Update of /cvsroot/playerstage/code/player/server/drivers/mixed/rmp
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30199/server/drivers/mixed/rmp
Modified Files:
segwayrmp.cc
Log Message:
overhaul of the player interface definitions
interfaces are now defined with a very light weight IDL allowing them to be
edited in a single file
some subtype names were also modified as a side effect, making them more
consistent globally
Index: segwayrmp.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/rmp/segwayrmp.cc,v
retrieving revision 1.44
retrieving revision 1.45
diff -C2 -d -r1.44 -r1.45
*** segwayrmp.cc 19 Apr 2007 16:31:55 -0000 1.44
--- segwayrmp.cc 20 Aug 2007 06:37:29 -0000 1.45
***************
*** 53,57 ****
- Although the RMP does not actually support motor power control from
software, for safety you must explicitly enable the motors using a
! @p PLAYER_POSITION_MOTOR_POWER_REQ or @p PLAYER_POSITION3D_MOTOR_POWER_REQ
(depending on which interface you are using). You must @e also enable
the motors in the command packet, by setting the @p state field to 1.
--- 53,57 ----
- Although the RMP does not actually support motor power control from
software, for safety you must explicitly enable the motors using a
! @p PLAYER_POSITION2D_REQ_MOTOR_POWER or @p PLAYER_POSITION3D_REQ_MOTOR_POWER
(depending on which interface you are using). You must @e also enable
the motors in the command packet, by setting the @p state field to 1.
***************
*** 87,94 ****
- position interface
! - PLAYER_POSITION_POWER_REQ
- position3d interface
! - PLAYER_POSITION_POWER_REQ
@par Requires
--- 87,94 ----
- position interface
! - PLAYER_POSITION2D_REQ_MOTOR_POWER
- position3d interface
! - PLAYER_POSITION3D_REQ_MOTOR_POWER
@par Requires
***************
*** 718,722 ****
switch(subtype)
{
! case PLAYER_POSITION3D_MOTOR_POWER:
// just set a flag telling us whether we should
// act on motor commands
--- 718,722 ----
switch(subtype)
{
! case PLAYER_POSITION3D_REQ_MOTOR_POWER:
// just set a flag telling us whether we should
// act on motor commands
***************
*** 730,734 ****
printf("SEGWAYRMP: motors state: %d\n", this->motor_allow_enable);
! Publish(this->position3d_id, client, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION3D_MOTOR_POWER);
return 0;
--- 730,734 ----
printf("SEGWAYRMP: motors state: %d\n", this->motor_allow_enable);
! Publish(this->position3d_id, client, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION3D_REQ_MOTOR_POWER);
return 0;
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