Revision: 7061
http://playerstage.svn.sourceforge.net/playerstage/?rev=7061&view=rev
Author: gbiggs
Date: 2008-10-06 01:12:47 +0000 (Mon, 06 Oct 2008)
Log Message:
-----------
Applied patch 2145102
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/nomad/nomad.cc
code/player/trunk/server/drivers/position/motionmind/motionmind.cc
Modified: code/player/trunk/server/drivers/mixed/nomad/nomad.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/nomad/nomad.cc 2008-10-03
22:25:02 UTC (rev 7060)
+++ code/player/trunk/server/drivers/mixed/nomad/nomad.cc 2008-10-06
01:12:47 UTC (rev 7061)
@@ -16,10 +16,10 @@
*/
#include <unistd.h>
-#include <string>
+#include <string.h>
#include <libplayercore/playercore.h>
-#include <cmath>
-#include <iostream>
+#include <math.h>
+#include <stddef.h>
#include "Nclient.h"
/** @ingroup drivers */
@@ -120,9 +120,6 @@
//TODO add gripper support
-using std::cout;
-using std::endl;
-
//constants used in the code
const double nomadRadius = 0.225; //nomad radius in meters - measured
const double PI = 3.14159265; // aproximate value of pi
@@ -220,13 +217,13 @@
//stabilish connection
if(! connect_robot(1)) {
- cout << "couldn't connect in order to 'zero' the robot... aborting..."
<< endl;
+ PLAYER_ERROR ("couldn't connect in order to 'zero' the robot...
aborting...");
return;
};
- cout << " zeroing the robot position...";
+ PLAYER_WARN (" zeroing the robot position...");
zr();
ws(TRUE,TRUE,TRUE,0);
- cout << " done" << endl;
+ PLAYER_WARN (" done");
//close connection to the server
disconnect_robot(1);
@@ -329,10 +326,9 @@
*/
int NomadDriver::Setup ()
{
- cout << endl << "Nomad 200 :: Driver initialising" << endl;
- cout << "Nomad 200:: WARNING!!! - make sure there's enough free space around
the robot"
- << endl;
- cout << endl << "Nomad 200 :: Connecting...";
+ PLAYER_WARN ("Nomad 200 :: Driver initialising");
+ PLAYER_WARN ("Nomad 200:: WARNING!!! - make sure there's enough free space
around the robot");
+ PLAYER_WARN ("Nomad 200 :: Connecting...");
//setup connection parameters
SERV_TCP_PORT = PORT;
@@ -340,13 +336,13 @@
//stabilish connection
if(! connect_robot(1)) {
- cout << "Nomad 200 :: couldn't connect... aborting..." << endl;
+ PLAYER_ERROR ("Nomad 200 :: couldn't connect... aborting...");
return -1;
};
- cout << " done" << endl;
+ PLAYER_WARN (" done");
//setup nomad atributes
- cout << "Nomad 200:: Configuring...";
+ PLAYER_WARN ("Nomad 200:: Configuring...");
if (REAL_ROBOT!=3) {
if (REAL_ROBOT) {
real_robot();
@@ -377,7 +373,7 @@
/// Shutdown the device
int NomadDriver::Shutdown ()
{
- cout << endl << "Nomad 200 :: Shutting driver down";
+ PLAYER_WARN ("Nomad 200 :: Shutting driver down");
//! Stop and join the driver thread
StopThread ();
//making sure that the robot stops when shutting down the device
@@ -386,7 +382,7 @@
disconnect_robot(1);
- cout << endl << "Nomad 200 :: Shutting driver down - DONE" << endl;
+ PLAYER_WARN ("Nomad 200 :: Shutting driver down - DONE");
return (0);
};
Modified: code/player/trunk/server/drivers/position/motionmind/motionmind.cc
===================================================================
--- code/player/trunk/server/drivers/position/motionmind/motionmind.cc
2008-10-03 22:25:02 UTC (rev 7060)
+++ code/player/trunk/server/drivers/position/motionmind/motionmind.cc
2008-10-06 01:12:47 UTC (rev 7061)
@@ -102,7 +102,6 @@
#include <unistd.h>
#include <string.h>
-#include <iostream>
#include <time.h>
#include <libplayercore/playercore.h>
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