From be5ec9bbd1bd6ac9d6200002012249d19184e9b0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A0ndez=20Juan?= <shernand@iri.upc.edu>
Date: Fri, 22 Jul 2011 09:23:48 +0000
Subject: [PATCH] Modified the main CMakeLists.txt to set the compiler flags
for the C++ compiler instead of the C compiler. Solved some compilation
warnings that appeared.
---
CMakeLists.txt | 4 ++--
src/examples/motionModelData.cpp | 1 -
src/examples/test_segwayRMP200.cpp | 1 -
src/segway_rmp200.cpp | 16 ++++++----------
4 files changed, 8 insertions(+), 14 deletions(-)
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 212386f..4a4c54a 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -17,8 +17,8 @@ IF (NOT CMAKE_BUILD_TYPE)
SET(CMAKE_BUILD_TYPE "DEBUG")
ENDIF (NOT CMAKE_BUILD_TYPE)
-SET(CMAKE_C_FLAGS_DEBUG "-g -Wall")
-SET(CMAKE_C_FLAGS_RELEASE "-O3")
+SET(CMAKE_CXX_FLAGS_DEBUG "-g -Wall")
+SET(CMAKE_CXX_FLAGS_RELEASE "-O3")
ADD_SUBDIRECTORY(src)
diff --git a/src/examples/motionModelData.cpp b/src/examples/motionModelData.cpp
index 4df786e..bfae9a3 100644
--- a/src/examples/motionModelData.cpp
+++ b/src/examples/motionModelData.cpp
@@ -56,7 +56,6 @@ int main(int argc, char *argv[])
{
//operational variables
CSegwayRMP200 *segway;
- CFTDIServer *ftdi_server=CFTDIServer::instance();
string serial_number;
unsigned int ii=0;
unsigned int jj=0;
diff --git a/src/examples/test_segwayRMP200.cpp b/src/examples/test_segwayRMP200.cpp
index 7acc1bb..482b517 100755
--- a/src/examples/test_segwayRMP200.cpp
+++ b/src/examples/test_segwayRMP200.cpp
@@ -49,7 +49,6 @@ int main(int argc, char *argv[])
{
CSegwayRMP200 *segway = NULL;
std::list<std::string> events;
- CFTDIServer *ftdi_server=CFTDIServer::instance();
CEventServer *event_server=CEventServer::instance();
std::string serial_number,cable_disconnected,power_off;
bool connected=false;
diff --git a/src/segway_rmp200.cpp b/src/segway_rmp200.cpp
index f6a18e6..d9454b0 100755
--- a/src/segway_rmp200.cpp
+++ b/src/segway_rmp200.cpp
@@ -256,7 +256,6 @@ bool CSegwayRMP200::read_packet(segway_packet *packet,int *packet_len)
void CSegwayRMP200::parse_packet(segway_packet *packet)
{
short int command;
- int i=0;
if(this->compute_checksum(packet)!=packet->data[17])
{
@@ -314,6 +313,8 @@ void *CSegwayRMP200::start_read_thread(void *param)
CSegwayRMP200 *segway = (CSegwayRMP200 *) param;
segway->read_thread();
+
+ pthread_exit(NULL);
}
void CSegwayRMP200::read_thread(void)
@@ -343,8 +344,6 @@ void CSegwayRMP200::read_thread(void)
end=true;
}
}
-
- pthread_exit(NULL);
}
void *CSegwayRMP200::start_command_thread(void *param)
@@ -352,11 +351,13 @@ void *CSegwayRMP200::start_command_thread(void *param)
CSegwayRMP200 *segway = (CSegwayRMP200 *) param;
segway->command_thread();
+
+ pthread_exit(NULL);
}
void CSegwayRMP200::command_thread(void)
{
- segway_packet packet={0xF0,0x55,0x00,0x00,0x00,0x00,0x04,0x13,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+ segway_packet packet={{0xF0,0x55,0x00,0x00,0x00,0x00,0x04,0x13,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}};
std::vector<unsigned char> command;
int exception_count=0;
bool end=false;
@@ -413,8 +414,6 @@ void CSegwayRMP200::command_thread(void)
end=true;
}
}
-
- pthread_exit(NULL);
}
void *CSegwayRMP200::heartbeat_thread(void *param)
@@ -673,9 +672,6 @@ TSegwayRMP200Status CSegwayRMP200::get_status(void)
status.right_torque = this->right_torque;
status.ui_battery = this->ui_battery;
status.powerbase_battery = this->powerbase_battery;
- op_mode operation_mode = this->mode;
- op_mode hardware_mode = this->hardware_mode;
- gain gain_schedule = this->gain_schedule;
return status;
}
@@ -844,7 +840,7 @@ void CSegwayRMP200::connect(const std::string& desc_serial)
void CSegwayRMP200::reset(void)
{
- segway_packet packet={0xF0,0x55,0x00,0x00,0x00,0x00,0x04,0x12,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00};
+ segway_packet packet={{0xF0,0x55,0x00,0x00,0x00,0x00,0x04,0x12,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00}};
if(this->comm_dev==NULL)
{
--
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