laelaps_tof

Macros
#define	APP_EC_OK   0
	success exit code
#define	APP_EC_ARGS   2
	command-line options/arguments error exit code
#define	APP_EC_EXEC   4
	execution exit code

Enumerations
enum	MeasType {   MeasTypeDistance,   MeasTypeAmbient,   MeasTypeBoth }

Functions
static int	OptsCvtArgMeas (const char *argv0, const char *sOptName, char *optarg, void *pOptVal)
static int	tofNameToInt (const string &str, int &val)
static int	strToInt (const string &str, int &val)
int	getch ()
int	kbhit ()
static int	connectSensor (int n)
static int	readSensorInfo ()
static int	calibrateSensorCrossTalk ()
static int	calibrateSensorOffset ()
static void	readSensorCalibTuneRegs ()
static void	printHdr (int what)
static void	printMeasurement (int seqnum, int what, double fMeters, double fFlux)
static int	measure ()
static void	mainInit (int argc, char *argv[])
	Main initialization. More...
int	main (int argc, char *argv[])
	Main. More...

Variables
static char *	Argv0
	the command
static bool_t	OptsNoAuto = false
	don't auto-run
static int	OptsTimePeriod = 500
	sense time period (msec)
static char *	OptsMeasure = (char *)"range"
	measure range
static bool_t	OptsCalibOffset = false
	do [not] calibrate range offset
static bool_t	OptsCalibXTalk = false
	do [not] calibrate range crosstalk
static const char *	ToFName []
static const double	ToFDir []
static int	SensorId
static int	Measure
static LaeI2C	I2CBus
static LaeI2CMux	I2CMux (I2CBus)
static LaeVL6180Mux *	ToFSensor
static const char *	Sep
static OptsPgmInfo_T	PgmInfo
	Program information. More...
static OptsInfo_T	OptsInfo []
	Command line options information.

Detailed Description

Function Documentation

int main	(	int	argc,
		char *	argv[]
	)

Main.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Returns

Returns 0 on succes, non-zero on failure.

Definition at line 689 of file laelaps_tof.cxx.

References APP_EC_EXEC, APP_EC_OK, laelaps::LaeI2C::close(), mainInit(), OptsCalibOffset, and OptsCalibXTalk.

{
  int   rc;   // return code

  mainInit(argc, argv);

  if( connectSensor(SensorId) < 0 )
  {
    return APP_EC_EXEC;
  }

  readSensorInfo();

  if( OptsCalibOffset )
  {
    calibrateSensorOffset();
  }

  if( OptsCalibXTalk )
  {
    calibrateSensorCrossTalk();
  }

  readSensorCalibTuneRegs();

  rc = measure();

  I2CBus.close();

  return rc == LAE_OK? APP_EC_OK: APP_EC_EXEC;
}

static void mainInit ( int  argc, char *  argv[]  )

static

Main initialization.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Exits:

Program terminates on conversion error.

Definition at line 650 of file laelaps_tof.cxx.

References APP_EC_ARGS, Argv0, OptsInfo, PgmInfo, and PkgInfo.

Referenced by main().

{
  // name of this process
  Argv0 = basename(argv[0]);

  // parse input options
  argv = OptsGet(Argv0, &PkgInfo, &PgmInfo, OptsInfo, true, &argc, argv);

  if( argc == 0 )
  {
    fprintf(stderr, "%s: No sensor number <N> specified.\n", Argv0);
    fprintf(stderr, "Try '%s --help' for more information.\n", Argv0);
    exit(APP_EC_ARGS);
  }
  else if( strToInt(argv[0], SensorId) < 0 )
  {
    if( tofNameToInt(argv[0], SensorId) < 0 )
    {
      fprintf(stderr, "%s: '%s': Bad sensor Id/Name.\n", Argv0, argv[0]);
      fprintf(stderr, "Try '%s --help' for more information.\n", Argv0);
      exit(APP_EC_ARGS);
    }
  }
  else if( (SensorId < ToFSensor0Chan) || (SensorId > ToFSensor7Chan) )
  {
    fprintf(stderr, "%s: %d: Sensor number out of range.\n", Argv0, SensorId);
    fprintf(stderr, "Try '%s --help' for more information.\n", Argv0);
    exit(APP_EC_ARGS);
  }
}

Variable Documentation

OptsPgmInfo_T PgmInfo

static

Initial value:

=
{
  
  "{<Id> | <Name>}",

  
  "Test and calibrate Laelaps Time-of-Flight sensors.",

  
  "The %P command tests and calibrates the Laelaps Time-of-Flight sensors. "
  "The standard Laelaps comes with 3 forward facing ToFs, with an additional "
  "5 sensors available as an upgrade option. Sensors are identified by "
  "the number Id number of symbolic Name.\n"
  "  Id  Name         Direction    Package\n"
  "  --  -----------  ---------    -------\n"
  "  0   front          0 degrees  std\n"
  "  1   left_front    15 degrees  std\n"
  "  2   left          90 degrees  opt\n"
  "  3   left_rear    165 degrees  opt\n"
  "  4   rear         180 degrees  opt\n"
  "  5   right_rear   195 degrees  opt\n"
  "  6   right        270 degrees  opt\n"
  "  7   right_front  345 degrees  std\n\n"
  "The ROS node laelaps_control cannot be running while using this tool.",

  
  NULL
}

Program information.

Definition at line 132 of file laelaps_tof.cxx.

Referenced by mainInit().

const char* Sep

static

Initial value:

= 
"----------------------------------------------------------------------------"

Definition at line 120 of file laelaps_tof.cxx.

const double ToFDir[]

static

Initial value:

=
{
  degToRad(0.0), degToRad(15.0), degToRad(90.0), degToRad(165.0),
  degToRad(180.0), degToRad(195.0), degToRad(270.0), degToRad(345.0)
}

Definition at line 101 of file laelaps_tof.cxx.

const char* ToFName[]

static

Initial value:

=
{
  "front", "left_front", "left", "left_rear",
  "rear", "right_rear", "right", "right_front"
}

Definition at line 95 of file laelaps_tof.cxx.