Update of /cvsroot/playerstage/code/player/server/drivers/planner/wavefront
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv11860/server/drivers/planner/wavefront
Modified Files:
Tag: b_thjc_dynamic_arrays
wavefront.cc .cvsignore
Log Message:
dynamic array changes to drivers compile, still needs testing
added lots more .cvsignore settings for eclipse
Index: wavefront.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/planner/wavefront/wavefront.cc,v
retrieving revision 1.60
retrieving revision 1.60.2.1
diff -C2 -d -r1.60 -r1.60.2.1
*** wavefront.cc 23 Aug 2007 19:58:46 -0000 1.60
--- wavefront.cc 19 Oct 2007 21:58:56 -0000 1.60.2.1
***************
*** 265,270 ****
double position_x, position_y, position_a;
// current list of waypoints
! double waypoints[PLAYER_PLANNER_MAX_WAYPOINTS][2];
int waypoint_count;
// current localize pose
double localize_x, localize_y, localize_a;
--- 265,271 ----
double position_x, position_y, position_a;
// current list of waypoints
! double (*waypoints)[2];
int waypoint_count;
+ int waypoints_allocated;
// current localize pose
double localize_x, localize_y, localize_a;
***************
*** 404,407 ****
--- 405,409 ----
this->waypoint_count = 0;
+ this->waypoints_allocated = 0;
if(SetupPosition() < 0)
***************
*** 817,826 ****
}
}
- else if(this->plan->waypoint_count > PLAYER_PLANNER_MAX_WAYPOINTS)
- {
- PLAYER_WARN("Plan exceeds maximum number of waypoints!");
- this->waypoint_count = PLAYER_PLANNER_MAX_WAYPOINTS;
- }
else
this->waypoint_count = this->plan->waypoint_count;
--- 819,828 ----
}
}
else
+ if (this->plan->waypoint_count > this->waypoints_allocated)
+ {
+ this->waypoints = (double (*)[2])realloc(this->waypoints,
sizeof(this->waypoints[0])*this->plan->waypoint_count);
+ this->waypoints_allocated = this->plan->waypoint_count;
+ }
this->waypoint_count = this->plan->waypoint_count;
***************
*** 1041,1046 ****
// now, get the map data
! player_map_data_t* data_req;
! size_t reqlen;
int i,j;
int oi,oj;
--- 1043,1047 ----
// now, get the map data
! player_map_data_t data_req;
int i,j;
int oi,oj;
***************
*** 1048,1058 ****
int si,sj;
! reqlen = sizeof(player_map_data_t) - PLAYER_MAP_MAX_TILE_SIZE;
! data_req = (player_map_data_t*)calloc(1, reqlen);
! assert(data_req);
!
! // 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 < this->plan->size_x) && (oj < this->plan->size_y))
--- 1049,1054 ----
int si,sj;
! // Grab 640x640 tiles
! sy = sx = 640;
oi=oj=0;
while((oi < this->plan->size_x) && (oj < this->plan->size_y))
***************
*** 1061,1068 ****
sj = MIN(sy, this->plan->size_y - oj);
! data_req->col = oi;
! data_req->row = oj;
! data_req->width = si;
! data_req->height = sj;
Message* msg;
--- 1057,1064 ----
sj = MIN(sy, this->plan->size_y - oj);
! data_req.col = oi;
! data_req.row = oj;
! data_req.width = si;
! data_req.height = sj;
Message* msg;
***************
*** 1070,1078 ****
PLAYER_MSGTYPE_REQ,
PLAYER_MAP_REQ_GET_DATA,
! (void*)data_req,reqlen,NULL,
threaded)))
{
PLAYER_ERROR("failed to get map data");
- free(data_req);
free(this->plan->cells);
return(-1);
--- 1066,1073 ----
PLAYER_MSGTYPE_REQ,
PLAYER_MAP_REQ_GET_DATA,
! (void*)&data_req,0,NULL,
threaded)))
{
PLAYER_ERROR("failed to get map data");
free(this->plan->cells);
return(-1);
***************
*** 1103,1107 ****
}
}
- free(data_req);
return(0);
}
--- 1098,1101 ----
***************
*** 1245,1255 ****
player_planner_waypoints_req_t reply;
! if(this->waypoint_count > PLAYER_PLANNER_MAX_WAYPOINTS)
! {
! PLAYER_WARN("too many waypoints; truncating list");
! reply.waypoints_count = 0;
! }
! else
! reply.waypoints_count = this->waypoint_count;
for(int i=0;i<(int)reply.waypoints_count;i++)
{
--- 1239,1244 ----
player_planner_waypoints_req_t reply;
! reply.waypoints_count = this->waypoint_count;
! reply.waypoints =
(player_pose2d_t*)calloc(sizeof(reply.waypoints[0]),this->waypoint_count);
for(int i=0;i<(int)reply.waypoints_count;i++)
{
***************
*** 1263,1266 ****
--- 1252,1256 ----
PLAYER_PLANNER_REQ_GET_WAYPOINTS,
(void*)&reply, sizeof(reply), NULL);
+ free(reply.waypoints);
return(0);
}
Index: .cvsignore
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/planner/wavefront/.cvsignore,v
retrieving revision 1.1.16.1
retrieving revision 1.1.16.2
diff -C2 -d -r1.1.16.1 -r1.1.16.2
*** .cvsignore 10 Oct 2007 09:26:06 -0000 1.1.16.1
--- .cvsignore 19 Oct 2007 21:58:56 -0000 1.1.16.2
***************
*** 4,5 ****
--- 4,7 ----
*.la
*.a
+ .libs
+ *.lo
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