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urg_sleep不具合修正2025/08/25 #32

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urg_sleep不具合修正2025/08/25 #32

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2f0679e
urg_sleep不具合修正2025/08/25
K-Yashiro123 Aug 25, 2025
152e66a
send_distance_command不具合修正2025/08/25
K-Yashiro123 Aug 25, 2025
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2 changes: 1 addition & 1 deletion current/include/c/urg_sensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -990,7 +990,7 @@ extern "C" {
\~
\see urg_wakeup()
*/
extern void urg_sleep(urg_t *urg);
extern int urg_sleep(urg_t *urg);


/*!
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16 changes: 11 additions & 5 deletions current/src/urg_sensor.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1263,18 +1263,24 @@ int urg_reboot(urg_t *urg)
}


void urg_sleep(urg_t *urg)
int urg_sleep(urg_t *urg)
{
enum { RECEIVE_BUFFER_SIZE = 4 };
int sl_expected[] = { 0, EXPECTED_END };
char receive_buffer[RECEIVE_BUFFER_SIZE];
char receive_buffer[RECEIVE_BUFFER_SIZE + 1];

if (urg_stop_measurement(urg) != URG_NO_ERROR) {
return;
int qtResult = urg_stop_measurement(urg);

if (qtResult != URG_NO_ERROR) {
return qtResult;
}

scip_response(urg, "%SL\n", sl_expected, MAX_TIMEOUT,
int ret = scip_response(urg, "%SL\n", sl_expected, 1000,
receive_buffer, RECEIVE_BUFFER_SIZE);
if (ret < 0) {
return ret;
}
return 0;
}


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