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[WIP] Update Dynpick QNX driver for dual-arm HiroNXO #479

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[WIP] Update Dynpick QNX driver for dual-arm HiroNXO #479

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b9f1ecc
[dynpick] Correct run script for dual-arm.
130s Jun 8, 2016
89ef953
[dynpick qnx driver] Switching right and left hands.
130s Nov 10, 2016
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15 changes: 12 additions & 3 deletions hironx_ros_bridge/robot/dynpick/dynpick_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -307,8 +307,13 @@ int main(int argc, char **argv) {
#ifdef __QNX__
slogf(0, _SLOG_INFO, "Started fd1 = %d, fd2 = %d\n", fd1, fd2);
#endif
SetComAttr(fd1);
/* Switch the order of SetComAttr depending on your sensor. Also alter the order at ReadCom calls later in this file. */
// serusb1=right, serusb2=left
//SetComAttr(fd1);
//SetComAttr(fd2);
// serusb2=right, serusb1=left
SetComAttr(fd2);
SetComAttr(fd1);

/* Create the Dispatch Interface */
dpp = dispatch_create();
Expand Down Expand Up @@ -364,8 +369,12 @@ int main(int argc, char **argv) {
/* The "Data Pump" - get and process messages */
while (1) {
/* do serial read */
ReadCom(fd1, force_sensor_data_0);
ReadCom(fd2, force_sensor_data_1);
// serusb1=right, serusb2=left
//ReadCom(fd1, force_sensor_data_0);
//ReadCom(fd2, force_sensor_data_1);
// serusb2=right, serusb1=left
ReadCom(fd2, force_sensor_data_0);
ReadCom(fd1, force_sensor_data_1);

printf("dispatch\n");
/* process message */
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11 changes: 6 additions & 5 deletions hironx_ros_bridge/robot/dynpick/run_dynpick.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -30,12 +30,13 @@

# Written by TORK

# slay devc-serusb
# sleep 1
slay -f devc-serusb
sleep 3
## devc-serusb needs to be that of QNX6.5.0 SP1, to recognize Dynpick WDF-6M200-3, which is USB-Serial with 921.6kbps.
## And looks like we don't need to specifically call it as long as right version of /sbin/devc-serusb is placed.
# devc-serusb -E -F -b 921600 -d busno=0,devno=1,vid=0x10c4,did=0xea60
# sleep 1
# stty < /dev/serusb1
devc-serusb -E -F -b 921600 -d busno=4,devno=2,unit=1,vid=0x10c4,did=0xea60
devc-serusb -E -F -b 921600 -d busno=4,devno=3,unit=2,vid=0x10c4,did=0xea60
sleep 3
# stty < /dev/serusb1
./dynpick_driver &
# stty < /dev/serusb1