Update of /cvsroot/playerstage/code/player/server/drivers/mixed/irobot/roomba
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10946/server/drivers/mixed/irobot/roomba
Modified Files:
.cvsignore roomba_driver.cc
Log Message:
applied Toby's patch to replace fixed-size arrays
Index: .cvsignore
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/irobot/roomba/.cvsignore,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** .cvsignore 17 Sep 2007 02:18:57 -0000 1.2
--- .cvsignore 1 Nov 2007 22:16:20 -0000 1.3
***************
*** 3,4 ****
--- 3,6 ----
.deps
*.la
+ .libs
+ *.lo
Index: roomba_driver.cc
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/mixed/irobot/roomba/roomba_driver.cc,v
retrieving revision 1.16
retrieving revision 1.17
diff -C2 -d -r1.16 -r1.17
*** roomba_driver.cc 23 Aug 2007 19:58:45 -0000 1.16
--- roomba_driver.cc 1 Nov 2007 22:16:20 -0000 1.17
***************
*** 330,333 ****
--- 330,334 ----
bumperdata.bumpers_count = 2;
+ bumperdata.bumpers = new uint8_t[bumperdata.bumpers_count];
bumperdata.bumpers[0] = this->roomba_dev->bumper_left;
bumperdata.bumpers[1] = this->roomba_dev->bumper_right;
***************
*** 335,339 ****
this->Publish(this->bumper_addr,
PLAYER_MSGTYPE_DATA, PLAYER_BUMPER_DATA_STATE,
! (void*)&bumperdata, sizeof(bumperdata), NULL);
////////////////////////////
--- 336,341 ----
this->Publish(this->bumper_addr,
PLAYER_MSGTYPE_DATA, PLAYER_BUMPER_DATA_STATE,
! (void*)&bumperdata);
! delete [] bumperdata.bumpers;
////////////////////////////
***************
*** 343,346 ****
--- 345,349 ----
irdata.ranges_count = 11;
+ irdata.ranges = new float [irdata.ranges_count];
irdata.ranges[0] = (float)this->roomba_dev->wall;
irdata.ranges[1] = (float)this->roomba_dev->cliff_left;
***************
*** 357,361 ****
this->Publish(this->ir_addr,
PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_RANGES,
! (void*)&irdata, sizeof(irdata), NULL);
--- 360,365 ----
this->Publish(this->ir_addr,
PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_RANGES,
! (void*)&irdata);
! delete [] irdata.ranges;
***************
*** 380,383 ****
--- 384,388 ----
cpdata.data_count=5;
+ cpdata.data = new uint8_t [cpdata.data_count];
cpdata.data[0]=this->roomba_dev->button_max;
***************
*** 389,393 ****
this->Publish(this->opaque_addr,
PLAYER_MSGTYPE_DATA,PLAYER_OPAQUE_DATA_STATE,
! (void*)&cpdata, sizeof(cpdata), NULL);
usleep(CYCLE_TIME_US);
--- 394,399 ----
this->Publish(this->opaque_addr,
PLAYER_MSGTYPE_DATA,PLAYER_OPAQUE_DATA_STATE,
! (void*)&cpdata);
! delete [] cpdata.data;
usleep(CYCLE_TIME_US);
***************
*** 451,454 ****
--- 457,461 ----
geom.bumper_def_count = 2;
+ geom.bumper_def = new player_bumper_define_t[geom.bumper_def_count];
geom.bumper_def[0].pose.px = 0.0;
***************
*** 467,471 ****
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_BUMPER_REQ_GET_GEOM,
! (void*)&geom, sizeof(geom), NULL);
return(0);
--- 474,479 ----
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_BUMPER_REQ_GET_GEOM,
! (void*)&geom);
! delete [] geom.bumper_def;
return(0);
***************
*** 478,481 ****
--- 486,490 ----
poses.poses_count = 11;
+ poses.poses = new player_pose3d_t[poses.poses_count];
// TODO: Fill in proper values
***************
*** 490,494 ****
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_IR_REQ_POSE,
! (void*)&poses, sizeof(poses), NULL);
return(0);
}
--- 499,504 ----
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_IR_REQ_POSE,
! (void*)&poses);
! delete [] poses.poses;
return(0);
}
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