Update of /cvsroot/playerstage/code/gazebo/libgazebo
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18792/libgazebo
Modified Files:
gazebo.h
Log Message:
Player simulation interface support
Index: gazebo.h
===================================================================
RCS file: /cvsroot/playerstage/code/gazebo/libgazebo/gazebo.h,v
retrieving revision 1.88
retrieving revision 1.89
diff -C2 -d -r1.88 -r1.89
*** gazebo.h 15 Dec 2006 18:56:20 -0000 1.88
--- gazebo.h 7 Jan 2007 00:26:04 -0000 1.89
***************
*** 31,35 ****
#include <stdlib.h>
#include <stdint.h>
!
#ifdef __cplusplus
--- 31,35 ----
#include <stdlib.h>
#include <stdint.h>
! #include <semaphore.h>
#ifdef __cplusplus
***************
*** 312,320 ****
The simulator interface provides access to certain global properties
! of the server, such as the current simulation time-step.
@{
*/
/// Common simulator data
typedef struct gz_sim_data
--- 312,366 ----
The simulator interface provides access to certain global properties
! of the server, such as the current simulation time-step. Additionally
! it provides the pose data of simulation objects (look: SimulationInterface)
@{
*/
+ /// Maximum length for model name
+ #define GAZEBO_MODEL_NAME_MAXLEN 64
+
+ /// The maximum size of the request queue
+ #define GAZEBO_REQUEST_QUEUE_MAXSIZE 64
+
+ /// GAZEBO_SIM_REQ_GETPOSE2D request type
+ #define GAZEBO_SIM_REQ_GETPOSE2D 1
+ /// GAZEBO_SIM_REQ_GETPOSE3D request type
+ #define GAZEBO_SIM_REQ_GETPOSE3D 2
+ /// GAZEBO_SIM_REQ_SETPOSE2D request type
+ #define GAZEBO_SIM_REQ_SETPOSE2D 3
+ /// GAZEBO_SIM_REQ_SETPOSE3D request type
+ #define GAZEBO_SIM_REQ_SETPOSE3D 4
+
+ /// Pending request status
+ #define GAZEBO_SIM_REQ_STATUS_PENDING 1
+ /// Serviced request status
+ #define GAZEBO_SIM_REQ_STATUS_SERVICED 2
+ /// Failed request status
+ #define GAZEBO_SIM_REQ_STATUS_FAILED 3
+
+ /// A single request item (from the SimulationInterface)
+ typedef struct gz_sim_req_item
+ {
+ /// Request type from the simulation interface
+ int type;
+
+ /// Request status
+ int status;
+
+ /// Object name
+ char modelid[GAZEBO_MODEL_NAME_MAXLEN];
+
+ /// Object position
+ double pos[3];
+
+ /// Object euler angles
+ double rot[3];
+
+ /// Simulation time when the data were valid
+ double simtime;
+
+ } gz_sim_req_item_t;
+
/// Common simulator data
typedef struct gz_sim_data
***************
*** 322,326 ****
/// Common data structure
gz_data_t head;
!
/// Elapsed simulator time
double sim_time;
--- 368,372 ----
/// Common data structure
gz_data_t head;
!
/// Elapsed simulator time
double sim_time;
***************
*** 342,347 ****
int save;
! } gz_sim_data_t;
/// Simulator interface
--- 388,398 ----
int save;
! /// Model get/set property/pose request item
! gz_sim_req_item_t request;
+ /// Semaphore so that the interface will wait for the request to be serviced
+ sem_t pending_request;
+
+ } gz_sim_data_t;
/// Simulator interface
-------------------------------------------------------------------------
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