[Personalrobots-commit] SF.net SVN: personalrobots:[4921] pkg/trunk

[<rob...@us...>]

Revision: 4921
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4921&view=rev
Author:   rob_wheeler
Date:     2008-10-02 06:40:19 +0000 (Thu, 02 Oct 2008)

Log Message:
-----------
Allow unprogrammed boards to be used by pr2_etherCAT

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
    pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp
    pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp

Modified: pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h	2008-10-02 06:29:26 UTC (rev 4920)
+++ pkg/trunk/drivers/motor/ethercat_hardware/include/ethercat_hardware/ethercat_hardware.h	2008-10-02 06:40:19 UTC (rev 4921)
@@ -69,7 +69,7 @@
   /*!
    * \brief Initialize the EtherCAT Master Library.
    */
-  void init(char *interface);
+  void init(char *interface, bool allow_unprogrammed);
 
   /*!
    * \brief Register actuators with mechanism control

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp	2008-10-02 06:29:26 UTC (rev 4920)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/ethercat_hardware.cpp	2008-10-02 06:40:19 UTC (rev 4921)
@@ -70,7 +70,7 @@
   return double(n.tv_nsec) / NSEC_PER_SEC + n.tv_sec;
 }
 
-void EthercatHardware::init(char *interface)
+void EthercatHardware::init(char *interface, bool allow_unprogrammed)
 {
   ros::node *node = ros::node::instance();
 
@@ -137,7 +137,7 @@
 
   for (unsigned int slave = 0, a = 0; slave < num_slaves_; ++slave)
   {
-    if (slaves_[slave]->initialize(hw_->actuators_[a]) < 0)
+    if (slaves_[slave]->initialize(hw_->actuators_[a], allow_unprogrammed) < 0)
     {
       node->log(ros::FATAL, "Unable to initialize slave #%d", slave);
     }

Modified: pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp
===================================================================
--- pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2008-10-02 06:29:26 UTC (rev 4920)
+++ pkg/trunk/robot_control_loops/pr2_etherCAT/src/main.cpp	2008-10-02 06:40:19 UTC (rev 4921)
@@ -53,6 +53,7 @@
   char *interface_;
   char *xml_;
   bool allow_override_;
+  bool allow_unprogrammed_;
   bool quiet_;
 } g_options;
 
@@ -136,7 +137,7 @@
 
   // Initialize the hardware interface
   EthercatHardware ec;
-  ec.init(g_options.interface_);
+  ec.init(g_options.interface_, g_options.allow_unprogrammed_);
 
   // Create mechanism control
   MechanismControl mc(ec.hw_);
@@ -281,6 +282,7 @@
     static struct option long_options[] = {
       {"help", no_argument, 0, 'h'},
       {"allow_override", no_argument, 0, 'a'},
+      {"allow_unprogrammed", no_argument, 0, 'u'},
       {"quiet", no_argument, 0, 'q'},
       {"interface", required_argument, 0, 'i'},
       {"xml", required_argument, 0, 'x'},
@@ -296,6 +298,9 @@
       case 'a':
         g_options.allow_override_ = 1;
         break;
+      case 'u':
+        g_options.allow_unprogrammed_ = 1;
+        break;
       case 'q':
         g_options.quiet_ = 1;
         break;


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