[Jderobot-admin] jderobot-r1078 - in trunk/src: stable/components stable/components/giraffeClient stable/components/giraffeServer testing/components
rocapal en jderobot.org
rocapal en jderobot.org
Vie Oct 25 12:56:31 CEST 2013
Author: rocapal
Date: 2013-10-25 12:56:31 +0200 (Fri, 25 Oct 2013)
New Revision: 1078
Added:
trunk/src/stable/components/giraffeClient/
trunk/src/stable/components/giraffeClient/giraffeClient.cfg
trunk/src/stable/components/giraffeClient/giraffeClient.cpp
trunk/src/stable/components/giraffeClient/giraffeClient.glade
trunk/src/stable/components/giraffeServer/
Removed:
trunk/src/stable/components/giraffeClient/build/
trunk/src/stable/components/giraffeClient/giraffeclient.cfg
trunk/src/stable/components/giraffeClient/giraffeclient.cpp
trunk/src/stable/components/giraffeClient/giraffeclient.glade
trunk/src/stable/components/giraffeServer/JointMotor.cpp
trunk/src/stable/components/giraffeServer/JointMotor.h
trunk/src/stable/components/giraffeServer/JointMotor.ice
trunk/src/stable/components/giraffeServer/__/
trunk/src/stable/components/giraffeServer/build
trunk/src/testing/components/giraffeServer/
trunk/src/testing/components/giraffeclient/
Modified:
trunk/src/stable/components/giraffeClient/CMakeLists.txt
trunk/src/stable/components/giraffeClient/controller.cpp
trunk/src/stable/components/giraffeClient/controller.h
trunk/src/stable/components/giraffeClient/view.cpp
trunk/src/stable/components/giraffeClient/view.h
trunk/src/stable/components/giraffeServer/CMakeLists.txt
trunk/src/stable/components/giraffeServer/README
trunk/src/stable/components/giraffeServer/dynamixel.h
trunk/src/stable/components/giraffeServer/jointmotorComp.cpp
trunk/src/stable/components/giraffeServer/jointmotorI.h
trunk/src/stable/components/giraffeServer/killserver.sh
trunk/src/stable/components/giraffeServer/moc_monitor.cpp
trunk/src/stable/components/giraffeServer/moc_q4serialport.cpp
trunk/src/stable/components/giraffeServer/moc_worker.cpp
trunk/src/stable/components/giraffeServer/monitor.cpp
trunk/src/stable/components/giraffeServer/monitor.h
trunk/src/stable/components/giraffeServer/servo.h
trunk/src/stable/components/giraffeServer/worker.cpp
trunk/src/stable/components/giraffeServer/worker.h
Log:
#79 added and refactored giraffeClient and giraffeServer
Modified: trunk/src/stable/components/giraffeClient/CMakeLists.txt
===================================================================
--- trunk/src/testing/components/giraffeclient/CMakeLists.txt 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/CMakeLists.txt 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,32 +1,30 @@
-SET( SOURCE_FILES giraffeclient.cpp controller.cpp controller.h view.cpp cameraconf.cpp )
+SET( SOURCE_FILES giraffeClient.cpp controller.cpp controller.h view.cpp cameraconf.cpp )
+add_definitions(-DGLADE_DIR="${gladedir}")
include_directories(
${INTERFACES_CPP_DIR}
${LIBS_DIR}
${CMAKE_CURRENT_SOURCE_DIR}
+ ${gtkmm_INCLUDE_DIRS}
+ ${libglademm_INCLUDE_DIRS}
)
-set( CMAKE_CXX_FLAGS "-lgsl -lgslcblas " ) # Opciones para el compilador -lGL -lGLU -lglut -lgazebo
-add_executable (giraffeclient ${SOURCE_FILES})
+add_executable (giraffeClient ${SOURCE_FILES})
-TARGET_LINK_LIBRARIES(giraffeclient
+TARGET_LINK_LIBRARIES(giraffeClient
+ ${CMAKE_THREAD_LIBS_INIT}
${opencv_LIBRARIES}
${gtkmm_LIBRARIES}
${libglademm_LIBRARIES}
-# ${gthread_LIBRARIES}
-# ${libgnomecanvas_LIBRARIES}
-# ${libgnomecanvasmm_LIBRARIES}
-# ${gtkglextmm_LIBRARIES}
+ ${gsl_LIBRARIES}
${OpenCV_LIBRARIES}
- ${LIBS_DIR}/colorspaces/libcolorspacesmm.so
- ${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so
- ${LIBS_DIR}/jderobotice/libjderobotice.so
- ${LIBS_DIR}/jderobotutil/libjderobotutil.so
- ${LIBS_DIR}/progeo/libprogeo.so
- ${Gearbox_LIBRARIES}
+ colorspacesmm
+ JderobotInterfaces
+ jderobotutil
+ progeo
${ZeroCIce_LIBRARIES}
)
Modified: trunk/src/stable/components/giraffeClient/controller.cpp
===================================================================
--- trunk/src/testing/components/giraffeclient/controller.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/controller.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -25,7 +25,7 @@
namespace giraffeClient {
Controller::Controller(RoboCompJointMotor::JointMotorPrx jprx) {
- this->gladepath = std::string("./giraffeClient.glade");
+ this->gladepath = std::string(GLADE_DIR) + std::string("/giraffeClient.glade");
this->jprx = jprx;
this->camera = new CameraConf(this->jprx);
}
Modified: trunk/src/stable/components/giraffeClient/controller.h
===================================================================
--- trunk/src/testing/components/giraffeclient/controller.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/controller.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -25,7 +25,7 @@
#include <string>
#include <iostream>
-#include <colorspaces/colorspacesmm.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
#include <jderobot/jointmotor.h>
#include "cameraconf.h"
Copied: trunk/src/stable/components/giraffeClient/giraffeClient.cfg (from rev 1076, trunk/src/testing/components/giraffeclient/giraffeclient.cfg)
===================================================================
--- trunk/src/stable/components/giraffeClient/giraffeClient.cfg (rev 0)
+++ trunk/src/stable/components/giraffeClient/giraffeClient.cfg 2013-10-25 10:56:31 UTC (rev 1078)
@@ -0,0 +1,3 @@
+giraffeClient.JointMotor.Proxy=jointmotor:tcp -h localhost -p 10067
+giraffeClient.Camera.Proxy=cameraA:tcp -h 127.0.0.1 -p 9998
+
Copied: trunk/src/stable/components/giraffeClient/giraffeClient.cpp (from rev 1076, trunk/src/testing/components/giraffeclient/giraffeclient.cpp)
===================================================================
--- trunk/src/stable/components/giraffeClient/giraffeClient.cpp (rev 0)
+++ trunk/src/stable/components/giraffeClient/giraffeClient.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -0,0 +1,125 @@
+/*
+ * Copyright (C) 2010 Eduardo Perdices García
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU Library General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
+ *
+ * Authors : Eduardo Perdices García <eperdices en gsyc.es>,
+ * Jose María Cañas Plaza <jmplaza en gsyc.es>
+ *
+ */
+
+#include <iostream>
+#include <Ice/Ice.h>
+#include <IceUtil/IceUtil.h>
+#include <jderobot/camera.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
+#include "view.h"
+#include <jderobot/jointmotor.h>
+
+using namespace std;
+
+int main(int argc, char** argv){
+
+ int status;
+ giraffeClient::View * view;
+ giraffeClient::Controller * controller;
+ Ice::CommunicatorPtr ic;
+ RoboCompJointMotor::MotorParamsList motorsparams;
+ RoboCompJointMotor::MotorStateMap motorsstate;
+
+ std::cout << "init " << std::endl;
+
+ try{
+ ic = Ice::initialize(argc,argv);
+ /*Get to giraffe server*/
+ Ice::ObjectPrx base1 = ic->propertyToProxy("giraffeClient.JointMotor.Proxy");
+ if (0==base1)
+ throw "Could not create proxy to giraffe server";
+
+ /*cast to JointMotorPrx*/
+ RoboCompJointMotor::JointMotorPrx jprx = RoboCompJointMotor::JointMotorPrx::checkedCast(base1);
+ if (0==jprx)
+ throw "Invalid proxy";
+
+ /*Get driver camera*/
+ Ice::ObjectPrx base2 = ic->propertyToProxy("giraffeClient.Camera.Proxy");
+ if (0==base2)
+ throw "Could not create proxy to camera server";
+
+ /*cast to CameraPrx*/
+ jderobot::CameraPrx cprx = jderobot::CameraPrx::checkedCast(base2);
+ if (0==cprx)
+ throw "Invalid proxy";
+
+ /*Create Controller and View*/
+ //std::cout << "Antes del view:" << std::endl;
+ controller = new giraffeClient::Controller(jprx);
+ view = new giraffeClient::View(controller);
+
+ /*Show params of motors*/
+
+ /*
+ motorsparams = jprx->getAllMotorParams();
+
+ std::cout << "Motors params:" << std::endl;
+ for(vector<RoboCompJointMotor::MotorParams>::iterator it = motorsparams.begin(); it != motorsparams.end(); it++) {
+ cout << endl;
+ cout << "Name: " << (*it).name << endl;
+ cout << "Id: " << (int) (*it).busId << endl;
+ cout << "minPos: " << (*it).minPos << endl;
+ cout << "maxPos: " << (*it).maxPos << endl;
+ cout << "maxVel: " << (*it).maxVelocity << endl;
+ cout << "zeroPos: " << (*it).zeroPos << endl;
+ cout << "inverted: " << (*it).invertedSign << endl;
+ }
+
+ //Get current pos of motors
+ jprx->getAllMotorState(motorsstate);
+ view->setInitialValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
+ view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
+*/
+ while(view->isVisible()){
+
+ /*Get status of motors*/
+ //jprx->getAllMotorState(motorsstate);
+
+ //view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
+
+ /*Get image*/
+ jderobot::ImageDataPtr data = cprx->getImageData();
+ colorspaces::Image::FormatPtr fmt = colorspaces::Image::Format::searchFormat(data->description->format);
+ if (!fmt)
+ throw "Format not supported";
+
+ colorspaces::Image image(data->description->width,
+ data->description->height,
+ fmt,
+ &(data->pixelData[0]));
+
+ view->display(image);
+ usleep(10*1000);
+ }
+ }catch (const Ice::Exception& ex) {
+ std::cerr << ex << std::endl;
+ status = 1;
+ } catch (const char* msg) {
+ std::cerr << msg << std::endl;
+ status = 1;
+ }
+
+ if (ic)
+ ic->destroy();
+ return status;
+}
Copied: trunk/src/stable/components/giraffeClient/giraffeClient.glade (from rev 1076, trunk/src/testing/components/giraffeclient/giraffeclient.glade)
===================================================================
--- trunk/src/stable/components/giraffeClient/giraffeClient.glade (rev 0)
+++ trunk/src/stable/components/giraffeClient/giraffeClient.glade 2013-10-25 10:56:31 UTC (rev 1078)
@@ -0,0 +1,450 @@
+<?xml version="1.0"?>
+<glade-interface>
+ <!-- interface-requires gtk+ 2.6 -->
+ <!-- interface-naming-policy toplevel-contextual -->
+ <widget class="GtkWindow" id="mainwindow">
+ <property name="visible">True</property>
+ <property name="title" translatable="yes">Giraffe Client</property>
+ <child>
+ <widget class="GtkVBox" id="vbox1">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkMenuBar" id="menubar1">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkMenuItem" id="menuitem1">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Options</property>
+ <property name="use_underline">True</property>
+ <child>
+ <widget class="GtkMenu" id="menuitem1_menu">
+ <child>
+ <widget class="GtkCheckMenuItem" id="active_image">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Image</property>
+ <property name="use_underline">True</property>
+ <signal name="activate" handler="on_Active_image_activate"/>
+ </widget>
+ </child>
+ </widget>
+ </child>
+ </widget>
+ </child>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="fill">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkVBox" id="vbox2">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkTable" id="table2">
+ <property name="visible">True</property>
+ <property name="n_rows">2</property>
+ <property name="n_columns">2</property>
+ <child>
+ <widget class="GtkTable" id="tableMotors">
+ <property name="height_request">500</property>
+ <property name="visible">True</property>
+ <property name="n_rows">4</property>
+ <property name="n_columns">4</property>
+ <child>
+ <widget class="GtkLabel" id="label25">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Pan</property>
+ </widget>
+ <packing>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label26">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Tilt</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label27">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Left</property>
+ </widget>
+ <packing>
+ <property name="left_attach">2</property>
+ <property name="right_attach">3</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label28">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Right</property>
+ <property name="justify">center</property>
+ </widget>
+ <packing>
+ <property name="left_attach">3</property>
+ <property name="right_attach">4</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkTable" id="table1">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkVScale" id="pos_pan">
+ <property name="width_request">50</property>
+ <property name="height_request">200</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 -1.3999999999999999 1.3999999999999999 0 0 0</property>
+ <property name="inverted">True</property>
+ <property name="digits">2</property>
+ </widget>
+ </child>
+ </widget>
+ <packing>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkTable" id="table3">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkVScale" id="pos_tilt">
+ <property name="width_request">50</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 -1 1 0 0 0</property>
+ <property name="inverted">True</property>
+ <property name="digits">2</property>
+ </widget>
+ </child>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkTable" id="table4">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkVScale" id="pos_left">
+ <property name="width_request">50</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 -1 1 0 0 0</property>
+ <property name="inverted">True</property>
+ <property name="digits">2</property>
+ </widget>
+ </child>
+ </widget>
+ <packing>
+ <property name="left_attach">2</property>
+ <property name="right_attach">3</property>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkTable" id="table5">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkVScale" id="pos_right">
+ <property name="width_request">50</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 -1 1 0 0 0</property>
+ <property name="inverted">True</property>
+ <property name="digits">2</property>
+ </widget>
+ </child>
+ </widget>
+ <packing>
+ <property name="left_attach">3</property>
+ <property name="right_attach">4</property>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkButton" id="button_pan_c">
+ <property name="label" translatable="yes">Center</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ <property name="image_position">bottom</property>
+ </widget>
+ <packing>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkButton" id="button_tilt_c">
+ <property name="label" translatable="yes">Center</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ <property name="image_position">bottom</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkButton" id="button_left_c">
+ <property name="label" translatable="yes">Center</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ <property name="image_position">bottom</property>
+ </widget>
+ <packing>
+ <property name="left_attach">2</property>
+ <property name="right_attach">3</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkButton" id="button_right_c">
+ <property name="label" translatable="yes">Center</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ <property name="image_position">bottom</property>
+ </widget>
+ <packing>
+ <property name="left_attach">3</property>
+ <property name="right_attach">4</property>
+ <property name="top_attach">3</property>
+ <property name="bottom_attach">4</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options">GTK_FILL</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="val_pan">
+ <property name="width_request">100</property>
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">0</property>
+ </widget>
+ <packing>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="val_tilt">
+ <property name="width_request">100</property>
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">0</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="val_left">
+ <property name="width_request">100</property>
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">0</property>
+ </widget>
+ <packing>
+ <property name="left_attach">2</property>
+ <property name="right_attach">3</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="val_right">
+ <property name="width_request">100</property>
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">0</property>
+ </widget>
+ <packing>
+ <property name="left_attach">3</property>
+ <property name="right_attach">4</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ <property name="x_options">GTK_FILL</property>
+ <property name="y_options"></property>
+ </packing>
+ </child>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkHBox" id="hbox1">
+ <property name="visible">True</property>
+ <child>
+ <widget class="GtkVSeparator" id="vseparator1">
+ <property name="visible">True</property>
+ </widget>
+ <packing>
+ <property name="expand">False</property>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkImage" id="image">
+ <property name="visible">True</property>
+ <property name="stock">gtk-missing-image</property>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <placeholder/>
+ </child>
+ <child>
+ <widget class="GtkTable" id="table6">
+ <property name="visible">True</property>
+ <property name="n_rows">3</property>
+ <property name="n_columns">3</property>
+ <child>
+ <widget class="GtkLabel" id="label1">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">X</property>
+ </widget>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label2">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Y</property>
+ </widget>
+ <packing>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkLabel" id="label3">
+ <property name="visible">True</property>
+ <property name="label" translatable="yes">Z</property>
+ </widget>
+ <packing>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHScale" id="look_x">
+ <property name="width_request">250</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 0 4000 1 10 10</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHScale" id="look_y">
+ <property name="width_request">250</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 -3000 3000 1 10 10</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ <child>
+ <widget class="GtkHScale" id="look_z">
+ <property name="width_request">250</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="adjustment">0 0 2000 1 10 10</property>
+ </widget>
+ <packing>
+ <property name="left_attach">1</property>
+ <property name="right_attach">2</property>
+ <property name="top_attach">2</property>
+ <property name="bottom_attach">3</property>
+ </packing>
+ </child>
+ <child>
+ <placeholder/>
+ </child>
+ <child>
+ <placeholder/>
+ </child>
+ <child>
+ <widget class="GtkButton" id="button_lookat">
+ <property name="label" translatable="yes">Look at</property>
+ <property name="visible">True</property>
+ <property name="can_focus">True</property>
+ <property name="receives_default">True</property>
+ </widget>
+ <packing>
+ <property name="left_attach">2</property>
+ <property name="right_attach">3</property>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="top_attach">1</property>
+ <property name="bottom_attach">2</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">0</property>
+ </packing>
+ </child>
+ </widget>
+ <packing>
+ <property name="position">1</property>
+ </packing>
+ </child>
+ </widget>
+ </child>
+ </widget>
+</glade-interface>
Deleted: trunk/src/stable/components/giraffeClient/giraffeclient.cfg
===================================================================
--- trunk/src/testing/components/giraffeclient/giraffeclient.cfg 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/giraffeclient.cfg 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,3 +0,0 @@
-giraffeClient.JointMotor.Proxy=jointmotor:tcp -h localhost -p 10067
-giraffeClient.Camera.Proxy=cameraA:tcp -h 127.0.0.1 -p 9999
-
Deleted: trunk/src/stable/components/giraffeClient/giraffeclient.cpp
===================================================================
--- trunk/src/testing/components/giraffeclient/giraffeclient.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/giraffeclient.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,120 +0,0 @@
-/*
- * Copyright (C) 2010 Eduardo Perdices García
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU Library General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
- *
- * Authors : Eduardo Perdices García <eperdices en gsyc.es>,
- * Jose María Cañas Plaza <jmplaza en gsyc.es>
- *
- */
-
-#include <iostream>
-#include <Ice/Ice.h>
-#include <IceUtil/IceUtil.h>
-#include <jderobot/camera.h>
-#include <colorspaces/colorspacesmm.h>
-#include "view.h"
-#include <jderobot/jointmotor.h>
-
-using namespace std;
-
-int main(int argc, char** argv){
-
- int status;
- giraffeClient::View * view;
- giraffeClient::Controller * controller;
- Ice::CommunicatorPtr ic;
- RoboCompJointMotor::MotorParamsList motorsparams;
- RoboCompJointMotor::MotorStateMap motorsstate;
-
- try{
- ic = Ice::initialize(argc,argv);
- /*Get to giraffe server*/
- Ice::ObjectPrx base1 = ic->propertyToProxy("giraffeClient.JointMotor.Proxy");
- if (0==base1)
- throw "Could not create proxy to giraffe server";
-
- /*cast to JointMotorPrx*/
- RoboCompJointMotor::JointMotorPrx jprx = RoboCompJointMotor::JointMotorPrx::checkedCast(base1);
- if (0==jprx)
- throw "Invalid proxy";
-
- /*Get driver camera*/
- Ice::ObjectPrx base2 = ic->propertyToProxy("giraffeClient.Camera.Proxy");
- if (0==base2)
- throw "Could not create proxy to camera server";
-
- /*cast to CameraPrx*/
- jderobot::CameraPrx cprx = jderobot::CameraPrx::checkedCast(base2);
- if (0==cprx)
- throw "Invalid proxy";
-
- /*Create Controller and View*/
- controller = new giraffeClient::Controller(jprx);
- view = new giraffeClient::View(controller);
-
- /*Show params of motors*/
- motorsparams = jprx->getAllMotorParams();
-
- cout << "Motors params:" << endl;
- for(vector<RoboCompJointMotor::MotorParams>::iterator it = motorsparams.begin(); it != motorsparams.end(); it++) {
- cout << endl;
- cout << "Name: " << (*it).name << endl;
- cout << "Id: " << (int) (*it).busId << endl;
- cout << "minPos: " << (*it).minPos << endl;
- cout << "maxPos: " << (*it).maxPos << endl;
- cout << "maxVel: " << (*it).maxVelocity << endl;
- cout << "zeroPos: " << (*it).zeroPos << endl;
- cout << "inverted: " << (*it).invertedSign << endl;
- }
-
- /*Get current pos of motors*/
- jprx->getAllMotorState(motorsstate);
- view->setInitialValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
- view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
-
- while(view->isVisible()){
-
- /*Get status of motors*/
- jprx->getAllMotorState(motorsstate);
-
- view->setRealValues(motorsstate["neck"].pos, motorsstate["tilt"].pos, motorsstate["leftPan"].pos, motorsstate["rightPan"].pos);
-
- /*Get image*/
- jderobot::ImageDataPtr data = cprx->getImageData();
- colorspaces::Image::FormatPtr fmt = colorspaces::Image::Format::searchFormat(data->description->format);
- if (!fmt)
- throw "Format not supported";
-
- colorspaces::Image image(data->description->width,
- data->description->height,
- fmt,
- &(data->pixelData[0]));
-
- view->display(image);
- usleep(10*1000);
- }
- }catch (const Ice::Exception& ex) {
- std::cerr << ex << std::endl;
- status = 1;
- } catch (const char* msg) {
- std::cerr << msg << std::endl;
- status = 1;
- }
-
- if (ic)
- ic->destroy();
- return status;
-}
Deleted: trunk/src/stable/components/giraffeClient/giraffeclient.glade
===================================================================
--- trunk/src/testing/components/giraffeclient/giraffeclient.glade 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/giraffeclient.glade 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,450 +0,0 @@
-<?xml version="1.0"?>
-<glade-interface>
- <!-- interface-requires gtk+ 2.6 -->
- <!-- interface-naming-policy toplevel-contextual -->
- <widget class="GtkWindow" id="mainwindow">
- <property name="visible">True</property>
- <property name="title" translatable="yes">Giraffe Client</property>
- <child>
- <widget class="GtkVBox" id="vbox1">
- <property name="visible">True</property>
- <child>
- <widget class="GtkMenuBar" id="menubar1">
- <property name="visible">True</property>
- <child>
- <widget class="GtkMenuItem" id="menuitem1">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Options</property>
- <property name="use_underline">True</property>
- <child>
- <widget class="GtkMenu" id="menuitem1_menu">
- <child>
- <widget class="GtkCheckMenuItem" id="active_image">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Image</property>
- <property name="use_underline">True</property>
- <signal name="activate" handler="on_Active_image_activate"/>
- </widget>
- </child>
- </widget>
- </child>
- </widget>
- </child>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="fill">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkVBox" id="vbox2">
- <property name="visible">True</property>
- <child>
- <widget class="GtkTable" id="table2">
- <property name="visible">True</property>
- <property name="n_rows">2</property>
- <property name="n_columns">2</property>
- <child>
- <widget class="GtkTable" id="tableMotors">
- <property name="height_request">500</property>
- <property name="visible">True</property>
- <property name="n_rows">4</property>
- <property name="n_columns">4</property>
- <child>
- <widget class="GtkLabel" id="label25">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Pan</property>
- </widget>
- <packing>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="label26">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Tilt</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="label27">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Left</property>
- </widget>
- <packing>
- <property name="left_attach">2</property>
- <property name="right_attach">3</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="label28">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Right</property>
- <property name="justify">center</property>
- </widget>
- <packing>
- <property name="left_attach">3</property>
- <property name="right_attach">4</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkTable" id="table1">
- <property name="visible">True</property>
- <child>
- <widget class="GtkVScale" id="pos_pan">
- <property name="width_request">50</property>
- <property name="height_request">200</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 -1.3999999999999999 1.3999999999999999 0 0 0</property>
- <property name="inverted">True</property>
- <property name="digits">2</property>
- </widget>
- </child>
- </widget>
- <packing>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkTable" id="table3">
- <property name="visible">True</property>
- <child>
- <widget class="GtkVScale" id="pos_tilt">
- <property name="width_request">50</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 -1 1 0 0 0</property>
- <property name="inverted">True</property>
- <property name="digits">2</property>
- </widget>
- </child>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkTable" id="table4">
- <property name="visible">True</property>
- <child>
- <widget class="GtkVScale" id="pos_left">
- <property name="width_request">50</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 -1 1 0 0 0</property>
- <property name="inverted">True</property>
- <property name="digits">2</property>
- </widget>
- </child>
- </widget>
- <packing>
- <property name="left_attach">2</property>
- <property name="right_attach">3</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkTable" id="table5">
- <property name="visible">True</property>
- <child>
- <widget class="GtkVScale" id="pos_right">
- <property name="width_request">50</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 -1 1 0 0 0</property>
- <property name="inverted">True</property>
- <property name="digits">2</property>
- </widget>
- </child>
- </widget>
- <packing>
- <property name="left_attach">3</property>
- <property name="right_attach">4</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkButton" id="button_pan_c">
- <property name="label" translatable="yes">Center</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="receives_default">True</property>
- <property name="image_position">bottom</property>
- </widget>
- <packing>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkButton" id="button_tilt_c">
- <property name="label" translatable="yes">Center</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="receives_default">True</property>
- <property name="image_position">bottom</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkButton" id="button_left_c">
- <property name="label" translatable="yes">Center</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="receives_default">True</property>
- <property name="image_position">bottom</property>
- </widget>
- <packing>
- <property name="left_attach">2</property>
- <property name="right_attach">3</property>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkButton" id="button_right_c">
- <property name="label" translatable="yes">Center</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="receives_default">True</property>
- <property name="image_position">bottom</property>
- </widget>
- <packing>
- <property name="left_attach">3</property>
- <property name="right_attach">4</property>
- <property name="top_attach">3</property>
- <property name="bottom_attach">4</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options">GTK_FILL</property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="val_pan">
- <property name="width_request">100</property>
- <property name="visible">True</property>
- <property name="label" translatable="yes">0</property>
- </widget>
- <packing>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="val_tilt">
- <property name="width_request">100</property>
- <property name="visible">True</property>
- <property name="label" translatable="yes">0</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="val_left">
- <property name="width_request">100</property>
- <property name="visible">True</property>
- <property name="label" translatable="yes">0</property>
- </widget>
- <packing>
- <property name="left_attach">2</property>
- <property name="right_attach">3</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="val_right">
- <property name="width_request">100</property>
- <property name="visible">True</property>
- <property name="label" translatable="yes">0</property>
- </widget>
- <packing>
- <property name="left_attach">3</property>
- <property name="right_attach">4</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- <property name="x_options">GTK_FILL</property>
- <property name="y_options"></property>
- </packing>
- </child>
- </widget>
- </child>
- <child>
- <widget class="GtkHBox" id="hbox1">
- <property name="visible">True</property>
- <child>
- <widget class="GtkVSeparator" id="vseparator1">
- <property name="visible">True</property>
- </widget>
- <packing>
- <property name="expand">False</property>
- <property name="position">0</property>
- </packing>
- </child>
- <child>
- <widget class="GtkImage" id="image">
- <property name="visible">True</property>
- <property name="stock">gtk-missing-image</property>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- </packing>
- </child>
- <child>
- <placeholder/>
- </child>
- <child>
- <widget class="GtkTable" id="table6">
- <property name="visible">True</property>
- <property name="n_rows">3</property>
- <property name="n_columns">3</property>
- <child>
- <widget class="GtkLabel" id="label1">
- <property name="visible">True</property>
- <property name="label" translatable="yes">X</property>
- </widget>
- </child>
- <child>
- <widget class="GtkLabel" id="label2">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Y</property>
- </widget>
- <packing>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkLabel" id="label3">
- <property name="visible">True</property>
- <property name="label" translatable="yes">Z</property>
- </widget>
- <packing>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHScale" id="look_x">
- <property name="width_request">250</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 0 4000 1 10 10</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHScale" id="look_y">
- <property name="width_request">250</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 -3000 3000 1 10 10</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- <child>
- <widget class="GtkHScale" id="look_z">
- <property name="width_request">250</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="adjustment">0 0 2000 1 10 10</property>
- </widget>
- <packing>
- <property name="left_attach">1</property>
- <property name="right_attach">2</property>
- <property name="top_attach">2</property>
- <property name="bottom_attach">3</property>
- </packing>
- </child>
- <child>
- <placeholder/>
- </child>
- <child>
- <placeholder/>
- </child>
- <child>
- <widget class="GtkButton" id="button_lookat">
- <property name="label" translatable="yes">Look at</property>
- <property name="visible">True</property>
- <property name="can_focus">True</property>
- <property name="receives_default">True</property>
- </widget>
- <packing>
- <property name="left_attach">2</property>
- <property name="right_attach">3</property>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="top_attach">1</property>
- <property name="bottom_attach">2</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="position">0</property>
- </packing>
- </child>
- </widget>
- <packing>
- <property name="position">1</property>
- </packing>
- </child>
- </widget>
- </child>
- </widget>
-</glade-interface>
Modified: trunk/src/stable/components/giraffeClient/view.cpp
===================================================================
--- trunk/src/testing/components/giraffeclient/view.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/view.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -88,17 +88,17 @@
void View::display(const colorspaces::Image& image)
{
/*Manage image*/
- this->controller->drawWorld(image);
+ //this->controller->drawWorld(image);
/*Set image*/
- colorspaces::ImageRGB8 img_rgb8(image);//conversion will happen if needed
- Glib::RefPtr<Gdk::Pixbuf> imgBuff = Gdk::Pixbuf::create_from_data((const guint8*)img_rgb8.data,
+ colorspaces::ImageRGB8 img_rgb888(image);//conversion will happen if needed
+ Glib::RefPtr<Gdk::Pixbuf> imgBuff = Gdk::Pixbuf::create_from_data((const guint8*)img_rgb888.data,
Gdk::COLORSPACE_RGB,
false,
8,
- img_rgb8.width,
- img_rgb8.height,
- img_rgb8.step);
+ img_rgb888.width,
+ img_rgb888.height,
+ img_rgb888.step);
gtk_image->clear();
gtk_image->set(imgBuff);
Modified: trunk/src/stable/components/giraffeClient/view.h
===================================================================
--- trunk/src/testing/components/giraffeclient/view.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeClient/view.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -30,7 +30,7 @@
#include <IceUtil/Thread.h>
#include <IceUtil/Time.h>
#include "controller.h"
-#include <colorspaces/colorspacesmm.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
namespace giraffeClient {
class View {
Modified: trunk/src/stable/components/giraffeServer/CMakeLists.txt
===================================================================
--- trunk/src/testing/components/giraffeServer/CMakeLists.txt 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/CMakeLists.txt 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,56 +1,23 @@
-cmake_minimum_required(VERSION 2.6)
-PROJECT( jointmotorComp )
+SET( SOURCE_FILES jointmotorComp.cpp jointmotorI.cpp worker.cpp dynamixel.cpp monitor.cpp servo.cpp q4serialport/q4serialport.cpp moc_monitor.cpp moc_q4serialport.cpp moc_worker.cpp)
-# Sources set
-SET ( SOURCES
- jointmotorComp.cpp
- jointmotorI.cpp
- worker.cpp
- dynamixel.cpp
- #fakehandler.cpp
- #megaroboticshandler.cpp
- monitor.cpp
- servo.cpp
- $ENV{ROBOCOMP}/Classes/rapplication/rapplication.cpp
- $ENV{ROBOCOMP}/Classes/q4serialport/q4serialport.cpp
+include_directories(
+ ${INTERFACES_CPP_DIR}
+ ${LIBS_DIR}
+ ${CMAKE_CURRENT_SOURCE_DIR}
+ ${gtkmm_INCLUDE_DIRS}
+ ${libglademm_INCLUDE_DIRS}
)
-# Headers set
-SET ( HEADERS
- worker.h
- monitor.h
- $ENV{ROBOCOMP}/Classes/q4serialport/q4serialport.h
-)
+add_executable (giraffeServer ${SOURCE_FILES})
-# RoboComp
-INCLUDE( $ENV{ROBOCOMP}/CMake/robocomp.cmake )
-ROBOCOMP_INITIALIZE( $ENV{ROBOCOMP}/ )
-ROBOCOMP_WRAP_ICE( JointMotor)
-
-SET (EXECUTABLE_OUTPUT_PATH $ENV{ROBOCOMP}/Components/HAL/jointmotorComp/bin)
-
-# IPP
-# INCLUDE( $ENV{ROBOCOMP}/CMake/ipp.cmake )
-
-# Qt4
-ADD_DEFINITIONS( -Wall -DQT_DLL -DQT_GUI_LIB -DQT_CORE_LIB )
-FIND_PACKAGE( Qt4 REQUIRED )
-SET( QT_USE_QTGUI TRUE )
-SET( QT_USE_QTOPENGL TRUE )
-INCLUDE( ${QT_USE_FILE} )
-QT4_WRAP_CPP( MOC_SOURCES ${HEADERS} )
-
-# Gazebo
-INCLUDE( $ENV{ROBOCOMP}/CMake/gazebo.cmake )
-IF (GAZEBO_FOUND EQUAL 0)
- MESSAGE(STATUS "\n\nGazebo motor handle will NOT be built!\n\n")
-ELSE (GAZEBO_FOUND EQUAL 0)
- MESSAGE(STATUS "\n\nGazebo motor handle WILL be built!\n\n")
-ENDIF (GAZEBO_FOUND EQUAL 0)
-
-# Specify construction and link process
-ADD_EXECUTABLE( jointmotorComp ${SOURCES} ${MOC_SOURCES} ${RC_SOURCES} ${UI_HEADERS} )
-TARGET_LINK_LIBRARIES( jointmotorComp ${QT_LIBRARIES} ${LIBS})
-
-INSTALL(FILES ${EXECUTABLE_OUTPUT_PATH}/jointmotorComp DESTINATION /opt/robocomp/bin/ )
+TARGET_LINK_LIBRARIES(giraffeServer
+ ${CMAKE_THREAD_LIBS_INIT}
+ ${gtkmm_LIBRARIES}
+ ${libglademm_LIBRARIES}
+ ${ZeroCIce_LIBRARIES}
+ ${QT_LIBRARIES_JDE}
+ JderobotInterfaces
+ QtCore
+ QtGui
+)
Deleted: trunk/src/stable/components/giraffeServer/JointMotor.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/JointMotor.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/JointMotor.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,2716 +0,0 @@
-// **********************************************************************
-//
-// Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved.
-//
-// This copy of Ice is licensed to you under the terms described in the
-// ICE_LICENSE file included in this distribution.
-//
-// **********************************************************************
-
-// Ice version 3.3.1
-// Generated from file `JointMotor.ice'
-
-#include <JointMotor.h>
-#include <Ice/LocalException.h>
-#include <Ice/ObjectFactory.h>
-#include <Ice/BasicStream.h>
-#include <IceUtil/Iterator.h>
-#include <IceUtil/ScopedArray.h>
-
-#ifndef ICE_IGNORE_VERSION
-# if ICE_INT_VERSION / 100 != 303
-# error Ice version mismatch!
-# endif
-# if ICE_INT_VERSION % 100 > 50
-# error Beta header file detected
-# endif
-# if ICE_INT_VERSION % 100 < 1
-# error Ice patch level mismatch!
-# endif
-#endif
-
-static const ::std::string __RoboCompJointMotor__JointMotor__setPosition_name = "setPosition";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__setVelocity_name = "setVelocity";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__setSyncPosition_name = "setSyncPosition";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getMotorParams_name = "getMotorParams";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getMotorState_name = "getMotorState";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getMotorStateMap_name = "getMotorStateMap";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getAllMotorState_name = "getAllMotorState";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getAllMotorParams_name = "getAllMotorParams";
-
-static const ::std::string __RoboCompJointMotor__JointMotor__getBusParams_name = "getBusParams";
-
-::Ice::Object* IceInternal::upCast(::RoboCompJointMotor::JointMotor* p) { return p; }
-::IceProxy::Ice::Object* IceInternal::upCast(::IceProxy::RoboCompJointMotor::JointMotor* p) { return p; }
-
-void
-RoboCompJointMotor::__read(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::JointMotorPrx& v)
-{
- ::Ice::ObjectPrx proxy;
- __is->read(proxy);
- if(!proxy)
- {
- v = 0;
- }
- else
- {
- v = new ::IceProxy::RoboCompJointMotor::JointMotor;
- v->__copyFrom(proxy);
- }
-}
-
-RoboCompJointMotor::HardwareFailedException::HardwareFailedException(const ::std::string& __ice_what) :
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- UserException(),
-#else
- ::Ice::UserException(),
-#endif
- what(__ice_what)
-{
-}
-
-RoboCompJointMotor::HardwareFailedException::~HardwareFailedException() throw()
-{
-}
-
-static const char* __RoboCompJointMotor__HardwareFailedException_name = "RoboCompJointMotor::HardwareFailedException";
-
-::std::string
-RoboCompJointMotor::HardwareFailedException::ice_name() const
-{
- return __RoboCompJointMotor__HardwareFailedException_name;
-}
-
-::Ice::Exception*
-RoboCompJointMotor::HardwareFailedException::ice_clone() const
-{
- return new HardwareFailedException(*this);
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::ice_throw() const
-{
- throw *this;
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(::std::string("::RoboCompJointMotor::HardwareFailedException"), false);
- __os->startWriteSlice();
- __os->write(what);
- __os->endWriteSlice();
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
- if(__rid)
- {
- ::std::string myId;
- __is->read(myId, false);
- }
- __is->startReadSlice();
- __is->read(what);
- __is->endReadSlice();
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__write(const ::Ice::OutputStreamPtr&) const
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "exception RoboCompJointMotor::HardwareFailedException was not generated with stream support";
- throw ex;
-}
-
-void
-RoboCompJointMotor::HardwareFailedException::__read(const ::Ice::InputStreamPtr&, bool)
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "exception RoboCompJointMotor::HardwareFailedException was not generated with stream support";
- throw ex;
-}
-
-struct __F__RoboCompJointMotor__HardwareFailedException : public ::IceInternal::UserExceptionFactory
-{
- virtual void
- createAndThrow()
- {
- throw ::RoboCompJointMotor::HardwareFailedException();
- }
-};
-
-static ::IceInternal::UserExceptionFactoryPtr __F__RoboCompJointMotor__HardwareFailedException__Ptr = new __F__RoboCompJointMotor__HardwareFailedException;
-
-const ::IceInternal::UserExceptionFactoryPtr&
-RoboCompJointMotor::HardwareFailedException::ice_factory()
-{
- return __F__RoboCompJointMotor__HardwareFailedException__Ptr;
-}
-
-class __F__RoboCompJointMotor__HardwareFailedException__Init
-{
-public:
-
- __F__RoboCompJointMotor__HardwareFailedException__Init()
- {
- ::IceInternal::factoryTable->addExceptionFactory("::RoboCompJointMotor::HardwareFailedException", ::RoboCompJointMotor::HardwareFailedException::ice_factory());
- }
-
- ~__F__RoboCompJointMotor__HardwareFailedException__Init()
- {
- ::IceInternal::factoryTable->removeExceptionFactory("::RoboCompJointMotor::HardwareFailedException");
- }
-};
-
-static __F__RoboCompJointMotor__HardwareFailedException__Init __F__RoboCompJointMotor__HardwareFailedException__i;
-
-#ifdef __APPLE__
-extern "C" { void __F__RoboCompJointMotor__HardwareFailedException__initializer() {} }
-#endif
-
-RoboCompJointMotor::OutOfRangeException::OutOfRangeException(const ::std::string& __ice_what) :
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- UserException(),
-#else
- ::Ice::UserException(),
-#endif
- what(__ice_what)
-{
-}
-
-RoboCompJointMotor::OutOfRangeException::~OutOfRangeException() throw()
-{
-}
-
-static const char* __RoboCompJointMotor__OutOfRangeException_name = "RoboCompJointMotor::OutOfRangeException";
-
-::std::string
-RoboCompJointMotor::OutOfRangeException::ice_name() const
-{
- return __RoboCompJointMotor__OutOfRangeException_name;
-}
-
-::Ice::Exception*
-RoboCompJointMotor::OutOfRangeException::ice_clone() const
-{
- return new OutOfRangeException(*this);
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::ice_throw() const
-{
- throw *this;
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(::std::string("::RoboCompJointMotor::OutOfRangeException"), false);
- __os->startWriteSlice();
- __os->write(what);
- __os->endWriteSlice();
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
- if(__rid)
- {
- ::std::string myId;
- __is->read(myId, false);
- }
- __is->startReadSlice();
- __is->read(what);
- __is->endReadSlice();
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__write(const ::Ice::OutputStreamPtr&) const
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "exception RoboCompJointMotor::OutOfRangeException was not generated with stream support";
- throw ex;
-}
-
-void
-RoboCompJointMotor::OutOfRangeException::__read(const ::Ice::InputStreamPtr&, bool)
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "exception RoboCompJointMotor::OutOfRangeException was not generated with stream support";
- throw ex;
-}
-
-struct __F__RoboCompJointMotor__OutOfRangeException : public ::IceInternal::UserExceptionFactory
-{
- virtual void
- createAndThrow()
- {
- throw ::RoboCompJointMotor::OutOfRangeException();
- }
-};
-
-static ::IceInternal::UserExceptionFactoryPtr __F__RoboCompJointMotor__OutOfRangeException__Ptr = new __F__RoboCompJointMotor__OutOfRangeException;
-
-const ::IceInternal::UserExceptionFactoryPtr&
-RoboCompJointMotor::OutOfRangeException::ice_factory()
-{
- return __F__RoboCompJointMotor__OutOfRangeException__Ptr;
-}
-
-class __F__RoboCompJointMotor__OutOfRangeException__Init
-{
-public:
-
- __F__RoboCompJointMotor__OutOfRangeException__Init()
- {
- ::IceInternal::factoryTable->addExceptionFactory("::RoboCompJointMotor::OutOfRangeException", ::RoboCompJointMotor::OutOfRangeException::ice_factory());
- }
-
- ~__F__RoboCompJointMotor__OutOfRangeException__Init()
- {
- ::IceInternal::factoryTable->removeExceptionFactory("::RoboCompJointMotor::OutOfRangeException");
- }
-};
-
-static __F__RoboCompJointMotor__OutOfRangeException__Init __F__RoboCompJointMotor__OutOfRangeException__i;
-
-#ifdef __APPLE__
-extern "C" { void __F__RoboCompJointMotor__OutOfRangeException__initializer() {} }
-#endif
-
-RoboCompJointMotor::UnknownMotorException::UnknownMotorException(const ::std::string& __ice_what) :
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- UserException(),
-#else
- ::Ice::UserException(),
-#endif
- what(__ice_what)
-{
-}
-
-RoboCompJointMotor::UnknownMotorException::~UnknownMotorException() throw()
-{
-}
-
-static const char* __RoboCompJointMotor__UnknownMotorException_name = "RoboCompJointMotor::UnknownMotorException";
-
-::std::string
-RoboCompJointMotor::UnknownMotorException::ice_name() const
-{
- return __RoboCompJointMotor__UnknownMotorException_name;
-}
-
-::Ice::Exception*
-RoboCompJointMotor::UnknownMotorException::ice_clone() const
-{
- return new UnknownMotorException(*this);
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::ice_throw() const
-{
- throw *this;
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(::std::string("::RoboCompJointMotor::UnknownMotorException"), false);
- __os->startWriteSlice();
- __os->write(what);
- __os->endWriteSlice();
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
- if(__rid)
- {
- ::std::string myId;
- __is->read(myId, false);
- }
- __is->startReadSlice();
- __is->read(what);
- __is->endReadSlice();
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__write(const ::Ice::OutputStreamPtr&) const
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "exception RoboCompJointMotor::UnknownMotorException was not generated with stream support";
- throw ex;
-}
-
-void
-RoboCompJointMotor::UnknownMotorException::__read(const ::Ice::InputStreamPtr&, bool)
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "exception RoboCompJointMotor::UnknownMotorException was not generated with stream support";
- throw ex;
-}
-
-struct __F__RoboCompJointMotor__UnknownMotorException : public ::IceInternal::UserExceptionFactory
-{
- virtual void
- createAndThrow()
- {
- throw ::RoboCompJointMotor::UnknownMotorException();
- }
-};
-
-static ::IceInternal::UserExceptionFactoryPtr __F__RoboCompJointMotor__UnknownMotorException__Ptr = new __F__RoboCompJointMotor__UnknownMotorException;
-
-const ::IceInternal::UserExceptionFactoryPtr&
-RoboCompJointMotor::UnknownMotorException::ice_factory()
-{
- return __F__RoboCompJointMotor__UnknownMotorException__Ptr;
-}
-
-class __F__RoboCompJointMotor__UnknownMotorException__Init
-{
-public:
-
- __F__RoboCompJointMotor__UnknownMotorException__Init()
- {
- ::IceInternal::factoryTable->addExceptionFactory("::RoboCompJointMotor::UnknownMotorException", ::RoboCompJointMotor::UnknownMotorException::ice_factory());
- }
-
- ~__F__RoboCompJointMotor__UnknownMotorException__Init()
- {
- ::IceInternal::factoryTable->removeExceptionFactory("::RoboCompJointMotor::UnknownMotorException");
- }
-};
-
-static __F__RoboCompJointMotor__UnknownMotorException__Init __F__RoboCompJointMotor__UnknownMotorException__i;
-
-#ifdef __APPLE__
-extern "C" { void __F__RoboCompJointMotor__UnknownMotorException__initializer() {} }
-#endif
-
-bool
-RoboCompJointMotor::MotorState::operator==(const MotorState& __rhs) const
-{
- if(this == &__rhs)
- {
- return true;
- }
- if(pos != __rhs.pos)
- {
- return false;
- }
- if(vel != __rhs.vel)
- {
- return false;
- }
- if(power != __rhs.power)
- {
- return false;
- }
- if(timeStamp != __rhs.timeStamp)
- {
- return false;
- }
- if(p != __rhs.p)
- {
- return false;
- }
- if(v != __rhs.v)
- {
- return false;
- }
- if(isMoving != __rhs.isMoving)
- {
- return false;
- }
- return true;
-}
-
-bool
-RoboCompJointMotor::MotorState::operator<(const MotorState& __rhs) const
-{
- if(this == &__rhs)
- {
- return false;
- }
- if(pos < __rhs.pos)
- {
- return true;
- }
- else if(__rhs.pos < pos)
- {
- return false;
- }
- if(vel < __rhs.vel)
- {
- return true;
- }
- else if(__rhs.vel < vel)
- {
- return false;
- }
- if(power < __rhs.power)
- {
- return true;
- }
- else if(__rhs.power < power)
- {
- return false;
- }
- if(timeStamp < __rhs.timeStamp)
- {
- return true;
- }
- else if(__rhs.timeStamp < timeStamp)
- {
- return false;
- }
- if(p < __rhs.p)
- {
- return true;
- }
- else if(__rhs.p < p)
- {
- return false;
- }
- if(v < __rhs.v)
- {
- return true;
- }
- else if(__rhs.v < v)
- {
- return false;
- }
- if(isMoving < __rhs.isMoving)
- {
- return true;
- }
- else if(__rhs.isMoving < isMoving)
- {
- return false;
- }
- return false;
-}
-
-void
-RoboCompJointMotor::MotorState::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(pos);
- __os->write(vel);
- __os->write(power);
- __os->write(timeStamp);
- __os->write(p);
- __os->write(v);
- __os->write(isMoving);
-}
-
-void
-RoboCompJointMotor::MotorState::__read(::IceInternal::BasicStream* __is)
-{
- __is->read(pos);
- __is->read(vel);
- __is->read(power);
- __is->read(timeStamp);
- __is->read(p);
- __is->read(v);
- __is->read(isMoving);
-}
-
-void
-RoboCompJointMotor::__writeMotorStateMap(::IceInternal::BasicStream* __os, const ::RoboCompJointMotor::MotorStateMap& v)
-{
- __os->writeSize(::Ice::Int(v.size()));
- ::RoboCompJointMotor::MotorStateMap::const_iterator p;
- for(p = v.begin(); p != v.end(); ++p)
- {
- __os->write(p->first);
- p->second.__write(__os);
- }
-}
-
-void
-RoboCompJointMotor::__readMotorStateMap(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::MotorStateMap& v)
-{
- ::Ice::Int sz;
- __is->readSize(sz);
- while(sz--)
- {
- ::std::pair<const ::std::string, ::RoboCompJointMotor::MotorState> pair;
- __is->read(const_cast< ::std::string&>(pair.first));
- ::RoboCompJointMotor::MotorStateMap::iterator __i = v.insert(v.end(), pair);
- __i->second.__read(__is);
- }
-}
-
-bool
-RoboCompJointMotor::MotorParams::operator==(const MotorParams& __rhs) const
-{
- if(this == &__rhs)
- {
- return true;
- }
- if(name != __rhs.name)
- {
- return false;
- }
- if(busId != __rhs.busId)
- {
- return false;
- }
- if(minPos != __rhs.minPos)
- {
- return false;
- }
- if(maxPos != __rhs.maxPos)
- {
- return false;
- }
- if(maxVelocity != __rhs.maxVelocity)
- {
- return false;
- }
- if(zeroPos != __rhs.zeroPos)
- {
- return false;
- }
- if(invertedSign != __rhs.invertedSign)
- {
- return false;
- }
- return true;
-}
-
-bool
-RoboCompJointMotor::MotorParams::operator<(const MotorParams& __rhs) const
-{
- if(this == &__rhs)
- {
- return false;
- }
- if(name < __rhs.name)
- {
- return true;
- }
- else if(__rhs.name < name)
- {
- return false;
- }
- if(busId < __rhs.busId)
- {
- return true;
- }
- else if(__rhs.busId < busId)
- {
- return false;
- }
- if(minPos < __rhs.minPos)
- {
- return true;
- }
- else if(__rhs.minPos < minPos)
- {
- return false;
- }
- if(maxPos < __rhs.maxPos)
- {
- return true;
- }
- else if(__rhs.maxPos < maxPos)
- {
- return false;
- }
- if(maxVelocity < __rhs.maxVelocity)
- {
- return true;
- }
- else if(__rhs.maxVelocity < maxVelocity)
- {
- return false;
- }
- if(zeroPos < __rhs.zeroPos)
- {
- return true;
- }
- else if(__rhs.zeroPos < zeroPos)
- {
- return false;
- }
- if(invertedSign < __rhs.invertedSign)
- {
- return true;
- }
- else if(__rhs.invertedSign < invertedSign)
- {
- return false;
- }
- return false;
-}
-
-void
-RoboCompJointMotor::MotorParams::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(name);
- __os->write(busId);
- __os->write(minPos);
- __os->write(maxPos);
- __os->write(maxVelocity);
- __os->write(zeroPos);
- __os->write(invertedSign);
-}
-
-void
-RoboCompJointMotor::MotorParams::__read(::IceInternal::BasicStream* __is)
-{
- __is->read(name);
- __is->read(busId);
- __is->read(minPos);
- __is->read(maxPos);
- __is->read(maxVelocity);
- __is->read(zeroPos);
- __is->read(invertedSign);
-}
-
-void
-RoboCompJointMotor::__writeMotorParamsList(::IceInternal::BasicStream* __os, const ::RoboCompJointMotor::MotorParams* begin, const ::RoboCompJointMotor::MotorParams* end)
-{
- ::Ice::Int size = static_cast< ::Ice::Int>(end - begin);
- __os->writeSize(size);
- for(int i = 0; i < size; ++i)
- {
- begin[i].__write(__os);
- }
-}
-
-void
-RoboCompJointMotor::__readMotorParamsList(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::MotorParamsList& v)
-{
- ::Ice::Int sz;
- __is->readSize(sz);
- __is->startSeq(sz, 19);
- v.resize(sz);
- for(int i = 0; i < sz; ++i)
- {
- v[i].__read(__is);
- __is->checkSeq();
- __is->endElement();
- }
- __is->endSeq(sz);
-}
-
-bool
-RoboCompJointMotor::BusParams::operator==(const BusParams& __rhs) const
-{
- if(this == &__rhs)
- {
- return true;
- }
- if(handler != __rhs.handler)
- {
- return false;
- }
- if(device != __rhs.device)
- {
- return false;
- }
- if(numMotors != __rhs.numMotors)
- {
- return false;
- }
- if(baudRate != __rhs.baudRate)
- {
- return false;
- }
- if(basicPeriod != __rhs.basicPeriod)
- {
- return false;
- }
- return true;
-}
-
-bool
-RoboCompJointMotor::BusParams::operator<(const BusParams& __rhs) const
-{
- if(this == &__rhs)
- {
- return false;
- }
- if(handler < __rhs.handler)
- {
- return true;
- }
- else if(__rhs.handler < handler)
- {
- return false;
- }
- if(device < __rhs.device)
- {
- return true;
- }
- else if(__rhs.device < device)
- {
- return false;
- }
- if(numMotors < __rhs.numMotors)
- {
- return true;
- }
- else if(__rhs.numMotors < numMotors)
- {
- return false;
- }
- if(baudRate < __rhs.baudRate)
- {
- return true;
- }
- else if(__rhs.baudRate < baudRate)
- {
- return false;
- }
- if(basicPeriod < __rhs.basicPeriod)
- {
- return true;
- }
- else if(__rhs.basicPeriod < basicPeriod)
- {
- return false;
- }
- return false;
-}
-
-void
-RoboCompJointMotor::BusParams::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(handler);
- __os->write(device);
- __os->write(numMotors);
- __os->write(baudRate);
- __os->write(basicPeriod);
-}
-
-void
-RoboCompJointMotor::BusParams::__read(::IceInternal::BasicStream* __is)
-{
- __is->read(handler);
- __is->read(device);
- __is->read(numMotors);
- __is->read(baudRate);
- __is->read(basicPeriod);
-}
-
-bool
-RoboCompJointMotor::MotorGoalPosition::operator==(const MotorGoalPosition& __rhs) const
-{
- if(this == &__rhs)
- {
- return true;
- }
- if(name != __rhs.name)
- {
- return false;
- }
- if(position != __rhs.position)
- {
- return false;
- }
- if(maxSpeed != __rhs.maxSpeed)
- {
- return false;
- }
- return true;
-}
-
-bool
-RoboCompJointMotor::MotorGoalPosition::operator<(const MotorGoalPosition& __rhs) const
-{
- if(this == &__rhs)
- {
- return false;
- }
- if(name < __rhs.name)
- {
- return true;
- }
- else if(__rhs.name < name)
- {
- return false;
- }
- if(position < __rhs.position)
- {
- return true;
- }
- else if(__rhs.position < position)
- {
- return false;
- }
- if(maxSpeed < __rhs.maxSpeed)
- {
- return true;
- }
- else if(__rhs.maxSpeed < maxSpeed)
- {
- return false;
- }
- return false;
-}
-
-void
-RoboCompJointMotor::MotorGoalPosition::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(name);
- __os->write(position);
- __os->write(maxSpeed);
-}
-
-void
-RoboCompJointMotor::MotorGoalPosition::__read(::IceInternal::BasicStream* __is)
-{
- __is->read(name);
- __is->read(position);
- __is->read(maxSpeed);
-}
-
-void
-RoboCompJointMotor::__writeMotorGoalPositionList(::IceInternal::BasicStream* __os, const ::RoboCompJointMotor::MotorGoalPosition* begin, const ::RoboCompJointMotor::MotorGoalPosition* end)
-{
- ::Ice::Int size = static_cast< ::Ice::Int>(end - begin);
- __os->writeSize(size);
- for(int i = 0; i < size; ++i)
- {
- begin[i].__write(__os);
- }
-}
-
-void
-RoboCompJointMotor::__readMotorGoalPositionList(::IceInternal::BasicStream* __is, ::RoboCompJointMotor::MotorGoalPositionList& v)
-{
- ::Ice::Int sz;
- __is->readSize(sz);
- __is->startSeq(sz, 9);
- v.resize(sz);
- for(int i = 0; i < sz; ++i)
- {
- v[i].__read(__is);
- __is->checkSeq();
- __is->endElement();
- }
- __is->endSeq(sz);
-}
-
-bool
-RoboCompJointMotor::MotorGoalVelocity::operator==(const MotorGoalVelocity& __rhs) const
-{
- if(this == &__rhs)
- {
- return true;
- }
- if(name != __rhs.name)
- {
- return false;
- }
- if(velocity != __rhs.velocity)
- {
- return false;
- }
- if(maxAcc != __rhs.maxAcc)
- {
- return false;
- }
- return true;
-}
-
-bool
-RoboCompJointMotor::MotorGoalVelocity::operator<(const MotorGoalVelocity& __rhs) const
-{
- if(this == &__rhs)
- {
- return false;
- }
- if(name < __rhs.name)
- {
- return true;
- }
- else if(__rhs.name < name)
- {
- return false;
- }
- if(velocity < __rhs.velocity)
- {
- return true;
- }
- else if(__rhs.velocity < velocity)
- {
- return false;
- }
- if(maxAcc < __rhs.maxAcc)
- {
- return true;
- }
- else if(__rhs.maxAcc < maxAcc)
- {
- return false;
- }
- return false;
-}
-
-void
-RoboCompJointMotor::MotorGoalVelocity::__write(::IceInternal::BasicStream* __os) const
-{
- __os->write(name);
- __os->write(velocity);
- __os->write(maxAcc);
-}
-
-void
-RoboCompJointMotor::MotorGoalVelocity::__read(::IceInternal::BasicStream* __is)
-{
- __is->read(name);
- __is->read(velocity);
- __is->read(maxAcc);
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__setPosition_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- __del->setPosition(goal, __ctx);
- return;
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__setVelocity_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- __del->setVelocity(goal, __ctx);
- return;
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__setSyncPosition_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- __del->setSyncPosition(listGoals, __ctx);
- return;
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-::RoboCompJointMotor::MotorParams
-IceProxy::RoboCompJointMotor::JointMotor::getMotorParams(const ::std::string& motor, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getMotorParams_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- return __del->getMotorParams(motor, __ctx);
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-::RoboCompJointMotor::MotorState
-IceProxy::RoboCompJointMotor::JointMotor::getMotorState(const ::std::string& motor, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getMotorState_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- return __del->getMotorState(motor, __ctx);
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-::RoboCompJointMotor::MotorStateMap
-IceProxy::RoboCompJointMotor::JointMotor::getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getMotorStateMap_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- return __del->getMotorStateMap(mList, __ctx);
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-void
-IceProxy::RoboCompJointMotor::JointMotor::getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getAllMotorState_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- __del->getAllMotorState(mstateMap, __ctx);
- return;
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-::RoboCompJointMotor::MotorParamsList
-IceProxy::RoboCompJointMotor::JointMotor::getAllMotorParams(const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getAllMotorParams_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- return __del->getAllMotorParams(__ctx);
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-::RoboCompJointMotor::BusParams
-IceProxy::RoboCompJointMotor::JointMotor::getBusParams(const ::Ice::Context* __ctx)
-{
- int __cnt = 0;
- while(true)
- {
- ::IceInternal::Handle< ::IceDelegate::Ice::Object> __delBase;
- try
- {
-#if defined(__BCPLUSPLUS__) && (__BCPLUSPLUS__ >= 0x0600) // C++Builder 2009 compiler bug
- IceUtil::DummyBCC dummy;
-#endif
- __checkTwowayOnly(__RoboCompJointMotor__JointMotor__getBusParams_name);
- __delBase = __getDelegate(false);
- ::IceDelegate::RoboCompJointMotor::JointMotor* __del = dynamic_cast< ::IceDelegate::RoboCompJointMotor::JointMotor*>(__delBase.get());
- return __del->getBusParams(__ctx);
- }
- catch(const ::IceInternal::LocalExceptionWrapper& __ex)
- {
- __handleExceptionWrapper(__delBase, __ex, 0);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __handleException(__delBase, __ex, 0, __cnt);
- }
- }
-}
-
-const ::std::string&
-IceProxy::RoboCompJointMotor::JointMotor::ice_staticId()
-{
- return ::RoboCompJointMotor::JointMotor::ice_staticId();
-}
-
-::IceInternal::Handle< ::IceDelegateM::Ice::Object>
-IceProxy::RoboCompJointMotor::JointMotor::__createDelegateM()
-{
- return ::IceInternal::Handle< ::IceDelegateM::Ice::Object>(new ::IceDelegateM::RoboCompJointMotor::JointMotor);
-}
-
-::IceInternal::Handle< ::IceDelegateD::Ice::Object>
-IceProxy::RoboCompJointMotor::JointMotor::__createDelegateD()
-{
- return ::IceInternal::Handle< ::IceDelegateD::Ice::Object>(new ::IceDelegateD::RoboCompJointMotor::JointMotor);
-}
-
-::IceProxy::Ice::Object*
-IceProxy::RoboCompJointMotor::JointMotor::__newInstance() const
-{
- return new JointMotor;
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__setPosition_name, ::Ice::Normal, __context);
- try
- {
- ::IceInternal::BasicStream* __os = __og.os();
- goal.__write(__os);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __og.abort(__ex);
- }
- bool __ok = __og.invoke();
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException&)
- {
- throw;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- __og.is()->skipEmptyEncaps();
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__setVelocity_name, ::Ice::Normal, __context);
- try
- {
- ::IceInternal::BasicStream* __os = __og.os();
- goal.__write(__os);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __og.abort(__ex);
- }
- bool __ok = __og.invoke();
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException&)
- {
- throw;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- __og.is()->skipEmptyEncaps();
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__setSyncPosition_name, ::Ice::Normal, __context);
- try
- {
- ::IceInternal::BasicStream* __os = __og.os();
- if(listGoals.size() == 0)
- {
- __os->writeSize(0);
- }
- else
- {
- ::RoboCompJointMotor::__writeMotorGoalPositionList(__os, &listGoals[0], &listGoals[0] + listGoals.size());
- }
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __og.abort(__ex);
- }
- bool __ok = __og.invoke();
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException&)
- {
- throw;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- __og.is()->skipEmptyEncaps();
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-::RoboCompJointMotor::MotorParams
-IceDelegateM::RoboCompJointMotor::JointMotor::getMotorParams(const ::std::string& motor, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getMotorParams_name, ::Ice::Normal, __context);
- try
- {
- ::IceInternal::BasicStream* __os = __og.os();
- __os->write(motor);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __og.abort(__ex);
- }
- bool __ok = __og.invoke();
- ::RoboCompJointMotor::MotorParams __ret;
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- ::IceInternal::BasicStream* __is = __og.is();
- __is->startReadEncaps();
- __ret.__read(__is);
- __is->endReadEncaps();
- return __ret;
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-::RoboCompJointMotor::MotorState
-IceDelegateM::RoboCompJointMotor::JointMotor::getMotorState(const ::std::string& motor, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getMotorState_name, ::Ice::Normal, __context);
- try
- {
- ::IceInternal::BasicStream* __os = __og.os();
- __os->write(motor);
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __og.abort(__ex);
- }
- bool __ok = __og.invoke();
- ::RoboCompJointMotor::MotorState __ret;
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- ::IceInternal::BasicStream* __is = __og.is();
- __is->startReadEncaps();
- __ret.__read(__is);
- __is->endReadEncaps();
- return __ret;
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-::RoboCompJointMotor::MotorStateMap
-IceDelegateM::RoboCompJointMotor::JointMotor::getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getMotorStateMap_name, ::Ice::Normal, __context);
- try
- {
- ::IceInternal::BasicStream* __os = __og.os();
- if(mList.size() == 0)
- {
- __os->writeSize(0);
- }
- else
- {
- __os->write(&mList[0], &mList[0] + mList.size());
- }
- }
- catch(const ::Ice::LocalException& __ex)
- {
- __og.abort(__ex);
- }
- bool __ok = __og.invoke();
- ::RoboCompJointMotor::MotorStateMap __ret;
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- ::IceInternal::BasicStream* __is = __og.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::__readMotorStateMap(__is, __ret);
- __is->endReadEncaps();
- return __ret;
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-void
-IceDelegateM::RoboCompJointMotor::JointMotor::getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getAllMotorState_name, ::Ice::Normal, __context);
- bool __ok = __og.invoke();
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- ::IceInternal::BasicStream* __is = __og.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::__readMotorStateMap(__is, mstateMap);
- __is->endReadEncaps();
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-::RoboCompJointMotor::MotorParamsList
-IceDelegateM::RoboCompJointMotor::JointMotor::getAllMotorParams(const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getAllMotorParams_name, ::Ice::Normal, __context);
- bool __ok = __og.invoke();
- ::RoboCompJointMotor::MotorParamsList __ret;
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- ::IceInternal::BasicStream* __is = __og.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::__readMotorParamsList(__is, __ret);
- __is->endReadEncaps();
- return __ret;
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-::RoboCompJointMotor::BusParams
-IceDelegateM::RoboCompJointMotor::JointMotor::getBusParams(const ::Ice::Context* __context)
-{
- ::IceInternal::Outgoing __og(__handler.get(), __RoboCompJointMotor__JointMotor__getBusParams_name, ::Ice::Normal, __context);
- bool __ok = __og.invoke();
- ::RoboCompJointMotor::BusParams __ret;
- try
- {
- if(!__ok)
- {
- try
- {
- __og.throwUserException();
- }
- catch(const ::Ice::UserException& __ex)
- {
- ::Ice::UnknownUserException __uue(__FILE__, __LINE__, __ex.ice_name());
- throw __uue;
- }
- }
- ::IceInternal::BasicStream* __is = __og.is();
- __is->startReadEncaps();
- __ret.__read(__is);
- __is->endReadEncaps();
- return __ret;
- }
- catch(const ::Ice::LocalException& __ex)
- {
- throw ::IceInternal::LocalExceptionWrapper(__ex, false);
- }
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _m_goal(goal)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- servant->setPosition(_m_goal, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- const ::RoboCompJointMotor::MotorGoalPosition& _m_goal;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__setPosition_name, ::Ice::Normal, __context);
- try
- {
- _DirectI __direct(goal, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException&)
- {
- throw;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _m_goal(goal)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- servant->setVelocity(_m_goal, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- const ::RoboCompJointMotor::MotorGoalVelocity& _m_goal;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__setVelocity_name, ::Ice::Normal, __context);
- try
- {
- _DirectI __direct(goal, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException&)
- {
- throw;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _m_listGoals(listGoals)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- servant->setSyncPosition(_m_listGoals, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- const ::RoboCompJointMotor::MotorGoalPositionList& _m_listGoals;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__setSyncPosition_name, ::Ice::Normal, __context);
- try
- {
- _DirectI __direct(listGoals, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException&)
- {
- throw;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
-}
-
-::RoboCompJointMotor::MotorParams
-IceDelegateD::RoboCompJointMotor::JointMotor::getMotorParams(const ::std::string& motor, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(::RoboCompJointMotor::MotorParams& __result, const ::std::string& motor, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _result(__result),
- _m_motor(motor)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- _result = servant->getMotorParams(_m_motor, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- ::RoboCompJointMotor::MotorParams& _result;
- const ::std::string& _m_motor;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__getMotorParams_name, ::Ice::Normal, __context);
- ::RoboCompJointMotor::MotorParams __result;
- try
- {
- _DirectI __direct(__result, motor, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
- return __result;
-}
-
-::RoboCompJointMotor::MotorState
-IceDelegateD::RoboCompJointMotor::JointMotor::getMotorState(const ::std::string& motor, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(::RoboCompJointMotor::MotorState& __result, const ::std::string& motor, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _result(__result),
- _m_motor(motor)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- _result = servant->getMotorState(_m_motor, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- ::RoboCompJointMotor::MotorState& _result;
- const ::std::string& _m_motor;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__getMotorState_name, ::Ice::Normal, __context);
- ::RoboCompJointMotor::MotorState __result;
- try
- {
- _DirectI __direct(__result, motor, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
- return __result;
-}
-
-::RoboCompJointMotor::MotorStateMap
-IceDelegateD::RoboCompJointMotor::JointMotor::getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(::RoboCompJointMotor::MotorStateMap& __result, const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _result(__result),
- _m_mList(mList)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- _result = servant->getMotorStateMap(_m_mList, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- ::RoboCompJointMotor::MotorStateMap& _result;
- const ::RoboCompJointMotor::MotorList& _m_mList;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__getMotorStateMap_name, ::Ice::Normal, __context);
- ::RoboCompJointMotor::MotorStateMap __result;
- try
- {
- _DirectI __direct(__result, mList, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
- return __result;
-}
-
-void
-IceDelegateD::RoboCompJointMotor::JointMotor::getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _m_mstateMap(mstateMap)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- try
- {
- servant->getAllMotorState(_m_mstateMap, _current);
- return ::Ice::DispatchOK;
- }
- catch(const ::Ice::UserException& __ex)
- {
- setUserException(__ex);
- return ::Ice::DispatchUserException;
- }
- }
-
- private:
-
- ::RoboCompJointMotor::MotorStateMap& _m_mstateMap;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__getAllMotorState_name, ::Ice::Normal, __context);
- try
- {
- _DirectI __direct(mstateMap, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException&)
- {
- throw;
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
-}
-
-::RoboCompJointMotor::MotorParamsList
-IceDelegateD::RoboCompJointMotor::JointMotor::getAllMotorParams(const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(::RoboCompJointMotor::MotorParamsList& __result, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _result(__result)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- _result = servant->getAllMotorParams(_current);
- return ::Ice::DispatchOK;
- }
-
- private:
-
- ::RoboCompJointMotor::MotorParamsList& _result;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__getAllMotorParams_name, ::Ice::Normal, __context);
- ::RoboCompJointMotor::MotorParamsList __result;
- try
- {
- _DirectI __direct(__result, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
- return __result;
-}
-
-::RoboCompJointMotor::BusParams
-IceDelegateD::RoboCompJointMotor::JointMotor::getBusParams(const ::Ice::Context* __context)
-{
- class _DirectI : public ::IceInternal::Direct
- {
- public:
-
- _DirectI(::RoboCompJointMotor::BusParams& __result, const ::Ice::Current& __current) :
- ::IceInternal::Direct(__current),
- _result(__result)
- {
- }
-
- virtual ::Ice::DispatchStatus
- run(::Ice::Object* object)
- {
- ::RoboCompJointMotor::JointMotor* servant = dynamic_cast< ::RoboCompJointMotor::JointMotor*>(object);
- if(!servant)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, _current.id, _current.facet, _current.operation);
- }
- _result = servant->getBusParams(_current);
- return ::Ice::DispatchOK;
- }
-
- private:
-
- ::RoboCompJointMotor::BusParams& _result;
- };
-
- ::Ice::Current __current;
- __initCurrent(__current, __RoboCompJointMotor__JointMotor__getBusParams_name, ::Ice::Normal, __context);
- ::RoboCompJointMotor::BusParams __result;
- try
- {
- _DirectI __direct(__result, __current);
- try
- {
- __direct.servant()->__collocDispatch(__direct);
- }
- catch(...)
- {
- __direct.destroy();
- throw;
- }
- __direct.destroy();
- }
- catch(const ::Ice::SystemException&)
- {
- throw;
- }
- catch(const ::IceInternal::LocalExceptionWrapper&)
- {
- throw;
- }
- catch(const ::std::exception& __ex)
- {
- ::IceInternal::LocalExceptionWrapper::throwWrapper(__ex);
- }
- catch(...)
- {
- throw ::IceInternal::LocalExceptionWrapper(::Ice::UnknownException(__FILE__, __LINE__, "unknown c++ exception"), false);
- }
- return __result;
-}
-
-::Ice::ObjectPtr
-RoboCompJointMotor::JointMotor::ice_clone() const
-{
- throw ::Ice::CloneNotImplementedException(__FILE__, __LINE__);
- return 0; // to avoid a warning with some compilers
-}
-
-static const ::std::string __RoboCompJointMotor__JointMotor_ids[2] =
-{
- "::Ice::Object",
- "::RoboCompJointMotor::JointMotor"
-};
-
-bool
-RoboCompJointMotor::JointMotor::ice_isA(const ::std::string& _s, const ::Ice::Current&) const
-{
- return ::std::binary_search(__RoboCompJointMotor__JointMotor_ids, __RoboCompJointMotor__JointMotor_ids + 2, _s);
-}
-
-::std::vector< ::std::string>
-RoboCompJointMotor::JointMotor::ice_ids(const ::Ice::Current&) const
-{
- return ::std::vector< ::std::string>(&__RoboCompJointMotor__JointMotor_ids[0], &__RoboCompJointMotor__JointMotor_ids[2]);
-}
-
-const ::std::string&
-RoboCompJointMotor::JointMotor::ice_id(const ::Ice::Current&) const
-{
- return __RoboCompJointMotor__JointMotor_ids[1];
-}
-
-const ::std::string&
-RoboCompJointMotor::JointMotor::ice_staticId()
-{
- return __RoboCompJointMotor__JointMotor_ids[1];
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___setPosition(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- ::IceInternal::BasicStream* __is = __inS.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::MotorGoalPosition goal;
- goal.__read(__is);
- __is->endReadEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- try
- {
- setPosition(goal, __current);
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___setVelocity(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- ::IceInternal::BasicStream* __is = __inS.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::MotorGoalVelocity goal;
- goal.__read(__is);
- __is->endReadEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- try
- {
- setVelocity(goal, __current);
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___setSyncPosition(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- ::IceInternal::BasicStream* __is = __inS.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::MotorGoalPositionList listGoals;
- ::RoboCompJointMotor::__readMotorGoalPositionList(__is, listGoals);
- __is->endReadEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- try
- {
- setSyncPosition(listGoals, __current);
- }
- catch(const ::RoboCompJointMotor::HardwareFailedException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getMotorParams(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- ::IceInternal::BasicStream* __is = __inS.is();
- __is->startReadEncaps();
- ::std::string motor;
- __is->read(motor);
- __is->endReadEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- try
- {
- ::RoboCompJointMotor::MotorParams __ret = getMotorParams(motor, __current);
- __ret.__write(__os);
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getMotorState(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- ::IceInternal::BasicStream* __is = __inS.is();
- __is->startReadEncaps();
- ::std::string motor;
- __is->read(motor);
- __is->endReadEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- try
- {
- ::RoboCompJointMotor::MotorState __ret = getMotorState(motor, __current);
- __ret.__write(__os);
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getMotorStateMap(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- ::IceInternal::BasicStream* __is = __inS.is();
- __is->startReadEncaps();
- ::RoboCompJointMotor::MotorList mList;
- __is->read(mList);
- __is->endReadEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- try
- {
- ::RoboCompJointMotor::MotorStateMap __ret = getMotorStateMap(mList, __current);
- ::RoboCompJointMotor::__writeMotorStateMap(__os, __ret);
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getAllMotorState(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- __inS.is()->skipEmptyEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- ::RoboCompJointMotor::MotorStateMap mstateMap;
- try
- {
- getAllMotorState(mstateMap, __current);
- ::RoboCompJointMotor::__writeMotorStateMap(__os, mstateMap);
- }
- catch(const ::RoboCompJointMotor::UnknownMotorException& __ex)
- {
- __os->write(__ex);
- return ::Ice::DispatchUserException;
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getAllMotorParams(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- __inS.is()->skipEmptyEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- ::RoboCompJointMotor::MotorParamsList __ret = getAllMotorParams(__current);
- if(__ret.size() == 0)
- {
- __os->writeSize(0);
- }
- else
- {
- ::RoboCompJointMotor::__writeMotorParamsList(__os, &__ret[0], &__ret[0] + __ret.size());
- }
- return ::Ice::DispatchOK;
-}
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::___getBusParams(::IceInternal::Incoming& __inS, const ::Ice::Current& __current)
-{
- __checkMode(::Ice::Normal, __current.mode);
- __inS.is()->skipEmptyEncaps();
- ::IceInternal::BasicStream* __os = __inS.os();
- ::RoboCompJointMotor::BusParams __ret = getBusParams(__current);
- __ret.__write(__os);
- return ::Ice::DispatchOK;
-}
-
-static ::std::string __RoboCompJointMotor__JointMotor_all[] =
-{
- "getAllMotorParams",
- "getAllMotorState",
- "getBusParams",
- "getMotorParams",
- "getMotorState",
- "getMotorStateMap",
- "ice_id",
- "ice_ids",
- "ice_isA",
- "ice_ping",
- "setPosition",
- "setSyncPosition",
- "setVelocity"
-};
-
-::Ice::DispatchStatus
-RoboCompJointMotor::JointMotor::__dispatch(::IceInternal::Incoming& in, const ::Ice::Current& current)
-{
- ::std::pair< ::std::string*, ::std::string*> r = ::std::equal_range(__RoboCompJointMotor__JointMotor_all, __RoboCompJointMotor__JointMotor_all + 13, current.operation);
- if(r.first == r.second)
- {
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, current.id, current.facet, current.operation);
- }
-
- switch(r.first - __RoboCompJointMotor__JointMotor_all)
- {
- case 0:
- {
- return ___getAllMotorParams(in, current);
- }
- case 1:
- {
- return ___getAllMotorState(in, current);
- }
- case 2:
- {
- return ___getBusParams(in, current);
- }
- case 3:
- {
- return ___getMotorParams(in, current);
- }
- case 4:
- {
- return ___getMotorState(in, current);
- }
- case 5:
- {
- return ___getMotorStateMap(in, current);
- }
- case 6:
- {
- return ___ice_id(in, current);
- }
- case 7:
- {
- return ___ice_ids(in, current);
- }
- case 8:
- {
- return ___ice_isA(in, current);
- }
- case 9:
- {
- return ___ice_ping(in, current);
- }
- case 10:
- {
- return ___setPosition(in, current);
- }
- case 11:
- {
- return ___setSyncPosition(in, current);
- }
- case 12:
- {
- return ___setVelocity(in, current);
- }
- }
-
- assert(false);
- throw ::Ice::OperationNotExistException(__FILE__, __LINE__, current.id, current.facet, current.operation);
-}
-
-void
-RoboCompJointMotor::JointMotor::__write(::IceInternal::BasicStream* __os) const
-{
- __os->writeTypeId(ice_staticId());
- __os->startWriteSlice();
- __os->endWriteSlice();
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- Object::__write(__os);
-#else
- ::Ice::Object::__write(__os);
-#endif
-}
-
-void
-RoboCompJointMotor::JointMotor::__read(::IceInternal::BasicStream* __is, bool __rid)
-{
- if(__rid)
- {
- ::std::string myId;
- __is->readTypeId(myId);
- }
- __is->startReadSlice();
- __is->endReadSlice();
-#if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- Object::__read(__is, true);
-#else
- ::Ice::Object::__read(__is, true);
-#endif
-}
-
-void
-RoboCompJointMotor::JointMotor::__write(const ::Ice::OutputStreamPtr&) const
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "type RoboCompJointMotor::JointMotor was not generated with stream support";
- throw ex;
-}
-
-void
-RoboCompJointMotor::JointMotor::__read(const ::Ice::InputStreamPtr&, bool)
-{
- Ice::MarshalException ex(__FILE__, __LINE__);
- ex.reason = "type RoboCompJointMotor::JointMotor was not generated with stream support";
- throw ex;
-}
-
-void
-RoboCompJointMotor::__patch__JointMotorPtr(void* __addr, ::Ice::ObjectPtr& v)
-{
- ::RoboCompJointMotor::JointMotorPtr* p = static_cast< ::RoboCompJointMotor::JointMotorPtr*>(__addr);
- assert(p);
- *p = ::RoboCompJointMotor::JointMotorPtr::dynamicCast(v);
- if(v && !*p)
- {
- IceInternal::Ex::throwUOE(::RoboCompJointMotor::JointMotor::ice_staticId(), v->ice_id());
- }
-}
-
-bool
-RoboCompJointMotor::operator==(const ::RoboCompJointMotor::JointMotor& l, const ::RoboCompJointMotor::JointMotor& r)
-{
- return static_cast<const ::Ice::Object&>(l) == static_cast<const ::Ice::Object&>(r);
-}
-
-bool
-RoboCompJointMotor::operator<(const ::RoboCompJointMotor::JointMotor& l, const ::RoboCompJointMotor::JointMotor& r)
-{
- return static_cast<const ::Ice::Object&>(l) < static_cast<const ::Ice::Object&>(r);
-}
Deleted: trunk/src/stable/components/giraffeServer/JointMotor.h
===================================================================
--- trunk/src/testing/components/giraffeServer/JointMotor.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/JointMotor.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,828 +0,0 @@
-// **********************************************************************
-//
-// Copyright (c) 2003-2009 ZeroC, Inc. All rights reserved.
-//
-// This copy of Ice is licensed to you under the terms described in the
-// ICE_LICENSE file included in this distribution.
-//
-// **********************************************************************
-
-// Ice version 3.3.1
-// Generated from file `JointMotor.ice'
-
-#ifndef ____JointMotor_h__
-#define ____JointMotor_h__
-
-#include <Ice/LocalObjectF.h>
-#include <Ice/ProxyF.h>
-#include <Ice/ObjectF.h>
-#include <Ice/Exception.h>
-#include <Ice/LocalObject.h>
-#include <Ice/Proxy.h>
-#include <Ice/Object.h>
-#include <Ice/Outgoing.h>
-#include <Ice/Incoming.h>
-#include <Ice/Direct.h>
-#include <Ice/UserExceptionFactory.h>
-#include <Ice/FactoryTable.h>
-#include <Ice/StreamF.h>
-#include <Ice/UndefSysMacros.h>
-
-#ifndef ICE_IGNORE_VERSION
-# if ICE_INT_VERSION / 100 != 303
-# error Ice version mismatch!
-# endif
-# if ICE_INT_VERSION % 100 > 50
-# error Beta header file detected
-# endif
-# if ICE_INT_VERSION % 100 < 1
-# error Ice patch level mismatch!
-# endif
-#endif
-
-namespace IceProxy
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor;
-
-}
-
-}
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor;
-bool operator==(const JointMotor&, const JointMotor&);
-bool operator<(const JointMotor&, const JointMotor&);
-
-}
-
-namespace IceInternal
-{
-
-::Ice::Object* upCast(::RoboCompJointMotor::JointMotor*);
-::IceProxy::Ice::Object* upCast(::IceProxy::RoboCompJointMotor::JointMotor*);
-
-}
-
-namespace RoboCompJointMotor
-{
-
-typedef ::IceInternal::Handle< ::RoboCompJointMotor::JointMotor> JointMotorPtr;
-typedef ::IceInternal::ProxyHandle< ::IceProxy::RoboCompJointMotor::JointMotor> JointMotorPrx;
-
-void __read(::IceInternal::BasicStream*, JointMotorPrx&);
-void __patch__JointMotorPtr(void*, ::Ice::ObjectPtr&);
-
-}
-
-namespace RoboCompJointMotor
-{
-
-class HardwareFailedException : public ::Ice::UserException
-{
-public:
-
- HardwareFailedException() {}
- explicit HardwareFailedException(const ::std::string&);
- virtual ~HardwareFailedException() throw();
-
- virtual ::std::string ice_name() const;
- virtual ::Ice::Exception* ice_clone() const;
- virtual void ice_throw() const;
-
- static const ::IceInternal::UserExceptionFactoryPtr& ice_factory();
-
- ::std::string what;
-
- virtual void __write(::IceInternal::BasicStream*) const;
- virtual void __read(::IceInternal::BasicStream*, bool);
- virtual void __write(const ::Ice::OutputStreamPtr&) const;
- virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-static HardwareFailedException __HardwareFailedException_init;
-
-class OutOfRangeException : public ::Ice::UserException
-{
-public:
-
- OutOfRangeException() {}
- explicit OutOfRangeException(const ::std::string&);
- virtual ~OutOfRangeException() throw();
-
- virtual ::std::string ice_name() const;
- virtual ::Ice::Exception* ice_clone() const;
- virtual void ice_throw() const;
-
- static const ::IceInternal::UserExceptionFactoryPtr& ice_factory();
-
- ::std::string what;
-
- virtual void __write(::IceInternal::BasicStream*) const;
- virtual void __read(::IceInternal::BasicStream*, bool);
- virtual void __write(const ::Ice::OutputStreamPtr&) const;
- virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-class UnknownMotorException : public ::Ice::UserException
-{
-public:
-
- UnknownMotorException() {}
- explicit UnknownMotorException(const ::std::string&);
- virtual ~UnknownMotorException() throw();
-
- virtual ::std::string ice_name() const;
- virtual ::Ice::Exception* ice_clone() const;
- virtual void ice_throw() const;
-
- static const ::IceInternal::UserExceptionFactoryPtr& ice_factory();
-
- ::std::string what;
-
- virtual void __write(::IceInternal::BasicStream*) const;
- virtual void __read(::IceInternal::BasicStream*, bool);
- virtual void __write(const ::Ice::OutputStreamPtr&) const;
- virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-struct MotorState
-{
- ::Ice::Float pos;
- ::Ice::Float vel;
- ::Ice::Float power;
- ::std::string timeStamp;
- ::Ice::Int p;
- ::Ice::Int v;
- bool isMoving;
-
- bool operator==(const MotorState&) const;
- bool operator<(const MotorState&) const;
- bool operator!=(const MotorState& __rhs) const
- {
- return !operator==(__rhs);
- }
- bool operator<=(const MotorState& __rhs) const
- {
- return operator<(__rhs) || operator==(__rhs);
- }
- bool operator>(const MotorState& __rhs) const
- {
- return !operator<(__rhs) && !operator==(__rhs);
- }
- bool operator>=(const MotorState& __rhs) const
- {
- return !operator<(__rhs);
- }
-
- void __write(::IceInternal::BasicStream*) const;
- void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::map< ::std::string, ::RoboCompJointMotor::MotorState> MotorStateMap;
-void __writeMotorStateMap(::IceInternal::BasicStream*, const MotorStateMap&);
-void __readMotorStateMap(::IceInternal::BasicStream*, MotorStateMap&);
-
-struct MotorParams
-{
- ::std::string name;
- ::Ice::Byte busId;
- ::Ice::Float minPos;
- ::Ice::Float maxPos;
- ::Ice::Float maxVelocity;
- ::Ice::Float zeroPos;
- bool invertedSign;
-
- bool operator==(const MotorParams&) const;
- bool operator<(const MotorParams&) const;
- bool operator!=(const MotorParams& __rhs) const
- {
- return !operator==(__rhs);
- }
- bool operator<=(const MotorParams& __rhs) const
- {
- return operator<(__rhs) || operator==(__rhs);
- }
- bool operator>(const MotorParams& __rhs) const
- {
- return !operator<(__rhs) && !operator==(__rhs);
- }
- bool operator>=(const MotorParams& __rhs) const
- {
- return !operator<(__rhs);
- }
-
- void __write(::IceInternal::BasicStream*) const;
- void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::vector< ::RoboCompJointMotor::MotorParams> MotorParamsList;
-void __writeMotorParamsList(::IceInternal::BasicStream*, const ::RoboCompJointMotor::MotorParams*, const ::RoboCompJointMotor::MotorParams*);
-void __readMotorParamsList(::IceInternal::BasicStream*, MotorParamsList&);
-
-struct BusParams
-{
- ::std::string handler;
- ::std::string device;
- ::Ice::Int numMotors;
- ::Ice::Int baudRate;
- ::Ice::Int basicPeriod;
-
- bool operator==(const BusParams&) const;
- bool operator<(const BusParams&) const;
- bool operator!=(const BusParams& __rhs) const
- {
- return !operator==(__rhs);
- }
- bool operator<=(const BusParams& __rhs) const
- {
- return operator<(__rhs) || operator==(__rhs);
- }
- bool operator>(const BusParams& __rhs) const
- {
- return !operator<(__rhs) && !operator==(__rhs);
- }
- bool operator>=(const BusParams& __rhs) const
- {
- return !operator<(__rhs);
- }
-
- void __write(::IceInternal::BasicStream*) const;
- void __read(::IceInternal::BasicStream*);
-};
-
-struct MotorGoalPosition
-{
- ::std::string name;
- ::Ice::Float position;
- ::Ice::Float maxSpeed;
-
- bool operator==(const MotorGoalPosition&) const;
- bool operator<(const MotorGoalPosition&) const;
- bool operator!=(const MotorGoalPosition& __rhs) const
- {
- return !operator==(__rhs);
- }
- bool operator<=(const MotorGoalPosition& __rhs) const
- {
- return operator<(__rhs) || operator==(__rhs);
- }
- bool operator>(const MotorGoalPosition& __rhs) const
- {
- return !operator<(__rhs) && !operator==(__rhs);
- }
- bool operator>=(const MotorGoalPosition& __rhs) const
- {
- return !operator<(__rhs);
- }
-
- void __write(::IceInternal::BasicStream*) const;
- void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::vector< ::RoboCompJointMotor::MotorGoalPosition> MotorGoalPositionList;
-void __writeMotorGoalPositionList(::IceInternal::BasicStream*, const ::RoboCompJointMotor::MotorGoalPosition*, const ::RoboCompJointMotor::MotorGoalPosition*);
-void __readMotorGoalPositionList(::IceInternal::BasicStream*, MotorGoalPositionList&);
-
-struct MotorGoalVelocity
-{
- ::std::string name;
- ::Ice::Float velocity;
- ::Ice::Float maxAcc;
-
- bool operator==(const MotorGoalVelocity&) const;
- bool operator<(const MotorGoalVelocity&) const;
- bool operator!=(const MotorGoalVelocity& __rhs) const
- {
- return !operator==(__rhs);
- }
- bool operator<=(const MotorGoalVelocity& __rhs) const
- {
- return operator<(__rhs) || operator==(__rhs);
- }
- bool operator>(const MotorGoalVelocity& __rhs) const
- {
- return !operator<(__rhs) && !operator==(__rhs);
- }
- bool operator>=(const MotorGoalVelocity& __rhs) const
- {
- return !operator<(__rhs);
- }
-
- void __write(::IceInternal::BasicStream*) const;
- void __read(::IceInternal::BasicStream*);
-};
-
-typedef ::std::vector< ::std::string> MotorList;
-
-}
-
-namespace IceProxy
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceProxy::Ice::Object
-{
-public:
-
- void setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal)
- {
- setPosition(goal, 0);
- }
- void setPosition(const ::RoboCompJointMotor::MotorGoalPosition& goal, const ::Ice::Context& __ctx)
- {
- setPosition(goal, &__ctx);
- }
-
-private:
-
- void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*);
-
-public:
-
- void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal)
- {
- setVelocity(goal, 0);
- }
- void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity& goal, const ::Ice::Context& __ctx)
- {
- setVelocity(goal, &__ctx);
- }
-
-private:
-
- void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*);
-
-public:
-
- void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals)
- {
- setSyncPosition(listGoals, 0);
- }
- void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList& listGoals, const ::Ice::Context& __ctx)
- {
- setSyncPosition(listGoals, &__ctx);
- }
-
-private:
-
- void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*);
-
-public:
-
- ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string& motor)
- {
- return getMotorParams(motor, 0);
- }
- ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string& motor, const ::Ice::Context& __ctx)
- {
- return getMotorParams(motor, &__ctx);
- }
-
-private:
-
- ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*);
-
-public:
-
- ::RoboCompJointMotor::MotorState getMotorState(const ::std::string& motor)
- {
- return getMotorState(motor, 0);
- }
- ::RoboCompJointMotor::MotorState getMotorState(const ::std::string& motor, const ::Ice::Context& __ctx)
- {
- return getMotorState(motor, &__ctx);
- }
-
-private:
-
- ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*);
-
-public:
-
- ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList)
- {
- return getMotorStateMap(mList, 0);
- }
- ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList& mList, const ::Ice::Context& __ctx)
- {
- return getMotorStateMap(mList, &__ctx);
- }
-
-private:
-
- ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*);
-
-public:
-
- void getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap)
- {
- getAllMotorState(mstateMap, 0);
- }
- void getAllMotorState(::RoboCompJointMotor::MotorStateMap& mstateMap, const ::Ice::Context& __ctx)
- {
- getAllMotorState(mstateMap, &__ctx);
- }
-
-private:
-
- void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*);
-
-public:
-
- ::RoboCompJointMotor::MotorParamsList getAllMotorParams()
- {
- return getAllMotorParams(0);
- }
- ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context& __ctx)
- {
- return getAllMotorParams(&__ctx);
- }
-
-private:
-
- ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*);
-
-public:
-
- ::RoboCompJointMotor::BusParams getBusParams()
- {
- return getBusParams(0);
- }
- ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context& __ctx)
- {
- return getBusParams(&__ctx);
- }
-
-private:
-
- ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*);
-
-public:
-
- ::IceInternal::ProxyHandle<JointMotor> ice_context(const ::Ice::Context& __context) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_context(__context).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_context(__context).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_adapterId(const std::string& __id) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_adapterId(__id).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_adapterId(__id).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_endpoints(const ::Ice::EndpointSeq& __endpoints) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_endpoints(__endpoints).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_endpoints(__endpoints).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_locatorCacheTimeout(int __timeout) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_locatorCacheTimeout(__timeout).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_locatorCacheTimeout(__timeout).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_connectionCached(bool __cached) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_connectionCached(__cached).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_connectionCached(__cached).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_endpointSelection(::Ice::EndpointSelectionType __est) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_endpointSelection(__est).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_endpointSelection(__est).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_secure(bool __secure) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_secure(__secure).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_secure(__secure).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_preferSecure(bool __preferSecure) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_preferSecure(__preferSecure).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_preferSecure(__preferSecure).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_router(const ::Ice::RouterPrx& __router) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_router(__router).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_router(__router).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_locator(const ::Ice::LocatorPrx& __locator) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_locator(__locator).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_locator(__locator).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_collocationOptimized(bool __co) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_collocationOptimized(__co).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_collocationOptimized(__co).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_twoway() const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_twoway().get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_twoway().get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_oneway() const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_oneway().get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_oneway().get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_batchOneway() const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_batchOneway().get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_batchOneway().get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_datagram() const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_datagram().get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_datagram().get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_batchDatagram() const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_batchDatagram().get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_batchDatagram().get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_compress(bool __compress) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_compress(__compress).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_compress(__compress).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_timeout(int __timeout) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_timeout(__timeout).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_timeout(__timeout).get());
- #endif
- }
-
- ::IceInternal::ProxyHandle<JointMotor> ice_connectionId(const std::string& __id) const
- {
- #if defined(_MSC_VER) && (_MSC_VER < 1300) // VC++ 6 compiler bug
- typedef ::IceProxy::Ice::Object _Base;
- return dynamic_cast<JointMotor*>(_Base::ice_connectionId(__id).get());
- #else
- return dynamic_cast<JointMotor*>(::IceProxy::Ice::Object::ice_connectionId(__id).get());
- #endif
- }
-
- static const ::std::string& ice_staticId();
-
-private:
-
- virtual ::IceInternal::Handle< ::IceDelegateM::Ice::Object> __createDelegateM();
- virtual ::IceInternal::Handle< ::IceDelegateD::Ice::Object> __createDelegateD();
- virtual ::IceProxy::Ice::Object* __newInstance() const;
-};
-
-}
-
-}
-
-namespace IceDelegate
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceDelegate::Ice::Object
-{
-public:
-
- virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*) = 0;
-
- virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*) = 0;
-
- virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*) = 0;
-
- virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*) = 0;
-
- virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*) = 0;
-
- virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*) = 0;
-
- virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*) = 0;
-
- virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*) = 0;
-
- virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*) = 0;
-};
-
-}
-
-}
-
-namespace IceDelegateM
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceDelegate::RoboCompJointMotor::JointMotor,
- virtual public ::IceDelegateM::Ice::Object
-{
-public:
-
- virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*);
-
- virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*);
-
- virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*);
-
- virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*);
-};
-
-}
-
-}
-
-namespace IceDelegateD
-{
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::IceDelegate::RoboCompJointMotor::JointMotor,
- virtual public ::IceDelegateD::Ice::Object
-{
-public:
-
- virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Context*);
-
- virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Context*);
-
- virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Context*);
-
- virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Context*);
-
- virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Context*);
-};
-
-}
-
-}
-
-namespace RoboCompJointMotor
-{
-
-class JointMotor : virtual public ::Ice::Object
-{
-public:
-
- typedef JointMotorPrx ProxyType;
- typedef JointMotorPtr PointerType;
-
- virtual ::Ice::ObjectPtr ice_clone() const;
-
- virtual bool ice_isA(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) const;
- virtual ::std::vector< ::std::string> ice_ids(const ::Ice::Current& = ::Ice::Current()) const;
- virtual const ::std::string& ice_id(const ::Ice::Current& = ::Ice::Current()) const;
- static const ::std::string& ice_staticId();
-
- virtual void setPosition(const ::RoboCompJointMotor::MotorGoalPosition&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___setPosition(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual void setVelocity(const ::RoboCompJointMotor::MotorGoalVelocity&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___setVelocity(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual void setSyncPosition(const ::RoboCompJointMotor::MotorGoalPositionList&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___setSyncPosition(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual ::RoboCompJointMotor::MotorParams getMotorParams(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___getMotorParams(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual ::RoboCompJointMotor::MotorState getMotorState(const ::std::string&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___getMotorState(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual ::RoboCompJointMotor::MotorStateMap getMotorStateMap(const ::RoboCompJointMotor::MotorList&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___getMotorStateMap(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual void getAllMotorState(::RoboCompJointMotor::MotorStateMap&, const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___getAllMotorState(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual ::RoboCompJointMotor::MotorParamsList getAllMotorParams(const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___getAllMotorParams(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual ::RoboCompJointMotor::BusParams getBusParams(const ::Ice::Current& = ::Ice::Current()) = 0;
- ::Ice::DispatchStatus ___getBusParams(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual ::Ice::DispatchStatus __dispatch(::IceInternal::Incoming&, const ::Ice::Current&);
-
- virtual void __write(::IceInternal::BasicStream*) const;
- virtual void __read(::IceInternal::BasicStream*, bool);
- virtual void __write(const ::Ice::OutputStreamPtr&) const;
- virtual void __read(const ::Ice::InputStreamPtr&, bool);
-};
-
-}
-
-#endif
Deleted: trunk/src/stable/components/giraffeServer/JointMotor.ice
===================================================================
--- trunk/src/testing/components/giraffeServer/JointMotor.ice 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/JointMotor.ice 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,79 +0,0 @@
-#ifndef JOINTMOTOR_ICE
-#define JOINTMOTOR_ICE
-
-// Multi-joint motor control component.
-
-module RoboCompJointMotor
-{
- exception HardwareFailedException{ string what; };
- exception OutOfRangeException{ string what; };
- exception UnknownMotorException{ string what; };
-
- struct MotorState // In Radians
- {
- float pos; //rads
- float vel; //rads/sg
- float power;
- string timeStamp;
- int p; // in steps
- int v; // steps/sg
- bool isMoving;
- } ;
-
- dictionary<string,MotorState> MotorStateMap;
-
- struct MotorParams //Configuration Params
- {
- string name; // name of motor
- byte busId; // bus identificacion
- float minPos; //rads
- float maxPos; //rads
- float maxVelocity; //rads/sec
- float zeroPos; // rads
- bool invertedSign; // invert angle range
- };
-
- sequence<MotorParams> MotorParamsList;
-
- struct BusParams
- {
- string handler;
- string device;
- int numMotors;
- int baudRate;
- int basicPeriod; //milliseconds
- };
-
- struct MotorGoalPosition
- {
- string name;
- float position;
- float maxSpeed;
- };
-
- sequence<MotorGoalPosition> MotorGoalPositionList;
-
- struct MotorGoalVelocity
- {
- string name;
- float velocity;
- float maxAcc;
- };
-
- sequence<string> MotorList;
-
- interface JointMotor
- {
- void setPosition(MotorGoalPosition goal) throws UnknownMotorException, HardwareFailedException;
- void setVelocity(MotorGoalVelocity goal) throws UnknownMotorException, HardwareFailedException;
- void setSyncPosition(MotorGoalPositionList listGoals) throws UnknownMotorException, HardwareFailedException;
- MotorParams getMotorParams(string motor) throws UnknownMotorException;
- MotorState getMotorState(string motor) throws UnknownMotorException;
- MotorStateMap getMotorStateMap(MotorList mList) throws UnknownMotorException;
- void getAllMotorState(out MotorStateMap mstateMap) throws UnknownMotorException;
- MotorParamsList getAllMotorParams();
- BusParams getBusParams();
- };
-};
-
-#endif
Modified: trunk/src/stable/components/giraffeServer/README
===================================================================
--- trunk/src/testing/components/giraffeServer/README 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/README 2013-10-25 10:56:31 UTC (rev 1078)
@@ -4,7 +4,7 @@
Compilar giraffeServer:
-qmake -o Makefile giraffeServer.pro
+cmake.
make
Ejecutamos:
Deleted: trunk/src/stable/components/giraffeServer/build
===================================================================
--- trunk/src/testing/components/giraffeServer/build 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/build 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,22 +0,0 @@
-if (NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
- message(FATAL_ERROR "Cannot find install manifest: \"@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt\"")
-endif(NOT EXISTS "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt")
-
-file(READ "@CMAKE_CURRENT_BINARY_DIR@/install_manifest.txt" files)
-string(REGEX REPLACE "\n" ";" files "${files}")
-list(REVERSE files)
-foreach (file ${files})
- message(STATUS "Uninstalling \"$ENV{DESTDIR}${file}\"")
- if (EXISTS "$ENV{DESTDIR}${file}")
- execute_process(
- COMMAND @CMAKE_COMMAND@ -E remove "$ENV{DESTDIR}${file}"
- OUTPUT_VARIABLE rm_out
- RESULT_VARIABLE rm_retval
- )
- if(NOT ${rm_retval} EQUAL 0)
- message(FATAL_ERROR "Problem when removing \"$ENV{DESTDIR}${file}\"")
- endif (NOT ${rm_retval} EQUAL 0)
- else (EXISTS "$ENV{DESTDIR}${file}")
- message(STATUS "File \"$ENV{DESTDIR}${file}\" does not exist.")
- endif (EXISTS "$ENV{DESTDIR}${file}")
-endforeach(file)
\ No newline at end of file
Modified: trunk/src/stable/components/giraffeServer/dynamixel.h
===================================================================
--- trunk/src/testing/components/giraffeServer/dynamixel.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/dynamixel.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -23,7 +23,7 @@
#include <q4serialport/q4serialport.h>
#include <QtCore>
#include "iostream"
-#include "JointMotor.h"
+#include <jderobot/jointmotor.h>
#define BROADCAST 0xFE
#define SYNC_WRITE 0x83
Modified: trunk/src/stable/components/giraffeServer/jointmotorComp.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/jointmotorComp.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/jointmotorComp.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -139,11 +139,16 @@
//Monitor thread
Monitor *monitor = new Monitor( ¶ms, &busParams , communicator(), PARAMETERS_SET_WAIT_CONDITION);
monitor->start();
-
+
usleep(10000);
- if ( worker->isFinished() )
- return status;
-
+ if ( worker->isFinished() )
+ {
+ std::cout << "worker->isFinished()" << std::endl;
+ return status;
+ }
+ else
+ std::cout << "worker not finished" << std::endl;
+
//Start up de ther server
try
{
Modified: trunk/src/stable/components/giraffeServer/jointmotorI.h
===================================================================
--- trunk/src/testing/components/giraffeServer/jointmotorI.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/jointmotorI.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -24,7 +24,7 @@
// ICE includes
#include <Ice/Ice.h>
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
// User includes...
#include "worker.h"
Modified: trunk/src/stable/components/giraffeServer/killserver.sh
===================================================================
--- trunk/src/testing/components/giraffeServer/killserver.sh 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/killserver.sh 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,4 +1,4 @@
#!/bin/bash
-killall -9 giraffeServer
+killall -9 giraffeserver
Modified: trunk/src/stable/components/giraffeServer/moc_monitor.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/moc_monitor.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/moc_monitor.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,8 +1,7 @@
/****************************************************************************
** Meta object code from reading C++ file 'monitor.h'
**
-** Created: Mon Mar 19 03:08:44 2012
-** by: The Qt Meta Object Compiler version 62 (Qt 4.6.2)
+** Created by: The Qt Meta Object Compiler version 63 (Qt 4.8.6)
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
@@ -10,8 +9,8 @@
#include "monitor.h"
#if !defined(Q_MOC_OUTPUT_REVISION)
#error "The header file 'monitor.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 62
-#error "This file was generated using the moc from 4.6.2. It"
+#elif Q_MOC_OUTPUT_REVISION != 63
+#error "This file was generated using the moc from 4.8.6. It"
#error "cannot be used with the include files from this version of Qt."
#error "(The moc has changed too much.)"
#endif
@@ -20,7 +19,7 @@
static const uint qt_meta_data_Monitor[] = {
// content:
- 4, // revision
+ 6, // revision
0, // classname
0, 0, // classinfo
0, 0, // methods
@@ -37,9 +36,21 @@
"Monitor\0"
};
+void Monitor::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+ Q_UNUSED(_o);
+ Q_UNUSED(_id);
+ Q_UNUSED(_c);
+ Q_UNUSED(_a);
+}
+
+const QMetaObjectExtraData Monitor::staticMetaObjectExtraData = {
+ 0, qt_static_metacall
+};
+
const QMetaObject Monitor::staticMetaObject = {
{ &QThread::staticMetaObject, qt_meta_stringdata_Monitor,
- qt_meta_data_Monitor, 0 }
+ qt_meta_data_Monitor, &staticMetaObjectExtraData }
};
#ifdef Q_NO_DATA_RELOCATION
Modified: trunk/src/stable/components/giraffeServer/moc_q4serialport.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/moc_q4serialport.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/moc_q4serialport.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,8 +1,7 @@
/****************************************************************************
** Meta object code from reading C++ file 'q4serialport.h'
**
-** Created: Mon Mar 19 03:08:45 2012
-** by: The Qt Meta Object Compiler version 62 (Qt 4.6.2)
+** Created by: The Qt Meta Object Compiler version 63 (Qt 4.8.6)
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
@@ -10,8 +9,8 @@
#include "q4serialport/q4serialport.h"
#if !defined(Q_MOC_OUTPUT_REVISION)
#error "The header file 'q4serialport.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 62
-#error "This file was generated using the moc from 4.6.2. It"
+#elif Q_MOC_OUTPUT_REVISION != 63
+#error "This file was generated using the moc from 4.8.6. It"
#error "cannot be used with the include files from this version of Qt."
#error "(The moc has changed too much.)"
#endif
@@ -20,7 +19,7 @@
static const uint qt_meta_data_QSerialPort[] = {
// content:
- 4, // revision
+ 6, // revision
0, // classname
0, 0, // classinfo
2, 14, // methods
@@ -44,9 +43,26 @@
"slotNotifierActivated()\0"
};
+void QSerialPort::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+ if (_c == QMetaObject::InvokeMetaMethod) {
+ Q_ASSERT(staticMetaObject.cast(_o));
+ QSerialPort *_t = static_cast<QSerialPort *>(_o);
+ switch (_id) {
+ case 0: _t->readyRead((*reinterpret_cast< int(*)>(_a[1]))); break;
+ case 1: _t->slotNotifierActivated(); break;
+ default: ;
+ }
+ }
+}
+
+const QMetaObjectExtraData QSerialPort::staticMetaObjectExtraData = {
+ 0, qt_static_metacall
+};
+
const QMetaObject QSerialPort::staticMetaObject = {
{ &QIODevice::staticMetaObject, qt_meta_stringdata_QSerialPort,
- qt_meta_data_QSerialPort, 0 }
+ qt_meta_data_QSerialPort, &staticMetaObjectExtraData }
};
#ifdef Q_NO_DATA_RELOCATION
@@ -72,11 +88,8 @@
if (_id < 0)
return _id;
if (_c == QMetaObject::InvokeMetaMethod) {
- switch (_id) {
- case 0: readyRead((*reinterpret_cast< int(*)>(_a[1]))); break;
- case 1: slotNotifierActivated(); break;
- default: ;
- }
+ if (_id < 2)
+ qt_static_metacall(this, _c, _id, _a);
_id -= 2;
}
return _id;
Modified: trunk/src/stable/components/giraffeServer/moc_worker.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/moc_worker.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/moc_worker.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -1,8 +1,7 @@
/****************************************************************************
** Meta object code from reading C++ file 'worker.h'
**
-** Created: Mon Mar 19 03:08:43 2012
-** by: The Qt Meta Object Compiler version 62 (Qt 4.6.2)
+** Created by: The Qt Meta Object Compiler version 63 (Qt 4.8.6)
**
** WARNING! All changes made in this file will be lost!
*****************************************************************************/
@@ -10,8 +9,8 @@
#include "worker.h"
#if !defined(Q_MOC_OUTPUT_REVISION)
#error "The header file 'worker.h' doesn't include <QObject>."
-#elif Q_MOC_OUTPUT_REVISION != 62
-#error "This file was generated using the moc from 4.6.2. It"
+#elif Q_MOC_OUTPUT_REVISION != 63
+#error "This file was generated using the moc from 4.8.6. It"
#error "cannot be used with the include files from this version of Qt."
#error "(The moc has changed too much.)"
#endif
@@ -20,7 +19,7 @@
static const uint qt_meta_data_Worker[] = {
// content:
- 4, // revision
+ 6, // revision
0, // classname
0, 0, // classinfo
0, 0, // methods
@@ -37,9 +36,21 @@
"Worker\0"
};
+void Worker::qt_static_metacall(QObject *_o, QMetaObject::Call _c, int _id, void **_a)
+{
+ Q_UNUSED(_o);
+ Q_UNUSED(_id);
+ Q_UNUSED(_c);
+ Q_UNUSED(_a);
+}
+
+const QMetaObjectExtraData Worker::staticMetaObjectExtraData = {
+ 0, qt_static_metacall
+};
+
const QMetaObject Worker::staticMetaObject = {
{ &QThread::staticMetaObject, qt_meta_stringdata_Worker,
- qt_meta_data_Worker, 0 }
+ qt_meta_data_Worker, &staticMetaObjectExtraData }
};
#ifdef Q_NO_DATA_RELOCATION
Modified: trunk/src/stable/components/giraffeServer/monitor.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/monitor.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/monitor.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -36,6 +36,7 @@
void Monitor::run()
{
+
forever
{
if ( initializedOk == false)
@@ -194,4 +195,4 @@
}
std::cout << name << " " << value << std::endl;
return true;
-}
\ No newline at end of file
+}
Modified: trunk/src/stable/components/giraffeServer/monitor.h
===================================================================
--- trunk/src/testing/components/giraffeServer/monitor.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/monitor.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -19,7 +19,7 @@
#ifndef MONITOR_H
#define MONITOR_H
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
#include <Ice/Ice.h>
#include <QtCore>
Modified: trunk/src/stable/components/giraffeServer/servo.h
===================================================================
--- trunk/src/testing/components/giraffeServer/servo.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/servo.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -19,7 +19,7 @@
#ifndef SERVO_H
#define SERVO_H
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
#include <QtCore>
#include <math.h>
Modified: trunk/src/stable/components/giraffeServer/worker.cpp
===================================================================
--- trunk/src/testing/components/giraffeServer/worker.cpp 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/worker.cpp 2013-10-25 10:56:31 UTC (rev 1078)
@@ -207,6 +207,8 @@
RoboCompJointMotor::MotorParamsList Worker::getAllMotorParams( )
{
+ std::cout << "Worker::getAllMotorParams" << std::endl;
+
RoboCompJointMotor::MotorParamsList list;
foreach( Servo *s, handler->motors)
@@ -249,4 +251,4 @@
RoboCompJointMotor::UnknownMotorException ex(motor.toStdString());
throw ex;
}
-}
\ No newline at end of file
+}
Modified: trunk/src/stable/components/giraffeServer/worker.h
===================================================================
--- trunk/src/testing/components/giraffeServer/worker.h 2013-10-24 18:03:37 UTC (rev 1076)
+++ trunk/src/stable/components/giraffeServer/worker.h 2013-10-25 10:56:31 UTC (rev 1078)
@@ -24,7 +24,7 @@
#include "handler.h"
#include "dynamixel.h"
//#include "fakehandler.h"
-#include <JointMotor.h>
+#include <jderobot/jointmotor.h>
//#include <megaroboticshandler.h>
#include <servo.h>
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