int hokuyo_init(HokuyoURG* urg){
if (urg->fd<=0){
return -1;
}
#ifdef HOKUYO_ALWAYS_IN_SCIP20
fprintf(stderr, "\nAssuming laser is already in SCIP2.0 mode!\n");
fprintf(stderr, " (if the dirver hangs, either your Hokuyo has the old\n");
fprintf(stderr, " firmware or you have to disable -DHOKUYO_ALWAYS_IN_SCIP20\n");
fprintf(stderr, " in the Makefile of the laser driver)\n");
urg->isContinuous=0;
urg->isProtocol2=1;
#else
// stop the device anyhow
fprintf(stderr, "Stopping the device... ");
wcm(HK_QUIT);
wcm(HK_QUIT);
wcm(HK_QUIT);
fprintf(stderr, "done\n");
urg->isContinuous=0;
// put the urg in SCIP2.0 Mode
fprintf(stderr, "Switching to enhanced mode (SCIP2.0)... ");
fprintf(stderr, " (if the dirver hangs you probably configured your Hokuyo\n");
fprintf(stderr, " so that SCIP is alwas on. IN this case, enable the Option\n");
fprintf(stderr, " CFLAGS += -DHOKUYO_ALWAYS_IN_SCIP20\n");
fprintf(stderr, " in the Makefile of the laser driver)\n");
int status=hokuyo_readStatus(urg, HK_SCIP);
if (status==0){
fprintf(stderr, "\nSwitching to SCIP 2.0 was successful!\n");
urg->isProtocol2=1;
} else {
fprintf(stderr, "Error. Unable to switch to SCIP2.0 Mode, please upgrade the firmware of your device.\n");
return -1;
}
#endif
fprintf(stderr, "Device initialized successfully\n");
urg->isInitialized=1;
return 1;
}
void WindowWin32::Initialize()
{
HINSTANCE hInstance = Win32::GetAppInstance();
WinClassMaker wcm(hInstance, MY_WNDCLS_NAME, WndProc);
wcm.Register();
WinMaker wm(hInstance, MY_WNDCLS_NAME);
wm.SetSize(m_iWidth, m_iHeight);
m_hWnd = wm.Create(m_sTitle.c_str(), this);
// init renderer
if (GetRenderer().get())
GetRenderer()->Initialize(this);
}
void Button::createMe(HWND hParent)
{
Component::createMe(hParent);
HINSTANCE hInst = Global::getHINSTANCE();
WinClassMaker wcm(hInst, "UxButton", ButtonWndProc);
wcm.registerMe();
ChildWinMaker wm(hInst, "UxButton");
wm.setPos(x_, y_);
wm.setSize(bitmaps_[ST_NORMAL].width(), bitmaps_[ST_NORMAL].height());
hWnd_ = wm.create(hParent, this);
::ShowWindow(hWnd_, SW_SHOWNORMAL);
::UpdateWindow(hWnd_);
}
