diff --git a/etc/doxygen/pages/3.HowTos.dox b/etc/doxygen/pages/3.HowTos.dox
index abb2dc4a0f95ad228aa0e763a8c3a1b641e53237..03fe8b11e4c7bcb6b3294a9cb673ef74ac20212e 100644
--- a/etc/doxygen/pages/3.HowTos.dox
+++ b/etc/doxygen/pages/3.HowTos.dox
@@ -7,18 +7,33 @@
\page RobotAPI-HowTos-Eigen-From-Pose How to convert a Variant pose into an Eigen Matrix
\ingroup RobotAPI-HowTos
+If you have a armarx::Pose or armarx::FramedPose or armarx::LinkedPose:
\code
-#include <RobotAPI/libraries/robotstate/remote/ArmarPose.h>
-#include <VirtualRobot/LinkedCoordinate.h>
-#include <Eigen/Core>
+#include <RobotAPI/libraries/core/LinkedPose.h>
std::string refFrame = "Base";
-FramedPositionPtr position = getInput<FramedPosition>("position");
-FramedOrientationPtr orientation = getInput<FramedOrientation>("orientation");
+FramedPosePtr pose = getInput<FramedPose>("pose"); // if you are in a statechart
+Eigen::Matrix4f matrix = pose->toEigen();
-VirtualRobot::LinkedCoordinate pose = ArmarPose::createLinkedCoordinate(context->remoteRobot, position, orientation);
+\endcode
+
+If you only have a armarx::FramedPosition and armarx::FramedOrientation:
+\code
+#include <RobotAPI/libraries/core/LinkedPose.h>
+
+std::string refFrame = "Base";
+FramedPositionPtr position = getInput<FramedPosition>("position"); // if you are in a statechart
+FramedOrientationPtr orientation = getInput<FramedOrientation>("orientation"); // if you are in a statechart
-Eigen::Matrix4f matrix = pose.getInFrame(refFrame);
+PosePtr pose = new Pose(position, orientation);
+Eigen::Matrix4f matrix = pose->toEigen();
\endcode
+
+For more information refer to \ref RobotAPI-FramedPose.
+
+
+\page RobotAPI-HowTos-Change-Pose-Frame How to change a frame of a coordinate/pose
+\ingroup RobotAPI-HowTos
+Refer to \ref RobotAPI-FramedPose.
*/
diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index 04e3c1a1b03dcfa0d1806ac775c86456bf2184f0..50dd1f70661543f5dd06924c4e22b464500eacd8 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -2,7 +2,7 @@ add_subdirectory(KinematicUnitPlugin)
add_subdirectory(HandUnitPlugin)
add_subdirectory(PlatformUnitPlugin)
-#add_subdirectory(SensorActorWidgetsPlugin)
+add_subdirectory(SensorActorWidgetsPlugin)
add_subdirectory(HapticUnitPlugin)
add_subdirectory(RobotViewerPlugin)
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
index 83a9d6b69f1f52c43a5055588a24dfd0f07a2576..f761341ad777fbf0ffdead7c3485465b0d4c6ec1 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.cpp
@@ -41,6 +41,7 @@
#include <QTimer>
#include <QTime>
#include <QSettings>
+#include <QDir>
#include <boost/date_time/posix_time/posix_time.hpp>
@@ -87,7 +88,8 @@ namespace armarx
// ui.qwtPlot->setAutoReplot();
dialog = new ArmarXPlotterDialog(getWidget(), NULL);
-
+ loggingDir = (QDir::currentPath());
+ dialog->ui.editLoggingDirectory->setText(loggingDir);
}
ArmarXPlotter::~ArmarXPlotter()
@@ -123,6 +125,8 @@ namespace armarx
connect( ui.qwtPlot, SIGNAL( legendChecked( QwtPlotItem *, bool ) ),
SLOT( showCurve( QwtPlotItem *, bool ) ) );
+ connect(ui.btnLogToFile, SIGNAL(toggled(bool)), this, SLOT(toggleLogging(bool)));
+
if(!QMetaObject::invokeMethod(this, "setupCurves"))
ARMARX_WARNING << "Failed to invoke enable";
@@ -139,6 +143,10 @@ namespace armarx
{
ARMARX_VERBOSE << "closing" << flush;
timer->stop();
+ if(logstream.is_open())
+ {
+ logstream.close();
+ }
}
void ArmarXPlotter::ButtonAddSensorChannelClicked()
@@ -170,6 +178,8 @@ namespace armarx
shownInterval = dialog->ui.spinBoxShownInterval->value();
pollingInterval = dialog->ui.spinBoxPollingInterval->value();
selectedChannels = dialog->getSelectedChannels();
+ loggingDir = dialog->ui.editLoggingDirectory->text();
+ ui.btnLogToFile->setChecked(false);
curves.clear();
ui.qwtPlot->detachItems();
}
@@ -177,10 +187,46 @@ namespace armarx
setupCurves();
}
+ void ArmarXPlotter::toggleLogging(bool toggled)
+ {
+ if(toggled)
+ {
+
+ std::string filename = "datalog-" + IceUtil::Time::now().toDateTime() + ".csv";
+ boost::replace_all(filename, "/", "-");
+ filename = loggingDir.toStdString() + "/" + filename;
+ ARMARX_INFO << "Logging to " << filename;
+ logstream.open(filename);
+ logStartTime = IceUtil::Time::now();
+ if(!logstream.is_open())
+ {
+ ARMARX_ERROR << "Could not open file for logging: " << filename;
+ ui.btnLogToFile->setChecked(false);
+ }
+ else
+ {
+ logstream << "Timestamp";
+ for(auto& channel: selectedChannels)
+ {
+ logstream << "," << channel.toStdString();
+ }
+ logstream << std::endl;
+ }
+ }
+ else
+ {
+ logstream.close();
+ }
+ }
+
void ArmarXPlotter::pollingExec()
{
ScopedLock lock(dataMutex);
- getData(selectedChannels, dataMap);
+ auto newData = getData(selectedChannels, dataMap);
+ if(ui.btnLogToFile->isChecked())
+ {
+ logToFile(IceUtil::Time::now(), newData);
+ }
}
@@ -192,7 +238,7 @@ namespace armarx
// int size = shownInterval*1000/updateInterval;
GraphDataMap::iterator it = dataMap.begin();
- boost::system_time curTime = boost::get_system_time();
+ IceUtil::Time curTime = IceUtil::Time::now();
for(; it != dataMap.end(); ++it)
{
@@ -207,8 +253,8 @@ namespace armarx
int j = 0;
for (int i = dataVec.size()-1; i >=0 ; --i) {
TimeData& data = dataVec[i];
- boost::posix_time::time_duration age = (data.time - curTime);
- if(age.total_milliseconds() <= shownInterval*1000)
+ IceUtil::Time age = (data.time - curTime);
+ if(age.toMilliSecondsDouble() <= shownInterval*1000)
{
VariantPtr var = VariantPtr::dynamicCast(data.data);
if(var->getInitialized())
@@ -223,7 +269,7 @@ namespace armarx
else if(var->getType() == VariantType::Int)
pointList[j].setY(var->getInt());
else continue;
- pointList[j].setX(0.001f*age.total_milliseconds());
+ pointList[j].setX(0.001f*age.toMilliSecondsDouble());
}else
{
if(var->getType() == VariantType::Float)
@@ -233,7 +279,7 @@ namespace armarx
else if(var->getType() == VariantType::Int)
p.setY(var->getInt());
else continue;
- p.setX(0.001*age.total_milliseconds());
+ p.setX(0.001*age.toMilliSecondsDouble());
pointList.push_back(p);
}
j++;
@@ -245,7 +291,7 @@ namespace armarx
}
else
- break; // data too old from noow
+ break; // data too old from now
}
}
catch(...)
@@ -392,7 +438,7 @@ namespace armarx
pollingTask->start();
}
- void ArmarXPlotter::getData(const QStringList &channels, GraphDataMap &dataMaptoAppend)
+ std::map<string, VariantPtr> ArmarXPlotter::getData(const QStringList &channels, GraphDataMap &dataMaptoAppend)
{
map< std::string, DataFieldIdentifierBaseList > channelsSplittedByObserver;
foreach(QString channel, channels)
@@ -401,9 +447,10 @@ namespace armarx
channelsSplittedByObserver[identifier->getObserverName()].push_back(identifier);
// ARMARX_INFO << identifier;
}
+ std::map<std::string, VariantPtr> newData;
// first clear to old entries
- auto now = boost::get_system_time();
+ auto now = IceUtil::Time::now();
GraphDataMap::iterator itmap = dataMaptoAppend.begin();
for(; itmap != dataMaptoAppend.end(); ++itmap)
{
@@ -416,9 +463,8 @@ namespace armarx
// and delete then all entries that are older than showninterval.
// otherwise it would delete items on every call, which would be very slow
-
- if((now - dataVec[i].time).total_milliseconds() > shownInterval*2*1000
- || (thresholdIndex != -1 && (now - dataVec[i].time ).total_milliseconds() > shownInterval*1000)
+ if((now - dataVec[i].time).toMilliSecondsDouble() > shownInterval*2*1000
+ || (thresholdIndex != -1 && (now - dataVec[i].time ).toMilliSecondsDouble() > shownInterval*1000)
)
{
thresholdIndex = i;
@@ -437,6 +483,7 @@ namespace armarx
// ARMARX_IMPORTANT << deactivateSpam(5) << "size: " << dataVec.size();
}
// now get new data
+ IceUtil::Time time = IceUtil::Time::now();
map<string, DataFieldIdentifierBaseList >::iterator it = channelsSplittedByObserver.begin();
try
{
@@ -449,7 +496,6 @@ namespace armarx
proxyMap[observerName] = getProxy<ObserverInterfacePrx>(observerName);
}
// QDateTime time(QDateTime::currentDateTime());
- boost::system_time time = boost::get_system_time();
VariantBaseList variants = proxyMap[observerName]->getDataFields(it->second);
// ARMARX_IMPORTANT << "data from observer: " << observerName;
for(unsigned int i = 0; i < variants.size(); ++i)
@@ -457,7 +503,10 @@ namespace armarx
// ARMARX_IMPORTANT << "Variant: " << VariantPtr::dynamicCast(variants[i]);
VariantPtr var = VariantPtr::dynamicCast(variants[i]);
if(VariantType::IsBasicType(var->getType()))
+ {
dataMaptoAppend[DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr()].push_back(TimeData(time, var));
+ newData[DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr()] = var;
+ }
else
{
auto id = DataFieldIdentifierPtr::dynamicCast(it->second[i])->getIdentifierStr();
@@ -468,6 +517,7 @@ namespace armarx
std::string key = id + "." + e.first;
// ARMARX_INFO << key << ": " << *VariantPtr::dynamicCast(e.second);
dataMaptoAppend[key].push_back(TimeData(time,VariantPtr::dynamicCast(e.second)));
+ newData[key] = VariantPtr::dynamicCast(e.second);
}
}
@@ -476,18 +526,34 @@ namespace armarx
}
}
catch(Ice::NotRegisteredException &e){
- ARMARX_WARNING << deactivateSpam(3) << "Caught Exception: " << e.what();
+ ARMARX_WARNING << deactivateSpam(3) << "Caught Ice::NotRegisteredException: " << e.what();
}
catch(exceptions::local::InvalidDataFieldException &e){
ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidDataFieldException: " << e.what();
}
catch(exceptions::local::InvalidChannelException &e){
- ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidDataFieldException: " << e.what();
+ ARMARX_WARNING << deactivateSpam(5) << "Caught InvalidChannelException: " << e.what();
}
catch(...)
{
handleExceptions();
}
+
+ return newData;
+ }
+
+ void ArmarXPlotter::logToFile(const IceUtil::Time &time, const std::map<std::string, VariantPtr> &dataMaptoAppend)
+ {
+
+ if(logstream.is_open() && dataMaptoAppend.size() > 0)
+ {
+ logstream << (time-logStartTime).toMilliSecondsDouble();
+ for(const auto& elem : dataMaptoAppend)
+ {
+ logstream << "," /*<< elem.first << ","*/ << elem.second->getOutputValueOnly();
+ }
+ logstream << std::endl;
+ }
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
index 33f6c200ac19cad97310609a46363050cfe3e05f..1320987e58419ecc3b6f1e4b45e52e8bcc85578e 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.h
@@ -45,6 +45,7 @@
#include <QDateTime>
#include <vector>
+#include <fstream>
//forward declarations
class QwtPlotCurve;
@@ -52,9 +53,9 @@ class QwtPlotCurve;
namespace armarx
{
struct TimeData{
- TimeData(const boost::system_time &time, const VariantPtr &data): time(time), data(data){}
+ TimeData(const IceUtil::Time &time, const VariantPtr &data): time(time), data(data){}
- boost::system_time time;
+ IceUtil::Time time;
VariantPtr data;
};
@@ -87,6 +88,7 @@ namespace armarx
int updateInterval;
int shownInterval;
QStringList selectedChannels;
+ QString loggingDir;
explicit ArmarXPlotter();
~ArmarXPlotter();
@@ -119,6 +121,7 @@ namespace armarx
void autoScale(bool toggled);
void plottingPaused(bool toggled);
void configDone();
+ void toggleLogging(bool toggled);
private slots:
void setupCurves();
@@ -134,11 +137,14 @@ namespace armarx
JSONObjectPtr json;
- void getData(const QStringList &channels, GraphDataMap &dataMaptoAppend);
+ std::map<std::string, VariantPtr> getData(const QStringList &channels, GraphDataMap &dataMaptoAppend);
+ void logToFile(const IceUtil::Time &time,const std::map<std::string, VariantPtr> &dataMaptoAppend);
Mutex dataMutex;
PeriodicTask<ArmarXPlotter>::pointer_type pollingTask;
int pollingInterval;
+ std::ofstream logstream;
+ IceUtil::Time logStartTime;
};
}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
index 9753932628e15dc46c8cb01c97eb72a96d4ac302..d22fe734809566397b306e5543fc6e0b365c3357 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotter.ui
@@ -32,7 +32,16 @@
<property name="spacing">
<number>3</number>
</property>
- <property name="margin">
+ <property name="leftMargin">
+ <number>3</number>
+ </property>
+ <property name="topMargin">
+ <number>3</number>
+ </property>
+ <property name="rightMargin">
+ <number>3</number>
+ </property>
+ <property name="bottomMargin">
<number>3</number>
</property>
<item>
@@ -49,7 +58,7 @@
<string>...</string>
</property>
<property name="icon">
- <iconset resource="../../../ArmarXGui/icons.qrc">
+ <iconset>
<normaloff>:/icons/configure-3.png</normaloff>:/icons/configure-3.png</iconset>
</property>
</widget>
@@ -60,7 +69,7 @@
<string>...</string>
</property>
<property name="icon">
- <iconset resource="../../../ArmarXGui/icons.qrc">
+ <iconset>
<normaloff>:/icons/media-playback-pause.ico</normaloff>:/icons/media-playback-pause.ico</iconset>
</property>
<property name="checkable">
@@ -77,7 +86,7 @@
<string>Auto Scale</string>
</property>
<property name="icon">
- <iconset resource="../../../ArmarXGui/icons.qrc">
+ <iconset>
<normaloff>:/icons/zoom-original-2.png</normaloff>:/icons/zoom-original-2.png</iconset>
</property>
<property name="checkable">
@@ -88,6 +97,20 @@
</property>
</widget>
</item>
+ <item>
+ <widget class="QToolButton" name="btnLogToFile">
+ <property name="text">
+ <string>...</string>
+ </property>
+ <property name="icon">
+ <iconset>
+ <normaloff>://icons/papyrus.svg</normaloff>://icons/papyrus.svg</iconset>
+ </property>
+ <property name="checkable">
+ <bool>true</bool>
+ </property>
+ </widget>
+ </item>
<item>
<spacer name="horizontalSpacer">
<property name="orientation">
@@ -113,8 +136,6 @@
<container>1</container>
</customwidget>
</customwidgets>
- <resources>
- <include location="../../../ArmarXGui/icons.qrc"/>
- </resources>
+ <resources/>
<connections/>
</ui>
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
index 85d2c758a9c4f9c02f7f8e5c7c7f309aa56aee06..9ec9e79858fa043994e6cd3a0c832f68a208d62a 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.cpp
@@ -26,6 +26,7 @@
#include <IceUtil/UUID.h>
+#include <QFileDialog>
#include <sstream>
@@ -187,3 +188,13 @@ void ArmarXPlotterDialog::showEvent(QShowEvent *)
updateObservers();
}
+
+void armarx::ArmarXPlotterDialog::on_btnSelectLoggingDir_clicked()
+{
+ QString newLoggingDir = QFileDialog::getExistingDirectory(this, "Select a directory to which data should be logged",
+ ui.editLoggingDirectory->text());
+ if(!newLoggingDir.isEmpty())
+ {
+ ui.editLoggingDirectory->setText(newLoggingDir);
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
index 096982ac93b9dbce75eb8da42d8ab213bb27cca3..d00f727f7498525a0a46b646a1b80278626b94dc 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.h
@@ -93,6 +93,8 @@ namespace armarx
void treeView_doubleClick(const QModelIndex &index);
void destroyed(QObject *);
void showEvent(QShowEvent *);
+ private slots:
+ void on_btnSelectLoggingDir_clicked();
};
}
#endif
diff --git a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
index 6b31aef4fe7e9bb668ce862a62a663bceef58d7d..4b9bd05e5b84667b21728366ff19aadf4d3470b8 100644
--- a/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
+++ b/source/RobotAPI/gui-plugins/SensorActorWidgetsPlugin/ArmarXPlotter/ArmarXPlotterDialog.ui
@@ -39,20 +39,57 @@
</property>
</widget>
</item>
- <item row="0" column="2">
- <widget class="QSpinBox" name="spinBoxShownInterval">
+ <item row="0" column="1">
+ <spacer name="horizontalSpacer">
+ <property name="orientation">
+ <enum>Qt::Horizontal</enum>
+ </property>
+ <property name="sizeHint" stdset="0">
+ <size>
+ <width>40</width>
+ <height>20</height>
+ </size>
+ </property>
+ </spacer>
+ </item>
+ <item row="4" column="0">
+ <widget class="QLabel" name="label">
+ <property name="text">
+ <string>Data polling interval (in ms)</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="0">
+ <widget class="QLabel" name="label_2">
+ <property name="text">
+ <string>Logging directory</string>
+ </property>
+ </widget>
+ </item>
+ <item row="5" column="1" colspan="2">
+ <widget class="QLineEdit" name="editLoggingDirectory"/>
+ </item>
+ <item row="5" column="3">
+ <widget class="QToolButton" name="btnSelectLoggingDir">
+ <property name="text">
+ <string>...</string>
+ </property>
+ </widget>
+ </item>
+ <item row="4" column="2" colspan="2">
+ <widget class="QSpinBox" name="spinBoxPollingInterval">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
- <number>6000</number>
+ <number>999999</number>
</property>
<property name="value">
- <number>60</number>
+ <number>33</number>
</property>
</widget>
</item>
- <item row="1" column="2">
+ <item row="1" column="2" colspan="2">
<widget class="QSpinBox" name="spinBoxUpdateInterval">
<property name="buttonSymbols">
<enum>QAbstractSpinBox::UpDownArrows</enum>
@@ -71,36 +108,16 @@
</property>
</widget>
</item>
- <item row="0" column="1">
- <spacer name="horizontalSpacer">
- <property name="orientation">
- <enum>Qt::Horizontal</enum>
- </property>
- <property name="sizeHint" stdset="0">
- <size>
- <width>40</width>
- <height>20</height>
- </size>
- </property>
- </spacer>
- </item>
- <item row="2" column="0">
- <widget class="QLabel" name="label">
- <property name="text">
- <string>Data polling interval (in ms)</string>
- </property>
- </widget>
- </item>
- <item row="2" column="2">
- <widget class="QSpinBox" name="spinBoxPollingInterval">
+ <item row="0" column="2" colspan="2">
+ <widget class="QSpinBox" name="spinBoxShownInterval">
<property name="minimum">
<number>1</number>
</property>
<property name="maximum">
- <number>999999</number>
+ <number>6000</number>
</property>
<property name="value">
- <number>33</number>
+ <number>60</number>
</property>
</widget>
</item>
diff --git a/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.h b/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.h
index f4eab128354920044cd2bdc2f73a392fa6410569..206796a20064c0fded18f4312c34ee710d860fcf 100644
--- a/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.h
+++ b/source/RobotAPI/libraries/drivers/XsensIMU/XsensIMU.h
@@ -47,10 +47,10 @@ namespace armarx
XsensIMUPropertyDefinitions(std::string prefix):
InertialMeasurementUnitPropertyDefinitions(prefix)
{
- defineOptionalProperty("deviceConnection", "/dev/ttyUSB0", "");
+ defineOptionalProperty<std::string>("deviceConnection", "/dev/ttyUSB0", "");
- defineOptionalProperty("frequency", "", "");
- defineOptionalProperty("maxPendingEvents", "", "");
+ defineOptionalProperty<std::string>("frequency", "", "");
+ defineOptionalProperty<std::string>("maxPendingEvents", "", "");
}
};