Difference between revisions of "URG laser"

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#  
 
#  
 
</pre>
 
</pre>
 +
The URG laser is known as the /dev/ttyACM0 serial device.
  
 
==Code example==
 
==Code example==
 +
With your favorite editor/IDE, create the following program:
 +
 +
<source lang="cpp">
 +
#include <iostream>
 +
#include "UrgCtrl.h"
 +
using namespace std;
 +
using namespace qrk;
 +
 +
int main() {
 +
 +
const char device[] = "/dev/ttyACM0";
 +
UrgCtrl urg;
 +
if (! urg.connect(device)) {
 +
cout << "UrgCtrl::connect: " << urg.what() << endl;
 +
exit(1);
 +
}
 +
vector<long> data;
 +
long timestamp = 0;
 +
while (1)
 +
{
 +
int n = urg.capture(data, &timestamp);
 +
if (n < 0) {
 +
cout << "UrgCtrl::capture: " << urg.what() << endl;
 +
exit(1);
 +
}
 +
cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
 +
}
 +
return 0;
 +
}
 +
 +
</source>
 +
Save it as ''laser.cpp''.
 +
==Compilation==
 +
You can put your program compilation and installation in a ''Makefile'' to make things cleaner:
 +
<source lang="C">
 +
CXX=arm-linux-g++
 +
EXEC=laser
 +
SRC= $(wildcard *.cpp)
 +
OBJ= $(SRC:.c=.o)
 +
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
 +
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
 +
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system
 +
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
 +
LD_SDL=-lSDL
 +
LD_PTHREAD=-lpthread
 +
LDFLAGS=
 +
CXXFLAGS=-g  -W -Wall  -DNO_DETECT_OS_H
 +
 +
all: $(EXEC)
 +
 +
laser: laser.cpp
 +
$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS)  -L$(ARM_LIBS)  $(LD_URG) $(LD_SDL) $(LD_PTHREAD)
 +
 +
.PHONY: clean install
 +
 +
clean:
 +
rm -rf *.o
 +
rm -f $(EXEC)
 +
 +
install: all
 +
cp -f $(EXEC) /tftpboot/
 +
</source>
 +
'''!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11'''
 +
 +
Then, on host, just do:
 +
[host ]$ make clean install
 +
 +
==Running==
 +
Copy your ''laser'' executable on your board through TFTP (for example)
 +
 +
* Be sure to have TFTP server installed, [[Connection_with_U-Boot_on_Linux#TFTP_server| if not it's explained here]]. Copy ''laser'' to your TFTP directory:
 +
<pre class="host">
 +
[demos]$ cp laser /tftpboot/
 +
</pre>
 +
* Load your executable on the target (here my host IP is 192.168.1.13):
 +
<pre class="apf">
 +
# tftp -g -r laser  192.168.1.13
 +
</pre>
 +
* Give it executable rights, if lost during TFTP transfer:
 +
<pre class="apf">
 +
# chmod a+x laser
 +
</pre>
 +
* Launch it:
 +
<pre class="apf">
 +
# ./laser
 +
timestamp: 624546        range at 0 degree : 1219 mm
 +
timestamp: 624646        range at 0 degree : 1217 mm
 +
timestamp: 624746        range at 0 degree : 1210 mm
 +
timestamp: 624846        range at 0 degree : 1213 mm
 +
timestamp: 624946        range at 0 degree : 1207 mm
 +
timestamp: 625046        range at 0 degree : 1213 mm
 +
timestamp: 625145        range at 0 degree : 1211 mm
 +
timestamp: 625245        range at 0 degree : 1220 mm
 +
timestamp: 625345        range at 0 degree : 1220 mm
 +
timestamp: 625445        range at 0 degree : 1205 mm
 +
timestamp: 625545        range at 0 degree : 1216 mm
 +
timestamp: 625645        range at 0 degree : 1214 mm
 +
timestamp: 625745        range at 0 degree : 1225 mm
 +
timestamp: 625845        range at 0 degree : 1217 mm
 +
timestamp: 625945        range at 0 degree : 1221 mm
 +
#
 +
</pre>
 +
 +
Now it's up to you ! ;-)
  
 
==Links==
 
==Links==

Latest revision as of 20:27, 15 July 2010

How to drive Hoyuko's URG series laser sensors.

Installation

$ make menuconfig

Package Selection for the target  --->
    Hardware handling / blockdevices and filesystem maintenance  --->
        [*]   urg library

$ make
  • reflash rootfs


Usage

To use Hokoyu URG laser, you need Prolific pl2303 USB to serial adapter ( see here to install pl2303).

Load the module and connect the URG laser to APF27 dev USB port. You should see something like this : 

# modprobe pl2303
usbcore: registered new interface driver usbserial
usbserial: USB Serial Driver core
USB Serial support registered for pl2303
usbcore: registered new interface driver pl2303
pl2303: Prolific PL2303 USB to serial adaptor driver
# usb 2-1: new full speed USB device using mxc-ehci and address 3
usb 2-1: device descriptor read/64, error -71
usb 2-1: New USB device found, idVendor=15d1, idProduct=0000
usb 2-1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
usb 2-1: Product: URG-Series USB Driver
usb 2-1: Manufacturer: Hokuyo Data Flex for USB
usb 2-1: configuration #1 chosen from 1 choice
cdc_acm 2-1:1.0: ttyACM0: USB ACM device
#

The URG laser is known as the /dev/ttyACM0 serial device.

Code example

With your favorite editor/IDE, create the following program: 

#include <iostream>
#include "UrgCtrl.h"
using namespace std;
using namespace qrk;

int main() {

	const char device[] = "/dev/ttyACM0";
	UrgCtrl urg;
	if (! urg.connect(device)) {
		cout << "UrgCtrl::connect: " << urg.what() << endl;
		exit(1);
	}
	vector<long> data;
	long timestamp = 0;
	while (1)
	{
		int n = urg.capture(data, &timestamp);
		if (n < 0) {
			cout << "UrgCtrl::capture: " << urg.what() << endl;
			exit(1);
		}
		cout << "timestamp: " << timestamp << "\t range at 0 degree : " << data[n/2] << " mm" <<endl;
	}
	return 0;
}

Save it as laser.cpp.

Compilation

You can put your program compilation and installation in a Makefile to make things cleaner: 

CXX=arm-linux-g++
EXEC=laser
SRC= $(wildcard *.cpp)
OBJ= $(SRC:.c=.o)
ARM_LIBS=$(ARMADEUS_STAGING_DIR)/usr/lib
URG_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/urg
LD_URG=-lurg_monitor -lurg -lurg_coordinate -lurg_geometry -lurg_connection -lurg_connection_sdl -lurg_common -lurg_system 
SDL_INCLUDE=$(ARMADEUS_STAGING_DIR)/usr/include/SDL -D_GNU_SOURCE=1 -D_REENTRANT
LD_SDL=-lSDL 
LD_PTHREAD=-lpthread
LDFLAGS= 
CXXFLAGS=-g  -W -Wall  -DNO_DETECT_OS_H 

all: $(EXEC)

laser: laser.cpp
	$(CXX) $(CXXFLAGS) -I$(URG_INCLUDE) -I$(SDL_INCLUDE) -o $@ $^ $(LDFLAGS)  -L$(ARM_LIBS)  $(LD_URG) $(LD_SDL) $(LD_PTHREAD)

.PHONY: clean install
 
clean:
	rm -rf *.o
	rm -f $(EXEC)
 
install: all
	cp -f $(EXEC) /tftpboot/

!! If you do a cut & paste with previous commands, don't forget to check TABS for each target (Makefiles are using TABS and not SPACES) !! In that case make will complains about a missing separator line 11

Then, on host, just do: 

[host ]$ make clean install

Running

Copy your laser executable on your board through TFTP (for example) 

 [demos]$ cp laser /tftpboot/
  • Load your executable on the target (here my host IP is 192.168.1.13):
 # tftp -g -r laser  192.168.1.13
  • Give it executable rights, if lost during TFTP transfer:
 # chmod a+x laser
  • Launch it:
 # ./laser
timestamp: 624546        range at 0 degree : 1219 mm
timestamp: 624646        range at 0 degree : 1217 mm
timestamp: 624746        range at 0 degree : 1210 mm
timestamp: 624846        range at 0 degree : 1213 mm
timestamp: 624946        range at 0 degree : 1207 mm
timestamp: 625046        range at 0 degree : 1213 mm
timestamp: 625145        range at 0 degree : 1211 mm
timestamp: 625245        range at 0 degree : 1220 mm
timestamp: 625345        range at 0 degree : 1220 mm
timestamp: 625445        range at 0 degree : 1205 mm
timestamp: 625545        range at 0 degree : 1216 mm
timestamp: 625645        range at 0 degree : 1214 mm
timestamp: 625745        range at 0 degree : 1225 mm
timestamp: 625845        range at 0 degree : 1217 mm
timestamp: 625945        range at 0 degree : 1221 mm
 #

Now it's up to you ! ;-)

Links

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