Updated some basic functions.

src/CMakeLists.txt

-SET(DARWIN_FW_PATH ~/humanoids/darwin_stm32_fw)
-
 ADD_SUBDIRECTORY(xml)
 IF(HAVE_XSD)
   ADD_DEFINITIONS(-D_HAVE_XSD)
@@ -38,7 +36,6 @@ ENDIF(EIGEN3_FOUND)
 
 # add the necessary include directories
 INCLUDE_DIRECTORIES(.)
-INCLUDE_DIRECTORIES(${DARWIN_FW_PATH}/include)
 INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR})
 INCLUDE_DIRECTORIES(${dynamixel_INCLUDE_DIR})
 INCLUDE_DIRECTORIES(${EIGEN3_INCLUDE_DIR})

src/examples/CMakeLists.txt

@@ -4,63 +4,63 @@ ADD_EXECUTABLE(darwin_manager_test darwin_manager_test.cpp)
 TARGET_LINK_LIBRARIES(darwin_manager_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_gpio_test darwin_gpio_test.cpp)
+#ADD_EXECUTABLE(darwin_gpio_test darwin_gpio_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_gpio_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_gpio_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_adc_test darwin_adc_test.cpp)
+#ADD_EXECUTABLE(darwin_adc_test darwin_adc_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_adc_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_adc_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_imu_test darwin_imu_test.cpp)
+#ADD_EXECUTABLE(darwin_imu_test darwin_imu_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_imu_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_imu_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_action_test darwin_action_test.cpp)
+#ADD_EXECUTABLE(darwin_action_test darwin_action_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_action_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_action_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_walking_test darwin_walking_test.cpp)
+#ADD_EXECUTABLE(darwin_walking_test darwin_walking_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_walking_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_walking_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_stairs_test darwin_stairs_test.cpp)
+#ADD_EXECUTABLE(darwin_stairs_test darwin_stairs_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_stairs_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_stairs_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_joint_motion_test darwin_joint_motion_test.cpp)
+#ADD_EXECUTABLE(darwin_joint_motion_test darwin_joint_motion_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_joint_motion_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_joint_motion_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_head_tracking_test darwin_head_tracking_test.cpp)
+#ADD_EXECUTABLE(darwin_head_tracking_test darwin_head_tracking_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_head_tracking_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_head_tracking_test darwin_robot)
 
-IF(KDL_FOUND)
+#IF(KDL_FOUND)
   # create an example application
-  ADD_EXECUTABLE(darwin_arm_kin darwin_arm_kin.cpp)
+#  ADD_EXECUTABLE(darwin_arm_kin darwin_arm_kin.cpp)
   # link necessary libraries
-  TARGET_LINK_LIBRARIES(darwin_arm_kin darwin_arm_kinematics)
+#  TARGET_LINK_LIBRARIES(darwin_arm_kin darwin_arm_kinematics)
 
   # create an example application
-  ADD_EXECUTABLE(darwin_leg_kin darwin_leg_kin.cpp)
+#  ADD_EXECUTABLE(darwin_leg_kin darwin_leg_kin.cpp)
   # link necessary libraries
-  TARGET_LINK_LIBRARIES(darwin_leg_kin darwin_leg_kinematics)
-ENDIF(KDL_FOUND)
+#  TARGET_LINK_LIBRARIES(darwin_leg_kin darwin_leg_kinematics)
+#ENDIF(KDL_FOUND)
 
 # create an example application
-ADD_EXECUTABLE(darwin_smart_charger_test darwin_smart_charger_test.cpp)
+#ADD_EXECUTABLE(darwin_smart_charger_test darwin_smart_charger_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_smart_charger_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_smart_charger_test darwin_robot)
 
 # create an example application
-ADD_EXECUTABLE(darwin_gripper_test darwin_gripper_test.cpp)
+#ADD_EXECUTABLE(darwin_gripper_test darwin_gripper_test.cpp)
 # link necessary libraries
-TARGET_LINK_LIBRARIES(darwin_gripper_test darwin_robot)
+#TARGET_LINK_LIBRARIES(darwin_gripper_test darwin_robot)

src/examples/darwin_manager_test.cpp

@@ -3,25 +3,39 @@
 
 #include <iostream>
 
-std::string robot_device="A603LOBS";
+//std::string robot_device="A603LOBS";
 //std::string robot_device="A4008atn";
+std::string robot_device="/tmp/darwin_driver";
 
 int main(int argc, char *argv[])
 {
-  int i=0,num_servos;
-  unsigned int present_servos;
-  std::vector<int> servos;
-  std::vector<double> angles,speeds,accels,offsets;
+//  int i=0,num_servos;
+//  unsigned int present_servos;
+//  std::vector<int> servos;
+//  std::vector<double> angles,speeds,accels,offsets;
 
   try{
-    CDarwinRobot darwin("Darwin",robot_device,1000000,0x02);
-    num_servos=darwin.mm_get_num_servos();
-    present_servos=darwin.mm_get_present_servos();
-    std::cout << "Found " << num_servos << " servos " << std::endl;
-    std::cout << "Present servos: " << present_servos << std::hex << "0x" << present_servos << std::dec << std::endl;
-    std::cout << "Motion manager period " << darwin.mm_get_period() << " ms" << std::endl;
+    CDarwinRobot darwin("Darwin",robot_device,1000000,0x01,true);
+    std::cout << "Manager period: " << darwin.manager_get_period() << std::endl;
+    std::cout << "Number of modules: " << darwin.manager_get_num_modules() << std::endl;
+    std::cout << "Number of masters: " << darwin.managet_get_num_masters() << std::endl;
+    std::cout << "Motion manager period: " << darwin.mm_get_period() << std::endl;
+    darwin.manager_start();
+    darwin.manager_start_scan();
+    while(darwin.manager_is_scanning())
+    {
+      std::cout << "scanning ..." << std::endl;
+      usleep(100000);
+    }
+    std::cout << "num. devices: " << (int)darwin.manager_get_num_devices() << std::endl;
+//    num_servos=darwin.mm_get_num_servos();
+//    present_servos=darwin.mm_get_present_servos();
+//    std::cout << "Found " << num_servos << " servos " << std::endl;
+//    std::cout << "Present servos: " << present_servos << std::hex << "0x" << present_servos << std::dec << std::endl;
+//    std::cout << "Motion manager period " << darwin.mm_get_period() << " ms" << std::endl;
     // execute the walk ready action
-    std::cout << "Assign servos to the action module" << std::endl;
+//    std::cout << "Assign servos to the action module" << std::endl;
+/*
     for(i=1;i<=20;i++)
     {
       darwin.mm_enable_servo(i);
@@ -88,6 +102,7 @@ int main(int argc, char *argv[])
     offsets=darwin.mm_get_servo_offsets();
     for(i=0;i<MAX_NUM_SERVOS;i++)
       std::cout << "  Servo " << i << ": " << offsets[i] << std::endl;
+*/
   }catch(CException &e){
     std::cout << e.what() << std::endl;
   }