fixed include guards

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>

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++)
                 {

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;
 
     };

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>