version_info.cpp
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00001 
00008 /*****************************************************************************
00009  * Includes
00010  ****************************************************************************/
00011 
00012 #include <string>
00013 #include <ecl/time.hpp>
00014 #include <ecl/sigslots.hpp>
00015 #include <ecl/command_line.hpp>
00016 #include "kobuki_driver/kobuki.hpp"
00017 
00018 /*****************************************************************************
00019 ** Classes
00020 *****************************************************************************/
00021 
00022 class KobukiManager {
00023 public:
00024   KobukiManager(const std::string &device_port) :
00025     acquired(false),
00026     slot_version_info(&KobukiManager::processVersionInfo, *this)
00027   {
00028     kobuki::Parameters parameters;
00029     parameters.sigslots_namespace = "/kobuki"; // configure the first part of the sigslot namespace
00030     parameters.device_port = device_port;    // the serial port to connect to (windows COM1..)
00031     kobuki.init(parameters);
00032     kobuki.enable();
00033     slot_version_info.connect("/kobuki/version_info");
00034   }
00035 
00036   ~KobukiManager() {
00037     kobuki.disable();
00038   }
00039 
00040   void processVersionInfo(const kobuki::VersionInfo &version_info) {
00041     hardware = kobuki::VersionInfo::toString(version_info.hardware);
00042     firmware = kobuki::VersionInfo::toString(version_info.firmware);
00043     //software = kobuki::VersionInfo::toString(version_info.software);
00044     software = kobuki::VersionInfo::getSoftwareVersion();
00045     udid = kobuki::VersionInfo::toString(version_info.udid0, version_info.udid1, version_info.udid2);
00046     acquired = true;
00047   }
00048 
00049   bool isAcquired() { return acquired; }
00050   std::string& getHardwareVersion() { return hardware; }
00051   std::string& getFirmwareVersion() { return firmware; }
00052   std::string& getSoftwareVersion() { return software; }
00053   std::string& getUDID() { return udid; }
00054 
00055 private:
00056   volatile bool acquired;
00057   kobuki::Kobuki kobuki;
00058   std::string hardware, firmware, software, udid;
00059   ecl::Slot<const kobuki::VersionInfo&> slot_version_info;
00060 };
00061 
00062 /*****************************************************************************
00063 ** Main
00064 *****************************************************************************/
00065 
00066 int main(int argc, char** argv)
00067 {
00068   ecl::CmdLine cmd_line("version_info program", ' ', "0.2");
00069   ecl::UnlabeledValueArg<std::string> device_port("device_port", "Path to device file of serial port to open, connected to the kobuki", false, "/dev/kobuki", "string");
00070   cmd_line.add(device_port);
00071   cmd_line.parse(argc, argv);
00072   //std::cout << "device_port: " << device_port.getValue() << std::endl;
00073 
00074   std::cout << "Version Info:" << std::endl;
00075   KobukiManager kobuki_manager(device_port.getValue());
00076 
00077   while (!kobuki_manager.isAcquired());
00078   std::cout << " * Hardware Version: " << kobuki_manager.getHardwareVersion() << std::endl;
00079   std::cout << " * Firmware Version: " << kobuki_manager.getFirmwareVersion() << std::endl;
00080   std::cout << " * Software Version: " << kobuki_manager.getSoftwareVersion() << std::endl;
00081   std::cout << " * Unique Device ID: " << kobuki_manager.getUDID() << std::endl;
00082 
00083   return 0;
00084 }


kobuki_driver
Author(s): Daniel Stonier , Younghun Ju , Jorge Santos Simon
autogenerated on Thu Jun 6 2019 20:24:37