Update of /cvsroot/playerstage/code/player/server/drivers/mixed/reb
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30199/server/drivers/mixed/reb
Modified Files:
reb.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: reb.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/reb/reb.cc,v
retrieving revision 1.13
retrieving revision 1.14
diff -C2 -d -r1.13 -r1.14
*** reb.cc 23 Feb 2006 18:54:55 -0000 1.13
--- reb.cc 20 Aug 2007 06:37:29 -0000 1.14
***************
*** 109,124 ****
- The @ref interface_position2d interface supports:
! - PLAYER_POSITION_GET_GEOM_REQ
! - PLAYER_POSITION_MOTOR_POWER_REQ
! - PLAYER_POSITION_VELOCITY_MODE_REQ
! - PLAYER_POSITION_RESET_ODOM_REQ
! - PLAYER_POSITION_POSITION_MODE_REQ
! - PLAYER_POSITION_SET_ODOM_REQ
! - PLAYER_POSITION_SPEED_PID_REQ
! - PLAYER_POSITION_POSITION_PID_REQ
! - PLAYER_POSITION_SPEED_PROF_REQ
- The @ref interface_ir interface supports:
! - PLAYER_IR_POWER_REQ
! - PLAYER_IR_POSE_REQ
@par Configuration file options
--- 109,124 ----
- The @ref interface_position2d interface supports:
! - PLAYER_POSITION2D_REQ_GET_GEOM
! - PLAYER_POSITION2D_REQ_MOTOR_POWER
! - PLAYER_POSITION2D_REQ_VELOCITY_MODE
! - PLAYER_POSITION2D_REQ_RESET_ODOM
! - PLAYER_POSITION2D_REQ_POSITION_MODE
! - PLAYER_POSITION2D_REQ_SET_ODOM
! - PLAYER_POSITION2D_REQ_SPEED_PID
! - PLAYER_POSITION2D_REQ_POSITION_PID
! - PLAYER_POSITION2D_REQ_SPEED_PROF
- The @ref interface_ir interface supports:
! - PLAYER_IR_REQ_POWER
! - PLAYER_IR_REQ_POSE
@par Configuration file options
***************
*** 222,226 ****
// Do we create a robot position interface?
if(cf->ReadDeviceId(&(this->position_id), section, "provides",
! PLAYER_POSITION_CODE, -1, NULL) == 0)
{
if(this->AddInterface(this->position_id, PLAYER_ALL_MODE) != 0)
--- 222,226 ----
// Do we create a robot position interface?
if(cf->ReadDeviceId(&(this->position_id), section, "provides",
! PLAYER_POSITION2D_CODE, -1, NULL) == 0)
{
if(this->AddInterface(this->position_id, PLAYER_ALL_MODE) != 0)
***************
*** 376,380 ****
switch(id.code)
{
! case PLAYER_POSITION_CODE:
this->position_subscriptions++;
break;
--- 376,380 ----
switch(id.code)
{
! case PLAYER_POSITION2D_CODE:
this->position_subscriptions++;
break;
***************
*** 399,403 ****
switch(id.code)
{
! case PLAYER_POSITION_CODE:
assert(--this->position_subscriptions >= 0);
break;
--- 399,403 ----
switch(id.code)
{
! case PLAYER_POSITION2D_CODE:
assert(--this->position_subscriptions >= 0);
break;
***************
*** 751,755 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_POWER, ir_id))
{
assert(hdr->size == sizeof(player_ir_power_req_t));
--- 751,755 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_REQ_POWER, ir_id))
{
assert(hdr->size == sizeof(player_ir_power_req_t));
***************
*** 765,769 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_POSE, ir_id))
{
assert(*resp_len >= sizeof(player_ir_pose_t));
--- 765,769 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_REQ_POSE, ir_id))
{
assert(*resp_len >= sizeof(player_ir_pose_t));
***************
*** 783,787 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_GET_GEOM,
position_id))
{
/* assert(hdr->size == sizeof(player_position_geom_t));
--- 783,787 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER2D_POSITION_REQ_GET_GEOM,
position_id))
{
/* assert(hdr->size == sizeof(player_position_geom_t));
***************
*** 800,804 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_MOTOR_POWER,
position_id))
{
assert(hdr->size == sizeof(player_position_power_config_t));
--- 800,804 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_POSITION2D_REQ_MOTOR_POWER, position_id))
{
assert(hdr->size == sizeof(player_position_power_config_t));
***************
*** 818,822 ****
// 0 for direct velocity control (trans and rot applied directly)
// 1 for builtin velocity based heading PD controller
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_VELOCITY_MODE,
position_id))
{
assert(hdr->size == sizeof(player_position_velocitymode_config_t));
--- 818,822 ----
// 0 for direct velocity control (trans and rot applied directly)
// 1 for builtin velocity based heading PD controller
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_POSITION2D_REQ_VELOCITY_MODE, position_id))
{
assert(hdr->size == sizeof(player_position_velocitymode_config_t));
***************
*** 836,840 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_RESET_ODOM,
position_id))
{
SetOdometry(0,0,0);
--- 836,840 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_RESET_ODOM,
position_id))
{
SetOdometry(0,0,0);
***************
*** 844,848 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_POSITION_MODE,
position_id))
{
assert(hdr->size == sizeof(player_position_position_mode_req_t));
--- 844,848 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_POSITION2D_REQ_POSITION_MODE, position_id))
{
assert(hdr->size == sizeof(player_position_position_mode_req_t));
***************
*** 859,863 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_SET_ODOM,
position_id))
{
assert(hdr->size == sizeof(player_position_set_odom_req_t));
--- 859,863 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_SET_ODOM,
position_id))
{
assert(hdr->size == sizeof(player_position_set_odom_req_t));
***************
*** 879,883 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_SPEED_PID,
position_id))
{
assert(hdr->size == sizeof(player_position_speed_pid_req_t));
--- 879,883 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_SPEED_PID,
position_id))
{
assert(hdr->size == sizeof(player_position_speed_pid_req_t));
***************
*** 899,903 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_POSITION_PID,
position_id))
{
assert(hdr->size == sizeof(player_position_position_pid_req_t));
--- 899,903 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_POSITION2D_REQ_POSITION_PID, position_id))
{
assert(hdr->size == sizeof(player_position_position_pid_req_t));
***************
*** 919,923 ****
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION_SPEED_PROF,
position_id))
{
assert(hdr->size == sizeof(player_position_speed_prof_req_t));
--- 919,923 ----
}
! if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_SPEED_PROF,
position_id))
{
assert(hdr->size == sizeof(player_position_speed_prof_req_t));
***************
*** 988,992 ****
switch(config_buffer[0])
{
! case PLAYER_IR_POWER_REQ:
{
// request to change IR state
--- 988,992 ----
switch(config_buffer[0])
{
! case PLAYER_IR_REQ_POWER:
{
// request to change IR state
***************
*** 1017,1021 ****
break;
! case PLAYER_IR_POSE_REQ:
{
// request the pose of the IR sensors in robot-centric coords
--- 1017,1021 ----
break;
! case PLAYER_IR_REQ_POSE:
{
// request the pose of the IR sensors in robot-centric coords
***************
*** 1069,1073 ****
switch (config_buffer[0])
{
! case PLAYER_POSITION_GET_GEOM_REQ:
{
// get geometry of robot
--- 1069,1073 ----
switch (config_buffer[0])
{
! case PLAYER_POSITION2D_REQ_GET_GEOM:
{
// get geometry of robot
***************
*** 1086,1090 ****
player_position_geom_t geom;
! geom.subtype = PLAYER_POSITION_GET_GEOM_REQ;
geom.pose[0] = htons(0);
geom.pose[1] = htons(0);
--- 1086,1090 ----
player_position_geom_t geom;
! geom.subtype = PLAYER_POSITION2D_REQ_GET_GEOM;
geom.pose[0] = htons(0);
geom.pose[1] = htons(0);
***************
*** 1099,1103 ****
break;
! case PLAYER_POSITION_MOTOR_POWER_REQ:
{
// change motor state
--- 1099,1103 ----
break;
! case PLAYER_POSITION2D_REQ_MOTOR_POWER:
{
// change motor state
***************
*** 1133,1137 ****
break;
! case PLAYER_POSITION_VELOCITY_MODE_REQ:
{
// select method of velocity control
--- 1133,1137 ----
break;
! case PLAYER_POSITION2D_REQ_VELOCITY_MODE:
{
// select method of velocity control
***************
*** 1169,1173 ****
break;
! case PLAYER_POSITION_RESET_ODOM_REQ:
{
// reset the odometry
--- 1169,1173 ----
break;
! case PLAYER_POSITION2D_REQ_RESET_ODOM:
{
// reset the odometry
***************
*** 1193,1197 ****
break;
! case PLAYER_POSITION_POSITION_MODE_REQ:
{
// select velocity or position mode
--- 1193,1197 ----
break;
! case PLAYER_POSITION2D_REQ_POSITION_MODE:
{
// select velocity or position mode
***************
*** 1224,1228 ****
break;
! case PLAYER_POSITION_SET_ODOM_REQ:
{
// set the odometry to a given position
--- 1224,1228 ----
break;
! case PLAYER_POSITION2D_REQ_SET_ODOM:
{
// set the odometry to a given position
***************
*** 1257,1261 ****
break;
! case PLAYER_POSITION_SPEED_PID_REQ:
{
// set up the velocity PID on the REB
--- 1257,1261 ----
break;
! case PLAYER_POSITION2D_REQ_SPEED_PID:
{
// set up the velocity PID on the REB
***************
*** 1289,1293 ****
break;
! case PLAYER_POSITION_POSITION_PID_REQ:
{
// set up the position PID on the REB
--- 1289,1293 ----
break;
! case PLAYER_POSITION2D_REQ_POSITION_PID:
{
// set up the position PID on the REB
***************
*** 1321,1325 ****
break;
! case PLAYER_POSITION_SPEED_PROF_REQ:
{
// set the speed profile for position mode
--- 1321,1325 ----
break;
! case PLAYER_POSITION2D_REQ_SPEED_PROF:
{
// set the speed profile for position mode
-------------------------------------------------------------------------
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