Merge branch 'master' of gitlab.com:ArmarX/RobotAPI

source/RobotAPI/components/KITHandUnit/KITHandUnit.cpp

@@ -77,8 +77,19 @@ namespace armarx
             std::vector<HandDevice> devices = _driver->scanForDevices(mode);
             for (HandDevice& d : devices)
             {
-                ARMARX_INFO << "Found device with MAC-Address: " << d.macAdress;
-                if (d.macAdress == macAddress)
+                if (mode == KITHandCommunicationDriver::ScanMode::Bluetooth)
+                {
+                    ARMARX_INFO << "Found device with MAC-Address: " << d.macAdress;
+                }
+                else if (mode == KITHandCommunicationDriver::ScanMode::Serial)
+                {
+                    ARMARX_INFO << "Found device at serial port: " << d.serialDeviceFile;
+                }
+                else
+                {
+                    ARMARX_INFO << "Found hand"; //TODO
+                }
+                if (d.macAdress == macAddress || (mode == KITHandCommunicationDriver::ScanMode::Serial))
                 {
                     d.hardwareTarget = mode == KITHandCommunicationDriver::ScanMode::Bluetooth ? KITHand::HardwareTarget::Bluetooth : KITHand::HardwareTarget::Serial;
                     _driver->connect(d);
@@ -101,7 +112,14 @@ namespace armarx
                && !found
                && std::chrono::duration_cast<std::chrono::seconds>(std::chrono::system_clock::now() - start).count() < getProperty<int>("ScanTimeout").getValue());
 
-        ARMARX_WARNING << "Could not find hand with the given MAC-Address: " << macAddress << " Shutting down this KITHandUnit.";
+        if (mode == KITHandCommunicationDriver::ScanMode::Bluetooth)
+        {
+            ARMARX_WARNING << "Could not find hand with the given MAC-Address: " << macAddress << " Shutting down this KITHandUnit.";
+        }
+        else
+        {
+            ARMARX_WARNING << "Could not find hand ove serial ports. Shutting down this KITHHandUnit";
+        }
         getArmarXManager()->asyncShutdown();
     }