C++ (Cpp) FalconDevice::isFirmwareLoaded Examples

Example #1

File: joystick.cpp Project: jcorredorc/ros_falcon

bool init_falcon(int NoFalcon) 

{
    cout << "Setting up LibUSB" << endl;
    m_falconDevice.setFalconFirmware<FalconFirmwareNovintSDK>(); //Set Firmware
    m_falconDevice.setFalconGrip<FalconGripFourButton>(); //Set Grip
    if(!m_falconDevice.open(NoFalcon)) //Open falcon @ index
    {
        cout << "Failed to find falcon" << endl;
        return false;
    }
    else
    {
        cout << "Falcon Found" << endl;
    }

    //There's only one kind of firmware right now, so automatically set that.
    m_falconDevice.setFalconFirmware<FalconFirmwareNovintSDK>();
    //Next load the firmware to the device

    bool skip_checksum = false;
    //See if we have firmware
    bool firmware_loaded = false;
    firmware_loaded = m_falconDevice.isFirmwareLoaded();
    if(!firmware_loaded)
    {
        cout << "Loading firmware" << endl;
        uint8_t* firmware_block;
        long firmware_size;
        {

            firmware_block = const_cast<uint8_t*>(NOVINT_FALCON_NVENT_FIRMWARE);
            firmware_size = NOVINT_FALCON_NVENT_FIRMWARE_SIZE;


            for(int i = 0; i < 20; ++i)
            {
                if(!m_falconDevice.getFalconFirmware()->loadFirmware(skip_checksum, NOVINT_FALCON_NVENT_FIRMWARE_SIZE, const_cast<uint8_t*>(NOVINT_FALCON_NVENT_FIRMWARE)))

                {
                    cout << "Firmware loading try failed" <<endl;
                }
                else
                {
                    firmware_loaded = true;
                    break;
                }
            }
        }
    }
    else if(!firmware_loaded)
    {
        cout << "No firmware loaded to device, and no firmware specified to load (--nvent_firmware, --test_firmware, etc...). Cannot continue" << endl;
        return false;
    }
    if(!firmware_loaded || !m_falconDevice.isFirmwareLoaded())
    {
        cout << "No firmware loaded to device, cannot continue" << endl;
        return false;
    }
    cout << "Firmware loaded" << endl;

    m_falconDevice.getFalconFirmware()->setHomingMode(true); //Set homing mode (keep track of encoders !needed!)
    cout << "Homing Set" << endl;
    std::array<int, 3> forces;
    //m_falconDevice.getFalconFirmware()->setForces(forces);
    m_falconDevice.runIOLoop(); //read in data

    bool stop = false;
    bool homing = false;
    bool homing_reset = false;
    usleep(100000);
    int tryLoad = 0;
    while(!stop) //&& tryLoad < 100)
    {
        if(!m_falconDevice.runIOLoop()) continue;
        if(!m_falconDevice.getFalconFirmware()->isHomed())
        {
            if(!homing)
            {
                m_falconDevice.getFalconFirmware()->setLEDStatus(libnifalcon::FalconFirmware::RED_LED);
                cout << "Falcon not currently homed. Move control all the way out then push straight all the way in." << endl;

            }
            homing = true;
        }

        if(homing && m_falconDevice.getFalconFirmware()->isHomed())
        {
            m_falconDevice.getFalconFirmware()->setLEDStatus(libnifalcon::FalconFirmware::BLUE_LED);
            cout << "Falcon homed." << endl;
            homing_reset = true;
            stop = true;
        }
        tryLoad++;
    }
    /*if(tryLoad >= 100)
    {
        return false;
    }*/

    m_falconDevice.runIOLoop();
    return true;
}

Example #2

File: findfalcons.cpp Project: radarsat1/libnifalcon

void runFalconTest()
{
	boost::shared_ptr<FalconFirmware> f;
	FalconKinematic* k;
	double position[3];
	int8_t num_falcons = 0;
	int status, i;
	unsigned int count;
	unsigned int error_count = 0;
	unsigned int loop_count = 0;
	FalconDevice dev;

#if defined(LIBUSB)
	std::cout << "Running libusb test" << std::endl;
	dev.setFalconComm<FalconCommLibUSB>();
#elif defined(LIBFTDI)
	std::cout << "Running libftdi test" << std::endl;
	dev.setFalconComm<FalconCommLibFTDI>();
#elif defined(LIBFTD2XX)
	std::cout << "Running ftd2xx test" << std::endl;
	dev.setFalconComm<FalconCommFTD2XX>();
#else
	std::cout << "No communication types built. Please rebuild libnifalcon and make sure comm libs are built." << std::endl;
	return 0;
#endif


	dev.setFalconFirmware<FalconFirmwareNovintSDK>();

	f = dev.getFalconFirmware();
	if(!dev.getDeviceCount(num_falcons))
	{
		std::cout << "Cannot get device count" << std::endl;
		return;
	}

	count = 0;

	std::cout << "Falcons found: " << (int)num_falcons << std::endl;

	if(num_falcons == 0)
	{
		std::cout << "No falcons found, exiting..." << std::endl;
		return;
	}

	std::cout << "Opening falcon" << std::endl;

	if(!dev.open(0))
	{
		std::cout << "Cannot open falcon - Error: " << std::endl; // << dev.getErrorCode() << std::endl;
		return;
	}
	std::cout << "Opened falcon" << std::endl;

	if(!dev.isFirmwareLoaded())
	{
		std::cout << "Loading firmware" << std::endl;
		for(int i = 0; i < 10; ++i)
		{
			if(!dev.getFalconFirmware()->loadFirmware(true, NOVINT_FALCON_NVENT_FIRMWARE_SIZE, const_cast<uint8_t*>(NOVINT_FALCON_NVENT_FIRMWARE)))
			{
				std::cout << "Could not load firmware" << std::endl;
				return;
			}
			else
			{
				std::cout <<"Firmware loaded" << std::endl;
				break;
			}
		}
		if(!dev.isFirmwareLoaded())
		{
			std::cout << "Firmware didn't load correctly. Try running findfalcons again" << std::endl;
			return;
		}
	}

	for(int j = 0; j < 3; ++j)
	{
		f->setLEDStatus(2 << (j % 3));
		for(int i = 0; i < 1000; )
		{
			if(dev.runIOLoop()) ++i;
			else continue;
			printf("Loops: %8d | Enc1: %5d | Enc2: %5d | Enc3: %5d \n", (j*1000)+i,  f->getEncoderValues()[0], f->getEncoderValues()[1], f->getEncoderValues()[2]);
			++count;
		}
	}
	f->setLEDStatus(0);
	dev.runIOLoop();
	dev.close();
}