Update of /cvsroot/playerstage/code/player/server/drivers/mixed/garcia
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4552/server/drivers/mixed/garcia
Modified Files:
Tag: release-2-0-patches
Makefile.am garcia_mixed.cc garcia_mixed.h
Log Message:
backported lots of stuff from HEAD
Index: garcia_mixed.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/garcia/garcia_mixed.h,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** garcia_mixed.h 18 Feb 2006 19:13:04 -0000 1.2
--- garcia_mixed.h 7 Jun 2006 16:12:51 -0000 1.2.2.1
***************
*** 36,39 ****
--- 36,41 ----
GarciaDriver(ConfigFile* cf, int section);
+ virtual ~GarciaDriver();
+
// Must implement the following methods.
int Setup();
***************
*** 47,53 ****
void * data);
//void ProcessConfig();
! void ProcessPos2dCommand(player_msghdr_t* hdr, player_position2d_cmd_t
&data);
void ProcessSpeechCommand(player_msghdr_t* hdr, player_speech_cmd_t
&data);
void ProcessDioCommand(player_msghdr_t* hdr, player_dio_cmd_t &data);
void RefreshData();
--- 49,60 ----
void * data);
//void ProcessConfig();
! void ProcessPos2dPosCmd(player_msghdr_t* hdr, player_position2d_cmd_pos_t
&data);
! void ProcessPos2dVelCmd(player_msghdr_t* hdr, player_position2d_cmd_vel_t
&data);
void ProcessSpeechCommand(player_msghdr_t* hdr, player_speech_cmd_t
&data);
void ProcessDioCommand(player_msghdr_t* hdr, player_dio_cmd_t &data);
+
+ void ProcessPos2dGeomReq(player_msghdr_t* hdr);
+ void ProcessIrPoseReq(player_msghdr_t* hdr);
+
void RefreshData();
***************
*** 57,70 ****
player_devaddr_t mPos2dAddr;
player_position2d_data_t mPos2dData;
! player_position2d_cmd_t mPos2dCmd;
// ir interface
player_devaddr_t mIrAddr;
player_ir_data_t mIrData;
- player_ir_cmd_t mIrCmd;
// speech interface
player_devaddr_t mSpeechAddr;
- player_speech_data_t mSpeechData;
player_speech_cmd_t mSpeechCmd;
--- 64,76 ----
player_devaddr_t mPos2dAddr;
player_position2d_data_t mPos2dData;
! player_position2d_cmd_pos_t mPos2dPosCmd;
! player_position2d_cmd_vel_t mPos2dVelCmd;
// ir interface
player_devaddr_t mIrAddr;
player_ir_data_t mIrData;
// speech interface
player_devaddr_t mSpeechAddr;
player_speech_cmd_t mSpeechCmd;
***************
*** 74,81 ****
player_dio_cmd_t mDioCmd;
int32_t mSleep;
! acpGarcia* mGarcia;
! const char *mConfigPath;
};
--- 80,98 ----
player_dio_cmd_t mDioCmd;
+ // power interface
+ player_devaddr_t mPowerAddr;
+ player_power_data_t mPowerData;
+
int32_t mSleep;
! double mLength;
! double mWidth;
! double mWheelBase;
! double mWheelRadius;
! acpValue mSpeed;
! acpValue mPitch;
! acpValue mVolume;
!
! acpGarcia* mGarcia;
};
Index: Makefile.am
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/garcia/Makefile.am,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** Makefile.am 28 Feb 2006 05:15:41 -0000 1.2
--- Makefile.am 7 Jun 2006 16:12:51 -0000 1.2.2.1
***************
*** 1,8 ****
! AM_CPPFLAGS = -Wall -I$(top_srcdir)
noinst_LTLIBRARIES =
if INCLUDE_GARCIA
noinst_LTLIBRARIES += libgarcia.la
endif
libgarcia_la_SOURCES = garcia_mixed.cc garcia_mixed.h
--- 1,11 ----
! AM_CPPFLAGS = -Wall -I$(top_srcdir) @GARCIA_CFLAGS@
noinst_LTLIBRARIES =
if INCLUDE_GARCIA
noinst_LTLIBRARIES += libgarcia.la
+ #EXTRA_LIBRARIES = libaIO.a libaUI.a libaStem.a libaTEAvm.a libaRobot.a
endif
libgarcia_la_SOURCES = garcia_mixed.cc garcia_mixed.h
+ #libgarcia_la_LIBADD = @GARCIA_LIBS@
+ #PLAYER_DRIVER_EXTRA_LIBS += @GARCIA_LIBS@
\ No newline at end of file
Index: garcia_mixed.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/garcia/garcia_mixed.cc,v
retrieving revision 1.5
retrieving revision 1.5.2.1
diff -C2 -d -r1.5 -r1.5.2.1
*** garcia_mixed.cc 27 Feb 2006 18:19:03 -0000 1.5
--- garcia_mixed.cc 7 Jun 2006 16:12:51 -0000 1.5.2.1
***************
*** 45,48 ****
--- 45,52 ----
- @ref interface_speech
- @ref interface_dio
+ - @ref interface_power
+ - @ref interface_ptz (not yet implemented)
+ - @ref interface_position1d (not yet implemented)
+
@par Requires
***************
*** 52,62 ****
@par Configuration requests
! - none
@par Configuration file options
! - config_path (filename)
! - Default: "garcia.config"
! - Path to Garcia configuration file
@par Example
--- 56,92 ----
@par Configuration requests
! - @ref interface_position2d
! - PLAYER_POSITION_GET_GEOM_REQ
! - PLAYER_POSITION_SET_ODOM_REQ :
! - PLAYER_POSITION_RESET_ODOM_REQ :
! - PLAYER_POSITION_POWER_REQ :
! - PLAYER_POSITION_SPEED_PID_REQ :
! - PLAYER_POSITION_POSITION_PID_REQ :
! - PLAYER_POSITION_SPEED_PROF_REQ :
! - PLAYER_IR_GET_GEOM_REQ :
@par Configuration file options
! - port (filename)
! - Default: "ttyS0"
! - Path to the serial port
! - baud (int)
! - Default: 38400
! - Baudrate of the serial port
! - speed (float)
! - Default: 0.7f
! - The speed for speaking the phrase. Values have a range of 0.0 to 1.0 and
! will be clamped to this range. 0.0 is the slowest and 1.0 is the fastest
! speed for saying the phrase.
! - pitch (float)
! - Default: 0.6f
! - The pitch for speaking the phrase. Values have a range of 0.0 to 1.0 and
! will be clamped to this range. 0.0 is the lowest and 1.0 is the highest
! pitch for saying the phrase.
! - volume (float)
! - Default: 1.0f
! - The volume for speaking the phrase. Values have a range of 0.0 to 1.0 and
! will be clamped to this range. 0.0 is the quietest and 1.0 is the loudest
! volume for saying the phrase.
@par Example
***************
*** 65,74 ****
driver
(
! name "garciadriver"
provides ["position2d:0"
"ir:0"
"dio:0"
"speech:0"]
! port "/dev/ttyS0"
)
@endverbatim
--- 95,105 ----
driver
(
! name "garcia"
provides ["position2d:0"
"ir:0"
"dio:0"
"speech:0"]
! port "ttyS0"
! baud "38400"
)
@endverbatim
***************
*** 98,104 ****
#include <assert.h>
#include <math.h>
using namespace std;
! const timespec NSLEEP_TIME = {0, 10000000}; // (0s, 10 ms) => max 100 fps
////////////////////////////////////////////////////////////////////////////////
--- 129,138 ----
#include <assert.h>
#include <math.h>
+ #include <stdio.h>
using namespace std;
! #include <iostream> // only used for debugging, so remove when done
!
! const timespec NSLEEP_TIME = {0, 20000000}; // (0s, 20 ms) => max 50 hz
////////////////////////////////////////////////////////////////////////////////
***************
*** 131,139 ****
// pre-Setup() setup.
GarciaDriver::GarciaDriver(ConfigFile* cf, int section)
! : Driver(cf, section)
{
// Create position2d interface
! if (0 != cf->ReadDeviceAddr(&(mPos2dAddr),section,"provides",
! PLAYER_POSITION2D_CODE,-1,NULL))
{
PLAYER_ERROR("Could not read position2d ID ");
--- 165,177 ----
// pre-Setup() setup.
GarciaDriver::GarciaDriver(ConfigFile* cf, int section)
! : Driver(cf, section),
! mLength(0.28),
! mWidth(0.20),
! mWheelBase(0.182),
! mWheelRadius(0.1)
{
// Create position2d interface
! if (0 != cf->ReadDeviceAddr(&mPos2dAddr, section, "provides",
! PLAYER_POSITION2D_CODE, -1, NULL))
{
PLAYER_ERROR("Could not read position2d ID ");
***************
*** 149,154 ****
// Create ir interface
! if (0 != cf->ReadDeviceAddr(&(mIrAddr),section,"provides",
! PLAYER_IR_CODE,-1,NULL))
{
PLAYER_ERROR("Could not read ir ID ");
--- 187,192 ----
// Create ir interface
! if (0 != cf->ReadDeviceAddr(&mIrAddr, section, "provides",
! PLAYER_IR_CODE, -1, NULL))
{
PLAYER_ERROR("Could not read ir ID ");
***************
*** 164,169 ****
// Create speech interface
! if (0 != cf->ReadDeviceAddr(&(mSpeechAddr),section,"provides",
! PLAYER_SPEECH_CODE,-1,NULL))
{
PLAYER_ERROR("Could not read speech ID ");
--- 202,207 ----
// Create speech interface
! if (0 != cf->ReadDeviceAddr(&mSpeechAddr, section, "provides",
! PLAYER_SPEECH_CODE, -1, NULL))
{
PLAYER_ERROR("Could not read speech ID ");
***************
*** 180,184 ****
// Create dio interface
if (0 != cf->ReadDeviceAddr(&(mDioAddr),section,"provides",
! PLAYER_Dio_CODE,-1,NULL))
{
PLAYER_ERROR("Could not read dio ID ");
--- 218,222 ----
// Create dio interface
if (0 != cf->ReadDeviceAddr(&(mDioAddr),section,"provides",
! PLAYER_DIO_CODE,-1,NULL))
{
PLAYER_ERROR("Could not read dio ID ");
***************
*** 193,205 ****
}
! /// @todo is there a replacement clear command?
! //ClearCommand(mPosition2dAddr);
// Read options from the configuration file
! mConfigPath = cf->ReadFilename(section, "config_path", "garcia.config");
return;
}
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
--- 231,280 ----
}
! // Create power interface
! if (0 != cf->ReadDeviceAddr(&mPowerAddr,
! section,
! "provides",
! PLAYER_POWER_CODE,
! -1,
! NULL))
! {
! PLAYER_ERROR("could not read power address");
! SetError(-1);
! return;
! }
!
! if (0 != AddInterface(mPowerAddr))
! {
! PLAYER_ERROR("could not add power interface");
! SetError(-1);
! return;
! }
// Read options from the configuration file
! const char* portname = cf->ReadFilename(section, "portname", "ttyS0");
! int baudrate = cf->ReadInt(section, "baudrate", 38400);
!
! // let's just create the config file wherever we are:
! static FILE* config_file;
! config_file = fopen("garcia_api.config", "a+");
!
! fprintf(config_file, "portname=%s\n", portname);
! fprintf(config_file, "baudrate=%i\n", baudrate);
!
! mSpeed = static_cast<float>(cf->ReadFloat(section, "speed", 0.7f));
! mPitch = static_cast<float>(cf->ReadFloat(section, "pitch", 0.6f));
! mVolume = static_cast<float>(cf->ReadFloat(section, "volume", 1.0f));
!
! fclose(config_file);
return;
}
+ GarciaDriver::~GarciaDriver()
+ {
+ // get rid of the Acroname config file
+ //remove("garcia_api.config");
+ }
+
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
***************
*** 208,211 ****
--- 283,304 ----
{
+ cout << "Setting up Garcia driver" << flush;
+ mGarcia = new acpGarcia;
+
+ while (!mGarcia->getNamedValue("active")->getBoolVal())
+ {
+ cout << "." << flush;
+ nanosleep(&NSLEEP_TIME, NULL);
+ }
+
+ // enable the IR sensors
+ acpValue enable(1);
+ mGarcia->setNamedValue("front-ranger-enable", &enable);
+ mGarcia->setNamedValue("side-ranger-enable", &enable);
+ mGarcia->setNamedValue("rear-ranger-enable", &enable);
+
+
+ puts("finished!");
+
// Start the device thread; spawns a new thread and executes
// GarciaDriver::Main(), which contains the main loop for the driver.
***************
*** 241,255 ****
GarciaDriver::Main()
{
- puts("Setting up Garcia driver");
- mGarcia = new acpRobot("garcia", mConfigPath);
-
- puts("waiting for garcia");
- while (!mGarcia.isActive())
- {
- puts("still waiting");
- nanosleep(&NSLEEP_TIME, NULL);
- }
- puts("Garcia driver ready");
-
// The main loop; interact with the device here
--- 334,337 ----
***************
*** 282,294 ****
assert(data);
! if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
! PLAYER_PTZ_CMD_STATE, mPos2dAddr))
{
! assert(hdr->size == sizeof(player_position2d_cmd_t));
! ProcessPos2dCommand(hdr, *reinterpret_cast<player_position2d_cmd_t
*>(data));
return(0);
}
! else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
! PLAYER_SPEECH_CMD_STATE, mSpeechAddr))
{
assert(hdr->size == sizeof(player_speech_cmd_t));
--- 364,383 ----
assert(data);
! if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
! PLAYER_POSITION2D_CMD_POS, mPos2dAddr))
{
! assert(hdr->size == sizeof(player_position2d_cmd_pos_t));
! ProcessPos2dPosCmd(hdr, *reinterpret_cast<player_position2d_cmd_pos_t
*>(data));
return(0);
}
! if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
! PLAYER_POSITION2D_CMD_VEL, mPos2dAddr))
! {
! assert(hdr->size == sizeof(player_position2d_cmd_vel_t));
! ProcessPos2dVelCmd(hdr, *reinterpret_cast<player_position2d_cmd_vel_t
*>(data));
! return(0);
! }
! else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
! PLAYER_SPEECH_CMD_SAY, mSpeechAddr))
{
assert(hdr->size == sizeof(player_speech_cmd_t));
***************
*** 297,301 ****
}
else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
! PLAYER_DIO_CMD_STATE, mDioAddr))
{
assert(hdr->size == sizeof(player_dio_cmd_t));
--- 386,390 ----
}
else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
! PLAYER_DIO_CMD_VALUES, mDioAddr))
{
assert(hdr->size == sizeof(player_dio_cmd_t));
***************
*** 303,306 ****
--- 392,407 ----
return(0);
}
+ else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ PLAYER_POSITION2D_REQ_GET_GEOM, mPos2dAddr))
+ {
+ ProcessPos2dGeomReq(hdr);
+ return(0);
+ }
+ else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ PLAYER_IR_POSE, mIrAddr))
+ {
+ ProcessIrPoseReq(hdr);
+ return(0);
+ }
else
{
***************
*** 312,319 ****
void
! GarciaDriver::ProcessPos2dCommand(player_msghdr_t* hdr,
! player_position2d_cmd_t &data)
{
}
--- 413,492 ----
void
! GarciaDriver::ProcessPos2dPosCmd(player_msghdr_t* hdr,
! player_position2d_cmd_pos_t &data)
{
+ printf("Position commands currently not implemented\n");
+
+ /*
+ // this code could be used to implement the position control,
+ // but it will need to be modified
+ double rho(0),alpha(0),beta(0);
+ double delta_x(0),delta_y(0);
+ double v, omega;
+ // To be locally exponentially stable:
+ // k_rho > 0
+ // k_beta < 0
+ // k_alpha-k_rho > 0
+
+ delta_x = x-mPosX;
+ delta_y = y-mPosY;
+
+ // If we're within 1 cm, stop (for now)
+ if ((fabs(delta_x) > mTranslateDeadzone)||
+ (fabs(delta_y) > mTranslateDeadzone)||
+ (fabs(mPosTheta-theta) > mRotateDeadzone))
+ {
+ rho = sqrt(pow(delta_x,2) + pow(delta_y,2));
+
+ if (fabs(atan2(delta_y, delta_x) - mPosTheta) < M_PI/2)
+ {
+
+ alpha = atan2(delta_y,delta_x) - mPosTheta;
+ alpha = fmod(alpha, M_PI_2); // M_PI/2 == M_PI_2
+
+ beta = -fmod(alpha,M_PI) - mPosTheta + theta;
+ beta = fmod(beta, M_PI);
+
+ v = mKRho * rho;
+ omega = mKAlpha * alpha + mKBeta*beta;
+ }
+ else
+ {
+ alpha = atan2(-delta_y,-delta_x) - mPosTheta;
+ alpha = fmod(alpha, M_PI_2); // M_PI/2 == M_PI_2
+
+ beta = -alpha - mPosTheta + theta;
+ beta = fmod(beta, M_PI);
+
+ v = -mKRho * rho;
+ omega = mKAlpha * alpha + mKBeta*beta;
+ }
+
+ SetTargetVelocity(v, omega);
+ }
+ else
+ SetTargetVelocity(0,0);
+ */
+
+ }
+
+ void
+ GarciaDriver::ProcessPos2dVelCmd(player_msghdr_t* hdr,
+ player_position2d_cmd_vel_t &data)
+ {
+ double v(data.vel.px);
+ double omega(data.vel.pa);
+
+ acpValue vl(static_cast<float>(v - mWheelBase*omega/2.0));
+ acpValue vr(static_cast<float>(v + mWheelBase*omega/2.0));
+
+ mGarcia->setNamedValue("damped-speed-left", &vl);
+ mGarcia->setNamedValue("damped-speed-right", &vr);
+
+ // do we have to do this each time, or only once?
+ acpObject* behavior;
+ behavior = mGarcia->createNamedBehavior("null", "vel");
+ mGarcia->queueBehavior(behavior);
}
***************
*** 322,326 ****
--- 495,510 ----
player_speech_cmd_t &data)
{
+ // todo, there is currently a problem if we receive messages too quickly
+ cout << data.string << endl;
+
+ acpValue phrase(data.string);
+ acpObject* behavior;
+ behavior = mGarcia->createNamedBehavior("say", data.string);
+ behavior->setNamedValue("phrase", &phrase);
+ behavior->setNamedValue("speed", &mSpeed);
+ behavior->setNamedValue("pitch", &mPitch);
+ behavior->setNamedValue("volume", &mVolume);
+ mGarcia->queueBehavior(behavior);
}
***************
*** 329,332 ****
--- 513,554 ----
player_dio_cmd_t &data)
{
+ PLAYER_WARN("Garcia driver currently doesn't support DIO commands");
+ }
+
+ void
+ GarciaDriver::ProcessPos2dGeomReq(player_msghdr_t* hdr)
+ {
+ player_position2d_geom_t geom;
+
+ geom.pose.px = 0.03; // [m]
+ geom.pose.py = 0.00; // [m]
+ geom.pose.pa = 0; // [rad]
+ geom.size.sl = mLength; // [m]
+ geom.size.sw = mWidth; // [m]
+
+ Publish(mPos2dAddr, NULL,
+ PLAYER_MSGTYPE_RESP_ACK,
+ PLAYER_POSITION2D_REQ_GET_GEOM,
+ &geom, sizeof(geom), NULL);
+ }
+
+ void
+ GarciaDriver::ProcessIrPoseReq(player_msghdr_t* hdr)
+ {
+ player_pose_t poses[6] = {{ 0.105, 0.045, M_PI/6}, // front-left
+ { 0.105,-0.045,-M_PI/6}, // front-right
+ { 0.080, 0.020, M_PI_2}, // side-left
+ { 0.080,-0.020,-M_PI_2}, // side-right
+ {-0.050, 0.070, M_PI}, // rear-left
+ {-0.050,-0.070,-M_PI}}; // rear-right
+
+ player_ir_pose_t pose;
+ pose.poses_count = 6;
+ memcpy(pose.poses, poses, 6*sizeof(player_pose_t));
+
+ Publish(mIrAddr, NULL,
+ PLAYER_MSGTYPE_RESP_ACK,
+ PLAYER_IR_POSE,
+ &pose, sizeof(pose), NULL);
}
***************
*** 335,353 ****
GarciaDriver::RefreshData()
{
Publish(mPos2dAddr, NULL,
PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE,
! reinterpret_cast<void*>(&mPos2dData), size, NULL);
Publish(mIrAddr, NULL,
! PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_STATE,
reinterpret_cast<void*>(&mIrData), sizeof(mIrData), NULL);
! Publish(mSpeechAddr, NULL,
! PLAYER_MSGTYPE_DATA, PLAYER_SPEECH_DATA_STATE,
! reinterpret_cast<void*>(&mSpeechData), sizeof(mSpeechData), NULL);
Publish(mDioAddr, NULL,
! PLAYER_MSGTYPE_DATA, PLAYER_DIO_DATA_STATE,
reinterpret_cast<void*>(&mDioData), sizeof(mDioData), NULL);
}
--- 557,603 ----
GarciaDriver::RefreshData()
{
+ // how do we update these?
+ mPos2dData.pos.px = 0.0;
+ mPos2dData.pos.py = 0.0;
+ mPos2dData.pos.pa = 0.0;
+
+ mPos2dData.vel.px = 0.0;
+ mPos2dData.vel.py = 0.0;
+ mPos2dData.vel.pa = 0.0;
+
Publish(mPos2dAddr, NULL,
PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE,
! reinterpret_cast<void*>(&mPos2dData), sizeof(mPos2dData), NULL);
!
! // update the IR data
! mIrData.voltages_count = 0;
! mIrData.ranges_count = 6;
!
! mIrData.ranges[0] =
mGarcia->getNamedValue("front-ranger-left")->getFloatVal();
! mIrData.ranges[1] =
mGarcia->getNamedValue("front-ranger-right")->getFloatVal();
! mIrData.ranges[2] =
mGarcia->getNamedValue("side-ranger-left")->getFloatVal();
! mIrData.ranges[3] =
mGarcia->getNamedValue("side-ranger-right")->getFloatVal();
! mIrData.ranges[4] =
mGarcia->getNamedValue("rear-ranger-left")->getFloatVal();
! mIrData.ranges[5] =
mGarcia->getNamedValue("rear-ranger-right")->getFloatVal();
Publish(mIrAddr, NULL,
! PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_RANGES,
reinterpret_cast<void*>(&mIrData), sizeof(mIrData), NULL);
! // do we currently have a dio device?
! static int dio_test = 0;
! mDioData.count = 16;
! mDioData.digin = ++dio_test;
Publish(mDioAddr, NULL,
! PLAYER_MSGTYPE_DATA, PLAYER_DIO_DATA_VALUES,
reinterpret_cast<void*>(&mDioData), sizeof(mDioData), NULL);
+ mPowerData.valid = PLAYER_POWER_MASK_VOLTS | PLAYER_POWER_MASK_PERCENT;
+ mPowerData.volts = mGarcia->getNamedValue("battery-voltage")->getFloatVal();
+ mPowerData.percent = mGarcia->getNamedValue("battery-level")->getFloatVal();
+
+ Publish(mPowerAddr, NULL,
+ PLAYER_MSGTYPE_DATA, PLAYER_POWER_DATA_STATE,
+ reinterpret_cast<void*>(&mPowerData), sizeof(mPowerData), NULL);
}
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