Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv4885/utils/playerv
Modified Files:
pv_dev_laser.c
Log Message:
applied patch [ 1852769 ] PlayerV support changing Laser Config
Index: pv_dev_laser.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/pv_dev_laser.c,v
retrieving revision 1.2
retrieving revision 1.3
diff -C2 -d -r1.2 -r1.3
*** pv_dev_laser.c 1 Nov 2007 22:16:23 -0000 1.2
--- pv_dev_laser.c 28 Jan 2008 02:08:36 -0000 1.3
***************
*** 33,37 ****
// Update the laser configuration
! //void laser_update_config(laser_t *laser);
// Draw the laser scan
--- 33,37 ----
// Update the laser configuration
! void laser_update_config(laser_t *laser);
// Draw the laser scan
***************
*** 60,72 ****
laser->subscribe_item = rtk_menuitem_create(laser->menu, "Subscribe", 1);
laser->style_item = rtk_menuitem_create(laser->menu, "Filled", 1);
#if 0
laser->res025_item = rtk_menuitem_create(laser->menu, "0.25 deg
resolution", 1);
laser->res050_item = rtk_menuitem_create(laser->menu, "0.50 deg
resolution", 1);
laser->res100_item = rtk_menuitem_create(laser->menu, "1.00 deg
resolution", 1);
!
laser->range_mm_item = rtk_menuitem_create(laser->menu, "mm Range
Resolution",1);
laser->range_cm_item = rtk_menuitem_create(laser->menu, "cm Range
Resolution",1);
laser->range_dm_item = rtk_menuitem_create(laser->menu, "dm Range
Resolution",1);
- #endif
// Set the initial menu state
--- 60,72 ----
laser->subscribe_item = rtk_menuitem_create(laser->menu, "Subscribe", 1);
laser->style_item = rtk_menuitem_create(laser->menu, "Filled", 1);
+
#if 0
laser->res025_item = rtk_menuitem_create(laser->menu, "0.25 deg
resolution", 1);
laser->res050_item = rtk_menuitem_create(laser->menu, "0.50 deg
resolution", 1);
laser->res100_item = rtk_menuitem_create(laser->menu, "1.00 deg
resolution", 1);
! #endif
laser->range_mm_item = rtk_menuitem_create(laser->menu, "mm Range
Resolution",1);
laser->range_cm_item = rtk_menuitem_create(laser->menu, "cm Range
Resolution",1);
laser->range_dm_item = rtk_menuitem_create(laser->menu, "dm Range
Resolution",1);
// Set the initial menu state
***************
*** 94,101 ****
rtk_menuitem_destroy(laser->res050_item);
rtk_menuitem_destroy(laser->res100_item);
rtk_menuitem_destroy(laser->range_mm_item);
rtk_menuitem_destroy(laser->range_cm_item);
rtk_menuitem_destroy(laser->range_dm_item);
- #endif
rtk_menuitem_destroy(laser->subscribe_item);
rtk_menuitem_destroy(laser->style_item);
--- 94,101 ----
rtk_menuitem_destroy(laser->res050_item);
rtk_menuitem_destroy(laser->res100_item);
+ #endif
rtk_menuitem_destroy(laser->range_mm_item);
rtk_menuitem_destroy(laser->range_cm_item);
rtk_menuitem_destroy(laser->range_dm_item);
rtk_menuitem_destroy(laser->subscribe_item);
rtk_menuitem_destroy(laser->style_item);
***************
*** 127,130 ****
--- 127,131 ----
laser->proxy->pose[1],
laser->proxy->pose[2]);
+
}
}
***************
*** 138,146 ****
// Making config changes here causes X to go nuts. Don't know why - BPG
- #if 0
// Update the configuration stuff
if (laser->proxy->info.subscribed)
laser_update_config(laser);
- #endif
if (laser->proxy->info.subscribed)
--- 139,145 ----
***************
*** 161,173 ****
- #if 0
// Update the laser configuration
void laser_update_config(laser_t *laser)
{
int update;
! double min, max;
! int res, intensity, range_res;
update = 0;
if (rtk_menuitem_isactivated(laser->res025_item))
{
--- 160,179 ----
// Update the laser configuration
void laser_update_config(laser_t *laser)
{
int update;
! double min, max, range_res, res, scanning_frequency;
! unsigned char intensity;
+ min = laser->proxy->scan_start;
+ max = laser->proxy->scan_start +
laser->proxy->scan_count*laser->proxy->scan_res;
+ range_res = laser->proxy->range_res;
+ res = laser->proxy->scan_res;
+ scanning_frequency = laser->proxy->scanning_frequency;
+ intensity = laser->proxy->intensity_on;
+
update = 0;
+ #if 0
if (rtk_menuitem_isactivated(laser->res025_item))
{
***************
*** 182,196 ****
res = 100; min = -M_PI/2; max = +M_PI/2; update = 1;
}
if (rtk_menuitem_isactivated(laser->range_mm_item)) {
! range_res = 1;
update = 1;
}
if (rtk_menuitem_isactivated(laser->range_cm_item)) {
! range_res = 10;
update = 1;
}
if (rtk_menuitem_isactivated(laser->range_dm_item)) {
! range_res = 100;
update = 1;
}
--- 188,203 ----
res = 100; min = -M_PI/2; max = +M_PI/2; update = 1;
}
+ #endif
if (rtk_menuitem_isactivated(laser->range_mm_item)) {
! range_res = .001;
update = 1;
}
if (rtk_menuitem_isactivated(laser->range_cm_item)) {
! range_res = .010;
update = 1;
}
if (rtk_menuitem_isactivated(laser->range_dm_item)) {
! range_res = .100;
update = 1;
}
***************
*** 198,218 ****
// Set the laser configuration.
if (update)
if (playerc_laser_set_config(laser->proxy, min, max, res, range_res,
! intensity) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
res = (int) (laser->proxy->scan_res * 180 / M_PI * 100);
rtk_menuitem_check(laser->res025_item, (res == 25));
rtk_menuitem_check(laser->res050_item, (res == 50));
rtk_menuitem_check(laser->res100_item, (res == 100));
range_res = laser->proxy->range_res;
! rtk_menuitem_check(laser->range_mm_item, (range_res == 1));
! rtk_menuitem_check(laser->range_cm_item, (range_res == 10));
! rtk_menuitem_check(laser->range_dm_item, (range_res == 100));
return;
}
- #endif
--- 205,229 ----
// Set the laser configuration.
if (update)
+ {
if (playerc_laser_set_config(laser->proxy, min, max, res, range_res,
! intensity, scanning_frequency) != 0)
PRINT_ERR1("libplayerc error: %s", playerc_error_str());
+ }
+ #if 0
res = (int) (laser->proxy->scan_res * 180 / M_PI * 100);
rtk_menuitem_check(laser->res025_item, (res == 25));
rtk_menuitem_check(laser->res050_item, (res == 50));
rtk_menuitem_check(laser->res100_item, (res == 100));
+ #endif
range_res = laser->proxy->range_res;
! rtk_menuitem_check(laser->range_mm_item, (range_res < .0011));
! rtk_menuitem_check(laser->range_cm_item, (.009 < range_res && range_res <
.011));
! rtk_menuitem_check(laser->range_dm_item, (range_res > .090));
!
return;
}
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