tk_smurf_interface: SerialCommandDeviceOptions.cpp Source File

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00001 /*
00002  * SerialCommandDeviceOptions.cpp
00003  *
00004  *  Created on: Jul 12, 2012
00005  *      Author: mriedel
00006  */
00007 
00008 #include "SerialCommandDeviceOptions.hpp"
00009 
00010 
00011 namespace TELEKYB_NAMESPACE {
00012 
00013 SerialCommandDeviceOptions::SerialCommandDeviceOptions()
00014         : OptionContainer("SerialCommandDevice")
00015 {
00016         tDeviceName = addOption< std::string >("tDeviceName",
00017                         "Device Name to connect to!",
00018                         "undef" , true, true);
00019 
00020         // Topic Name
00021         tTopicName = addOption< std::string >("tTopicName",
00022                         "Topic to receive Command Messages",
00023                         "MotorCommands" , false, true);
00024 
00025         tBaudRate = addOption< BaudRateBaseEnum<size_t>::Type >("tBaudRate",
00026                         "Defines the BaudRate of the Serial Connetion", BaudRate::BAUD230400, false, true);
00027         tTermiosCFlags = addOption< int >("tTermiosCFlags",
00028                         "Defines the Termios CFlags. Beware, this is hard to set from the command line!",
00029                         CS8 | CLOCAL | CREAD , false, true);
00030 
00031         minTimeStep = addOption<double>("minTimeStep", "Minimum time step between two commands", 1.0/600.0, false, true);
00032         motorNumber = addOption<int>("servoNumber", "Number of motors in the bus", 4, false, true);
00033 }
00034 
00035 }