Update of /cvsroot/playerstage/code/player/server/drivers/mixed/erratic
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10946/server/drivers/mixed/erratic
Modified Files:
.cvsignore erratic.cc erratic.h
Log Message:
applied Toby's patch to replace fixed-size arrays
Index: erratic.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.cc,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** erratic.cc 23 Aug 2007 19:58:45 -0000 1.16
--- erratic.cc 1 Nov 2007 22:16:20 -0000 1.17
***************
*** 174,177 ****
--- 174,178 ----
#include "erratic.h"
+ #include <libplayerxdr/playerxdr.h>
#ifdef HAVE_CONFIG_H
***************
*** 211,214 ****
--- 212,216 ----
memset(&this->power_id, 0, sizeof(player_devaddr_t));
memset(&this->aio_id, 0, sizeof(player_devaddr_t));
+ memset(&erratic_data, 0, sizeof(erratic_data));
memset(&this->last_position_cmd, 0,
sizeof(player_position2d_cmd_vel_t));
***************
*** 220,224 ****
// intialise members
motor_packet = NULL;
! mcount = 0;
// Do we create a robot position interface?
--- 222,226 ----
// intialise members
motor_packet = NULL;
! mcount = 0;
// Do we create a robot position interface?
***************
*** 299,302 ****
--- 301,311 ----
}
+ Erratic::~Erratic()
+ {
+ player_aio_data_t_cleanup (&erratic_data.aio);
+ player_ir_data_t_cleanup (&erratic_data.ir);
+
+ }
+
// Called by player when the driver is asked to connect
int Erratic::Setup() {
***************
*** 809,820 ****
case (reply_e)ain:
// This data goes in two places, analog input
and ir rangers
! erratic_data.aio.voltages_count =
packet.packet[4];
! erratic_data.ir.voltages_count =
RobotParams[this->param_idx]->NumIR;
! erratic_data.ir.ranges_count =
RobotParams[this->param_idx]->NumIR;;
unsigned int i_voltage;
for (i_voltage = 0; i_voltage <
erratic_data.aio.voltages_count ;i_voltage++)
{
- if (i_voltage >=
PLAYER_AIO_MAX_INPUTS)
- continue;
erratic_data.aio.voltages[i_voltage] = (packet.packet[5+i_voltage*2]
+
256*packet.packet[6+i_voltage*2]) * (1.0 / 1024.0) * CPU_VOLTAGE;
--- 818,842 ----
case (reply_e)ain:
// This data goes in two places, analog input
and ir rangers
! if (erratic_data.aio.voltages_count !=
packet.packet[4])
! {
! erratic_data.aio.voltages_count =
packet.packet[4];
! erratic_data.aio.voltages = new
float[erratic_data.aio.voltages_count];
! }
! if (erratic_data.ir.voltages_count-4 !=
RobotParams[this->param_idx]->NumIR)
! {
! erratic_data.ir.voltages_count =
RobotParams[this->param_idx]->NumIR;
! erratic_data.ir.voltages = new
float[erratic_data.ir.voltages_count+4];
! }
! else
! erratic_data.ir.voltages_count =
RobotParams[this->param_idx]->NumIR;
!
! if (erratic_data.ir.ranges_count !=
RobotParams[this->param_idx]->NumIR)
! {
! erratic_data.ir.ranges_count =
RobotParams[this->param_idx]->NumIR;
! erratic_data.ir.ranges = new
float[erratic_data.ir.ranges_count];
! }
unsigned int i_voltage;
for (i_voltage = 0; i_voltage <
erratic_data.aio.voltages_count ;i_voltage++)
{
erratic_data.aio.voltages[i_voltage] = (packet.packet[5+i_voltage*2]
+
256*packet.packet[6+i_voltage*2]) * (1.0 / 1024.0) * CPU_VOLTAGE;
***************
*** 828,833 ****
for (int i=0; i < 4; i++)
{
- if (i_voltage >=
PLAYER_AIO_MAX_INPUTS)
- continue;
erratic_data.aio.voltages[i_voltage+i] =
(packet.packet[5+i_voltage*2] & (0x1 << i+4)) ? 1.0 : 0.0;
--- 850,853 ----
***************
*** 1219,1222 ****
--- 1239,1243 ----
player_ir_pose_t pose;
pose.poses_count = RobotParams[param_idx]->NumIR;
+ pose.poses = new player_pose3d_t[pose.poses_count];
for (uint16_t i = 0; i < pose.poses_count ;i++)
pose.poses[i] = RobotParams[param_idx]->IRPose[i];
***************
*** 1225,1229 ****
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_IR_REQ_POSE,
! (void*)&pose, sizeof(pose), NULL);
return(0);
}
--- 1246,1251 ----
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_IR_REQ_POSE,
! (void*)&pose);
! delete [] pose.poses;
return(0);
}
Index: erratic.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/erratic.h,v
retrieving revision 1.9
retrieving revision 1.10
diff -C2 -d -r1.9 -r1.10
*** erratic.h 23 Aug 2007 19:58:45 -0000 1.9
--- erratic.h 1 Nov 2007 22:16:20 -0000 1.10
***************
*** 221,224 ****
--- 221,225 ----
Erratic(ConfigFile* cf, int section);
+ virtual ~Erratic();
virtual int Subscribe(player_devaddr_t id);
Index: .cvsignore
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/erratic/.cvsignore,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** .cvsignore 17 Sep 2007 02:18:52 -0000 1.2
--- .cvsignore 1 Nov 2007 22:16:20 -0000 1.3
***************
*** 3,4 ****
--- 3,6 ----
.deps
*.la
+ .libs
+ *.lo
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