[Gearbox-commit] SF.net SVN: gearbox: [129] gearbox/trunk/submitted/gbxgarminacfr

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

Revision: 129
          http://gearbox.svn.sourceforge.net/gearbox/?rev=129&view=rev
Author:   borax00
Date:     2008-04-26 00:41:06 -0700 (Sat, 26 Apr 2008)

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


Modified Paths:
--------------
    gearbox/trunk/submitted/gbxgarminacfr/CMakeLists.txt
    gearbox/trunk/submitted/gbxgarminacfr/driver.h

Added Paths:
-----------
    gearbox/trunk/submitted/gbxgarminacfr/test/
    gearbox/trunk/submitted/gbxgarminacfr/test/CMakeLists.txt
    gearbox/trunk/submitted/gbxgarminacfr/test/example.cmake.in
    gearbox/trunk/submitted/gbxgarminacfr/test/example.readme
    gearbox/trunk/submitted/gbxgarminacfr/test/test.cpp

Modified: gearbox/trunk/submitted/gbxgarminacfr/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/gbxgarminacfr/CMakeLists.txt	2008-04-26 07:15:32 UTC (rev 128)
+++ gearbox/trunk/submitted/gbxgarminacfr/CMakeLists.txt	2008-04-26 07:41:06 UTC (rev 129)
@@ -21,12 +21,12 @@
     
     GBX_ADD_LIBRARY( ${lib_name} SHARED ${srcs} )
     TARGET_LINK_LIBRARIES( ${lib_name} ${dep_libs} )
-#     GBX_ADD_PKGCONFIG( ${lib_name} "Garmin GPS driver" "" dep_libs "" "" )
+    GBX_ADD_PKGCONFIG( ${lib_name} "Garmin GPS driver" "" dep_libs "" "" )
 
     GBX_ADD_HEADERS( gbxgarminacfr ${hdrs} )
 
-#     IF( GBX_BUILD_TESTS )
-#         ADD_SUBDIRECTORY( test )
-#     ENDIF( GBX_BUILD_TESTS )
+    IF( GBX_BUILD_TESTS )
+        ADD_SUBDIRECTORY( test )
+    ENDIF( GBX_BUILD_TESTS )
 
 ENDIF( build )

Modified: gearbox/trunk/submitted/gbxgarminacfr/driver.h
===================================================================
--- gearbox/trunk/submitted/gbxgarminacfr/driver.h	2008-04-26 07:15:32 UTC (rev 128)
+++ gearbox/trunk/submitted/gbxgarminacfr/driver.h	2008-04-26 07:41:06 UTC (rev 129)
@@ -12,6 +12,8 @@
 #define GBXGARMINACFR_DRIVER_H
 
 #include <gbxserialacfr/serial.h>
+#include <gbxsickacfr/gbxutilacfr/tracer.h>
+#include <gbxsickacfr/gbxutilacfr/status.h>
 #include <gbxgarminacfr/gbxgpsutilacfr/nmea.h>
 #include <memory>
 

Added: gearbox/trunk/submitted/gbxgarminacfr/test/CMakeLists.txt
===================================================================
--- gearbox/trunk/submitted/gbxgarminacfr/test/CMakeLists.txt	                        (rev 0)
+++ gearbox/trunk/submitted/gbxgarminacfr/test/CMakeLists.txt	2008-04-26 07:41:06 UTC (rev 129)
@@ -0,0 +1,6 @@
+INCLUDE( ${GBX_CMAKE_DIR}/UseBasicRules.cmake )
+
+GBX_ADD_EXECUTABLE( gbxgarminacfrtest test.cpp )
+TARGET_LINK_LIBRARIES( gbxgarminacfrtest GbxGarminAcfr )
+
+GBX_ADD_EXAMPLE( gbxgarminacfr example.cmake.in example.cmake test.cpp example.readme )
\ No newline at end of file

Added: gearbox/trunk/submitted/gbxgarminacfr/test/example.cmake.in
===================================================================
--- gearbox/trunk/submitted/gbxgarminacfr/test/example.cmake.in	                        (rev 0)
+++ gearbox/trunk/submitted/gbxgarminacfr/test/example.cmake.in	2008-04-26 07:41:06 UTC (rev 129)
@@ -0,0 +1,10 @@
+PROJECT( gbxgarminacfr_example )
+
+INCLUDE_DIRECTORIES( @CMAKE_INSTALL_PREFIX@/include/gearbox )
+
+ADD_EXECUTABLE( gbxgarminacfrtest test.cpp )
+TARGET_LINK_LIBRARIES( gbxgarminacfrtest GbxSickAcfr )
+SET_TARGET_PROPERTIES( gbxgarminacfrtest PROPERTIES
+                       LINK_FLAGS "-L@CMAKE_INSTALL_PREFIX@/lib/gearbox"
+                       INSTALL_RPATH "${INSTALL_RPATH};@CMAKE_INSTALL_PREFIX@/lib/gearbox"
+                       BUILD_WITH_INSTALL_RPATH TRUE )

Added: gearbox/trunk/submitted/gbxgarminacfr/test/example.readme
===================================================================
--- gearbox/trunk/submitted/gbxgarminacfr/test/example.readme	                        (rev 0)
+++ gearbox/trunk/submitted/gbxgarminacfr/test/example.readme	2008-04-26 07:41:06 UTC (rev 129)
@@ -0,0 +1,12 @@
+Building
+--------
+
+The example can be built by making a directory (anywhere on your system where
+you have write permissions will do), changing to that directory and executing
+CMake with the example's source directory as an argument. For example, if you
+have installed GearBox into /usr/local, you could do the following:
+
+$ cd ~
+$ mkdir gbxgarminacfr_example
+$ cd gbxgarminacfr_example
+$ ccmake /usr/local/share/gearbox/gbxgarminacfr

Added: gearbox/trunk/submitted/gbxgarminacfr/test/test.cpp
===================================================================
--- gearbox/trunk/submitted/gbxgarminacfr/test/test.cpp	                        (rev 0)
+++ gearbox/trunk/submitted/gbxgarminacfr/test/test.cpp	2008-04-26 07:41:06 UTC (rev 129)
@@ -0,0 +1,100 @@
+/*
+ * GearBox Project: Peer-Reviewed Open-Source Libraries for Robotics
+ *               http://gearbox.sf.net/
+ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
+ *
+ * This distribution is licensed to you under the terms described in
+ * the LICENSE file included in this distribution.
+ *
+ */
+
+#include <math.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <unistd.h>
+
+#include <iostream>
+#include <sstream>
+#include <gbxgarminacfr/driver.h>
+#include <gbxsickacfr/gbxutilacfr/trivialtracer.h>
+#include <gbxsickacfr/gbxutilacfr/trivialstatus.h>
+#include <gbxsickacfr/gbxutilacfr/mathdefs.h>
+
+using namespace std;
+
+//
+// Instantiates the laser driver, reads a few scans
+//
+int main( int argc, char **argv )
+{
+    int opt;
+    // defaults
+    string port = "/dev/ttyS0";
+
+    // Get some options from the command line
+    while ((opt = getopt(argc, argv, "p:b:")) != -1)
+    {
+        switch ( opt )
+        {
+        case 'p':
+            port = optarg;
+            break;
+        default:
+            cout << "Usage: " << argv[0] << " [-p port]" << endl << endl
+                 << "-p port\tPort the laser scanner is connected to. E.g. /dev/ttyS0" << endl;
+            return 1;
+        }
+    }
+
+    // Set up the laser's configuration
+    gbxgarminacfr::Config config;
+    config.device = port;
+    if ( !config.isValid() ) {
+        cout << "Test: Invalid device configuration structure: " << config.toString() << endl;
+        exit(1);
+    }
+    cout << "Using configuration: " << config.toString() << endl;
+
+    // Instantiate objects to handle messages from the driver
+    const bool debug=false;
+    gbxsickacfr::gbxutilacfr::TrivialTracer tracer( debug );
+    gbxsickacfr::gbxutilacfr::TrivialStatus status( tracer );
+
+    // Instantiate the driver itself
+    gbxgarminacfr::Driver* device;
+    try 
+    {
+        device = new gbxgarminacfr::Driver( config, tracer, status );
+    }
+    catch ( const std::exception& e )
+    {
+        cout <<"Test: Failed to init device: "<<e.what() << endl;
+        return 1;
+    }
+
+    // Create data structure to store sensor data
+    gbxgarminacfr::Data data;
+
+    // Read a few times
+    const int numReads = 3;
+    for ( int i=0; i < numReads; i++ )
+    {
+        try 
+        {
+            device->read( data );
+
+            cout<<"Test: Got data "<<i+1<<" of "<<numReads<<endl;
+
+            if ( data.haveWarnings )
+                cout << "got warnings: " << data.warnings << endl;
+        }
+        catch ( const std::exception& e )
+        {
+            cout <<"Test: Failed to read data: "<<e.what()<<endl;
+        }    
+    }
+
+    delete device;
+    return 0;
+}


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