Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv28058/utils/playerv
Modified Files:
Makefile.am playerv.c playerv.h pv_dev_ptz.c registry.c
Added Files:
pv_dev_actarray.c
Log Message:
added actarray support to playerv
Index: registry.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/registry.c,v
retrieving revision 1.30
retrieving revision 1.31
diff -C2 -d -r1.30 -r1.31
*** registry.c 21 Nov 2007 09:34:19 -0000 1.30
--- registry.c 9 Jan 2008 11:45:37 -0000 1.31
***************
*** 32,35 ****
--- 32,44 ----
switch (device->addr.interf)
{
+ case PLAYER_ACTARRAY_CODE:
+ device->proxy = actarray_create(mainwnd, opt, client,
+ device->addr.index,
+ device->drivername,
+ device->subscribe);
+ device->fndestroy = (fndestroy_t) actarray_destroy;
+ device->fnupdate = (fnupdate_t) actarray_update;
+ break;
+
case PLAYER_AIO_CODE:
device->proxy = aio_create(mainwnd, opt, client,
Index: playerv.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.h,v
retrieving revision 1.52
retrieving revision 1.53
diff -C2 -d -r1.52 -r1.53
*** playerv.h 21 Nov 2007 09:34:19 -0000 1.52
--- playerv.h 9 Jan 2008 11:45:37 -0000 1.53
***************
*** 48,51 ****
--- 48,53 ----
#define COLOR_GRID_MINOR 0xE0E0E0
#define COLOR_AIO 0x000000
+ #define COLOR_ACTARRAY_DATA 0x00C000
+ #define COLOR_ACTARRAY_CMD 0x0000C0
#define COLOR_DIO 0x000000
#define COLOR_LASER 0x0000C0
***************
*** 172,175 ****
--- 174,218 ----
/***************************************************************************
+ * ActArray device
+ ***************************************************************************/
+
+ // ActArray device info
+ typedef struct
+ {
+ // Driver name
+ char *drivername;
+
+ // Menu stuff
+ rtk_menu_t *menu;
+ rtk_menuitem_t *subscribe_item;
+ rtk_menuitem_t *command_item;
+
+ // Figures for drawing the actarray
+ rtk_fig_t **actuator_fig;
+ rtk_fig_t **actuator_fig_cmd;
+ double * lastvalue;
+ int fig_count;
+ mainwnd_t *mainwnd;
+
+ // ActArray device proxy
+ playerc_actarray_t *proxy;
+
+ // Timestamp on most recent data
+ double datatime;
+
+ } actarray_t;
+
+ // Create a actarray device
+ actarray_t *actarray_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t
*client,
+ int index, const char *drivername, int subscribe);
+
+ // Destroy a actarray device
+ void actarray_destroy(actarray_t *actarray);
+
+ // Update a actarray device
+ void actarray_update(actarray_t *actarray);
+
+
+ /***************************************************************************
* Bumper device
***************************************************************************/
--- NEW FILE: pv_dev_actarray.c ---
/*
* PlayerViewer
* Copyright (C) Andrew Howard 2002
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
*/
/***************************************************************************
* Desc: PTZ device interface
* Author: Andrew Howard
* Date: 26 May 2002
* CVS: $Id: pv_dev_actarray.c,v 1.1 2008/01/09 11:45:37 thjc Exp $
***************************************************************************/
#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include "playerv.h"
void actarray_draw(actarray_t *actarray);
void actarray_move(actarray_t *actarray);
void actarray_allocate(actarray_t *actarray, int size);
void actarray_deallocate(actarray_t *actarray);
#define ARRAY_SPACING 1
#define ARRAY_X_OFFSET 2
// Create a actarray device
actarray_t *actarray_create(mainwnd_t *mainwnd, opt_t *opt, playerc_client_t
*client,
int index, const char *drivername, int subscribe)
{
char section[64];
char label[64];
actarray_t *actarray;
actarray = malloc(sizeof(actarray_t));
actarray->datatime = 0;
actarray->drivername = strdup(drivername);
actarray->proxy = playerc_actarray_create(client, index);
// Set initial device state
snprintf(section, sizeof(section), "actarray:%d", index);
if (subscribe)
{
if (playerc_actarray_subscribe(actarray->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
playerc_actarray_get_geom(actarray->proxy);
}
// Construct the menu
snprintf(label, sizeof(label), "actarray:%d (%s)", index,
actarray->drivername);
actarray->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
actarray->subscribe_item = rtk_menuitem_create(actarray->menu, "Subscribe",
1);
actarray->command_item = rtk_menuitem_create(actarray->menu, "Command", 1);
// Set the initial menu state
rtk_menuitem_check(actarray->subscribe_item,
actarray->proxy->info.subscribed);
// Construct figures
actarray->actuator_fig = NULL;
actarray->actuator_fig_cmd = NULL;
actarray->lastvalue = NULL;
actarray->mainwnd = mainwnd;
return actarray;
}
// Destroy a actarray device
void actarray_destroy(actarray_t *actarray)
{
// Destroy figures
actarray_allocate(actarray,0);
free(actarray->actuator_fig);
free(actarray->actuator_fig_cmd);
// Destroy menu items
rtk_menuitem_destroy(actarray->command_item);
rtk_menuitem_destroy(actarray->subscribe_item);
rtk_menu_destroy(actarray->menu);
// Unsubscribe/destroy the proxy
if (actarray->proxy->info.subscribed)
playerc_actarray_unsubscribe(actarray->proxy);
playerc_actarray_destroy(actarray->proxy);
free(actarray->drivername);
free(actarray);
}
void actarray_allocate(actarray_t *actarray, int size)
{
int ii;
if (size == actarray->fig_count)
return;
if (size < actarray->fig_count)
{
for (ii=size; ii < actarray->fig_count; ++ii)
{
rtk_fig_destroy(actarray->actuator_fig[ii]);
rtk_fig_destroy(actarray->actuator_fig_cmd[ii]);
}
}
actarray->actuator_fig = realloc(actarray->actuator_fig, size *
sizeof(rtk_fig_t*));
actarray->actuator_fig_cmd = realloc(actarray->actuator_fig_cmd, size *
sizeof(rtk_fig_t*));
actarray->lastvalue = realloc(actarray->lastvalue, size*sizeof(double));
if (size > actarray->fig_count)
{
for (ii=actarray->fig_count; ii < size; ++ii)
{
actarray->lastvalue[ii] = 1e10;
actarray->actuator_fig[ii] = rtk_fig_create(actarray->mainwnd->canvas,
actarray->mainwnd->robot_fig, 10);
actarray->actuator_fig_cmd[ii] =
rtk_fig_create(actarray->mainwnd->canvas, actarray->mainwnd->robot_fig, 11);
rtk_fig_movemask(actarray->actuator_fig_cmd[ii], RTK_MOVE_TRANS);
rtk_fig_origin(actarray->actuator_fig_cmd[ii],
ARRAY_SPACING*ii+ARRAY_X_OFFSET, 0, 0);
rtk_fig_color_rgb32(actarray->actuator_fig_cmd[ii], COLOR_ACTARRAY_CMD);
rtk_fig_ellipse(actarray->actuator_fig_cmd[ii], 0, 0, 0, 0.2, 0.2, 0);
}
}
actarray->fig_count = size;
}
// Update a actarray device
void actarray_update(actarray_t *actarray)
{
int ii;
// Update the device subscription
if (rtk_menuitem_ischecked(actarray->subscribe_item))
{
if (!actarray->proxy->info.subscribed)
{
if (playerc_actarray_subscribe(actarray->proxy, PLAYER_OPEN_MODE) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
playerc_actarray_get_geom(actarray->proxy);
}
}
else
{
if (actarray->proxy->info.subscribed)
if (playerc_actarray_unsubscribe(actarray->proxy) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
}
rtk_menuitem_check(actarray->subscribe_item,
actarray->proxy->info.subscribed);
// Draw in the actarray scan if it has been changed.
if (actarray->proxy->info.subscribed)
{
if (actarray->proxy->info.datatime != actarray->datatime)
actarray_draw(actarray);
actarray->datatime = actarray->proxy->info.datatime;
}
else
{
for (ii = 0; ii < actarray->fig_count; ++ii)
{
rtk_fig_show(actarray->actuator_fig[ii], 0);
}
}
// Move the actarray
if (actarray->proxy->info.subscribed &&
rtk_menuitem_ischecked(actarray->command_item))
{
for (ii = 0; ii < actarray->fig_count; ++ii)
{
rtk_fig_show(actarray->actuator_fig_cmd[ii], 1);
}
actarray_move(actarray);
}
else
{
for (ii = 0; ii < actarray->fig_count; ++ii)
{
rtk_fig_show(actarray->actuator_fig_cmd[ii], 0);
}
}
}
// Draw the actarray scan
void actarray_draw(actarray_t *actarray)
{
double value;
double min, max;
double ax, ay, bx, by;
double fx, fd;
int ii;
actarray_allocate(actarray, actarray->proxy->actuators_count);
for(ii = 0; ii < actarray->proxy->actuators_count; ++ii)
{
value = actarray->proxy->actuators_data[ii].position;
min = -1;
max = 1;
if (actarray->proxy->actuators_geom &&
actarray->proxy->actuators_geom_count == actarray->proxy->actuators_count)
{
min = actarray->proxy->actuators_geom[ii].min;
max = actarray->proxy->actuators_geom[ii].max;
}
// now limit and scale the value to the actuator bar
if (value > max) value = max;
if (value < min) value = min;
value = 2*(value-min)/(max-min) -1;
rtk_fig_t * fig = actarray->actuator_fig[ii];
rtk_fig_show(fig, 1);
rtk_fig_clear(fig);
rtk_fig_origin(actarray->actuator_fig[ii], ARRAY_SPACING*ii
+ARRAY_X_OFFSET, 0, 0);
rtk_fig_color_rgb32(fig, COLOR_ACTARRAY_DATA);
rtk_fig_line(fig, 0, -1, 0, 1);
rtk_fig_ellipse(actarray->actuator_fig[ii], 0, value, 0, 0.2, 0.2, 1);
}
}
// Move the actarray
void actarray_move(actarray_t *actarray)
{
double ox, oy, oa, min, max;
double value;
int ii;
for(ii = 0; ii < actarray->fig_count; ++ii)
{
rtk_fig_get_origin(actarray->actuator_fig_cmd[ii], &ox, &oy, &oa);
value = oy;
min = -1;
max = 1;
if (actarray->proxy->actuators_geom &&
actarray->proxy->actuators_geom_count == actarray->proxy->actuators_count)
{
min = actarray->proxy->actuators_geom[ii].min;
max = actarray->proxy->actuators_geom[ii].max;
}
// now limit and scale the value to the actuator bar
value = ((oy+1)/2)*(max-min)+min;
if (value > max) value = max;
if (value < min) value = min;
if (actarray->lastvalue[ii] != value)
{
if (playerc_actarray_position_cmd(actarray->proxy, ii, value) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
actarray->lastvalue[ii] = value;
}
}
}
Index: pv_dev_ptz.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_ptz.c,v
retrieving revision 1.1
retrieving revision 1.2
diff -C2 -d -r1.1 -r1.2
*** pv_dev_ptz.c 17 Sep 2007 02:18:50 -0000 1.1
--- pv_dev_ptz.c 9 Jan 2008 11:45:37 -0000 1.2
***************
*** 99,102 ****
--- 99,103 ----
// Destroy menu items
+ rtk_menuitem_destroy(ptz->command_item);
rtk_menuitem_destroy(ptz->subscribe_item);
rtk_menu_destroy(ptz->menu);
Index: playerv.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.c,v
retrieving revision 1.54
retrieving revision 1.55
diff -C2 -d -r1.54 -r1.55
*** playerv.c 7 Dec 2007 01:50:15 -0000 1.54
--- playerv.c 9 Jan 2008 11:45:37 -0000 1.55
***************
*** 77,80 ****
--- 77,81 ----
playerv can visualize data from the following kinds of devices:
+ - @ref interface_actarray
- @ref interface_blobfinder
- @ref interface_bumper
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/Makefile.am,v
retrieving revision 1.47
retrieving revision 1.48
diff -C2 -d -r1.47 -r1.48
*** Makefile.am 21 Nov 2007 09:34:19 -0000 1.47
--- Makefile.am 9 Jan 2008 11:45:37 -0000 1.48
***************
*** 16,19 ****
--- 16,20 ----
opt.c \
opt.h \
+ pv_dev_actarray.c \
pv_dev_aio.c \
pv_dev_blobfinder.c \
-------------------------------------------------------------------------
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