
continue;
}
/* Display the front data with timestamp */
/* Delay in reception of data at PC causes URG to discard the data which
cannot be transmitted. This may results in remain_times to become
discontinuous */
previous_timestamp = timestamp;
timestamp = urg_recentTimestamp(&urg);
remain_times = urg_remainCaptureTimes(&urg);
/* Neglect the distance data if it is less than urg_minDistance() */
printf("%d/%d: %ld [mm], %d [msec], (%d)\n",
remain_times, CaptureTimes, data[parameter.area_front_], timestamp,
timestamp - previous_timestamp);
printf("%d, %d\n", i, remain_times);
if (remain_times <= 0) {
break;
}
}
urg_disconnect(&urg);
free(data);
#ifdef MSC
getchar();
#endif
return 0;
}
