Merge branch 'master' of github.com:MagnaboscoL/rtt_soem

Conflicts: soem_master/soem_master_component.cpp soem_master/soem_master_component.h soem_master/soem_master_types.hpp
MagnaboscoL · Oct 20, 2016 · 9970b65 · 9970b65
2 parents 40615fa + ee637f7
commit 9970b65
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diff --git a/soem_master/soem_master_component.cpp b/soem_master/soem_master_component.cpp
@@ -64,28 +64,13 @@ SoemMasterComponent::SoemMasterComponent(const std::string& name) :
     this->addOperation("readCoeSdo", &SoemMasterComponent::readCoeSdo,this).doc(
 	    "send a CoE SDO read (blocking: not to be done while slaves are in OP)");
 
-    //RTT::types::Types()->addType(new types::EnumTypeInfo<ec_state>("ec_state"));
-
     RTT::types::GlobalsRepository::shared_ptr globals = RTT::types::GlobalsRepository::Instance();
-
     globals->setValue( new Constant<ec_state>("EC_STATE_INIT",EC_STATE_INIT) );
     globals->setValue( new Constant<ec_state>("EC_STATE_PRE_OP",EC_STATE_PRE_OP) );
     globals->setValue( new Constant<ec_state>("EC_STATE_SAFE_OP",EC_STATE_SAFE_OP) );
     globals->setValue( new Constant<ec_state>("EC_STATE_OPERATIONAL",EC_STATE_OPERATIONAL) );
     globals->setValue( new Constant<ec_state>("EC_STATE_BOOT",EC_STATE_BOOT) );
 
- //AssignableDataSource<ec_state>::shared_ptr init ;
- //AssignableDataSource<ec_state>::shared_ptr preop ;
- //AssignableDataSource<ec_state>::shared_ptr boot ;
- //AssignableDataSource<ec_state>::shared_ptr safeop ;
- //AssignableDataSource<ec_state>::shared_ptr op ;
-
- //       init = new ValueDataSource<ec_state>( EC_STATE_INIT );
- //       preop = new ValueDataSource<ec_state>( EC_STATE_PRE_OP );
- //       boot = new ValueDataSource<ec_state>( EC_STATE_SAFE_OP );
- //       safeop = new ValueDataSource<ec_state>( EC_STATE_OPERATIONAL );
- //       op = new ValueDataSource<ec_state>( EC_STATE_BOOT );
-
     RTT::types::Types()->addType(new ec_stateTypeInfo());
     RTT::types::Types()->addType(new parameterTypeInfo());
     RTT::types::Types()->addType(new types::SequenceTypeInfo< std::vector<rtt_soem::Parameter> >("std.vector<Parameter>"));

diff --git a/soem_master/soem_master_types.hpp b/soem_master/soem_master_types.hpp
@@ -26,16 +26,13 @@
 #include <rtt/types/StructTypeInfo.hpp>
 #include <rtt/types/SequenceTypeInfo.hpp>
 #include <rtt/typekit/StdTypeInfo.hpp>
-#include <rtt/types/EnumTypeInfo.hpp>
 #include <rtt/types/GlobalsRepository.hpp>
-#include <rtt/internal/DataSources.hpp>
 
 extern "C"
 {
 #include "ethercattype.h"
 }
 
-
 namespace rtt_soem {
 /** The structure that contains the information to be sent for each CoE SDO */
 struct Parameter