Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv18298/libplayerc++
Modified Files:
actarrayproxy.cc imuproxy.cc laserproxy.cc playerc++.h
position3dproxy.cc ptzproxy.cc wifiproxy.cc
Log Message:
added missing functionality from c client lib to c++ client
Index: playerc++.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.94
retrieving revision 1.95
diff -C2 -d -r1.94 -r1.95
*** playerc++.h 4 Aug 2007 03:12:07 -0000 1.94
--- playerc++.h 6 Aug 2007 06:30:49 -0000 1.95
***************
*** 53,56 ****
--- 53,57 ----
#include <string>
#include <list>
+ #include <vector>
#include "libplayerc/playerc.h"
***************
*** 152,159 ****
--- 153,168 ----
/// Send an actuator to a position
void MoveTo(uint aJoint, float aPos);
+ /// Send actuators 0 thru n to the designated positions
+ void MoveToMulti(std::vector<float> aPos);
/// Move an actuator at a speed
void MoveAtSpeed(uint aJoint, float aSpeed);
+ /// Move actuators 0 thru n at the designated speeds
+ void MoveAtSpeedMulti(std::vector<float> aSpeed);
/// Send an actuator, or all actuators, home
void MoveHome(int aJoint);
+ /// Set an actuator to a given current
+ void SetActuatorCurrent(uint aJoint, float aCurrent);
+ /// Set actuators 0 thru n to the given currents
+ void SetActuatorCurrentMulti(std::vector<float> aCurrent);
/// Gets the number of actuators in the array
***************
*** 869,903 ****
class ImuProxy : public ClientProxy
{
!
! private:
!
! void Subscribe(uint aIndex);
! void Unsubscribe();
// libplayerc data structure
! playerc_imu_t *mDevice;
! public:
/// Constructor
! ImuProxy(PlayerClient *aPc, uint aIndex=0);
/// destructor
! ~ImuProxy();
/// get the processed pos of the imu
! player_pose3d_t GetPose() const { return GetVar(mDevice->pose);
};
/// get the raw values
! float GetXAccel();
! float GetYAccel();
! float GetZAccel();
! float GetXGyro();
! float GetYGyro();
! float GetZGyro();
! float GetXMagn();
! float GetYMagn();
! float GetZMagn();
! player_imu_data_calib_t GetRawValues() const
! { return GetVar(mDevice->calib_data); };
};
--- 878,917 ----
class ImuProxy : public ClientProxy
{
! private:
! void Subscribe(uint aIndex);
! void Unsubscribe();
// libplayerc data structure
! playerc_imu_t *mDevice;
! public:
/// Constructor
! ImuProxy(PlayerClient *aPc, uint aIndex=0);
/// destructor
! ~ImuProxy();
/// get the processed pos of the imu
! player_pose3d_t GetPose() const { return GetVar(mDevice->pose); };
/// get the raw values
! float GetXAccel();
! float GetYAccel();
! float GetZAccel();
! float GetXGyro();
! float GetYGyro();
! float GetZGyro();
! float GetXMagn();
! float GetYMagn();
! float GetZMagn();
! player_imu_data_calib_t GetRawValues() const
! { return GetVar(mDevice->calib_data); };
!
! /** Change the data type to one of the predefined data structures. */
! void SetDatatype(int aDatatype);
!
! /** Reset orientation. */
! void ResetOrientation(int aValue);
!
};
***************
*** 1035,1038 ****
--- 1049,1057 ----
{ return GetVar(mDevice->intensity[aIndex]); };
+ /// get the laser ID, call RequestConfigure first
+ int GetID() const
+ { return GetVar(mDevice->laser_id); };
+
+
/// Configure the laser scan pattern. Angles @p min_angle and
/// @p max_angle are measured in radians.
***************
*** 1910,1913 ****
--- 1929,1936 ----
double aRoll, double aPitch, double aYaw);
+ /// Get the device's geometry; it is read into the
+ /// relevant class attributes.
+ void RequestGeom();
+
// Select position mode
// Set @p mode for 0 for velocity mode, 1 for position mode.
***************
*** 2044,2047 ****
--- 2067,2074 ----
double GetZoom() const { return GetVar(mDevice->zoom); };
+ /// Return Status
+ int GetStatus();
+
+
};
***************
*** 2335,2338 ****
--- 2362,2367 ----
~WiFiProxy();
+ const playerc_wifi_link_t *GetLink(int aLink);
+
// int GetLinkQuality(char/// ip = NULL);
// int GetLevel(char/// ip = NULL);
Index: actarrayproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/actarrayproxy.cc,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** actarrayproxy.cc 10 Jul 2007 09:01:49 -0000 1.11
--- actarrayproxy.cc 6 Aug 2007 06:30:49 -0000 1.12
***************
*** 50,53 ****
--- 50,54 ----
#include <sstream>
#include <iomanip>
+ #include <vector>
#include "playerc++.h"
***************
*** 180,183 ****
--- 181,197 ----
}
+ // Send an actuator to a position
+ void ActArrayProxy::MoveToMulti(std::vector<float> aPosition)
+ {
+ assert(aPosition.size() < PLAYER_ACTARRAY_NUM_ACTUATORS);
+ float values[PLAYER_ACTARRAY_NUM_ACTUATORS];
+ unsigned int i = 0;
+ for (std::vector<float>::const_iterator itr = aPosition.begin(); itr !=
aPosition.end(); ++itr)
+ values[i++] = *itr;
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_actarray_multi_position_cmd(mDevice, values);
+ }
+
+
// Move an actuator at a speed
void ActArrayProxy::MoveAtSpeed(uint aJoint, float aSpeed)
***************
*** 187,190 ****
--- 201,216 ----
}
+ // Send an actuator to a position
+ void ActArrayProxy::MoveAtSpeedMulti(std::vector<float> aSpeed)
+ {
+ assert(aSpeed.size() < PLAYER_ACTARRAY_NUM_ACTUATORS);
+ float values[PLAYER_ACTARRAY_NUM_ACTUATORS];
+ unsigned int i = 0;
+ for (std::vector<float>::const_iterator itr = aSpeed.begin(); itr !=
aSpeed.end(); ++itr)
+ values[i++] = *itr;
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_actarray_multi_speed_cmd(mDevice, values);
+ }
+
// Send an actuator, or all actuators, home
void ActArrayProxy::MoveHome(int aJoint)
***************
*** 194,197 ****
--- 220,242 ----
}
+ // Move an actuator at a speed
+ void ActArrayProxy::SetActuatorCurrent(uint aJoint, float aCurrent)
+ {
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_actarray_current_cmd(mDevice, aJoint, aCurrent);
+ }
+
+ // Send an actuator to a position
+ void ActArrayProxy::SetActuatorCurrentMulti(std::vector<float> aCurrent)
+ {
+ assert(aCurrent.size() < PLAYER_ACTARRAY_NUM_ACTUATORS);
+ float values[PLAYER_ACTARRAY_NUM_ACTUATORS];
+ unsigned int i = 0;
+ for (std::vector<float>::const_iterator itr = aCurrent.begin(); itr !=
aCurrent.end(); ++itr)
+ values[i++] = *itr;
+ scoped_lock_t lock(mPc->mMutex);
+ playerc_actarray_multi_current_cmd(mDevice, values);
+ }
+
player_actarray_actuator_t ActArrayProxy::GetActuatorData(uint aJoint) const
{
Index: imuproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/imuproxy.cc,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** imuproxy.cc 10 Jul 2007 09:01:50 -0000 1.3
--- imuproxy.cc 6 Aug 2007 06:30:49 -0000 1.4
***************
*** 137,140 ****
--- 137,159 ----
}
+ void
+ ImuProxy::SetDatatype(int aDatatype)
+ {
+ boost::mutex::scoped_lock lock(mPc->mMutex);
+
+ if (0 != playerc_imu_datatype(mDevice, aDatatype))
+ throw PlayerError("ImuProxy::SetDatatype()", "error setting datatype");
+ }
+
+ void
+ ImuProxy::ResetOrientation(int aValue)
+ {
+ boost::mutex::scoped_lock lock(mPc->mMutex);
+
+ if (0 != playerc_imu_reset_orientation(mDevice, aValue))
+ throw PlayerError("ImuProxy::ResetOrientation()", "error resetting
orientation");
+ }
+
+
std::ostream&
std::operator << (std::ostream &os, const PlayerCc::ImuProxy &c)
Index: position3dproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/position3dproxy.cc,v
retrieving revision 1.8
retrieving revision 1.9
diff -C2 -d -r1.8 -r1.9
*** position3dproxy.cc 10 Jul 2007 09:01:50 -0000 1.8
--- position3dproxy.cc 6 Aug 2007 06:30:49 -0000 1.9
***************
*** 139,140 ****
--- 139,150 ----
}
+
+ void
+ Position3dProxy::RequestGeom()
+ {
+ boost::mutex::scoped_lock lock(mPc->mMutex);
+
+ if (0 != playerc_position3d_get_geom(mDevice))
+ throw PlayerError("Position3dProxy::RequestGeom()", "error getting geom");
+ return;
+ }
Index: laserproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/laserproxy.cc,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** laserproxy.cc 10 Jul 2007 09:01:50 -0000 1.12
--- laserproxy.cc 6 Aug 2007 06:30:49 -0000 1.13
***************
*** 111,114 ****
--- 111,117 ----
throw PlayerError("LaserProxy::RequestConfigure()", "error getting
config");
intensity = temp_int == 0 ? false : true;
+ if (0 != playerc_laser_get_id(mDevice))
+ throw PlayerError("LaserProxy::RequestConfigure()", "error getting id");
+
return;
}
Index: ptzproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/ptzproxy.cc,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** ptzproxy.cc 10 Jul 2007 09:01:51 -0000 1.7
--- ptzproxy.cc 6 Aug 2007 06:30:49 -0000 1.8
***************
*** 115,116 ****
--- 115,126 ----
}
+ int
+ PtzProxy::GetStatus()
+ {
+ boost::mutex::scoped_lock lock(mPc->mMutex);
+
+ if (0 != playerc_ptz_query_status(mDevice))
+ throw PlayerError("PtzProxy::GetStatus()", "error getting status");
+ return GetVar(mDevice->status);
+ }
+
Index: wifiproxy.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/wifiproxy.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** wifiproxy.cc 10 Jul 2007 09:01:51 -0000 1.6
--- wifiproxy.cc 6 Aug 2007 06:30:49 -0000 1.7
***************
*** 83,86 ****
--- 83,95 ----
}
+
+ const playerc_wifi_link_t *
+ WiFiProxy::GetLink(int aLink)
+ {
+ boost::mutex::scoped_lock lock(mPc->mMutex);
+
+ return playerc_wifi_get_link(mDevice, aLink);
+ }
+
std::ostream&
std::operator << (std::ostream &os, const PlayerCc::WiFiProxy &c)
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