Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5333
Added Files:
pointcloud3d.cc
Log Message:
Added pointcloud3d proxy to libplayerc++
--- NEW FILE: pointcloud3d.cc ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000-2003
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* $Id: pointcloud3d.cc,v 1.1 2007/02/02 14:33:39 natepak Exp $
*/
#include "playerc++.h"
using namespace PlayerCc;
Pointcloud3dProxy::Pointcloud3dProxy(PlayerClient *aPc, uint aIndex)
: ClientProxy(aPc, aIndex), mDevice(NULL)
{
Subscribe(aIndex);
// how can I get this into the clientproxy.cc?
// right now, we're dependent on knowing its device type
mInfo = &(mDevice->info);
}
Pointcloud3dProxy::~Pointcloud3dProxy()
{
Unsubscribe();
}
void
Pointcloud3dProxy::Subscribe(uint aIndex)
{
scoped_lock_t lock(mPc->mMutex);
mDevice = playerc_pointcloud3d_create(mClient, aIndex);
if (NULL==mDevice)
throw PlayerError("Pointcloud3dProxy::Pointcloud3dProxy()", "could not
create");
if (0 != playerc_pointcloud3d_subscribe(mDevice, PLAYER_OPEN_MODE))
throw PlayerError("Pointcloud3dProxy::Pointcloud3dProxy()", "could not
subscribe");
}
void
Pointcloud3dProxy::Unsubscribe()
{
assert(NULL!=mDevice);
scoped_lock_t lock(mPc->mMutex);
playerc_pointcloud3d_unsubscribe(mDevice);
playerc_pointcloud3d_destroy(mDevice);
mDevice = NULL;
}
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