hokuyo_node: getFirmwareVersion.cpp Source File

00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2009, Willow Garage, Inc.
00005 *  All rights reserved.
00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
00009 *  are met:
00010 *
00011 *   * Redistributions of source code must retain the above copyright
00012 *     notice, this list of conditions and the following disclaimer.
00013 *   * Redistributions in binary form must reproduce the above
00014 *     copyright notice, this list of conditions and the following
00015 *     disclaimer in the documentation and/or other materials provided
00016 *     with the distribution.
00017 *   * Neither the name of the Willow Garage nor the names of its
00018 *     contributors may be used to endorse or promote products derived
00019 *     from this software without specific prior written permission.
00020 *
00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00022 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00023 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00024 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00025 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00026 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00027 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00028 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00029 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
00030 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
00031 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00032 *  POSSIBILITY OF SUCH DAMAGE.
00033 *********************************************************************/
00034 
00035 #include "hokuyo/hokuyo.h"
00036 #include <stdio.h>
00037 #include <ros/console.h>
00038 
00039 using namespace std;
00040 
00041 
00042 int
00043 main(int argc, char** argv)
00044 {
00045   if (argc < 2 || argc > 3)
00046   {
00047     fprintf(stderr, "usage: getFirmwareVersion /dev/ttyACM? [quiet]\nOutputs the firmware version of a hokuyo at /dev/ttyACM?. Add a second argument for script friendly output.\n");
00048     return 1;
00049   }
00050   
00051   bool verbose = (argc == 2);
00052   
00053   if (!verbose)
00054   {
00055     // In quiet mode we want to turn off logging levels that go to stdout.
00056     log4cxx::LoggerPtr my_logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
00057     my_logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Error]);
00058   }
00059 
00060   hokuyo::Laser laser;
00061   
00062   for (int retries = 10; retries; retries--)
00063   {
00064     try 
00065     {
00066       laser.open(argv[1]);
00067       std::string firmware_version = laser.getFirmwareVersion();
00068       if (verbose)
00069         printf("Device at %s has FW rev ", argv[1]);
00070       printf("%s\n", firmware_version.c_str());
00071       laser.close();
00072       return 0;
00073     }
00074     catch (hokuyo::Exception &e)
00075     {
00076       if (verbose)
00077         ROS_WARN("getFirmwareVersion failed: %s", e.what());
00078       laser.close();
00079     }
00080     sleep(1);
00081   }
00082 
00083   if (verbose)
00084     ROS_ERROR("getFirmwareVersion failed for 10 seconds. Giving up.");
00085   return 1;
00086 }