SerialTest_eng.c File Reference

#include <stdio.h>
#include <stdlib.h>
#include <sys/termios.h>
#include <string.h>

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Functions
speed_t	bitrate (int aBR)
	: This is a demo program to obtain 10 scan data from URG-Series and save them into the file.
int	setupSerial (int aFd, int aSpeed)
FILE *	openSerial (char *aDevName, int aSpeed)
	Open and set up specified serial port.
int *	urgGetScan (FILE *aPort, int aStart, int aEnd, int aSkip)
	Obtain scanned data.
	main (int argc, char **argv)

---

Function Documentation

speed_t bitrate

(

int

aBR

)

: This is a demo program to obtain 10 scan data from URG-Series and save them into the file.

: This sample source is a referece for the user when creating his/her program and does not gurantee for users program : Hokuyo Automatic Co., Ltd does not bear responsibility for any loss or damage caused due to this demo program. : Mention the publisher's name when distributing this source or its part to the third party HOKUYO AUTOMATIC CO.,LTD.

Author:

Tomoaki Yoshida 2005/03/11 SPEED SETTINGS

Parameters:

aBR

[in] Declared for communication speed (9600-500000)

Returns:

cfset[i|o] Returned value for speed function Returns B0 if failed

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main	(	int	argc,
		char **	argv
	)

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FILE* openSerial	(	char *	aDevName,
		int	aSpeed
	)

Open and set up specified serial port.

Parameters:

	aDevNme	[in] Serial port device file name
	aSpeed	[in] Communication speed(bps)

Returns:

Serial port file handle Returns NULL when failed to open.

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int setupSerial	(	int	aFd,
		int	aSpeed
	)

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int* urgGetScan	(	FILE *	aPort,
		int	aStart,
		int	aEnd,
		int	aSkip
	)

Obtain scanned data.

Parameters:

	aPort	[in] Serial port file handle where URG is connected
	aStart	[in] Starting scan step from (0-768)
	aEnd	[in] Ending scan step at (0-768)
	aSkip	[in] Number of steps to be merged when multiple points are combined(1-99)

Returns:

Obtained distance data memory pointer is malloc. Should be freed after use. Returns NULL when failed

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