Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22655/client_libs/libplayerc++
Modified Files:
Makefile.am playerc++.h
Added Files:
rangerproxy.cc
Log Message:
added geoffs ranger interface
--- NEW FILE: rangerproxy.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
*
*/
#if HAVE_CONFIG_H
#include "config.h"
#endif
#include "playerc++.h"
using namespace PlayerCc;
RangerProxy::RangerProxy(PlayerClient *aPc, uint aIndex)
: ClientProxy(aPc, aIndex),
mDevice(NULL)
{
Subscribe(aIndex);
mInfo = &(mDevice->info);
}
RangerProxy::~RangerProxy()
{
Unsubscribe();
}
void RangerProxy::Subscribe(uint aIndex)
{
scoped_lock_t lock(mPc->mMutex);
mDevice = playerc_ranger_create(mClient, aIndex);
if (mDevice == NULL)
throw PlayerError("RangerProxy::RangerProxy()", "could not create");
if (playerc_ranger_subscribe(mDevice, PLAYER_OPEN_MODE) != 0)
throw PlayerError("RangerProxy::RangerProxy()", "could not subscribe");
}
void RangerProxy::Unsubscribe()
{
assert(mDevice != NULL);
scoped_lock_t lock(mPc->mMutex);
playerc_ranger_unsubscribe(mDevice);
playerc_ranger_destroy(mDevice);
mDevice = NULL;
}
player_pose3d_t RangerProxy::GetSensorPose(uint aIndex) const
{
if (aIndex > mDevice->sensor_count)
throw PlayerError("RangerProxy::GetSensorPose", "index out of bounds");
return GetVar(mDevice->sensor_poses[aIndex]);
}
player_bbox3d_t RangerProxy::GetSensorSize(uint aIndex) const
{
if (aIndex > mDevice->sensor_count)
throw PlayerError("RangerProxy::GetSensorSize", "index out of bounds");
return GetVar(mDevice->sensor_sizes[aIndex]);
}
double RangerProxy::GetRange(uint aIndex) const
{
if (aIndex > mDevice->ranges_count)
throw PlayerError("RangerProxy::GetRange", "index out of bounds");
return GetVar(mDevice->ranges[aIndex]);
}
double RangerProxy::GetIntensity(uint aIndex) const
{
if (aIndex > mDevice->intensities_count)
throw PlayerError("RangerProxy::GetIntensity", "index out of bounds");
return GetVar(mDevice->intensities[aIndex]);
}
void RangerProxy::SetPower(bool aEnable)
{
scoped_lock_t lock(mPc->mMutex);
if (playerc_ranger_power_config(mDevice, aEnable ? 1 : 0) != 0)
throw PlayerError("RangerProxy::SetPower()", "error setting power");
}
void RangerProxy::SetIntensityData(bool aEnable)
{
scoped_lock_t lock(mPc->mMutex);
if (playerc_ranger_intns_config(mDevice, aEnable ? 1 : 0) != 0)
throw PlayerError("RangerProxy::SetIntensityData()", "error setting power");
}
void RangerProxy::RequestGeom()
{
scoped_lock_t lock(mPc->mMutex);
if (playerc_ranger_get_geom(mDevice) != 0)
throw PlayerError("RangerProxy::RequestGeom()", "error requesting
geometry");
}
std::ostream& std::operator << (std::ostream &os, const PlayerCc::RangerProxy
&c)
{
player_pose3d_t pose;
player_bbox3d_t size;
os << "#Ranger (" << c.GetInterface() << ":" << c.GetIndex() << ")" <<
std::endl;
pose = c.GetDevicePose ();
os << "Device pose: (" << pose.px << ", " << pose.py << ", " << pose.pz <<
"), (" <<
pose.proll << ", " << pose.ppitch << ", " << pose.pyaw << ")" << endl;
size = c.GetDeviceSize ();
os << "Device size: (" << size.sw << ", " << size.sl << ", " << size.sh <<
")" << endl;
if (c.GetSensorCount() > 0)
{
os << c.GetSensorCount() << " sensors:" << endl;
for (uint ii = 0; ii < c.GetSensorCount(); ii++)
{
pose = c.GetSensorPose(ii);
size = c.GetSensorSize(ii);
os << " Pose: (" << pose.px << ", " << pose.py << ", " << pose.pz << "),
(" <<
pose.proll << ", " << pose.ppitch << ", " << pose.pyaw << ")" <<
"\tSize: (" <<
size.sw << ", " << size.sl << ", " << size.sh << ")" << endl;
}
}
if (c.GetRangeCount() > 0)
{
os << c.GetRangeCount() << " range readings:" << endl << " [";
uint ii;
for (ii = 0; ii < c.GetRangeCount() - 1; ii++)
os << c.GetRange(ii) << ", ";
os << c.GetRange(ii) << "]" << endl;
}
if (c.GetIntensityCount() > 0)
{
os << c.GetIntensityCount() << " intensity readings:" << endl << " [";
uint ii;
for (ii = 0; ii < c.GetIntensityCount() - 1; ii++)
os << c.GetIntensity(ii) << ", ";
os << c.GetIntensity(ii) << "]" << endl;
}
return os;
}
Index: Makefile.am
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/Makefile.am,v
retrieving revision 1.45
retrieving revision 1.46
diff -C2 -d -r1.45 -r1.46
*** Makefile.am 14 Mar 2007 16:41:51 -0000 1.45
--- Makefile.am 20 May 2007 00:30:14 -0000 1.46
***************
*** 57,60 ****
--- 57,61 ----
powerproxy.cc \
ptzproxy.cc \
+ rangerproxy.cc \
rfidproxy.cc \
simulationproxy.cc \
Index: playerc++.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** playerc++.h 30 Apr 2007 23:52:12 -0000 1.86
--- playerc++.h 20 May 2007 00:30:14 -0000 1.87
***************
*** 2132,2135 ****
--- 2132,2190 ----
/**
+ The @p RangerProxy class is used to control a @ref interface_ranger device. */
+ class RangerProxy : public ClientProxy
+ {
+ private:
+
+ void Subscribe(uint aIndex);
+ void Unsubscribe();
+
+ // libplayerc data structure
+ playerc_ranger_t *mDevice;
+
+ public:
+ /// constructor
+ RangerProxy(PlayerClient *aPc, uint aIndex=0);
+ /// destructor
+ ~RangerProxy();
+
+ /// Return the individual range sensor count
+ uint GetSensorCount() const { return GetVar(mDevice->sensor_count); };
+
+ /// Return the device pose
+ player_pose3d_t GetDevicePose() const { return
GetVar(mDevice->device_pose); };
+ /// Return the device size
+ player_bbox3d_t GetDeviceSize() const { return
GetVar(mDevice->device_size); };
+
+ /// Return the pose of an individual sensor
+ player_pose3d_t GetSensorPose(uint aIndex) const;
+ /// Return the size of an individual sensor
+ player_bbox3d_t GetSensorSize(uint aIndex) const;
+
+ /// Return the number of range readings
+ uint GetRangeCount() const { return GetVar(mDevice->ranges_count); };
+ /// Get a range reading
+ double GetRange(uint aIndex) const;
+ /// Operator to get a range reading
+ double operator[] (uint aIndex) const { return GetRange(aIndex); }
+
+ /// Return the number of intensity readings
+ uint GetIntensityCount() const { return
GetVar(mDevice->intensities_count); } ;
+ /// Get an intensity reading
+ double GetIntensity(uint aIndex) const;
+
+ /// Turn the device power on or off.
+ /// Set @p state to true to enable, false to disable.
+ void SetPower(bool aEnable);
+
+ /// Turn intensity data on or off.
+ /// Set @p state to true to enable, false to disable.
+ void SetIntensityData(bool aEnable);
+
+ /// Request the ranger geometry.
+ void RequestGeom();
+ };
+
+ /**
The @p RFIDProxy class is used to control a @ref interface_rfid device. */
class RFIDProxy : public ClientProxy
***************
*** 2509,2512 ****
--- 2564,2568 ----
std::ostream& operator << (std::ostream& os, const PlayerCc::PowerProxy& c);
std::ostream& operator << (std::ostream& os, const PlayerCc::PtzProxy& c);
+ std::ostream& operator << (std::ostream &os, const PlayerCc::RangerProxy
&c);
std::ostream& operator << (std::ostream& os, const
PlayerCc::SimulationProxy& c);
std::ostream& operator << (std::ostream& os, const PlayerCc::SonarProxy& c);
-------------------------------------------------------------------------
This SF.net email is sponsored by DB2 Express
Download DB2 Express C - the FREE version of DB2 express and take
control of your XML. No limits. Just data. Click to get it now.
http://sourceforge.net/powerbar/db2/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
