Stop data transmission in urg3d_open. Add urg3d_high_blocking_stop_data API.

include/urg3d_sensor.h

@@ -398,6 +398,18 @@ extern "C" {
     */
     extern int urg3d_high_stop_data(urg3d_t * const urg, urg3d_measurement_type_t meas);
 
+    /*!
+      \brief request to stop data
+
+      \param[in,out] urg : urg3d session
+      \param[in] meas : urg3d_measurement_type_t sturct, i.e. meas = URG3D_DISTANCE_INTENSITY
+
+      \retval 1 succeeded
+      \retval 0 nothing happens
+    */
+    extern int urg3d_high_blocking_stop_data(urg3d_t* const urg, urg3d_measurement_type_t meas);
+
+
     /*!
       \brief get "range and intensity" or "range only" user format from revceived data buffer
 

samples/high_1_field_data_file.c

@@ -162,8 +162,8 @@ int main(int argc, char *argv[])
     /*
      * stop the acquisition flow started earlier using the start acquisition mode.
      */
-    if((ret = urg3d_high_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
-        printf("error urg3d_high_stop_data %d\n", ret);
+    if((ret = urg3d_high_blocking_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
+        printf("error urg3d_high_blocking_stop_data %d\n", ret);
         ret = urg3d_close(&urg);
         #if defined(URG3D_MSC)
             getchar();

samples/high_1_frame_4_field_data_file.c

@@ -185,8 +185,8 @@ int main(int argc, char *argv[])
     /*
      * stop the acquisition flow started earlier using the start acquisition mode.
      */
-    if((ret = urg3d_high_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
-        printf("error urg3d_high_stop_data %d\n", ret);
+    if((ret = urg3d_high_blocking_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
+        printf("error urg3d_high_blocking_stop_data %d\n", ret);
         ret = urg3d_close(&urg);
         #if defined(URG3D_MSC)
             getchar();

samples/high_1_frame_4_vfield_2_hfield_data_file.c

@@ -197,8 +197,8 @@ int main(int argc, char *argv[])
     /*
      * stop the acquisition flow started earlier using the start acquisition mode.
      */
-    if((ret = urg3d_high_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
-        printf("error urg3d_high_stop_data %d\n", ret);
+    if((ret = urg3d_high_blocking_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
+        printf("error urg3d_high_blocking_stop_data %d\n", ret);
         ret = urg3d_close(&urg);
         #if defined(URG3D_MSC)
             getchar();

samples/high_1_line_data_file.c

@@ -138,8 +138,8 @@ int main(int argc, char *argv[])
     /*
      * stop the acquisition flow started earlier using the start acquisition mode.
      */
-    if((ret = urg3d_high_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
-        printf("error urg3d_high_stop_data %d\n", ret);
+    if((ret = urg3d_high_blocking_stop_data(&urg, URG3D_DISTANCE_INTENSITY)) < 0) {
+        printf("error urg3d_high_blocking_stop_data %d\n", ret);
         ret = urg3d_close(&urg);
         #if defined(URG3D_MSC)
             getchar();

samples/high_get_auxiliary.c

@@ -295,8 +295,8 @@ int main(int argc, char *argv[])
     }
 
     // stop data stream
-    if((ret = urg3d_high_stop_data(&urg, URG3D_AUXILIARY)) < 0) {
-        printf("error urg3d_high_stop_data %d\n", ret);
+    if((ret = urg3d_high_blocking_stop_data(&urg, URG3D_AUXILIARY)) < 0) {
+        printf("error urg3d_high_blocking_stop_data %d\n", ret);
         ret = urg3d_close(&urg);
         #if defined(URG3D_MSC)
             getchar();

samples/low_get_ax.c

@@ -104,7 +104,7 @@ int main(int argc, char *argv[])
                 }
             }
         } else {
-               #ifdef URG3D_WINDOWS_OS
+            #ifdef URG3D_WINDOWS_OS
                 Sleep(10);
             #else
                 usleep(10000);
@@ -132,6 +132,13 @@ int main(int argc, char *argv[])
         printf("send ok -> DAT:ax=0\n");
     }
 
+    // wait stop
+    #ifdef URG3D_WINDOWS_OS
+        Sleep(1000);
+    #else
+        usleep(1000000);
+    #endif
+
     /*
      * close the connection to the sensor
      */

samples/low_get_multi_data.c

@@ -141,6 +141,13 @@ int main(int argc, char *argv[])
         printf("send ok -> DAT:ax=0\n");
     }
 
+    // wait stop
+    #ifdef URG3D_WINDOWS_OS
+        Sleep(1000);
+    #else
+        usleep(1000000);
+    #endif
+
     /*
      * close the connection to the sensor
      */

samples/low_get_ri.c

@@ -142,6 +142,13 @@ int main(int argc, char *argv[])
         printf("send ok -> DAT:ri=0\n");
     }
 
+    // wait stop
+    #ifdef URG3D_WINDOWS_OS
+        Sleep(1000);
+    #else
+        usleep(1000000);
+    #endif
+
     /*
      * close the connection to the sensor
      */

samples/low_get_ro.c

@@ -142,6 +142,13 @@ int main(int argc, char *argv[])
         printf("send ok -> DAT:ro=0\n");
     }
 
+    // wait stop
+    #ifdef URG3D_WINDOWS_OS
+        Sleep(1000);
+    #else
+        usleep(1000000);
+    #endif
+
     /*
      * close the connection to the sensor
      */

samples/low_get_ro_with_error_reboot.c

@@ -211,6 +211,13 @@ int main(int argc, char *argv[])
         printf("send success -> DAT:ro=0\n");
     }
 
+    // wait stop
+    #ifdef URG3D_WINDOWS_OS
+        Sleep(1000);
+    #else
+        usleep(1000000);
+    #endif
+
     // disconnect sensor
     if((ret = urg3d_close(&urg)) < 0) {
         printf("error urg3d_close %d\n", ret);

src/urg3d_sensor.c

@@ -37,6 +37,20 @@ int urg3d_open(urg3d_t* const urg
         return urg->last_errno;
     }
 
+    // stop the _ro/_ri data acquisition.
+    if ((ret = urg3d_high_stop_data(urg, URG3D_DISTANCE_INTENSITY)) < 0) {
+        urg3d_connection_close(&urg->connection);
+        urg->last_errno = URG3D_INVALID_RESPONSE;
+        return urg->last_errno;
+    }
+
+    // stop the _ax data acquisition.
+    if ((ret = urg3d_high_stop_data(urg, URG3D_AUXILIARY)) < 0) {
+        urg3d_connection_close(&urg->connection);
+        urg->last_errno = URG3D_INVALID_RESPONSE;
+        return urg->last_errno;
+    }
+
     urg->is_active = URG3D_TRUE;
     return 0;
 }
@@ -790,6 +804,26 @@ int urg3d_high_stop_data(urg3d_t* const urg
     return urg3d_low_request_command(urg, command_list[meas]);
 }
 
+int urg3d_high_blocking_stop_data(urg3d_t* const urg
+    , urg3d_measurement_type_t meas)
+{
+    urg3d_vssp_header_t header;
+    char data[URG3D_MAX_RX_LENGTH] = { 0 };
+    const char command_list[4][10] = { "", "DAT:ro=0\n", "DAT:ri=0\n", "DAT:ax=0\n" };
+    int ret = 0;
+
+    if (meas == URG3D_NO_REQUEST) {
+        return 0;
+    }
+
+    ret = urg3d_high_blocking_common(urg, &header, data, command_list[meas], "DAT", command_list[meas]);
+    if (ret < 0) {
+        return ret;
+    }
+
+    return 1;
+}
+
 int urg3d_high_get_measurement_data(urg3d_t * const urg
                                     , urg3d_measurement_data_t *data)
 {