int init(urg_t *urg){
int error;
int i;
char *device = "/dev/ttyACM0";
//SERIAL PORT DETECTION
fprintf(stderr, "List of serial ports :\n");
int found_port_size = urg_serial_find_port();
if (found_port_size == 0) {
fprintf(stderr, "could not found serial ports.\n");
exit(EXIT_FAILURE);
}
for (i = 0; i < found_port_size; ++i) {
fprintf(stderr, "%s", (char *)urg_serial_port_name(i));
device = (char *)urg_serial_port_name(i);
}
fprintf(stderr, "\n");
fprintf(stderr, "Connection à %s\n", device);
error = urg_open(urg, URG_SERIAL, device, BAUDRATE);
if(error < 0){
error_func(urg, "connection failed");
}
else{
fprintf(stderr, "Connection établie à %s\n", device);
urg_set_scanning_parameter(urg, urg_rad2step(urg, ANGLE_MIN), urg_rad2step(urg, ANGLE_MAX), 0);//scan en continu, on ne garde que les point entre -PI/2 et PI/2
fprintf(stderr, "Parameters set\n");
error = urg_start_measurement(urg, URG_DISTANCE, URG_SCAN_INFINITY, 0);
if(error < 0){
error_func(urg, "failed to start measurement");
}
}
get_val(calc, 0, urg);//calcule les tables de cos/sin à l'avance
return error;
}
int main(void)
{
int found_port_size = urg_serial_find_port();
int i;
if (found_port_size == 0) {
printf("could not found ports.\n");
return 1;
}
for (i = 0; i < found_port_size; ++i) {
printf("%s", urg_serial_port_name(i));
if (urg_serial_is_urg_port(i)) {
printf(" [URG]");
}
printf("\n");
}
return 0;
}
