From 115ebf015c05cb9c6e168235c43131706022368b Mon Sep 17 00:00:00 2001 From: lebarsfa Date: Thu, 30 Jul 2020 17:01:53 +0200 Subject: [PATCH] Updated RPLIDAR support and updates from UxVCtrl V360 --- .gitignore | 1 + GetAllSupportedScanModesRPLIDAR.m | 15 +++ GetInfoRequestRPLIDAR.m | 12 +- GetOtherScanDataResponseFromThreadRPLIDAR.m | 15 +++ GetTypicalScanModeRPLIDAR.m | 9 ++ NMEAProtocol.h | 18 ++- P33x.h | 12 +- RPLIDAR.h | 125 ++++++++++++++------ RPLIDAR0.txt | 2 +- SBG.h | 2 + StartOtherScanRequestRPLIDAR.m | 4 +- StartOtherScanThreadRPLIDAR.m | 2 + StopOtherScanThreadRPLIDAR.m | 2 + TODO.txt | 20 ++-- hardwarex.cpp | 83 ++++++++++++- hardwarex.h | 6 +- linux_x64/hardwarex.so | Bin 271464 -> 276192 bytes mac/hardwarex.dylib | Bin 258716 -> 259796 bytes test_rplidar.m | 14 ++- x64/hardwarex.dll | Bin 327168 -> 330752 bytes x64/hardwarex_proto.m | 12 +- x64/hardwarex_thunk_pcwin64.dll | Bin 91648 -> 92160 bytes x86/hardwarex.dll | Bin 281088 -> 282624 bytes x86/hardwarex_proto.m | 12 +- 24 files changed, 292 insertions(+), 74 deletions(-) create mode 100644 GetAllSupportedScanModesRPLIDAR.m create mode 100644 GetOtherScanDataResponseFromThreadRPLIDAR.m create mode 100644 GetTypicalScanModeRPLIDAR.m create mode 100644 StartOtherScanThreadRPLIDAR.m create mode 100644 StopOtherScanThreadRPLIDAR.m diff --git a/.gitignore b/.gitignore index 741a81f..ef7a791 100644 --- a/.gitignore +++ b/.gitignore @@ -269,3 +269,4 @@ TODO/ UpgradeOSUtils.bat UpgradeHardware.bat UpgradeDLL* +genproto* diff --git a/GetAllSupportedScanModesRPLIDAR.m b/GetAllSupportedScanModesRPLIDAR.m new file mode 100644 index 0000000..97f37a4 --- /dev/null +++ b/GetAllSupportedScanModesRPLIDAR.m @@ -0,0 +1,15 @@ +function [result, scanmodeids, scanmodeuspersamples, scanmodemaxdistances, scanmodeanstypes, scanmodenames] = GetAllSupportedScanModesRPLIDAR(pRPLIDAR) + +scanmodeids = repmat(int32(0), [16 1]); +scanmodeuspersamples = repmat(double(0), [16 1]); +scanmodemaxdistances = repmat(double(0), [16 1]); +scanmodeanstypes = repmat(int32(0), [16 1]); +scanmodenames = repmat('0', [16 64]); + +pScanModeIDs = libpointer('int32Ptr', scanmodeids); +pScanModeusPerSamples = libpointer('doublePtr', scanmodeuspersamples); +pScanModeMaxDistances = libpointer('doublePtr', scanmodemaxdistances); +pScanModeAnsTypes = libpointer('int32Ptr', scanmodeanstypes); +pScanModeNames = cellstr(scanmodenames); + +[result, rplidar, scanmodeids, scanmodeuspersamples, scanmodemaxdistances, scanmodeanstypes, scanmodenames] = calllib('hardwarex', 'GetAllSupportedScanModesRPLIDARx', pRPLIDAR, pScanModeIDs, pScanModeusPerSamples, pScanModeMaxDistances, pScanModeAnsTypes, pScanModeNames); diff --git a/GetInfoRequestRPLIDAR.m b/GetInfoRequestRPLIDAR.m index d043bac..98d44f9 100644 --- a/GetInfoRequestRPLIDAR.m +++ b/GetInfoRequestRPLIDAR.m @@ -4,18 +4,12 @@ hardwareVersion = 0; firmwareMajor = 0; firmwareMinor = 0; -serialNumber = repmat('0', [1 32]); +serialNumber = [repmat(int8('0'), [1 32]) int8(0)]; pModelID = libpointer('int32Ptr', modelID); pHardwareVersion = libpointer('int32Ptr', hardwareVersion); pFirmwareMajor = libpointer('int32Ptr', firmwareMajor); pFirmwareMinor = libpointer('int32Ptr', firmwareMinor); -SerialNumber = libpointer('voidPtr', [int8(serialNumber) 0]); +SerialNumber = char(serialNumber); -result = calllib('hardwarex', 'GetInfoRequestRPLIDARx', pRPLIDAR, pModelID, pHardwareVersion, pFirmwareMajor, pFirmwareMinor, SerialNumber); - -modelID = pModelID.value; -hardwareVersion = pHardwareVersion.value; -firmwareMajor = pFirmwareMajor.value; -firmwareMinor = pFirmwareMinor.value; -serialNumber = char(SerialNumber.value); +[result, rplidar, modelID, hardwareVersion, firmwareMajor, firmwareMinor, serialNumber] = calllib('hardwarex', 'GetInfoRequestRPLIDARx', pRPLIDAR, pModelID, pHardwareVersion, pFirmwareMajor, pFirmwareMinor, SerialNumber); diff --git a/GetOtherScanDataResponseFromThreadRPLIDAR.m b/GetOtherScanDataResponseFromThreadRPLIDAR.m new file mode 100644 index 0000000..5afc4e4 --- /dev/null +++ b/GetOtherScanDataResponseFromThreadRPLIDAR.m @@ -0,0 +1,15 @@ +function [result, distances, angles, bNewScan] = GetOtherScanDataResponseFromThreadRPLIDAR(pRPLIDAR) + +distances = repmat(0, [1 32]); +angles = repmat(0, [1 32]); +bNewScan = 0; + +pDistances = libpointer('doublePtr', distances); +pAngles = libpointer('doublePtr', angles); +pbNewScan = libpointer('int32Ptr', bNewScan); + +result = calllib('hardwarex', 'GetOtherScanDataResponseFromThreadRPLIDARx', pRPLIDAR, pDistances, pAngles, pbNewScan); + +distances = pDistances.value; +angles = pAngles.value; +bNewScan = pbNewScan.value; diff --git a/GetTypicalScanModeRPLIDAR.m b/GetTypicalScanModeRPLIDAR.m new file mode 100644 index 0000000..9155106 --- /dev/null +++ b/GetTypicalScanModeRPLIDAR.m @@ -0,0 +1,9 @@ +function [result, scanmodeid] = GetTypicalScanModeRPLIDAR(pRPLIDAR) + +scanmodeid = 0; + +pScanModeID = libpointer('int32Ptr', scanmodeid); + +result = calllib('hardwarex', 'GetTypicalScanModeRPLIDARx', pRPLIDAR, pScanModeID); + +scanmodeid = pScanModeID.value; diff --git a/NMEAProtocol.h b/NMEAProtocol.h index b17357e..ca08f64 100644 --- a/NMEAProtocol.h +++ b/NMEAProtocol.h @@ -285,8 +285,13 @@ inline int AnalyzeSentenceNMEA(char* buf, int buflen, char* talkerid, char* mnem ComputeChecksumNMEA(buf, *psentencelen, checksum); if ((toupper(buf[*psentencelen-2-nb_bytes_end]) != checksum[1])||(toupper(buf[*psentencelen-1-nb_bytes_end]) != checksum[2])) { - PRINT_DEBUG_WARNING(("Warning : NMEA checksum error (computed \"%.3s\", found \"*%c%c\"). \n", checksum, buf[*psentencelen-2-nb_bytes_end], buf[*psentencelen-1-nb_bytes_end])); - *pnbBytesToDiscard = *psentencelen; + PRINT_DEBUG_MESSAGE_OSUTILS(("Warning : NMEA checksum error (computed \"%.3s\", found \"*%c%c\"). \n", checksum, buf[*psentencelen-2-nb_bytes_end], buf[*psentencelen-1-nb_bytes_end])); + //for (i = 0; i < buflen; i++) printf("%c", buf[i]); + //printf("\n"); + //for (i = 0; i < buflen; i++) printf("0x%02x ", (unsigned)buf[i]); + //printf("\n"); + //*pnbBytesToDiscard = *psentencelen; + *pnbBytesToDiscard = 1; // Not sure more than the start character can be discarded... return EXIT_FAILURE; } } @@ -488,8 +493,13 @@ inline int AnalyzeSentenceWithAddressNMEA(char* buf, int buflen, char* talkerid, ComputeChecksumNMEA(buf, *psentencelen, checksum); if ((buf[*psentencelen-2-nb_bytes_end] != checksum[1])||(buf[*psentencelen-1-nb_bytes_end] != checksum[2])) { - PRINT_DEBUG_WARNING(("Warning : NMEA checksum error (computed \"%.3s\", found \"*%c%c\"). \n", checksum, buf[*psentencelen-2-nb_bytes_end], buf[*psentencelen-1-nb_bytes_end])); - *pnbBytesToDiscard = *psentencelen; + PRINT_DEBUG_MESSAGE_OSUTILS(("Warning : NMEA checksum error (computed \"%.3s\", found \"*%c%c\"). \n", checksum, buf[*psentencelen-2-nb_bytes_end], buf[*psentencelen-1-nb_bytes_end])); + //for (i = 0; i < buflen; i++) printf("%c", buf[i]); + //printf("\n"); + //for (i = 0; i < buflen; i++) printf("0x%02x ", (unsigned)buf[i]); + //printf("\n"); + //*pnbBytesToDiscard = *psentencelen; + *pnbBytesToDiscard = 1; // Not sure more than the start character can be discarded... return EXIT_FAILURE; } } diff --git a/P33x.h b/P33x.h index 5e15c37..855178d 100644 --- a/P33x.h +++ b/P33x.h @@ -121,10 +121,10 @@ inline int InitP33x(P33X* pP33x) buf = readbuf[6]; stat = readbuf[7]; - //PRINT_DEBUG_MESSAGE(("Device ID : %d.%d\n", devclass, group)); - //PRINT_DEBUG_MESSAGE(("Firmware version : %d.%d\n", year, week)); - //PRINT_DEBUG_MESSAGE(("Length of the internal receive buffer : %d\n", buf)); - //PRINT_DEBUG_MESSAGE(("Status information : %d\n", stat)); + //PRINT_DEBUG_MESSAGE_OSUTILS(("Device ID : %d.%d\n", devclass, group)); + //PRINT_DEBUG_MESSAGE_OSUTILS(("Firmware version : %d.%d\n", year, week)); + //PRINT_DEBUG_MESSAGE_OSUTILS(("Length of the internal receive buffer : %d\n", buf)); + //PRINT_DEBUG_MESSAGE_OSUTILS(("Status information : %d\n", stat)); return EXIT_SUCCESS; } @@ -202,8 +202,8 @@ inline int ReadChannelP33x(P33X* pP33x, uint8 Channel, float* pValue) *pValue = value.v; - //PRINT_DEBUG_MESSAGE(("Channel value : %f\n", (double)*pValue)); - //PRINT_DEBUG_MESSAGE(("Status information : %d\n", stat)); + //PRINT_DEBUG_MESSAGE_OSUTILS(("Channel value : %f\n", (double)*pValue)); + //PRINT_DEBUG_MESSAGE_OSUTILS(("Status information : %d\n", stat)); return EXIT_SUCCESS; } diff --git a/RPLIDAR.h b/RPLIDAR.h index 4b8fb70..21c6bdc 100644 --- a/RPLIDAR.h +++ b/RPLIDAR.h @@ -100,6 +100,7 @@ using namespace rp::standalone::rplidar; #define MEASUREMENT_CAPSULED_RESPONSE_RPLIDAR 0x82 // Added in FW ver 1.17. #define SAMPLERATE_RESPONSE_RPLIDAR 0x15 // Added in FW ver 1.17. #define ACC_BOARD_FLAG_RESPONSE_RPLIDAR 0xFF +#else #endif // !ENABLE_RPLIDAR_SDK_SUPPORT #define NB_BYTES_SERIAL_NUMBER_RPLIDAR 16 @@ -131,6 +132,18 @@ using namespace rp::standalone::rplidar; #define MAX_NB_MEASUREMENTS_PER_SCAN_RPLIDAR 8192 +#define MAX_NB_SCAN_MODES_RPLIDAR 16 + +struct RPLIDARSCANMODE +{ + int id; + double us_per_sample; + double max_distance; + int ans_type; + char scan_mode[64]; +}; +typedef struct RPLIDARSCANMODE RPLIDARSCANMODE; + #pragma endregion struct RPLIDAR { @@ -842,6 +855,57 @@ inline int GetSampleRateRequestRPLIDAR(RPLIDAR* pRPLIDAR, int* pTstandard, int* #endif // ENABLE_RPLIDAR_SDK_SUPPORT } +inline int GetTypicalScanModeRPLIDAR(RPLIDAR* pRPLIDAR, int* pScanModeID) +{ +#ifdef ENABLE_RPLIDAR_SDK_SUPPORT + _u16 scanmodeid = 0; + + if (IS_FAIL(pRPLIDAR->drv->getTypicalScanMode(scanmodeid))) + { + printf("A RPLIDAR is not responding correctly : getTypicalScanMode() failed. \n"); + return EXIT_FAILURE; + } + *pScanModeID = (int)scanmodeid; + return EXIT_SUCCESS; +#else + UNREFERENCED_PARAMETER(pRPLIDAR); + UNREFERENCED_PARAMETER(pScanModeID); + printf("RPLIDAR : Not implemented. \n"); + return EXIT_NOT_IMPLEMENTED; +#endif // ENABLE_RPLIDAR_SDK_SUPPORT +} + +// MAX_NB_SCAN_MODES_RPLIDAR scanmodes... +inline int GetAllSupportedScanModesRPLIDAR(RPLIDAR* pRPLIDAR, RPLIDARSCANMODE* pScanModes) +{ +#ifdef ENABLE_RPLIDAR_SDK_SUPPORT + std::vector outModes; + unsigned int i = 0; + + if (IS_FAIL(pRPLIDAR->drv->getAllSupportedScanModes(outModes))) + { + printf("A RPLIDAR is not responding correctly : getAllSupportedScanModes() failed. \n"); + return EXIT_FAILURE; + } + if (outModes.size() > MAX_NB_SCAN_MODES_RPLIDAR) printf("Warning : RPLIDAR unsupported scanmodes. \n"); + memset(pScanModes, 0, sizeof(RPLIDARSCANMODE)*MAX_NB_SCAN_MODES_RPLIDAR); + for (i = 0; i < min(outModes.size(), MAX_NB_SCAN_MODES_RPLIDAR); i++) + { + pScanModes[i].id = (int)outModes[i].id; + pScanModes[i].us_per_sample = (double)outModes[i].us_per_sample; + pScanModes[i].max_distance = (double)outModes[i].max_distance; + pScanModes[i].ans_type = (int)outModes[i].ans_type; + memcpy(pScanModes[i].scan_mode, outModes[i].scan_mode, sizeof(pScanModes[i].scan_mode)); + } + return EXIT_SUCCESS; +#else + UNREFERENCED_PARAMETER(pRPLIDAR); + UNREFERENCED_PARAMETER(pScanModes); + printf("RPLIDAR : Not implemented. \n"); + return EXIT_NOT_IMPLEMENTED; +#endif // ENABLE_RPLIDAR_SDK_SUPPORT +} + // Undocumented... inline int CheckMotorControlSupportRequestRPLIDAR(RPLIDAR* pRPLIDAR) { @@ -1241,20 +1305,19 @@ inline int GetExpressScanDataResponseRPLIDAR(RPLIDAR* pRPLIDAR, double* pDistanc return EXIT_SUCCESS; } -inline int StartOtherScanRequestRPLIDAR(RPLIDAR* pRPLIDAR, int scanmode) +inline int StartOtherScanRequestRPLIDAR(RPLIDAR* pRPLIDAR, int scanmodeid) { #ifdef ENABLE_RPLIDAR_SDK_SUPPORT - if (IS_FAIL(pRPLIDAR->drv->startScanExpress(false, (_u16)scanmode))) + if (IS_FAIL(pRPLIDAR->drv->startScanExpress(false, (_u16)scanmodeid))) { printf("A RPLIDAR is not responding correctly : startScanExpress() failed. \n"); return EXIT_FAILURE; } return EXIT_SUCCESS; #else - UNREFERENCED_PARAMETER(pRPLIDAR); - UNREFERENCED_PARAMETER(scanmode); - printf("RPLIDAR : Not implemented. \n"); - return EXIT_NOT_IMPLEMENTED; + UNREFERENCED_PARAMETER(scanmodeid); + printf("RPLIDAR : Not implemented, defaulting to SCAN. \n"); + return StartScanRequestRPLIDAR(pRPLIDAR); #endif // ENABLE_RPLIDAR_SDK_SUPPORT } @@ -1302,12 +1365,24 @@ inline int GetOtherScanDataResponseRPLIDAR(RPLIDAR* pRPLIDAR, double* pDistances return EXIT_SUCCESS; #else - UNREFERENCED_PARAMETER(pRPLIDAR); - UNREFERENCED_PARAMETER(pDistances); - UNREFERENCED_PARAMETER(pAngles); - UNREFERENCED_PARAMETER(pbNewScan); - printf("RPLIDAR : Not implemented. \n"); - return EXIT_NOT_IMPLEMENTED; + int j = 0; + + for (j = 0; j < NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR; j++) + { + double distance = 0, angle = 0; + BOOL bNewScan = FALSE; + int quality = 0; + + if (GetScanDataResponseRPLIDAR(pRPLIDAR, &distance, &angle, &bNewScan, &quality) != EXIT_SUCCESS) + { + return EXIT_FAILURE; + } + *pbNewScan = (*pbNewScan) | (bNewScan); + pAngles[j] = angle; + pDistances[j] = distance; + } + + return EXIT_SUCCESS; #endif // ENABLE_RPLIDAR_SDK_SUPPORT } @@ -1549,18 +1624,7 @@ inline int ConnectRPLIDAR(RPLIDAR* pRPLIDAR, char* szCfgFilePath) // return EXIT_FAILURE; //} - if (SetMotorPWMRequestRPLIDAR(pRPLIDAR, DEFAULT_MOTOR_PWM_RPLIDAR) != EXIT_SUCCESS) - { - printf("Unable to connect to a RPLIDAR : SET_MOTOR_PWM failure.\n"); -#ifdef ENABLE_RPLIDAR_SDK_SUPPORT - pRPLIDAR->drv->stopMotor(); - pRPLIDAR->drv->disconnect(); - RPlidarDriver::DisposeDriver(pRPLIDAR->drv); pRPLIDAR->drv = NULL; -#else - CloseRS232Port(&pRPLIDAR->RS232Port); -#endif // ENABLE_RPLIDAR_SDK_SUPPORT - return EXIT_FAILURE; - } + SetMotorPWMRequestRPLIDAR(pRPLIDAR, DEFAULT_MOTOR_PWM_RPLIDAR); memset(pRPLIDAR->esdata_prev, 0, sizeof(pRPLIDAR->esdata_prev)); switch (pRPLIDAR->ScanMode) @@ -1652,18 +1716,7 @@ inline int DisconnectRPLIDAR(RPLIDAR* pRPLIDAR) return EXIT_FAILURE; } - if (SetMotorPWMRequestRPLIDAR(pRPLIDAR, 0) != EXIT_SUCCESS) - { - printf("Error while disconnecting a RPLIDAR.\n"); -#ifdef ENABLE_RPLIDAR_SDK_SUPPORT - pRPLIDAR->drv->stopMotor(); - pRPLIDAR->drv->disconnect(); - RPlidarDriver::DisposeDriver(pRPLIDAR->drv); pRPLIDAR->drv = NULL; -#else - CloseRS232Port(&pRPLIDAR->RS232Port); -#endif // ENABLE_RPLIDAR_SDK_SUPPORT - return EXIT_FAILURE; - } + SetMotorPWMRequestRPLIDAR(pRPLIDAR, 0); #ifdef ENABLE_RPLIDAR_SDK_SUPPORT pRPLIDAR->drv->stopMotor(); diff --git a/RPLIDAR0.txt b/RPLIDAR0.txt index 33ef949..2cb25c7 100644 --- a/RPLIDAR0.txt +++ b/RPLIDAR0.txt @@ -14,7 +14,7 @@ COM9 1 % bStartScanModeAtStartup 1 -% ScanMode (0 : SCAN, 1 : EXPRESS_SCAN, 2 : FORCE_SCAN) +% ScanMode (0 : SCAN, 1 : EXPRESS_SCAN, 2 : FORCE_SCAN, or if using GetOtherScanDataResponseRPLIDAR(), the available values and modes might be different, see https://github.com/ENSTABretagneRobotics/Hardware-MATLAB/issues/3#issuecomment-661349278) 0 % motordelay (in ms) 2000 diff --git a/SBG.h b/SBG.h index fa2ff20..6978c22 100644 --- a/SBG.h +++ b/SBG.h @@ -1251,6 +1251,8 @@ inline int ConnectSBG(SBG* pSBG, char* szCfgFilePath) } #endif // DISABLE_SBG_TCP + mSleep(500); // Needed sometimes to allow non-blocking sockets to be ready... + if (sbgEComInit(&pSBG->comHandle, &pSBG->sbgInterface) != SBG_NO_ERROR) { printf("Unable to connect to a SBG : Unable to initialize the sbgECom library.\n"); diff --git a/StartOtherScanRequestRPLIDAR.m b/StartOtherScanRequestRPLIDAR.m index b21847d..88c58d8 100644 --- a/StartOtherScanRequestRPLIDAR.m +++ b/StartOtherScanRequestRPLIDAR.m @@ -1,2 +1,2 @@ -function [result] = StartOtherScanRequestRPLIDAR(pRPLIDAR, scanmode) -result = calllib('hardwarex', 'StartOtherScanRequestRPLIDARx', pRPLIDAR, scanmode); +function [result] = StartOtherScanRequestRPLIDAR(pRPLIDAR, scanmodeid) +result = calllib('hardwarex', 'StartOtherScanRequestRPLIDARx', pRPLIDAR, scanmodeid); diff --git a/StartOtherScanThreadRPLIDAR.m b/StartOtherScanThreadRPLIDAR.m new file mode 100644 index 0000000..26d8e28 --- /dev/null +++ b/StartOtherScanThreadRPLIDAR.m @@ -0,0 +1,2 @@ +function [result] = StartOtherScanThreadRPLIDAR(pRPLIDAR) +result = calllib('hardwarex', 'StartOtherScanThreadRPLIDARx', pRPLIDAR); diff --git a/StopOtherScanThreadRPLIDAR.m b/StopOtherScanThreadRPLIDAR.m new file mode 100644 index 0000000..3d6906b --- /dev/null +++ b/StopOtherScanThreadRPLIDAR.m @@ -0,0 +1,2 @@ +function [result] = StopOtherScanThreadRPLIDAR(pRPLIDAR) +result = calllib('hardwarex', 'StopOtherScanThreadRPLIDARx', pRPLIDAR); diff --git a/TODO.txt b/TODO.txt index 7114631..68a8195 100644 --- a/TODO.txt +++ b/TODO.txt @@ -1,15 +1,23 @@ +For rebuild, always check defines (to reset after build except for 3rd release), mavlink version (to reset after build), UpgradeDLL.bat, genproto... + Update Hardware-CPP, MATLAB, Python (check structures), in particular mavlink messages... -critical sections should be everywhere especially for Pololu and SSC32... +char/array of char parameters : see GetInfoRequestRPLIDAR(), GetAllSupportedScanModesRPLIDAR... + + +Script that copy downloaded drafts, put them in hardwarex_with_3rd_support, change defines and mavlink, run genproto, patch it (in a vm/docker with MATLAB 32 and 64?)... +patch hardwarex_proto.m for structures indicated in warnings... +https://fr.mathworks.com/matlabcentral/answers/103180-why-do-i-get-warnings-when-loading-a-dll-with-loadlibrary-in-matlab-7-13-r2011b +sed FcnPtr, s_LIST_ENTRYPtr voidPtr +Bitfields 'error' in UBX, so that UBX could be supported at least in MATLAB... +Fix also for latest mavlink MAVPACKED mavlink_types.h (check if it is also a problem for Linux) and auto test with sitl? +http://fr.mathworks.com/help/matlab/matlab_external/limitations-to-shared-library-support.html RPLIDAR : Ne marche pas avec appli du fabricant parfois, on peut pas renommer le port car une autre application l'utilise, mais quelle autre...? Faut utiliser vieux SDK, et il faudrait que le code CPP récupère les données tout le temps dans un thread... Crash matlab when exiting getotherscan...? BSOD? -For rebuild, always check defines (to reset after build), mavlink version, update proto.m... - -Problème parsing UBXProtocol.h (bitfields?) : éditer manuellement hardwarex_proto.m, faire un ifdef spécial cas MATLAB...? -http://fr.mathworks.com/help/matlab/matlab_external/limitations-to-shared-library-support.html +critical sections should be everywhere especially for Pololu and SSC32... For the thread, only 1 device of the same type can be used... Simplify by gathering Create, Connect...? @@ -21,5 +29,3 @@ OLD libhardwarex.so vs hardwarex.so...? hardwarex_setup->error rplidar sdk C++->tweak rplidar struct (add padding when not using sdk?) so that size corresponds...? - -Hardware-MATLAB/Python : if ENABLE_SBG_SDK_SUPPORT disabled, SBG MATLAB and Python functions should not be disabled... diff --git a/hardwarex.cpp b/hardwarex.cpp index c06b0dc..4b10089 100644 --- a/hardwarex.cpp +++ b/hardwarex.cpp @@ -62,6 +62,7 @@ BOOL bExitHokuyo = FALSE; THREAD_IDENTIFIER RPLIDARScanThreadId; THREAD_IDENTIFIER RPLIDARExpressScanThreadId; +THREAD_IDENTIFIER RPLIDAROtherScanThreadId; CRITICAL_SECTION RPLIDARCS; double angleRPLIDAR = 0; double distanceRPLIDAR = 0; @@ -71,6 +72,7 @@ BOOL bNewScanRPLIDAR = FALSE; int qualityRPLIDAR = FALSE; BOOL bExitScanRPLIDAR = FALSE; BOOL bExitExpressScanRPLIDAR = FALSE; +BOOL bExitOtherScanRPLIDAR = FALSE; #ifdef ENABLE_MAVLINK_SUPPORT THREAD_IDENTIFIER MAVLinkDeviceThreadId; @@ -1224,6 +1226,27 @@ HARDWAREX_API int GetInfoRequestRPLIDARx(RPLIDAR* pRPLIDAR, int* pModelID, int* return GetInfoRequestRPLIDAR(pRPLIDAR, pModelID, pHardwareVersion, pFirmwareMajor, pFirmwareMinor, SerialNumber); } +HARDWAREX_API int GetTypicalScanModeRPLIDARx(RPLIDAR* pRPLIDAR, int* pScanModeID) +{ + return GetTypicalScanModeRPLIDAR(pRPLIDAR, pScanModeID); +} + +HARDWAREX_API int GetAllSupportedScanModesRPLIDARx(RPLIDAR* pRPLIDAR, int* pScanModeIDs, double* pusPerSamples, double* pMaxDistances, int* pAnsTypes, char** pScanModeNames) +{ + RPLIDARSCANMODE scanmodes[MAX_NB_SCAN_MODES_RPLIDAR]; + int i = 0; + int res = GetAllSupportedScanModesRPLIDAR(pRPLIDAR, scanmodes); + for (i = 0; i < MAX_NB_SCAN_MODES_RPLIDAR; i++) + { + pScanModeIDs[i] = scanmodes[i].id; + pusPerSamples[i] = scanmodes[i].us_per_sample; + pMaxDistances[i] = scanmodes[i].max_distance; + pAnsTypes[i] = scanmodes[i].ans_type; + memcpy(pScanModeNames[i], scanmodes[i].scan_mode, 64); + } + return res; +} + HARDWAREX_API int SetMotorPWMRequestRPLIDARx(RPLIDAR* pRPLIDAR, int pwm) { return SetMotorPWMRequestRPLIDAR(pRPLIDAR, pwm); @@ -1254,9 +1277,9 @@ HARDWAREX_API int GetExpressScanDataResponseRPLIDARx(RPLIDAR* pRPLIDAR, double* return GetExpressScanDataResponseRPLIDAR(pRPLIDAR, pDistances, pAngles, pbNewScan); } -HARDWAREX_API int StartOtherScanRequestRPLIDARx(RPLIDAR* pRPLIDAR, int scanmode) +HARDWAREX_API int StartOtherScanRequestRPLIDARx(RPLIDAR* pRPLIDAR, int scanmodeid) { - return StartOtherScanRequestRPLIDAR(pRPLIDAR, scanmode); + return StartOtherScanRequestRPLIDAR(pRPLIDAR, scanmodeid); } HARDWAREX_API int GetOtherScanDataResponseRPLIDARx(RPLIDAR* pRPLIDAR, double* pDistances, double* pAngles, BOOL* pbNewScan) @@ -1324,6 +1347,30 @@ THREAD_PROC_RETURN_VALUE RPLIDARExpressScanThread(void* pParam) return 0; } +THREAD_PROC_RETURN_VALUE RPLIDAROtherScanThread(void* pParam) +{ + RPLIDAR* pRPLIDAR = (RPLIDAR*)pParam; + double angles[NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR]; + double distances[NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR]; + BOOL bNewScan = FALSE; + + for (;;) + { + //mSleep(pRPLIDAR->threadperiod); + memset(distances, 0, NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR*sizeof(double)); + memset(angles, 0, NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR*sizeof(double)); + GetOtherScanDataResponseRPLIDAR(pRPLIDAR, distances, angles, &bNewScan); + EnterCriticalSection(&RPLIDARCS); + memcpy(distancesRPLIDAR, distances, NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR*sizeof(double)); + memcpy(anglesRPLIDAR, angles, NB_MEASUREMENTS_OTHER_SCAN_DATA_RESPONSE_RPLIDAR*sizeof(double)); + bNewScanRPLIDAR = bNewScan; + LeaveCriticalSection(&RPLIDARCS); + if (bExitOtherScanRPLIDAR) break; + } + + return 0; +} + HARDWAREX_API int GetScanDataResponseFromThreadRPLIDARx(RPLIDAR* pRPLIDAR, double* pDistance, double* pAngle, BOOL* pbNewScan, int *pQuality) { UNREFERENCED_PARAMETER(pRPLIDAR); @@ -1355,6 +1402,21 @@ HARDWAREX_API int GetExpressScanDataResponseFromThreadRPLIDARx(RPLIDAR* pRPLIDAR return EXIT_SUCCESS; } +HARDWAREX_API int GetOtherScanDataResponseFromThreadRPLIDARx(RPLIDAR* pRPLIDAR, double* pDistances, double* pAngles, BOOL* pbNewScan) +{ + UNREFERENCED_PARAMETER(pRPLIDAR); + + // id[pRPLIDAR->szCfgFile] to be able to handle several devices... + + EnterCriticalSection(&RPLIDARCS); + memcpy(pDistances, distancesRPLIDAR, NB_MEASUREMENTS_EXPRESS_SCAN_DATA_RESPONSE_RPLIDAR*sizeof(double)); + memcpy(pAngles, anglesRPLIDAR, NB_MEASUREMENTS_EXPRESS_SCAN_DATA_RESPONSE_RPLIDAR*sizeof(double)); + *pbNewScan = bNewScanRPLIDAR; + LeaveCriticalSection(&RPLIDARCS); + + return EXIT_SUCCESS; +} + HARDWAREX_API int StartScanThreadRPLIDARx(RPLIDAR* pRPLIDAR) { bExitScanRPLIDAR = FALSE; @@ -1388,6 +1450,23 @@ HARDWAREX_API int StopExpressScanThreadRPLIDARx(RPLIDAR* pRPLIDAR) DeleteCriticalSection(&RPLIDARCS); return EXIT_SUCCESS; } + +HARDWAREX_API int StartOtherScanThreadRPLIDARx(RPLIDAR* pRPLIDAR) +{ + bExitOtherScanRPLIDAR = FALSE; + InitCriticalSection(&RPLIDARCS); + return CreateDefaultThread(RPLIDAROtherScanThread, (void*)pRPLIDAR, &RPLIDAROtherScanThreadId); +} + +HARDWAREX_API int StopOtherScanThreadRPLIDARx(RPLIDAR* pRPLIDAR) +{ + UNREFERENCED_PARAMETER(pRPLIDAR); + + bExitOtherScanRPLIDAR = TRUE; + WaitForThread(RPLIDAROtherScanThreadId); + DeleteCriticalSection(&RPLIDARCS); + return EXIT_SUCCESS; +} #pragma endregion #ifdef ENABLE_MAVLINK_SUPPORT diff --git a/hardwarex.h b/hardwarex.h index 6e80ebe..e24311b 100644 --- a/hardwarex.h +++ b/hardwarex.h @@ -230,13 +230,15 @@ extern "C" { HARDWAREX_API int GetStartupMessageRPLIDARx(RPLIDAR* pRPLIDAR); HARDWAREX_API int GetHealthRequestRPLIDARx(RPLIDAR* pRPLIDAR, BOOL* pbProtectionStop); HARDWAREX_API int GetInfoRequestRPLIDARx(RPLIDAR* pRPLIDAR, int* pModelID, int* pHardwareVersion, int* pFirmwareMajor, int* pFirmwareMinor, char* SerialNumber); + HARDWAREX_API int GetTypicalScanModeRPLIDARx(RPLIDAR* pRPLIDAR, int* pScanModeID); + HARDWAREX_API int GetAllSupportedScanModesRPLIDARx(RPLIDAR* pRPLIDAR, int* pScanModeIDs, double* pusPerSamples, double* pMaxDistances, int* pAnsTypes, char** pScanModeNames); HARDWAREX_API int SetMotorPWMRequestRPLIDARx(RPLIDAR* pRPLIDAR, int pwm); HARDWAREX_API int StartScanRequestRPLIDARx(RPLIDAR* pRPLIDAR); HARDWAREX_API int StartForceScanRequestRPLIDARx(RPLIDAR* pRPLIDAR); HARDWAREX_API int GetScanDataResponseRPLIDARx(RPLIDAR* pRPLIDAR, double* pDistance, double* pAngle, BOOL* pbNewScan, int* pQuality); HARDWAREX_API int StartExpressScanRequestRPLIDARx(RPLIDAR* pRPLIDAR); HARDWAREX_API int GetExpressScanDataResponseRPLIDARx(RPLIDAR* pRPLIDAR, double* pDistances, double* pAngles, BOOL* pbNewScan); - HARDWAREX_API int StartOtherScanRequestRPLIDARx(RPLIDAR* pRPLIDAR, int scanmode); + HARDWAREX_API int StartOtherScanRequestRPLIDARx(RPLIDAR* pRPLIDAR, int scanmodeid); HARDWAREX_API int GetOtherScanDataResponseRPLIDARx(RPLIDAR* pRPLIDAR, double* pDistances, double* pAngles, BOOL* pbNewScan); HARDWAREX_API int ConnectRPLIDARx(RPLIDAR* pRPLIDAR, char* szCfgFilePath); HARDWAREX_API int DisconnectRPLIDARx(RPLIDAR* pRPLIDAR); @@ -246,6 +248,8 @@ extern "C" { HARDWAREX_API int StopScanThreadRPLIDARx(RPLIDAR* pRPLIDAR); HARDWAREX_API int StartExpressScanThreadRPLIDARx(RPLIDAR* pRPLIDAR); HARDWAREX_API int StopExpressScanThreadRPLIDARx(RPLIDAR* pRPLIDAR); + HARDWAREX_API int StartOtherScanThreadRPLIDARx(RPLIDAR* pRPLIDAR); + HARDWAREX_API int StopOtherScanThreadRPLIDARx(RPLIDAR* pRPLIDAR); #ifdef ENABLE_MAVLINK_SUPPORT HARDWAREX_API MAVLINKDEVICE* CreateMAVLinkDevicex(void); diff --git a/linux_x64/hardwarex.so b/linux_x64/hardwarex.so index a18d83e8134f4538c147dd2b657b5a629601631f..4708bf69f56f684a49d9b3945a4ad78e7449f26b 100644 GIT binary patch literal 276192 zcmeFac|era_douCjN%HKCRygV748UXSeoN9Ixgh66>0{^A}9i}C|TCH22K=Nmf1#` zX|~}~k)@)gpjn}1k+zU#GHFS+k){65IrluzoEc`S&+q&F7NFx_XJFgh?GK+~^A+RYlG_~#X4;f$JoLHwj?7A;z90{>p4T}`qkBd6hm?UhDE 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[result, distance, angle, bNewScan, quality] = GetScanDataResponseRPLIDAR(pRPLIDAR); str = sprintf('Distance at %f deg = %f m\n', angle*180.0/pi, distance); %[result, distances, angles, bNewScan] = GetExpressScanDataResponseRPLIDAR(pRPLIDAR); %str = sprintf('Distance at %f deg = %f m\n', angles(1)*180.0/pi, distances(1)); +%[result, distances, angles, bNewScan] = GetOtherScanDataResponseRPLIDAR(pRPLIDAR); +%str = sprintf('Distance at %f deg = %f m\n', angles(1)*180.0/pi, distances(1)); disp(str); fig = figure('Position',[200 200 400 400],'NumberTitle','off'); @@ -28,6 +34,7 @@ %[result] = StartScanThreadRPLIDAR(pRPLIDAR); %[result] = StartExpressScanThreadRPLIDAR(pRPLIDAR); +%[result] = StartOtherScanThreadRPLIDAR(pRPLIDAR); count = 0; alldistances = []; allangles = []; key = 0; @@ -36,13 +43,15 @@ %[result, distances, angles, bNewScan, quality] = GetScanDataResponseFromThreadRPLIDAR(pRPLIDAR); %[result, distances, angles, bNewScan] = GetExpressScanDataResponseRPLIDAR(pRPLIDAR); %[result, distances, angles, bNewScan] = GetExpressScanDataResponseFromThreadRPLIDAR(pRPLIDAR); + %[result, distances, angles, bNewScan] = GetOtherScanDataResponseRPLIDAR(pRPLIDAR); + %[result, distances, angles, bNewScan] = GetOtherScanDataResponseFromThreadRPLIDAR(pRPLIDAR); alldistances = [alldistances distances]; allangles = [allangles angles]; %if bNewScan if count > 360 %if count > 720/32 clf; hold on; axis([-scale,scale,-scale,scale]); plot(alldistances.*cos(allangles), alldistances.*sin(allangles), '.'); - pause(0.05); key = get(gcf,'CurrentCharacter'); + pause(0.01); key = get(gcf,'CurrentCharacter'); count = 0; alldistances = []; allangles = []; end count = count+1; @@ -50,6 +59,7 @@ %[result] = StopScanThreadRPLIDAR(pRPLIDAR); %[result] = StopExpressScanThreadRPLIDAR(pRPLIDAR); +%[result] = StopOtherScanThreadRPLIDAR(pRPLIDAR); close(fig); diff --git a/x64/hardwarex.dll b/x64/hardwarex.dll index 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zguQ;yllHH>KZsSX7xiSj@`wjqFX~BlrHgtJU0&?(dQlH|D_tDpda*F>b^OP??fxL@ ziE0%P^(3^sxX<;Xo=#S}c%JJ;J>^@#5mVF?vsy#qVx;_fLN@ApqkmIQ@m*VTs<%Zy zKYvjAg#OU^^vW!6i?=+UNQu|q;;<)La>U=FkC$g`E^5(Yr^i&D+Oox9k0(%a$0;qQ hc!HJRp3>rTPx~U_n)&w2Y>(o diff --git a/x64/hardwarex_proto.m b/x64/hardwarex_proto.m index a0f538e..31ca977 100644 --- a/x64/hardwarex_proto.m +++ b/x64/hardwarex_proto.m @@ -1,7 +1,7 @@ function [methodinfo,structs,enuminfo,ThunkLibName]=hardwarex_proto %HARDWAREX_PROTO Create structures to define interfaces found in 'hardwarex'. -%This function was generated by loadlibrary.m parser version on Sun Jul 19 22:28:11 2020 +%This function was generated by loadlibrary.m parser version on Thu Jul 30 15:19:21 2020 %perl options:'hardwarex.i -outfile=hardwarex_proto.m -thunkfile=hardwarex_thunk_pcwin64.c -header=hardwarex.h' ival={cell(1,0)}; % change 0 to the actual number of functions to preallocate the data. structs=[];enuminfo=[];fcnNum=1; @@ -260,6 +260,10 @@ fcns.thunkname{fcnNum}='int32voidPtrvoidPtrThunk';fcns.name{fcnNum}='GetHealthRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr'};fcnNum=fcnNum+1; % int GetInfoRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int * pModelID , int * pHardwareVersion , int * pFirmwareMajor , int * pFirmwareMinor , char * SerialNumber ); fcns.thunkname{fcnNum}='int32voidPtrvoidPtrvoidPtrvoidPtrvoidPtrcstringThunk';fcns.name{fcnNum}='GetInfoRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr', 'int32Ptr', 'int32Ptr', 'int32Ptr', 'cstring'};fcnNum=fcnNum+1; +% int GetTypicalScanModeRPLIDARx ( RPLIDAR * pRPLIDAR , int * pScanModeID ); +fcns.thunkname{fcnNum}='int32voidPtrvoidPtrThunk';fcns.name{fcnNum}='GetTypicalScanModeRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr'};fcnNum=fcnNum+1; +% int GetAllSupportedScanModesRPLIDARx ( RPLIDAR * pRPLIDAR , int * pScanModeIDs , double * pusPerSamples , double * pMaxDistances , int * pAnsTypes , char ** pScanModeNames ); +fcns.thunkname{fcnNum}='int32voidPtrvoidPtrvoidPtrvoidPtrvoidPtrvoidPtrThunk';fcns.name{fcnNum}='GetAllSupportedScanModesRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr', 'doublePtr', 'doublePtr', 'int32Ptr', 'stringPtrPtr'};fcnNum=fcnNum+1; % int SetMotorPWMRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int pwm ); fcns.thunkname{fcnNum}='int32voidPtrint32Thunk';fcns.name{fcnNum}='SetMotorPWMRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32'};fcnNum=fcnNum+1; % int StartScanRequestRPLIDARx ( RPLIDAR * pRPLIDAR ); @@ -272,7 +276,7 @@ fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='StartExpressScanRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; % int GetExpressScanDataResponseRPLIDARx ( RPLIDAR * pRPLIDAR , double * pDistances , double * pAngles , BOOL * pbNewScan ); fcns.thunkname{fcnNum}='int32voidPtrvoidPtrvoidPtrvoidPtrThunk';fcns.name{fcnNum}='GetExpressScanDataResponseRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'doublePtr', 'doublePtr', 'int32Ptr'};fcnNum=fcnNum+1; -% int StartOtherScanRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int scanmode ); +% int StartOtherScanRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int scanmodeid ); fcns.thunkname{fcnNum}='int32voidPtrint32Thunk';fcns.name{fcnNum}='StartOtherScanRequestRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32'};fcnNum=fcnNum+1; % int GetOtherScanDataResponseRPLIDARx ( RPLIDAR * pRPLIDAR , double * pDistances , double * pAngles , BOOL * pbNewScan ); fcns.thunkname{fcnNum}='int32voidPtrvoidPtrvoidPtrvoidPtrThunk';fcns.name{fcnNum}='GetOtherScanDataResponseRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'doublePtr', 'doublePtr', 'int32Ptr'};fcnNum=fcnNum+1; @@ -292,6 +296,10 @@ fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='StartExpressScanThreadRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; % int StopExpressScanThreadRPLIDARx ( RPLIDAR * pRPLIDAR ); fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='StopExpressScanThreadRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; +% int StartOtherScanThreadRPLIDARx ( RPLIDAR * pRPLIDAR ); +fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='StartOtherScanThreadRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; +% int StopOtherScanThreadRPLIDARx ( RPLIDAR * pRPLIDAR ); +fcns.thunkname{fcnNum}='int32voidPtrThunk';fcns.name{fcnNum}='StopOtherScanThreadRPLIDARx'; fcns.calltype{fcnNum}='Thunk'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; structs.s_iobuf.members=struct('m_Placeholder', 'voidPtr'); structs.RS232PORT.members=struct('hDev', 'voidPtr', 's', 'uint64', 's_srv', 'uint64', 'szDevPath', 'int8#256', 'address', 'int8#256', 'port', 'int8#256', 'DevType', 'int32'); structs.UTC_Time_SBG.members=struct('Nanoseconds', 'uint32', 'Year', 'uint16', 'Month', 'uint8', 'Day', 'uint8', 'Hour', 'uint8', 'Minute', 'uint8', 'Seconds', 'uint8', 'Valid', 'uint8'); diff --git a/x64/hardwarex_thunk_pcwin64.dll b/x64/hardwarex_thunk_pcwin64.dll index e3288472debf08823cf5992d9fd1bc6e748298de..d7207a7c7d7201804bd5e38329cf1caa13afe667 100644 GIT binary patch delta 29172 zcmeIbiCgym(cphDECeXt-_FVBiZYidGHRa0}s94JSP^Ka1xf{PXj4lzZ>=(SopGqe1wl zzS|sUXsgi8(oym<2{o{Mpj)?eW!=Qt?uqH5&>#tdi4}_xu1TU0_;hGjsXU2Y6bB75 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zChZRGXx(Jp54wGD+865E>CO86`n&qq5U2;j#@x=(#W2V)+;Gxx(QwB=PnHvnGmJS# z#^hp(G4(f1H!U=+Fm2#s1_84ZI%#hfHxf4%o5c&oE5w%}ys8hORg|QMG(kE@+D4|9 zMag1iV{WEi5B8?G4cL6GQTYyuncO5+ye zk49fO?W*9wu+j8`>1VpJ!0(*{KwEc-FAT|bSZZHMkknTi00H;_=_ct<(omU293^z9 z1MidxJsnCxHLL2WicNwibD`#_rbKgE0}&D@Wdxjurs%|AkrAdbV3BOoPKcz=o64zO zL~!Fr6S0q2&4qwdz%T`Hax4`;goA*O#1GCZNs=^4j-(KLmXZ3wNjeE;SdO%iJGc1B i!emLZG+7QT3#Bqf?pH@1Chsp#vb>5G)<@(#R{t->_WYm# diff --git a/x86/hardwarex_proto.m b/x86/hardwarex_proto.m index 256390c..1395fd0 100644 --- a/x86/hardwarex_proto.m +++ b/x86/hardwarex_proto.m @@ -1,7 +1,7 @@ function [methodinfo,structs,enuminfo,ThunkLibName]=hardwarex_proto %HARDWAREX_PROTO Create structures to define interfaces found in 'hardwarex'. -%This function was generated by loadlibrary.m parser version 1.1.6.38 on Sun Jul 19 22:27:35 2020 +%This function was generated by loadlibrary.m parser version on Thu Jul 30 15:18:57 2020 %perl options:'hardwarex.i -outfile=hardwarex_proto.m' ival={cell(1,0)}; % change 0 to the actual number of functions to preallocate the data. structs=[];enuminfo=[];fcnNum=1; @@ -259,6 +259,10 @@ fcns.name{fcnNum}='GetHealthRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr'};fcnNum=fcnNum+1; % int GetInfoRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int * pModelID , int * pHardwareVersion , int * pFirmwareMajor , int * pFirmwareMinor , char * SerialNumber ); fcns.name{fcnNum}='GetInfoRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr', 'int32Ptr', 'int32Ptr', 'int32Ptr', 'cstring'};fcnNum=fcnNum+1; +% int GetTypicalScanModeRPLIDARx ( RPLIDAR * pRPLIDAR , int * pScanModeID ); +fcns.name{fcnNum}='GetTypicalScanModeRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr'};fcnNum=fcnNum+1; +% int GetAllSupportedScanModesRPLIDARx ( RPLIDAR * pRPLIDAR , int * pScanModeIDs , double * pusPerSamples , double * pMaxDistances , int * pAnsTypes , char ** pScanModeNames ); +fcns.name{fcnNum}='GetAllSupportedScanModesRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32Ptr', 'doublePtr', 'doublePtr', 'int32Ptr', 'stringPtrPtr'};fcnNum=fcnNum+1; % int SetMotorPWMRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int pwm ); fcns.name{fcnNum}='SetMotorPWMRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32'};fcnNum=fcnNum+1; % int StartScanRequestRPLIDARx ( RPLIDAR * pRPLIDAR ); @@ -271,7 +275,7 @@ fcns.name{fcnNum}='StartExpressScanRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; % int GetExpressScanDataResponseRPLIDARx ( RPLIDAR * pRPLIDAR , double * pDistances , double * pAngles , BOOL * pbNewScan ); fcns.name{fcnNum}='GetExpressScanDataResponseRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'doublePtr', 'doublePtr', 'int32Ptr'};fcnNum=fcnNum+1; -% int StartOtherScanRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int scanmode ); +% int StartOtherScanRequestRPLIDARx ( RPLIDAR * pRPLIDAR , int scanmodeid ); fcns.name{fcnNum}='StartOtherScanRequestRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'int32'};fcnNum=fcnNum+1; % int GetOtherScanDataResponseRPLIDARx ( RPLIDAR * pRPLIDAR , double * pDistances , double * pAngles , BOOL * pbNewScan ); fcns.name{fcnNum}='GetOtherScanDataResponseRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr', 'doublePtr', 'doublePtr', 'int32Ptr'};fcnNum=fcnNum+1; @@ -291,6 +295,10 @@ fcns.name{fcnNum}='StartExpressScanThreadRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; % int StopExpressScanThreadRPLIDARx ( RPLIDAR * pRPLIDAR ); fcns.name{fcnNum}='StopExpressScanThreadRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; +% int StartOtherScanThreadRPLIDARx ( RPLIDAR * pRPLIDAR ); +fcns.name{fcnNum}='StartOtherScanThreadRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; +% int StopOtherScanThreadRPLIDARx ( RPLIDAR * pRPLIDAR ); +fcns.name{fcnNum}='StopOtherScanThreadRPLIDARx'; fcns.calltype{fcnNum}='cdecl'; fcns.LHS{fcnNum}='int32'; fcns.RHS{fcnNum}={'RPLIDARPtr'};fcnNum=fcnNum+1; structs.s_iobuf.members=struct('m_Placeholder', 'voidPtr'); structs.RS232PORT.members=struct('hDev', 'voidPtr', 's', 'uint32', 's_srv', 'uint32', 'szDevPath', 'int8#256', 'address', 'int8#256', 'port', 'int8#256', 'DevType', 'int32'); structs.UTC_Time_SBG.members=struct('Nanoseconds', 'uint32', 'Year', 'uint16', 'Month', 'uint8', 'Day', 'uint8', 'Hour', 'uint8', 'Minute', 'uint8', 'Seconds', 'uint8', 'Valid', 'uint8');