From ac493398ae3778b1df74e9222217449075114e66 Mon Sep 17 00:00:00 2001
From: Fabian Paus <fabian.paus@kit.edu>
Date: Fri, 17 Mar 2017 17:20:12 +0100
Subject: [PATCH] =?UTF-8?q?Updated=20=C4=BAaser=20scanner=20GUI=20to=20sup?=
=?UTF-8?q?port=20simulation?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
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---
scenarios/LaserScannerTest/LaserScannerTest.scx | 6 +++---
scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg | 2 +-
source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp | 2 ++
.../LaserScannerPluginWidgetController.cpp | 3 +--
4 files changed, 7 insertions(+), 6 deletions(-)
diff --git a/scenarios/LaserScannerTest/LaserScannerTest.scx b/scenarios/LaserScannerTest/LaserScannerTest.scx
index dde933189..585406ce7 100644
--- a/scenarios/LaserScannerTest/LaserScannerTest.scx
+++ b/scenarios/LaserScannerTest/LaserScannerTest.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="LaserScannerTest" lastChange="2017-03-09.17:02:34" creation="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="HokuyoLaserUnitApp" instance="" package="RobotAPI"/>
- <application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI"/>
+<scenario name="LaserScannerTest" creation="2017-03-07.16:12:47" lastChange="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI">
+ <application name="HokuyoLaserUnitApp" instance="" package="RobotAPI" enabled="true"/>
+ <application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI" enabled="true"/>
</scenario>
diff --git a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
index 6f8512d97..814e0371a 100644
--- a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
+++ b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
@@ -87,7 +87,7 @@
# - Default: ""
# - Case sensitivity: no
# - Required: no
-ArmarX.HokuyoLaserUnit.Devices = "192.168.0.10,10940"
+ArmarX.HokuyoLaserUnit.Devices = "192.168.0.11,10940"
# ArmarX.HokuyoLaserUnit.EnableProfiling: enable profiler which is used for logging performance events
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
index fca068ee6..765aabf56 100644
--- a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -34,6 +34,7 @@ void HokuyoLaserUnit::onInitComponent()
{
topicName = getProperty<std::string>("LaserScannerTopicName").getValue();
offeringTopic(topicName);
+ ARMARX_INFO << "Going to report on topic " << topicName;
updatePeriod = getProperty<int>("UpdatePeriod").getValue();
angleOffset = getProperty<float>("AngleOffset").getValue();
@@ -87,6 +88,7 @@ void HokuyoLaserUnit::onConnectComponent()
{
continue;
}
+ ARMARX_INFO << "Connecting to " << device.ip << ":" << device.port;
int ret = urg_open(&device.urg, URG_ETHERNET, device.ip.c_str(), device.port);
device.connected = (ret == 0);
if (!device.connected)
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
index c190417b2..cc3030eaf 100644
--- a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
@@ -74,7 +74,7 @@ QPointer<QDialog> LaserScannerPluginWidgetController::getConfigDialog(QWidget* p
if (!dialog)
{
dialog = new SimpleConfigDialog(parent);
- dialog->addProxyFinder<LaserScannerUnitInterfacePrx>({"LaserScannerUnit", "", "*LaserUnit"});
+ dialog->addProxyFinder<LaserScannerUnitInterfacePrx>({"LaserScannerUnit", "", "*"});
}
return qobject_cast<SimpleConfigDialog*>(dialog);
}
@@ -97,7 +97,6 @@ void LaserScannerPluginWidgetController::reportSensorValues(const std::string& d
scan = newScan;
}
- ARMARX_INFO << deactivateSpam(1) << "Got new laser scan values";
emit newSensorValuesReported();
}
--
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