Update of /cvsroot/playerstage/code/player/libplayercore
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv6470/libplayercore
Modified Files:
interface_util.c player.h
Log Message:
Removed deprecated energy, sound and truth interfaces.
Index: player.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/player.h,v
retrieving revision 1.135
retrieving revision 1.136
diff -C2 -d -r1.135 -r1.136
*** player.h 10 Jul 2007 09:01:52 -0000 1.135
--- player.h 4 Aug 2007 03:12:07 -0000 1.136
***************
*** 145,149 ****
#define PLAYER_GPS_CODE 13 // GPS unit
#define PLAYER_BUMPER_CODE 14 // bumper array
- #define PLAYER_TRUTH_CODE 15 // ground-truth (via Stage;
#define PLAYER_DIO_CODE 20 // digital I/O
#define PLAYER_AIO_CODE 21 // analog I/O
--- 145,148 ----
***************
*** 152,156 ****
#define PLAYER_LOCALIZE_CODE 25 // localization
#define PLAYER_MCOM_CODE 26 // multicoms
- #define PLAYER_SOUND_CODE 27 // sound file playback
#define PLAYER_POSITION3D_CODE 30 // 3-D position
#define PLAYER_SIMULATION_CODE 31 // simulators
--- 151,154 ----
***************
*** 161,165 ****
#define PLAYER_PLANNER_CODE 44 // 2D motion planner
#define PLAYER_LOG_CODE 45 // log read/write control
- #define PLAYER_ENERGY_CODE 46 // energy consumption
#define PLAYER_MOTOR_CODE 47 // motor interface
#define PLAYER_JOYSTICK_CODE 49 // Joytstick
--- 159,162 ----
***************
*** 196,200 ****
#define PLAYER_BUMPER_STRING "bumper"
#define PLAYER_CAMERA_STRING "camera"
- #define PLAYER_ENERGY_STRING "energy"
#define PLAYER_DIO_STRING "dio"
#define PLAYER_GRIPPER_STRING "gripper"
--- 193,196 ----
***************
*** 228,235 ****
#define PLAYER_SIMULATION_STRING "simulation"
#define PLAYER_SONAR_STRING "sonar"
- #define PLAYER_SOUND_STRING "sound"
#define PLAYER_SPEECH_STRING "speech"
#define PLAYER_SPEECH_RECOGNITION_STRING "speech_recognition"
- #define PLAYER_TRUTH_STRING "truth"
#define PLAYER_WIFI_STRING "wifi"
#define PLAYER_WSN_STRING "wsn"
--- 224,229 ----
***************
*** 1682,1745 ****
/** @} */
- /* REMOVE ENERGY DEVICE - USE POWER INSTEAD - RTV 2005.12.04 */
-
- //
/////////////////////////////////////////////////////////////////////////////
- /** @ingroup interfaces
- * @defgroup interface_energy energy
- * @brief Energy storage / consumption
-
- DEPRECATED: THE FUNCTIONALITY OF THE ENERGY DEVICE HAS BEEN FOLDED INTO THE
- POWER DEVICE. YOU SHOULD CONSIDER USING THE POWER DEVICE INSTEAD. NO
- NEW DEVELOPMENT SHOULD BE DONE ON THE ENERGY DEVICE AND IT WILL BE
- REMOVED FROM HERE VERY SOON.
-
- The @p energy interface provides data about energy storage, consumption
- and charging. This interface accepts no commands.
- */
-
- /** @ingroup interface_energy
- * @{ */
-
- /** Data subtype: state */
- #define PLAYER_ENERGY_DATA_STATE 1
-
- /** Request subtype: set charging policy */
- #define PLAYER_ENERGY_SET_CHARGING_POLICY_REQ 1
-
- /** @brief Data: state (@ref PLAYER_ENERGY_DATA_STATE)
-
- The @p energy interface reports he amount of energy stored, current rate
- of energy consumption or aquisition, and whether or not the device is
- connected to a charger. */
- typedef struct player_energy_data
- {
- /** energy stored [J]. */
- float joules;
- /** estimated current power consumption (negative values) or
- aquisition (positive values) [W]. */
- float watts;
- /** charge exchange status: if 1, the device is currently receiving
- charge from another energy device. If -1 the device is currently
- providing charge to another energy device. If 0, the device is
- not exchanging charge with an another device. */
- int32_t charging;
- } player_energy_data_t;
-
- /** @brief Request/reply: set charging policy
- *
- * Send a @ref PLAYER_ENERGY_SET_CHARGING_POLICY_REQ request to change the
- * charging policy. */
- typedef struct player_energy_chargepolicy_config
- {
- /** uint8_tean controlling recharging. If FALSE, recharging is
- disabled. Defaults to TRUE */
- uint8_t enable_input;
- /** uint8_tean controlling whether others can recharge from this
- device. If FALSE, charging others is disabled. Defaults to TRUE.*/
- uint8_t enable_output;
- } player_energy_chargepolicy_config_t;
-
- /** @} */
-
//
/////////////////////////////////////////////////////////////////////////////
/** @ingroup interfaces
--- 1676,1679 ----
***************
*** 4218,4223 ****
The @p power interface provides access to a robot's power
! subsystem. Includes the functionality of the old Player @p energy device,
which is
! now deprecated.
*/
--- 4152,4156 ----
The @p power interface provides access to a robot's power
! subsystem.
*/
***************
*** 4766,4798 ****
//
/////////////////////////////////////////////////////////////////////////////
/** @ingroup interfaces
- * @defgroup interface_sound sound
- * @brief Play sound clips (deprecated)
-
- @deprecated Use the @ref interface_audio interface instead
-
- The @p sound interface allows playback of a pre-recorded sound (e.g.,
- on an Amigobot).
- */
-
- /** @ingroup interface_sound
- * @{ */
-
- /** Commmand subtype: play clip */
- #define PLAYER_SOUND_CMD_IDX 1
-
- /** @brief Command: play clip (@ref PLAYER_SOUND_CMD_IDX)
-
- The @p sound interface accepts an index of a pre-recorded sound file
- to play. */
- typedef struct player_sound_cmd
- {
- /** Index of sound to be played. */
- uint32_t index;
- } player_sound_cmd_t;
-
- /** @} */
-
- //
/////////////////////////////////////////////////////////////////////////////
- /** @ingroup interfaces
* @defgroup interface_speech speech
* @brief Speech synthesis
--- 4699,4702 ----
***************
*** 4857,4916 ****
//
/////////////////////////////////////////////////////////////////////////////
/** @ingroup interfaces
- @defgroup interface_truth truth (deprecated)
- @brief Access to true state
-
- @deprecated This interface has been superceded by the @ref
- interface_simulation interface.
-
- The @p truth interface provides access to the absolute state of entities.
- Note that, unless your robot has superpowers, @p truth devices are
- only avilable in simulation.
- */
-
- /** @ingroup interface_truth
- * @{ */
-
- /** Data subtype */
- #define PLAYER_TRUTH_DATA_POSE 0x01
- /** Data subtype */
- #define PLAYER_TRUTH_DATA_FIDUCIAL_ID 0x02
-
- /** Request subtypes. */
- #define PLAYER_TRUTH_REQ_SET_POSE 0x03
- /** Request subtypes. */
- #define PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID 0x04
- /** Request subtypes. */
- #define PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID 0x05
-
- /** @brief Data
-
- The @p truth interface returns data concerning the current state of an
- entity. */
- typedef struct player_truth_pose
- {
- /** Object pose in the world . */
- player_pose3d_t pose;
- } player_truth_pose_t;
-
- /** @brief Configuration request: Get/set fiducial ID number.
-
- To get the fiducial ID of an object, use the following request, filling
- in only the subtype with @ref PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID. The server
will
- respond with the ID field filled in. To set the fiducial ID, set the
- subtype to @ref PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID and fill in the ID field with
- the desired value. */
- typedef struct player_truth_fiducial_id
- {
- /** Packet subtype. Must be either @ref PLAYER_TRUTH_REQ_GET_FIDUCIAL_ID or
- @ref PLAYER_TRUTH_REQ_SET_FIDUCIAL_ID */
- uint8_t subtype;
- /** the fiducial ID */
- int16_t id;
- } player_truth_fiducial_id_t;
-
- /** @} */
-
- //
/////////////////////////////////////////////////////////////////////////////
- /** @ingroup interfaces
* @defgroup interface_wifi wifi
* @brief WiFi signal information
--- 4761,4764 ----
Index: interface_util.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/libplayercore/interface_util.c,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** interface_util.c 10 Jul 2007 09:01:52 -0000 1.7
--- interface_util.c 4 Aug 2007 03:12:07 -0000 1.8
***************
*** 67,71 ****
{PLAYER_GPS_CODE, PLAYER_GPS_STRING},
{PLAYER_BUMPER_CODE, PLAYER_BUMPER_STRING},
! {PLAYER_TRUTH_CODE, PLAYER_TRUTH_STRING},
{0xFFFF, "nointerf16"},
{0xFFFF, "nointerf17"},
--- 67,71 ----
{PLAYER_GPS_CODE, PLAYER_GPS_STRING},
{PLAYER_BUMPER_CODE, PLAYER_BUMPER_STRING},
! {0xFFFF, "nointerf15"},
{0xFFFF, "nointerf16"},
{0xFFFF, "nointerf17"},
***************
*** 79,83 ****
{PLAYER_LOCALIZE_CODE, PLAYER_LOCALIZE_STRING},
{PLAYER_MCOM_CODE, PLAYER_MCOM_STRING},
! {PLAYER_SOUND_CODE, PLAYER_SOUND_STRING},
{0xFFFF, "nointerf28"},
{0xFFFF, "nointerf29"},
--- 79,83 ----
{PLAYER_LOCALIZE_CODE, PLAYER_LOCALIZE_STRING},
{PLAYER_MCOM_CODE, PLAYER_MCOM_STRING},
! {0xFFFF, "nointerf27"},
{0xFFFF, "nointerf28"},
{0xFFFF, "nointerf29"},
***************
*** 93,104 ****
{0xFFFF, "nointerf39"},
{PLAYER_CAMERA_CODE, PLAYER_CAMERA_STRING},
- {0xFFFF, "nointerf40"},
- {PLAYER_MAP_CODE, PLAYER_MAP_STRING},
{0xFFFF, "nointerf41"},
{PLAYER_PLANNER_CODE, PLAYER_PLANNER_STRING},
{PLAYER_LOG_CODE, PLAYER_LOG_STRING},
! {PLAYER_ENERGY_CODE, PLAYER_ENERGY_STRING},
! {0xFFFF, "nointerf42"},
! {0xFFFF, "nointerf43"},
{PLAYER_JOYSTICK_CODE, PLAYER_JOYSTICK_STRING},
{PLAYER_SPEECH_RECOGNITION_CODE, PLAYER_SPEECH_RECOGNITION_STRING},
--- 93,104 ----
{0xFFFF, "nointerf39"},
{PLAYER_CAMERA_CODE, PLAYER_CAMERA_STRING},
{0xFFFF, "nointerf41"},
+ {PLAYER_MAP_CODE, PLAYER_MAP_STRING},
+ {0xFFFF, "nointerf43"},
{PLAYER_PLANNER_CODE, PLAYER_PLANNER_STRING},
{PLAYER_LOG_CODE, PLAYER_LOG_STRING},
! {0xFFFF, "nointerf46"},
! {0xFFFF, "nointerf47"},
! {0xFFFF, "nointerf48"},
{PLAYER_JOYSTICK_CODE, PLAYER_JOYSTICK_STRING},
{PLAYER_SPEECH_RECOGNITION_CODE, PLAYER_SPEECH_RECOGNITION_STRING},
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