From c24fcec9a2d81c1892ba69165f6b1395d4df8065 Mon Sep 17 00:00:00 2001
From: andreeatulbure <andreea_tulbure@yahoo.de>
Date: Thu, 9 Mar 2017 19:43:03 +0100
Subject: [PATCH] added proxy info and debug output
---
data/RobotAPI/VariantInfo-RobotAPI.xml | 8 ++++++++
scenarios/OrientedTactileSensor/OrientedTactileSensor.scx | 2 +-
.../config/OrientedTactileSensorUnitApp.cfg | 6 +++---
.../OrientedTactileSensor/OrientedTactileSensorUnit.cpp | 8 ++++++++
4 files changed, 20 insertions(+), 4 deletions(-)
diff --git a/data/RobotAPI/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
index 0fb95ad0c..c83166f81 100644
--- a/data/RobotAPI/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -53,6 +53,14 @@
propertyName="IMUObserverName"
propertyIsOptional="true"
propertyDefaultValue="InertialMeasurementUnitObserver" />
+ <Proxy include="RobotAPI/interface/units/OrientedTactileSensorUnit.h"
+ humanName="Oriented Tactile Sensor Unit Observer"
+ typeName="OrientedTactileSensorUnitObserverInterfacePrx"
+ memberName="orientedTactileSensorUnitObserver"
+ getterName="getOrientedTactileSensorUnitObserver"
+ propertyName="OrientedTactileSensorUnitObserverName"
+ propertyIsOptional="true"
+ propertyDefaultValue="OrientedTactileSensorUnitObserver" />
<Proxy include="RobotAPI/interface/units/ForceTorqueUnit.h"
humanName="Force Torque Unit Observer"
typeName="ForceTorqueUnitObserverInterfacePrx"
diff --git a/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx b/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
index 443162d74..3d823be1c 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="2017-03-06.17:30:06" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI">
+<scenario name="OrientedTactileSensor" lastChange="2017-03-09.19:07:21" 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 1ec6764f3..14eba70f3 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: The serial device the arduino is connected to.
+# ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice: Custom Property
# Attributes:
-# - Default: /dev/ttyACM0
+# - Default: ::NOT_DEFINED::
# - Case sensitivity: no
# - Required: no
-ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice = /dev/ttyACM0
+ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice = /dev/ttyACM3
# ArmarX.OrientedTactileSensorUnit.TopicName: Name of the topic on which the sensor values are provided
diff --git a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
index eaafd8eca..858081e66 100644
--- a/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
+++ b/source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
@@ -227,36 +227,44 @@ 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 << "'";
}
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);
while (arduinoLine.find("calibration data") == std::string::npos)
{
getline(arduino, arduinoLine, '\n');
+ ARMARX_INFO << "ARDUINO: '" << arduinoLine << "'";
}
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);
while (arduinoLine.find("Calibration Sucessfull") == std::string::npos)
{
getline(arduino, arduinoLine, '\n');
+ ARMARX_INFO << "ARDUINO: '" << arduinoLine << "'";
}
return true;
}
--
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