getFirmwareVersion.cpp
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00001 /*********************************************************************
00002 * Software License Agreement (BSD License)
00003 *
00004 *  Copyright (c) 2009, Willow Garage, Inc.
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00006 *
00007 *  Redistribution and use in source and binary forms, with or without
00008 *  modification, are permitted provided that the following conditions
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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
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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
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00021 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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00034 
00035 #include "hokuyo_node/hokuyo.h"
00036 #include <stdio.h>
00037 #include <ros/console.h>
00038 #include <log4cxx/logger.h>
00039 
00040 using namespace std;
00041 
00042 
00043 int
00044 main(int argc, char** argv)
00045 {
00046   if (argc < 2 || argc > 3)
00047   {
00048     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");
00049     return 1;
00050   }
00051   
00052   bool verbose = (argc == 2);
00053   
00054   if (!verbose)
00055   {
00056     // In quiet mode we want to turn off logging levels that go to stdout.
00057     log4cxx::LoggerPtr logger = log4cxx::Logger::getLogger(ROSCONSOLE_DEFAULT_NAME);
00058     logger->setLevel(ros::console::g_level_lookup[ros::console::levels::Error]);
00059     ros::console::notifyLoggerLevelsChanged();
00060   }
00061 
00062   hokuyo::Laser laser;
00063   
00064   for (int retries = 10; retries; retries--)
00065   {
00066     try 
00067     {
00068       laser.open(argv[1]);
00069       std::string firmware_version = laser.getFirmwareVersion();
00070       if (verbose)
00071         printf("Device at %s has FW rev ", argv[1]);
00072       printf("%s\n", firmware_version.c_str());
00073       laser.close();
00074       return 0;
00075     }
00076     catch (hokuyo::Exception &e)
00077     {
00078       if (verbose)
00079         ROS_WARN("getFirmwareVersion failed: %s", e.what());
00080       laser.close();
00081     }
00082     sleep(1);
00083   }
00084 
00085   if (verbose)
00086     ROS_ERROR("getFirmwareVersion failed for 10 seconds. Giving up.");
00087   return 1;
00088 }


hokuyo_node
Author(s): Brian P. Gerkey, Jeremy Leibs, Blaise Gassend
autogenerated on Wed Aug 26 2015 11:49:56