gearbox-commit Mailing List for gearbox (Page 13)

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Revision: 232
          http://gearbox.svn.sourceforge.net/gearbox/?rev=232&view=rev
Author:   tobasco
Date:     2008-06-30 05:01:10 -0700 (Mon, 30 Jun 2008)

Log Message:
-----------
incorporated Geoff's comments

Modified Paths:
--------------
    gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp
    gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h
    gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp
    gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme

Added Paths:
-----------
    gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp
    gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp

Removed Paths:
-------------
    gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp
===================================================================

--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.cpp	2008-06-30 12:01:10 UTC (rev 232)
@@ -18,227 +18,6 @@
 
 namespace gbxsmartbatteryacfr {
 
-//
-// Helper functions    
-//
-string toString( const vector<bool> &flags )
-{
-    stringstream ss;
-    for (unsigned int i=0; i<flags.size(); i++)
-    {
-        ss << flags[i] << " ";
-    }
-    return ss.str();
-}
-
-string toLogString( const vector<bool> &flags )
-{
-    stringstream ss;
-    for (unsigned int i=0; i<flags.size(); i++)
-    {
-        ss << flags[i];
-    }
-    return ss.str();
-}
-    
-    
-//
-// OceanServerSystem non-member functions
-//
-
-string toString( const OceanServerSystem &system )
-{
-    stringstream ss;
-    ss << "Charge:          \t" << system.percentCharge << endl;
-    ss << "Minutes to empty:\t" << system.minToEmpty << endl;
-    ss << "Available batt.: \t" << toString( system.availableBatteries ) << endl;
-    ss << "Charging:        \t" << toString( system.chargingStates ) << endl;
-    ss << "Supplying power: \t" << toString( system.supplyingPowerStates ) << endl;
-    ss << "Charge power:    \t" << toString( system.chargePowerPresentStates ) << endl;
-    ss << "Power no good:   \t" << toString( system.powerNoGoodStates ) << endl;
-    ss << "Charge inhibited:\t" << toString( system.chargeInhibitedStates ) << endl;
-    
-    map<int,SmartBattery>::const_iterator it;
-    for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
-    {
-        ss << "Data from battery number: " << it->first << endl;
-        ss << toString( it->second ) << endl;
-    }
-
-    return ss.str();
-}
-    
-string toLogString( const OceanServerSystem &system )
-{
-    stringstream ss;
-    ss << system.percentCharge << " ";
-    ss << system.minToEmpty << " ";
-    ss << toLogString( system.availableBatteries ) << " ";
-    ss << toLogString( system.chargingStates ) << " ";
-    ss << toLogString( system.supplyingPowerStates ) << " ";
-    ss << toLogString( system.chargePowerPresentStates ) << " ";
-    ss << toLogString( system.powerNoGoodStates ) << " ";
-    ss << toLogString( system.chargeInhibitedStates ) << endl;
-    
-    ss << system.batteries().size();
-    
-    map<int,SmartBattery>::const_iterator it;
-    for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
-    {
-        ss << it->first << " " << toLogString( it->second ) << endl;
-    }
-
-    return ss.str();
-}
-    
-void updateWithNewData( const OceanServerSystem &from, 
-                        OceanServerSystem       &to )
-{
-    typedef map<int,SmartBattery>::const_iterator BatIt;
-    
-    to.availableBatteries = from.availableBatteries;
-    to.percentCharge = from.percentCharge;
-    to.minToEmpty = from.minToEmpty;
-    to.messageToSystem = from.messageToSystem;
-    to.chargingStates = from.chargingStates;
-    to.supplyingPowerStates = from.supplyingPowerStates;
-    to.chargePowerPresentStates = from.chargePowerPresentStates;
-    to.powerNoGoodStates = from.powerNoGoodStates;
-    to.chargeInhibitedStates = from.chargeInhibitedStates;
-    
-    for (BatIt it=from.batteries().begin(); it!=from.batteries().end(); it++)
-    {        
-        const SmartBattery &fromB = from.battery( it->first );
-        SmartBattery &toB = to.battery( it->first ); 
-        
-        if ( fromB.has( ManufacturerAccess  ) ) toB.setManufacturerAccess ( fromB.manufacturerAccess () );
-        if ( fromB.has( RemainingCapacityAlarm  ) ) toB.setRemainingCapacityAlarm ( fromB.remainingCapacityAlarm () );
-        if ( fromB.has( RemainingTimeAlarm  ) ) toB.setRemainingTimeAlarm ( fromB.remainingTimeAlarm () );
-        if ( fromB.has( BatteryMode  ) ) toB.setBatteryMode ( fromB.batteryMode () );
-        if ( fromB.has( AtRate  ) ) toB.setAtRate ( fromB.atRate () );
-        if ( fromB.has( AtRateTimeToFull  ) ) toB.setAtRateTimeToFull ( fromB.atRateTimeToFull () );
-        if ( fromB.has( AtRateTimeToEmpty  ) ) toB.setAtRateTimeToEmpty ( fromB.atRateTimeToEmpty () );
-        if ( fromB.has( AtRateOk  ) ) toB.setAtRateOk ( fromB.atRateOk () );
-        if ( fromB.has( Temperature  ) ) toB.setTemperature ( fromB.temperature () );
-        if ( fromB.has( Voltage  ) ) toB.setVoltage ( fromB.voltage () );
-        if ( fromB.has( Current  ) ) toB.setCurrent ( fromB.current () );
-        if ( fromB.has( AverageCurrent  ) ) toB.setAverageCurrent ( fromB.averageCurrent () );
-        if ( fromB.has( MaxError  ) ) toB.setMaxError ( fromB.maxError () );
-        if ( fromB.has( RelativeStateOfCharge  ) ) toB.setRelativeStateOfCharge ( fromB.relativeStateOfCharge () );
-        if ( fromB.has( AbsoluteStateOfCharge  ) ) toB.setAbsoluteStateOfCharge ( fromB.absoluteStateOfCharge () );
-        if ( fromB.has( RemainingCapacity  ) ) toB.setRemainingCapacity ( fromB.remainingCapacity () );
-        if ( fromB.has( FullChargeCapacity  ) ) toB.setFullChargeCapacity ( fromB.fullChargeCapacity () );
-        if ( fromB.has( RunTimeToEmpty  ) ) toB.setRunTimeToEmpty ( fromB.runTimeToEmpty () );
-        if ( fromB.has( AverageTimeToEmpty  ) ) toB.setAverageTimeToEmpty ( fromB.averageTimeToEmpty () );
-        if ( fromB.has( AverageTimeToFull  ) ) toB.setAverageTimeToFull ( fromB.averageTimeToFull () );
-        if ( fromB.has( ChargingCurrent  ) ) toB.setChargingCurrent ( fromB.chargingCurrent () );
-        if ( fromB.has( ChargingVoltage  ) ) toB.setChargingVoltage ( fromB.chargingVoltage () );
-        if ( fromB.has( BatteryStatus  ) ) toB.setBatteryStatus ( fromB.batteryStatus () );
-        if ( fromB.has( CycleCount  ) ) toB.setCycleCount ( fromB.cycleCount () );
-        if ( fromB.has( DesignCapacity  ) ) toB.setDesignCapacity ( fromB.designCapacity () );
-        if ( fromB.has( DesignVoltage  ) ) toB.setDesignVoltage ( fromB.designVoltage () );
-        if ( fromB.has( SpecificationInfo  ) ) toB.setSpecificationInfo ( fromB.specificationInfo () );
-        if ( fromB.has( ManufactureDate  ) ) toB.setManufactureDate ( fromB.manufactureDate () );
-        if ( fromB.has( SerialNumber  ) ) toB.setSerialNumber ( fromB.serialNumber () );
-        if ( fromB.has( ManufacturerName  ) ) toB.setManufacturerName ( fromB.manufacturerName () );
-        if ( fromB.has( DeviceName  ) ) toB.setDeviceName ( fromB.deviceName () );
-        if ( fromB.has( DeviceChemistry  ) ) toB.setDeviceChemistry ( fromB.deviceChemistry () );
-        if ( fromB.has( ManufacturerData  ) ) toB.setManufacturerData ( fromB.manufacturerData () );
-    }
-    
-    // check if reaping needs to be done, if not return
-    if ( from.batteries().size() == to.batteries().size() ) 
-        return;
-  
-    // store battery ids from batteries which need to be reaped in a vector
-    vector<int> reapingIds;
-
-    // go through all 'to' batteries and check if they are also in 'from'
-    for (BatIt it=to.batteries().begin(); it!=to.batteries().end(); it++)
-    {
-        const int batId = it->first;
-        
-        BatIt itFrom = from.batteries().find( batId );
-        if ( itFrom == from.batteries().end() ) {
-            // battery is in 'to' but not in 'from' -> needs to be reaped
-            reapingIds.push_back( batId );
-        }
-    }
-    
-    // reap batteries
-    for (unsigned int i=0; i<reapingIds.size(); i++) {
-        to.eraseBattery( reapingIds[i] );
-    }
-    
-}
-
-
-//
-// OceanServerSystem member functions
-//
-
-OceanServerSystem::OceanServerSystem()
-    : percentCharge(0),
-      minToEmpty(0),
-      messageToSystem("")
-{
-    // fixed number of slots for oceanserver system
-    const int NUM_BATTERY_SLOTS = 8;
-    availableBatteries.resize(NUM_BATTERY_SLOTS);
-    chargingStates.resize(NUM_BATTERY_SLOTS);
-    supplyingPowerStates.resize(NUM_BATTERY_SLOTS);
-    chargePowerPresentStates.resize(NUM_BATTERY_SLOTS);
-    powerNoGoodStates.resize(NUM_BATTERY_SLOTS);
-    chargeInhibitedStates.resize(NUM_BATTERY_SLOTS);
-}
-
-// read access to all batteries
-const map<int,SmartBattery>&
-OceanServerSystem::batteries() const
-{ 
-    return batteries_; 
-}
-
-// write access to single battery
-SmartBattery& 
-OceanServerSystem::battery( unsigned int batteryNumber )
-{
-    map<int,SmartBattery>::iterator it = batteries_.find(batteryNumber);
-    if ( it==batteries_.end() )
-    {
-        // we don't have it, so instantiate a new one
-        SmartBattery b;
-        batteries_[batteryNumber] = b;
-        return batteries_[batteryNumber];
-    }
-    
-    return it->second;
-}  
-
-// read access to single battery
-const SmartBattery& 
-OceanServerSystem::battery( unsigned int batteryNumber ) const
-{
-    map<int,SmartBattery>::const_iterator it = batteries_.find(batteryNumber);
-    if ( it==batteries_.end() )
-    {
-        stringstream ss; 
-        ss << "Trying to read from non-existent battery " << batteryNumber;
-        throw ParsingException( ERROR_INFO, ss.str().c_str() );
-    }
-    return it->second;
-}
-
-void
-OceanServerSystem::eraseBattery( unsigned int batteryNumber )
-{
-    batteries_.erase( batteries_.find( batteryNumber ) );    
-}
-
-//
-//  OceanServerParser member functions
-//
-
 OceanServerParser::OceanServerParser( gbxutilacfr::Tracer &tracer )
     : tracer_(tracer)
 {
@@ -488,25 +267,29 @@
     //
     // Debugging output
     //
-    stringstream ss;
-    ss << "OceanServerParser: Received the following input: " << endl;
-    for (unsigned int i=0; i<stringList.size(); i++)
+    const int debugLevel = 10;
+    if (tracer_.verbosity( gbxutilacfr::Tracer::DebugTrace, gbxutilacfr::Tracer::ToAny ) >= debugLevel)
     {
-        const string &str = stringList[i];
-        ss << i << ": " << str;
-
-        // output in hex
-        ss << i << " hex: ";
-        for (unsigned k=0; k<str.size(); k++)
+        stringstream ss;
+        ss << "OceanServerParser: Received the following input: " << endl;
+        for (unsigned int i=0; i<stringList.size(); i++)
         {
-            unsigned int charValue = (unsigned int)str[k];
-            ss << str[k] << ": " << std::hex << charValue << "  ";
+            const string &str = stringList[i];
+            ss << i << ": " << str;
+    
+            // output in hex
+            ss << i << " hex: ";
+            for (unsigned k=0; k<str.size(); k++)
+            {
+                unsigned int charValue = (unsigned int)str[k];
+                ss << str[k] << ": " << std::hex << charValue << "  ";
+            }
+            ss << std::dec;
+    
         }
-        ss << std::dec;
-
+        ss << endl;
+        tracer_.debug( ss.str(), debugLevel );
     }
-    ss << endl;
-    tracer_.debug( ss.str(), 10 );
     
     //
     // Parsing

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserverparser.h	2008-06-30 12:01:10 UTC (rev 232)
@@ -13,69 +13,11 @@
 
 #include <map>
 #include <gbxutilacfr/tracer.h>
-#include <gbxsmartbatteryacfr/smartbattery.h>
+#include <gbxsmartbatteryacfr/oceanserversystem.h>
 
 namespace gbxsmartbatteryacfr
 {
-
-//!
-//! Class representing the OceanServer battery system data
-//! Contains average values of the whole system and values from individual batteries
-//!
-//! @author Tobias Kaupp
-//!
-class OceanServerSystem
-{
-    public:
-        
-        OceanServerSystem();
-        ~OceanServerSystem() {};
-        
-        //! Read access to all batteries
-        const std::map<int,SmartBattery>& batteries() const;
-        
-        //! Easy write access to single battery, instantiates a new one if it doesn't exist
-        SmartBattery& battery( unsigned int batteryNumber );   
-        
-        //! Easy read access to single battery, battery must exist
-        const SmartBattery& battery( unsigned int batteryNumber ) const;
-        
-        //! Erase a battery
-        void eraseBattery( unsigned int batteryNumber );
-        
-        //! Average battery values
-        int percentCharge;
-        int minToEmpty;
-        std::string messageToSystem;
-        
-        //! Battery module states
-        //! Each vector is always of size 8 because oceanserver system has 8 slots
-        std::vector<bool> availableBatteries;
-        std::vector<bool> chargingStates;
-        std::vector<bool> supplyingPowerStates;
-        std::vector<bool> chargePowerPresentStates;
-        std::vector<bool> powerNoGoodStates;
-        std::vector<bool> chargeInhibitedStates;
- 
-    private:
-        
-        // key: slot number, data: a single smart battery module
-        std::map<int,SmartBattery> batteries_;
-};
-
-//! Puts OceanServerSystem data into a human-readable string
-std::string toString( const OceanServerSystem &system );
-
-//! Puts OceanServerSystem data into a machine-readable ASCII string
-std::string toLogString( const OceanServerSystem &system );
     
-//! Updates all fields in 'to' with data from 'from'. Also reapes batteries in 'to' if they are not in 'from'.
-//! Has persistence capabilities: if fields in 'from' are not set and corresponding fields in 'to' are set, the ones in 'to' are kept.
-//! Use case: a class stores 'to' as a member variable, receives the latest records into 'from', calls this function to update 'to'.
-//! The reaping capability makes sure that battery modules which are no longer connected don't persist.
-void updateWithNewData( const OceanServerSystem &from, 
-                        OceanServerSystem       &to );
-    
 //! 
 //! Class to parse the hex data the oceanserver battery controller spits out
 //!

Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp	                        (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.cpp	2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,239 @@
+/*
+ * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
+ *               http://gearbox.sf.net/
+ * Copyright (c) 2004-2008 Tobias Kaupp
+ *
+ * This distribution is licensed to you under the terms described in
+ * the LICENSE file included in this distribution.
+ *
+ */
+
+#include <sstream>
+#include <cstring>
+#include <gbxsmartbatteryacfr/exceptions.h>
+
+#include "oceanserversystem.h"
+
+using namespace std;
+
+namespace gbxsmartbatteryacfr {
+    
+//
+// Helper functions    
+//
+    
+string toString( const vector<bool> &flags )
+{
+    stringstream ss;
+    for (unsigned int i=0; i<flags.size(); i++)
+    {
+        ss << flags[i] << " ";
+    }
+    return ss.str();
+}
+
+string toLogString( const vector<bool> &flags )
+{
+    stringstream ss;
+    for (unsigned int i=0; i<flags.size(); i++)
+    {
+        ss << flags[i];
+    }
+    return ss.str();
+}
+    
+    
+//
+// Non-member functions
+//
+
+string toString( const OceanServerSystem &system )
+{
+    stringstream ss;
+    ss << "Charge:          \t" << system.percentCharge << endl;
+    ss << "Minutes to empty:\t" << system.minToEmpty << endl;
+    ss << "Available batt.: \t" << toString( system.availableBatteries ) << endl;
+    ss << "Charging:        \t" << toString( system.chargingStates ) << endl;
+    ss << "Supplying power: \t" << toString( system.supplyingPowerStates ) << endl;
+    ss << "Charge power:    \t" << toString( system.chargePowerPresentStates ) << endl;
+    ss << "Power no good:   \t" << toString( system.powerNoGoodStates ) << endl;
+    ss << "Charge inhibited:\t" << toString( system.chargeInhibitedStates ) << endl;
+    
+    map<int,SmartBattery>::const_iterator it;
+    for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
+    {
+        ss << "Data from battery number: " << it->first << endl;
+        ss << toString( it->second ) << endl;
+    }
+
+    return ss.str();
+}
+    
+string toLogString( const OceanServerSystem &system )
+{
+    stringstream ss;
+    ss << system.percentCharge << " ";
+    ss << system.minToEmpty << " ";
+    ss << toLogString( system.availableBatteries ) << " ";
+    ss << toLogString( system.chargingStates ) << " ";
+    ss << toLogString( system.supplyingPowerStates ) << " ";
+    ss << toLogString( system.chargePowerPresentStates ) << " ";
+    ss << toLogString( system.powerNoGoodStates ) << " ";
+    ss << toLogString( system.chargeInhibitedStates ) << endl;
+    
+    ss << system.batteries().size();
+    
+    map<int,SmartBattery>::const_iterator it;
+    for (it=system.batteries().begin(); it!=system.batteries().end(); it++)
+    {
+        ss << it->first << " " << toLogString( it->second ) << endl;
+    }
+
+    return ss.str();
+}
+    
+void updateWithNewData( const OceanServerSystem &from, 
+                        OceanServerSystem       &to )
+{
+    typedef map<int,SmartBattery>::const_iterator BatIt;
+    
+    to.availableBatteries = from.availableBatteries;
+    to.percentCharge = from.percentCharge;
+    to.minToEmpty = from.minToEmpty;
+    to.messageToSystem = from.messageToSystem;
+    to.chargingStates = from.chargingStates;
+    to.supplyingPowerStates = from.supplyingPowerStates;
+    to.chargePowerPresentStates = from.chargePowerPresentStates;
+    to.powerNoGoodStates = from.powerNoGoodStates;
+    to.chargeInhibitedStates = from.chargeInhibitedStates;
+    
+    for (BatIt it=from.batteries().begin(); it!=from.batteries().end(); it++)
+    {        
+        const SmartBattery &fromB = from.battery( it->first );
+        SmartBattery &toB = to.battery( it->first ); 
+        
+        if ( fromB.has( ManufacturerAccess  ) ) toB.setManufacturerAccess ( fromB.manufacturerAccess () );
+        if ( fromB.has( RemainingCapacityAlarm  ) ) toB.setRemainingCapacityAlarm ( fromB.remainingCapacityAlarm () );
+        if ( fromB.has( RemainingTimeAlarm  ) ) toB.setRemainingTimeAlarm ( fromB.remainingTimeAlarm () );
+        if ( fromB.has( BatteryMode  ) ) toB.setBatteryMode ( fromB.batteryMode () );
+        if ( fromB.has( AtRate  ) ) toB.setAtRate ( fromB.atRate () );
+        if ( fromB.has( AtRateTimeToFull  ) ) toB.setAtRateTimeToFull ( fromB.atRateTimeToFull () );
+        if ( fromB.has( AtRateTimeToEmpty  ) ) toB.setAtRateTimeToEmpty ( fromB.atRateTimeToEmpty () );
+        if ( fromB.has( AtRateOk  ) ) toB.setAtRateOk ( fromB.atRateOk () );
+        if ( fromB.has( Temperature  ) ) toB.setTemperature ( fromB.temperature () );
+        if ( fromB.has( Voltage  ) ) toB.setVoltage ( fromB.voltage () );
+        if ( fromB.has( Current  ) ) toB.setCurrent ( fromB.current () );
+        if ( fromB.has( AverageCurrent  ) ) toB.setAverageCurrent ( fromB.averageCurrent () );
+        if ( fromB.has( MaxError  ) ) toB.setMaxError ( fromB.maxError () );
+        if ( fromB.has( RelativeStateOfCharge  ) ) toB.setRelativeStateOfCharge ( fromB.relativeStateOfCharge () );
+        if ( fromB.has( AbsoluteStateOfCharge  ) ) toB.setAbsoluteStateOfCharge ( fromB.absoluteStateOfCharge () );
+        if ( fromB.has( RemainingCapacity  ) ) toB.setRemainingCapacity ( fromB.remainingCapacity () );
+        if ( fromB.has( FullChargeCapacity  ) ) toB.setFullChargeCapacity ( fromB.fullChargeCapacity () );
+        if ( fromB.has( RunTimeToEmpty  ) ) toB.setRunTimeToEmpty ( fromB.runTimeToEmpty () );
+        if ( fromB.has( AverageTimeToEmpty  ) ) toB.setAverageTimeToEmpty ( fromB.averageTimeToEmpty () );
+        if ( fromB.has( AverageTimeToFull  ) ) toB.setAverageTimeToFull ( fromB.averageTimeToFull () );
+        if ( fromB.has( ChargingCurrent  ) ) toB.setChargingCurrent ( fromB.chargingCurrent () );
+        if ( fromB.has( ChargingVoltage  ) ) toB.setChargingVoltage ( fromB.chargingVoltage () );
+        if ( fromB.has( BatteryStatus  ) ) toB.setBatteryStatus ( fromB.batteryStatus () );
+        if ( fromB.has( CycleCount  ) ) toB.setCycleCount ( fromB.cycleCount () );
+        if ( fromB.has( DesignCapacity  ) ) toB.setDesignCapacity ( fromB.designCapacity () );
+        if ( fromB.has( DesignVoltage  ) ) toB.setDesignVoltage ( fromB.designVoltage () );
+        if ( fromB.has( SpecificationInfo  ) ) toB.setSpecificationInfo ( fromB.specificationInfo () );
+        if ( fromB.has( ManufactureDate  ) ) toB.setManufactureDate ( fromB.manufactureDate () );
+        if ( fromB.has( SerialNumber  ) ) toB.setSerialNumber ( fromB.serialNumber () );
+        if ( fromB.has( ManufacturerName  ) ) toB.setManufacturerName ( fromB.manufacturerName () );
+        if ( fromB.has( DeviceName  ) ) toB.setDeviceName ( fromB.deviceName () );
+        if ( fromB.has( DeviceChemistry  ) ) toB.setDeviceChemistry ( fromB.deviceChemistry () );
+        if ( fromB.has( ManufacturerData  ) ) toB.setManufacturerData ( fromB.manufacturerData () );
+    }
+    
+    // check if reaping needs to be done, if not return
+    if ( from.batteries().size() == to.batteries().size() ) 
+        return;
+  
+    // store battery ids from batteries which need to be reaped in a vector
+    vector<int> reapingIds;
+
+    // go through all 'to' batteries and check if they are also in 'from'
+    for (BatIt it=to.batteries().begin(); it!=to.batteries().end(); it++)
+    {
+        const int batId = it->first;
+        
+        BatIt itFrom = from.batteries().find( batId );
+        if ( itFrom == from.batteries().end() ) {
+            // battery is in 'to' but not in 'from' -> needs to be reaped
+            reapingIds.push_back( batId );
+        }
+    }
+    
+    // reap batteries
+    for (unsigned int i=0; i<reapingIds.size(); i++) {
+        to.eraseBattery( reapingIds[i] );
+    }
+    
+}
+
+
+//
+// Member functions
+//
+
+OceanServerSystem::OceanServerSystem()
+    : percentCharge(0),
+      minToEmpty(0),
+      messageToSystem("")
+{
+    // fixed number of slots for oceanserver system
+    const int NUM_BATTERY_SLOTS = 8;
+    availableBatteries.resize(NUM_BATTERY_SLOTS);
+    chargingStates.resize(NUM_BATTERY_SLOTS);
+    supplyingPowerStates.resize(NUM_BATTERY_SLOTS);
+    chargePowerPresentStates.resize(NUM_BATTERY_SLOTS);
+    powerNoGoodStates.resize(NUM_BATTERY_SLOTS);
+    chargeInhibitedStates.resize(NUM_BATTERY_SLOTS);
+}
+
+// read access to all batteries
+const map<int,SmartBattery>&
+OceanServerSystem::batteries() const
+{ 
+    return batteries_; 
+}
+
+// write access to single battery
+SmartBattery& 
+OceanServerSystem::battery( unsigned int batteryNumber )
+{
+    map<int,SmartBattery>::iterator it = batteries_.find(batteryNumber);
+    if ( it==batteries_.end() )
+    {
+        // we don't have it, so instantiate a new one
+        SmartBattery b;
+        batteries_[batteryNumber] = b;
+        return batteries_[batteryNumber];
+    }
+    
+    return it->second;
+}  
+
+// read access to single battery
+const SmartBattery& 
+OceanServerSystem::battery( unsigned int batteryNumber ) const
+{
+    map<int,SmartBattery>::const_iterator it = batteries_.find(batteryNumber);
+    if ( it==batteries_.end() )
+    {
+        stringstream ss; 
+        ss << "Trying to read from non-existent battery " << batteryNumber;
+        throw ParsingException( ERROR_INFO, ss.str().c_str() );
+    }
+    return it->second;
+}
+
+void
+OceanServerSystem::eraseBattery( unsigned int batteryNumber )
+{
+    batteries_.erase( batteries_.find( batteryNumber ) );    
+}
+
+} //namespace
\ No newline at end of file

Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h	                        (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/oceanserversystem.h	2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,80 @@
+/*
+ * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
+ *               http://gearbox.sf.net/
+ * Copyright (c) 2004-2008 Tobias Kaupp
+ *
+ * This distribution is licensed to you under the terms described in
+ * the LICENSE file included in this distribution.
+ *
+ */
+
+#ifndef GBX_OCEANSERVER_SYSTEM_H
+#define GBX_OCEANSERVER_SYSTEM_H
+
+#include <map>
+#include <gbxsmartbatteryacfr/smartbattery.h>
+
+namespace gbxsmartbatteryacfr
+{
+
+//!
+//! Class representing the OceanServer battery system data
+//! Contains average values of the whole system and values from individual batteries
+//!
+//! @author Tobias Kaupp
+//!
+class OceanServerSystem
+{
+    public:
+        
+        OceanServerSystem();
+        ~OceanServerSystem() {};
+        
+        //! Read access to all batteries
+        const std::map<int,SmartBattery>& batteries() const;
+        
+        //! Easy write access to single battery, instantiates a new one if it doesn't exist
+        SmartBattery& battery( unsigned int batteryNumber );   
+        
+        //! Easy read access to single battery, battery must exist
+        const SmartBattery& battery( unsigned int batteryNumber ) const;
+        
+        //! Erase a battery
+        void eraseBattery( unsigned int batteryNumber );
+        
+        //! Average battery values
+        int percentCharge;
+        int minToEmpty;
+        std::string messageToSystem;
+        
+        //! Battery module states
+        //! Each vector is always of size 8 because oceanserver system has 8 slots
+        std::vector<bool> availableBatteries;
+        std::vector<bool> chargingStates;
+        std::vector<bool> supplyingPowerStates;
+        std::vector<bool> chargePowerPresentStates;
+        std::vector<bool> powerNoGoodStates;
+        std::vector<bool> chargeInhibitedStates;
+ 
+    private:
+        
+        // key: slot number, data: a single smart battery module
+        std::map<int,SmartBattery> batteries_;
+};
+
+//! Puts OceanServerSystem data into a human-readable string
+std::string toString( const OceanServerSystem &system );
+
+//! Puts OceanServerSystem data into a machine-readable ASCII string
+std::string toLogString( const OceanServerSystem &system );
+    
+//! Updates all fields in 'to' with data from 'from'. Also reapes batteries in 'to' if they are not in 'from'.
+//! Has persistence capabilities: if fields in 'from' are not set and corresponding fields in 'to' are set, the ones in 'to' are kept.
+//! Use case: a class stores 'to' as a member variable, receives the latest records into 'from', calls this function to update 'to'.
+//! The reaping capability makes sure that battery modules which are no longer connected don't persist.
+void updateWithNewData( const OceanServerSystem &from, 
+                        OceanServerSystem       &to );
+                        
+} // namespace
+
+#endif

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbattery.cpp	2008-06-30 12:01:10 UTC (rev 232)
@@ -10,6 +10,7 @@
 
 #include <iostream>
 #include <sstream>
+#include <gbxsmartbatteryacfr/exceptions.h>
 
 #include "smartbattery.h"
 
@@ -52,8 +53,12 @@
     else if (fieldStr=="21") return DeviceName;
     else if (fieldStr=="22") return DeviceChemistry;
     else if (fieldStr=="23") return ManufacturerData;
-    else cout << "ERROR: Unknown field: " << fieldStr << endl;
-    
+    else 
+    {
+        stringstream ss;
+        ss << "Unknown field: " << fieldStr;
+        throw ParsingException( ERROR_INFO, ss.str().c_str() );
+    }    
     return NUM_SMARTBATTERY_FIELDS;
 }
 

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/smartbatteryacfr.dox	2008-06-30 12:01:10 UTC (rev 232)
@@ -24,8 +24,8 @@
 @endverbatim
 
 @par Examples
-- See 'test/simpletest.cpp' for a simple example of how to use the library.
-- See 'test/fancytest.cpp' for a more advanced example.
+- See 'test/simpletest.cpp' for a simple example of how to use the library. The test reads a few records from the oceanserver system and prints the results on the screen.
+- See 'test/fancytest.cpp' for a more advanced example. The test uses a class to read a few records from the oceanserver system and stores an internal (full) record which only gets updated with new data.
 
 @par Style
   See http://orca-robotics.sourceforge.net/orca/orca_doc_style.html

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/CMakeLists.txt	2008-06-30 12:01:10 UTC (rev 232)
@@ -1,13 +1,15 @@
 INCLUDE( ${GBX_CMAKE_DIR}/UseBasicRules.cmake )
 
-GBX_ADD_EXECUTABLE( gbxsmartbatterychecksumtest checksumtest.cpp )
-GBX_ADD_TEST( GbxSmartBatteryChecksumTest gbxsmartbatterychecksumtest )
-
 GBX_ADD_EXECUTABLE( gbxsmartbatterysimpletest simpletest.cpp )
 TARGET_LINK_LIBRARIES( gbxsmartbatterysimpletest GbxSmartBatteryAcfr )
 
 GBX_ADD_EXECUTABLE( gbxsmartbatteryfancytest fancytest.cpp )
 TARGET_LINK_LIBRARIES( gbxsmartbatteryfancytest GbxSmartBatteryAcfr )
 
-GBX_ADD_EXAMPLE( gbxsmartbatteryacfr example.cmake.in example.cmake checksumtest.cpp simpletest.cpp fancytest.cpp example.readme )
+GBX_ADD_EXAMPLE( gbxsmartbatteryacfr example.cmake.in example.cmake simpletest.cpp fancytest.cpp example.readme )
 
+IF( GBX_BUILD_TESTS )
+    ADD_SUBDIRECTORY( darttest )
+ENDIF( GBX_BUILD_TESTS )
+
+

Deleted: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/checksumtest.cpp	2008-06-30 12:01:10 UTC (rev 232)
@@ -1,94 +0,0 @@
-#include <iostream>
-#include <sstream>
-
-using namespace std;
-
-template < typename T >
-inline T highbit(T& t)
-{
-    return t = (((T)(-1)) >> 1) + 1;
-}
-
-template < typename T >
-std::ostream& bin(T& value, std::ostream &o)
-{
-    for ( T bit = highbit(bit); bit; bit >>= 1 )
-    {
-        o << ( ( value & bit ) ? '1' : '0' );
-    }
-    return o;
-}
-
-// Simple checksum test using XOR
-int main( int argc, char **argv )
-{
-    int opt;
-    std::string input = "B18,0A,0000";
-    std::string resultHex = "3A";
-    
-    // Get some options from the command line
-    while ((opt = getopt(argc, argv, "i:r:")) != -1)
-    {
-        switch ( opt )
-        {
-            case 'i':
-                input = optarg;
-                break;
-            case 'r':
-                resultHex = optarg;
-                break;
-            default:
-                cout << "Usage: " << argv[0] << " [-i input] [-r resultInHex]" << endl
-                     << "-i input\tInput string. E.g. B18,0A,0000" << endl
-                     << "-r resultInHex\tResult in hex. E.g. 3A "<< endl;
-                return 1;
-        }
-    }
-
-    cout << endl << "Checksum is computed using XOR" << endl;
-    cout << endl << "Input string is:\t\t " << input << endl;
-    cout << "Expected checksum result is:\t " << resultHex << endl << endl;
-
-    unsigned int checksum = 0;
-
-    cout << "Table: " << endl
-         << "char\tdec\thex\tbin" << endl
-         << "----------------------------------" << endl;
-
-    for (unsigned int i=0; i<input.size(); i++)
-    {
-        unsigned int charValue = (unsigned int)input[i];
-        cout << input[i] << "\t" 
-             << std::dec << charValue << "\t" 
-             << std::hex << charValue << "\t";
-        bin(charValue, cout);
-        cout << endl;
-        //checksum computation
-        checksum ^= charValue;
-    }
-
-    cout << endl;
-    cout << "Computed checksum (dec,hex,bin): " << std::dec << checksum << ", " << std::hex << checksum << ", ";
-    bin(checksum, cout); cout << endl << endl;
-
-    stringstream ss;
-    ss << std::hex << checksum;
-
-    string checksumStr = ss.str();
-    for (unsigned int i=0; i<checksumStr.size(); i++)
-        checksumStr[i] = toupper( checksumStr[i] );
-
-    cout << "Expected checksum result is:\t" << resultHex << endl;
-    cout << "Computed checksum result is:\t" << checksumStr << endl << endl;
-
-    int passTest = checksumStr.compare( resultHex );
-    if (passTest!=0) {
-        cout << "Test not passed" << endl;
-        return 1;
-    }
-    cout << "Test passed" << endl;
-    
-    return 0;
-}
-
-

Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt	                        (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/CMakeLists.txt	2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,4 @@
+INCLUDE( ${GBX_CMAKE_DIR}/UseBasicRules.cmake )
+
+GBX_ADD_EXECUTABLE( gbxsmartbatterychecksumtest checksumtest.cpp )
+GBX_ADD_TEST( GbxSmartBatteryChecksumTest gbxsmartbatterychecksumtest )
\ No newline at end of file

Added: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp	                        (rev 0)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/darttest/checksumtest.cpp	2008-06-30 12:01:10 UTC (rev 232)
@@ -0,0 +1,94 @@
+#include <iostream>
+#include <sstream>
+
+using namespace std;
+
+template < typename T >
+inline T highbit(T& t)
+{
+    return t = (((T)(-1)) >> 1) + 1;
+}
+
+template < typename T >
+std::ostream& bin(T& value, std::ostream &o)
+{
+    for ( T bit = highbit(bit); bit; bit >>= 1 )
+    {
+        o << ( ( value & bit ) ? '1' : '0' );
+    }
+    return o;
+}
+
+// Simple checksum test using XOR
+int main( int argc, char **argv )
+{
+    int opt;
+    std::string input = "B18,0A,0000";
+    std::string resultHex = "3A";
+    
+    // Get some options from the command line
+    while ((opt = getopt(argc, argv, "i:r:")) != -1)
+    {
+        switch ( opt )
+        {
+            case 'i':
+                input = optarg;
+                break;
+            case 'r':
+                resultHex = optarg;
+                break;
+            default:
+                cout << "Usage: " << argv[0] << " [-i input] [-r resultInHex]" << endl
+                     << "-i input\tInput string. E.g. B18,0A,0000" << endl
+                     << "-r resultInHex\tResult in hex. E.g. 3A "<< endl;
+                return 1;
+        }
+    }
+
+    cout << endl << "Checksum is computed using XOR" << endl;
+    cout << endl << "Input string is:\t\t " << input << endl;
+    cout << "Expected checksum result is:\t " << resultHex << endl << endl;
+
+    unsigned int checksum = 0;
+
+    cout << "Table: " << endl
+         << "char\tdec\thex\tbin" << endl
+         << "----------------------------------" << endl;
+
+    for (unsigned int i=0; i<input.size(); i++)
+    {
+        unsigned int charValue = (unsigned int)input[i];
+        cout << input[i] << "\t" 
+             << std::dec << charValue << "\t" 
+             << std::hex << charValue << "\t";
+        bin(charValue, cout);
+        cout << endl;
+        //checksum computation
+        checksum ^= charValue;
+    }
+
+    cout << endl;
+    cout << "Computed checksum (dec,hex,bin): " << std::dec << checksum << ", " << std::hex << checksum << ", ";
+    bin(checksum, cout); cout << endl << endl;
+
+    stringstream ss;
+    ss << std::hex << checksum;
+
+    string checksumStr = ss.str();
+    for (unsigned int i=0; i<checksumStr.size(); i++)
+        checksumStr[i] = toupper( checksumStr[i] );
+
+    cout << "Expected checksum result is:\t" << resultHex << endl;
+    cout << "Computed checksum result is:\t" << checksumStr << endl << endl;
+
+    int passTest = checksumStr.compare( resultHex );
+    if (passTest!=0) {
+        cout << "Test not passed" << endl;
+        return 1;
+    }
+    cout << "Test passed" << endl;
+    
+    return 0;
+}
+
+

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.cmake.in	2008-06-30 12:01:10 UTC (rev 232)
@@ -1,13 +1,6 @@
 PROJECT( gbxsmartbatteryacfr_example )
 
 INCLUDE_DIRECTORIES( @CMAKE_INSTALL_PREFIX@/include/gearbox )
-
-ADD_EXECUTABLE( gbxsmartbatteryacfrchecksum checksumtest.cpp )
-TARGET_LINK_LIBRARIES( gbxsmartbatteryacfrchecksum GbxSmartBatteryAcfr )
-SET_TARGET_PROPERTIES( gbxsmartbatteryacfrchecksum PROPERTIES
-                       LINK_FLAGS "-L@CMAKE_INSTALL_PREFIX@/lib/gearbox"
-                       INSTALL_RPATH "${INSTALL_RPATH};@CMAKE_INSTALL_PREFIX@/lib/gearbox"
-                       BUILD_WITH_INSTALL_RPATH TRUE )
                        
 ADD_EXECUTABLE( gbxsmartbatteryacfrsimple simpletest.cpp )
 TARGET_LINK_LIBRARIES( gbxsmartbatteryacfrsimple GbxSmartBatteryAcfr )

Modified: gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme
===================================================================
--- gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme	2008-06-29 03:49:54 UTC (rev 231)
+++ gearbox/trunk/submitted/gbxsmartbatteryacfr/test/example.readme	2008-06-30 12:01:10 UTC (rev 232)
@@ -9,4 +9,10 @@
 $ cd ~
 $ mkdir gbxsmartbatteryacfr_example
 $ cd gbxsmartbatteryacfr_example
-$ ccmake /usr/local/share/gearbox/gbxsmartbatteryacfr
+$ ccmake /usr/local/share/gearbox/gbxsmartbatteryacfr 
+(press 'c' and 'g')
+$ make
+$ ./gbxsmartbatteryacfrsimple
+$ ./gbxsmartbatteryacfrfancy
+
+See the library documentation (smartbatteryacfr.dox) for a description of the tests.


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