Hi,
I fixed up the CMake lists file and have set the parity for all speed changes. Can you test that I did these correctly. Also I had a look at the ChangeLaserSpeed method from the old pls driver and the only real difference I could see is the PLS version set the laser to configuration mode first. I have added this to the LMS driver when in PLSMode so see if that helps.

Toby

2009/5/14 Nick Hawes <n.a.hawes@cs.bham.ac.uk>
Toby Collett wrote:
> Hi Nick,
> Sorry for the delay, just got a look at your changes. I have added a
> 'pls_mode' flag to the lms200 driver in player trunk. If you set this to
> one in your config file then the correct parity settings etc will be
> used. I did not change all the timeouts yet.
>
> Can you have a look at svn trunk and see if that gets basic
> communications. There is also a sick driver in the gearbox library that
> is supported by player, Geoff might be able to say what state this is in
> and whether it is better to try fix this instead.
>

Before I could test this I had to add the lms200 driver into cmake. I
edited:

server/drivers/laser/CMakeLists.txt

And added the following lines before the driver was defined (just copied
from the lms400, so it could be wrong):

IF (HAVE_STL)
    PLAYERDRIVER_OPTION (sicklms200 build_sicklms200 ON)
ELSE (HAVE_STL)
    PLAYERDRIVER_OPTION (sicklms200 build_sicklms200 OFF "STL not found.")
ENDIF (HAVE_STL)


I noticed that in ChangeTermSpeed you missed a PLSMode edit for the
38400 case so I added:

if (PLSMode)
{
    term.c_iflag |= INPCK;
    term.c_iflag &= ~IXOFF;
    term.c_cflag |= PARENB;
}

at about line 1046 (without this I got connection errors with the
scanner running at 38400).

The behaviour of the driver in svn is now the same as my edited version:
I can connect to the scanner and access it via player iff I select
connect_rate and transfer_rate to be the rate the scanner is already
running at. In other words the driver cannot change the baud rate. The
1.6.5 pls driver can do this, so I can use sickpls to change the baud
rate from 9600 (which is how it powers on) to 38400 then I can connect
and run successfully with sicklms200 with the pls_mode on and with
connect and transfer rate at 38400. I will try to play
spot-the-difference later on with the two drivers and work out what's
going on here.

Thanks for your time and help!

cheers,

--
Dr. Nick Hawes

Lecturer in Intelligent Robotics
School of Computer Science, University of Birmingham
www.cs.bham.ac.uk/~nah || +44 121 414 3739 || skype: nickhawes

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