URG control. More...

#include "urg_t.h"

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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
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.h 1723 2010-02-24 23:30:34Z satofumi

Todo:: Define examples for each functions

Enumeration Type Documentation

anonymous enum

Parameter for object.

Enumerator:

UrgLineWidth	Maximum length of a line.
UrgInfinityTimes	continuous data transmission

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.

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(Inclusing intensity data).
URG_MS	MS command.

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

urg_t urg;

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

...

urg_disconnect(&urg);

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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

// 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);

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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

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);

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int urg_deg2index	(	const 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

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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

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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

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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

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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

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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

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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

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void urg_initialize ( urg_t * urg )

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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

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

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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

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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

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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

...
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);
  }
}

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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

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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));

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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 (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

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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]`	Angle(radian)

Returns:: Index

See also:: index_convert.c

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int urg_reboot ( urg_t * urg )

reboot

Return values:

	0	Normal
	<0	Error

Attention:: Only Top-URG (2010-02-04)

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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()

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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 Classic-URG (currently 2008-12-24)

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

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

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
  // !!!
}

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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

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

// 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
    ...
  }
}

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int urg_reset ( urg_t * urg )

Deprecated:: use reboot() function.

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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

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

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

...

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

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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.

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

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

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urg_ctrl.h File Reference

Enumerations

Functions

Detailed Description

Enumeration Type Documentation

Function Documentation