Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv9713/utils/playerv
Modified Files:
Tag: b_thjc_dynamic_arrays
dev_bumper.c dev_ir.c dev_laser.c dev_ranger.c dev_sonar.c
playerv.h
Log Message:
static array sizes removed from player
client library updated to use dynamic arrays
Index: dev_bumper.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/dev_bumper.c,v
retrieving revision 1.6
retrieving revision 1.6.2.1
diff -C2 -d -r1.6 -r1.6.2.1
*** dev_bumper.c 9 Jul 2007 17:18:02 -0000 1.6
--- dev_bumper.c 10 Sep 2007 04:11:01 -0000 1.6.2.1
***************
*** 55,58 ****
--- 55,59 ----
bumper->drivername = strdup(drivername);
bumper->datatime = 0;
+ bumper->mainwnd = mainwnd;
snprintf(section, sizeof(section), "bumper:%d", index);
***************
*** 67,77 ****
rtk_menuitem_check(bumper->subscribe_item, subscribe);
! // Construct figures
! for (i = 0; i < PLAYERC_BUMPER_MAX_SAMPLES; i++)
! bumper->scan_fig[i] = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig,
1);
!
return bumper;
}
// Destroy a bumper device
--- 68,87 ----
rtk_menuitem_check(bumper->subscribe_item, subscribe);
! bumper->fig_count = 0;
return bumper;
}
+ void bumper_allocate_figures(bumper_t * bumper, int fig_count)
+ {
+ int i;
+ if (bumper->fig_count <= fig_count)
+ return;
+ bumper->scan_fig =
realloc(bumper->scan_fig,fig_count*sizeof(bumper->scan_fig[0]));
+
+ // Construct figures
+ for (i = bumper->fig_count; i < fig_count; i++)
+ bumper->scan_fig[i] = rtk_fig_create(bumper->mainwnd->canvas,
bumper->mainwnd->robot_fig, 1);
+ bumper->fig_count = fig_count;
+ }
// Destroy a bumper device
***************
*** 84,89 ****
playerc_bumper_destroy(bumper->proxy);
! for (i = 0; i < PLAYERC_BUMPER_MAX_SAMPLES; i++)
rtk_fig_destroy(bumper->scan_fig[i]);
rtk_menuitem_destroy(bumper->subscribe_item);
--- 94,100 ----
playerc_bumper_destroy(bumper->proxy);
! for (i = 0; i < bumper->fig_count; i++)
rtk_fig_destroy(bumper->scan_fig[i]);
+ free(bumper->scan_fig);
rtk_menuitem_destroy(bumper->subscribe_item);
***************
*** 111,115 ****
if (playerc_bumper_get_geom(bumper->proxy) != 0)
PRINT_ERR1("get_geom failed : %s", playerc_error_str());
!
for (i = 0; i < bumper->proxy->pose_count; i++){
//fprintf(stderr, "bumper poses %02d: %f %f %f %f
%f\n",i,bumper->proxy->poses[i][0],bumper->proxy->poses[i][1],bumper->proxy->poses[i][2],bumper->proxy->poses[i][3],bumper->proxy->poses[i][4]);
--- 122,126 ----
if (playerc_bumper_get_geom(bumper->proxy) != 0)
PRINT_ERR1("get_geom failed : %s", playerc_error_str());
! bumper_allocate_figures(bumper, bumper->proxy->pose_count);
for (i = 0; i < bumper->proxy->pose_count; i++){
//fprintf(stderr, "bumper poses %02d: %f %f %f %f
%f\n",i,bumper->proxy->poses[i][0],bumper->proxy->poses[i][1],bumper->proxy->poses[i][2],bumper->proxy->poses[i][3],bumper->proxy->poses[i][4]);
Index: playerv.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.h,v
retrieving revision 1.50
retrieving revision 1.50.2.1
diff -C2 -d -r1.50 -r1.50.2.1
*** playerv.h 20 Aug 2007 19:42:49 -0000 1.50
--- playerv.h 10 Sep 2007 04:11:01 -0000 1.50.2.1
***************
*** 186,190 ****
// Figures for drawing the bumper
! rtk_fig_t *scan_fig[PLAYERC_BUMPER_MAX_SAMPLES];
// Bumper device proxy
--- 186,192 ----
// Figures for drawing the bumper
! rtk_fig_t **scan_fig;
! int fig_count;
! mainwnd_t *mainwnd;
// Bumper device proxy
***************
*** 473,477 ****
// Figures for drawing the sonar scan
! rtk_fig_t *scan_fig[PLAYERC_SONAR_MAX_SAMPLES];
// Sonar device proxy
--- 475,481 ----
// Figures for drawing the sonar scan
! rtk_fig_t **scan_fig;
! int fig_count;
! mainwnd_t *mainwnd;
// Sonar device proxy
***************
*** 512,516 ****
// Figures for drawing the sonar scan
! rtk_fig_t *scan_fig[PLAYERC_IR_MAX_SAMPLES];
// Sonar device proxy
--- 516,522 ----
// Figures for drawing the sonar scan
! rtk_fig_t **scan_fig;
! int fig_count;
! mainwnd_t *mainwnd;
// Sonar device proxy
Index: dev_laser.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/dev_laser.c,v
retrieving revision 1.27
retrieving revision 1.27.2.1
diff -C2 -d -r1.27 -r1.27.2.1
*** dev_laser.c 20 May 2007 00:30:15 -0000 1.27
--- dev_laser.c 10 Sep 2007 04:11:01 -0000 1.27.2.1
***************
*** 225,229 ****
double r, b, res;
int point_count;
! double points[PLAYERC_LASER_MAX_SAMPLES + 1][2];
rtk_fig_show(laser->scan_fig, 1);
rtk_fig_clear(laser->scan_fig);
--- 225,229 ----
double r, b, res;
int point_count;
! double * points;
rtk_fig_show(laser->scan_fig, 1);
rtk_fig_clear(laser->scan_fig);
***************
*** 253,271 ****
// Draw in the range scan (empty space)
! point_count = 0;
! points[point_count][0] = 0;
! points[point_count][1] = 0;
! point_count++;
for (i = 0; i < laser->proxy->scan_count; i++)
{
r = laser->proxy->scan[i][0];
b = laser->proxy->scan[i][1];
! points[point_count][0] = r * cos(b - res);
! points[point_count][1] = r * sin(b - res);
! point_count++;
}
rtk_fig_color_rgb32(laser->scan_fig, COLOR_LASER_EMP);
! rtk_fig_polygon(laser->scan_fig, 0, 0, 0, point_count, points, 1);
!
// Draw in the range scan (occupied space)
rtk_fig_color_rgb32(laser->scan_fig, COLOR_LASER_OCC);
--- 253,269 ----
// Draw in the range scan (empty space)
! points = calloc(laser->proxy->scan_count,sizeof(double)*2);
for (i = 0; i < laser->proxy->scan_count; i++)
{
r = laser->proxy->scan[i][0];
b = laser->proxy->scan[i][1];
! points[i*2] = r * cos(b - res);
! points[i*2+1] = r * sin(b - res);
}
rtk_fig_color_rgb32(laser->scan_fig, COLOR_LASER_EMP);
! rtk_fig_polygon(laser->scan_fig, 0, 0, 0, laser->proxy->scan_count,
(double *)points, 1);
! free(points);
! points = NULL;
!
// Draw in the range scan (occupied space)
rtk_fig_color_rgb32(laser->scan_fig, COLOR_LASER_OCC);
Index: dev_sonar.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/dev_sonar.c,v
retrieving revision 1.19
retrieving revision 1.19.2.1
diff -C2 -d -r1.19 -r1.19.2.1
*** dev_sonar.c 9 Jul 2007 17:18:02 -0000 1.19
--- dev_sonar.c 10 Sep 2007 04:11:01 -0000 1.19.2.1
***************
*** 57,61 ****
sonar->drivername = strdup(drivername);
sonar->datatime = 0;
!
snprintf(section, sizeof(section), "sonar:%d", index);
--- 57,62 ----
sonar->drivername = strdup(drivername);
sonar->datatime = 0;
! sonar->mainwnd = mainwnd;
!
snprintf(section, sizeof(section), "sonar:%d", index);
***************
*** 69,79 ****
rtk_menuitem_check(sonar->subscribe_item, subscribe);
! // Construct figures
! for (i = 0; i < PLAYERC_SONAR_MAX_SAMPLES; i++)
! sonar->scan_fig[i] = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig,
1);
return sonar;
}
// Destroy a sonar device
--- 70,90 ----
rtk_menuitem_check(sonar->subscribe_item, subscribe);
! sonar->fig_count = 0;
return sonar;
}
+ void sonar_allocate_figures(sonar_t * sonar, int fig_count)
+ {
+ int i;
+ if (sonar->fig_count <= fig_count)
+ return;
+ sonar->scan_fig =
realloc(sonar->scan_fig,fig_count*sizeof(sonar->scan_fig[0]));
+
+ // Construct figures
+ for (i = sonar->fig_count; i < fig_count; i++)
+ sonar->scan_fig[i] = rtk_fig_create(sonar->mainwnd->canvas,
sonar->mainwnd->robot_fig, 1);
+ sonar->fig_count = fig_count;
+ }
// Destroy a sonar device
***************
*** 86,90 ****
playerc_sonar_destroy(sonar->proxy);
! for (i = 0; i < PLAYERC_SONAR_MAX_SAMPLES; i++)
rtk_fig_destroy(sonar->scan_fig[i]);
--- 97,101 ----
playerc_sonar_destroy(sonar->proxy);
! for (i = 0; i < sonar->fig_count; i++)
rtk_fig_destroy(sonar->scan_fig[i]);
***************
*** 113,117 ****
if (playerc_sonar_get_geom(sonar->proxy) != 0)
PRINT_ERR1("get_geom failed : %s", playerc_error_str());
-
sonar_update_geom(sonar);
}
--- 124,127 ----
***************
*** 149,157 ****
{
int i;
! for (i = 0; i < sonar->proxy->pose_count; i++)
! rtk_fig_origin(sonar->scan_fig[i],
! sonar->proxy->poses[i].px,
! sonar->proxy->poses[i].py,
! sonar->proxy->poses[i].pyaw);
}
--- 159,168 ----
{
int i;
! sonar_allocate_figures(sonar, sonar->proxy->pose_count);
! for (i = 0; i < sonar->proxy->pose_count; i++)
! rtk_fig_origin(sonar->scan_fig[i],
! sonar->proxy->poses[i].px,
! sonar->proxy->poses[i].py,
! sonar->proxy->poses[i].pyaw);
}
Index: dev_ranger.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/dev_ranger.c,v
retrieving revision 1.2
retrieving revision 1.2.2.1
diff -C2 -d -r1.2 -r1.2.2.1
*** dev_ranger.c 17 Jun 2007 00:28:02 -0000 1.2
--- dev_ranger.c 10 Sep 2007 04:11:01 -0000 1.2.2.1
***************
*** 188,192 ****
int ii = 0, jj = 0;
int point_count;
! double point1[2], point2[2], points[PLAYER_LASER_MAX_SAMPLES + 1][2];
double current_angle = 0.0f, temp = 0.0f;
unsigned int ranges_per_sensor = 0;
--- 188,193 ----
int ii = 0, jj = 0;
int point_count;
! double point1[2], point2[2];
! double *points;
double current_angle = 0.0f, temp = 0.0f;
unsigned int ranges_per_sensor = 0;
***************
*** 207,210 ****
--- 208,212 ----
{
// Draw sonar-like
+ points = calloc(3, sizeof(double)*2);
temp = 20.0f * M_PI / 180.0f / 2.0f;
for (ii = 0; ii < ranger->proxy->sensor_count; ii++)
***************
*** 216,231 ****
// Draw a cone for the first range for each sensor
// Assume the range is straight ahead (ignore min_angle and resolution
properties)
! points[0][0] = 0.0f;
! points[0][1] = 0.0f;
! points[1][0] = ranger->proxy->ranges[ii * ranges_per_sensor] *
cos(-temp);
! points[1][1] = ranger->proxy->ranges[ii * ranges_per_sensor] *
sin(-temp);
! points[2][0] = ranger->proxy->ranges[ii * ranges_per_sensor] *
cos(temp);
! points[2][1] = ranger->proxy->ranges[ii * ranges_per_sensor] *
sin(temp);
rtk_fig_polygon(ranger->scan_fig[ii], 0, 0, 0, 3, points, 1);
!
// Draw the sensor itself
rtk_fig_color_rgb32(ranger->scan_fig[ii], COLOR_LASER);
rtk_fig_rectangle(ranger->scan_fig[ii], 0, 0, 0,
ranger->proxy->sensor_sizes[ii].sw, ranger->proxy->sensor_sizes[ii].sl, 0);
}
}
else
--- 218,235 ----
// Draw a cone for the first range for each sensor
// Assume the range is straight ahead (ignore min_angle and resolution
properties)
! points[0] = 0.0f;
! points[1] = 0.0f;
! points[2] = ranger->proxy->ranges[ii * ranges_per_sensor] * cos(-temp);
! points[3] = ranger->proxy->ranges[ii * ranges_per_sensor] * sin(-temp);
! points[4] = ranger->proxy->ranges[ii * ranges_per_sensor] * cos(temp);
! points[5] = ranger->proxy->ranges[ii * ranges_per_sensor] * sin(temp);
rtk_fig_polygon(ranger->scan_fig[ii], 0, 0, 0, 3, points, 1);
!
// Draw the sensor itself
rtk_fig_color_rgb32(ranger->scan_fig[ii], COLOR_LASER);
rtk_fig_rectangle(ranger->scan_fig[ii], 0, 0, 0,
ranger->proxy->sensor_sizes[ii].sw, ranger->proxy->sensor_sizes[ii].sl, 0);
}
+ free(points);
+ points=NULL;
}
else
***************
*** 235,238 ****
--- 239,243 ----
{
// Draw each sensor in turn
+ points = calloc(ranger->proxy->sensor_count, sizeof(double)*2);
for (ii = 0; ii < ranger->proxy->sensor_count; ii++)
{
***************
*** 241,246 ****
// Draw empty space
! points[0][0] = ranger->proxy->sensor_poses[ii].px;
! points[0][1] = ranger->proxy->sensor_poses[ii].py;
point_count = 1;
current_angle = ranger->start_angle;
--- 246,251 ----
// Draw empty space
! points[0] = ranger->proxy->sensor_poses[ii].px;
! points[1] = ranger->proxy->sensor_poses[ii].py;
point_count = 1;
current_angle = ranger->start_angle;
***************
*** 248,252 ****
for (jj = ii * ranges_per_sensor; jj < (ii + 1) * ranges_per_sensor;
jj++)
{
! range_to_point(ranger, jj, ii, current_angle, points[point_count]);
// Move round to the angle of the next range
current_angle += ranger->resolution;
--- 253,257 ----
for (jj = ii * ranges_per_sensor; jj < (ii + 1) * ranges_per_sensor;
jj++)
{
! range_to_point(ranger, jj, ii, current_angle,
&points[point_count*2]);
// Move round to the angle of the next range
current_angle += ranger->resolution;
***************
*** 267,270 ****
--- 272,278 ----
}
}
+ free(points);
+ points = NULL;
+
}
else
Index: dev_ir.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/dev_ir.c,v
retrieving revision 1.3
retrieving revision 1.3.2.1
diff -C2 -d -r1.3 -r1.3.2.1
*** dev_ir.c 9 Jul 2007 17:18:02 -0000 1.3
--- dev_ir.c 10 Sep 2007 04:11:01 -0000 1.3.2.1
***************
*** 55,58 ****
--- 55,59 ----
ir->drivername = strdup(drivername);
ir->datatime = 0;
+ ir->mainwnd = mainwnd;
snprintf(section, sizeof(section), "ir:%d", index);
***************
*** 67,73 ****
rtk_menuitem_check(ir->subscribe_item, subscribe);
! // Construct figures
! for (i = 0; i < PLAYERC_IR_MAX_SAMPLES; i++)
! ir->scan_fig[i] = rtk_fig_create(mainwnd->canvas, mainwnd->robot_fig, 1);
return ir;
--- 68,72 ----
rtk_menuitem_check(ir->subscribe_item, subscribe);
! ir->fig_count = 0;
return ir;
***************
*** 75,78 ****
--- 74,90 ----
+ void ir_allocate_figures(ir_t * ir, int fig_count)
+ {
+ int i;
+ if (ir->fig_count <= fig_count)
+ return;
+ ir->scan_fig = realloc(ir->scan_fig,fig_count*sizeof(ir->scan_fig[0]));
+
+ // Construct figures
+ for (i = ir->fig_count; i < fig_count; i++)
+ ir->scan_fig[i] = rtk_fig_create(ir->mainwnd->canvas,
ir->mainwnd->robot_fig, 1);
+ ir->fig_count = fig_count;
+ }
+
// Destroy an ir device
void ir_destroy(ir_t *ir)
***************
*** 84,89 ****
playerc_ir_destroy(ir->proxy);
! for (i = 0; i < PLAYERC_IR_MAX_SAMPLES; i++)
rtk_fig_destroy(ir->scan_fig[i]);
rtk_menuitem_destroy(ir->subscribe_item);
--- 96,102 ----
playerc_ir_destroy(ir->proxy);
! for (i = 0; i < ir->fig_count; i++)
rtk_fig_destroy(ir->scan_fig[i]);
+ free(ir->scan_fig);
rtk_menuitem_destroy(ir->subscribe_item);
***************
*** 111,115 ****
if (playerc_ir_get_geom(ir->proxy) != 0)
PRINT_ERR1("get_geom failed : %s", playerc_error_str());
!
for (i = 0; i < ir->proxy->poses.poses_count; i++)
{
--- 124,128 ----
if (playerc_ir_get_geom(ir->proxy) != 0)
PRINT_ERR1("get_geom failed : %s", playerc_error_str());
! ir_allocate_figures(ir, ir->proxy->poses.poses_count);
for (i = 0; i < ir->proxy->poses.poses_count; i++)
{
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