URG control. More...

#include "urg_t.h"

Enumerations
enum	{ UrgLineWidth = 64 + 1 + 1, UrgInfinityTimes = 0 }
	Parameter for object. More...

enum	urg_request_type { URG_GD, URG_GD_INTENSITY, URG_GS, URG_MD, URG_MD_INTENSITY, URG_MS }
	Command type of URG. More...

enum	{ URG_FIRST = -1, URG_LAST = -1, UrgInvalidTimestamp = -1 }
	To omit URG data range specification. More...

Functions
int	urg_connect (urg_t urg, const char device, long baudrate)
	Connection.

void	urg_disconnect (urg_t *urg)
	Disconnection.

int	urg_isConnected (urg_t *urg)
	Checks whether connected or not and returns the result.

const char *	urg_error (urg_t *urg)
	Get error message.

int	urg_versionLines (urg_t urg, char lines[], int lines_max)
	Get string containing version information.

int	urg_parameters (urg_t urg, urg_parameter_t parameters)
	URG Returns parameter.

int	urg_dataMax (urg_t *urg)
	Returns the number of maximum data obtained in one scan.

int	urg_scanMsec (urg_t *urg)
	Returns measurement time taken for one scan.

long	urg_maxDistance (urg_t *urg)
	Maximum measurable distance.

long	urg_minDistance (urg_t *urg)
	Minimum measureable distance.

int	urg_setSkipLines (urg_t *urg, int lines)
	Sets the number of lines to be skiped.

int	urg_setSkipFrames (urg_t *urg, int frames)
	Sets number of scans to be skipped.

int	urg_setCaptureTimes (urg_t *urg, int times)
	Sets number of times the data to be acquired .

int	urg_remainCaptureTimes (urg_t *urg)
	MD/MS データ取得における残りスキャン数を取得

int	urg_requestData (urg_t *urg, urg_request_type request_type, int first_index, int last_index)
	Request for distance data.

int	urg_receiveData (urg_t *urg, long data[], int data_max)
	Receive URG data.

int	urg_receivePartialData (urg_t *urg, long data[], int data_max, int first_index, int last_index)
	Get partial URG data.

long	urg_recentTimestamp (urg_t *urg)
	Receive time stamp.

double	urg_index2rad (urg_t *urg, int index)
	Change index value into angle (radian)

int	urg_index2deg (urg_t *urg, int index)
	Change index into angle(degree)

int	urg_rad2index (urg_t *urg, double radian)
	Angle(radian) is converted to index value.

int	urg_deg2index (urg_t *urg, int degree)
	Angle(degree) is converted into index.

int	urg_laserOn (urg_t *urg)
	Directs laser to switch on.

int	urg_laserOff (urg_t *urg)
	Directs laser to switch off.

int	urg_enableTimestampMode (urg_t *urg)
	Enters into time stamp mode.

int	urg_disableTimestampMode (urg_t *urg)
	Comes out of time stamp mode.

long	urg_currentTimestamp (urg_t *urg)
	Get time stamp.

Detailed Description

URG control.

Author: Satofumi KAMIMURA

Id:: urg_ctrl.h 534 2009-02-01 15:48:15Z satofumi

Todo:: Define examples for each functions

Definition in file urg_ctrl.h.

Enumeration Type Documentation

anonymous enum

Parameter for object.

Enumerator
UrgLineWidth	Maximum length of a line
UrgInfinityTimes	continuous data transmission

Definition at line 23 of file urg_ctrl.h.

enum urg_request_type

Command type of URG.

Enumerator
URG_GD	GD command
URG_GD_INTENSITY	GD command(Inclusing intensity data)
URG_GS	GS command
URG_MD	MD command
URG_MD_INTENSITY	MD command(Including intensity data)
URG_MS	MS command

Definition at line 32 of file urg_ctrl.h.

anonymous enum

To omit URG data range specification.

Enumerator
URG_FIRST	starting position when complete data is to be acquired
URG_LAST	end position when complete data is to be acquired
UrgInvalidTimestamp	Error value of timestamp

Definition at line 45 of file urg_ctrl.h.

Function Documentation

int urg_connect	(	urg_t *	urg,
		const char *	device,
		long	baudrate
	)

Connection.

Parameters

[in,out]	urg	Structure of URG control
[in]	device	Connection device
[in]	baudrate	Baudrate

Return values

0	Normal
<0	Error

See Also: gd_scan.c, md_scan.c

Usage example

urg_t urg;
// Coonnection
if (urg_connect(&urg, "COM3", 115200) < 0) {
  printf("urg_connect: %s\n", urg_error(&urg));
  return -1;
}
...
urg_disconnect(&urg); 

Definition at line 120 of file urg_ctrl.c.

void urg_disconnect ( urg_t * urg )

Disconnection.

Parameters

[in,out] urg Structure of URG control

See Also: urg_connect(); gd_scan.c, md_scan.c

Definition at line 158 of file urg_ctrl.c.

int urg_isConnected ( urg_t * urg )

Checks whether connected or not and returns the result.

Parameters

[in,out] urg Structure of URG control

Return values

0	if connected
<0	if disconnected

See Also: urg_connect(), urg_disconnect()

Usage example

if (urg_isConnected(&urg) < 0) {
  printf("not connected.\n");
} else {
  printf("connected.\n");
} 

Definition at line 169 of file urg_ctrl.c.

const char* urg_error ( urg_t * urg )

Get error message.

Parameters

[in,out] urg Structure of URG control

Returns: Error message

See Also: urg_connect(); gd_scan.c, md_scan.c

Definition at line 176 of file urg_ctrl.c.

int urg_versionLines	(	urg_t *	urg,
		char *	lines[],
		int	lines_max
	)

Get string containing version information.

Parameters

[in,out]	urg	Structure of URG control
[out]	lines	Buffer having version information
[in]	lines_max	Maximum lines in buffer

Return values

0	Normal
<0	Error

Attention: The length of a line in the buffer should be equal to more than # UrgLineWidth[byte].

See Also: get_version_lines.c

Definition at line 182 of file urg_ctrl.c.

int urg_parameters	(	urg_t *	urg,
		urg_parameter_t *	parameters
	)

URG Returns parameter.

Parameters

[in,out]	urg	Structure of URG control
[out]	parameters	Structure of URG parameter

Return values

0	Normal
<0	Error

See Also: urg_maxDistance(), urg_minDistance(), urg_scanMsec(), urg_dataMax(); get_parameters.c

Execution example of get_parameters.c (Classic-URG)

% ./get_parameters
urg_getParameters: No Error.
distance_min: 20
distance_max: 5600
area_total: 1024
area_min: 44
area_max: 725
area_front: 384
scan_rpm: 600

urg_getDistanceMax(): 5600
urg_getDistanceMin(): 20
urg_getScanMsec(): 100
urg_getDataMax(): 726

Definition at line 189 of file urg_ctrl.c.

int urg_dataMax ( urg_t * urg )

Returns the number of maximum data obtained in one scan.

Parameters

[in,out] urg Structure of URG control

Return values

>=0	number of maximum data obtained in one scan
<0	Error

See Also: gd_scan.c

Usage example

enum { BufferSize = 2048 };
long data[BufferSize];
...
// Checks whether number of maximum data obtained by URG sensor does not exceeds receive buffer
// (This is not necessary if size of buffer is dynamically allocated.)
int data_max = urg_dataMax(&urg);
ASSERT(BufferSize >= data_max);

Definition at line 207 of file urg_ctrl.c.

int urg_scanMsec ( urg_t * urg )

Returns measurement time taken for one scan.

Returns measurement time when motor speed is 100% as specified.

Parameters

[in,out] urg Structure of URG control

Return values

>=0	measurement time taken for one scan [msec]
<0	Error

See Also: urg_setMotorSpeed(); md_scan.c

Definition at line 213 of file urg_ctrl.c.

long urg_maxDistance ( urg_t * urg )

Maximum measurable distance.

Parameters

[in,out] urg Structure of URG control

Return values

>=0	Maximum measurable distance [mm]
<0	Error

See Also: expand_2d.c

Usage example

...
n = urg_receiveData(&urg, data, data_max);
min_distance = urg_minDistance(&urg);
max_distance = urg_minDistance(&urg);
// Output only valid data
for (i = 0; i < n; ++i) {
  long length = data[i];
  if ((length > min_distance) && (length < max_distance)) {
    printf("%d:%d\n", i, length);
  }
}

Definition at line 220 of file urg_ctrl.c.

long urg_minDistance ( urg_t * urg )

Minimum measureable distance.

Parameters

[in,out] urg Structure of URG control

Return values

>=0	Minimum measurable distance [mm]
<0	Error

See Also: expand_2d.c

Definition at line 226 of file urg_ctrl.c.

int urg_setSkipLines	(	urg_t *	urg,
		int	lines
	)

Sets the number of lines to be skiped.

The volume of acquire data can be reduced by skipping the lines .

Parameters

[in,out]	urg	Structure of URG control
[in]	lines	Number of lines to be skiped.

Return values

0	Normal
<	Error

Definition at line 232 of file urg_ctrl.c.

int urg_setSkipFrames	(	urg_t *	urg,
		int	frames
	)

Sets number of scans to be skipped.

Parameters

[in,out]	urg	Structure of URG control
[in]	frames	Number of skipped frames.

Return values

0	Normal
<0	Error

Attention: Valid only with MD/MS command.

Definition at line 246 of file urg_ctrl.c.

int urg_setCaptureTimes	(	urg_t *	urg,
		int	times
	)

Sets number of times the data to be acquired .

Parameters

[in,out]	urg	Structure of URG control
[in]	times	Number of scan data

Return values

0	Normal
<0	Error

Attention: Valid only with MD/MS command; Specify UrgInfinityTimes to acquire data more than 100 times

Usage example

// Data is supplied indefinitely
urg_setCaptureTimes(&urg, UrgInfinityTimes);
...
// Data acquistion is stopped if laser is switched off.
urg_laserOff(&urg);

Definition at line 255 of file urg_ctrl.c.

int urg_remainCaptureTimes ( urg_t * urg )

MD/MS データ取得における残りスキャン数を取得

Parameters

[in,out] urg Structure of URG control

Return values

残りスキャン数。ただし、無限回のデータ取得のときは 100 を返す

See Also: md_scan.c

Definition at line 268 of file urg_ctrl.c.

int urg_requestData	(	urg_t *	urg,
		urg_request_type	request_type,
		int	first_index,
		int	last_index
	)

Request for distance data.

Request for distance data of [first_index, last_index].first_index, last_index にそれぞれ URG_FIRST, URG_LAST を指定することで、全範囲のデータ取得を行わせることができる。

Parameters

[in,out]	urg	Structure of URG control
[in]	request_type	Received data type.
[in]	first_index	Index of the first data stored
[in]	last_index	Index of the last received data stored.

Return values

0	Normal
<0	Error

See Also: urg_receiveData(); gd_scan.c, md_scan.c

Usage example

// Get one scan data from GD command
urg_requestData(&urg, URG_GD, URG_FIRST, URG_LAST);
n = urg_receiveData(&urg, data, data_max);
// Get data continuously from MD scan
urg_requestData(&urg, URG_MD, URG_FIRST, URG_LAST);
while (1) {
  n = urg_receiveData(&urg, data, data_max);
  if (n > 0) {
    // Display data etc
    ...
  }
}

Definition at line 280 of file urg_ctrl.c.

int urg_receiveData	(	urg_t *	urg,
		long	data[],
		int	data_max
	)

Receive URG data.

Parameters

[in,out]	urg	Structure of URG control
[out]	data	Storage location of received data
[in]	data_max	Maximum number of data that can be received

Return values

0	> Number of data received
<0	Error

See Also: urg_requestData()

Definition at line 577 of file urg_ctrl.c.

int urg_receivePartialData	(	urg_t *	urg,
		long	data[],
		int	data_max,
		int	first_index,
		int	last_index
	)

Get partial URG data.

Parameters

[in,out]	urg	Structure of URG control
[out]	data	Storage location of received data
[in]	data_max	Maximum number of data that can be received
[in]	first_index	Index of the first data stored.
[in]	last_index	Index of the last data stored

Return values

0	> Number of data received
<0	Error

Attention: 未実装

See Also: gd_scan.c, md_scan.c

Definition at line 607 of file urg_ctrl.c.

long urg_recentTimestamp ( urg_t * urg )

Receive time stamp.

Parameters

[in,out] urg Structure of URG control

Return values

Time	stamp [msec]

See Also: md_scan.c

Usage example

urg_requestData(&urg, URG_GD, URG_FIRST, URG_LAST);
n = urg_receiveData(&urg, data, data_max);
if (n > 0) {
  long timestamp = urg_recentTimestamp(&urg);
  printf("timestamp: %d\n", timestamp);
  // Display data etc
  // !!!
}

Definition at line 614 of file urg_ctrl.c.

double urg_index2rad	(	urg_t *	urg,
		int	index
	)

Change index value into angle (radian)

Front of the sensor is a positive in X axis

Parameters

[in,out]	urg	Structure of URG control
[in]	index	Index value

Returns: angle[radian]

See Also: index_convert.c

Definition at line 621 of file urg_ctrl.c.

int urg_index2deg	(	urg_t *	urg,
		int	index
	)

Change index into angle(degree)

Parameters

[in,out]	urg	Structure of URG control
[in]	index	Index value

Returns: Angle [degree]

See Also: index_convert.c

Definition at line 630 of file urg_ctrl.c.

int urg_rad2index	(	urg_t *	urg,
		double	radian
	)

Angle(radian) is converted to index value.

Front of the sensor is a positive in X axis

Parameters

[in,out]	urg	Structure of URG control
[in]	Angle(radian)

Returns: Index

See Also: index_convert.c

Definition at line 638 of file urg_ctrl.c.

int urg_deg2index	(	urg_t *	urg,
		int	degree
	)

Angle(degree) is converted into index.

Parameters

[in,out]	urg	Structure of URG control
[in]	Angle(degre)

Returns: Index value

See Also: index_convert.c

Definition at line 653 of file urg_ctrl.c.

int urg_laserOn ( urg_t * urg )

Directs laser to switch on.

Parameters

[in,out] urg Structure of URG control

Return values

0	Normal
<0	Error

See Also: gd_scan.c

Definition at line 659 of file urg_ctrl.c.

int urg_laserOff ( urg_t * urg )

Directs laser to switch off.

Parameters

[in,out] urg Structure of URG control

Return values

0	Normal
<0	Error

Definition at line 676 of file urg_ctrl.c.

int urg_enableTimestampMode ( urg_t * urg )

Enters into time stamp mode.

Parameters

[in,out] urg Structure of URG control

Return values

0	Normal
<0	Error

Definition at line 683 of file urg_ctrl.c.

int urg_disableTimestampMode ( urg_t * urg )

Comes out of time stamp mode.

Parameters

[in,out] urg Structure of URG control

Return values

0	Normal
<0	Error

Definition at line 696 of file urg_ctrl.c.

long urg_currentTimestamp ( urg_t * urg )

Get time stamp.

Returns TM1 response.

Parameters

[in,out] urg Structure of URG control

Return values

>=0	Timestamp [msec]
<0	Error

Usage example

// Enters into time stamp
urg_enableTimestampMode(&urg);
// Get URG time stamp continuously.
for (i = 0; i < 5; ++i) {
  long timestamp = urg_currentTimestamp(&urg);
  printf("timestamp: %ld\n", timestamp)
}
// タイムスタンプモードから抜ける
urg_disableTimestampMode(&urg);

Definition at line 709 of file urg_ctrl.c.

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation