/*!
??\file
??\brief?Sample?to?get?URG?data?using?Win32

??\author?Satofumi?KAMIMURA

??$Id:?capture_sample.cpp?1724?2010-02-25?10:43:11Z?satofumi?$

??Compling?and?execute?process
??-?In?case?of?Visual?Studio
??-?Select?capture_sample.sln?from?capture_sample.zip
??-?When?Visual?Studio?is?started?press?F5?to?build?and?execute.
??-?If?COM?port?is?not?found?then?change?the?com_port?in?main?function.

??-?In?case?of?MinGW?Cygwin
??-?%?g++?capture_sample.cpp?-o?capture_sample
??-?%?./capture_sample
??-?If?COM?port?is?not?found?then?change?the?com_port?in?main?function.

??\attention?Change?com_port?com_baudrate?values?in?main（）?with?relevant?values.
??\attention?We?are?not?responsible?for?any?loss?or?damage?occur?by?using?this?program
??\attention?We?appreciate?the?suggestions?and?bug?reports
*/

#define?_CRT_SECURE_NO_WARNINGS

#include?
#include?
#include?
#include?
#include?

using?namespace?std;


//?To?record?the?output?of?SCIPdefine?RAW_OUTPUT
//#define?RAW_OUTPUT

#if?defined（RAW_OUTPUT）
static?FILE*?Raw_fd_?=?NULL;
#endif


enum?{
??Timeout?=?1000???????????????//?[msec]
??EachTimeout?=?2??????????????//?[msec]
??LineLength?=?64?+?3?+?1?+?1?+?1?+?16
};

static?HANDLE?HCom?=?INVALID_HANDLE_VALUE;
static?int?ReadableSize?=?0;
static?char*?ErrorMessage?=?“no?error.“;


/*!
??\brief?Manage?sensor?information
*/
typedef?struct
{
??enum?{
????MODL?=?0???????????????????//!????DMIN???????????????????????//!????DMAX???????????????????????//!????ARES???????????????????????//!????AMIN???????????????????????//!????AMAX???????????????????????//!????AFRT???????????????????????//!????SCAN???????????????????????//!??};
??string?model;?????????????????//!??long?distance_min;????????????//!??long?distance_max;????????????//!??int?area_total;???????????????//!??int?area_min;?????????????????//!??int?area_max;?????????????????//!??int?area_front;???????????????//!??int?scan_rpm;?????????????????//!
??int?first;????????????????????//!??int?last;?????????????????????//!??int?max_size;?????????????????//!??long?last_timestamp;??????????//!}?urg_state_t;


//?Delay
static?void?delay（int?msec）
{
??Sleep（msec）;
}


static?int?com_changeBaudrate（long?baudrate）
{
??DCB?dcb;

??GetCommState（HCom?&dcb）;
??dcb.BaudRate?=?baudrate;
??dcb.ByteSize?=?

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????文件???????17538??2013-01-28?10:40??capture_sample.cpp
?????文件????????5482??2013-01-28?10:41??data_001.csv
?????文件????????5483??2013-01-28?10:41??data_002.csv
?????文件????????5482??2013-01-28?10:41??data_003.csv
?????文件????????5482??2013-01-28?10:41??data_004.csv
?????文件????????5482??2013-01-28?10:41??data_005.csv
?????文件????????5482??2013-01-28?10:41??data_006.csv
?????文件????????5482??2013-01-28?10:41??data_007.csv
?????文件????????5478??2013-01-28?10:41??data_008.csv
?????文件????????5482??2013-01-28?10:41??data_009.csv
?????文件????????5483??2013-01-28?10:41??data_010.csv