Update of /cvsroot/playerstage/code/player/utils/playerprop
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19375
Added Files:
Makefile.am playerprop.cpp
Log Message:
added player properties utility from geoffs property patch
--- NEW FILE: Makefile.am ---
bin_PROGRAMS =
if INCLUDE_PLAYERCC
bin_PROGRAMS += playerprop
endif
PLAYERCC_CFLAGS = -I$(top_srcdir) \
-I$(top_srcdir)/client_libs/ \
$(PLAYERCC_EXTRA_CFLAGS)
PLAYERCC_LIB_DIRS=-L${top_builddir}/libplayerxdr \
-L${top_builddir}/client_libs/libplayerc \
-L${top_builddir}/libplayercore \
-L${top_builddir}/client_libs/libplayerc++
PLAYERCC_DEPS = $(top_builddir)/client_libs/libplayerc/libplayerc.la \
$(top_builddir)/libplayercore/libplayererror.la \
$(top_builddir)/libplayerxdr/libplayerxdr.la \
$(top_builddir)/client_libs/libplayerc++/libplayerc++.la
playerprop_CPPFLAGS = $(PLAYERCC_CFLAGS)
playerprop_LDADD = $(PLAYERCC_LIB_DIRS) $(PLAYERCC_LIB) -lplayerc++
-lplayerc -lplayerxdr -lplayererror
playerprop_DEPENDENCIES = $(PLAYERCC_DEPS)
playerprop_SOURCES = playerprop.cpp
--- NEW FILE: playerprop.cpp ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000
* 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
*
*/
#include <iostream>
#include <string>
#include <libplayerc++/playerc++.h>
using namespace std;
using namespace PlayerCc;
string host = "localhost";
int port = 6665;
string device = "position2d";
unsigned int devIndex = 0;
void PrintUsage (void)
{
cout << "Usage: playerprop -d <device> [-i <index> -h <host> -p
<port>] <command> <args>" << endl << endl
<< "Commands:" << endl
<< "getint <prop name> Get an interger
property" << endl
<< "getdbl <prop name> Get a double property"
<< endl
<< "getstr <prop name> Get a string property"
<< endl
<< "setint <prop name> <value> Set an interger
property" << endl
<< "setdbl <prop name> <value> Set a double property"
<< endl
<< "setstr <prop name> <value> Set a string property"
<< endl;
}
int GetOptions (int argc, char *argv[])
{
char c;
const char *opts = "d:h:i:p:";
if (argc < 3)
{
PrintUsage ();
return -1;
}
while ((c = getopt (argc, argv, opts)) != -1)
{
switch (c)
{
case 'd':
device = optarg;
break;
case 'i':
devIndex = atoi (optarg);
break;
case 'h':
host = optarg;
break;
case 'p':
port = atoi (optarg);
break;
default:
PrintUsage ();
return -1;
}
}
return optind;
}
int main (int argc, char *argv[])
{
ClientProxy* deviceProxy;
int argsIndex = 0, intValue;
double dblValue;
char *strValue;
if ((argsIndex = GetOptions (argc, argv)) < 0)
exit (1);
PlayerClient client (host, port, PLAYERC_TRANSPORT_TCP);
int code = client.LookupCode(device);
switch (code)
{
case PLAYER_ACTARRAY_CODE:
deviceProxy = (ClientProxy*) new ActArrayProxy (&client,
devIndex);
break;
case PLAYER_AUDIO_CODE:
deviceProxy = (ClientProxy*) new AudioProxy (&client, devIndex);
break;
case PLAYER_AIO_CODE:
deviceProxy = (ClientProxy*) new AioProxy (&client, devIndex);
break;
case PLAYER_BLOBFINDER_CODE:
deviceProxy = (ClientProxy*) new BlobfinderProxy (&client,
devIndex);
break;
case PLAYER_BUMPER_CODE:
deviceProxy = (ClientProxy*) new BumperProxy (&client,
devIndex);
break;
case PLAYER_CAMERA_CODE:
deviceProxy = (ClientProxy*) new CameraProxy (&client,
devIndex);
break;
case PLAYER_DIO_CODE:
deviceProxy = (ClientProxy*) new DioProxy (&client, devIndex);
break;
case PLAYER_FIDUCIAL_CODE:
deviceProxy = (ClientProxy*) new FiducialProxy (&client,
devIndex);
break;
case PLAYER_GRIPPER_CODE:
deviceProxy = (ClientProxy*) new GripperProxy (&client,
devIndex);
break;
case PLAYER_IMU_CODE:
deviceProxy = (ClientProxy*) new ImuProxy (&client, devIndex);
break;
case PLAYER_IR_CODE:
deviceProxy = (ClientProxy*) new IrProxy (&client, devIndex);
break;
case PLAYER_LASER_CODE:
deviceProxy = (ClientProxy*) new LaserProxy (&client, devIndex);
break;
case PLAYER_LIMB_CODE:
deviceProxy = (ClientProxy*) new LimbProxy (&client, devIndex);
break;
case PLAYER_LOCALIZE_CODE:
deviceProxy = (ClientProxy*) new LocalizeProxy (&client,
devIndex);
break;
case PLAYER_LOG_CODE:
deviceProxy = (ClientProxy*) new LogProxy (&client, devIndex);
break;
case PLAYER_MAP_CODE:
deviceProxy = (ClientProxy*) new MapProxy (&client, devIndex);
break;
case PLAYER_PLANNER_CODE:
deviceProxy = (ClientProxy*) new PlannerProxy (&client,
devIndex);
break;
case PLAYER_POSITION1D_CODE:
deviceProxy = (ClientProxy*) new Position1dProxy (&client,
devIndex);
break;
case PLAYER_POSITION2D_CODE:
deviceProxy = (ClientProxy*) new Position2dProxy (&client,
devIndex);
break;
case PLAYER_POSITION3D_CODE:
deviceProxy = (ClientProxy*) new Position3dProxy (&client,
devIndex);
break;
case PLAYER_POWER_CODE:
deviceProxy = (ClientProxy*) new PowerProxy (&client, devIndex);
break;
case PLAYER_PTZ_CODE:
deviceProxy = (ClientProxy*) new PtzProxy (&client, devIndex);
break;
case PLAYER_SIMULATION_CODE:
deviceProxy = (ClientProxy*) new SimulationProxy (&client,
devIndex);
break;
case PLAYER_SONAR_CODE:
deviceProxy = (ClientProxy*) new SonarProxy (&client, devIndex);
break;
case PLAYER_SPEECH_CODE:
deviceProxy = (ClientProxy*) new SpeechProxy (&client,
devIndex);
break;
default:
cout << "Unknown interface " << device << endl;
exit (-1);
}
if (strncmp (argv[argsIndex], "getint", 6) == 0)
{
if (deviceProxy->GetIntProp (argv[argsIndex + 1], &intValue) >=
0)
cout << "Property " << argv[argsIndex + 1] << " = " <<
intValue << endl;
}
else if (strncmp (argv[argsIndex], "getdbl", 6) == 0)
{
if (deviceProxy->GetDblProp (argv[argsIndex + 1], &dblValue) >=
0)
cout << "Property " << argv[argsIndex + 1] << " = " <<
dblValue << endl;
}
else if (strncmp (argv[argsIndex], "getstr", 6) == 0)
{
if (deviceProxy->GetStrProp (argv[argsIndex + 1], &strValue) >=
0)
{
cout << "Property " << argv[argsIndex + 1] << " = " <<
strValue << endl;
free (strValue);
}
}
else if (strncmp (argv[argsIndex], "setint", 6) == 0)
{
deviceProxy->SetIntProp (argv[argsIndex + 1], atoi
(argv[argsIndex + 2]));
}
else if (strncmp (argv[argsIndex], "setdbl", 6) == 0)
{
deviceProxy->SetDblProp (argv[argsIndex + 1], atof
(argv[argsIndex + 2]));
}
else if (strncmp (argv[argsIndex], "setstr", 6) == 0)
{
deviceProxy->SetStrProp (argv[argsIndex + 1], argv[argsIndex +
2]);
}
return 0;
}
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