Merge pull request #20 from UrgNetworks/Add_VS2019_etc

Add vs2019 project.
Add the feature which can change to ignore check sum error.
Fixed the feature which ignores SIGPIPE when executed send function.

current/include/c/urg_sensor.h

@@ -110,6 +110,8 @@ extern "C" {
 
  urg_error_handler error_handler;
 
+ int ignore_checkSumError;
+
  char return_buffer[80];
  } urg_t;
 
@@ -318,6 +320,7 @@ extern "C" {
  \param[in] type データ・タイプ
  \param[in] scan_times データの取得回数
  \param[in] skip_scan データの取得間隔
+ \param[in] ignore_checkSumError 0以外:チェックサムエラーを無視し、計測継続 0:チェックサムエラーで計測停止
 
  \retval 0 正常
  \retval <0 エラー
@@ -347,6 +350,7 @@ extern "C" {
  \param[in] type Measurement type
  \param[in] scan_times Number of scans to request
  \param[in] skip_scan Interval between scans
+ \param[in] ignore_checkSumError non-0:continue measurement 0: stop measurement
 
  \retval 0 Successful
  \retval <0 Error
@@ -389,7 +393,7 @@ extern "C" {
  \see urg_get_distance(), urg_get_distance_intensity(), urg_get_multiecho(), urg_get_multiecho_intensity(), urg_stop_measurement()
  */
  extern int urg_start_measurement(urg_t *urg, urg_measurement_type_t type,
- int scan_times, int skip_scan);
+ int scan_times, int skip_scan, int ignore_checkSumError);
 
 
  /*!

current/include/cpp/Urg_driver.h

@@ -58,6 +58,8 @@ namespace qrk
  int scan_times = Infinity_times,
  int skip_scan = 0);
 
+ void set_ignore_checkSumError(bool ignore = true);
+
  //! \~japanese 受信データの受け取り \~english Receives measurement data
  bool get_distance(std::vector<long>& data, long *time_stamp = NULL);
  bool get_distance_intensity(std::vector<long>& data,
@@ -128,7 +130,7 @@ namespace qrk
  Urg_driver& operator = (const Urg_driver& rhs);
 
  struct pImpl;
- std::auto_ptr<pImpl> pimpl;
+ std::unique_ptr<pImpl> pimpl;
  };
 }
 

current/samples/c/calculate_xy.c

@@ -44,7 +44,7 @@ int main(int argc, char *argv[])
 
  // \~japanese データ取得
  // \~english Gets measurement data
- urg_start_measurement(&urg, URG_DISTANCE, 1, 0);
+ urg_start_measurement(&urg, URG_DISTANCE, 1, 0, 1);
  n = urg_get_distance(&urg, data, &time_stamp);
  if (n < 0) {
  printf("urg_get_distance: %s\n", urg_error(&urg));

current/samples/c/get_distance.c

@@ -88,7 +88,7 @@ int main(int argc, char *argv[])
  urg_deg2step(&urg, +90), 0);
 #endif
 
- urg_start_measurement(&urg, URG_DISTANCE, URG_SCAN_INFINITY, 0);
+ urg_start_measurement(&urg, URG_DISTANCE, URG_SCAN_INFINITY, 0, 1);
  for (i = 0; i < CAPTURE_TIMES; ++i) {
  n = urg_get_distance(&urg, data, &time_stamp);
  if (n <= 0) {

current/samples/c/get_distance_handshake.c

@@ -89,7 +89,7 @@ int main(int argc, char *argv[])
 #endif
 
  for (i = 0; i < CAPTURE_TIMES; ++i) {
- urg_start_measurement(&urg, URG_DISTANCE, 1, 0);
+ urg_start_measurement(&urg, URG_DISTANCE, 1, 0 ,1);
  n = urg_get_distance(&urg, data, &time_stamp);
  if (n <= 0) {
  printf("urg_get_distance: %s\n", urg_error(&urg));

current/samples/c/get_distance_intensity.c

@@ -75,7 +75,7 @@ int main(int argc, char *argv[])
 
  // \~japanese データ取得
  // \~english Gets measurement data
- urg_start_measurement(&urg, URG_DISTANCE_INTENSITY, URG_SCAN_INFINITY, 0);
+ urg_start_measurement(&urg, URG_DISTANCE_INTENSITY, URG_SCAN_INFINITY, 0 , 1);
  for (i = 0; i < CAPTURE_TIMES; ++i) {
  n = urg_get_distance_intensity(&urg, data, intensity, &time_stamp);
  if (n <= 0) {

current/samples/c/get_multiecho.c

@@ -79,7 +79,7 @@ int main(int argc, char *argv[])
 
  // \~japanese データ取得
  // \~english Gets measurement data
- urg_start_measurement(&urg, URG_MULTIECHO, URG_SCAN_INFINITY, 0);
+ urg_start_measurement(&urg, URG_MULTIECHO, URG_SCAN_INFINITY, 0, 1);
  for (i = 0; i < CAPTURE_TIMES; ++i) {
  n = urg_get_multiecho(&urg, data, &time_stamp);
  if (n <= 0) {

current/samples/c/get_multiecho_intensity.c

@@ -93,7 +93,7 @@ int main(int argc, char *argv[])
 
  // \~japanese データ取得
  // \~english Gets measurement data
- urg_start_measurement(&urg, URG_MULTIECHO_INTENSITY, URG_SCAN_INFINITY, 0);
+ urg_start_measurement(&urg, URG_MULTIECHO_INTENSITY, URG_SCAN_INFINITY, 0, 1);
  for (i = 0; i < CAPTURE_TIMES; ++i) {
  n = urg_get_multiecho_intensity(&urg, data, intensity, &time_stamp);
  if (n <= 0) {

current/samples/cpp/Connection_information.h

@@ -32,7 +32,7 @@ namespace qrk
  private:
  Connection_information(void);
  struct pImpl;
- std::auto_ptr<pImpl> pimpl;
+ std::unique_ptr<pImpl> pimpl;
  };
 }
 

current/src/Urg_driver.cpp

@@ -179,7 +179,8 @@ bool Urg_driver::start_measurement(measurement_type_t type,
  type_table_t type_table[] = {
  { URG_DISTANCE, Distance },
  { URG_DISTANCE_INTENSITY, Distance_intensity },
- { URG_MULTIECHO, Multiecho },
+ { URG_MULTIECHO, Multiecho }, 
+ { URG_MULTIECHO_INTENSITY, Multiecho_intensity},
  { URG_DISTANCE_IO, Distance_io },
  { URG_DISTANCE_INTENSITY_IO, Distance_intensity_io },
  };
@@ -188,8 +189,8 @@ bool Urg_driver::start_measurement(measurement_type_t type,
  for (size_t i = 0; i < n; ++i) {
  const type_table_t* p = &type_table[i];
  if (type == p->type) {
- int ret = urg_start_measurement(&pimpl->urg_,
-  p->c_type, scan_times, skip_scan);
+ int ret =
+ urg_start_measurement(&pimpl->urg_, p->c_type, scan_times, skip_scan,pimpl->urg_.ignore_checkSumError);
  if (ret == URG_NO_ERROR) {
  pimpl->last_measure_type_ = type;
  }
@@ -200,6 +201,7 @@ bool Urg_driver::start_measurement(measurement_type_t type,
  return false;
 }
 
+void Urg_driver::set_ignore_checkSumError(bool ignore) { pimpl->urg_.ignore_checkSumError = ignore ? 1 : 0; }
 
 bool Urg_driver::get_distance(std::vector<long>& data, long* time_stamp)
 {

current/src/urg_sensor.c

@@ -194,7 +194,7 @@ static void ignore_receive_data_with_qt(urg_t *urg, int timeout)
  if ((urg->is_sending == URG_FALSE) && (urg->is_laser_on == URG_FALSE)) {
  return;
  }
-
+ 
  connection_write(&urg->connection, "QT\n", 3);
  urg->is_laser_on = URG_FALSE;
  ignore_receive_data(urg, timeout);
@@ -548,13 +548,13 @@ static int receive_length_data(urg_t *urg, long length[],
  if (n > 0) {
  // \~japanese チェックサムの評価
  // \~english Validates the checksum
- if (buffer[line_filled + n - 1] !=
- scip_checksum(&buffer[line_filled], n - 1)) {
+ if (buffer[line_filled + n - 1] != scip_checksum(&buffer[line_filled], n - 1) &&
+ (urg->ignore_checkSumError == 0)) {
  ignore_receive_data_with_qt(urg, urg->timeout);
  return set_errno_and_return(urg, URG_CHECKSUM_ERROR);
  }
  }
-
+ 
  if (n > 0) {
  line_filled += n - 1;
  }
@@ -670,10 +670,11 @@ static int receive_data(urg_t *urg, long data[], unsigned short intensity[], lon
  return set_errno_and_return(urg, URG_INVALID_RESPONSE);
  }
 
- if (buffer[n - 1] != scip_checksum(buffer, n - 1)) {
+ if (buffer[n - 1] != scip_checksum(buffer, n - 1) && (urg->ignore_checkSumError == 0)) {
  // \~japanese チェックサムの評価
  // \~english Validates the checksum
  ignore_receive_data_with_qt(urg, urg->timeout);
+ *time_stamp = 0;
  return set_errno_and_return(urg, URG_CHECKSUM_ERROR);
  }
 
@@ -795,6 +796,7 @@ void urg_t_initialize(urg_t *urg)
  urg->timeout = MAX_TIMEOUT;
  urg->scanning_skip_scan = 0;
  urg->error_handler = NULL;
+ urg->ignore_checkSumError = 1;
 }
 
 int urg_open(urg_t *urg, urg_connection_type_t connection_type,
@@ -997,21 +999,22 @@ static int send_distance_command(urg_t *urg, int scan_times, int skip_scan,
 }
 
 
-int urg_start_measurement(urg_t *urg, urg_measurement_type_t type,
- int scan_times, int skip_scan)
-{
+int urg_start_measurement(urg_t *urg, urg_measurement_type_t type, int scan_times, int skip_scan,
+ int ignore_checkSumError) {
  char range_byte_ch;
  int ret = 0;
 
  if (!urg->is_active) {
  return set_errno_and_return(urg, URG_NOT_CONNECTED);
  }
 
- if ((skip_scan < 0) || (skip_scan > 9)) {
+ if (((skip_scan < 0) || (skip_scan > 9)) || ((ignore_checkSumError < 0) || (ignore_checkSumError > 2))) {
  ignore_receive_data_with_qt(urg, urg->timeout);
  return set_errno_and_return(urg, URG_INVALID_PARAMETER);
  }
 
+ urg->ignore_checkSumError = ignore_checkSumError;
+
  // \~japanese !!! Mx 系, Nx 系の計測中のときは、QT を発行してから
  // \~japanese !!! 計測開始コマンドを送信するようにする
  // \~japanese !!! ただし、MD 計測中に MD を発行するように、同じコマンドの場合は

current/src/urg_tcpclient.c

@@ -292,7 +292,14 @@ int tcpclient_read(urg_tcpclient_t* cli,
 int tcpclient_write(urg_tcpclient_t* cli, const char* buf, int size)
 {
  // blocking if data size is larger than system's buffer.
- return send(cli->sock_desc, buf, size, 0); //4th arg 0: no flag
+#if defined(URG_WINDOWS_OS)
+ // blocking if data size is larger than system's buffer.
+ return send(cli->sock_desc, buf, size, 0); // 4th arg 0: no flag
+#elif defined(URG_LINUX_OS)
+ return send(cli->sock_desc, buf, size, MSG_NOSIGNAL);
+#else
+ return send(cli->sock_desc, buf, size, SO_NOSIGPIPE);
+#endif
 }