Revision: 6843
http://playerstage.svn.sourceforge.net/playerstage/?rev=6843&view=rev
Author: gbiggs
Date: 2008-07-11 01:22:59 -0700 (Fri, 11 Jul 2008)
Log Message:
-----------
Added retry and delay options to gbxsickacfr driver
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/gbxsickacfr.cc
Modified: code/player/trunk/server/drivers/ranger/gbxsickacfr.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/gbxsickacfr.cc 2008-07-11
07:06:09 UTC (rev 6842)
+++ code/player/trunk/server/drivers/ranger/gbxsickacfr.cc 2008-07-11
08:22:59 UTC (rev 6843)
@@ -78,6 +78,13 @@
- size (float 3-tuple: (m, m, m))
- Default: [0.0 0.0 0.0]
- Size of the laser in metres.
+- retry (integer)
+ - Default: 0
+ - If the initial connection to the laser fails, retry this many times
before giving up.
+- delay (integer)
+ - Default: 0
+ - Delay (in seconds) before laser is initialized (set this to 32-35 if you
have a newer
+ generation Pioneer whose laser is switched on when the serial port is
open).
@par Example
@@ -127,6 +134,8 @@
// Configuration parameters
gbxsickacfr::Config config;
+ unsigned int connectionTries;
+ unsigned int connectionDelay;
// Geometry
player_ranger_geom_t geom;
player_pose3d_t sensorPose;
@@ -169,6 +178,8 @@
config.baudRate = cf->ReadInt (section, "baudrate", 38400);
config.device = cf->ReadString (section, "port", "/dev/ttyS0");
debug = cf->ReadBool (section, "debug", false);
+ connectionTries = cf->ReadInt (section, "retry", 0) + 1;
+ connectionDelay = cf->ReadInt (section, "delay", 0);
// Set up geometry information
geom.pose.px = cf->ReadTupleLength (section, "pose", 0, 0.0f);
geom.pose.py = cf->ReadTupleLength (section, "pose", 1, 0.0f);
@@ -218,14 +229,34 @@
tracer = new gbxutilacfr::TrivialTracer (debug);
status = new gbxutilacfr::TrivialStatus (*tracer);
- // Create the driver object
- try
+ // Sleep if necessary
+ if (connectionDelay > 0)
+ sleep (connectionDelay);
+
+ // Create the driver object - try a few times
+ unsigned int tryNum = 0;
+ bool success = false;
+ do
{
- device = new gbxsickacfr::Driver(config, *tracer, *status);
+ try
+ {
+ if ((device = new gbxsickacfr::Driver(config, *tracer,
*status)) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate gbxsickacfr::Driver
object.");
+ return -1;
+ }
+ success = true;
+ }
+ catch (const std::exception& e)
+ {
+ tryNum++;
+ PLAYER_WARN2 ("GbxSickAcfr: Failed to initialise laser device
(try %d): %s\n",
+ tryNum, e.what ());
+ }
}
- catch (const std::exception& e)
+ while (tryNum < connectionTries);
+ if (!success)
{
- PLAYER_ERROR1 ("GbxSickAcfr: Failed to initialise laser device: %s\n",
e.what ());
return -1;
}
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