> The UST Protocol states, that it is designed to be compatible
> with the UTM-30-LX-EW. Therefor the EW branch looks like
> a good starting point.
>
> I took a short look at the EW branch. If I didn't miss something,
> the branch should also be compatible with the LX series.
After finally getting my prettyprint for std types working in gdb, I
found the rather simple reason, why our code did not work for the UST-20LX.
We are checking for the STAT field, and the UST-20LX returns a slightly
different answer than the others:
> $2 = std::map with 19 elements = {["AFRT"] = "540", ["AMAX"] = "1080",
> ["AMIN"] = "0",
> ["ARES"] = "1440", ["DMAX"] = "60000", ["DMIN"] = "20", ["FIRM"] =
> "2.17.0000", ["LASR"] = "ON",
> ["MESM"] = "Measuring by Sensitive Mode", ["MODL"] = "UST-20LX", ["PROD"] =
> "UST-20LX",
> ["PROT"] = "SCIP 2.2", ["SBPS"] = "Ethernet 100[Mbps]", ["SCAN"] = "2400",
> ["SCSP"] = "2400",
> ["SERI"] = "H1404404", ["STAT"] = "sensor is working normally", ["TIME"] =
> "RKk4",
> ["VEND"] = "Hokuyo Automatic Co., Ltd."}
"sensor is working normally" instead of "Stable 000 no error." or
"Sensor works well."
Oh my, nice protocol design. Nonetheless, the UST-20LX is working now
with the UTM-30-LX_compatible branch.
Leif
--
Leif Christensen
DFKI Bremen
Robotics Innovation Center
Robert-Hooke-Straße 5
28359 Bremen, Germany
Phone: +49 (0)421 17845-4149
Fax: +49 (0)421 17845-4150
E-Mail: [email protected]
Weitere Informationen: http://www.dfki.de/robotik
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