diff --git a/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx b/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
index 3d823be1c87cb0e97ffdc4ba4549a6fd5998fc75..33ed762a12a90ccfd774aec3d31e0d519de79dac 100644
--- a/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
+++ b/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="OrientedTactileSensor" lastChange="2017-03-09.19:07:21" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI">
+<scenario name="OrientedTactileSensor" lastChange="2017-03-13.15:08:19" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI">
<application name="OrientedTactileSensorUnitApp" instance="" package="RobotAPI"/>
<application name="OrientedTactileSensorUnitObserverApp" instance="" package="RobotAPI"/>
</scenario>
diff --git a/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg b/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg
index 14eba70f342c50478b72cb1ecb5b23f280aab6f4..1ec6764f36d51be5c6b8501bb6ef5e5046114c79 100644
--- a/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg
+++ b/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg
@@ -130,12 +130,12 @@ ArmarX.OrientedTactileSensorUnit.SamplesPressure = 20
ArmarX.OrientedTactileSensorUnit.SamplesRotation = 20
-# ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice: Custom Property
+# ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice: The serial device the arduino is connected to.
# Attributes:
-# - Default: ::NOT_DEFINED::
+# - Default: /dev/ttyACM0
# - Case sensitivity: no
# - Required: no
-ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice = /dev/ttyACM3
+ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice = /dev/ttyACM0
# ArmarX.OrientedTactileSensorUnit.TopicName: Name of the topic on which the sensor values are provided
diff --git a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp
index 906e90f79bb7593b36e23e985357c78076fc2512..7762139ad1d7ac849a06f111ecccd5982fe8bf7e 100644
--- a/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp
+++ b/source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp
@@ -74,7 +74,7 @@ void OrientedTactileSensorUnitObserver::reportSensorValues(int id, float pressur
offerOrUpdateDataField(channelName, "pressure", Variant(pressure), "current pressure");
QuaternionPtr orientationQuaternion = new Quaternion(qw, qx, qy, qz);
- offerOrUpdateDataField(channelName, "orientation", orientationQuaternion, "current oriantation");
+ offerOrUpdateDataField(channelName, "orientation", orientationQuaternion, "current orientation");
offerOrUpdateDataField(channelName, "rotationRate", Variant(rotationRate), "current rotationRate");
offerOrUpdateDataField(channelName, "pressureRate", Variant(pressureRate), "current pressureRate");
offerOrUpdateDataField(channelName, "accelerationRate", Variant(accelerationRate), "current accelerationRate");
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
index 858081e665f71f979fbfd9a27406f1922c936c52..d6a9429636e30a8fe95c1276da97f9ab915a3203 100644
--- a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
+++ b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
@@ -27,9 +27,10 @@ void OrientedTactileSensorUnit::onInitComponent()
//open serial port
std::string portname = getProperty<std::string>("SerialInterfaceDevice").getValue();
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::in);
+ arduinoIn.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::in);
+ arduinoOut.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::out);
- fd = open(portname.c_str(), O_RDONLY | O_NOCTTY);
+ fd = open(portname.c_str(), O_RDWR | O_NOCTTY);
struct termios toptions;
/* Get currently set options for the tty */
@@ -55,7 +56,7 @@ void OrientedTactileSensorUnit::onInitComponent()
ARMARX_INFO << "opening device " << getProperty<std::string>("SerialInterfaceDevice").getValue();
- if (!arduino.is_open())
+ if (!arduinoIn.is_open())
{
throw LocalException("Cannot open Arduino on ") << getProperty<std::string>("SerialInterfaceDevice").getValue();
@@ -74,22 +75,18 @@ void OrientedTactileSensorUnit::onInitComponent()
while (arduinoLine.find("mode") == std::string::npos)
{
- getline(arduino, arduinoLine, '\n');
+ getline(arduinoIn, arduinoLine, '\n');
}
- arduino.close();
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::out);
- arduino << "calibrate";
- arduino.flush();
- arduino.close();
+ arduinoOut << "calibrate";
+ arduinoOut.flush();
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::in);
while (arduinoLine.find("Calibration Sucessfull") == std::string::npos)
{
- getline(arduino, arduinoLine, '\n');
+ getline(arduinoIn, arduinoLine, '\n');
ARMARX_INFO << arduinoLine;
}
- getline(arduino, arduinoLine, '\n');
+ getline(arduinoIn, arduinoLine, '\n');
if (getCalibrationValues(arduinoLine))
{
ARMARX_IMPORTANT << "calibrated sensor";
@@ -126,7 +123,7 @@ void OrientedTactileSensorUnit::run()
while (readTask->isRunning())
{
std::string line;
- getline(arduino, line, '\n');
+ getline(arduinoIn, line, '\n');
SensorData data = getValues(line.c_str());
IceUtil::Time now = IceUtil::Time::now();
TimestampVariantPtr nowTimestamp = new TimestampVariant(now);
@@ -227,44 +224,24 @@ OrientedTactileSensorUnit::SensorData OrientedTactileSensorUnit::getValues(std::
std::string space = " ";
bool OrientedTactileSensorUnit::loadCalibration()
{
- ARMARX_INFO << "loadCalibration started";
std::string calibrationStream = getProperty<std::string>("CalibrationData").getValue();
std::string arduinoLine;
while (arduinoLine.find("mode") == std::string::npos)
{
- getline(arduino, arduinoLine, '\n');
- ARMARX_INFO << "ARDUINO: '" << arduinoLine << "'";
+ getline(arduinoIn, arduinoLine, '\n');
}
- arduino.close();
-
- ARMARX_INFO << "opening arduino out mode";
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::out);
- arduino << "load";
- arduino.flush();
- arduino.close();
-
- ARMARX_INFO << "opening arduino in mode";
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::in);
+ arduinoOut << "load";
+ arduinoOut.flush();
while (arduinoLine.find("calibration data") == std::string::npos)
{
- getline(arduino, arduinoLine, '\n');
- ARMARX_INFO << "ARDUINO: '" << arduinoLine << "'";
+ getline(arduinoIn, arduinoLine, '\n');
}
- arduino.close();
-
- ARMARX_INFO << "opening arduino out mode";
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::out);
- arduino << calibrationStream;
- arduino.flush();
- arduino.close();
-
- ARMARX_INFO << "opening arduino in mode";
- arduino.open(getProperty<std::string>("SerialInterfaceDevice").getValue(), std::ios::in);
+ arduinoOut << calibrationStream;
+ arduinoOut.flush();
while (arduinoLine.find("Calibration Sucessfull") == std::string::npos)
{
- getline(arduino, arduinoLine, '\n');
- ARMARX_INFO << "ARDUINO: '" << arduinoLine << "'";
+ getline(arduinoIn, arduinoLine, '\n');
}
return true;
}
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
index 38aade6a48c0be4e9742ad789dcaf05413410f53..e0d0c79493e23fc02ed381e08d1d37c707e68697 100644
--- a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
+++ b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
@@ -119,7 +119,8 @@ namespace armarx
virtual PropertyDefinitionsPtr createPropertyDefinitions();
private:
- std::fstream arduino;
+ std::ifstream arduinoIn;
+ std::ofstream arduinoOut;
RunningTask<OrientedTactileSensorUnit>::pointer_type readTask;
OrientedTactileSensorUnitListenerPrx topicPrx;
OrientedTactileSensorUnitInterfacePrx interfacePrx;