Revision: 7599
http://playerstage.svn.sourceforge.net/playerstage/?rev=7599&view=rev
Author: gbiggs
Date: 2009-04-15 07:02:22 +0000 (Wed, 15 Apr 2009)
Log Message:
-----------
Changed some fatal errors to warnings for optional settings
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2009-04-14
18:53:06 UTC (rev 7598)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2009-04-15
07:02:22 UTC (rev 7599)
@@ -83,6 +83,9 @@
- verbose (boolean)
- Default: false
- Enable verbose debugging information in the underlying library.
+ - ignoreunknowns (boolean)
+ - Default: false
+ - Ignore unknown lines sent by the laser in response to sensor info request
commands.
@par Properties
@@ -145,7 +148,7 @@
bool AllocateDataSpace (void);
// Configuration parameters
- bool _verbose, _powerOnStartup, _getIntensities;
+ bool _verbose, _powerOnStartup, _getIntensities,
_ignoreUnknowns;
double _minAngle, _maxAngle;
IntProperty _baudRate, _speedLevel, _highSensitivity;
std::string _portOpts;
@@ -184,6 +187,7 @@
_maxAngle = cf->ReadFloat (section, "max_angle", 2.08);
_portOpts = cf->ReadString (section, "portopts",
"type=serial,device=/dev/ttyACM0,timeout=1");
_verbose = cf->ReadBool (section, "verbose", false);
+ _ignoreUnknowns = cf->ReadBool (section, "ignoreunknowns", false);
_powerOnStartup = cf->ReadBool (section, "power", true);
// Set up geometry information
@@ -534,6 +538,7 @@
{
try
{
+ _device.IgnoreUnknowns (_ignoreUnknowns);
// Open the laser
_device.OpenWithProbing (_portOpts);
// Get the sensor information and check _minAngle and _maxAngle
are OK
@@ -561,14 +566,23 @@
}
catch (hokuyo_aist::HokuyoError &e)
{
- if (e.Code () != hokuyo_aist::HOKUYO_ERR_NOTSERIAL)
- throw;
- PLAYER_WARN ("hokuyo_aist: Cannot change the baud rate
of a non-serial connection.");
+ if (e.Code () == hokuyo_aist::HOKUYO_ERR_NOTSERIAL)
+ PLAYER_WARN ("hokuyo_aist: Cannot change the
baud rate of a non-serial connection.");
+ else
+ PLAYER_WARN2 ("hokuyo_aist: Error changing baud
rate: (%d) %s", e.Code (), e.what ());
}
- _device.SetMotorSpeed (_speedLevel.GetValue ());
try
{
// Catch any errors here as this is an optional setting
not supported by all models
+ _device.SetMotorSpeed (_speedLevel.GetValue ());
+ }
+ catch (hokuyo_aist::HokuyoError &e)
+ {
+ PLAYER_WARN2 ("hokuyo_aist: Unable to set motor speed:
(%d) %s", e.Code (), e.what ());
+ }
+ try
+ {
+ // Optional setting
_device.SetHighSensitivity (_highSensitivity.GetValue
() != 0);
}
catch (hokuyo_aist::HokuyoError &e)
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