Fixed

Author: ConstantRobotics

3rdparty/ConfigReader

@@ -23,15 +23,27 @@ else()
     SET(REWRITE_FORCE "")
 endif()
 
+# Set default Release mode if not specified
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release CACHE STRING "Build type defaulting to Release" FORCE)
+endif()
+
 
 
 ################################################################################
 ## CONFIGURATION
 ## project configuration
 ################################################################################
 SET(${PARENT}_PAN_TILT                       ON  CACHE BOOL "" ${REWRITE_FORCE})
-SET(${PARENT}_PAN_TILT_TEST                  ON  CACHE BOOL "" ${REWRITE_FORCE})
-SET(${PARENT}_PAN_TILT_EXAMPLE               ON  CACHE BOOL "" ${REWRITE_FORCE})
+if(NOT CMAKE_CURRENT_SOURCE_DIR STREQUAL CMAKE_SOURCE_DIR)
+    SET(${PARENT}_PAN_TILT_TEST              OFF CACHE BOOL "" ${REWRITE_FORCE})
+    SET(${PARENT}_PAN_TILT_EXAMPLE           OFF CACHE BOOL "" ${REWRITE_FORCE})
+    message("${PROJECT_NAME} included as subrepository.")
+else()
+    SET(${PARENT}_PAN_TILT_TEST              ON  CACHE BOOL "" ${REWRITE_FORCE})
+    SET(${PARENT}_PAN_TILT_EXAMPLE           ON  CACHE BOOL "" ${REWRITE_FORCE})
+    message("${PROJECT_NAME} is a standalone project.")
+endif()
 
 
 
@@ -40,8 +52,8 @@ SET(${PARENT}_PAN_TILT_EXAMPLE               ON  CACHE BOOL "" ${REWRITE_FORCE})
 ## Adding subdirectories according to the project configuration
 ################################################################################
 if (${PARENT}_PAN_TILT)
-    add_subdirectory(src)
     add_subdirectory(3rdparty)
+    add_subdirectory(src)
 endif()
 
 if (${PARENT}_PAN_TILT_TEST)

CMakeLists.txt

@@ -26,7 +26,7 @@ std::string cr::pantilt::CustomPanTilt::getVersion()
 bool cr::pantilt::CustomPanTilt::openPanTilt(std::string initString)
 {
 	// Set connection flags.
-	m_params.isInitialized = true;
+	m_params.isOpen = true;
 	m_params.isConnected = true;
 
 	return true;
@@ -40,7 +40,7 @@ bool cr::pantilt::CustomPanTilt::initPanTilt(PanTiltParams& params)
 	m_params = params;
 
 	// Set connection flags.
-	m_params.isInitialized = true;
+	m_params.isOpen = true;
 	m_params.isConnected = true;
 
 	return true;
@@ -51,14 +51,14 @@ bool cr::pantilt::CustomPanTilt::initPanTilt(PanTiltParams& params)
 void cr::pantilt::CustomPanTilt::closePanTilt()
 {
 	m_params.isConnected = false;
-	m_params.isInitialized = false;
+	m_params.isOpen = false;
 }
 
 
 
 bool cr::pantilt::CustomPanTilt::isPanTiltOpen()
 {
-	return m_params.isInitialized;
+	return m_params.isOpen;
 }
 
 
@@ -137,16 +137,6 @@ bool cr::pantilt::CustomPanTilt::setParam(PanTiltParam id, float value)
 		m_params.tiltMotorSpeed = value;
 		return true;
 	}
-	case PanTiltParam::IS_CONNECTED:
-	{
-		// Read only.
-		return false;
-	}
-	case PanTiltParam::IS_INITIALIZED:
-	{
-		// Read only.
-		return false;
-	}
 	case PanTiltParam::CUSTOM_1:
 	{
 		// Custom parameter.
@@ -204,9 +194,9 @@ float cr::pantilt::CustomPanTilt::getParam(PanTiltParam id)
 	{
 		return m_params.isConnected ? 1.0f : 0.0f;
 	}
-	case PanTiltParam::IS_INITIALIZED:
+	case PanTiltParam::IS_OPEN:
 	{
-		return m_params.isInitialized ? 1.0f : 0.0f;
+		return m_params.isOpen ? 1.0f : 0.0f;
 	}
 	case PanTiltParam::CUSTOM_1:
 	{
@@ -293,23 +283,15 @@ bool cr::pantilt::CustomPanTilt::decodeAndExecuteCommand(uint8_t* data, int size
 	// Decode command.
 	PanTiltCommand commandId = PanTiltCommand::GO_TO_PAN_POSITION;
 	PanTiltParam paramId = PanTiltParam::PAN_MOTOR_POSITION;
-	float value = 0.0f;
-	switch (PanTilt::decodeCommand(data, size, paramId, commandId, value))
-	{
-		// COMMAND.
-	case 0:
-		// Execute command.
-		return executeCommand(commandId);
-		// SET_PARAM.
-	case 1:
-	{
-		// Set param.
-		return setParam(paramId, value);
-	}
-	default:
-	{
-		return false;
-	}
+	float value1 = 0.0f;
+    float value2 = 0.0f;
+	switch (PanTilt::decodeCommand(data, size, paramId, commandId, value1, value2))
+	{
+	// COMMAND.
+	case 0: return executeCommand(commandId, value1, value2);
+	// SET_PARAM.
+	case 1: return setParam(paramId, value1);
+	default: return false;
 	}
 
 	return false;

PanTilt_interface_C++_library_v1.0.3.pdf

@@ -91,16 +91,15 @@ class CustomPanTilt : public PanTilt
      * @param arg2 The argument value used by the command.
      * @return TRUE if the command was executed successfully, FALSE otherwise.
      */
-    bool executeCommand(PanTiltCommand id,
-                                float arg1 = 0.0f, float arg2 = 0.0f) override;
+    bool executeCommand(PanTiltCommand id, float arg1 = 0.0f, float arg2 = 0.0f) override;
 
     /**
      * @brief Decode and execute command.
      * @param data Pointer to command data.
      * @param size Size of data.
      * @return 0 - command decoded, 1 - set param command decoded, -1 - error.
      */
-    bool decodeAndExecuteCommand(uint8_t* data, int size);
+    bool decodeAndExecuteCommand(uint8_t* data, int size) override;
 
 private:
 

README.md

@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.13)
 ## INTERFACE-PROJECT
 ## name and version
 ###############################################################################
-project(PanTilt VERSION 1.0.2 LANGUAGES CXX)
+project(PanTilt VERSION 1.1.0 LANGUAGES CXX)