trunk/tags/branches creation

CMakeLists.txt

+# Pre-requisites about cmake itself
+CMAKE_MINIMUM_REQUIRED(VERSION 2.4)
+
+if(COMMAND cmake_policy)
+  cmake_policy(SET CMP0005 NEW) 
+  cmake_policy(SET CMP0003 NEW)
+   
+endif(COMMAND cmake_policy)
+
+# The project name and the type of project
+PROJECT(library_name)
+
+SET(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/bin)
+SET(LIBRARY_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/lib)
+SET(CMAKE_INSTALL_PREFIX /usr/local)
+
+IF (NOT CMAKE_BUILD_TYPE)
+ SET(CMAKE_BUILD_TYPE "DEBUG") 
+ENDIF (NOT CMAKE_BUILD_TYPE)
+
+SET(CMAKE_C_FLAGS_DEBUG "-g -Wall -D_REENTRANT")
+SET(CMAKE_C_FLAGS_RELEASE "-O3 -D_REENTRANT")
+
+ADD_SUBDIRECTORY(src)
+
+FIND_PACKAGE(Doxygen)
+
+FIND_PATH(IRI_DOC_DIR doxygen.conf ${CMAKE_SOURCE_DIR}/doc/iri_doc/)
+IF (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/iri_doc/doxygen.conf)
+ELSE (IRI_DOC_DIR)
+  ADD_CUSTOM_TARGET (doc ${DOXYGEN_EXECUTABLE} ${CMAKE_SOURCE_DIR}/doc/doxygen.conf)
+ENDIF (IRI_DOC_DIR)
+
+ADD_CUSTOM_TARGET (distclean @echo cleaning cmake files)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distribution clean"
+    COMMAND make ARGS clean
+    COMMAND rm ARGS -rf ${CMAKE_SOURCE_DIR}/build/*
+
+    TARGET  distclean
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "distclean only implemented in unix"
+    TARGET  distclean
+  )
+ENDIF(UNIX)
+
+ADD_CUSTOM_TARGET (uninstall @echo uninstall package)
+
+IF (UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall package"
+    COMMAND xargs ARGS rm < install_manifest.txt
+
+    TARGET  uninstall
+  )
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "uninstall only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+
+IF (UNIX)
+  SET(CPACK_PACKAGE_FILE_NAME "iri-${PROJECT_NAME}-dev-${CPACK_PACKAGE_VERSION}${DISTRIB}${CPACK_DEBIAN_PACKAGE_ARCHITECTURE}")
+  SET(CPACK_PACKAGE_NAME "iri-${PROJECT_NAME}-dev")
+  SET(CPACK_PACKAGE_DESCRIPTION_SUMMARY "Part of IRI-laboratory libraries. More information at http://wikiri.upc.es/index.php/Robotics_Lab")
+  SET(CPACK_PACKAGING_INSTALL_PREFIX ${CMAKE_INSTALL_PREFIX})
+  SET(CPACK_GENERATOR "DEB")
+  SET(CPACK_DEBIAN_PACKAGE_MAINTAINER "labrobotica@iri.upc.edu")
+  SET(CPACK_SET_DESTDIR "ON")  # Necessary because of the absolute install paths
+
+  INCLUDE(CPack)
+ELSE(UNIX)
+  ADD_CUSTOM_COMMAND(
+    COMMENT "packaging only implemented in unix"
+    TARGET  uninstall
+  )
+ENDIF(UNIX)
+

Findsegway_head.cmake

+#edit the following line to add the librarie's header files
+FIND_PATH(segway_head_INCLUDE_DIR segway_head.h /usr/include/iridrivers /usr/local/include/iridrivers)
+
+FIND_LIBRARY(segway_head_LIBRARY
+    NAMES segway_head
+    PATHS /usr/lib /usr/local/lib /usr/local/lib/iridrivers) 
+
+IF (segway_head_INCLUDE_DIR AND segway_head_LIBRARY)
+   SET(segway_head_FOUND TRUE)
+ENDIF (segway_head_INCLUDE_DIR AND segway_head_LIBRARY)
+
+IF (segway_head_FOUND)
+   IF (NOT segway_head_FIND_QUIETLY)
+      MESSAGE(STATUS "Found segway_head: ${segway_head_LIBRARY}")
+   ENDIF (NOT segway_head_FIND_QUIETLY)
+ELSE (segway_head_FOUND)
+   IF (segway_head_FIND_REQUIRED)
+      MESSAGE(FATAL_ERROR "Could not find segway_head")
+   ENDIF (segway_head_FIND_REQUIRED)
+ENDIF (segway_head_FOUND)
+

ReadMe.txt

+Copyright (C) 2009-2010 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+Author shernand (shernand@iri.upc.edu)
+All rights reserved.
+
+This file is part of segway head driver library
+segway head driver library is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with this program.  If not, see <http://www.gnu.org/licenses/>
+
+

doc/doxygen.conf

+# Doxyfile 1.5.5
+
+@INCLUDE_PATH = ../doc/
+@INCLUDE = doxygen_project_name.conf
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NUMBER         = 
+OUTPUT_DIRECTORY       = ../doc
+CREATE_SUBDIRS         = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = NO
+ABBREVIATE_BRIEF       = 
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = YES
+STRIP_FROM_PATH        = 
+STRIP_FROM_INC_PATH    = 
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+DETAILS_AT_TOP         = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 8
+ALIASES                = 
+OPTIMIZE_OUTPUT_FOR_C  = YES
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+TYPEDEF_HIDES_STRUCT   = NO
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = NO
+EXTRACT_PRIVATE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = YES
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = NO
+SORT_BRIEF_DOCS        = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+ENABLED_SECTIONS       = 
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_DIRECTORIES       = YES
+FILE_VERSION_FILTER    = 
+#---------------------------------------------------------------------------
+# configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = YES
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+WARN_LOGFILE           = 
+#---------------------------------------------------------------------------
+# configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = ../src \
+                         ../doc/main.dox
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.h \
+                         *.cpp
+RECURSIVE              = YES
+EXCLUDE                = 
+EXCLUDE_SYMLINKS       = NO
+EXCLUDE_PATTERNS       = *.tab.c \
+                         *.tab.h \
+                         lex* \
+                         *glr.h \
+                         *llr.h \
+                         *glr.c \
+                         *llr.c \
+                         *general.h
+EXCLUDE_SYMBOLS        = 
+EXAMPLE_PATH           = ../src/examples
+EXAMPLE_PATTERNS       = 
+EXAMPLE_RECURSIVE      = NO
+IMAGE_PATH             = ../doc/images
+INPUT_FILTER           = 
+FILTER_PATTERNS        = 
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = YES
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = YES
+REFERENCES_RELATION    = YES
+REFERENCES_LINK_SOURCE = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+IGNORE_PREFIX          = 
+#---------------------------------------------------------------------------
+# configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_HEADER            = 
+HTML_FOOTER            = 
+HTML_STYLESHEET        = 
+HTML_ALIGN_MEMBERS     = YES
+GENERATE_HTMLHELP      = NO
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+HTML_DYNAMIC_SECTIONS  = NO
+CHM_FILE               = 
+HHC_LOCATION           = 
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+DISABLE_INDEX          = NO
+ENUM_VALUES_PER_LINE   = 4
+GENERATE_TREEVIEW      = NO
+TREEVIEW_WIDTH         = 250
+#---------------------------------------------------------------------------
+# configuration options related to the LaTeX output
+#---------------------------------------------------------------------------
+GENERATE_LATEX         = NO
+LATEX_OUTPUT           = latex
+LATEX_CMD_NAME         = latex
+MAKEINDEX_CMD_NAME     = makeindex
+COMPACT_LATEX          = NO
+PAPER_TYPE             = a4
+EXTRA_PACKAGES         = 
+LATEX_HEADER           = 
+PDF_HYPERLINKS         = YES
+USE_PDFLATEX           = NO
+LATEX_BATCHMODE        = NO
+LATEX_HIDE_INDICES     = NO
+#---------------------------------------------------------------------------
+# configuration options related to the RTF output
+#---------------------------------------------------------------------------
+GENERATE_RTF           = NO
+RTF_OUTPUT             = rtf
+COMPACT_RTF            = NO
+RTF_HYPERLINKS         = NO
+RTF_STYLESHEET_FILE    = 
+RTF_EXTENSIONS_FILE    = 
+#---------------------------------------------------------------------------
+# configuration options related to the man page output
+#---------------------------------------------------------------------------
+GENERATE_MAN           = NO
+MAN_OUTPUT             = man
+MAN_EXTENSION          = .3
+MAN_LINKS              = NO
+#---------------------------------------------------------------------------
+# configuration options related to the XML output
+#---------------------------------------------------------------------------
+GENERATE_XML           = NO
+XML_OUTPUT             = xml
+XML_SCHEMA             = 
+XML_DTD                = 
+XML_PROGRAMLISTING     = YES
+#---------------------------------------------------------------------------
+# configuration options for the AutoGen Definitions output
+#---------------------------------------------------------------------------
+GENERATE_AUTOGEN_DEF   = NO
+#---------------------------------------------------------------------------
+# configuration options related to the Perl module output
+#---------------------------------------------------------------------------
+GENERATE_PERLMOD       = NO
+PERLMOD_LATEX          = NO
+PERLMOD_PRETTY         = YES
+PERLMOD_MAKEVAR_PREFIX = 
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor   
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+INCLUDE_PATH           = 
+INCLUDE_FILE_PATTERNS  = 
+PREDEFINED             = _USE_MPI=1
+EXPAND_AS_DEFINED      = 
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to external references   
+#---------------------------------------------------------------------------
+TAGFILES               = 
+GENERATE_TAGFILE       = 
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool   
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+MSCGEN_PATH            = 
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = YES
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = NO
+INCLUDED_BY_GRAPH      = NO
+CALL_GRAPH             = YES
+CALLER_GRAPH           = YES
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = NO
+DOT_IMAGE_FORMAT       = png
+DOT_PATH               = 
+DOTFILE_DIRS           = 
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 2
+DOT_TRANSPARENT        = YES
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES
+#---------------------------------------------------------------------------
+# Configuration::additions related to the search engine   
+#---------------------------------------------------------------------------
+SEARCHENGINE           = NO

doc/doxygen_project_name.conf

+PROJECT_NAME = "segway head driver"

doc/main.dox

+/*! \mainpage segway head driver
+
+  \section Introduction 
+
+  \subsection Pre-Requisites
+
+  This package requires of the following libraries and packages
+	 - <A href="http://www.cmake.org">cmake</A>, a cross-platform build system.
+	 - <A href="http://www.doxygen.org">doxygen</a> and 
+	   <A href="http://www.graphviz.org">graphviz</a> to generate the documentation.
+         - stdc++, 
+	 .
+  
+  Under linux all of these utilities are available in ready-to-use packages.
+
+  Under MacOS most of the packages are available via <a href="http://www.finkproject.org/">fink</a>. <br>
+
+  \subsection Compilation
+
+  Just download this package, uncompress it, and execute
+   - cd build
+   - cmake ..
+   .
+  to generate the makefile and then
+   - make
+   .
+  to obtain the shared library (in this case called <em>iriutils.so</em>) and
+  also all the example programs.
+
+  The <em>cmake</em> only need to be executed once (make will automatically call
+  <em>cmake</em> if you modify one of the <em>CMakeList.txt</em> files).
+
+  To generate this documentation type
+       - make doc
+       .
+
+  The files in the <em>build</em> directory are genetated by <em>cmake</em>
+  and <em>make</em> and can be safely removed.
+  After doing so you will need to call cmake manually again.
+
+  \subsection Configuration
+
+  The default build mode is DEBUG. That is, objects and executables 
+  include debug information.
+
+  The RELEASE build mode optimizes for speed. To build in this mode
+  execute
+      - cmake .. -DCMAKE_BUILD_TYPE=RELEASE
+      .
+  The release mode will be kept until next time cmake is executed.
+
+  \subsection Installation
+
+  In order to be able to use the library, it it necessary to copy it into the system.
+  To do that, execute
+
+      - make install
+      .
+
+  as root and the shared libraries will be copied to <em>/usr/local/lib/iriutils</em> directory
+  and the header files will be copied to <em>/usr/local/include/iriutils</em> dierctory. At 
+  this point, the library may be used by any user.
+
+  To remove the library from the system, exceute
+      - make uninstall
+      .
+  as root, and all the associated files will be removed from the system.
+
+  \section Customization
+
+  To build a new application using these library, first it is necessary to locate if the library
+  has been installed or not using the following command
+
+      - FIND_PACKAGE(segway_head REQUIRED)
+
+  In the case that the package is present, it is necessary to add the header files directory to
+  the include directory path by using
+
+      - INCLUDE_DIRECTORIES(${segway_head_INCLUDE_DIR})
+
+  Finally, it is also nevessary to link with the desired libraries by using the following command
+
+      - TARGET_LINK_LIBRARIES(<executable name> ${segway_head_LIBRARY})
+      .
+
+  \section License
+
+  This package is licensed under a  
+  <a href="http://www.gnu.org/licenses/lgpl.html">
+    LGPL 3.0 License</a>.
+
+  \section Disclaimer
+
+   This is free software: you can redistribute it and/or modify
+   it under the terms of the GNU Lesser General Public License as published by
+   the Free Software Foundation, either version 3 of the License, or
+   at your option) any later version.
+
+   This program is distributed in the hope that it will be useful,
+   but WITHOUT ANY WARRANTY; without even the implied warranty of
+   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+   GNU Lesser General Public License for more details.
+
+   You should have received a copy of the GNU Lesser General Public License
+   along with this program.  If not, see <http://www.gnu.org/licenses/>. 
+
+ */

src/CMakeLists.txt

+# edit the following line to add all the source code files of the library
+SET(sources segway_head.cpp)
+# edit the following line to add all the header files of the library
+SET(headers segway_head.h)
+
+# edit the following line to find the necessary packages
+FIND_PACKAGE(iriutils REQUIRED)
+FIND_PACKAGE(comm REQUIRED)
+FIND_PACKAGE(dynamixel REQUIRED)
+FIND_PACKAGE(dynamixel_motor_cont REQUIRED)
+
+# edit the following line to add the necessary include directories
+INCLUDE_DIRECTORIES(${iriutils_INCLUDE_DIR} ${comm_INCLUDE_DIR} ${dynamixel_INCLUDE_DIR} ${dynamixel_motor_cont_INCLUDE_DIR} .)
+
+ADD_LIBRARY(segway_head SHARED ${sources})
+
+#edit the following line to add the necessary system libraries (if any)
+TARGET_LINK_LIBRARIES(segway_head ${iriutils_LIBRARY} ${comm_LIBRARY} ${dynamixel_LIBRARY} ${dynamixel_motor_cont_LIBRARY})
+
+INSTALL(TARGETS segway_head
+  RUNTIME DESTINATION bin
+  LIBRARY DESTINATION lib/iridrivers
+  ARCHIVE DESTINATION lib/iridrivers
+)
+
+INSTALL(FILES ${headers} DESTINATION include/iridrivers)
+
+INSTALL(FILES ../Findsegway_head.cmake DESTINATION ${CMAKE_ROOT}/Modules/)
+
+ADD_SUBDIRECTORY(examples)

src/examples/CMakeLists.txt

+# edit the following line to add the source code for the example and the name of the executable
+ADD_EXECUTABLE(segway_head_test segway_head_test.cpp)
+
+# edit the following line to add the necessary libraries
+TARGET_LINK_LIBRARIES(segway_head_test segway_head ${iriutils_LIBRARY} ${comm_LIBRARY} ${dynamixel_LIBRARY} ${dynamixel_motor_cont_LIBRARY})
+

src/examples/segway_head_test.cpp

+#include "segway_head.h"
+#include <iostream>
+
+std::string head_name="tibi_head";
+
+int main(int argc, char *argv[])
+{
+  CSegwayHead head(head_name);
+  THeadServos servo_ids;
+  int i;
+
+  servo_ids.bus_id=0;
+  servo_ids.pan=1;
+  servo_ids.tilt=2;
+  servo_ids.side=3;
+  servo_ids.lights=5;
+
+  head.config(&servo_ids);
+  head.move_pan(150,100);
+  head.move_tilt(150,100);
+  head.move_side(150,100);
+  sleep(2);  
+
+  for(i=0;i<1000;i++)
+  {
+    head.move_pan(70,100);
+    sleep(1);
+    head.move_pan(230,100);
+    sleep(1);
+    head.move_pan(150,100);
+    sleep(1);
+    head.move_side(110,100);
+    sleep(1);
+    head.move_side(190,100);
+    sleep(1);
+    head.move_side(150,100);
+    sleep(1);
+    head.move_tilt(100,100);
+    sleep(1);
+    head.move_tilt(150,100);
+    sleep(1);
+    std::cout << "iteration: " << i << std::endl;
+  }
+  head.stand_by();
+  sleep(2);
+  head.happy();
+  sleep(2);
+}

src/segway_head.cpp

+#include "segway_head.h"
+#include "eventexceptions.h"
+#include "exceptions.h"
+#include <iostream>
+
+CSegwayHead::CSegwayHead(std::string &device_id)
+{
+  this->servo_ids.bus_id=-1;
+  this->servo_ids.pan=-1;
+  this->servo_ids.tilt=-1;
+  this->servo_ids.side=-1;
+  this->servo_ids.lights=-1;
+  this->pan=NULL;
+  this->pan_motion_event_id="";
+  this->tilt=NULL;
+  this->tilt_motion_event_id="";
+  this->side=NULL;
+  this->side_motion_event_id="";
+  this->lights=NULL; 
+  this->dyn_server=CDynamixelServer::instance();
+  if(this->dyn_server->get_num_buses()==0)
+  {
+    /* handle exceptions */
+  }
+  else
+  {
+    this->dyn_server->set_bus_id(0);
+    this->dyn_server->set_baudrate(1000000);
+  }
+}
+
+void CSegwayHead::set_pan_servo_id(unsigned char id)
+{
+  std::string pan_motor="pan_motor";
+
+  if(id>0xFD)
+  {
+    /* handle exceptions */
+  }
+  else
+  {
+    if(id==this->servo_ids.tilt || id==this->servo_ids.side || id==this->servo_ids.lights)
+    {
+      /* handle errors */
+    }
+    else
+    {
+      try{
+        if(this->pan!=NULL)
+        {
+          delete this->pan;
+          this->pan=NULL;
+        }
+        this->pan=new CDynamixelMotor(pan_motor,this->servo_ids.bus_id,id);
+        // configure the position feedback
+        this->pan_motion_event_id=this->pan->config_position_feedback(fb_polling,100.0);
+        this->servo_ids.pan=id;
+      }catch(CException &e){
+        /* handle exceptions */
+        throw;
+      }
+    }
+  }
+}
+
+void CSegwayHead::set_tilt_servo_id(unsigned char id)
+{
+  std::string tilt_motor="tilt_motor";
+
+  if(id>0xFD)
+  {
+    /* handle exceptions */
+  }
+  else
+  {
+    if(id==this->servo_ids.pan || id==this->servo_ids.side || id==this->servo_ids.lights)
+    {
+      /* handle errors */
+    }
+    else
+    {
+      try{
+        if(this->tilt!=NULL)
+        {
+          delete this->tilt;
+          this->tilt=NULL;
+        }
+        this->tilt=new CDynamixelMotor(tilt_motor,this->servo_ids.bus_id,id);
+        // configure the position feedback
+        this->tilt_motion_event_id=this->tilt->config_position_feedback(fb_polling,100.0);
+        this->servo_ids.tilt=id;
+      }catch(CException &e){
+        /* handle exceptions */
+        throw;
+      }
+    }
+  }
+}
+
+void CSegwayHead::set_side_servo_id(unsigned char id)
+{
+  std::string side_motor="side_motor";
+
+  if(id>0xFD)
+  {
+    /* handle exceptions */
+  }
+  else
+  {
+    if(id==this->servo_ids.pan || id==this->servo_ids.tilt || id==this->servo_ids.lights)
+    {
+      /* handle errors */
+    }
+    else
+    {
+      try{
+        if(this->side!=NULL)
+        {
+          delete this->side;
+          this->side!=NULL;
+        }
+        this->side=new CDynamixelMotor(side_motor,this->servo_ids.bus_id,id);
+        // configure the position feedback
+        this->side_motion_event_id=this->side->config_position_feedback(fb_polling,100.0);
+        this->servo_ids.side=id;
+      }catch(CException &e){
+        /* handle exceptions */
+        throw;
+      }
+    }
+  }
+}
+
+void CSegwayHead::set_light_id(unsigned char id)
+{
+  if(id>0xFD)
+  {
+    /* handle exceptions */
+  }
+  else
+  {
+    if(id==this->servo_ids.pan || id==this->servo_ids.tilt || id==this->servo_ids.side)
+    {
+      /* handle errors */
+    }
+    else
+    {
+      try{
+        if(this->lights!=NULL)
+        {
+          delete this->lights;
+          this->lights=NULL;
+        }
+        this->lights=this->dyn_server->get_device(id);
+        this->servo_ids.lights=id;
+      }catch(CException &e){
+        /* handle exceptions */
+        throw;
+      }
+    }
+  }
+}
+
+void CSegwayHead::turn_on_all(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(0x1a,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::turn_off_all(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(0x1a,0x00);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::config(THeadServos *config)
+{
+  this->servo_ids.bus_id=config->bus_id;
+  this->dyn_server->set_bus_id(config->bus_id);
+  try{
+    this->set_pan_servo_id(config->pan);
+    this->set_tilt_servo_id(config->tilt);
+    this->set_side_servo_id(config->side);
+    this->set_light_id(config->lights);
+    this->stand_by();
+  }catch(CException &e){
+    throw;
+  }
+}
+
+unsigned char CSegwayHead::get_pan_servo_id(void)
+{
+  return this->servo_ids.pan;
+}
+
+unsigned char CSegwayHead::get_tilt_servo_id(void)
+{
+  return this->servo_ids.tilt;
+}
+
+unsigned char CSegwayHead::get_side_servo_id(void)
+{
+  return this->servo_ids.side;
+}
+
+unsigned char CSegwayHead::get_lights_id(void)
+{
+  return this->servo_ids.lights;
+}
+
+void CSegwayHead::move_pan(float degrees,float speed)
+{
+  CEventServer *event_server=CEventServer::instance();
+  std::vector<float> position(1),velocity(1),accel(1);
+  std::list<std::string> events;
+
+  if(this->servo_ids.pan!=-1)
+  {
+    try{
+      events.push_back(this->pan_motion_event_id);
+      event_server->wait_all(events);
+      position[0]=degrees;
+      velocity[0]=speed;
+      accel[0]=speed*speed/(0.1*degrees);
+      this->pan->load(position,velocity,accel);
+      this->pan->move();
+    }catch(CException &e){
+      std::cout << e.what() << std::endl;
+    }
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::move_tilt(float degrees,float speed)
+{
+  CEventServer *event_server=CEventServer::instance();
+  std::vector<float> position(1),velocity(1),accel(1);
+  std::list<std::string> events;
+
+  if(this->servo_ids.tilt!=-1)
+  {
+    try{
+      events.push_back(this->tilt_motion_event_id);
+      event_server->wait_all(events);
+      position[0]=degrees;
+      velocity[0]=speed;
+      accel[0]=speed*speed/(0.1*degrees);
+      this->tilt->load(position,velocity,accel);
+      this->tilt->move();
+    }catch(CException &e){
+      std::cout << e.what() << std::endl;
+    }
+  }  
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::move_side(float degrees,float speed)
+{
+  CEventServer *event_server=CEventServer::instance();
+  std::vector<float> position(1),velocity(1),accel(1);
+  std::list<std::string> events;
+
+  if(this->servo_ids.side!=-1)
+  {
+    try{
+      events.push_back(this->side_motion_event_id);
+      event_server->wait_all(events);
+      position[0]=degrees;
+      velocity[0]=speed;
+      accel[0]=speed*speed/(0.1*degrees);
+      this->side->load(position,velocity,accel);
+      this->side->move();
+    }catch(CException &e){
+      std::cout << e.what() << std::endl;
+    }
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+  
+void CSegwayHead::move_head(float pan, float tilt, float side,float speed)
+{
+  CEventServer *event_server=CEventServer::instance();
+  std::vector<float> position(1),velocity(1),accel(1);
+  std::list<std::string> events;
+
+  if(this->servo_ids.pan!=-1 && this->servo_ids.tilt!=-1 && this->servo_ids.side!=-1)
+  {
+    events.push_back(this->pan_motion_event_id);
+    events.push_back(this->tilt_motion_event_id);
+    events.push_back(this->side_motion_event_id);
+    event_server->wait_all(events);
+    velocity[0]=speed;
+    accel[0]=speed*speed/(0.1*pan);
+    position[0]=pan;
+    this->pan->load(position,velocity,accel);
+    accel[0]=speed*speed/(0.1*tilt);
+    position[0]=tilt;
+    this->tilt->load(position,velocity,accel);
+    accel[0]=speed*speed/(0.1*side);
+    position[0]=side;
+    this->side->load(position,velocity,accel);
+    this->pan->move();
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+
+}
+
+float CSegwayHead::get_pan_position(void)
+{
+  if(this->servo_ids.pan!=-1)
+  {
+    return this->pan->get_position()[0];
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+float CSegwayHead::get_tilt_position(void)
+{
+  if(this->servo_ids.tilt!=-1)
+  {
+    return this->tilt->get_position()[0];
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+float CSegwayHead::get_side_position(void)
+{
+  if(this->servo_ids.side!=-1)
+  {
+    return this->side->get_position()[0];
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::get_head_position(float *pan, float *tilt, float *side)
+{
+  *pan=this->get_pan_position();
+  *tilt=this->get_tilt_position();
+  *side=this->get_side_position();
+}
+
+void CSegwayHead::set_brightness(float brightness)
+{
+  unsigned char brightness_value;
+
+  if(this->servo_ids.lights!=-1)
+  {
+    if(brightness<0.0 || brightness>100.0)
+    {
+      /* handle exceptions */
+    }
+    else
+    {
+      brightness_value=(unsigned char)(brightness*255.0/100.0);
+      this->lights->write_byte_register(brightness_reg,brightness_value);
+    }
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+float CSegwayHead::get_brightness(void)
+{
+  unsigned char brightness_value;
+
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->read_byte_register(brightness_reg,&brightness_value);
+    return ((float)brightness_value)*100.0/255.0;
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::turn_on_segment(segment_id id)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register((unsigned char)id,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::turn_off_segment(segment_id id)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register((unsigned char)id,0x00);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+bool CSegwayHead::is_segment_on(segment_id id)
+{ 
+  unsigned char state;
+
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->read_byte_register((unsigned char)id,&state);
+    if(state==0x01) 
+      return true;
+    else
+      return false;
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::stand_by(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(standby_reg,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::happy(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(happy_reg,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::sat(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(sat_reg,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::angry(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(angry_reg,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::confused(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(confused_reg,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+void CSegwayHead::shy(void)
+{
+  if(this->servo_ids.lights!=-1)
+  {
+    this->lights->write_byte_register(shy_reg,0x01);
+  }
+  else
+  {
+    /* handle exceptions */
+  }
+}
+
+CSegwayHead::~CSegwayHead()
+{
+  this->servo_ids.bus_id=-1;
+  this->servo_ids.pan=-1;
+  this->servo_ids.tilt=-1;
+  this->servo_ids.side=-1;
+}

src/segway_head.h

+#ifndef _SEGWAY_HEAD_H
+#define _SEGWAY_HEAD_H
+
+#include "dynamixel.h"
+#include "dynamixel_motor.h"
+
+typedef struct
+{
+  unsigned char bus_id;
+  unsigned char pan;
+  unsigned char tilt;
+  unsigned char side;
+  unsigned char lights;
+}THeadServos;
+
+typedef enum {left_eyebrow_left=0x01,
+              left_eyebrow_center=0x02,
+              left_eyebrow_right=0x03,
+              left_cheek_in=0x04,
+              left_cheek_out=0x05,
+              lip_upper_left=0x06,
+              lip_bottom_left=0x07,
+              lip_upper_center=0x08,
+              lip_center=0x09,
+              right_eyebrow_center=0x0A,
+              right_eyebrow_left=0x0B,
+              right_eyebrow_right=0x0C,
+              right_cheek_out=0x0D,
+              right_cheek_in=0x0E,
+              lip_bottom_center=0x0F,
+              lip_bottom_right=0x10,
+              lip_upper_right=0x11,
+              additional1=0x12,
+              additional2=0x13,
+              additional3=0x14,
+              additional4=0x15,
+              additional5=0x16,
+              additional6=0x17,
+              additional7=0x18,
+              additional8=0x19} segment_id;
+
+const unsigned char brightness_reg=0x00;
+const unsigned char standby_reg=0x20;
+const unsigned char happy_reg=0x21;
+const unsigned char sat_reg=0x22;
+const unsigned char angry_reg=0x23;
+const unsigned char confused_reg=0x24;
+const unsigned char shy_reg=0x25;
+
+class CSegwayHead
+{
+  private:
+    THeadServos servo_ids;
+    CDynamixelServer *dyn_server;
+    CDynamixelMotor *pan;
+    std::string pan_motion_event_id;
+    CDynamixelMotor *tilt;
+    std::string tilt_motion_event_id;
+    CDynamixelMotor *side;
+    std::string side_motion_event_id;
+    CDynamixel *lights;
+  protected:
+    void set_pan_servo_id(unsigned char id);
+    void set_tilt_servo_id(unsigned char id);
+    void set_side_servo_id(unsigned char id);
+    void set_light_id(unsigned char id);
+    void turn_on_all(void);
+    void turn_off_all(void);
+  public:
+    CSegwayHead(std::string &device_id);
+    void config(THeadServos *config);
+    unsigned char get_pan_servo_id(void);
+    unsigned char get_tilt_servo_id(void);
+    unsigned char get_side_servo_id(void);
+    unsigned char get_lights_id(void);
+    // neck control
+    void move_pan(float degrees,float speed=0.0);
+    void move_tilt(float degrees,float speed=0.0);
+    void move_side(float degrees,float speed=0.0);
+    void move_head(float pan, float tilt, float side,float speed=0.0);
+    float get_pan_position(void);
+    float get_tilt_position(void);
+    float get_side_position(void);
+    void get_head_position(float *pan, float *tilt, float *side);
+    // lights control
+    void set_brightness(float brightness);
+    float get_brightness(void);
+    void turn_on_segment(segment_id id);
+    void turn_off_segment(segment_id id);
+    bool is_segment_on(segment_id id);
+    void stand_by(void);
+    void happy(void);
+    void sat(void);
+    void angry(void);
+    void confused(void);
+    void shy(void);
+    ~CSegwayHead();
+};
+
+#endif