[Gearbox-commit] SF.net SVN: gearbox: [97] gearbox/trunk/submitted/gbxsickacfr

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

Revision: 97
          http://gearbox.svn.sourceforge.net/gearbox/?rev=97&view=rev
Author:   borax00
Date:     2008-03-05 23:03:36 -0800 (Wed, 05 Mar 2008)

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


Modified Paths:
--------------
    gearbox/trunk/submitted/gbxsickacfr/driver.cpp
    gearbox/trunk/submitted/gbxsickacfr/driver.h
    gearbox/trunk/submitted/gbxsickacfr/test/test.cpp

Modified: gearbox/trunk/submitted/gbxsickacfr/driver.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/driver.cpp	2008-03-02 03:14:51 UTC (rev 96)
+++ gearbox/trunk/submitted/gbxsickacfr/driver.cpp	2008-03-06 07:03:36 UTC (rev 97)
@@ -70,9 +70,16 @@
 }
 
 bool
-Config::validate() const
+Config::isValid() const
 {
-    // Don't bother verifying baudRate or device, the user will find out soon enough when the Driver bitches.
+    // Don't bother verifying device, the user will find out soon enough when the Driver bitches.
+    if ( !( baudRate == 9600    ||
+            baudRate == 19200   ||
+            baudRate == 38400   ||
+            baudRate == 500000 ) )
+    {
+        return false;
+    }
     if ( minRange < 0.0 ) return false;
     if ( maxRange <= 0.0 ) return false;
     if ( fieldOfView <= 0.0 || fieldOfView > DEG2RAD(360.0) ) return false;
@@ -111,6 +118,13 @@
       tracer_(tracer),
       status_(status)
 {
+    if ( !config.isValid() )
+    {
+        stringstream ss;
+        ss << __func__ << "(): Invalid config: " << config.toString();
+        throw gbxutilacfr::Exception( ERROR_INFO, ss.str() );
+    }
+
     stringstream ssDebug;
     ssDebug << "Connecting to laser on serial port " << config_.device;
     tracer_.debug( ssDebug.str() );

Modified: gearbox/trunk/submitted/gbxsickacfr/driver.h
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/driver.h	2008-03-02 03:14:51 UTC (rev 96)
+++ gearbox/trunk/submitted/gbxsickacfr/driver.h	2008-03-06 07:03:36 UTC (rev 97)
@@ -23,7 +23,7 @@
 {   
 public:
     Config();
-    bool validate() const;
+    bool isValid() const;
     std::string toString() const;
     bool operator==( const Config & other );
     bool operator!=( const Config & other );

Modified: gearbox/trunk/submitted/gbxsickacfr/test/test.cpp
===================================================================
--- gearbox/trunk/submitted/gbxsickacfr/test/test.cpp	2008-03-02 03:14:51 UTC (rev 96)
+++ gearbox/trunk/submitted/gbxsickacfr/test/test.cpp	2008-03-06 07:03:36 UTC (rev 97)
@@ -46,7 +46,7 @@
         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;
+                 << "-b baud\tBaud rate to connect at (9600, 19200, 38400, oro 500000)." << endl;
             return 1;
         }
     }
@@ -60,8 +60,9 @@
     config.numberOfSamples = 181;
     config.baudRate = baud;
     config.device = port;
-    if ( !config.validate() ) {
+    if ( !config.isValid() ) {
         cout << "Test: Invalid laser configuration: " << config.toString() << endl;
+        exit(1);
     }
     cout << "Using configuration: " << config.toString() << endl;
 


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