From fdf4ce06f9bc99ab698eeffb0d0e68b3447e0ed9 Mon Sep 17 00:00:00 2001
From: Simon Ottenhaus <simon.ottenhaus@kit.edu>
Date: Wed, 8 Mar 2017 11:33:26 +0100
Subject: [PATCH] fixed include guards
---
.../components/units/OptoForceUnitObserver.h | 4 ++--
.../drivers/OptoForceUnit/OptoForceUnit.cpp | 15 +++++++++------
.../drivers/OptoForceUnit/OptoForceUnit.h | 1 +
source/RobotAPI/interface/units/OptoForceUnit.ice | 4 ++--
4 files changed, 14 insertions(+), 10 deletions(-)
diff --git a/source/RobotAPI/components/units/OptoForceUnitObserver.h b/source/RobotAPI/components/units/OptoForceUnitObserver.h
index 8d06c99dd..a91a482fd 100644
--- a/source/RobotAPI/components/units/OptoForceUnitObserver.h
+++ b/source/RobotAPI/components/units/OptoForceUnitObserver.h
@@ -22,8 +22,8 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_IMU_OBSERVER_H
-#define _ARMARX_ROBOTAPI_IMU_OBSERVER_H
+#ifndef _ARMARX_ROBOTAPI_OptoForce_OBSERVER_H
+#define _ARMARX_ROBOTAPI_OptoForce_OBSERVER_H
#include <RobotAPI/interface/units/OptoForceUnit.h>
#include <ArmarXCore/observers/Observer.h>
diff --git a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.cpp b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.cpp
index 9f5f7bb5c..a9f44abd1 100644
--- a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.cpp
+++ b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.cpp
@@ -40,10 +40,12 @@ void OptoForceUnit::onInitComponent()
ARMARX_INFO << "number of ports: " << numPorts;
OPort* portListNew = ports.listPorts(true);
+ ARMARX_INFO << "Found " << ports.getLastSize() << " Optoforce device(s).";
for (int i = 0; i < ports.getLastSize(); i++)
{
- ARMARX_INFO << "Port liste new: " << portListNew[i].name;
+ ARMARX_INFO << "device name: " << portListNew[i].name;
+ daqList.push_back(OptoDAQ());
}
ARMARX_INFO << "number of ports: " << ports.getLastSize();
@@ -52,10 +54,11 @@ void OptoForceUnit::onInitComponent()
{
for (int i = 0; i < ports.getLastSize(); ++i)
{
- ARMARX_INFO << "Opening port #" << i << "...";
+ ARMARX_INFO << "Opening port #" << i << " " << portListNew[i].name;
+ //daqList.at(i).open(portListNew[i]);
if (i == 0)
{
- daq.open(portlist[i]);
+ daq.open(portListNew[i]);
ARMARX_INFO << "opened port 1";
}
if (daq.getVersion() == _95 || daq.getVersion() == _64)
@@ -106,8 +109,8 @@ void OptoForceUnit::run()
usleep(1000); // 1ms
continue;
}
- ARMARX_IMPORTANT << "size: " << size;
- ARMARX_IMPORTANT << "daq.getSize(): " << daq.getSize();
+ //ARMARX_IMPORTANT << "size: " << size;
+ //ARMARX_IMPORTANT << "daq.getSize(): " << daq.getSize();
// necessary so that there are no lines without values
if (daq.getSize() > 0)
{
@@ -125,7 +128,7 @@ void OptoForceUnit::run()
for (int k = 0; k < daq.getSensorSize(); k++)
{
- ARMARX_INFO << "Sensor " << k;
+ //ARMARX_INFO << "Sensor " << k;
for (int i = 0; i < size; i++)
{
diff --git a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
index a4ac6efb1..1446d8d05 100644
--- a/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
+++ b/source/RobotAPI/drivers/OptoForceUnit/OptoForceUnit.h
@@ -103,6 +103,7 @@ namespace armarx
OptoPorts ports;
OptoDAQ daq;
+ std::vector<OptoDAQ> daqList;
RunningTask<OptoForceUnit>::pointer_type readTask;
};
diff --git a/source/RobotAPI/interface/units/OptoForceUnit.ice b/source/RobotAPI/interface/units/OptoForceUnit.ice
index 5f1017e7b..c0085c06f 100644
--- a/source/RobotAPI/interface/units/OptoForceUnit.ice
+++ b/source/RobotAPI/interface/units/OptoForceUnit.ice
@@ -22,8 +22,8 @@
* GNU General Public License
*/
-#ifndef _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
-#define _ARMARX_ROBOTAPI_UNITS_INERTIALMEASUREMENTUNIT_SLICE_
+#ifndef _ARMARX_ROBOTAPI_UNITS_OPTOFORCETUNIT_SLICE_
+#define _ARMARX_ROBOTAPI_UNITS_OPTOFORCETUNIT_SLICE_
#include <RobotAPI/interface/units/UnitInterface.ice>
--
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