Changes between Initial Version and Version 1 of Libbarrett/ChangeLog


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Timestamp:
May 14, 2012, 6:53:43 PM (10 years ago)
Author:
dc
Comment:

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  • Libbarrett/ChangeLog

    v1 v1  
     1= Libbarrett change log =
     2
     3== Version 1.0.0 ==
     4
     5Recent changes:
     6  * Changed the following functions and constants to measure time in seconds:
     7    * log::RealTimeWriter::RealTimeWriter()
     8    * Hand::waitUntilDoneMoving()
     9    * Puck::tryGetProperty()
     10    * Puck::WAKE_UP_TIME
     11    * Puck::TURN_OFF_TIME
     12    * SafetyModule::waitForMode()
     13    * SafetyModule::waitForModeChange()
     14  * Removed the non-static overloads for Puck::tryGetProperty()
     15  * Updated Hand API
     16  * Improved support for controlling two WAM systems from one PCI CAN card
     17  * Renamed the "kinematics.world" config setting to "kinematics.world_to_base"
     18  * Changed how configuration files access calibration information
     19  * Updated the bt-wam-zerocal program
     20  * Updated the bt-wam-gravitycal program
     21  * Added wamdiscover utility to help identify WAMs and WAM-PCs on the local network
     22  * Added a "make install" target to install the library to system directories
     23  * Introduced a system for gracefully updating and installing configuration files (run: "make install_config")
     24  * Added cmake option "-DWITH_PYTHON=ON" to build shared library with python bindings
     25  * Added python bindings for the Puck class
     26  * Added python bindings for the barrett::bus namespace
     27  * Added auto-recovery features that reduce the number of failures on start-up due to CANbus errors
     28  * Added a method for reading the state of a WAM's Display and Control Pendants (SafetyModule firmware versions >=197)
     29  * Added the ability to Shift-idle or E-stop a WAM via software (SafetyModule firmware versions >=197)
     30  * Added barrett/os.h to wrap Operating System facilities, like syslog() and usleep()
     31  * Added accessor methods to systems::HapticBall and systems::HapticBox
     32  * Added a new class called "barrett::systems::RateLimiter"
     33  * Corrected the scale-factor for FTS accelerometer readings
     34  * Fixed a bug that prevented multiple systems::RealTimeExecutionManager's from running real time loops concurrently
     35  * Fixed a bug in systems::Wam::getJointVelocities()
     36  * Fixed a bug in systems::Wam::moveHome(bool, double, double)
     37 
     38Known issues:
     39  * The installed shared library is not in Python's module search path
     40  * The CANbus auto-recover feature causes a one-time kernel assertion failure. (This is believed to be an issue with Xenomai 2.5.5.2.)
     41  * The wamdiscover utility requires Python >=2.7, or separate installation of argparse module
     42  * The bus::CommunicationsBus::getMutex() method does not have a python binding