void urg_disconnect(urg_t *urg)
{
/* To stop MD/MS command */
urg_laserOff(urg);
serial_skip(&urg->serial_, ScipTimeout, EachTimeout);
/* Disconnect serial connection */
serial_disconnect(&urg->serial_);
}
/* Open serial device and initialize URG */
int urg_connect(urg_t *urg, const char *device, long baudrate)
{
int ret;
urg_t_initialize(urg);
/* Open serial communication */
ret = serial_connect(&urg->serial_, device, baudrate);
if (ret != 0) {
urg->errno_ = UrgSerialConnectionFail;
return ret;
}
// change timestamp resolution in Windows OS
urg_delay(0);
/* URG connection */
ret = urg_firstConnection(urg, baudrate);
if (ret < 0) {
urg->errno_ = ret;
serial_disconnect(&urg->serial_);
return ret;
}
/* Update parameter information, nothing but an initialization */
ret = scip_pp(&urg->serial_, &urg->parameters_);
if (ret < 0) {
urg->errno_ = ret;
serial_disconnect(&urg->serial_);
return ret;
}
urg->skip_lines_ = 1;
urg->skip_frames_ = 0;
urg->capture_times_ = 0;
urg->is_laser_on_ = UrgLaserUnknown;
urg->remain_times_ = 0;
urg->errno_ = UrgNoError;
return 0;
}
void OptionsDialog::on_miner_disconnectButton_clicked()
{
serial_disconnect();
ui->miner_info_output->append( "Disconnected from Miner" );
}