int main(int argc, char **argv) {
urg_t connection;
urg_connection_type_t type = URG_ETHERNET;
char *device = "192.168.0.10";
int direction_count, max_data_size, i;
long timestamp;
long *data;
// open connection
if (urg_open(&connection, type, device, 10940) < 0)
return 1;
max_data_size = urg_max_data_size(&connection);
data = malloc(sizeof(long)*max_data_size);
// start measurement
// (connection, type, scan times (0 is keep going), skip)
urg_start_measurement(&connection, type, 0, 0);
while (1) {
direction_count = urg_get_distance(&connection, data, ×tamp);
for (i = 0; i < max_data_size; i++) {
printf("%i ", data[i]);
}
printf("\nmax_data_size: %i\n", max_data_size);
sleep(1);
}
return 0;
}
int main(int argc, char *argv[])
{
urg_t urg;
long *data;
long max_distance;
long min_distance;
long time_stamp;
int i;
int n;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// \~japanese データ取得
urg_start_measurement(&urg, URG_DISTANCE, 1, 0);
n = urg_get_distance(&urg, data, &time_stamp);
if (n < 0) {
printf("urg_get_distance: %s\n", urg_error(&urg));
urg_close(&urg);
return 1;
}
// \~japanese X-Y 座標系の値を出力
urg_distance_min_max(&urg, &min_distance, &max_distance);
for (i = 0; i < n; ++i) {
long distance = data[i];
double radian;
long x;
long y;
if ((distance < min_distance) || (distance > max_distance)) {
continue;
}
radian = urg_index2rad(&urg, i);
x = (long)(distance * cos(radian));
y = (long)(distance * sin(radian));
printf("%ld, %ld\n", x, y);
}
printf("\n");
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int lidar_init() {
if (urg_open(&lidar, URG_SERIAL, dev, baud) < 0) {
printf("ERROR: unable to open LIDAR\n");
return -1;
}
length_data = (long*) malloc(sizeof(long) * urg_max_data_size(&lidar));
lidar_open = 1;
return 0;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 0,
};
urg_t urg;
long *data = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// \~japanese データ取得
#if 0
// \~japanese データの取得範囲を変更する場合
urg_set_scanning_parameter(&urg,
urg_deg2step(&urg, -90),
urg_deg2step(&urg, +90), 0);
#endif
int k;
for (k = 0; k < 3; k++) {
urg_start_measurement(&urg, URG_DISTANCE, CAPTURE_TIMES, 0);
for (i = 0; i < 25; ++i) {
n = urg_get_distance(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_get_distance: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
urg_stop_measurement(&urg);
sleep(10);
}
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 10,
};
urg_t urg;
int max_data_size;
long *data = NULL;
unsigned short *intensity = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
max_data_size = urg_max_data_size(&urg);
data = (long *)malloc(max_data_size * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
intensity = malloc(max_data_size * sizeof(intensity[0]));
if (!intensity) {
perror("urg_max_index()");
return 1;
}
// データ取得
urg_start_measurement(&urg, URG_DISTANCE_INTENSITY, URG_SCAN_INFINITY, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_distance_intensity(&urg, data, intensity, &time_stamp);
if (n <= 0) {
printf("urg_get_distance_intensity: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, intensity, n, time_stamp);
}
// 切断
free(intensity);
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[]){
enum {
CAPTURE_TIMES = 1, //modificat_numarul_de_afisari_ale_citirii
};
urg_t urg;
long *data = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0]));
if (!data) {
perror("1urg_max_index()");
return 1;
}
// \~japanese データ取得
#if 0
// \~japanese データの取得範囲を変更する場合
urg_set_scanning_parameter(&urg,
urg_deg2step(&urg, -90),
urg_deg2step(&urg, +90), 0);
#endif
urg_start_measurement(&urg, URG_DISTANCE, URG_SCAN_INFINITY, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_distance(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_get_distance: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 10,
};
urg_t urg;
long *data = NULL;
long time_stamp;
int n;
int i;
if (open_urg_sensor(&urg, argc, argv) < 0) {
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * 3 * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// データ取得
urg_start_measurement(&urg, URG_MULTIECHO, URG_SCAN_INFINITY, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_multiecho(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_get_multiecho: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
// 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 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;
}
int get_points_2d(struct urg_params urg, struct coord *points){
int data_max, n, i;
long *data;
data_max = urg_max_data_size(urg.ptr);//aquisition du nombre de points
data = (long*)malloc(sizeof(long) * data_max);
if(data == NULL){
fprintf(stderr, "data malloc error\n");
exit(1);
}
if(points == NULL){
fprintf(stderr, "get_points_2d : points non alloué\n");
exit(1);
}
n = urg_get_distance(urg.ptr, data, NULL);
// CONVERSION EN COORDONNEES
for(i=0; i<n; i++){
/*
double rad = urg_index2rad(urg.ptr, i);
points[i].x = data[i]*cos(rad) - urg.x; //x
points[i].y = data[i]*sin(rad) - urg.y; //y
*/
points[i].x = data[i]*get_val(cosinus, i, urg.ptr) + urg.x; //x
points[i].y = data[i]*get_val(sinus, i, urg.ptr) + urg.y; //y
if(urg.side == GREEN_SIDE){//si blue side, symétrie centrale
points[i].x = LX - points[i].x;
points[i].y = LY - points[i].y;
}
}
free(data);//free raw datas
return n;
}
int main(int argc, char *argv[])
{
enum {
CAPTURE_TIMES = 1,
};
urg_t urg;
urg_connection_type_t connection_type = URG_SERIAL;
long *data = NULL;
long time_stamp;
int n;
int i;
#if defined(URG_WINDOWS_OS)
const char *device = "COM3";
#elif defined(URG_LINUX_OS)
const char *device = "/dev/ttyACM0";
#else
#endif
long baudrate_or_port = 115200;
const char *ip_address = "192.168.0.10";
// 接続タイプの切替え
for (i = 1; i < argc; ++i) {
if (!strcmp(argv[i], "-e")) {
connection_type = URG_ETHERNET;
baudrate_or_port = 10940;
device = ip_address;
}
}
for (i = 1; i < argc; ++i) {
if (!strcmp(argv[i], "-e")) {
connection_type = URG_ETHERNET;
}
}
// \~japanese 接続
if (urg_open(&urg, connection_type, device, baudrate_or_port) < 0) {
printf("urg_open: %s\n", urg_error(&urg));
return 1;
}
data = (long *)malloc(urg_max_data_size(&urg) * 3 * sizeof(data[0]));
if (!data) {
perror("urg_max_index()");
return 1;
}
// \~japanese データ取得
urg_start_measurement(&urg, URG_MULTIECHO, CAPTURE_TIMES, 0);
for (i = 0; i < CAPTURE_TIMES; ++i) {
n = urg_get_distance(&urg, data, &time_stamp);
if (n <= 0) {
printf("urg_distance: %s\n", urg_error(&urg));
free(data);
urg_close(&urg);
return 1;
}
print_data(&urg, data, n, time_stamp);
}
// \~japanese 切断
free(data);
urg_close(&urg);
#if defined(URG_MSC)
getchar();
#endif
return 0;
}
