[Rock-dev] rock-drivers/hokuyo for UST-20LX

[Leif Christensen]

> The UST Protocol states, that it is designed to be compatible
> with the UTM-30-LX-EW. Therefor the EW branch looks like
> a good starting point.
>
> I took a short look at the EW branch. If I didn't miss something,
> the branch should also be compatible with the LX series.

After finally getting my prettyprint for std types working in gdb, I
found the rather simple reason, why our code did not work for the UST-20LX.

We are checking for the STAT field, and the UST-20LX returns a slightly
different answer than the others:

> $2 = std::map with 19 elements = {["AFRT"] = "540", ["AMAX"] = "1080", ["AMIN"] = "0", 
>   ["ARES"] = "1440", ["DMAX"] = "60000", ["DMIN"] = "20", ["FIRM"] = "2.17.0000", ["LASR"] = "ON", 
>   ["MESM"] = "Measuring by Sensitive Mode", ["MODL"] = "UST-20LX", ["PROD"] = "UST-20LX", 
>   ["PROT"] = "SCIP 2.2", ["SBPS"] = "Ethernet 100[Mbps]", ["SCAN"] = "2400", ["SCSP"] = "2400", 
>   ["SERI"] = "H1404404", ["STAT"] = "sensor is working normally", ["TIME"] = "RKk4", 
>   ["VEND"] = "Hokuyo Automatic Co., Ltd."}

"sensor is working normally" instead of "Stable 000 no error." or
"Sensor works well."

Oh my, nice protocol design. Nonetheless, the UST-20LX is working now
with the UTM-30-LX_compatible branch.

Leif



-- 
 Leif Christensen

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