diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 1cbfb4691a3a6236d84fe96d74da3676d0a7bbef..21f08081bd8b2ab6dd28b78da619177a9170f1cd 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -2,6 +2,7 @@
SET(sources ir_feet.cpp ir_feet_exceptions.cpp)
# application header files
SET(headers ir_feet.h ir_feet_exceptions.h)
+SET(fw_headers ../../ir_feet_fw/include/adc_dma_registers.h ../../ir_feet_fw/include/ir_feet_dyn_slave_registers.h ../../ir_feet_fw/include/thresholds_registers.h ../../ir_feet_fw/include/ir_feet_conf.h)
# locate the necessary dependencies
FIND_PACKAGE(iriutils REQUIRED)
FIND_PACKAGE(comm REQUIRED)
@@ -25,6 +26,7 @@ INSTALL(TARGETS ir_feet
LIBRARY DESTINATION lib/iridrivers
ARCHIVE DESTINATION lib/iridrivers)
INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+INSTALL(FILES ${fw_headers} DESTINATION include/iridrivers)
INSTALL(FILES ../Findir_feet.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
ADD_SUBDIRECTORY(examples)
diff --git a/src/examples/ir_feet_test.cpp b/src/examples/ir_feet_test.cpp
index 274cacb0476a5a23383898ab7636bf70a867e201..c02d9d375b29ba5e692f651fded482b6f2c74f72 100644
--- a/src/examples/ir_feet_test.cpp
+++ b/src/examples/ir_feet_test.cpp
@@ -11,7 +11,7 @@ int main(int argc, char *argv[])
unsigned int i=0;
try{
- CIRFeet foot_sensor=CIRFeet<CDynamixelServerFTDI>(foot_sensor_name,dyn_serial,115200,0x01);
+ CIRFeet<CDynamixelServerFTDI> foot_sensor(foot_sensor_name,dyn_serial,115200,0x01);
for(i=0;i<1000;i++)
{
std::cout << "Down left middle sensor: " << foot_sensor.get_sensor_voltage(DOWN_LEFT_MIDDLE_CH) << " threshold set to: " << foot_sensor.get_sensor_threshold(DOWN_LEFT_MIDDLE_CH) << std::endl;
@@ -24,7 +24,6 @@ int main(int argc, char *argv[])
std::cout << "Front right sensor: " << foot_sensor.get_sensor_voltage(FRONT_RIGHT_CH) << " threshold set to: " << foot_sensor.get_sensor_threshold(FRONT_RIGHT_CH) << std::endl;
usleep(100000);
}
- foot_sensor.close<CDynamixelServerFTDI>();
}catch(CException &e){
std::cout << e.what() << std::endl;
}
diff --git a/src/ir_feet.cpp b/src/ir_feet.cpp
deleted file mode 100644
index 15f6dc0876b166c37daa0b85e8611f9b9287bb6b..0000000000000000000000000000000000000000
--- a/src/ir_feet.cpp
+++ /dev/null
@@ -1,241 +0,0 @@
-#include "ir_feet.h"
-
-void CIRFeet::check_model(void)
-{
- unsigned short int model;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- this->dyn_device->read_word_register(DEVICE_MODEL,&model);
- if(model!=DEFAULT_DEVICE_MODEL)
- throw CIRFeetException(_HERE_,"The connected device is not an IR feet sensor module.");
- }
-}
-
-double CIRFeet::get_sensor_voltage(adc_dma_ch_t channel_id)
-{
- unsigned short voltage,address;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- switch(channel_id)
- {
- case DOWN_LEFT_MIDDLE_CH: address=DOWN_LEFT_MIDDLE_VOLTAGE;
- break;
- case DOWN_LEFT_REAR_CH: address=DOWN_LEFT_REAR_VOLTAGE;
- break;
- case DOWN_ANALOG_CH: address=DOWN_ANALOG_VOLTAGE;
- break;
- case DOWN_LEFT_FRONT_CH: address=DOWN_LEFT_FRONT_VOLTAGE;
- break;
- case DOWN_RIGHT_REAR_CH: address=DOWN_RIGHT_REAR_VOLTAGE;
- break;
- case DOWN_RIGHT_MIDDLE_CH: address=DOWN_RIGHT_MIDDLE_VOLTAGE;
- break;
- case DOWN_RIGHT_FRONT_CH: address=DOWN_RIGHT_FRONT_VOLTAGE;
- break;
- case FRONT_LEFT_CH: address=FRONT_LEFT_VOLTAGE;
- break;
- case FRONT_RIGHT_CH: address=FRONT_RIGHT_VOLTAGE;
- break;
- case FRONT_ANALOG_CH: address=FRONT_ANALOG_VOLTAGE;
- break;
- }
- this->dyn_device->read_word_register(address,&voltage);
- return ((double)voltage)/1000.0;
- }
-}
-
-std::vector<double> CIRFeet::get_all_sensor_voltages(void)
-{
- unsigned short int values[10];
- std::vector<double> voltages;
- unsigned int i=0;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- this->dyn_device->read_registers(DOWN_LEFT_MIDDLE_VOLTAGE,(unsigned char *)values,20);
- voltages.resize(10);
- for(i=0;i<10;i++)
- voltages[i]=((double)values[i])/1000.0;
-
- return voltages;
- }
-}
-
-double CIRFeet::get_sensor_threshold(adc_dma_ch_t channel_id)
-{
- unsigned short int threshold,address;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- switch(channel_id)
- {
- case DOWN_LEFT_MIDDLE_CH: address=DOWN_LEFT_MIDDLE_THRES;
- break;
- case DOWN_LEFT_REAR_CH: address=DOWN_LEFT_REAR_THRES;
- break;
- case DOWN_ANALOG_CH: address=DOWN_ANALOG_THRES;
- break;
- case DOWN_LEFT_FRONT_CH: address=DOWN_LEFT_FRONT_THRES;
- break;
- case DOWN_RIGHT_REAR_CH: address=DOWN_RIGHT_REAR_THRES;
- break;
- case DOWN_RIGHT_MIDDLE_CH: address=DOWN_RIGHT_MIDDLE_THRES;
- break;
- case DOWN_RIGHT_FRONT_CH: address=DOWN_RIGHT_FRONT_THRES;
- break;
- case FRONT_LEFT_CH: address=FRONT_LEFT_THRES;
- break;
- case FRONT_RIGHT_CH: address=FRONT_RIGHT_THRES;
- break;
- case FRONT_ANALOG_CH: address=FRONT_ANALOG_THRES;
- break;
- }
- this->dyn_device->read_word_register(address,&threshold);
- return ((double)threshold)/1000.0;
- }
-}
-
-std::vector<double> CIRFeet::get_all_sensor_thresholds(void)
-{
- unsigned short int values[10];
- std::vector<double> thresholds;
- unsigned int i=0;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- this->dyn_device->read_registers(DOWN_LEFT_MIDDLE_THRES,(unsigned char *)values,10);
- this->dyn_device->read_registers(DOWN_RIGHT_MIDDLE_THRES,(unsigned char *)&values[5],10);
- thresholds.resize(10);
- for(i=0;i<10;i++)
- thresholds[i]=((double)values[i])/1000.0;
-
- return thresholds;
- }
-}
-
-void CIRFeet::set_sensor_threshold(adc_dma_ch_t channel_id, double threshold)
-{
- unsigned short int value,address;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- switch(channel_id)
- {
- case DOWN_LEFT_MIDDLE_CH: address=DOWN_LEFT_MIDDLE_THRES;
- break;
- case DOWN_LEFT_REAR_CH: address=DOWN_LEFT_REAR_THRES;
- break;
- case DOWN_ANALOG_CH: address=DOWN_ANALOG_THRES;
- break;
- case DOWN_LEFT_FRONT_CH: address=DOWN_LEFT_FRONT_THRES;
- break;
- case DOWN_RIGHT_REAR_CH: address=DOWN_RIGHT_REAR_THRES;
- break;
- case DOWN_RIGHT_MIDDLE_CH: address=DOWN_RIGHT_MIDDLE_THRES;
- break;
- case DOWN_RIGHT_FRONT_CH: address=DOWN_RIGHT_FRONT_THRES;
- break;
- case FRONT_LEFT_CH: address=FRONT_LEFT_THRES;
- break;
- case FRONT_RIGHT_CH: address=FRONT_RIGHT_THRES;
- break;
- case FRONT_ANALOG_CH: address=FRONT_ANALOG_THRES;
- break;
- }
- value=(unsigned short int)(threshold*1000.0);
- this->dyn_device->write_word_register(address,value);
- usleep(1000);
- }
-}
-
-bool CIRFeet::is_sensor_active(adc_dma_ch_t channel_id)
-{
- unsigned short int thresholds;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- this->dyn_device->read_word_register(THRESHOLDS,&thresholds);
- switch(channel_id)
- {
- case DOWN_LEFT_MIDDLE_CH: return ~((thresholds&DOWN_LEFT_MIDDLE_BIT)==0x00);
- case DOWN_LEFT_REAR_CH: return ~((thresholds&DOWN_LEFT_REAR_BIT)==0x00);
- case DOWN_ANALOG_CH: return ~((thresholds&DOWN_ANALOG_BIT)==0x00);
- case DOWN_LEFT_FRONT_CH: return ~((thresholds&DOWN_LEFT_FRONT_BIT)==0x00);
- case DOWN_RIGHT_REAR_CH: return ~((thresholds&DOWN_RIGHT_REAR_BIT)==0x00);
- case DOWN_RIGHT_MIDDLE_CH: return ~((thresholds&DOWN_RIGHT_MIDDLE_BIT)==0x00);
- case DOWN_RIGHT_FRONT_CH: return ~((thresholds&DOWN_RIGHT_FRONT_BIT)==0x00);
- case FRONT_LEFT_CH: return ~((thresholds&FRONT_LEFT_BIT)==0x00);
- case FRONT_RIGHT_CH: return ~((thresholds&FRONT_RIGHT_BIT)==0x00);
- case FRONT_ANALOG_CH: return ~((thresholds&FRONT_ANALOG_BIT)==0x00);
- default: return false;
- }
- }
-}
-
-std::vector<bool> CIRFeet::get_all_sensor_status(void)
-{
- unsigned short int thresholds;
- std::vector<bool> activated;
- unsigned int i=0;
-
- if(this->dyn_device==NULL)
- {
- /* handle exceptions */
- throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
- }
- else
- {
- this->dyn_device->read_word_register(THRESHOLDS,&thresholds);
- activated.resize(10);
- for(i=0;i<10;i++)
- {
- if(thresholds&(0x01<<i))
- activated[i]=true;
- else
- activated[i]=false;
- }
-
- return activated;
- }
-}
-
-CIRFeet::~CIRFeet()
-{
-}
diff --git a/src/ir_feet.h b/src/ir_feet.h
index 18d51af3716c8027943c8377de5f2bc0b0abce19..1c84a01ff5aaaa30e266f177f796fab54073fbad 100644
--- a/src/ir_feet.h
+++ b/src/ir_feet.h
@@ -5,25 +5,26 @@
#include "threadserver.h"
#include "eventserver.h"
#include "exceptions.h"
-#include "ir_feet_exceptions.h"
+#include "ir_feet_exceptions.h"
#include "adc_dma_registers.h"
#include "ir_feet_dyn_slave_registers.h"
#include "thresholds_registers.h"
-#include <iostream>
typedef enum {DOWN_LEFT_MIDDLE_CH=0,DOWN_LEFT_REAR_CH,DOWN_ANALOG_CH,DOWN_LEFT_FRONT_CH,
DOWN_RIGHT_REAR_CH,DOWN_RIGHT_MIDDLE_CH,DOWN_RIGHT_FRONT_CH,
FRONT_LEFT_CH,FRONT_RIGHT_CH,FRONT_ANALOG_CH} adc_dma_ch_t;
+template <class T>
class CIRFeet
{
private:
std::string ir_feet_id;
+ T *dyn_server;
CDynamixel *dyn_device;
protected:
void check_model(void);
public:
- template<class T> CIRFeet(const std::string& ir_feet_id,std::string& bus_id,int baudrate,unsigned char dev_id);
+ CIRFeet(const std::string& ir_feet_id,std::string& bus_id,int baudrate,unsigned char dev_id);
double get_sensor_voltage(adc_dma_ch_t channel_id);
std::vector<double> get_all_sensor_voltages(void);
double get_sensor_threshold(adc_dma_ch_t channel_id);
@@ -31,19 +32,17 @@ class CIRFeet
void set_sensor_threshold(adc_dma_ch_t channel_id, double threshold);
bool is_sensor_active(adc_dma_ch_t channel_id);
std::vector<bool> get_all_sensor_status(void);
- template<class T> void close(void);
~CIRFeet();
};
-template<class T>
-CIRFeet::CIRFeet(const std::string& ir_feet_id,std::string& bus_id,int baudrate,unsigned char dev_id)
+template <class T>
+CIRFeet<T>::CIRFeet(const std::string& ir_feet_id,std::string& bus_id,int baudrate,unsigned char dev_id)
{
- T *dyn_server=T::instance();
this->dyn_device=NULL;
try{
- dyn_server->config_bus(bus_id,baudrate);
+ this->dyn_server->config_bus(bus_id,baudrate);
sleep(1);
- this->dyn_device=dyn_server->get_device(dev_id,dyn_version1);
+ this->dyn_device=this->dyn_server->get_device(dev_id,dyn_version1);
this->ir_feet_id=ir_feet_id;
}catch(CException &e){
/* handle exceptions */
@@ -54,18 +53,259 @@ CIRFeet::CIRFeet(const std::string& ir_feet_id,std::string& bus_id,int baudrate,
}
}
-template<class T>
-void CIRFeet::close(void)
+template <class T>
+void CIRFeet<T>::check_model(void)
{
- T *dyn_server=T::instance();
+ unsigned short int model;
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ this->dyn_device->read_word_register(DEVICE_MODEL,&model);
+ if(model!=DEFAULT_DEVICE_MODEL)
+ throw CIRFeetException(_HERE_,"The connected device is not an IR feet sensor module.");
+ }
+}
+
+template <class T>
+double CIRFeet<T>::get_sensor_voltage(adc_dma_ch_t channel_id)
+{
+ unsigned short voltage,address;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ switch(channel_id)
+ {
+ case DOWN_LEFT_MIDDLE_CH: address=DOWN_LEFT_MIDDLE_VOLTAGE;
+ break;
+ case DOWN_LEFT_REAR_CH: address=DOWN_LEFT_REAR_VOLTAGE;
+ break;
+ case DOWN_ANALOG_CH: address=DOWN_ANALOG_VOLTAGE;
+ break;
+ case DOWN_LEFT_FRONT_CH: address=DOWN_LEFT_FRONT_VOLTAGE;
+ break;
+ case DOWN_RIGHT_REAR_CH: address=DOWN_RIGHT_REAR_VOLTAGE;
+ break;
+ case DOWN_RIGHT_MIDDLE_CH: address=DOWN_RIGHT_MIDDLE_VOLTAGE;
+ break;
+ case DOWN_RIGHT_FRONT_CH: address=DOWN_RIGHT_FRONT_VOLTAGE;
+ break;
+ case FRONT_LEFT_CH: address=FRONT_LEFT_VOLTAGE;
+ break;
+ case FRONT_RIGHT_CH: address=FRONT_RIGHT_VOLTAGE;
+ break;
+ case FRONT_ANALOG_CH: address=FRONT_ANALOG_VOLTAGE;
+ break;
+ }
+ this->dyn_device->read_word_register(address,&voltage);
+ return ((double)voltage)/1000.0;
+ }
+}
+
+template <class T>
+std::vector<double> CIRFeet<T>::get_all_sensor_voltages(void)
+{
+ unsigned short int values[10];
+ std::vector<double> voltages;
+ unsigned int i=0;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ this->dyn_device->read_registers(DOWN_LEFT_MIDDLE_VOLTAGE,(unsigned char *)values,20);
+ voltages.resize(10);
+ for(i=0;i<10;i++)
+ voltages[i]=((double)values[i])/1000.0;
+
+ return voltages;
+ }
+}
+
+template <class T>
+double CIRFeet<T>::get_sensor_threshold(adc_dma_ch_t channel_id)
+{
+ unsigned short int threshold,address;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ switch(channel_id)
+ {
+ case DOWN_LEFT_MIDDLE_CH: address=DOWN_LEFT_MIDDLE_THRES;
+ break;
+ case DOWN_LEFT_REAR_CH: address=DOWN_LEFT_REAR_THRES;
+ break;
+ case DOWN_ANALOG_CH: address=DOWN_ANALOG_THRES;
+ break;
+ case DOWN_LEFT_FRONT_CH: address=DOWN_LEFT_FRONT_THRES;
+ break;
+ case DOWN_RIGHT_REAR_CH: address=DOWN_RIGHT_REAR_THRES;
+ break;
+ case DOWN_RIGHT_MIDDLE_CH: address=DOWN_RIGHT_MIDDLE_THRES;
+ break;
+ case DOWN_RIGHT_FRONT_CH: address=DOWN_RIGHT_FRONT_THRES;
+ break;
+ case FRONT_LEFT_CH: address=FRONT_LEFT_THRES;
+ break;
+ case FRONT_RIGHT_CH: address=FRONT_RIGHT_THRES;
+ break;
+ case FRONT_ANALOG_CH: address=FRONT_ANALOG_THRES;
+ break;
+ }
+ this->dyn_device->read_word_register(address,&threshold);
+ return ((double)threshold)/1000.0;
+ }
+}
+
+template <class T>
+std::vector<double> CIRFeet<T>::get_all_sensor_thresholds(void)
+{
+ unsigned short int values[10];
+ std::vector<double> thresholds;
+ unsigned int i=0;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ this->dyn_device->read_registers(DOWN_LEFT_MIDDLE_THRES,(unsigned char *)values,10);
+ this->dyn_device->read_registers(DOWN_RIGHT_MIDDLE_THRES,(unsigned char *)&values[5],10);
+ thresholds.resize(10);
+ for(i=0;i<10;i++)
+ thresholds[i]=((double)values[i])/1000.0;
+
+ return thresholds;
+ }
+}
+
+template <class T>
+void CIRFeet<T>::set_sensor_threshold(adc_dma_ch_t channel_id, double threshold)
+{
+ unsigned short int value,address;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ switch(channel_id)
+ {
+ case DOWN_LEFT_MIDDLE_CH: address=DOWN_LEFT_MIDDLE_THRES;
+ break;
+ case DOWN_LEFT_REAR_CH: address=DOWN_LEFT_REAR_THRES;
+ break;
+ case DOWN_ANALOG_CH: address=DOWN_ANALOG_THRES;
+ break;
+ case DOWN_LEFT_FRONT_CH: address=DOWN_LEFT_FRONT_THRES;
+ break;
+ case DOWN_RIGHT_REAR_CH: address=DOWN_RIGHT_REAR_THRES;
+ break;
+ case DOWN_RIGHT_MIDDLE_CH: address=DOWN_RIGHT_MIDDLE_THRES;
+ break;
+ case DOWN_RIGHT_FRONT_CH: address=DOWN_RIGHT_FRONT_THRES;
+ break;
+ case FRONT_LEFT_CH: address=FRONT_LEFT_THRES;
+ break;
+ case FRONT_RIGHT_CH: address=FRONT_RIGHT_THRES;
+ break;
+ case FRONT_ANALOG_CH: address=FRONT_ANALOG_THRES;
+ break;
+ }
+ value=(unsigned short int)(threshold*1000.0);
+ this->dyn_device->write_word_register(address,value);
+ usleep(1000);
+ }
+}
+
+template <class T>
+bool CIRFeet<T>::is_sensor_active(adc_dma_ch_t channel_id)
+{
+ unsigned short int thresholds;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ this->dyn_device->read_word_register(THRESHOLDS,&thresholds);
+ switch(channel_id)
+ {
+ case DOWN_LEFT_MIDDLE_CH: return ~((thresholds&DOWN_LEFT_MIDDLE_BIT)==0x00);
+ case DOWN_LEFT_REAR_CH: return ~((thresholds&DOWN_LEFT_REAR_BIT)==0x00);
+ case DOWN_ANALOG_CH: return ~((thresholds&DOWN_ANALOG_BIT)==0x00);
+ case DOWN_LEFT_FRONT_CH: return ~((thresholds&DOWN_LEFT_FRONT_BIT)==0x00);
+ case DOWN_RIGHT_REAR_CH: return ~((thresholds&DOWN_RIGHT_REAR_BIT)==0x00);
+ case DOWN_RIGHT_MIDDLE_CH: return ~((thresholds&DOWN_RIGHT_MIDDLE_BIT)==0x00);
+ case DOWN_RIGHT_FRONT_CH: return ~((thresholds&DOWN_RIGHT_FRONT_BIT)==0x00);
+ case FRONT_LEFT_CH: return ~((thresholds&FRONT_LEFT_BIT)==0x00);
+ case FRONT_RIGHT_CH: return ~((thresholds&FRONT_RIGHT_BIT)==0x00);
+ case FRONT_ANALOG_CH: return ~((thresholds&FRONT_ANALOG_BIT)==0x00);
+ default: return false;
+ }
+ }
+}
+
+template <class T>
+std::vector<bool> CIRFeet<T>::get_all_sensor_status(void)
+{
+ unsigned short int thresholds;
+ std::vector<bool> activated;
+ unsigned int i=0;
+
+ if(this->dyn_device==NULL)
+ {
+ /* handle exceptions */
+ throw CIRFeetException(_HERE_,"The Dynamixel device is not properly configured.");
+ }
+ else
+ {
+ this->dyn_device->read_word_register(THRESHOLDS,&thresholds);
+ activated.resize(10);
+ for(i=0;i<10;i++)
+ {
+ if(thresholds&(0x01<<i))
+ activated[i]=true;
+ else
+ activated[i]=false;
+ }
+
+ return activated;
+ }
+}
+
+template <class T>
+CIRFeet<T>::~CIRFeet()
+{
if(this->dyn_device!=NULL)
{
- dyn_server->free_device(this->dyn_device->get_id());
+ this->dyn_server->free_device(this->dyn_device->get_id());
delete this->dyn_device;
this->dyn_device=NULL;
}
}
-
#endif