libs/range_sensor/c/urg_ctrl.c File Reference

URG control. More...

#include "math_utils.h"
#include "urg_ctrl.h"
#include "scip_handler.h"
#include "urg_errno.h"
#include "serial_ctrl.h"
#include "serial_utils.h"
#include "serial_errno.h"
#include "urg_ticks.h"
#include "urg_delay.h"
#include <string.h>
#include <stdlib.h>
#include <stdio.h>

Include dependency graph for urg_ctrl.c:

Go to the source code of this file.

Enumerations
enum	{ ScipTimeout = 1000, EachTimeout = 100 * 2, InvalidRange = -1 }
Functions
void	urg_initialize (urg_t *urg)
int	urg_connect (urg_t *urg, const char *device, long baudrate)
	Connection.
void	urg_disconnect (urg_t *urg)
	Disconnection.
int	urg_isConnected (const urg_t *urg)
	Checks whether connected or not and returns the result.
const char *	urg_error (const 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.
const char *	urg_model (const urg_t *urg)
	URG Returns the sensor type.
int	urg_dataMax (const urg_t *urg)
	Returns the number of maximum data obtained in one scan.
int	urg_scanMsec (const urg_t *urg)
	Returns measurement time taken for one scan.
long	urg_maxDistance (const urg_t *urg)
	Maximum measurable distance.
long	urg_minDistance (const 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 (const urg_t *urg)
	Get number of remaining times on MD/MS capture.
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_receiveDataWithIntensity (urg_t *urg, long data[], int data_max, long intensity[])
	Get data with intensity.
int	urg_receivePartialData (urg_t *urg, long data[], int data_max, int first_index, int last_index)
	Get partial URG data.
long	urg_recentTimestamp (const urg_t *urg)
	Receive time stamp.
double	urg_index2rad (const urg_t *urg, int index)
	Change index value into angle (radian)
int	urg_index2deg (const urg_t *urg, int index)
	Change index into angle(degree)
int	urg_rad2index (const urg_t *urg, double radian)
	Angle(radian) is converted to index value.
int	urg_deg2index (const 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_reboot (urg_t *urg)
	reboot
int	urg_reset (urg_t *urg)
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.c 1950 2011-05-07 08:18:39Z satofumi

Definition in file urg_ctrl.c.

---

Enumeration Type Documentation

anonymous enum

Enumerator:

ScipTimeout	[msec]
EachTimeout	URG series timeout x 2 [msec]

Definition at line 28 of file urg_ctrl.c.

---

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

Example Example 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); 

Examples:

capture_sample.c, check_performance.c, convert_2d.c, evaluate_timestamp.c, gd_scan.c, get_parameters.c, get_timestamp.c, get_version_lines.c, index_convert.c, infinity_scan.c, intensity_sample.c, md_scan.c, multi_urg.c, and partial_scan.c.

Definition at line 138 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

Examples:

capture_sample.c, check_performance.c, convert_2d.c, evaluate_timestamp.c, gd_scan.c, get_parameters.c, get_timestamp.c, get_version_lines.c, index_convert.c, infinity_scan.c, intensity_sample.c, md_scan.c, multi_urg.c, and partial_scan.c.

Definition at line 178 of file urg_ctrl.c.

int urg_isConnected

(

const 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()

Example Example Example

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

Definition at line 189 of file urg_ctrl.c.

const char* urg_error

(

const 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

Examples:

capture_sample.c, check_performance.c, convert_2d.c, evaluate_timestamp.c, gd_scan.c, get_parameters.c, get_timestamp.c, get_version_lines.c, index_convert.c, infinity_scan.c, intensity_sample.c, md_scan.c, multi_urg.c, and partial_scan.c.

Definition at line 196 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

Examples:

get_version_lines.c.

Definition at line 202 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()

Execution example of get_parameters.c (URG-04LX) Execution example of get_parameters.c (URG-04LX) Execution example of get_parameters.c (URG-04LX)

% ./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 

Examples:

capture_sample.c, evaluate_timestamp.c, get_parameters.c, infinity_scan.c, intensity_sample.c, md_scan.c, and partial_scan.c.

Definition at line 212 of file urg_ctrl.c.

const char* urg_model

(

const urg_t *

urg

)

URG Returns the sensor type.

Parameters:

[in,out]

urg

Structure of URG control

Return values:

URG	sensor type

printf("URG type: %s\n", urg_model(&urg)); 

Examples:

intensity_sample.c.

Definition at line 228 of file urg_ctrl.c.

int urg_dataMax

(

const 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

Example Example 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);

Examples:

capture_sample.c, convert_2d.c, evaluate_timestamp.c, gd_scan.c, get_parameters.c, index_convert.c, infinity_scan.c, intensity_sample.c, md_scan.c, and multi_urg.c.

Definition at line 234 of file urg_ctrl.c.

int urg_scanMsec

(

const 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

Examples:

get_parameters.c.

Definition at line 240 of file urg_ctrl.c.

long urg_maxDistance

(

const 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

Example Example Example

...
n = urg_receiveData(&urg, data, data_max);

min_distance = urg_minDistance(&urg);
max_distance = urg_maxDistance(&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);
  }
}

Examples:

convert_2d.c, and get_parameters.c.

Definition at line 247 of file urg_ctrl.c.

long urg_minDistance

(

const 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

Examples:

convert_2d.c, and get_parameters.c.

Definition at line 253 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
<0	Error

Examples:

check_performance.c.

Definition at line 259 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.

Examples:

check_performance.c.

Definition at line 274 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

Example Example Example

// Data is supplied indefinitely
urg_setCaptureTimes(&urg, UrgInfinityTimes);

...

// Data acquistion is stopped if laser is switched off.
urg_laserOff(&urg);

Examples:

capture_sample.c, evaluate_timestamp.c, intensity_sample.c, md_scan.c, and multi_urg.c.

Definition at line 286 of file urg_ctrl.c.

int urg_remainCaptureTimes

(

const urg_t *

urg

)

Get number of remaining times on MD/MS capture.

Parameters:

[in,out]

urg

Structure of URG control

Return values:

remaining

times. (100 means infinity times)

See also:

md_scan.c

Examples:

md_scan.c, and multi_urg.c.

Definition at line 299 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]. Return all scan data when specified URG_FIRST, URG_LAST.

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

Example Example 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
    ...
  }
} 

Examples:

capture_sample.c, check_performance.c, convert_2d.c, evaluate_timestamp.c, gd_scan.c, infinity_scan.c, intensity_sample.c, md_scan.c, multi_urg.c, and partial_scan.c.

Definition at line 311 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()

Examples:

capture_sample.c, check_performance.c, convert_2d.c, evaluate_timestamp.c, gd_scan.c, infinity_scan.c, md_scan.c, and multi_urg.c.

Definition at line 644 of file urg_ctrl.c.

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

Get data with intensity.

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
[out]	intensity	Storage location of intensity of received data.

Attention:

Applicable only to URG-04LX (currently 2008-12-24)

Examples:

intensity_sample.c.

Definition at line 654 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

See also:

gd_scan.c, md_scan.c

Examples:

check_performance.c, and partial_scan.c.

Definition at line 677 of file urg_ctrl.c.

long urg_recentTimestamp

(

const urg_t *

urg

)

Receive time stamp.

Parameters:

[in,out]

urg

Structure of URG control

Return values:

Time	stamp [msec]

See also:

md_scan.c

Example Example 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
  // !!!
} 

Examples:

capture_sample.c, evaluate_timestamp.c, gd_scan.c, infinity_scan.c, intensity_sample.c, md_scan.c, and multi_urg.c.

Definition at line 684 of file urg_ctrl.c.

double urg_index2rad	(	const 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]

Example

// To operate urg_index2rad(), data from 0 to last_index is stored.
// The data of the step not measured becomes -1.
urg_requestData(&urg, URG_GD, first_index, last_index);
n = urg_receiveData(&urg, data, data_max);
for (i = 0; i < n; ++i) {
  long l = data[i];
  if (l > min_distance) {
    double rad = urg_index2rad(&urg, i);
    double x = data[i] * cos(rad);
    double y = data[i] * sin(rad);
    printf("%f, %f\n", x, y);
  }
} 

See also:

index_convert.c

Examples:

convert_2d.c, and index_convert.c.

Definition at line 691 of file urg_ctrl.c.

int urg_index2deg	(	const 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

Examples:

index_convert.c.

Definition at line 700 of file urg_ctrl.c.

int urg_rad2index	(	const 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]	radian	Angle(radian)

Returns:

Index

See also:

index_convert.c

Examples:

index_convert.c.

Definition at line 708 of file urg_ctrl.c.

int urg_deg2index	(	const urg_t *	urg,
		int	degree
	)

Angle(degree) is converted into index.

Parameters:

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

Returns:

Index value

See also:

index_convert.c

Examples:

check_performance.c, and index_convert.c.

Definition at line 723 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 729 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

Examples:

multi_urg.c.

Definition at line 746 of file urg_ctrl.c.

int urg_reboot

(

urg_t *

urg

)

reboot

Return values:

0	Normal
<0	Error

Attention:

Only Top-URG (2010-02-04)

Definition at line 752 of file urg_ctrl.c.

int urg_reset

(

urg_t *

urg

)

Deprecated:

use reboot() function.

Definition at line 785 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

Examples:

get_timestamp.c.

Definition at line 791 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

Examples:

get_timestamp.c.

Definition at line 803 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

Example Example 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)
}

// leave tiemstamp mode
urg_disableTimestampMode(&urg); 

Examples:

get_timestamp.c.

Definition at line 815 of file urg_ctrl.c.