[Gearbox-commit] SF.net SVN: gearbox: [82] gearbox/trunk/submitted

[<bo...@us...>]

Revision: 82
          http://gearbox.svn.sourceforge.net/gearbox/?rev=82&view=rev
Author:   borax00
Date:     2008-02-25 04:32:07 -0800 (Mon, 25 Feb 2008)

Log Message:
-----------


Modified Paths:
--------------
    gearbox/trunk/submitted/gbxserialacfr/doc.dox
    gearbox/trunk/submitted/gbxsickacfr/doc.dox
    gearbox/trunk/submitted/gbxsickacfr/driver.cpp
    gearbox/trunk/submitted/gbxsickacfr/driver.h
    gearbox/trunk/submitted/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h
    gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialstatus.h
    gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialtracer.h
    gearbox/trunk/submitted/gbxsickacfr/test/test.cpp

Modified: gearbox/trunk/submitted/gbxserialacfr/doc.dox
===================================================================
--- gearbox/trunk/submitted/gbxserialacfr/doc.dox	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxserialacfr/doc.dox	2008-02-25 12:32:07 UTC (rev 82)
@@ -50,6 +50,9 @@
 @par Responsible Developer
   Alex Brooks
 
+@par License
+  LGPL
+
 */
 
 /*!

Modified: gearbox/trunk/submitted/gbxsickacfr/doc.dox
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/doc.dox	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/doc.dox	2008-02-25 12:32:07 UTC (rev 82)
@@ -29,12 +29,18 @@
 @par Style
   See http://orca-robotics.sourceforge.net/orca/orca_doc_style.html
 
+@par Units and Coordinate System
+  See http://orca-robotics.sourceforge.net/orca/orca_doc_units.html
+
 @par Copyright
   Alex Brooks, Alexei Makarenko, Tobias Kaupp
 
 @par Responsible Developer
   Alex Brooks
   
+@par License
+  LGPL
+  
 @par Dependencies
 
 - libIceUtil (for timing/threads/mutexes)

Modified: gearbox/trunk/submitted/gbxsickacfr/driver.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/driver.cpp	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/driver.cpp	2008-02-25 12:32:07 UTC (rev 82)
@@ -72,8 +72,7 @@
 bool
 Config::validate() const
 {
-    // baudRate ???
-    // device ???
+    // Don't bother verifying baudRate or device, the user will find out soon enough when the Driver bitches.
     if ( minRange < 0.0 ) return false;
     if ( maxRange <= 0.0 ) return false;
     if ( fieldOfView <= 0.0 || fieldOfView > DEG2RAD(360.0) ) return false;
@@ -227,7 +226,7 @@
         else
         {
             stringstream ss;
-            ss << "Weird return code from getAndPopNext: " << ret;
+            ss << "Weird return code from serialHandler_->getNextResponse: " << ret;
             throw gbxutilacfr::Exception( ERROR_INFO, ss.str() );
         }
     }    
@@ -310,7 +309,7 @@
     //        help with dazzle (ie sunlight interfering with the laser).
     //        I haven't had a chance to test it though, so I'm not game
     //        to set it.
-    cout<<"TRACE(sickacfrdriver.cpp): TODO: set availability?" << endl;
+    cout<<"TRACE(driver.cpp): TODO: set availability?" << endl;
     // c.availability = 0x01;
 
     return c;

Modified: gearbox/trunk/submitted/gbxsickacfr/driver.h
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/driver.h	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/driver.h	2008-02-25 12:32:07 UTC (rev 82)
@@ -69,8 +69,8 @@
     //! Constructor
     Driver( const Config &config, gbxutilacfr::Tracer& tracer, gbxutilacfr::Status& status );
 
-    //! Blocks till new data is available, but shouldn't occupy the thread indefinitely.
-    //! Ranges and intensities can be expected to have been pre-sized correctly.
+    //! Blocks till new data is available, but not for longer than timeoutMs.
+    //! The ranges and intensities in 'data' are expected to have been pre-sized correctly.
     //! Throws exceptions on un-recoverable faults.
     //!
     //! The default timeout is greater than the scan inter-arrival time for all baudrates.

Modified: gearbox/trunk/submitted/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/gbxserialdeviceacfr/serialdevicehandler.h	2008-02-25 12:32:07 UTC (rev 82)
@@ -18,7 +18,7 @@
 namespace gbxsickacfr {
 namespace gbxserialdeviceacfr {
 
-// @brief A generic Response: a message received from the device
+//! @brief A generic Response: a message received from the device
 class IResponse : public IceUtil::Shared
 {
 public:
@@ -34,7 +34,7 @@
 };
 typedef IceUtil::Handle<IResponse> IResponsePtr;
 
-// Response plus a timeStamp: a simple container to keep the two together
+//! Response plus a timeStamp: a simple container to keep the two together
 class TimedResponse {
 public:
 
@@ -48,10 +48,10 @@
     IResponsePtr response;
 };
 
-//
-// The implementation of this class needs to be provided by the user.
-// It parses buffers to produce discrete messages (responses form the device)
-//
+//!
+//! The implementation of this class needs to be provided by the user.
+//! It parses buffers to produce discrete messages (responses form the device)
+//!
 class IResponseParser {
 
 public:
@@ -72,19 +72,19 @@
 
 };
 
-//
-// @brief Handles the serial port.
-//
-// This thread waits for new messags to arrive from the device, parses
-// them and sticks them into a buffer for someone else to grab. 
-//
-// Read in this separate loop so we can hopefully grab the messages
-// as soon as they arrive, without relying on an external poller
-// which may be busy doing other stuff.
-// This will hopefully give us accurate timestamps.
-//
-// @author Alex Brooks
-//
+//!
+//! @brief Handles the serial port.
+//!
+//! This thread waits for new messags to arrive from the device, parses
+//! them and sticks them into a buffer for someone else to grab. 
+//!
+//! Read in this separate loop so we can hopefully grab the messages
+//! as soon as they arrive, without relying on an external poller
+//! which may be busy doing other stuff.
+//! This will hopefully give us accurate timestamps.
+//!
+//! @author Alex Brooks
+//!
 class SerialDeviceHandler : public gbxiceutilacfr::SubsystemThread
 {
 

Modified: gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialstatus.h
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialstatus.h	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialstatus.h	2008-02-25 12:32:07 UTC (rev 82)
@@ -18,6 +18,11 @@
 namespace gbxutilacfr {
 
 
+//!
+//! @brief A trivial implementation of the status API which prints to cout.
+//!
+//! @see Status
+//!
 class TrivialStatus : public Status
 {
 public:

Modified: gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialtracer.h
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialtracer.h	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/gbxutilacfr/trivialtracer.h	2008-02-25 12:32:07 UTC (rev 82)
@@ -16,6 +16,11 @@
 namespace gbxsickacfr {
 namespace gbxutilacfr {
 
+//!
+//! @brief A simple implementation of the tracer API which prints to cout.
+//!
+//! @see Tracer
+//!
 class TrivialTracer : public Tracer
 {
 public:

Modified: gearbox/trunk/submitted/gbxsickacfr/test/test.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/test/test.cpp	2008-02-25 12:00:58 UTC (rev 81)
+++ gearbox/trunk/submitted/gbxsickacfr/test/test.cpp	2008-02-25 12:32:07 UTC (rev 82)
@@ -35,19 +35,19 @@
     // Get some options from the command line
     while ((opt = getopt (argc, argv, "p:b:")) != -1)
     {
-        switch (opt)
+        switch ( opt )
         {
-            case 'p':
-                port = optarg;
-                break;
-            case 'b':
-                baud = atoi (optarg);
-                break;
-            default:
-                cout << "Usage: " << argv[0] << " [-p port] [-b baud]" << endl << endl
-                     << "-p port\tPort the laser scanner is connected to. E.g. /dev/ttyS0" << endl
-                     << "-b baud\tBaud rate to connect at (19200, 57600 or 115200)." << endl;
-                return 1;
+        case 'p':
+            port = optarg;
+            break;
+        case 'b':
+            baud = atoi( optarg );
+            break;
+        default:
+            cout << "Usage: " << argv[0] << " [-p port] [-b baud]" << endl << endl
+                 << "-p port\tPort the laser scanner is connected to. E.g. /dev/ttyS0" << endl
+                 << "-b baud\tBaud rate to connect at (19200, 57600 or 115200)." << endl;
+            return 1;
         }
     }
 


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.