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Console_bridge functions updated #56

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Console_bridge functions updated #56

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12 changes: 6 additions & 6 deletions include/LMS1xx/lms_buffer.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,12 +46,12 @@ class LMSBuffer
if (ret > 0)
{
total_length_ += ret;
logDebug("Read %d bytes from fd, total length is %d.", ret, total_length_);
CONSOLE_BRIDGE_logDebug("Read %d bytes from fd, total length is %d.", ret, total_length_);
}
else
{

logWarn("Buffer read() returned error.");
CONSOLE_BRIDGE_logWarn("Buffer read() returned error.");
}
}

Expand All @@ -60,7 +60,7 @@ class LMSBuffer
if (total_length_ == 0)
{
// Buffer is empty, no scan data present.
logDebug("Empty buffer, nothing to return.");
CONSOLE_BRIDGE_logDebug("Empty buffer, nothing to return.");
return NULL;
}

Expand All @@ -71,13 +71,13 @@ class LMSBuffer
if (start_of_message == NULL)
{
// None found, buffer reset.
logWarn("No STX found, dropping %d bytes from buffer.", total_length_);
CONSOLE_BRIDGE_logWarn("No STX found, dropping %d bytes from buffer.", total_length_);
total_length_ = 0;
}
else if (buffer_ != start_of_message)
{
// Start of message found, ahead of the start of buffer. Therefore shift the buffer back.
logWarn("Shifting buffer, dropping %d bytes, %d bytes remain.",
CONSOLE_BRIDGE_logWarn("Shifting buffer, dropping %d bytes, %d bytes remain.",
(start_of_message - buffer_), total_length_ - (start_of_message - buffer_));
shiftBuffer(start_of_message);
}
Expand All @@ -87,7 +87,7 @@ class LMSBuffer
if (end_of_first_message_ == NULL)
{
// No end of message found, therefore no message to parse and return.
logDebug("No ETX found, nothing to return.");
CONSOLE_BRIDGE_logDebug("No ETX found, nothing to return.");
return NULL;
}

Expand Down
52 changes: 26 additions & 26 deletions src/LMS1xx.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,7 +48,7 @@ void LMS1xx::connect(std::string host, int port)
{
if (!connected_)
{
logDebug("Creating non-blocking socket.");
CONSOLE_BRIDGE_logDebug("Creating non-blocking socket.");
socket_fd_ = socket(PF_INET, SOCK_STREAM, IPPROTO_TCP);
if (socket_fd_)
{
Expand All @@ -57,13 +57,13 @@ void LMS1xx::connect(std::string host, int port)
stSockAddr.sin_port = htons(port);
inet_pton(AF_INET, host.c_str(), &stSockAddr.sin_addr);

logDebug("Connecting socket to laser.");
CONSOLE_BRIDGE_logDebug("Connecting socket to laser.");
int ret = ::connect(socket_fd_, (struct sockaddr *) &stSockAddr, sizeof(stSockAddr));

if (ret == 0)
{
connected_ = true;
logDebug("Connected succeeded.");
CONSOLE_BRIDGE_logDebug("Connected succeeded.");
}
}
}
Expand Down Expand Up @@ -92,9 +92,9 @@ void LMS1xx::startMeas()

int len = read(socket_fd_, buf, 100);
if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);
}

void LMS1xx::stopMeas()
Expand All @@ -106,9 +106,9 @@ void LMS1xx::stopMeas()

int len = read(socket_fd_, buf, 100);
if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);
}

status_t LMS1xx::queryStatus()
Expand All @@ -120,9 +120,9 @@ status_t LMS1xx::queryStatus()

int len = read(socket_fd_, buf, 100);
if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);

int ret;
sscanf((buf + 10), "%d", &ret);
Expand Down Expand Up @@ -156,9 +156,9 @@ void LMS1xx::login()

int len = read(socket_fd_, buf, 100);
if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);
}

scanCfg LMS1xx::getScanCfg() const
Expand All @@ -171,9 +171,9 @@ scanCfg LMS1xx::getScanCfg() const

int len = read(socket_fd_, buf, 100);
if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);

sscanf(buf + 1, "%*s %*s %X %*d %X %X %X", &cfg.scaningFrequency,
&cfg.angleResolution, &cfg.startAngle, &cfg.stopAngle);
Expand Down Expand Up @@ -201,7 +201,7 @@ void LMS1xx::setScanDataCfg(const scanDataCfg &cfg)
"sWN LMDscandatacfg", cfg.outputChannel, cfg.remission ? 1 : 0,
cfg.resolution, cfg.encoder, cfg.position ? 1 : 0,
cfg.deviceName ? 1 : 0, cfg.timestamp ? 1 : 0, cfg.outputInterval, 0x03);
logDebug("TX: %s", buf);
CONSOLE_BRIDGE_logDebug("TX: %s", buf);
write(socket_fd_, buf, strlen(buf));

int len = read(socket_fd_, buf, 100);
Expand Down Expand Up @@ -233,10 +233,10 @@ void LMS1xx::scanContinous(int start)
int len = read(socket_fd_, buf, 100);

if (buf[0] != 0x02)
logError("invalid packet recieved");
CONSOLE_BRIDGE_logError("invalid packet recieved");

buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);
}

bool LMS1xx::getScanData(scanData* scan_data)
Expand All @@ -254,9 +254,9 @@ bool LMS1xx::getScanData(scanData* scan_data)
tv.tv_sec = 0;
tv.tv_usec = 100000;

logDebug("entering select()", tv.tv_usec);
CONSOLE_BRIDGE_logDebug("entering select()", tv.tv_usec);
int retval = select(socket_fd_ + 1, &rfds, NULL, NULL, &tv);
logDebug("returned %d from select()", retval);
CONSOLE_BRIDGE_logDebug("returned %d from select()", retval);
if (retval)
{
buffer_.readFrom(socket_fd_);
Expand Down Expand Up @@ -313,7 +313,7 @@ void LMS1xx::parseScanData(char* buffer, scanData* data)
tok = strtok(NULL, " "); //NumberChannels16Bit
int NumberChannels16Bit;
sscanf(tok, "%d", &NumberChannels16Bit);
logDebug("NumberChannels16Bit : %d", NumberChannels16Bit);
CONSOLE_BRIDGE_logDebug("NumberChannels16Bit : %d", NumberChannels16Bit);

for (int i = 0; i < NumberChannels16Bit; i++)
{
Expand Down Expand Up @@ -344,7 +344,7 @@ void LMS1xx::parseScanData(char* buffer, scanData* data)
tok = strtok(NULL, " "); //NumberData
int NumberData;
sscanf(tok, "%X", &NumberData);
logDebug("NumberData : %d", NumberData);
CONSOLE_BRIDGE_logDebug("NumberData : %d", NumberData);

if (type == 0)
{
Expand Down Expand Up @@ -392,7 +392,7 @@ void LMS1xx::parseScanData(char* buffer, scanData* data)
tok = strtok(NULL, " "); //NumberChannels8Bit
int NumberChannels8Bit;
sscanf(tok, "%d", &NumberChannels8Bit);
logDebug("NumberChannels8Bit : %d\n", NumberChannels8Bit);
CONSOLE_BRIDGE_logDebug("NumberChannels8Bit : %d\n", NumberChannels8Bit);

for (int i = 0; i < NumberChannels8Bit; i++)
{
Expand Down Expand Up @@ -423,7 +423,7 @@ void LMS1xx::parseScanData(char* buffer, scanData* data)
tok = strtok(NULL, " "); //NumberData
int NumberData;
sscanf(tok, "%X", &NumberData);
logDebug("NumberData : %d\n", NumberData);
CONSOLE_BRIDGE_logDebug("NumberData : %d\n", NumberData);

if (type == 0)
{
Expand Down Expand Up @@ -477,9 +477,9 @@ void LMS1xx::saveConfig()
int len = read(socket_fd_, buf, 100);

if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);
}

void LMS1xx::startDevice()
Expand All @@ -492,7 +492,7 @@ void LMS1xx::startDevice()
int len = read(socket_fd_, buf, 100);

if (buf[0] != 0x02)
logWarn("invalid packet recieved");
CONSOLE_BRIDGE_logWarn("invalid packet recieved");
buf[len] = 0;
logDebug("RX: %s", buf);
CONSOLE_BRIDGE_logDebug("RX: %s", buf);
}