Update of /cvsroot/playerstage/code/player/server/drivers/mixed/erratic
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv7364/server/drivers/mixed/erratic
Modified Files:
Tag: release-2-0-patches
erratic.cc erratic.h
Log Message:
Index: erratic.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.cc,v
retrieving revision 1.1.2.15
retrieving revision 1.1.2.16
diff -C2 -d -r1.1.2.15 -r1.1.2.16
*** erratic.cc 5 Feb 2007 05:08:02 -0000 1.1.2.15
--- erratic.cc 12 Feb 2007 03:31:21 -0000 1.1.2.16
***************
*** 224,227 ****
--- 224,228 ----
memset(&this->sonar_id, 0, sizeof(player_devaddr_t));
memset(&this->ptz_id, 0, sizeof(player_devaddr_t));
+ memset(&this->ptz2_id, 0, sizeof(player_devaddr_t));
memset(&this->last_position_cmd, 0, sizeof(player_position2d_cmd_vel_t));
***************
*** 232,235 ****
--- 233,237 ----
this->sonar_subscriptions = 0;
this->ptz_subscriptions = 0;
+ this->ptz2_subscriptions = 0;
// intialise members
***************
*** 285,288 ****
--- 287,298 ----
}
+ // Do we create the second ptz interface?
+ if(cf->ReadDeviceAddr(&(this->ptz2_id), section, "provides",
PLAYER_PTZ_CODE, -1, NULL) == 0) {
+ if(this->AddInterface(this->ptz2_id) != 0) {
+ this->SetError(-1);
+ return;
+ }
+ }
+
// build the table of robot parameters.
initialize_robot_params();
***************
*** 773,776 ****
--- 783,789 ----
if(Device::MatchDeviceAddress(id, this->ptz_id))
this->ptz_subscriptions++;
+
+ if(Device::MatchDeviceAddress(id, this->ptz2_id))
+ this->ptz2_subscriptions++;
}
***************
*** 801,804 ****
--- 814,821 ----
if(Device::MatchDeviceAddress(id, this->ptz_id))
this->ptz_subscriptions--;
+
+ if(Device::MatchDeviceAddress(id, this->ptz2_id))
+ this->ptz2_subscriptions--;
+
}
***************
*** 1614,1618 ****
// Process PTZ command
// Zoom is not used
! // Pan is on servo 0, tilt on servo 1
// Commands are in degrees, positive and negative
// Conversions are handled through the Erratic parameter structure,
--- 1631,1639 ----
// Process PTZ command
// Zoom is not used
! // For PTZ #0:
! // Pan is on servo 1, tilt on servo 2
! // For PTZ #1:
! // Pan is on servo 0
! //
// Commands are in degrees, positive and negative
// Conversions are handled through the Erratic parameter structure,
***************
*** 1629,1635 ****
void
! Erratic::HandlePtzCommand(player_ptz_cmd_t cmd)
{
! int pan, tilt;
unsigned char payload[6];
ErraticPacket *packet;
--- 1650,1656 ----
void
! Erratic::HandlePtzCommand(player_ptz_cmd_t cmd, player_devaddr_t id)
{
! int pan, tilt, servo;
unsigned char payload[6];
ErraticPacket *packet;
***************
*** 1644,1657 ****
// printf("Send command to servo %d: %d / %d\n", 0,
(int)(RTOD(cmd.pan)), pan);
!
! packet = new ErraticPacket();
! payload[0] = (command_e)servo_pos;
! payload[1] = (argtype_e)argstr;
! payload[2] = 3; // 3 bytes in string
! payload[3] = 2; // servo #2
! payload[4] = pan&0xff;
! payload[5] = (pan&0xff00)>>8;
! packet->Build(payload, 6);
! this->Send(packet);
// send tilt command
--- 1665,1680 ----
// printf("Send command to servo %d: %d / %d\n", 0,
(int)(RTOD(cmd.pan)), pan);
! if (Device::MatchDeviceAddress(id,this->ptz_id))
// 1st pan/tilt unit
! {
! packet = new ErraticPacket();
! payload[0] = (command_e)servo_pos;
! payload[1] = (argtype_e)argstr;
! payload[2] = 3;
// 3 bytes in string
! payload[3] = 2;
// servo #2
! payload[4] = pan&0xff;
! payload[5] = (pan&0xff00)>>8;
! packet->Build(payload, 6);
! this->Send(packet);
! }
// send tilt command
***************
*** 1664,1673 ****
// printf("Send command to servo %d: %d / %d\n", 1,
(int)(RTOD(cmd.tilt)), tilt);
packet = new ErraticPacket();
payload[0] = (command_e)servo_pos;
payload[1] = (argtype_e)argstr;
! payload[2] = 3; // 3 bytes in string
! payload[3] = 1; // servo #1
payload[4] = tilt&0xff;
payload[5] = (tilt&0xff00)>>8;
--- 1687,1700 ----
// printf("Send command to servo %d: %d / %d\n", 1,
(int)(RTOD(cmd.tilt)), tilt);
+ if (Device::MatchDeviceAddress(id,this->ptz_id))
+ servo = 1;
+ else if (Device::MatchDeviceAddress(id,this->ptz2_id))
+ servo = 0;
packet = new ErraticPacket();
payload[0] = (command_e)servo_pos;
payload[1] = (argtype_e)argstr;
! payload[2] = 3;
// 3 bytes in string
! payload[3] = servo; // servo number
payload[4] = tilt&0xff;
payload[5] = (tilt&0xff00)>>8;
***************
*** 1694,1698 ****
{
player_ptz_cmd_t ptz_cmd = *(player_ptz_cmd_t*)data;
! this->HandlePtzCommand(ptz_cmd);
}
else
--- 1721,1730 ----
{
player_ptz_cmd_t ptz_cmd = *(player_ptz_cmd_t*)data;
! this->HandlePtzCommand(ptz_cmd, this->ptz_id);
! }
! else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, this->ptz2_id))
! {
! player_ptz_cmd_t ptz_cmd = *(player_ptz_cmd_t*)data;
! this->HandlePtzCommand(ptz_cmd, this->ptz2_id);
}
else
Index: erratic.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.h,v
retrieving revision 1.1.2.9
retrieving revision 1.1.2.10
diff -C2 -d -r1.1.2.9 -r1.1.2.10
*** erratic.h 4 Feb 2007 05:54:31 -0000 1.1.2.9
--- erratic.h 12 Feb 2007 03:31:21 -0000 1.1.2.10
***************
*** 142,146 ****
player_devaddr_t ir_id;
player_devaddr_t sonar_id;
! player_devaddr_t ptz_id;
int position_subscriptions;
--- 142,146 ----
player_devaddr_t ir_id;
player_devaddr_t sonar_id;
! player_devaddr_t ptz_id, ptz2_id;
int position_subscriptions;
***************
*** 148,151 ****
--- 148,152 ----
int sonar_subscriptions;
int ptz_subscriptions;
+ int ptz2_subscriptions;
//ErraticMotorPacket* sippacket;
***************
*** 166,170 ****
void HandlePositionCommand(player_position2d_cmd_vel_t position_cmd);
void HandleCarCommand(player_position2d_cmd_car_t position_cmd);
! void HandlePtzCommand(player_ptz_cmd_t ptz_cmd);
void PublishAllData();
--- 167,171 ----
void HandlePositionCommand(player_position2d_cmd_vel_t position_cmd);
void HandleCarCommand(player_position2d_cmd_car_t position_cmd);
! void HandlePtzCommand(player_ptz_cmd_t ptz_cmd, player_devaddr_t id);
void PublishAllData();
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