Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10946/utils/playerv
Modified Files:
playerv.h pv_dev_bumper.c pv_dev_ir.c pv_dev_laser.c
pv_dev_map.c pv_dev_ranger.c pv_dev_sonar.c
Log Message:
applied Toby's patch to replace fixed-size arrays
Index: pv_dev_map.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_map.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** pv_dev_map.c 17 Oct 2007 20:28:36 -0000 1.2
--- pv_dev_map.c 1 Nov 2007 22:16:23 -0000 1.3
***************
*** 93,100 ****
if (playerc_map_subscribe(map->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
-
// download a map
! playerc_map_get_map( map->proxy );
! map_draw( map );
}
}
--- 93,99 ----
if (playerc_map_subscribe(map->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
// download a map
! if (playerc_map_get_map( map->proxy ) >= 0)
! map_draw( map );
}
}
Index: pv_dev_bumper.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_bumper.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** pv_dev_bumper.c 17 Sep 2007 02:18:50 -0000 1.1
--- pv_dev_bumper.c 1 Nov 2007 22:16:23 -0000 1.2
***************
*** 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
--- 68,88 ----
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);
--- 95,101 ----
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);
***************
*** 112,115 ****
--- 124,128 ----
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 1.51
diff -C2 -d -r1.50 -r1.51
*** playerv.h 20 Aug 2007 19:42:49 -0000 1.50
--- playerv.h 1 Nov 2007 22:16:23 -0000 1.51
***************
*** 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: pv_dev_sonar.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_sonar.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** pv_dev_sonar.c 17 Sep 2007 02:18:50 -0000 1.1
--- pv_dev_sonar.c 1 Nov 2007 22:16:23 -0000 1.2
***************
*** 57,60 ****
--- 57,61 ----
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
--- 70,91 ----
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 (fig_count <= sonar->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]);
--- 98,102 ----
playerc_sonar_destroy(sonar->proxy);
! for (i = 0; i < sonar->fig_count; i++)
rtk_fig_destroy(sonar->scan_fig[i]);
***************
*** 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);
}
--- 161,171 ----
{
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: pv_dev_laser.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_laser.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** pv_dev_laser.c 17 Sep 2007 02:18:50 -0000 1.1
--- pv_dev_laser.c 1 Nov 2007 22:16:23 -0000 1.2
***************
*** 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)[2];
rtk_fig_show(laser->scan_fig, 1);
rtk_fig_clear(laser->scan_fig);
***************
*** 253,270 ****
// 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)
--- 253,268 ----
// 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][0] = r * cos(b - res);
! points[i][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,
points, 1);
! free(points);
! points = NULL;
// Draw in the range scan (occupied space)
Index: pv_dev_ir.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_ir.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** pv_dev_ir.c 17 Sep 2007 02:18:50 -0000 1.1
--- pv_dev_ir.c 1 Nov 2007 22:16:23 -0000 1.2
***************
*** 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 ****
--- 74,91 ----
+ 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);
--- 97,103 ----
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);
***************
*** 112,115 ****
--- 126,130 ----
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++)
{
Index: pv_dev_ranger.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_ranger.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** pv_dev_ranger.c 18 Oct 2007 22:52:53 -0000 1.2
--- pv_dev_ranger.c 1 Nov 2007 22:16:23 -0000 1.3
***************
*** 193,197 ****
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;
--- 193,198 ----
int ii = 0, jj = 0;
int point_count;
! double point1[2], point2[2];
! double (*points)[2];
double current_angle = 0.0f, temp = 0.0f;
unsigned int ranges_per_sensor = 0;
***************
*** 212,215 ****
--- 213,217 ----
{
// 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++)
***************
*** 233,236 ****
--- 235,240 ----
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
***************
*** 240,243 ****
--- 244,248 ----
{
// Draw each sensor in turn
+ points = calloc(ranger->proxy->sensor_count, sizeof(double)*2);
for (ii = 0; ii < ranger->proxy->sensor_count; ii++)
{
***************
*** 272,275 ****
--- 277,282 ----
}
}
+ free(points);
+ points = NULL;
}
else
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