Update of /cvsroot/playerstage/code/player/client_libs/libplayerc
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9713/client_libs/libplayerc
Modified Files:
Tag: b_thjc_dynamic_arrays
dev_actarray.c dev_aio.c dev_blobfinder.c dev_graphics2d.c
dev_graphics3d.c dev_localize.c dev_map.c dev_pointcloud3d.c
dev_rfid.c dev_simulation.c dev_speech.c
dev_speech_recognition.c playerc.h
Log Message:
static array sizes removed from player
client library updated to use dynamic arrays
Index: dev_blobfinder.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_blobfinder.c,v
retrieving revision 1.13
retrieving revision 1.13.2.1
diff -C2 -d -r1.13 -r1.13.2.1
*** dev_blobfinder.c 27 Apr 2006 02:36:58 -0000 1.13
--- dev_blobfinder.c 10 Sep 2007 04:11:00 -0000 1.13.2.1
***************
*** 77,80 ****
--- 77,81 ----
{
playerc_device_term(&device->info);
+ free(device->blobs);
free(device);
}
***************
*** 109,114 ****
// threshold the number of blobs to avoid overunning the array
! device->blobs_count = MIN( data->blobs_count,
PLAYERC_BLOBFINDER_MAX_BLOBS );
!
memcpy(device->blobs, data->blobs, sizeof
(player_blobfinder_blob_t)*device->blobs_count);
--- 110,115 ----
// threshold the number of blobs to avoid overunning the array
! device->blobs_count =data->blobs_count;
! device->blobs = realloc(device->blobs, device->blobs_count *
sizeof(device->blobs[0]));
memcpy(device->blobs, data->blobs, sizeof
(player_blobfinder_blob_t)*device->blobs_count);
Index: dev_localize.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_localize.c,v
retrieving revision 1.16
retrieving revision 1.16.4.1
diff -C2 -d -r1.16 -r1.16.4.1
*** dev_localize.c 26 Jan 2006 13:31:11 -0000 1.16
--- dev_localize.c 10 Sep 2007 04:11:00 -0000 1.16.4.1
***************
*** 75,81 ****
void playerc_localize_destroy(playerc_localize_t *device)
{
- if (device->map_cells)
- free(device->map_cells);
playerc_device_term(&device->info);
free(device);
return;
--- 75,82 ----
void playerc_localize_destroy(playerc_localize_t *device)
{
playerc_device_term(&device->info);
+ free(device->map_cells);
+ free(device->hypoths);
+ free(device->particles);
free(device);
return;
***************
*** 105,120 ****
device->pending_count = data->pending_count;
device->pending_time = data->pending_time;
for (i = 0; i < data->hypoths_count; i++)
{
- //device->hypoths[i].weight = data->hypoths[i].alpha;
-
device->hypoths[i] = data->hypoths[i];
- /* device->hypoths[i].mean[1] = data->hypoths[i].mean.py;
- device->hypoths[i].mean[2] = data->hypoths[i].mean.pa;
- memset(device->hypoths[i].cov, 0, sizeof(double)*9);
- for (k = 0; k < 3; k++)
- device->hypoths[i].cov[k] = data->hypoths[i].cov[k];*/
}
- device->hypoth_count = data->hypoths_count;
return;
--- 106,115 ----
device->pending_count = data->pending_count;
device->pending_time = data->pending_time;
+ device->hypoth_count = data->hypoths_count;
+ device->hypoths =
realloc(device->hypoths,device->hypoth_count*sizeof(device->hypoths[0]));
for (i = 0; i < data->hypoths_count; i++)
{
device->hypoths[i] = data->hypoths[i];
}
return;
***************
*** 169,182 ****
device->num_particles = req.particles_count;
for(i=0;i<device->num_particles;i++)
{
- if(i >= PLAYER_LOCALIZE_PARTICLES_MAX)
- {
- device->num_particles = i;
- PLAYERC_WARN("too many particles");
- break;
- }
-
device->particles[i].pose[0] = req.particles[i].pose.px;
device->particles[i].pose[1] = req.particles[i].pose.py;
--- 164,171 ----
device->num_particles = req.particles_count;
+ device->particles =
realloc(device->particles,req.particles_count*sizeof(device->particles[0]));
for(i=0;i<device->num_particles;i++)
{
device->particles[i].pose[0] = req.particles[i].pose.px;
device->particles[i].pose[1] = req.particles[i].pose.py;
Index: dev_speech_recognition.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_speech_recognition.c,v
retrieving revision 1.3
retrieving revision 1.3.2.1
diff -C2 -d -r1.3 -r1.3.2.1
*** dev_speech_recognition.c 9 Jun 2007 02:59:12 -0000 1.3
--- dev_speech_recognition.c 10 Sep 2007 04:11:00 -0000 1.3.2.1
***************
*** 24,27 ****
--- 24,29 ----
{
playerc_device_term(&device->info);
+ free(device->rawText);
+ free(device->words);
free(device);
return;
***************
*** 42,91 ****
void playerc_speech_recognition_putmsg(playerc_speechrecognition_t *device,
player_msghdr_t *hdr, player_speech_recognition_data_t *buffer, size_t len)
{
! // memset(device->words,0,30*20);
! // player_speech_recognition_data_t *data =
(player_speech_recognition_data_t*)buffer;
! //
! // if((hdr->type == PLAYER_MSGTYPE_DATA) && (hdr->subtype ==
PLAYER_SPEECH_RECOGNITION_DATA_STRING ))
! // {
! // char * str1;
! // int i;
! // device->wordCount = 0;
! // // printf("data->text %s\n",data->text);
! //
! // for (str1 = strtok((*data).text, " ") ; str1 != NULL ; str1 =
strtok(NULL, " ") )
! // {
! // for (i=0;i<strlen(str1);i++)
! // {
! // // printf("str1[%d]=%c",i,str1[i]);
! // //
printf("device->words[%i][%i]=%c\n",device->wordCount,i,device->words[device->wordCount][i]);
! // device->words[device->wordCount][i]=str1[i];
! // }
! // device->wordCount++;
! // }
! // }
! // return;
! //
!
if((hdr->type == PLAYER_MSGTYPE_DATA) && (hdr->subtype ==
PLAYER_SPEECH_RECOGNITION_DATA_STRING ))
{
player_speech_recognition_data_t *data =
(player_speech_recognition_data_t*)buffer;
- char * str1=NULL;
- int i;
- memset(device->rawText,0,PLAYER_SPEECH_RECOGNITION_TEXT_LEN*sizeof(char));
- memset(device->words,0,30*20*sizeof(char));
- device->wordCount = 0;
- printf("data->text %s\n",data->text);
- for (i=0;i<data->text_count;i++)
- device->rawText[i]=data->text[i];
! for (str1 = strtok(device->rawText, " ") ; str1 != NULL ; str1 =
strtok(NULL, " ") )
! {
! for (i=0;i<strlen(str1);i++)
! {
! device->words[device->wordCount][i]=str1[i];
! printf("str1[%d]=%c",i,str1[i]);
!
printf("device->words[%i][%i]=%c\n",device->wordCount,i,device->words[device->wordCount][i]);
! }
! device->wordCount++;
}
}
--- 44,72 ----
void playerc_speech_recognition_putmsg(playerc_speechrecognition_t *device,
player_msghdr_t *hdr, player_speech_recognition_data_t *buffer, size_t len)
{
! int ii,jj;
!
if((hdr->type == PLAYER_MSGTYPE_DATA) && (hdr->subtype ==
PLAYER_SPEECH_RECOGNITION_DATA_STRING ))
{
player_speech_recognition_data_t *data =
(player_speech_recognition_data_t*)buffer;
! device->rawText =
realloc(device->rawText,data->text_count*sizeof(device->rawText[0]));
! memcpy(device->rawText, data->text,
data->text_count*sizeof(device->rawText[0]));
! device->rawText[data->text_count-1] = '\0';
! device->wordCount = 1;
! printf("data->text %s\n",data->text);
!
! for (ii = 0; ii < data->text_count; ++ii)
! {
! if (device->rawText[ii] == ' ')
! device->wordCount++;
! }
! device->words =
realloc(device->words,device->wordCount*sizeof(device->words[0]));
!
! jj = 0;
! for (ii = 0; ii < data->text_count; ++ii)
! {
! if (device->rawText[ii] == ' ')
! device->words[jj++] = &device->rawText[ii+1];
}
}
Index: dev_aio.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_aio.c,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** dev_aio.c 20 Apr 2006 12:17:31 -0000 1.2
--- dev_aio.c 10 Sep 2007 04:11:00 -0000 1.2.2.1
***************
*** 74,77 ****
--- 74,78 ----
{
playerc_device_term(&device->info);
+ free(device->voltages);
free(device);
}
***************
*** 97,102 ****
(header->subtype == PLAYER_AIO_DATA_STATE))
{
- assert(data->voltages_count <= PLAYER_AIO_MAX_INPUTS);
device->voltages_count = data->voltages_count;
memcpy(device->voltages,
data->voltages,
--- 98,103 ----
(header->subtype == PLAYER_AIO_DATA_STATE))
{
device->voltages_count = data->voltages_count;
+ device->voltages = realloc(device->voltages, device->voltages_count *
sizeof(device->voltages[0]));
memcpy(device->voltages,
data->voltages,
Index: dev_graphics3d.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_graphics3d.c,v
retrieving revision 1.2
retrieving revision 1.2.4.1
diff -C2 -d -r1.2 -r1.2.4.1
*** dev_graphics3d.c 12 May 2006 22:59:59 -0000 1.2
--- dev_graphics3d.c 10 Sep 2007 04:11:00 -0000 1.2.4.1
***************
*** 89,97 ****
player_graphics3d_cmd_draw_t cmd;
- /* limit the number of points we can draw */
cmd.draw_mode = mode;
- count = MIN(count,PLAYER_GRAPHICS3D_MAX_POINTS);
cmd.points_count = count;
! memcpy( &cmd.points, pts, sizeof(player_point_3d_t)*count);
cmd.color = device->color;
--- 89,95 ----
player_graphics3d_cmd_draw_t cmd;
cmd.draw_mode = mode;
cmd.points_count = count;
! cmd.points = pts;
cmd.color = device->color;
Index: dev_rfid.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_rfid.c,v
retrieving revision 1.4
retrieving revision 1.4.2.1
diff -C2 -d -r1.4 -r1.4.2.1
*** dev_rfid.c 20 Aug 2007 06:37:26 -0000 1.4
--- dev_rfid.c 10 Sep 2007 04:11:00 -0000 1.4.2.1
***************
*** 55,60 ****
void playerc_rfid_destroy(playerc_rfid_t *device)
{
! playerc_device_term(&device->info);
! free(device);
}
--- 55,66 ----
void playerc_rfid_destroy(playerc_rfid_t *device)
{
! int i;
! playerc_device_term(&device->info);
! if (device->tags)
! {
! for (i = 0; i < device->tags_count; i++)
! free(device->tags[i].guid);
! }
! free(device);
}
***************
*** 78,98 ****
void *data)
{
! int i, j;
! if((header->type == PLAYER_MSGTYPE_DATA) &&
! (header->subtype == PLAYER_RFID_DATA_TAGS))
{
! player_rfid_data_t* rfid_data = (player_rfid_data_t*)data;
! device->tags_count = rfid_data->tags_count;
! for (i = 0; i < device->tags_count; i++)
! {
! if (i >= PLAYERC_RFID_MAX_TAGS)
! break;
! device->tags[i].type = rfid_data->tags[i].type;
! for (j = 0; j < PLAYERC_RFID_MAX_GUID; j++)
! device->tags[i].guid[j] = rfid_data->tags[i].guid[j];
! }
}
! else
PLAYERC_WARN2("skipping rfid message with unknown type/subtype:
%s/%d\n",
msgtype_to_str(header->type), header->subtype);
--- 84,111 ----
void *data)
{
! int i;
! if((header->type == PLAYER_MSGTYPE_DATA) &&
! (header->subtype == PLAYER_RFID_DATA_TAGS))
! {
! player_rfid_data_t* rfid_data = (player_rfid_data_t*)data;
! // clean up our existing tags
! if (device->tags)
{
! for (i = 0; i < device->tags_count; i++)
! free(device->tags[i].guid);
}
! device->tags_count = rfid_data->tags_count;
! device->tags = realloc(device->tags,device->tags_count *
sizeof(device->tags[0]));
! memset(device->tags,0,device->tags_count * sizeof(device->tags[0]));
! for (i = 0; i < device->tags_count; i++)
! {
! device->tags[i].type = rfid_data->tags[i].type;
! device->tags[i].guid_count = rfid_data->tags[i].guid_count;
! device->tags[i].guid = malloc(device->tags[i].guid_count);
!
memcpy(device->tags[i].guid,rfid_data->tags[i].guid,device->tags[i].guid_count);
! }
! }
! else
PLAYERC_WARN2("skipping rfid message with unknown type/subtype:
%s/%d\n",
msgtype_to_str(header->type), header->subtype);
Index: dev_map.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_map.c,v
retrieving revision 1.9
retrieving revision 1.9.6.1
diff -C2 -d -r1.9 -r1.9.6.1
*** dev_map.c 13 Oct 2005 18:54:54 -0000 1.9
--- dev_map.c 10 Sep 2007 04:11:00 -0000 1.9.6.1
***************
*** 48,54 ****
#endif
! #if HAVE_ZLIB_H
! #include <zlib.h>
! #endif
#include <assert.h>
--- 48,54 ----
#endif
! //#if HAVE_ZLIB_H
! // #include <zlib.h>
! //#endif
#include <assert.h>
***************
*** 104,114 ****
int i,j;
int oi,oj;
! int sx,sy;
int si,sj;
char* cell;
! #if HAVE_ZLIB_H
! uLongf unzipped_data_len;
! char* unzipped_data;
! #endif
--- 104,114 ----
int i,j;
int oi,oj;
! // int sx,sy;
int si,sj;
char* cell;
! //#if HAVE_ZLIB_H
! // uLongf unzipped_data_len;
! // char* unzipped_data;
! //#endif
***************
*** 130,136 ****
// Allocate space for the whole map
! if(device->cells)
! free(device->cells);
! device->cells = (char*)malloc(sizeof(char) *
device->width * device->height);
assert(device->cells);
--- 130,134 ----
// Allocate space for the whole map
! device->cells = (char*)realloc(device->cells, sizeof(char) *
device->width * device->height);
assert(device->cells);
***************
*** 145,163 ****
assert(data_req);
! #if HAVE_ZLIB_H
! // Allocate a buffer into which we'll decompress the map data
! unzipped_data_len = PLAYER_MAP_MAX_TILE_SIZE;
! unzipped_data = (char*)malloc(unzipped_data_len);
! assert(unzipped_data);
! #endif
// Tile size
! sy = sx = (int)sqrt(PLAYER_MAP_MAX_TILE_SIZE);
! assert(sx * sy < (int)(PLAYER_MAP_MAX_TILE_SIZE));
oi=oj=0;
while((oi < device->width) && (oj < device->height))
{
! si = MIN(sx, device->width - oi);
! sj = MIN(sy, device->height - oj);
memset(data_req,0,repsize);
--- 143,161 ----
assert(data_req);
! //#if HAVE_ZLIB_H
! // // Allocate a buffer into which we'll decompress the map data
! // unzipped_data_len = PLAYER_MAP_MAX_TILE_SIZE;
! // unzipped_data = (char*)malloc(unzipped_data_len);
! // assert(unzipped_data);
! //#endif
// Tile size
! // sy = sx = (int)sqrt(PLAYER_MAP_MAX_TILE_SIZE);
! // assert(sx * sy < (int)(PLAYER_MAP_MAX_TILE_SIZE));
oi=oj=0;
while((oi < device->width) && (oj < device->height))
{
! si = device->width - oi;
! sj = device->height - oj;
memset(data_req,0,repsize);
***************
*** 174,195 ****
free(data_req);
free(device->cells);
! #if HAVE_ZLIB_H
! free(unzipped_data);
! #endif
return(-1);
}
! #if HAVE_ZLIB_H
! unzipped_data_len = PLAYER_MAP_MAX_TILE_SIZE;
! if(uncompress((Bytef*)unzipped_data, &unzipped_data_len,
! data_req->data, data_req->data_count) != Z_OK)
! {
! PLAYERC_ERR("failed to decompress map data");
! free(data_req);
! free(device->cells);
! free(unzipped_data);
! return(-1);
! }
! #endif
// copy the map data
--- 172,193 ----
free(data_req);
free(device->cells);
! //#if HAVE_ZLIB_H
! // free(unzipped_data);
! //#endif
return(-1);
}
! //#if HAVE_ZLIB_H
! // unzipped_data_len = PLAYER_MAP_MAX_TILE_SIZE;
! // if(uncompress((Bytef*)unzipped_data, &unzipped_data_len,
! // data_req->data, data_req->data_count) != Z_OK)
! // {
! // PLAYERC_ERR("failed to decompress map data");
! // free(data_req);
! // free(device->cells);
! // free(unzipped_data);
! // return(-1);
! // }
! //#endif
// copy the map data
***************
*** 199,207 ****
{
cell = device->cells + PLAYERC_MAP_INDEX(device,oi+i,oj+j);
! #if HAVE_ZLIB_H
! *cell = unzipped_data[j*si + i];
! #else
*cell = data_req->data[j*si + i];
! #endif
}
}
--- 197,205 ----
{
cell = device->cells + PLAYERC_MAP_INDEX(device,oi+i,oj+j);
! //#if HAVE_ZLIB_H
! // *cell = unzipped_data[j*si + i];
! //#else
*cell = data_req->data[j*si + i];
! //#endif
}
}
***************
*** 215,221 ****
}
! #if HAVE_ZLIB_H
! free(unzipped_data);
! #endif
free(data_req);
--- 213,219 ----
}
! //#if HAVE_ZLIB_H
! // free(unzipped_data);
! //#endif
free(data_req);
Index: dev_pointcloud3d.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_pointcloud3d.c,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** dev_pointcloud3d.c 14 Mar 2007 16:41:51 -0000 1.2
--- dev_pointcloud3d.c 10 Sep 2007 04:11:00 -0000 1.2.2.1
***************
*** 55,58 ****
--- 55,59 ----
{
playerc_device_term (&device->info);
+ free (device->points);
free (device);
***************
*** 82,86 ****
{
player_pointcloud3d_data_t* pc3_data =
(player_pointcloud3d_data_t*)data;
! device->points_count = MIN (pc3_data->points_count,
PLAYERC_POINTCLOUD3D_MAX_POINTS);
memcpy (device->points, pc3_data->points,
sizeof (player_pointcloud3d_element_t)*device->points_count);
--- 83,88 ----
{
player_pointcloud3d_data_t* pc3_data =
(player_pointcloud3d_data_t*)data;
! device->points_count = pc3_data->points_count;
! device->points = realloc(device->points,
device->points_count*sizeof(device->points[0]));
memcpy (device->points, pc3_data->points,
sizeof (player_pointcloud3d_element_t)*device->points_count);
Index: dev_actarray.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_actarray.c,v
retrieving revision 1.11
retrieving revision 1.11.2.1
diff -C2 -d -r1.11 -r1.11.2.1
*** dev_actarray.c 20 Aug 2007 06:37:26 -0000 1.11
--- dev_actarray.c 10 Sep 2007 04:11:00 -0000 1.11.2.1
***************
*** 66,69 ****
--- 66,71 ----
{
playerc_device_term(&device->info);
+ free(device->actuators_data);
+ free(device->actuators_geom);
free(device);
}
***************
*** 90,100 ****
{
device->actuators_count = data->actuators_count;
for (i = 0; i < device->actuators_count; i++)
{
! device->actuators_data[i].position = data->actuators[i].position;
! device->actuators_data[i].speed = data->actuators[i].speed;
! device->actuators_data[i].acceleration =
data->actuators[i].acceleration;
! device->actuators_data[i].state = data->actuators[i].state;
! device->actuators_data[i].current = data->actuators[i].current;
}
device->motor_state = data->motor_state;
--- 92,99 ----
{
device->actuators_count = data->actuators_count;
+ device->actuators_data =
realloc(device->actuators_data,device->actuators_count*sizeof(device->actuators_data[0]));
for (i = 0; i < device->actuators_count; i++)
{
! device->actuators_data[i] = data->actuators[i];
}
device->motor_state = data->motor_state;
***************
*** 115,134 ****
return result;
for (ii = 0; ii < device->actuators_count; ii++)
{
! device->actuators_geom[ii].type = geom.actuators[ii].type;
! device->actuators_geom[ii].length = geom.actuators[ii].length;
! device->actuators_geom[ii].orientation.proll =
geom.actuators[ii].orientation.proll;
! device->actuators_geom[ii].orientation.ppitch =
geom.actuators[ii].orientation.ppitch;
! device->actuators_geom[ii].orientation.pyaw =
geom.actuators[ii].orientation.pyaw;
! device->actuators_geom[ii].axis.px = geom.actuators[ii].axis.px;
! device->actuators_geom[ii].axis.py = geom.actuators[ii].axis.py;
! device->actuators_geom[ii].axis.pz = geom.actuators[ii].axis.pz;
! device->actuators_geom[ii].min = geom.actuators[ii].min;
! device->actuators_geom[ii].centre = geom.actuators[ii].centre;
! device->actuators_geom[ii].max = geom.actuators[ii].max;
! device->actuators_geom[ii].home = geom.actuators[ii].home;
! device->actuators_geom[ii].config_speed = geom.actuators[ii].config_speed;
! device->actuators_geom[ii].hasbrakes = geom.actuators[ii].hasbrakes;
}
device->base_pos = geom.base_pos;
--- 114,121 ----
return result;
+ device->actuators_geom =
realloc(device->actuators_geom,device->actuators_count*sizeof(device->actuators_geom[0]));
for (ii = 0; ii < device->actuators_count; ii++)
{
! device->actuators_geom[ii] = geom.actuators[ii];
}
device->base_pos = geom.base_pos;
***************
*** 152,162 ****
// Command all joints in the array to move with a specified current
! int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float
positions[PLAYER_ACTARRAY_NUM_ACTUATORS])
{
player_actarray_multi_position_cmd_t cmd;
memset(&cmd, 0, sizeof(cmd));
! memcpy(&cmd.positions,positions, sizeof(float) *
PLAYER_ACTARRAY_NUM_ACTUATORS);
! cmd.positions_count = device->actuators_count;
return playerc_client_write(device->info.client, &device->info,
--- 139,149 ----
// Command all joints in the array to move with a specified current
! int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float
*positions, int positions_count)
{
player_actarray_multi_position_cmd_t cmd;
memset(&cmd, 0, sizeof(cmd));
! cmd.positions=positions;
! cmd.positions_count = positions_count;
return playerc_client_write(device->info.client, &device->info,
***************
*** 182,192 ****
// Command all joints in the array to move with a specified current
! int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float
speeds[PLAYER_ACTARRAY_NUM_ACTUATORS])
{
player_actarray_multi_speed_cmd_t cmd;
memset(&cmd, 0, sizeof(cmd));
! memcpy(&cmd.speeds,speeds,sizeof(float) * PLAYER_ACTARRAY_NUM_ACTUATORS);
! cmd.speeds_count = device->actuators_count;
return playerc_client_write(device->info.client, &device->info,
--- 169,179 ----
// Command all joints in the array to move with a specified current
! int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float
*speeds, int speeds_count)
{
player_actarray_multi_speed_cmd_t cmd;
memset(&cmd, 0, sizeof(cmd));
! cmd.speeds = speeds;
! cmd.speeds_count = speeds_count;
return playerc_client_write(device->info.client, &device->info,
***************
*** 224,234 ****
// Command all joints in the array to move with a specified current
! int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float
currents[PLAYER_ACTARRAY_NUM_ACTUATORS])
{
player_actarray_multi_current_cmd_t cmd;
memset(&cmd, 0, sizeof(cmd));
! memcpy(&cmd.currents,currents,sizeof(float) *
PLAYER_ACTARRAY_NUM_ACTUATORS);
! cmd.currents_count = device->actuators_count;
return playerc_client_write(device->info.client, &device->info,
--- 211,221 ----
// Command all joints in the array to move with a specified current
! int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float
*currents, int currents_count)
{
player_actarray_multi_current_cmd_t cmd;
memset(&cmd, 0, sizeof(cmd));
! cmd.currents = currents;
! cmd.currents_count = currents_count;
return playerc_client_write(device->info.client, &device->info,
Index: dev_graphics2d.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_graphics2d.c,v
retrieving revision 1.8
retrieving revision 1.8.2.1
diff -C2 -d -r1.8 -r1.8.2.1
*** dev_graphics2d.c 12 May 2006 22:59:59 -0000 1.8
--- dev_graphics2d.c 10 Sep 2007 04:11:00 -0000 1.8.2.1
***************
*** 87,94 ****
player_graphics2d_cmd_points_t cmd;
- /* limit the number of points we can draw */
- count = MIN(count,PLAYER_GRAPHICS2D_MAX_POINTS);
cmd.points_count = count;
! memcpy( &cmd.points, pts, sizeof(player_point_2d_t)*count);
cmd.color = device->color;
--- 87,92 ----
player_graphics2d_cmd_points_t cmd;
cmd.points_count = count;
! cmd.points= pts;
cmd.color = device->color;
***************
*** 105,113 ****
player_graphics2d_cmd_polyline_t cmd;
- /* limit the number of points we can draw */
- count = MIN(count,PLAYER_GRAPHICS2D_MAX_POINTS);
cmd.points_count = count;
! memcpy( &cmd.points, pts, sizeof(player_point_2d_t)*count);
! cmd.color = device->color;
return playerc_client_write(device->info.client, &device->info,
--- 103,109 ----
player_graphics2d_cmd_polyline_t cmd;
cmd.points_count = count;
! cmd.points = pts;
! cmd.color = device->color;
return playerc_client_write(device->info.client, &device->info,
***************
*** 124,131 ****
player_graphics2d_cmd_polygon_t cmd;
- /* limit the number of points we can draw */
- count = MIN(count,PLAYER_GRAPHICS2D_MAX_POINTS);
cmd.points_count = count;
! memcpy( &cmd.points, pts, sizeof(player_point_2d_t)*count);
cmd.color = device->color;
cmd.filled = filled;
--- 120,125 ----
player_graphics2d_cmd_polygon_t cmd;
cmd.points_count = count;
! cmd.points = pts;
cmd.color = device->color;
cmd.filled = filled;
Index: playerc.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/playerc.h,v
retrieving revision 1.229
retrieving revision 1.229.2.1
diff -C2 -d -r1.229 -r1.229.2.1
*** playerc.h 21 Aug 2007 23:16:23 -0000 1.229
--- playerc.h 10 Sep 2007 04:11:00 -0000 1.229.2.1
***************
*** 100,119 ****
- /***************************************************************************
- * Array sizes
- **************************************************************************/
-
- #define PLAYERC_MAX_DEVICES PLAYER_MAX_DEVICES
- #define PLAYERC_LASER_MAX_SAMPLES PLAYER_LASER_MAX_SAMPLES
- #define PLAYERC_FIDUCIAL_MAX_SAMPLES PLAYER_FIDUCIAL_MAX_SAMPLES
- #define PLAYERC_SONAR_MAX_SAMPLES PLAYER_SONAR_MAX_SAMPLES
- #define PLAYERC_BUMPER_MAX_SAMPLES PLAYER_BUMPER_MAX_SAMPLES
- #define PLAYERC_IR_MAX_SAMPLES PLAYER_IR_MAX_SAMPLES
- #define PLAYERC_BLOBFINDER_MAX_BLOBS PLAYER_BLOBFINDER_MAX_BLOBS
- #define PLAYERC_WIFI_MAX_LINKS PLAYER_WIFI_MAX_LINKS
- #define PLAYERC_RFID_MAX_TAGS PLAYER_RFID_MAX_TAGS
- #define PLAYERC_RFID_MAX_GUID PLAYER_RFID_MAX_GUID
- #define PLAYERC_POINTCLOUD3D_MAX_POINTS PLAYER_POINTCLOUD3D_MAX_POINTS
-
/** @} */
--- 100,103 ----
***************
*** 484,488 ****
/** List of available (but not necessarily subscribed) devices.
This list is filled in by playerc_client_get_devlist(). */
! playerc_device_info_t devinfos[PLAYERC_MAX_DEVICES];
int devinfo_count;
--- 468,472 ----
/** List of available (but not necessarily subscribed) devices.
This list is filled in by playerc_client_get_devlist(). */
! playerc_device_info_t devinfos[PLAYER_MAX_DEVICES];
int devinfo_count;
***************
*** 881,885 ****
/// A bitfield of the current digital inputs.
! float voltages[PLAYER_AIO_MAX_INPUTS];
} playerc_aio_t;
--- 865,869 ----
/// A bitfield of the current digital inputs.
! float *voltages;
} playerc_aio_t;
***************
*** 934,939 ****
uint32_t actuators_count;
/** The actuator data, geometry and motor state. */
! player_actarray_actuator_t actuators_data[PLAYER_ACTARRAY_NUM_ACTUATORS];
! player_actarray_actuatorgeom_t
actuators_geom[PLAYER_ACTARRAY_NUM_ACTUATORS];
/** Reports if the actuators are off (0) or on (1) */
uint8_t motor_state;
--- 918,923 ----
uint32_t actuators_count;
/** The actuator data, geometry and motor state. */
! player_actarray_actuator_t *actuators_data;
! player_actarray_actuatorgeom_t *actuators_geom;
/** Reports if the actuators are off (0) or on (1) */
uint8_t motor_state;
***************
*** 964,968 ****
/** @brief Command all joints in the array to move to specified positions. */
! int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float
positions[PLAYER_ACTARRAY_NUM_ACTUATORS]);
/** @brief Command a joint in the array to move at a specified speed. */
--- 948,952 ----
/** @brief Command all joints in the array to move to specified positions. */
! int playerc_actarray_multi_position_cmd(playerc_actarray_t *device, float
*positions, int positions_count);
/** @brief Command a joint in the array to move at a specified speed. */
***************
*** 970,974 ****
/** @brief Command a joint in the array to move at a specified speed. */
! int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float
speeds[PLAYER_ACTARRAY_NUM_ACTUATORS]);
/** @brief Command a joint (or, if joint is -1, the whole array) to go to its
home position. */
--- 954,958 ----
/** @brief Command a joint in the array to move at a specified speed. */
! int playerc_actarray_multi_speed_cmd(playerc_actarray_t *device, float
*speeds, int speeds_count);
/** @brief Command a joint (or, if joint is -1, the whole array) to go to its
home position. */
***************
*** 979,983 ****
/** @brief Command all joints in the array to move with specified currents. */
! int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float
currents[PLAYER_ACTARRAY_NUM_ACTUATORS]);
--- 963,967 ----
/** @brief Command all joints in the array to move with specified currents. */
! int playerc_actarray_multi_current_cmd(playerc_actarray_t *device, float
*currents, int currents_count);
***************
*** 1117,1121 ****
/** A list of detected blobs. */
unsigned int blobs_count;
! playerc_blobfinder_blob_t blobs[PLAYER_BLOBFINDER_MAX_BLOBS];
} playerc_blobfinder_t;
--- 1101,1105 ----
/** A list of detected blobs. */
unsigned int blobs_count;
! playerc_blobfinder_blob_t *blobs;
} playerc_blobfinder_t;
***************
*** 1161,1165 ****
This structure is filled by calling playerc_bumper_get_geom().
values are x,y (of center) ,normal,length,curvature */
! player_bumper_define_t poses[PLAYERC_BUMPER_MAX_SAMPLES];
/** Number of points in the scan. */
--- 1145,1149 ----
This structure is filled by calling playerc_bumper_get_geom().
values are x,y (of center) ,normal,length,curvature */
! player_bumper_define_t *poses;
/** Number of points in the scan. */
***************
*** 1167,1171 ****
/** Bump data: unsigned char, either boolean or code indicating corner. */
! uint8_t bumpers[PLAYERC_BUMPER_MAX_SAMPLES];
} playerc_bumper_t;
--- 1151,1155 ----
/** Bump data: unsigned char, either boolean or code indicating corner. */
! uint8_t *bumpers;
} playerc_bumper_t;
***************
*** 1236,1240 ****
correct host byte ordering.
*/
! uint8_t image[PLAYER_CAMERA_IMAGE_SIZE];
} playerc_camera_t;
--- 1220,1224 ----
correct host byte ordering.
*/
! uint8_t *image;
} playerc_camera_t;
***************
*** 1335,1339 ****
/** List of detected beacons. */
int fiducials_count;
! player_fiducial_item_t fiducials[PLAYERC_FIDUCIAL_MAX_SAMPLES];
} playerc_fiducial_t;
--- 1319,1323 ----
/** List of detected beacons. */
int fiducials_count;
! player_fiducial_item_t *fiducials;
} playerc_fiducial_t;
***************
*** 1760,1775 ****
/** Raw range data; range (m). */
! double ranges[PLAYERC_LASER_MAX_SAMPLES];
/** Scan data; range (m) and bearing (radians). */
! double scan[PLAYERC_LASER_MAX_SAMPLES][2];
/** Scan data; x, y position (m). */
! player_point_2d_t point[PLAYERC_LASER_MAX_SAMPLES];
/** Scan reflection intensity values (0-3). Note that the intensity
values will only be filled if intensity information is enabled
(using the set_config function). */
! int intensity[PLAYERC_LASER_MAX_SAMPLES];
/** ID for this scan */
--- 1744,1759 ----
/** Raw range data; range (m). */
! double *ranges;
/** Scan data; range (m) and bearing (radians). */
! double *scan[2];
/** Scan data; x, y position (m). */
! player_point_2d_t *point;
/** Scan reflection intensity values (0-3). Note that the intensity
values will only be filled if intensity information is enabled
(using the set_config function). */
! int *intensity;
/** ID for this scan */
***************
*** 1994,2003 ****
/** List of possible poses. */
int hypoth_count;
! player_localize_hypoth_t hypoths[PLAYER_LOCALIZE_MAX_HYPOTHS];
double mean[3];
double variance;
int num_particles;
! playerc_localize_particle_t particles[PLAYER_LOCALIZE_PARTICLES_MAX];
} playerc_localize_t;
--- 1978,1987 ----
/** List of possible poses. */
int hypoth_count;
! player_localize_hypoth_t *hypoths;
double mean[3];
double variance;
int num_particles;
! playerc_localize_particle_t *particles;
} playerc_localize_t;
***************
*** 2217,2221 ****
/** Data */
! uint8_t data[PLAYER_OPAQUE_MAX_SIZE];
} playerc_opaque_t;
--- 2201,2205 ----
/** Data */
! uint8_t *data;
} playerc_opaque_t;
***************
*** 2282,2286 ****
/** List of waypoints in the current plan (m,m,radians). Call
playerc_planner_get_waypoints() to fill this in. */
! double waypoints[PLAYER_PLANNER_MAX_WAYPOINTS][3];
} playerc_planner_t;
--- 2266,2270 ----
/** List of waypoints in the current plan (m,m,radians). Call
playerc_planner_get_waypoints() to fill this in. */
! double *waypoints[3];
} playerc_planner_t;
***************
*** 2878,2882 ****
/** Pose of each sonar relative to robot (m, m, radians). This
structure is filled by calling playerc_sonar_get_geom(). */
! player_pose3d_t poses[PLAYERC_SONAR_MAX_SAMPLES];
/** Number of points in the scan. */
--- 2862,2866 ----
/** Pose of each sonar relative to robot (m, m, radians). This
structure is filled by calling playerc_sonar_get_geom(). */
! player_pose3d_t *poses;
/** Number of points in the scan. */
***************
*** 2884,2888 ****
/** Scan data: range (m). */
! double scan[PLAYERC_SONAR_MAX_SAMPLES];
} playerc_sonar_t;
--- 2868,2872 ----
/** Scan data: range (m). */
! double *scan;
} playerc_sonar_t;
***************
*** 2956,2960 ****
/** A list containing info for each link. */
! playerc_wifi_link_t links[PLAYERC_WIFI_MAX_LINKS];
int link_count;
--- 2940,2944 ----
/** A list containing info for each link. */
! playerc_wifi_link_t *links;
int link_count;
***************
*** 3099,3106 ****
playerc_device_t info;
! char rawText[PLAYER_SPEECH_RECOGNITION_TEXT_LEN];
// Just estimating that no more than 20 words will be spoken between
updates.
// Assuming that the longest word is <= 30 characters.
! char words[20][30];
int wordCount;
} playerc_speechrecognition_t;
--- 3083,3090 ----
playerc_device_t info;
! char *rawText;
// Just estimating that no more than 20 words will be spoken between
updates.
// Assuming that the longest word is <= 30 characters.
! char **words;
int wordCount;
} playerc_speechrecognition_t;
***************
*** 3139,3143 ****
uint32_t guid_count;
/** The Globally Unique IDentifier (GUID) of the tag. */
! uint8_t guid[PLAYERC_RFID_MAX_GUID];
} playerc_rfidtag_t;
--- 3123,3127 ----
uint32_t guid_count;
/** The Globally Unique IDentifier (GUID) of the tag. */
! uint8_t *guid;
} playerc_rfidtag_t;
***************
*** 3152,3156 ****
/** The list of RFID tags. */
! playerc_rfidtag_t tags[PLAYERC_RFID_MAX_TAGS];
} playerc_rfid_t;
--- 3136,3140 ----
/** The list of RFID tags. */
! playerc_rfidtag_t *tags;
} playerc_rfid_t;
***************
*** 3193,3197 ****
/** The list of 3D pointcloud elements. */
! playerc_pointcloud3d_element_t points[PLAYERC_POINTCLOUD3D_MAX_POINTS];
} playerc_pointcloud3d_t;
--- 3177,3181 ----
/** The list of 3D pointcloud elements. */
! playerc_pointcloud3d_element_t *points;
} playerc_pointcloud3d_t;
Index: dev_simulation.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_simulation.c,v
retrieving revision 1.14
retrieving revision 1.14.2.1
diff -C2 -d -r1.14 -r1.14.2.1
*** dev_simulation.c 20 Apr 2007 00:59:47 -0000 1.14
--- dev_simulation.c 10 Sep 2007 04:11:00 -0000 1.14.2.1
***************
*** 109,114 ****
memset(&cmd, 0, sizeof(cmd));
! strncpy(cmd.name, name, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! cmd.name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
cmd.name_count = strlen(cmd.name) + 1;
cmd.pose.px = gx;
--- 109,113 ----
memset(&cmd, 0, sizeof(cmd));
! cmd.name = name;
cmd.name_count = strlen(cmd.name) + 1;
cmd.pose.px = gx;
***************
*** 128,133 ****
memset(&cfg, 0, sizeof(cfg));
! strncpy(cfg.name, identifier, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! cfg.name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
cfg.name_count = strlen(cfg.name) + 1;
if (playerc_client_request(device->info.client, &device->info,
--- 127,131 ----
memset(&cfg, 0, sizeof(cfg));
! cfg.name = identifier;
cfg.name_count = strlen(cfg.name) + 1;
if (playerc_client_request(device->info.client, &device->info,
***************
*** 148,153 ****
memset(&cmd, 0, sizeof(cmd));
! strncpy(cmd.name, name, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! cmd.name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
cmd.name_count = strlen(cmd.name) + 1;
cmd.pose.px = gx;
--- 146,150 ----
memset(&cmd, 0, sizeof(cmd));
! cmd.name = name;
cmd.name_count = strlen(cmd.name) + 1;
cmd.pose.px = gx;
***************
*** 170,175 ****
memset(&cfg, 0, sizeof(cfg));
! strncpy(cfg.name, identifier, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! cfg.name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
cfg.name_count = strlen(cfg.name) + 1;
if (playerc_client_request(device->info.client, &device->info,
--- 167,171 ----
memset(&cfg, 0, sizeof(cfg));
! cfg.name = identifier;
cfg.name_count = strlen(cfg.name) + 1;
if (playerc_client_request(device->info.client, &device->info,
***************
*** 197,216 ****
memset(&req, 0, sizeof(req));
! strncpy(req.name, name, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! req.name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
req.name_count = strlen(req.name) + 1;
! strncpy(req.prop, property, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! req.prop[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
req.prop_count = strlen(req.prop) + 1;
! if( value_len > PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN )
! {
! PLAYER_WARN2( "Simulation property data exceeds maximum length (%d/%d
bytes).",
! value_len, PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN );
! value_len = PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN;
! }
!
! memcpy( req.value, value, value_len );
req.value_count = value_len;
--- 193,203 ----
memset(&req, 0, sizeof(req));
! req.name = name;
req.name_count = strlen(req.name) + 1;
! req.prop = property;
req.prop_count = strlen(req.prop) + 1;
! req.value = value;
req.value_count = value_len;
***************
*** 230,249 ****
memset(&req, 0, sizeof(req));
! strncpy(req.name, name, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! req.name[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
req.name_count = strlen(req.name) + 1;
! strncpy(req.prop, property, PLAYER_SIMULATION_IDENTIFIER_MAXLEN);
! req.prop[PLAYER_SIMULATION_IDENTIFIER_MAXLEN-1]='\0';
req.prop_count = strlen(req.prop) + 1;
! if( value_len > PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN )
! {
! PLAYER_WARN2( "Simulation property data exceeds maximum length (%d/%d
bytes).",
! value_len, PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN );
! value_len = PLAYER_SIMULATION_PROPERTY_DATA_MAXLEN;
! }
!
! req.value_count = value_len;
if( playerc_client_request(device->info.client, &device->info,
--- 217,228 ----
memset(&req, 0, sizeof(req));
! req.name = name;
req.name_count = strlen(req.name) + 1;
! req.prop = property;
req.prop_count = strlen(req.prop) + 1;
! req.value = NULL;
! req.value_count = 0;
if( playerc_client_request(device->info.client, &device->info,
Index: dev_speech.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_speech.c,v
retrieving revision 1.5
retrieving revision 1.5.4.1
diff -C2 -d -r1.5 -r1.5.4.1
*** dev_speech.c 12 Feb 2006 00:54:38 -0000 1.5
--- dev_speech.c 10 Sep 2007 04:11:00 -0000 1.5.4.1
***************
*** 96,105 ****
memset(&cmd, 0, sizeof(cmd));
!
! if (str)
! {
! strncpy ((char *) (cmd.string), str, PLAYER_SPEECH_MAX_STRING_LEN);
! cmd.string_count = strlen(str) + 1;
! }
return playerc_client_write(device->info.client,
--- 96,101 ----
memset(&cmd, 0, sizeof(cmd));
! cmd.string = str;
! cmd.string_count = strlen(str) + 1;
return playerc_client_write(device->info.client,
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