Update of /cvsroot/playerstage/code/player/server/drivers/laser
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11860/server/drivers/laser
Modified Files:
Tag: b_thjc_dynamic_arrays
sicklms200.cc sickpls.cc RS4LeuzeLaserDriver.cc laserrescan.cc
lasercspace.cc sicklms400.cc lasercutter.cc lms400_cola.cc
pbs_driver.cc urglaserdriver.cc sicks3000.cc
Log Message:
dynamic array changes to drivers compile, still needs testing
added lots more .cvsignore settings for eclipse
Index: sicks3000.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicks3000.cc,v
retrieving revision 1.4.2.2
retrieving revision 1.4.2.3
diff -C2 -d -r1.4.2.2 -r1.4.2.3
*** sicks3000.cc 14 Oct 2007 04:41:46 -0000 1.4.2.2
--- sicks3000.cc 19 Oct 2007 21:58:56 -0000 1.4.2.3
***************
*** 676,680 ****
int data_count = (size - 22) / 2;
data_packet.ranges_count = data_count;
! data_packet.ranges = new double [data_count];
for (int ii = 0; ii < data_count; ++ii)
{
--- 676,680 ----
int data_count = (size - 22) / 2;
data_packet.ranges_count = data_count;
! data_packet.ranges = new float [data_count];
for (int ii = 0; ii < data_count; ++ii)
{
Index: pbs_driver.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/pbs_driver.cc,v
retrieving revision 1.2.2.2
retrieving revision 1.2.2.3
diff -C2 -d -r1.2.2.2 -r1.2.2.3
*** pbs_driver.cc 14 Oct 2007 04:41:46 -0000 1.2.2.2
--- pbs_driver.cc 19 Oct 2007 21:58:56 -0000 1.2.2.3
***************
*** 234,238 ****
data_packet.max_range = 3.5;
data_packet.ranges_count = NUMBER_OF_RANGE_READINGS;
! data_packet.ranges = new double [NUMBER_OF_RANGE_READINGS];
data_packet.intensity_count = 0;
data_packet.intensity = NULL;
--- 234,238 ----
data_packet.max_range = 3.5;
data_packet.ranges_count = NUMBER_OF_RANGE_READINGS;
! data_packet.ranges = new float [NUMBER_OF_RANGE_READINGS];
data_packet.intensity_count = 0;
data_packet.intensity = NULL;
Index: urglaserdriver.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/laser/urglaserdriver.cc,v
retrieving revision 1.13.2.1
retrieving revision 1.13.2.2
diff -C2 -d -r1.13.2.1 -r1.13.2.2
*** urglaserdriver.cc 14 Oct 2007 04:41:46 -0000 1.13.2.1
--- urglaserdriver.cc 19 Oct 2007 21:58:56 -0000 1.13.2.2
***************
*** 337,341 ****
Data.resolution = Conf.resolution;
Data.ranges_count = (max_i - min_i) + 1;
! Data.ranges = new double [Data.ranges_count];
for (unsigned int i = 0; i < Data.ranges_count; ++i)
--- 337,341 ----
Data.resolution = Conf.resolution;
Data.ranges_count = (max_i - min_i) + 1;
! Data.ranges = new float [Data.ranges_count];
for (unsigned int i = 0; i < Data.ranges_count; ++i)
Index: sicklms200.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicklms200.cc,v
retrieving revision 1.63.2.2
retrieving revision 1.63.2.3
diff -C2 -d -r1.63.2.2 -r1.63.2.3
*** sicklms200.cc 14 Oct 2007 04:41:46 -0000 1.63.2.2
--- sicklms200.cc 19 Oct 2007 21:58:55 -0000 1.63.2.3
***************
*** 503,507 ****
PLAYER_MSG0(2, "laser ready");
! memset(data, 0, sizeof(data));
// Start the device thread
--- 503,507 ----
PLAYER_MSG0(2, "laser ready");
! //memset(data, 0, sizeof(data));
// Start the device thread
***************
*** 525,530 ****
CloseTerm();
! delete [] data.ranges;
! delete [] data.intensity;
PLAYER_MSG0(2, "laser shutdown");
--- 525,530 ----
CloseTerm();
! //delete [] data.ranges;
! //delete [] data.intensity;
PLAYER_MSG0(2, "laser shutdown");
***************
*** 662,667 ****
// Process incoming data
! uint16_t mm_ranges[PLAYER_LASER_MAX_SAMPLES];
! if (ReadLaserData(mm_ranges, PLAYER_LASER_MAX_SAMPLES) == 0)
{
player_laser_data_t data;
--- 662,667 ----
// Process incoming data
! uint16_t mm_ranges[1024];
! if (ReadLaserData(mm_ranges, 1024) == 0)
{
player_laser_data_t data;
***************
*** 697,702 ****
delete [] data.ranges;
delete [] data.intensity;
! data.ranges = new double[data.ranges_count];
! data.intensity = new double[data.intensity.count];
}
--- 697,702 ----
delete [] data.ranges;
delete [] data.intensity;
! data.ranges = new float[data.ranges_count];
! data.intensity = new uint8_t[data.intensity_count];
}
***************
*** 732,735 ****
--- 732,737 ----
PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
(void*)&data, sizeof(data), &time);
+ delete [] data.ranges;
+ delete [] data.intensity;
}
}
Index: lasercutter.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/lasercutter.cc,v
retrieving revision 1.3.2.1
retrieving revision 1.3.2.2
diff -C2 -d -r1.3.2.1 -r1.3.2.2
*** lasercutter.cc 14 Oct 2007 04:41:46 -0000 1.3.2.1
--- lasercutter.cc 19 Oct 2007 21:58:56 -0000 1.3.2.2
***************
*** 106,109 ****
--- 106,110 ----
// Constructor
public: LaserCutter( ConfigFile* cf, int section);
+ ~LaserCutter();
// Process laser data. Returns non-zero if the laser data has been
***************
*** 112,116 ****
double min_angle, max_angle;
! int allocated_ranges;
};
--- 113,117 ----
double min_angle, max_angle;
! unsigned int allocated_ranges;
};
***************
*** 137,141 ****
// Settings.
allocated_ranges = 0;
! data->ranges = NULL;
this->max_angle = cf->ReadAngle(section, "max_angle", M_PI/2.0);
this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI/2.0);
--- 138,142 ----
// Settings.
allocated_ranges = 0;
! data.ranges = NULL;
this->max_angle = cf->ReadAngle(section, "max_angle", M_PI/2.0);
this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI/2.0);
***************
*** 146,150 ****
LaserCutter::~LaserCutter()
{
! free(ranges);
}
--- 147,151 ----
LaserCutter::~LaserCutter()
{
! free(data.ranges);
}
***************
*** 169,173 ****
current_angle = data->min_angle;
if (data->ranges_count+1 > allocated_ranges)
! data.ranges =
realloc(data.ranges,sizeof(data.ranges[0])*(data->ranges_count+1));
for (i = 0; i < data->ranges_count; i++)
{
--- 170,174 ----
current_angle = data->min_angle;
if (data->ranges_count+1 > allocated_ranges)
! data->ranges =
(float*)realloc(data->ranges,sizeof(data->ranges[0])*(data->ranges_count+1));
for (i = 0; i < data->ranges_count; i++)
{
Index: lms400_cola.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/lms400_cola.cc,v
retrieving revision 1.2.2.1
retrieving revision 1.2.2.2
diff -C2 -d -r1.2.2.1 -r1.2.2.2
*** lms400_cola.cc 14 Oct 2007 04:41:46 -0000 1.2.2.1
--- lms400_cola.cc 19 Oct 2007 21:58:56 -0000 1.2.2.2
***************
*** 435,440 ****
player_data.intensity_count = meas_header.NumberMeasuredValues;
player_data.id = 0;
! player_data.ranges = new double[ player_data.ranges_count];
! player_data.intensity = new double[ player_data.intensity_count];
memcpy (&player_data.id, &buffer[sizeof(MeasurementHeader_t) +
--- 435,440 ----
player_data.intensity_count = meas_header.NumberMeasuredValues;
player_data.id = 0;
! player_data.ranges = new float[ player_data.ranges_count];
! player_data.intensity = new uint8_t[ player_data.intensity_count];
memcpy (&player_data.id, &buffer[sizeof(MeasurementHeader_t) +
Index: RS4LeuzeLaserDriver.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/laser/RS4LeuzeLaserDriver.cc,v
retrieving revision 1.2.2.1
retrieving revision 1.2.2.2
diff -C2 -d -r1.2.2.1 -r1.2.2.2
*** RS4LeuzeLaserDriver.cc 14 Oct 2007 04:41:46 -0000 1.2.2.1
--- RS4LeuzeLaserDriver.cc 19 Oct 2007 21:58:55 -0000 1.2.2.2
***************
*** 297,301 ****
myLaser=new Claser(ScanPoints);
! Data.ranges = new double[ScanPoints];
return;
}
--- 297,301 ----
myLaser=new Claser(ScanPoints);
! Data.ranges = new float[ScanPoints];
return;
}
Index: laserrescan.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/laserrescan.cc,v
retrieving revision 1.8.2.1
retrieving revision 1.8.2.2
diff -C2 -d -r1.8.2.1 -r1.8.2.2
*** laserrescan.cc 14 Oct 2007 04:41:46 -0000 1.8.2.1
--- laserrescan.cc 19 Oct 2007 21:58:55 -0000 1.8.2.2
***************
*** 157,161 ****
this->data.max_angle = (max_angle);
this->data.ranges_count = scan_count;
! this->data.ranges = new double[scan_count];
this->data.max_range = data->max_range;
--- 157,161 ----
this->data.max_angle = (max_angle);
this->data.ranges_count = scan_count;
! this->data.ranges = new float[scan_count];
this->data.max_range = data->max_range;
***************
*** 195,199 ****
PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
&this->data);
! delete [] data.ranges;
return 1;
}
--- 195,199 ----
PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
&this->data);
! delete [] this->data.ranges;
return 1;
}
Index: sicklms400.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sicklms400.cc,v
retrieving revision 1.3.2.1
retrieving revision 1.3.2.2
diff -C2 -d -r1.3.2.1 -r1.3.2.2
*** sicklms400.cc 14 Oct 2007 04:41:46 -0000 1.3.2.1
--- sicklms400.cc 19 Oct 2007 21:58:56 -0000 1.3.2.2
***************
*** 183,186 ****
--- 183,187 ----
#include <libplayercore/playercore.h>
+ #include <libplayerxdr/playerxdr.h>
// The SICK LMS 400 laser device class.
Index: lasercspace.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/lasercspace.cc,v
retrieving revision 1.24.2.1
retrieving revision 1.24.2.2
diff -C2 -d -r1.24.2.1 -r1.24.2.2
*** lasercspace.cc 14 Oct 2007 04:41:46 -0000 1.24.2.1
--- lasercspace.cc 19 Oct 2007 21:58:56 -0000 1.24.2.2
***************
*** 136,140 ****
// Lookup table for precomputations
! private: double lu[PLAYER_LASER_MAX_SAMPLES][4];
};
--- 136,140 ----
// Lookup table for precomputations
! private: double (*lu)[4];
};
***************
*** 179,183 ****
this->data.max_range = data->max_range;
this->data.ranges_count = data->ranges_count;
! this->data.ranges = new double [data->ranges_count];
// Do some precomputations to save time
--- 179,184 ----
this->data.max_range = data->max_range;
this->data.ranges_count = data->ranges_count;
! this->data.ranges = new float [data->ranges_count];
! this->lu = new double[data->ranges_count][4];
// Do some precomputations to save time
***************
*** 192,195 ****
--- 193,197 ----
(void*)&this->data);
delete [] this->data.ranges;
+ delete [] this->lu;
return 1;
Index: sickpls.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/laser/sickpls.cc,v
retrieving revision 1.13.2.1
retrieving revision 1.13.2.2
diff -C2 -d -r1.13.2.1 -r1.13.2.2
*** sickpls.cc 14 Oct 2007 04:41:46 -0000 1.13.2.1
--- sickpls.cc 19 Oct 2007 21:58:55 -0000 1.13.2.2
***************
*** 161,164 ****
--- 161,165 ----
#include <libplayercore/playercore.h>
+ #include <libplayerxdr/playerxdr.h>
#include <replace/replace.h>
***************
*** 504,510 ****
player_laser_data_t data;
data.ranges_count = (this->scan_max_segment - this->scan_min_segment + 1);
! data.intesity_count = data.ranges_count;
! data.ranges = new double [data.ranges_count];
! data.intensity = new double [data.intensity_count];
uint16_t * TempData = new uint16_t[data.ranges_count];
if (ReadLaserData(TempData, data.ranges_count) == 0)
--- 505,511 ----
player_laser_data_t data;
data.ranges_count = (this->scan_max_segment - this->scan_min_segment + 1);
! data.intensity_count = data.ranges_count;
! data.ranges = new float [data.ranges_count];
! data.intensity = new uint8_t [data.intensity_count];
uint16_t * TempData = new uint16_t[data.ranges_count];
if (ReadLaserData(TempData, data.ranges_count) == 0)
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