Update of /cvsroot/playerstage/code/player/server/drivers/shell
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27938
Modified Files:
writelog.cc
Log Message:
Added support for PTZ logging.
Index: writelog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/writelog.cc,v
retrieving revision 1.71
retrieving revision 1.72
diff -C2 -d -r1.71 -r1.72
*** writelog.cc 12 Apr 2006 13:33:31 -0000 1.71
--- writelog.cc 1 Jul 2006 12:31:38 -0000 1.72
***************
*** 73,76 ****
--- 73,77 ----
- @ref interface_sonar
- @ref interface_position2d
+ - @ref interface_ptz
- @ref interface_wifi
- @ref interface_wsn
***************
*** 197,200 ****
--- 198,204 ----
private: int WritePosition(player_msghdr_t* hdr, void *data);
+ // Write PTZ data to file
+ private: int WritePTZ(player_msghdr_t* hdr, void *data);
+
// Write sonar data to file
private: int WriteSonar(player_msghdr_t* hdr, void *data);
***************
*** 692,695 ****
--- 696,702 ----
retval = this->WritePosition(hdr, data);
break;
+ case PLAYER_PTZ_CODE:
+ retval = this->WritePTZ(hdr, data);
+ break;
case PLAYER_SONAR_CODE:
retval = this->WriteSonar(hdr, data);
***************
*** 933,936 ****
--- 940,986 ----
}
+
+ /** @ingroup tutorial_datalog
+ @defgroup player_driver_writelog_ptz ptz format
+
+ @brief PTZ log format
+ The format for each @ref interface_wsn message is:
+ - pan (float): The pan angle/value
+ - tilt (float): The tilt angle/value
+ - zoom (float): The zoom factor
+ - panspeed (float): The current panning speed
+ - tiltspeed (float): The current tilting speed
+ */
+ int
+ WriteLog::WritePTZ (player_msghdr_t* hdr, void *data)
+ {
+ // Check the type
+ switch(hdr->type)
+ {
+ case PLAYER_MSGTYPE_DATA:
+ // Check the subtype
+ switch(hdr->subtype)
+ {
+ case PLAYER_PTZ_DATA_STATE:
+ {
+ player_ptz_data_t* pdata =
+ (player_ptz_data_t*)data;
+ fprintf(this->file,
+ "%+07.3f %+07.3f %+04.3f %+07.3f %+07.3f",
+ pdata->pan,
+ pdata->tilt,
+ pdata->zoom,
+ pdata->panspeed,
+ pdata->tiltspeed);
+ return(0);
+ }
+ default:
+ return(-1);
+ }
+ default:
+ return(-1);
+ }
+ }
+
/** @ingroup tutorial_datalog
@defgroup player_driver_writelog_sonar sonar format
***************
*** 1115,1119 ****
WriteLog::WriteWSN(player_msghdr_t* hdr, void *data)
{
- unsigned int i;
player_wsn_data_t* wdata;
--- 1165,1168 ----
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