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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,105 @@ | ||
| /*! | ||
| \~japanese | ||
| \example get_distance_intensity.c 距離・強度・IOデータを取得する | ||
| \~english | ||
| \example get_distance_intensity.c Obtains distance, intensity and IO(input/output) data | ||
| \~ | ||
| $Id$ | ||
| */ | ||
|
|
||
| #include "urg_sensor.h" | ||
| #include "urg_utils.h" | ||
| #include "open_urg_sensor.h" | ||
| #include <stdio.h> | ||
| #include <stdlib.h> | ||
|
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|
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| static void print_data(urg_t *urg, long data[], unsigned short intensity[], | ||
| long io[], long time_stamp) | ||
| { | ||
| enum { | ||
| IO_BIT_SIZE = 18, | ||
| }; | ||
|
|
||
| printf("timestamp: %ld\n", time_stamp); | ||
|
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| // \~japanese IO情報を表示 | ||
| // \~english Display IO information | ||
| unsigned long mask = (int)1 << (IO_BIT_SIZE - 1); | ||
| char in[IO_BIT_SIZE + 1]; | ||
| char out[IO_BIT_SIZE + 1]; | ||
| int i; | ||
| for (i = 0; i < IO_BIT_SIZE; ++i) { | ||
| in[i] = (mask & io[0] ? '1' : '0'); | ||
| out[i] = (mask & io[1] ? '1' : '0'); | ||
| mask >>= 1; | ||
| } | ||
| in[IO_BIT_SIZE] = '\0'; | ||
| out[IO_BIT_SIZE] = '\0'; | ||
| printf("input : %s (%ld)\n", in, io[0]); | ||
| printf("output : %s (%ld)\n", out, io[1]); | ||
|
|
||
| // \~japanese 前方のデータのみを表示 | ||
| // \~english Shows only the front step | ||
| int front_index = urg_step2index(urg, 0); | ||
| printf("distance : %ld [mm]\n", data[front_index]); | ||
| printf("intensity: %ld [1]\n\n", intensity[front_index]); | ||
| } | ||
|
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||
|
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| int main(int argc, char *argv[]) | ||
| { | ||
| enum { | ||
| CAPTURE_TIMES = 10, | ||
| }; | ||
| urg_t urg; | ||
| int max_data_size; | ||
| long *io = malloc(2 * sizeof(long)); | ||
| long *data = NULL; | ||
| unsigned short *intensity = 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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| max_data_size = urg_max_data_size(&urg); | ||
| data = (long *)malloc(max_data_size * sizeof(data[0])); | ||
| if (!data) { | ||
| perror("urg_max_index()"); | ||
| return 1; | ||
| } | ||
| intensity = malloc(max_data_size * sizeof(intensity[0])); | ||
| if (!intensity) { | ||
| perror("urg_max_index()"); | ||
| return 1; | ||
| } | ||
|
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||
| // \~japanese データ取得 | ||
| // \~english Gets measurement data | ||
| urg_start_measurement(&urg, URG_DISTANCE_INTENSITY_IO, URG_SCAN_INFINITY, 0); | ||
| for (i = 0; i < CAPTURE_TIMES; ++i) { | ||
| n = urg_get_distance_intensity_io(&urg, data, intensity, io, &time_stamp); | ||
| if (n <= 0) { | ||
| printf("urg_get_distance_intensity_io: %s\n", urg_error(&urg)); | ||
| free(data); | ||
| urg_close(&urg); | ||
| return 1; | ||
| } | ||
| print_data(&urg, data, intensity, io, time_stamp); | ||
| } | ||
|
|
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| // \~japanese 切断 | ||
| // \~english Disconnects | ||
| free(intensity); | ||
| free(data); | ||
| urg_close(&urg); | ||
|
|
||
| #if defined(URG_MSC) | ||
| getchar(); | ||
| #endif | ||
| return 0; | ||
| } |
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