From b9f1eccb73481bbc07e51861967ea8571f5c15a9 Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Wed, 8 Jun 2016 10:44:21 -0700
Subject: [PATCH 1/2] [dynpick] Correct run script for dual-arm.

---
 hironx_ros_bridge/robot/dynpick/run_dynpick.sh | 11 ++++++-----
 1 file changed, 6 insertions(+), 5 deletions(-)

diff --git a/hironx_ros_bridge/robot/dynpick/run_dynpick.sh b/hironx_ros_bridge/robot/dynpick/run_dynpick.sh
index f8517945..aba544f5 100755
--- a/hironx_ros_bridge/robot/dynpick/run_dynpick.sh
+++ b/hironx_ros_bridge/robot/dynpick/run_dynpick.sh
@@ -30,12 +30,13 @@
 
 # Written by TORK
 
-# slay devc-serusb
-# sleep 1
+slay -f devc-serusb
+sleep 3
 ## devc-serusb needs to be that of QNX6.5.0 SP1, to recognize Dynpick WDF-6M200-3, which is USB-Serial with 921.6kbps.
 ## And looks like we don't need to specifically call it as long as right version of /sbin/devc-serusb is placed.
-# devc-serusb -E -F -b 921600 -d busno=0,devno=1,vid=0x10c4,did=0xea60
-# sleep 1
-# stty < /dev/serusb1
+devc-serusb -E -F -b 921600 -d busno=4,devno=2,unit=1,vid=0x10c4,did=0xea60
+devc-serusb -E -F -b 921600 -d busno=4,devno=3,unit=2,vid=0x10c4,did=0xea60
+sleep 3
+# stty < /dev/serusb1 
 ./dynpick_driver &
 # stty < /dev/serusb1

From 89ef953860e62964f8135b213d829d727e16a3ee Mon Sep 17 00:00:00 2001
From: "Isaac I.Y. Saito" <130s@2000.jukuin.keio.ac.jp>
Date: Fri, 11 Nov 2016 06:57:38 +0900
Subject: [PATCH 2/2] [dynpick qnx driver] Switching right and left hands.

---
 .../robot/dynpick/dynpick_driver.cpp              | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/hironx_ros_bridge/robot/dynpick/dynpick_driver.cpp b/hironx_ros_bridge/robot/dynpick/dynpick_driver.cpp
index 45262dc7..3e72db97 100644
--- a/hironx_ros_bridge/robot/dynpick/dynpick_driver.cpp
+++ b/hironx_ros_bridge/robot/dynpick/dynpick_driver.cpp
@@ -307,8 +307,13 @@ int main(int argc, char **argv) {
         #ifdef __QNX__ 
 	    slogf(0, _SLOG_INFO, "Started  fd1 = %d, fd2 = %d\n", fd1, fd2);
         #endif 
-	SetComAttr(fd1);
+        /* Switch the order of SetComAttr depending on your sensor. Also alter the order at ReadCom calls later in this file. */
+        // serusb1=right, serusb2=left
+	//SetComAttr(fd1);
+	//SetComAttr(fd2);
+        // serusb2=right, serusb1=left
 	SetComAttr(fd2);
+	SetComAttr(fd1);
 
 	/* Create the Dispatch Interface */
 	dpp = dispatch_create();
@@ -364,8 +369,12 @@ int main(int argc, char **argv) {
 	/* The "Data Pump" - get and process messages */
 	while (1) {
 		/* do serial read */
-		ReadCom(fd1, force_sensor_data_0);
-		ReadCom(fd2, force_sensor_data_1);
+                // serusb1=right, serusb2=left
+		//ReadCom(fd1, force_sensor_data_0);
+		//ReadCom(fd2, force_sensor_data_1);
+                // serusb2=right, serusb1=left
+		ReadCom(fd2, force_sensor_data_0);
+		ReadCom(fd1, force_sensor_data_1);
 
 		printf("dispatch\n");
 		/* process message */