Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv31322/utils/playerv
Modified Files:
dev_gripper.c playerv.h
Log Message:
applied Reed's patches to fix p2os gripper support and add gripper teleop to
playerv
Index: dev_gripper.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/dev_gripper.c,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** dev_gripper.c 10 Jul 2006 16:55:38 -0000 1.3
--- dev_gripper.c 3 Jan 2007 19:13:21 -0000 1.4
***************
*** 65,68 ****
--- 65,71 ----
gripper->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
gripper->subscribe_item = rtk_menuitem_create(gripper->menu, "Subscribe",
1);
+ gripper->open_item = rtk_menuitem_create(gripper->menu, "Open Gripper", 0);
+ gripper->close_item = rtk_menuitem_create(gripper->menu, "Close Gripper", 0);
+
// Set the initial menu state
***************
*** 266,270 ****
rtk_fig_clear(gripper->grip_fig);
}
- }
--- 269,290 ----
rtk_fig_clear(gripper->grip_fig);
}
+ if(gripper->proxy->info.subscribed)
+ {
+ if(rtk_menuitem_isactivated(gripper->open_item))
+ {
+ puts("opening gripper...");
+ if(playerc_gripper_open_cmd(gripper->proxy) != 0)
+ PRINT_ERR1("libplayerc error opening gripper: %s",
playerc_error_str());
+ }
+
+ if(rtk_menuitem_isactivated(gripper->close_item))
+ {
+ puts("closing gripper...");
+ if(playerc_gripper_close_cmd(gripper->proxy) != 0)
+ PRINT_ERR1("libplayerc error closing gripper: %s",
playerc_error_str());
+ }
+ }
+
+ }
Index: playerv.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.h,v
retrieving revision 1.46
retrieving revision 1.47
diff -C2 -d -r1.46 -r1.47
*** playerv.h 3 May 2006 12:29:12 -0000 1.46
--- playerv.h 3 Jan 2007 19:13:21 -0000 1.47
***************
*** 358,361 ****
--- 358,363 ----
rtk_menuitem_t *enable_item, *disable_item;
rtk_menuitem_t *frame_item;
+ rtk_menuitem_t *open_item;
+ rtk_menuitem_t *close_item;
// Figures
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