[ros-users] C++ type conversion error
Tucker Hermans
thermans at cc.gatech.edu
Thu Jul 29 19:32:50 UTC 2010
Your PI definition shouldn't have the assignment operator:
#define PI = 3.14159265358979323846264338327950288419716
should be
#define PI 3.14159265358979323846264338327950288419716
-Tucker
On Thu, Jul 29, 2010 at 3:09 PM, ibwood <ianbenjiman at hotmail.com> wrote:
>
> Hi everyone,
>
> I was really close to successfully compiling a code of mine, when I ran
> into
> this error:
>
> "expected constructor, destructor, or type conversion before "=" token"
>
> in lines 126-129 (with ms1, ms2, ms3, ms4 assignments). What does it mean
> and how can I fix it?
>
>
> Here is the code:
>
>
> #define PI = 3.14159265358979323846264338327950288419716
>
> #include "ros/ros.h"
> #include "std_msgs/String.h"
>
> #include <sstream>
> #include <cmath>
> #include <iostream>
>
> #include <sys/ioctl.h>
> #include <sys/types.h>
> #include <sys/stat.h>
> #include <stdio.h>
> #include <limits.h>
> #include <string.h>
> #include <fcntl.h>
> #include <errno.h>
> #include <termios.h>
> #include <unistd.h>
>
> using namespace std;
>
> const double r=0.125, R=0.55, ratio=127; // initialize constants
>
> int main(int argc, char **argv)
> {
> unsigned ms1, ms2, ms3, ms4; //motor speeds of
> omnimaxbot
> int i, j, wr, rd, x=0, y=0, z=0, fd, numSent=0;
> char parseChar[1], stringIn[50];
>
> // unsigned long bytes_read = 0; //Number of bytes
> read from port
> // unsigned long bytes_written = 0; //Number of bytes
> written to the port
>
> int bStatus;
> struct termios options; //Contains various port settings
>
>
>
> // attempt to open serial port
>
> fd = open("/dev/HCS12",O_RDWR | O_NOCTTY | O_NDELAY);
>
> // set settings for serial port
>
> system("stty -F /dev/HCS12 115200 cs8 -cstopb -parity -icanon hupcl
> -crtscts min 1 time 1");
>
>
> // check for errors opening port
>
> if (fd == -1 )
>
> {
>
> printf("open_port: Unable to open /dev/HCS12");
>
> }
>
>
> else // if no error
>
> {
>
> fcntl(fd, F_SETFL,0);
>
> printf("Test Port HCS12 has been successfully opened and %d
> is the file
> description\n",fd);
>
> }
>
> // get current settings of serial ports
> tcgetattr(fd, &options);
>
> // set the read and write speeds
> cfsetispeed(&options, B115200);
> cfsetospeed(&options, B115200);
>
> // set parity
> options.c_cflag &= ~CSIZE;
> options.c_cflag |= CS8;
>
> if (bStatus != 0)
> {
> cout << "byte status error!" << endl;
> }
>
> // initalize node
> ros::init(argc, argv, "joyTalker");
> ros::NodeHandle joyTalker;
>
> // Publish to topic joyChatter
> ros::Publisher pub =
> joyTalker.advertise<std_msgs::String>("joyChatter",
> 1000);
>
> ros::Rate r(10);
>
> while (joyTalker.ok())
> {
> parseChar[0]=0;
>
> for(j=0; j<50; j++)
> {
> stringIn[j]=0;
> }
>
> i=0;
>
> while(parseChar[0] != 10)
> {
> if(i==50) // exceeds the allowable size
> {
> break;
> }
>
> rd = read(fd,parseChar,1);
> // printf("%s ",parseChar);
> if ((parseChar[0] > 43) && ((parseChar[0] < 58) ||
> (parseChar[0]==32)))
> {
> stringIn[i]=parseChar[0];
> i++;
> }
>
> if (wr != 0)
> {
> cout << "byte status error!!!" << endl;
> }
>
> // kinematics of the omnimaxbot
> ms1 =
> ((x/sqrt(2))+y+(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
> ms2 =
> (-(x/sqrt(2))+y+(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
> ms3 =
> ((x/sqrt(2))+y-(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
> ms4 =
> (-(x/sqrt(2))+y-(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
>
> fd = open("/dev/Driver1&2",O_RDWR | O_NOCTTY |
> O_NDELAY);
>
> if (fd == -1 )
>
> {
>
> perror("open_port: Unable to open
> /dev/Driver1&2");
>
> }
>
> // send to ROS node for communication
> numSent = sprintf(stringIn, "%3d,%3d\n", ms1, ms2);
> // status[0] = Serial_SendBlock(stringIn, numSent,
> &numSentS);
>
> fd = open("/dev/Driver3&4",O_RDWR | O_NOCTTY |
> O_NDELAY);
>
> if (fd == -1 )
>
> {
>
> perror("open_port: Unable to open
> /dev/Driver3&4");
>
> }
>
> // send to ROS node for communication
> numSent = sprintf(stringIn, "%3d,%3d\n", ms3, ms4);
> // status[0] = Serial_SendBlock(stringIn, numSent,
> &numSentS);
> }
>
> printf("got this string %s\n",stringIn);
>
> // convert message to string for ROS node communication
> std_msgs::String msg;
> std::stringstream ss;
> ss << stringIn;
> ROS_INFO("%s", ss.str().c_str());
> msg.data = ss.str();
> // publish data under topic joyChatter
> pub.publish(msg);
>
> ros::spinOnce();
> }
>
>
> return 0;
> }
>
> --
> View this message in context:
> http://ros-users.122217.n3.nabble.com/C-type-conversion-error-tp1004701p1004701.html
> Sent from the ROS-Users mailing list archive at Nabble.com.
>
>
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