= Libbarrett change log =

== Version 1.0.0 ==

Recent changes:
  * Changed the following functions and constants to measure time in seconds:
    * log::RealTimeWriter::RealTimeWriter()
    * Hand::waitUntilDoneMoving()
    * Puck::tryGetProperty()
    * Puck::WAKE_UP_TIME
    * Puck::TURN_OFF_TIME
    * SafetyModule::waitForMode()
    * SafetyModule::waitForModeChange()
  * Removed the non-static overloads for Puck::tryGetProperty()
  * Updated Hand API
  * Improved support for controlling two WAM systems from one PCI CAN card
  * Renamed the "kinematics.world" config setting to "kinematics.world_to_base"
  * Changed how configuration files access calibration information
  * Updated the bt-wam-zerocal program
  * Updated the bt-wam-gravitycal program
  * Added wamdiscover utility to help identify WAMs and WAM-PCs on the local network
  * Added a "make install" target to install the library to system directories
  * Introduced a system for gracefully updating and installing configuration files (run: "make install_config")
  * Added cmake option "-DWITH_PYTHON=ON" to build shared library with python bindings
  * Added python bindings for the Puck class
  * Added python bindings for the barrett::bus namespace
  * Added auto-recovery features that reduce the number of failures on start-up due to CANbus errors
  * Added a method for reading the state of a WAM's Display and Control Pendants (SafetyModule firmware versions >=197)
  * Added the ability to Shift-idle or E-stop a WAM via software (SafetyModule firmware versions >=197)
  * Added barrett/os.h to wrap Operating System facilities, like syslog() and usleep()
  * Added accessor methods to systems::HapticBall and systems::HapticBox
  * Added a new class called "barrett::systems::RateLimiter"
  * Corrected the scale-factor for FTS accelerometer readings
  * Fixed a bug that prevented multiple systems::RealTimeExecutionManager's from running real time loops concurrently
  * Fixed a bug in systems::Wam::getJointVelocities()
  * Fixed a bug in systems::Wam::moveHome(bool, double, double)
  
Known issues:
  * The installed shared library is not in Python's module search path
  * 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.)
  * The wamdiscover utility requires Python >=2.7, or separate installation of argparse module
  * The bus::CommunicationsBus::getMutex() method does not have a python binding