/*-----------------------------------------------------------*/
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;
}
/*! 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 {
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;
}
