libs/range_sensor/c/scip_handler.h File Reference

Process SKIP commands. More...

#include "urg_parameter_t.h"
#include "serial_t.h"

Include dependency graph for scip_handler.h:

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Enumerations
enum	{ ScipNoWaitReply = 0, ScipWaitReply = 1, ScipLineWidth = 64 + 1 + 1 }
Functions
int	scip_send (serial_t *serial, const char *send_command)
	Send command.
int	scip_recv (serial_t *serial, const char *command_first, int *return_code, int expected_ret[], int timeout)
	Receive command response.
int	scip_scip20 (serial_t *serial)
	Transit to SCIP2.0 mode.
int	scip_qt (serial_t *serial, int *return_code, int wait_reply)
	Stop measurement and turn off the laser.
int	scip_pp (serial_t *serial, urg_parameter_t *parameters)
	Get Parameter information.
int	scip_vv (serial_t *serial, char *lines[], int lines_max)
	Get version information.
int	scip_ss (serial_t *serial, long baudrate)
	Change baudrate.

---

Detailed Description

Process SKIP commands.

Author:

Satofumi KAMIMURA

Id:

scip_handler.h 1948 2011-04-19 09:59:29Z satofumi

Definition in file scip_handler.h.

---

Enumeration Type Documentation

anonymous enum

Enumerator:

ScipNoWaitReply	Dont wait for reply
ScipWaitReply	Wait for reply
ScipLineWidth	Maximum length of one line

Definition at line 17 of file scip_handler.h.

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Function Documentation

int scip_send	(	serial_t *	serial,
		const char *	send_command
	)

Send command.

Parameters:

[out]	serial	Structure of serial control
[in]	send_command	Command to be sent

Return values:

0	Normal
<	0 Error

Definition at line 39 of file scip_handler.c.

int scip_recv	(	serial_t *	serial,
		const char *	command_first,
		int *	return_code,
		int	expected_ret[],
		int	timeout
	)

Receive command response.

Store the response of the command if "ret" value is zero.

When the command response is included in expected_ret, the return value of this function becomes 0 (normality).

Parameters:

[out]	serial	Structure of serial control
[in]	command_first	first command
[out]	return_code	Return value
[in]	expected_ret	Return value considered to be normal
[in]	timeout	Time out [msec]

Return values:

0	Normal
<	0 Error

Receive command response.

Todo:

Test the checksum

Definition at line 51 of file scip_handler.c.

int scip_scip20

(

serial_t *

serial

)

Transit to SCIP2.0 mode.

Return 0(Normal) when changed to SCIP2.0 mode

Parameters:

[in,out]

serial

Structure of serial control

Return values:

0	Normal
<	0 Error

Definition at line 100 of file scip_handler.c.

int scip_qt	(	serial_t *	serial,
		int *	return_code,
		int	wait_reply
	)

Stop measurement and turn off the laser.

If the purpose is to stop MD, then send QT command without waiting for the response from MD command. Process the response of QT in urg_receiveData()

Parameters:

[in,out]	serial	Structure of serial control
[in]	return_code	Response from QT command
[in]	wait_reply	ScipNoWaitReply when response is not waited. ScipWaitReply when response is waited.

Return values:

0	Normal
<	0 Error

Definition at line 115 of file scip_handler.c.

int scip_pp	(	serial_t *	serial,
		urg_parameter_t *	parameters
	)

Get Parameter information.

Parameters:

[in,out]	serial	Structure of serial control
[out]	parameters	urg_parameter_t Structure member

Return values:

0	Normal
<	0 Error

Definition at line 140 of file scip_handler.c.

int scip_vv	(	serial_t *	serial,
		char *	lines[],
		int	lines_max
	)

Get version information.

Parameters:

[in,out]	serial	Structure of serial control
[out]	lines	Storage location of characters containing version information.
[in]	lines_max	Maximum number of character string

Return values:

0	Normal
<	0 Error

Definition at line 202 of file scip_handler.c.

int scip_ss	(	serial_t *	serial,
		long	baudrate
	)

Change baudrate.

Parameters:

[in,out]	serial	Structure of serial control
[in]	baudrate	Baudrate

Return values:

0	Normal
<	0 Error

Definition at line 241 of file scip_handler.c.