Risolto problema in libURcom

package lenght mismatch per il pacchetto tipo 8 AdditionalInfo,
aggiunto uchar foo alla fine per far sparire l'errore.. chi sa perchè?

RoboGlue.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.8.2, 2019-07-10T11:42:03. -->
+<!-- Written by QtCreator 4.8.2, 2019-10-23T17:47:47. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

com/roboglue_com.cpp

@@ -5,7 +5,7 @@ RoboGlue_COM::RoboGlue_COM (RoboGlue_SHARED *mem): m(mem) {
     //////// SETUP LOGGER //////////
     liblog = spdlog::stdout_logger_mt("URcom_liblog");
     modlog = spdlog::stdout_logger_mt("RoboGlue_comlog");
-    liblog->set_level(spdlog::level::info);
+    liblog->set_level(spdlog::level::debug);
     modlog->set_level(spdlog::level::debug);
 
     ///////// INITIALIZE TCP SERVER ///////////

gui/roboglue_gui.cpp

@@ -196,6 +196,7 @@ void RoboGlue_GUI::on_btn_record_clicked() {
         param["metadata"] = metadata;
         ui->btn_play->setEnabled(false);
         ui->btn_realtime->setEnabled(false);
+        ui->btn_home->setEnabled(false);
         disableLockAxes();
     } else {
         m->commonStatus.isRecording = false;
@@ -203,6 +204,7 @@ void RoboGlue_GUI::on_btn_record_clicked() {
         param["action"]="stop";
         ui->btn_play->setEnabled(true);
         ui->btn_realtime->setEnabled(true);
+        ui->btn_home->setEnabled(true);
         enableLockAxes();
     }
     emit m->commonStatusChange();
@@ -223,6 +225,7 @@ void RoboGlue_GUI::on_btn_play_clicked() {
         param["lock"] = getLockAxes();
         ui->btn_record->setEnabled(false);
         ui->btn_realtime->setEnabled(false);
+        ui->btn_home->setEnabled(false);
         ui->btn_play->setText("Stop");
         ui->txt_fileName->setEnabled(false);
         disableLockAxes();
@@ -232,6 +235,7 @@ void RoboGlue_GUI::on_btn_play_clicked() {
         param["action"] = "stop";
         ui->btn_record->setEnabled(true);
         ui->btn_realtime->setEnabled(true);
+        ui->btn_home->setEnabled(true);
         ui->btn_play->setText("Play");
         ui->txt_fileName->setEnabled(true);
         enableLockAxes();
@@ -254,6 +258,7 @@ void RoboGlue_GUI::on_btn_open_clicked() {
         param["metadata"] = metadata;
         ui->btn_record->setEnabled(false);
         ui->btn_realtime->setEnabled(false);
+        ui->btn_home->setEnabled(false);
         ui->btn_open->setText("Close");
         ui->txt_fileName->setEnabled(false);
     } else {
@@ -262,6 +267,7 @@ void RoboGlue_GUI::on_btn_open_clicked() {
         param["action"] = "close";
         ui->btn_record->setEnabled(true);
         ui->btn_realtime->setEnabled(true);
+        ui->btn_home->setEnabled(true);
         ui->btn_open->setText("Open");
         ui->txt_fileName->setEnabled(true);
     }
@@ -295,6 +301,16 @@ void RoboGlue_GUI::on_btn_realtime_clicked() {
     emit m->commonStatusChange();
     emit sendROScommand("REALTIME", param);
 }
+
+void RoboGlue_GUI::on_btn_home_clicked() {
+    QVariantMap param;
+    modlog->debug("robotHome");
+    param["action"] = "start";
+    param["execute"] = ui->chk_execute->isChecked();
+    emit m->commonStatusChange();
+    emit sendROScommand("HOME", param);
+}
+
 ////////////////////////////////////////////////
 ////////END INTERNAL PRIVATE SLOTS//////////////
 ////////////////////////////////////////////////
@@ -339,5 +355,4 @@ void RoboGlue_GUI::on_newRobotData() {
 ////////////////////////////////////////////////
 //////// END EXTERNAL PUBLIC SLOTS /////////////
 ////////////////////////////////////////////////
-
+///
-

gui/roboglue_gui.h

@@ -39,6 +39,7 @@
  * 20190322 - Modifica dei nomi segnali tra questo modulo e com.
  * 20190402 - Aggiunte due spinbox per il settaggio di delta tempo e delta spazio da salvare nel
  *              file dei metadati per la pianificazione dei persorsi salvati
+ * 20191023 - Spostati i commenti in GIT
 */
 
 #include <QMainWindow>
@@ -91,7 +92,7 @@ private slots:
     void on_btn_record_clicked();
     void on_btn_play_clicked();
     void on_btn_realtime_clicked();
-
+    void on_btn_home_clicked();
     void on_btn_open_clicked();
 
 signals:

gui/roboglue_gui.ui

@@ -6,8 +6,8 @@
    <rect>
     <x>0</x>
     <y>0</y>
-    <width>945</width>
+    <width>1108</width>
-    <height>750</height>
+    <height>760</height>
    </rect>
   </property>
   <property name="mouseTracking">
@@ -17,7 +17,7 @@
    <string>MainWindow</string>
   </property>
   <widget class="QWidget" name="centralwidget">
-   <layout class="QVBoxLayout" name="verticalLayout_4">
+   <layout class="QVBoxLayout" name="verticalLayout_5">
     <item>
      <widget class="QTabWidget" name="tab_mainWindow">
       <property name="currentIndex">
@@ -1050,36 +1050,9 @@
           </item>
           <item>
            <layout class="QHBoxLayout" name="horizontalLayout_5">
-            <item>
-             <widget class="QPushButton" name="btn_realtime">
-              <property name="text">
-               <string>RealTime</string>
-              </property>
-             </widget>
-            </item>
-            <item>
-             <spacer name="horizontalSpacer_3">
-              <property name="orientation">
-               <enum>Qt::Horizontal</enum>
-              </property>
-              <property name="sizeHint" stdset="0">
-               <size>
-                <width>40</width>
-                <height>20</height>
-               </size>
-              </property>
-             </spacer>
-            </item>
-            <item>
-             <widget class="QLabel" name="label_17">
-              <property name="text">
-               <string>MODE:</string>
-              </property>
-             </widget>
-            </item>
             <item>
              <layout class="QGridLayout" name="gridLayout_3">
-              <item row="0" column="0">
+              <item row="0" column="1">
                <widget class="QRadioButton" name="rad_pos">
                 <property name="text">
                  <string>POS</string>
@@ -1092,7 +1065,7 @@
                 </attribute>
                </widget>
               </item>
-              <item row="1" column="0">
+              <item row="1" column="1">
                <widget class="QRadioButton" name="rad_vel">
                 <property name="text">
                  <string>VEL</string>
@@ -1102,6 +1075,59 @@
                 </attribute>
                </widget>
               </item>
+              <item row="0" column="0" rowspan="2">
+               <layout class="QVBoxLayout" name="verticalLayout_4">
+                <item>
+                 <layout class="QHBoxLayout" name="horizontalLayout_7">
+                  <item>
+                   <widget class="QPushButton" name="btn_realtime">
+                    <property name="text">
+                     <string>RealTime</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <spacer name="horizontalSpacer_3">
+                    <property name="orientation">
+                     <enum>Qt::Horizontal</enum>
+                    </property>
+                    <property name="sizeHint" stdset="0">
+                     <size>
+                      <width>40</width>
+                      <height>20</height>
+                     </size>
+                    </property>
+                   </spacer>
+                  </item>
+                  <item>
+                   <widget class="QLabel" name="label_17">
+                    <property name="text">
+                     <string>MODE:</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+                <item>
+                 <layout class="QHBoxLayout" name="horizontalLayout_8">
+                  <item>
+                   <widget class="QPushButton" name="btn_home">
+                    <property name="text">
+                     <string>GoHOME</string>
+                    </property>
+                   </widget>
+                  </item>
+                  <item>
+                   <widget class="QCheckBox" name="chk_execute">
+                    <property name="text">
+                     <string>Execute</string>
+                    </property>
+                   </widget>
+                  </item>
+                 </layout>
+                </item>
+               </layout>
+              </item>
              </layout>
             </item>
             <item>
@@ -1290,7 +1316,7 @@
     <rect>
      <x>0</x>
      <y>0</y>
-     <width>945</width>
+     <width>1108</width>
      <height>22</height>
     </rect>
    </property>
@@ -1313,11 +1339,11 @@
  <connections/>
  <buttongroups>
   <buttongroup name="grp_mod"/>
-  <buttongroup name="grp_hilo"/>
   <buttongroup name="gpr_lock">
    <property name="exclusive">
     <bool>false</bool>
    </property>
   </buttongroup>
+  <buttongroup name="grp_hilo"/>
  </buttongroups>
 </ui>

libURcom/URCLinterface.cpp

@@ -51,7 +51,7 @@ bool UR_CLinterface::connect(const char* ip, uint16_t port) {
 	try {
 		rsocket->connect(
 				tcp::endpoint(boost::asio::ip::address::from_string(ip), port));
-		if ((bool) rsocket->is_open()) {
+        if (static_cast<bool>(rsocket->is_open())) {
 			log->info("Connected to {0} on port {1}", ip, port);
 			return true;
 		}
@@ -75,7 +75,7 @@ void UR_CLinterface::sendCommand(std::string command) {
 	char* dataOut=NULL;
 	if (rsocket->is_open()){
 		command = command + '\n';
-		dataOut = (char*)malloc(command.size());
+        dataOut = static_cast<char*>(malloc(command.size()));
 		strncpy(dataOut, command.c_str(), command.size());
 		log->debug("Sending: {}, s:{}",dataOut,command.size());
 		boost::asio::write(*rsocket, boost::asio::buffer(dataOut, command.size()), error);
@@ -106,7 +106,7 @@ void UR_CLinterface::parseData(void){
 				subP = new versionSub(lastData, &clientData);
 				subP->parse();
 				firstMessage=false;
-				long t=(long)clientData.versonMessage.timestamp;
+                long t=static_cast<long>(clientData.versonMessage.timestamp);
                 std::string timestr=std::string(asctime(gmtime(&t)));
                 timestr.pop_back();
                 log->info("Connection Time: {}", timestr);
@@ -185,7 +185,7 @@ void UR_CLinterface::parseData(void){
 							subP = new toolModeSub(&lastData[currIndex], &clientData);
 							break;
 						case SAFETY_DATA:
-							//not yet implemented
+                            //TODO: not yet implemented
 							break;
 						default:
 							log->error("Unknown Subpackage: {}", subPackageType);
@@ -194,7 +194,7 @@ void UR_CLinterface::parseData(void){
 					if (subP != NULL) subP->parse();
 					currIndex+=subPackageSize;
 				} catch (long sizediff){
-					log->error("Package Length Mismatch: {}",sizediff);
+                    log->error("Package Length Mismatch: type_{:d}, diff_{:d}",subPackageType,sizediff);
 					currIndex+=subPackageSize;
 				}
 			}
@@ -225,7 +225,7 @@ void UR_CLinterface::readData(void) {
 			// all number are represented in network byte order, conversion required
 			packlen = ntohl(packlen);
 			// allocate memory for incoming package
-			lastData = (unsigned char*)malloc(packlen);
+            lastData = static_cast<unsigned char*>(malloc(packlen));
 			// blocking read of exactly packlen bytes
 			readata += boost::asio::read(*rsocket, receive_buffer,boost::asio::transfer_exactly(packlen), error);
 			//retreive all data from buffer

libURcom/clientMessage.cpp

@@ -366,6 +366,7 @@ namespace subpackage {
 		v->feedriveButtonPressed = this->getUChar(&dataIn);
 		v->feedriveButtonEnabled = this->getUChar(&dataIn);
 		v->ioEnableFeedrive = this->getUChar(&dataIn);
+        v->foo = this->getUChar(&dataIn);
 
 		// check if read data is aligned with package size
 		if (dataIn-begin != size) throw dataIn-begin-size;

libURcom/clientMessage.h

@@ -40,7 +40,7 @@ namespace subpackage {
 			robotModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~robotModeSub();
 
 			uint32_t parse();
@@ -51,7 +51,7 @@ namespace subpackage {
 			jointDataSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~jointDataSub();
 
 			uint32_t parse();
@@ -62,7 +62,7 @@ namespace subpackage {
 			cartesianInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~cartesianInfoSub();
 
 			uint32_t parse();
@@ -73,7 +73,7 @@ namespace subpackage {
 			masterBoardSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~masterBoardSub();
 
 			uint32_t parse();
@@ -84,7 +84,7 @@ namespace subpackage {
 			toolDataSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolDataSub();
 
 			uint32_t parse();
@@ -95,7 +95,7 @@ namespace subpackage {
 			kineInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~kineInfoSub();
 
 			uint32_t parse();
@@ -106,7 +106,7 @@ namespace subpackage {
 			configurationSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~configurationSub();
 
 			uint32_t parse();
@@ -117,7 +117,7 @@ namespace subpackage {
 			forceModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~forceModeSub();
 
 			uint32_t parse();
@@ -128,7 +128,7 @@ namespace subpackage {
 			additionalInfoSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~additionalInfoSub();
 
 			uint32_t parse();
@@ -139,7 +139,7 @@ namespace subpackage {
 			calibrationSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~calibrationSub();
 
 			uint32_t parse();
@@ -150,7 +150,7 @@ namespace subpackage {
 			toolComSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolComSub();
 
 			uint32_t parse();
@@ -161,7 +161,7 @@ namespace subpackage {
 			toolModeSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
 				dataOut=dout;
-			};
+            }
 			virtual ~toolModeSub();
 
 			uint32_t parse();
@@ -171,7 +171,8 @@ namespace subpackage {
 		public:
 			versionSub(unsigned char* din, clientData_t* dout) {
 				dataIn=din;
-				dataOut=dout; };
+                dataOut=dout;
+            }
 			virtual ~versionSub();
 
 			uint32_t parse();

libURcom/packagetypes.h

@@ -273,6 +273,7 @@ typedef struct {
 	unsigned char feedriveButtonPressed;
 	unsigned char feedriveButtonEnabled;
 	unsigned char ioEnableFeedrive;
+    unsigned char foo;
 } additionalInfo_t;
 
 typedef struct {

roboglue.conf

@@ -12,30 +12,30 @@ connection\autoconnect=false
 connection\robotip=10.0.0.5
 connection\robotport=30002
 connection\robotretry=5
-kine\dhtable\1\dha=0
+kine\dhtable\1\dha=6.94460589082162e-310
-kine\dhtable\1\dhalpha=0
+kine\dhtable\1\dhalpha=6.9446058912971e-310
-kine\dhtable\1\dhd=0
+kine\dhtable\1\dhd=1.099340831232476e+248
-kine\dhtable\1\dhtheta=0
+kine\dhtable\1\dhtheta=1.332e-320
 kine\dhtable\2\dha=0
-kine\dhtable\2\dhalpha=0
+kine\dhtable\2\dhalpha=6.9446058912884e-310
-kine\dhtable\2\dhd=0
+kine\dhtable\2\dhd=1.3849777432376169e+219
-kine\dhtable\2\dhtheta=0
+kine\dhtable\2\dhtheta=6.9446058913382e-310
 kine\dhtable\3\dha=0
-kine\dhtable\3\dhalpha=0
+kine\dhtable\3\dhalpha=5.53e-322
-kine\dhtable\3\dhd=0
+kine\dhtable\3\dhd=2.44861994589e-312
-kine\dhtable\3\dhtheta=0
+kine\dhtable\3\dhtheta=8e-323
-kine\dhtable\4\dha=0
+kine\dhtable\4\dha=2.37e-322
-kine\dhtable\4\dhalpha=0
+kine\dhtable\4\dhalpha=2.37e-322
 kine\dhtable\4\dhd=0
 kine\dhtable\4\dhtheta=0
-kine\dhtable\5\dha=0
+kine\dhtable\5\dha=2.57e-322
-kine\dhtable\5\dhalpha=0
+kine\dhtable\5\dhalpha=2.57e-322
-kine\dhtable\5\dhd=0
+kine\dhtable\5\dhd=2.06e-321
-kine\dhtable\5\dhtheta=0
+kine\dhtable\5\dhtheta=8.74e-322
-kine\dhtable\6\dha=0
+kine\dhtable\6\dha=6.9446058915066e-310
-kine\dhtable\6\dhalpha=0
+kine\dhtable\6\dhalpha=6.9446058913493e-310
-kine\dhtable\6\dhd=0
+kine\dhtable\6\dhd=6.94460589137854e-310
-kine\dhtable\6\dhtheta=0
+kine\dhtable\6\dhtheta=6.94460589137854e-310
 kine\dhtable\size=6
 kine\maxreach=@Variant(\0\0\0\x87?\x99\x99\x9a)
 kine\prefix=0