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Merge pull request #14 from j-fujimoto/master
reboot, is_open, get_sensor_time_stampの修正
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,112 @@ | ||
| /*! | ||
| \~japanese | ||
| \example get_distance.c 距離データを取得する | ||
| \~english | ||
| \example get_distance.c Obtains distance data | ||
| \~ | ||
| \author Satofumi KAMIMURA | ||
| $Id$ | ||
| */ | ||
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| #include "urg_sensor.h" | ||
| #include "urg_utils.h" | ||
| #include "open_urg_sensor.h" | ||
| #include <stdlib.h> | ||
| #include <stdio.h> | ||
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| static void print_data(urg_t *urg, long data[], int data_n, long time_stamp) | ||
| { | ||
| #if 1 | ||
| int front_index; | ||
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| (void)data_n; | ||
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| // \~japanese 前方のデータのみを表示 | ||
| // \~english Shows only the front step | ||
| front_index = urg_step2index(urg, 0); | ||
| printf("%ld [mm], (%ld [msec])\n", data[front_index], time_stamp); | ||
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| #else | ||
| (void)time_stamp; | ||
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| int i; | ||
| long min_distance; | ||
| long max_distance; | ||
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| // \~japanese 全てのデータの X-Y の位置を表示 | ||
| // \~english Prints the X-Y coordinates for all the measurement points | ||
| urg_distance_min_max(urg, &min_distance, &max_distance); | ||
| for (i = 0; i < data_n; ++i) { | ||
| long l = data[i]; | ||
| double radian; | ||
| long x; | ||
| long y; | ||
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| if ((l <= min_distance) || (l >= max_distance)) { | ||
| continue; | ||
| } | ||
| radian = urg_index2rad(urg, i); | ||
| x = (long)(l * cos(radian)); | ||
| y = (long)(l * sin(radian)); | ||
| printf("(%ld, %ld), ", x, y); | ||
| } | ||
| printf("\n"); | ||
| #endif | ||
| } | ||
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| int main(int argc, char *argv[]) | ||
| { | ||
| enum { | ||
| CAPTURE_TIMES = 10, | ||
| }; | ||
| urg_t urg; | ||
| long *data = NULL; | ||
| long time_stamp; | ||
| int n; | ||
| int i; | ||
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| if (open_urg_sensor(&urg, argc, argv) < 0) { | ||
| return 1; | ||
| } | ||
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| data = (long *)malloc(urg_max_data_size(&urg) * sizeof(data[0])); | ||
| if (!data) { | ||
| perror("urg_max_index()"); | ||
| return 1; | ||
| } | ||
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| // \~japanese データ取得 | ||
| // \~english Gets measurement data | ||
| #if 0 | ||
| // \~japanese データの取得範囲を変更する場合 | ||
| // \~english Case where the measurement range (start/end steps) is defined | ||
| urg_set_scanning_parameter(&urg, | ||
| urg_deg2step(&urg, -90), | ||
| urg_deg2step(&urg, +90), 0); | ||
| #endif | ||
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| for (i = 0; i < CAPTURE_TIMES; ++i) { | ||
| urg_start_measurement(&urg, URG_DISTANCE, 1, 0); | ||
| n = urg_get_distance(&urg, data, &time_stamp); | ||
| if (n <= 0) { | ||
| printf("urg_get_distance: %s\n", urg_error(&urg)); | ||
| free(data); | ||
| urg_close(&urg); | ||
| return 1; | ||
| } | ||
| print_data(&urg, data, n, time_stamp); | ||
| } | ||
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| // \~japanese 切断 | ||
| // \~english Disconnects | ||
| free(data); | ||
| urg_close(&urg); | ||
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| #if defined(URG_MSC) | ||
| getchar(); | ||
| #endif | ||
| return 0; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,95 @@ | ||
| /*! | ||
| \~japanese | ||
| \example get_distance.cpp 距離データを取得する | ||
| \~english | ||
| \example get_distance.cpp Obtains distance data | ||
| \~ | ||
| \author Satofumi KAMIMURA | ||
| $Id$ | ||
| */ | ||
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| #include "Urg_driver.h" | ||
| #include "Connection_information.h" | ||
| #include "math_utilities.h" | ||
| #include <iostream> | ||
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| using namespace qrk; | ||
| using namespace std; | ||
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| namespace | ||
| { | ||
| void print_data(const Urg_driver& urg, | ||
| const vector<long>& data, long time_stamp) | ||
| { | ||
| #if 1 | ||
| // \~japanese 前方のデータのみを表示 | ||
| // \~english Shows only the front step | ||
| int front_index = urg.step2index(0); | ||
| cout << data[front_index] << " [mm], (" | ||
| << time_stamp << " [msec])" << endl; | ||
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| #else | ||
| // \~japanese 全てのデータの X-Y の位置を表示 | ||
| // \~english Prints the X-Y coordinates for all the measurement points | ||
| long min_distance = urg.min_distance(); | ||
| long max_distance = urg.max_distance(); | ||
| size_t data_n = data.size(); | ||
| for (size_t i = 0; i < data_n; ++i) { | ||
| long l = data[i]; | ||
| if ((l <= min_distance) || (l >= max_distance)) { | ||
| continue; | ||
| } | ||
| double radian = urg.index2rad(i); | ||
| long x = static_cast<long>(l * cos(radian)); | ||
| long y = static_cast<long>(l * sin(radian)); | ||
| cout << "(" << x << ", " << y << ")" << endl; | ||
| } | ||
| cout << endl; | ||
| #endif | ||
| } | ||
| } | ||
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| int main(int argc, char *argv[]) | ||
| { | ||
| Connection_information information(argc, argv); | ||
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| // \~japanese 接続 | ||
| // \~english Connects to the sensor | ||
| Urg_driver urg; | ||
| if (!urg.open(information.device_or_ip_name(), | ||
| information.baudrate_or_port_number(), | ||
| information.connection_type())) { | ||
| cout << "Urg_driver::open(): " | ||
| << information.device_or_ip_name() << ": " << urg.what() << endl; | ||
| return 1; | ||
| } | ||
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| // \~japanese データ取得 | ||
| // \~english Gets measurement data | ||
| #if 1 | ||
| // \~japanese データの取得範囲を変更する場合 | ||
| // \~english Case where the measurement range (start/end steps) is defined | ||
| urg.set_scanning_parameter(urg.deg2step(-90), urg.deg2step(+90), 0); | ||
| #endif | ||
| enum { Capture_times = 10 }; | ||
| for (int i = 0; i < Capture_times; ++i) { | ||
| vector<long> data; | ||
| long time_stamp = 0; | ||
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| urg.start_measurement(Urg_driver::Distance, 1, 0); | ||
| if (!urg.get_distance(data, &time_stamp)) { | ||
| cout << "Urg_driver::get_distance(): " << urg.what() << endl; | ||
| return 1; | ||
| } | ||
| print_data(urg, data, time_stamp); | ||
| } | ||
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| #if defined(URG_MSC) | ||
| getchar(); | ||
| #endif | ||
| return 0; | ||
| } |
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