Update of /cvsroot/playerstage/code/player/client_libs/libplayerc
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25524/client_libs/libplayerc
Modified Files:
dev_ranger.c playerc.h
Log Message:
Changes to ranger interface (moving some properties to messages).
Index: playerc.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/playerc.h,v
retrieving revision 1.224
retrieving revision 1.225
diff -C2 -d -r1.224 -r1.225
*** playerc.h 21 May 2007 11:03:32 -0000 1.224
--- playerc.h 17 Jun 2007 00:28:01 -0000 1.225
***************
*** 2724,2727 ****
--- 2724,2740 ----
uint32_t sensor_count;
+ /** Start angle of scans [rad]. May be unfilled. */
+ double min_angle;
+ /** End angle of scans [rad]. May be unfilled. */
+ double max_angle;
+ /** Scan resolution [rad]. May be unfilled. */
+ double resolution;
+ /** Maximum range [m]. May be unfilled. */
+ double max_range;
+ /** Range resolution [m]. May be unfilled. */
+ double range_res;
+ /** Scanning frequency [Hz]. May be unfilled. */
+ double frequency;
+
/** Device geometry in the robot CS: pose gives the position and
orientation,
size gives the extent. These values are filled in by calling
***************
*** 2777,2780 ****
--- 2790,2819 ----
int playerc_ranger_intns_config(playerc_ranger_t *device, uint8_t value);
+ /** @brief Set the ranger device's configuration. Not all values may be used.
+
+ @param min_angle Start angle of scans [rad].
+ @param max_angle End angle of scans [rad].
+ @param resolution Scan resolution [rad].
+ @param max_range Maximum range [m].
+ @param range_res Range resolution [m].
+ @param frequency Scanning frequency [Hz]. */
+ int playerc_ranger_set_config(playerc_ranger_t *device, double min_angle,
+ double max_angle, double resolution,
+ double max_range, double range_res,
+ double frequency);
+
+ /** @brief Get the ranger device's configuration. Not all values may be
filled.
+
+ @param min_angle Start angle of scans [rad].
+ @param max_angle End angle of scans [rad].
+ @param resolution Scan resolution [rad].
+ @param max_range Maximum range [m].
+ @param range_res Range resolution [m].
+ @param frequency Scanning frequency [Hz]. */
+ int playerc_ranger_get_config(playerc_ranger_t *device, double *min_angle,
+ double *max_angle, double *resolution,
+ double *max_range, double *range_res,
+ double *frequency);
+
/** @} */
/**************************************************************************/
Index: dev_ranger.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_ranger.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** dev_ranger.c 20 May 2007 00:30:14 -0000 1.1
--- dev_ranger.c 17 Jun 2007 00:28:01 -0000 1.2
***************
*** 251,253 ****
return 0;
! }
\ No newline at end of file
--- 251,319 ----
return 0;
! }
!
! // Ranger set config
! int playerc_ranger_set_config(playerc_ranger_t *device, double min_angle,
! double max_angle, double resolution,
! double max_range, double range_res,
! double frequency)
! {
! player_ranger_config_t config;
!
! config.min_angle = min_angle;
! config.max_angle = max_angle;
! config.resolution = resolution;
! config.max_range = max_range;
! config.range_res = range_res;
! config.frequency = frequency;
!
! if(playerc_client_request(device->info.client, &device->info,
! PLAYER_RANGER_REQ_SET_CONFIG,
! (void*)&config, &config, sizeof(config)) < 0)
! return -1;
!
! device->min_angle = config.min_angle;
! device->max_angle = config.max_angle;
! device->resolution = config.resolution;
! device->max_range = config.max_range;
! device->range_res = config.range_res;
! device->frequency = config.frequency;
!
! return 0;
! }
!
! // Ranger get config
! int playerc_ranger_get_config(playerc_ranger_t *device, double *min_angle,
! double *max_angle, double *resolution,
! double *max_range, double *range_res,
! double *frequency)
! {
! player_ranger_config_t config;
!
! if(playerc_client_request(device->info.client, &device->info,
! PLAYER_RANGER_REQ_GET_CONFIG,
! NULL, &config, sizeof(config)) < 0)
! return(-1);
!
! device->min_angle = config.min_angle;
! device->max_angle = config.max_angle;
! device->resolution = config.resolution;
! device->max_range = config.max_range;
! device->range_res = config.range_res;
! device->frequency = config.frequency;
!
! if (min_angle != NULL)
! *min_angle = device->min_angle;
! if (max_angle != NULL)
! *max_angle = device->max_angle;
! if (resolution != NULL)
! *resolution = device->resolution;
! if (max_range != NULL)
! *max_range = device->max_range;
! if (range_res != NULL)
! *range_res = device->range_res;
! if (frequency != NULL)
! *frequency = device->frequency;
!
! return 0;
! }
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