urg_sensor.h

Go to the documentation of this file.

#ifndef URG_SENSOR_H
#define URG_SENSOR_H

#ifdef __cplusplus
extern "C" {
#endif

#include "urg_connection.h"


    typedef enum {
        URG_DISTANCE,           
        URG_DISTANCE_INTENSITY, 
        URG_MULTIECHO,          
        URG_MULTIECHO_INTENSITY, 
        URG_STOP,                
        URG_UNKNOWN,             
    } urg_measurement_type_t;

    typedef enum {
        URG_COMMUNICATION_3_BYTE, 
        URG_COMMUNICATION_2_BYTE, 
    } urg_range_data_byte_t;


    enum {
        URG_SCAN_INFINITY = 0,  
        URG_MAX_ECHO = 3, 
    };


    typedef urg_measurement_type_t
    (*urg_error_handler)(const char *status, void *urg);


    typedef struct
    {
        int is_active;
        int last_errno;
        urg_connection_t connection;

        int first_data_index;
        int last_data_index;
        int front_data_index;
        int area_resolution;
        long scan_usec;
        int min_distance;
        int max_distance;
        int scanning_first_step;
        int scanning_last_step;
        int scanning_skip_step;
        int scanning_skip_scan;
        urg_range_data_byte_t range_data_byte;

        int timeout;
        int specified_scan_times;
        int scanning_remain_times;
        int is_laser_on;

        int received_first_index;
        int received_last_index;
        int received_skip_step;
        urg_range_data_byte_t received_range_data_byte;
        int is_sending;

        urg_error_handler error_handler;

        char return_buffer[80];
    } urg_t;


    extern int urg_open(urg_t *urg, urg_connection_type_t connection_type,
                        const char *device_or_address,
                        long baudrate_or_port);


    extern void urg_close(urg_t *urg);


    extern void urg_set_timeout_msec(urg_t *urg, int msec);


    extern int urg_start_time_stamp_mode(urg_t *urg);


    extern long urg_time_stamp(urg_t *urg);


    extern int urg_stop_time_stamp_mode(urg_t *urg);


    extern int urg_start_measurement(urg_t *urg, urg_measurement_type_t type,
                                     int scan_times, int skip_scan);


    extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp);


    extern int urg_get_distance_intensity(urg_t *urg, long data[],
                                          unsigned short intensity[],
                                          long *time_stamp);


    extern int urg_get_multiecho(urg_t *urg, long data_multi[], long *time_stamp);


    extern int urg_get_multiecho_intensity(urg_t *urg, long data_multi[],
                                           unsigned short intensity_multi[],
                                           long *time_stamp);


    extern int urg_stop_measurement(urg_t *urg);


    extern int urg_set_scanning_parameter(urg_t *urg, int first_step,
                                          int last_step, int skip_step);


    extern int urg_set_communication_data_size(urg_t *urg,
                                               urg_range_data_byte_t data_byte);


    extern int urg_laser_on(urg_t *urg);


    extern int urg_laser_off(urg_t *urg);


    extern int urg_reboot(urg_t *urg);


    extern void urg_sleep(urg_t *urg);


    extern void urg_wakeup(urg_t *urg);

    extern int urg_is_stable(urg_t *urg);


    extern const char *urg_sensor_product_type(urg_t *urg);


    extern const char *urg_sensor_serial_id(urg_t *urg);


    extern const char *urg_sensor_firmware_version(urg_t *urg);


    extern const char *urg_sensor_status(urg_t *urg);


    extern const char *urg_sensor_state(urg_t *urg);


    extern void urg_set_error_handler(urg_t *urg, urg_error_handler handler);


    extern long urg_scip_decode(const char data[], int size);


#ifdef __cplusplus
}
#endif

#endif /* !URG_SENSOR_H */