Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22655/libplayercore
Modified Files:
driver.cc interface_util.c message.cc player.h property.cpp
property.h
Log Message:
added geoffs ranger interface
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.129
retrieving revision 1.130
diff -C2 -d -r1.129 -r1.130
*** player.h 29 Apr 2007 07:18:43 -0000 1.129
--- player.h 20 May 2007 00:30:15 -0000 1.130
***************
*** 161,164 ****
--- 161,165 ----
#define PLAYER_IMU_CODE 60 // Inertial Measurement Unit interface
#define PLAYER_POINTCLOUD3D_CODE 61 // 3-D point cloud
+ #define PLAYER_RANGER_CODE 62 // Range sensor device
/** @} */
***************
*** 221,224 ****
--- 222,226 ----
#define PLAYER_WIFI_STRING "wifi"
#define PLAYER_WSN_STRING "wsn"
+ #define PLAYER_RANGER_STRING "ranger"
/** @} */
***************
*** 4549,4552 ****
--- 4551,4697 ----
//
/////////////////////////////////////////////////////////////////////////////
/** @ingroup interfaces
+ * @defgroup interface_ranger ranger
+ * @brief A range sensor
+
+ Receive data from a range sensor, such as a laser scannar, sonar array or IR
+ array.
+
+ @section properties Recommended Properties
+
+ The following properties are recommended to be provided by drivers supporting
+ this interface, depending on device type.
+
+ @subsection laserprops Laser scanner devices
+
+ (double) min_angle: Start angle of scans [rad].
+ (double) max_angle: End angle of scans [rad].
+ (double) resolution: Scan resolution [rad].
+ (double) max_range: Maximum range [m].
+ (double) range_res: Range resolution [m].
+ (double) frequency: Scanning frequency [Hz].
+
+ @subsection sonarprops Sonar array devices
+
+ (double) max_range: Maximum range [m].
+ (double) range_res: Range resolution [m].
+
+ @subsection irprops IR array devices
+
+ (double) max_range: Maximum range [m].
+ (double) range_res: Range resolution [m].
+
+ */
+
+ /** @ingroup interface_ranger
+ * @{ */
+
+ /** Data subtype: range scan */
+ #define PLAYER_RANGER_DATA_RANGE 1
+ /** Data subtype: pose-stamped range scan */
+ #define PLAYER_RANGER_DATA_RANGEPOSE 2
+ /** Data subtype: intensity scan */
+ #define PLAYER_RANGER_DATA_INTNS 3
+ /** Data subtype: pose-stamped intensity scan */
+ #define PLAYER_RANGER_DATA_INTNSPOSE 4
+ /** Data subtype: sensor geometry */
+ #define PLAYER_RANGER_DATA_GEOM 5
+
+ /** Request/reply subtype: get geometry */
+ #define PLAYER_RANGER_REQ_GET_GEOM 1
+ /** Request/reply subtype: power config */
+ #define PLAYER_RANGER_REQ_POWER 2
+ /** Request/reply subtype: intensity data config */
+ #define PLAYER_RANGER_REQ_INTNS 3
+
+ /** @brief Data and Request/reply: Get geometry. (@ref
PLAYER_RANGER_REQ_GET_GEOM)
+
+ The ranger device position, orientation and size. */
+ typedef struct player_ranger_geom
+ {
+ /** Device centre pose in robot CS [m, m, m, rad, rad, rad]. */
+ player_pose3d_t pose;
+ /** Size of the device [m, m, m]. */
+ player_bbox3d_t size;
+ /** Number of individual range sensors that make up the device. */
+ uint32_t sensor_poses_count;
+ /** Pose of each individual range sensor that makes up the device (in
device CS). */
+ player_pose3d_t *sensor_poses;
+ /** Number of individual range sensors that make up the device. */
+ uint32_t sensor_sizes_count;
+ /** Size of each individual range sensor that makes up the device. */
+ player_bbox3d_t *sensor_sizes;
+ } player_ranger_geom_t;
+
+ /** @brief Data: range scan (@ref PLAYER_RANGER_DATA_RANGE)
+
+ The basic ranger scan data packet, containing a set of range readings. */
+ typedef struct player_ranger_data_range
+ {
+ /** Number of range readings. */
+ uint32_t ranges_count;
+ /** Range readings [m]. */
+ double *ranges;
+ } player_ranger_data_range_t;
+
+ /** @brief Data: post-stamped range scan (@ref PLAYER_RANGER_DATA_RANGEPOSE)
+
+ A range scan with the (possibly estimated) pose of the device when the scan
was
+ acquired. */
+ typedef struct player_ranger_data_rangepose
+ {
+ /** The scan data. */
+ player_ranger_data_range_t data;
+ /** The geometry of the device at the time the scan was acquired. */
+ player_ranger_geom_t geom;
+ } player_ranger_data_rangepose_t;
+
+ /** @brief Data: intensity scan (@ref PLAYER_RANGER_DATA_INTNS)
+
+ A set of intensity readings. */
+ typedef struct player_ranger_data_intns
+ {
+ /** Number of intensity readings. */
+ uint32_t intensities_count;
+ /** Intensity readings. */
+ double *intensities;
+ } player_ranger_data_intns_t;
+
+ /** @brief Data: post-stamped intensity scan (@ref
PLAYER_RANGER_DATA_INTNSPOSE)
+
+ An intensity scan with the (possibly estimated) pose of the device when the
scan
+ was acquired. */
+ typedef struct player_ranger_data_intnspose
+ {
+ /** The scan data. */
+ player_ranger_data_intns_t data;
+ /** The geometry of the device at the time the scan was acquired. */
+ player_ranger_geom_t geom;
+ } player_ranger_data_intnspose_t;
+
+ /** @brief Request/reply: Turn power on/off (@ref PLAYER_RANGER_REQ_POWER)
+
+ If the device supports it, use this message to turn the power on or off. */
+ typedef struct player_ranger_power_config
+ {
+ /** TRUE to turn device on, FALSE to turn device off. */
+ uint8_t state;
+ } player_ranger_power_config_t;
+
+ /** @brief Request/reply: Turn intensity data on/off for devices that provide
it
+ (@ref PLAYER_RANGER_REQ_INTNS)
+
+ If the device is capable of providing intensity information (such as laser
+ reflection intensity or IR voltage), this will enable the transmission of the
+ data in the @ref PLAYER_RANGER_DATA_INTNS data message. */
+ typedef struct player_ranger_intns_config
+ {
+ /** TRUE to turn data on, FALSE to turn data off. */
+ uint8_t state;
+ } player_ranger_intns_config_t;
+
+ /** @} */
+
+ //
/////////////////////////////////////////////////////////////////////////////
+ /** @ingroup interfaces
* @defgroup interface_simulation simulation
* @brief A robot simulator
Index: interface_util.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/interface_util.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** interface_util.c 14 Mar 2007 16:41:51 -0000 1.2
--- interface_util.c 20 May 2007 00:30:15 -0000 1.3
***************
*** 95,98 ****
--- 95,99 ----
{PLAYER_IMU_CODE, PLAYER_IMU_STRING},
{PLAYER_POINTCLOUD3D_CODE, PLAYER_POINTCLOUD3D_STRING},
+ {PLAYER_RANGER_CODE, PLAYER_RANGER_STRING},
{0,NULL}
};
Index: property.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/property.h,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** property.h 29 Apr 2007 07:18:43 -0000 1.1
--- property.h 20 May 2007 00:30:15 -0000 1.2
***************
*** 31,35 ****
public:
Property (void);
! Property (const char *newKey);
virtual ~Property (void);
--- 31,35 ----
public:
Property (void);
! Property (const char *newKey, bool readOnly);
virtual ~Property (void);
***************
*** 45,48 ****
--- 45,49 ----
protected:
char *key; // Key for this property
+ bool readonly; // true if this property is read-only
};
***************
*** 54,61 ****
{
public:
! IntProperty (const char *newKey, int newValue);
int GetValue (void) const { return value;
}
! void SetValue (int newValue) { value = newValue; }
void GetValueToMessage (void *data) const;
void SetValueFromMessage (const void *data);
--- 55,62 ----
{
public:
! IntProperty (const char *newKey, int newValue, bool readOnly);
int GetValue (void) const { return value;
}
! void SetValue (int newValue);
void GetValueToMessage (void *data) const;
void SetValueFromMessage (const void *data);
***************
*** 67,71 ****
operator int (void) { return value;
}
const IntProperty& operator= (const IntProperty &rhs);
! int operator= (int rhs) { value = rhs;
return value; }
private:
--- 68,72 ----
operator int (void) { return value;
}
const IntProperty& operator= (const IntProperty &rhs);
! int operator= (int rhs);
private:
***************
*** 80,87 ****
{
public:
! DoubleProperty (const char *newKey, double newValue);
double GetValue (void) const { return value; }
! void SetValue (double newValue) { value = newValue; }
void GetValueToMessage (void *data) const;
void SetValueFromMessage (const void *data);
--- 81,88 ----
{
public:
! DoubleProperty (const char *newKey, double newValue, bool
readOnly);
double GetValue (void) const { return value; }
! void SetValue (double newValue);
void GetValueToMessage (void *data) const;
void SetValueFromMessage (const void *data);
***************
*** 93,97 ****
operator double (void) { return value;
}
const DoubleProperty& operator= (const DoubleProperty &rhs);
! double operator= (double rhs) { value = rhs; return
value; }
private:
--- 94,98 ----
operator double (void) { return value;
}
const DoubleProperty& operator= (const DoubleProperty &rhs);
! double operator= (double rhs);
private:
***************
*** 105,109 ****
{
public:
! StringProperty (const char *newKey, const char *newValue);
~StringProperty (void);
--- 106,110 ----
{
public:
! StringProperty (const char *newKey, const char *newValue, bool
readOnly);
~StringProperty (void);
Index: message.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/message.cc,v
retrieving revision 1.20
retrieving revision 1.21
diff -C2 -d -r1.20 -r1.21
*** message.cc 30 Apr 2007 21:45:24 -0000 1.20
--- message.cc 20 May 2007 00:30:15 -0000 1.21
***************
*** 34,37 ****
--- 34,38 ----
#include <libplayercore/player.h>
#include <libplayercore/error.h>
+ #include <libplayercore/interface_util.h>
#include <libplayerxdr/playerxdr.h>
***************
*** 67,71 ****
{
// Possible error
! PLAYER_WARN3 ("copied zero bytes in deep copy of message %d: %d, %d",
Header.addr.interf, Header.type, Header.subtype);
}
}
--- 68,72 ----
{
// Possible error
! PLAYER_WARN3 ("copied zero bytes in deep copy of message %s: %s, %d",
interf_to_str (Header.addr.interf), msgtype_to_str (Header.type),
Header.subtype);
}
}
Index: driver.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/driver.cc,v
retrieving revision 1.27
retrieving revision 1.28
diff -C2 -d -r1.27 -r1.28
*** driver.cc 29 Apr 2007 07:18:43 -0000 1.27
--- driver.cc 20 May 2007 00:30:15 -0000 1.28
***************
*** 340,350 ****
}
! // First check if it's an internal message
! if (ProcessInternalMessages(msg->Queue, hdr, data) == 0)
! continue;
!
int ret = this->ProcessMessage(msg->Queue, hdr, data);
if(ret < 0)
{
PLAYER_WARN7("Unhandled message for driver "
"device=%d:%d:%s:%d type=%s subtype=%d len=%d\n",
--- 340,351 ----
}
! // Try the driver's process function first
! // Drivers can override internal message handlers this way
int ret = this->ProcessMessage(msg->Queue, hdr, data);
if(ret < 0)
{
+ // Check if it's an internal message, if that doesn't handle it, give a
warning
+ if (ProcessInternalMessages(msg->Queue, hdr, data) != 0)
+ {
PLAYER_WARN7("Unhandled message for driver "
"device=%d:%d:%s:%d type=%s subtype=%d len=%d\n",
***************
*** 358,361 ****
--- 359,363 ----
hdr->subtype, NULL, 0, NULL);
}
+ }
delete msg;
pthread_testcancel();
Index: property.cpp
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/property.cpp,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** property.cpp 29 Apr 2007 07:18:43 -0000 1.1
--- property.cpp 20 May 2007 00:30:15 -0000 1.2
***************
*** 35,39 ****
}
! Property::Property (const char *newKey)
{
if ((key = strdup (newKey)) == NULL)
--- 35,39 ----
}
! Property::Property (const char *newKey, bool readOnly)
{
if ((key = strdup (newKey)) == NULL)
***************
*** 42,45 ****
--- 42,46 ----
key = NULL;
}
+
}
***************
*** 65,73 ****
////////////////////////////////////////////////////////////////////////////////
! IntProperty::IntProperty (const char *newKey, int newValue)
! : Property (newKey), value (newValue)
{
}
void IntProperty::GetValueToMessage (void *data) const
{
--- 66,85 ----
////////////////////////////////////////////////////////////////////////////////
! IntProperty::IntProperty (const char *newKey, int newValue, bool readOnly)
! : Property (newKey, readOnly), value (newValue)
{
}
+ void IntProperty::SetValue (int newValue)
+ {
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%d", key, newValue);
+ return;
+ }
+
+ value = newValue;
+ }
+
void IntProperty::GetValueToMessage (void *data) const
{
***************
*** 77,80 ****
--- 89,98 ----
void IntProperty::SetValueFromMessage (const void *data)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%d", key, reinterpret_cast<const player_intprop_req_t*> (data)->value);
+ return;
+ }
+
value = reinterpret_cast<const player_intprop_req_t*> (data)->value;
}
***************
*** 90,105 ****
const IntProperty& IntProperty::operator= (const IntProperty &rhs)
{
value = rhs.GetValue ();
return *this;
}
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
! DoubleProperty::DoubleProperty (const char *newKey, double newValue)
! : Property (newKey), value (newValue)
{
}
void DoubleProperty::GetValueToMessage (void *data) const
{
--- 108,152 ----
const IntProperty& IntProperty::operator= (const IntProperty &rhs)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%d", key, rhs.GetValue ());
+ return *this;
+ }
+
value = rhs.GetValue ();
return *this;
}
+ int IntProperty::operator= (int rhs)
+ {
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%d", key, rhs);
+ return value;
+ }
+
+ value = rhs;
+ return value;
+ }
+
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
! DoubleProperty::DoubleProperty (const char *newKey, double newValue, bool
readOnly)
! : Property (newKey, readOnly), value (newValue)
{
}
+ void DoubleProperty::SetValue (double newValue)
+ {
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%f", key, newValue);
+ return;
+ }
+
+ value = newValue;
+ }
+
void DoubleProperty::GetValueToMessage (void *data) const
{
***************
*** 109,112 ****
--- 156,165 ----
void DoubleProperty::SetValueFromMessage (const void *data)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%f", key, reinterpret_cast<const player_dblprop_req_t*> (data)->value);
+ return;
+ }
+
value = reinterpret_cast<const player_dblprop_req_t*> (data)->value;
}
***************
*** 122,134 ****
const DoubleProperty& DoubleProperty::operator= (const DoubleProperty &rhs)
{
value = rhs.GetValue ();
return *this;
}
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
! StringProperty::StringProperty (const char *newKey, const char *newValue)
! : Property (newKey)
{
if (newValue != NULL)
--- 175,205 ----
const DoubleProperty& DoubleProperty::operator= (const DoubleProperty &rhs)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%f", key, rhs.GetValue ());
+ return *this;
+ }
+
value = rhs.GetValue ();
return *this;
}
+ double DoubleProperty::operator= (double rhs)
+ {
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%f", key, rhs);
+ return value;
+ }
+
+ value = rhs;
+ return value;
+ }
+
////////////////////////////////////////////////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////
! StringProperty::StringProperty (const char *newKey, const char *newValue,
bool readOnly)
! : Property (newKey, readOnly)
{
if (newValue != NULL)
***************
*** 152,155 ****
--- 223,232 ----
void StringProperty::SetValue (const char *newValue)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%s", key, newValue);
+ return;
+ }
+
if (value != NULL)
free (value);
***************
*** 184,187 ****
--- 261,270 ----
void StringProperty::SetValueFromMessage (const void *data)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%s", key, reinterpret_cast<const player_strprop_req_t*> (data)->value);
+ return;
+ }
+
const player_strprop_req_t *req = reinterpret_cast<const
player_strprop_req_t*> (data);
if (value != NULL)
***************
*** 215,218 ****
--- 298,307 ----
const StringProperty& StringProperty::operator= (const StringProperty &rhs)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%s", key, rhs.GetValue ());
+ return *this;
+ }
+
if (value != NULL)
free (value);
***************
*** 230,233 ****
--- 319,328 ----
const char* StringProperty::operator= (const char* rhs)
{
+ if (readonly)
+ {
+ PLAYER_WARN2 ("Property %s is read only, cannot change value 50
%s", key, rhs);
+ return value;
+ }
+
if (value != NULL)
free (value);
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