BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- unnecessary debug print removed.

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zerom
2017-07-11 14:42:15 +09:00
parent ac3dc6d9eb
commit ef1c16664a
1 changed files with 8 additions and 11 deletions
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19
robotis_controller/src/robotis_controller/robotis_controller.cpp
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@@ -1469,9 +1469,11 @@ void RobotisController::removeSensorModule(SensorModule *module)
void RobotisController::writeControlTableCallback(const robotis_controller_msgs::WriteControlTable::ConstPtr &msg)
{
fprintf(stderr, "[WriteControlTable] led control msg received\n");
Device *device = NULL;
if (DEBUG_PRINT)
fprintf(stderr, "[WriteControlTable] led control msg received\n");
auto dev_it1 = robot_->dxls_.find(msg->joint_name);
if(dev_it1 != robot_->dxls_.end())
{
@@ -1490,7 +1492,7 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
return;
}
}
fprintf(stderr, " #1 ");
ControlTableItem *item = NULL;
auto item_it = device->ctrl_table_.find(msg->start_item_name);
if(item_it != device->ctrl_table_.end())
@@ -1503,7 +1505,6 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
return;
}
fprintf(stderr, " #2 ");
dynamixel::PortHandler *port = robot_->ports_[device->port_name_];
dynamixel::PacketHandler *packet_handler = dynamixel::PacketHandler::getPacketHandler(device->protocol_version_);
@@ -1512,17 +1513,13 @@ void RobotisController::writeControlTableCallback(const robotis_controller_msgs:
queue_mutex_.lock();
direct_sync_write_.push_back(new dynamixel::GroupSyncWrite(port, packet_handler, item->address_, msg->data_length));
fprintf(stderr, " #3 \n");
direct_sync_write_[direct_sync_write_.size() - 1]->addParam(device->id_, (uint8_t *)(msg->data.data()));
fprintf(stderr, "[WriteControlTable] %s -> %s : ", msg->joint_name.c_str(), msg->start_item_name.c_str());
for (auto &dt : msg->data)
fprintf(stderr, "%02X ", dt);
fprintf(stderr, "\n");
// fprintf(stderr, "[WriteControlTable] %s -> %s : ", msg->joint_name.c_str(), msg->start_item_name.c_str());
// for (auto &dt : msg->data)
// fprintf(stderr, "%02X ", dt);
// fprintf(stderr, "\n");
queue_mutex_.unlock();