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Syncing indigo-devel and hydro-devel branches. #61

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merged 4 commits into from
Apr 9, 2015
Merged

Syncing indigo-devel and hydro-devel branches. #61

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5c7e0a7
Lower-cased sia10f.urdf stl file references, to match stl file names.
Sep 18, 2014
3a2bd5c
Merge pull request #55 from hersh/lower-case-sia10f
shaun-edwards Oct 1, 2014
216bf53
v1.2.5 - Fix disconnect logic in the State Server
ted-miller Mar 16, 2015
be875be
Merge pull request #58 from ted-miller/hydro-devel
ted-miller Mar 19, 2015
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4 changes: 4 additions & 0 deletions .gitignore
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Original file line number Diff line number Diff line change
Expand Up @@ -21,3 +21,7 @@
motoman_driver/MotoPlus/_ErrorLog.txt
motoman_driver/MotoPlus/MpRosAllControllers.sdf
motoman_driver/MotoPlus/MpRosAllControllers.v11.suo
*.log
motoman_driver/MotoRos - Github driver folder/$tf/8/bef118b8-349a-45c0-8d86-1ae9c03b511e.gz
motoman_driver/MotoRos - Github driver folder/$tf/localversion.tfb
*.log
4 changes: 4 additions & 0 deletions motoman_driver/CHANGELOG.rst
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Expand Up @@ -2,6 +2,10 @@
Changelog for package motoman_driver
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

1.2.5 (2015-03-10)
------------------
* Fixed issue with re-connecting to the State Server after closing multiple concurrent connections.

1.2.4 (2014-08-22)
------------------
* Changed message ID for following two message types:
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2 changes: 1 addition & 1 deletion motoman_driver/MotoPlus/Controller.h
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Expand Up @@ -32,7 +32,7 @@
#ifndef CONTROLLER_H
#define CONTROLLER_H

#define APPLICATION_VERSION "1.2.4"
#define APPLICATION_VERSION "1.2.5"

#define TCP_PORT_MOTION 50240
#define TCP_PORT_STATE 50241
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37 changes: 20 additions & 17 deletions motoman_driver/MotoPlus/StateServer.c
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Expand Up @@ -98,19 +98,21 @@ void Ros_StateServer_StartNewConnection(Controller* controller, int sd)
//-----------------------------------------------------------------------
void Ros_StateServer_SendState(Controller* controller)
{
BOOL bHasConnections;
int groupNo;
SimpleMsg sendMsg;
SimpleMsg sendMsgFEx;
int msgSize, fexMsgSize;
BOOL bOkToSendExFeedback;

bHasConnections = TRUE;
BOOL bHasConnections;
BOOL bSuccesfulSend;

printf("Starting State Server Send State task\r\n");
printf("Controller number of group = %d\r\n", controller->numGroup);

while(bHasConnections)
bHasConnections = FALSE;

//Thread for state server should never terminate
while(TRUE)
{
Ros_SimpleMsg_JointFeedbackEx_Init(controller->numGroup, &sendMsgFEx);
bOkToSendExFeedback = TRUE;
Expand All @@ -122,8 +124,12 @@ void Ros_StateServer_SendState(Controller* controller)
fexMsgSize = Ros_SimpleMsg_JointFeedbackEx_Build(groupNo, &sendMsg, &sendMsgFEx);
if(msgSize > 0)
{
if (bHasConnections)
bHasConnections = Ros_StateServer_SendMsgToAllClient(controller, &sendMsg, msgSize);
bSuccesfulSend = Ros_StateServer_SendMsgToAllClient(controller, &sendMsg, msgSize);
if (bSuccesfulSend != bHasConnections)
{
bHasConnections = bSuccesfulSend;
Ros_Controller_SetIOState(IO_FEEDBACK_STATESERVERCONNECTED, bHasConnections);
}
}
else
{
Expand All @@ -135,17 +141,14 @@ void Ros_StateServer_SendState(Controller* controller)
if (controller->numGroup < 2) //only send the ROS_MSG_MOTO_JOINT_FEEDBACK_EX message if we have multiple control groups
bOkToSendExFeedback = FALSE;

if (bHasConnections && bOkToSendExFeedback) //send extended-feedback message
bHasConnections = Ros_StateServer_SendMsgToAllClient(controller, &sendMsgFEx, fexMsgSize);
if (bOkToSendExFeedback) //send extended-feedback message
Ros_StateServer_SendMsgToAllClient(controller, &sendMsgFEx, fexMsgSize);

// Send controller/robot status
if(bHasConnections)
msgSize = Ros_Controller_StatusToMsg(controller, &sendMsg);
if(msgSize > 0)
{
msgSize = Ros_Controller_StatusToMsg(controller, &sendMsg);
if(msgSize > 0)
{
bHasConnections = Ros_StateServer_SendMsgToAllClient(controller, &sendMsg, msgSize);
}
Ros_StateServer_SendMsgToAllClient(controller, &sendMsg, msgSize);
}
mpTaskDelay(STATE_UPDATE_MIN_PERIOD);
}
Expand All @@ -166,7 +169,7 @@ BOOL Ros_StateServer_SendMsgToAllClient(Controller* controller, SimpleMsg* sendM
{
int index;
int ret;
BOOL bHasConnections = FALSE;
BOOL bSuccessfulSend = FALSE;

// Check all active connections
for(index = 0; index < MAX_STATE_CONNECTIONS; index++)
Expand All @@ -182,9 +185,9 @@ BOOL Ros_StateServer_SendMsgToAllClient(Controller* controller, SimpleMsg* sendM
}
else
{
bHasConnections = TRUE;
bSuccessfulSend = TRUE;
}
}
}
return bHasConnections;
return bSuccessfulSend;
}
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Binary file modified motoman_driver/MotoPlus/output/DX200/MotoRosDX200/MotoRosDX200.out
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Binary file modified motoman_driver/MotoPlus/output/FS100/MotoRosFS100/MotoRosFS100.out
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32 changes: 16 additions & 16 deletions motoman_sia10f_support/urdf/sia10f.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -7,15 +7,15 @@
<link name="base_link">
<visual>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_BASE.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_base.stl"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_BASE.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_base.stl"/>
</geometry>
<material name="yellow">
<color rgba="0 1 1 1"/>
Expand All @@ -25,15 +25,15 @@
<link name="link_s">
<visual>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_S.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_s.stl"/>
</geometry>
<material name="silver">
<color rgba="0.8 0.8 0.8 1"/>
</material>
</visual>
<collision>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_S.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_s.stl"/>
</geometry>
<material name="yellow"/>
</collision>
Expand All @@ -42,14 +42,14 @@
<visual>
<origin rpy="1.57 3.1416 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_L.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_l.stl"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="1.57 3.1416 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_L.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_l.stl"/>
</geometry>
<material name="yellow"/>
</collision>
Expand All @@ -58,14 +58,14 @@
<visual>
<origin rpy="0 0 3.1415" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_E.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_e.stl"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 3.1415" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_E.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_e.stl"/>
</geometry>
<material name="yellow"/>
</collision>
Expand All @@ -74,14 +74,14 @@
<visual>
<origin rpy="1.57 -3.1415 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_U.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_u.stl"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="1.57 -3.1415 0" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_U.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_u.stl"/>
</geometry>
<material name="yellow"/>
</collision>
Expand All @@ -90,14 +90,14 @@
<visual>
<origin rpy="0 0 3.1416" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_R.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_r.stl"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<origin rpy="0 0 3.1416" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_R.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_r.stl"/>
</geometry>
<material name="yellow"/>
</collision>
Expand All @@ -106,28 +106,28 @@
<visual>
<origin rpy="-1.57 0 3.1416" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_B.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_b.stl"/>
</geometry>
<material name="blue"/>
</visual>
<collision>
<origin rpy="-1.57 0 3.1416" xyz="0 0 0"/>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_B.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_b.stl"/>
</geometry>
<material name="yellow"/>
</collision>
</link>
<link name="link_t">
<visual>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/MOTOMAN_AXIS_T.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/visual/motoman_axis_t.stl"/>
</geometry>
<material name="silver"/>
</visual>
<collision>
<geometry>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/MOTOMAN_AXIS_T.stl"/>
<mesh filename="package://motoman_sia10f_support/meshes/sia10f/collision/motoman_axis_t.stl"/>
</geometry>
<material name="yellow"/>
</collision>
Expand Down