00001 #ifndef URG_SENSOR_H
00002 #define URG_SENSOR_H
00003 
00022 #ifdef __cplusplus
00023 extern "C" {
00024 #endif
00025 
00026 #include "urg_connection.h"
00027 
00034     typedef enum {
00035         URG_DISTANCE,           
00036         URG_DISTANCE_INTENSITY, 
00037         URG_MULTIECHO,          
00038         URG_MULTIECHO_INTENSITY, 
00039         URG_STOP,                
00040         URG_UNKNOWN,             
00041     } urg_measurement_type_t;
00042 
00049     typedef enum {
00050         URG_COMMUNICATION_3_BYTE, 
00051         URG_COMMUNICATION_2_BYTE, 
00052     } urg_range_data_byte_t;
00053 
00054 
00055     enum {
00056         URG_SCAN_INFINITY = 0,  
00057         URG_MAX_ECHO = 3, 
00058     };
00059 
00060 
00067     typedef urg_measurement_type_t
00068     (*urg_error_handler)(const char *status, void *urg);
00069 
00070 
00078     typedef struct
00079     {
00080         int is_active;
00081         int last_errno;
00082         urg_connection_t connection;
00083 
00084         int first_data_index;
00085         int last_data_index;
00086         int front_data_index;
00087         int area_resolution;
00088         long scan_usec;
00089         int min_distance;
00090         int max_distance;
00091         int scanning_first_step;
00092         int scanning_last_step;
00093         int scanning_skip_step;
00094         int scanning_skip_scan;
00095         urg_range_data_byte_t range_data_byte;
00096 
00097         int timeout;
00098         int specified_scan_times;
00099         int scanning_remain_times;
00100         int is_laser_on;
00101 
00102         int received_first_index;
00103         int received_last_index;
00104         int received_skip_step;
00105         urg_range_data_byte_t received_range_data_byte;
00106         int is_sending;
00107 
00108         urg_error_handler error_handler;
00109 
00110         char return_buffer[80];
00111     } urg_t;
00112 
00113 
00177     extern int urg_open(urg_t *urg, urg_connection_type_t connection_type,
00178                         const char *device_or_address,
00179                         long baudrate_or_port);
00180 
00181 
00199     extern void urg_close(urg_t *urg);
00200 
00201 
00218     extern void urg_set_timeout_msec(urg_t *urg, int msec);
00219 
00220 
00227     extern int urg_start_time_stamp_mode(urg_t *urg);
00228 
00229 
00270     extern long urg_time_stamp(urg_t *urg);
00271 
00272 
00279     extern int urg_stop_time_stamp_mode(urg_t *urg);
00280 
00281 
00362     extern int urg_start_measurement(urg_t *urg, urg_measurement_type_t type,
00363                                      int scan_times, int skip_scan);
00364 
00365 
00426     extern int urg_get_distance(urg_t *urg, long data[], long *time_stamp);
00427 
00428 
00483     extern int urg_get_distance_intensity(urg_t *urg, long data[],
00484                                           unsigned short intensity[],
00485                                           long *time_stamp);
00486 
00487 
00566     extern int urg_get_multiecho(urg_t *urg, long data_multi[], long *time_stamp);
00567 
00568 
00619     extern int urg_get_multiecho_intensity(urg_t *urg, long data_multi[],
00620                                            unsigned short intensity_multi[],
00621                                            long *time_stamp);
00622 
00623 
00657     extern int urg_stop_measurement(urg_t *urg);
00658 
00659 
00746     extern int urg_set_scanning_parameter(urg_t *urg, int first_step,
00747                                           int last_step, int skip_step);
00748 
00749 
00790     extern int urg_set_communication_data_size(urg_t *urg,
00791                                                urg_range_data_byte_t data_byte);
00792 
00793 
00800     extern int urg_laser_on(urg_t *urg);
00801 
00802 
00809     extern int urg_laser_off(urg_t *urg);
00810 
00811 
00818     extern int urg_reboot(urg_t *urg);
00819 
00820 
00846     extern void urg_sleep(urg_t *urg);
00847 
00848 
00857     extern void urg_wakeup(urg_t *urg);
00858 
00877     extern int urg_is_stable(urg_t *urg);
00878 
00879 
00897     extern const char *urg_sensor_product_type(urg_t *urg);
00898 
00899 
00917     extern const char *urg_sensor_serial_id(urg_t *urg);
00918 
00919 
00937     extern const char *urg_sensor_firmware_version(urg_t *urg);
00938 
00939 
00957     extern const char *urg_sensor_status(urg_t *urg);
00958 
00959 
00981     extern const char *urg_sensor_state(urg_t *urg);
00982 
00983 
00995     extern void urg_set_error_handler(urg_t *urg, urg_error_handler handler);
00996 
00997 
01015     extern long urg_scip_decode(const char data[], int size);
01016 
01017 
01018 #ifdef __cplusplus
01019 }
01020 #endif
01021 
01022 #endif /* !URG_SENSOR_H */