Revision: 4448
http://playerstage.svn.sourceforge.net/playerstage/?rev=4448&view=rev
Author: thjc
Date: 2008-03-26 19:23:15 -0700 (Wed, 26 Mar 2008)
Log Message:
-----------
fixed memory allocation for lasercutter
Modified Paths:
--------------
code/player/trunk/server/drivers/laser/lasercutter.cc
Modified: code/player/trunk/server/drivers/laser/lasercutter.cc
===================================================================
--- code/player/trunk/server/drivers/laser/lasercutter.cc 2008-03-27
00:59:05 UTC (rev 4447)
+++ code/player/trunk/server/drivers/laser/lasercutter.cc 2008-03-27
02:23:15 UTC (rev 4448)
@@ -138,8 +138,9 @@
// Settings.
allocated_ranges = 0;
data.ranges = NULL;
- this->max_angle = cf->ReadAngle(section, "max_angle", M_PI/2.0);
- this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI/2.0);
+ data.intensity = NULL;
+ this->max_angle = cf->ReadAngle(section, "max_angle", M_PI_2);
+ this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI_2);
return;
}
@@ -147,55 +148,60 @@
LaserCutter::~LaserCutter()
{
free(data.ranges);
+ free(data.intensity);
}
////////////////////////////////////////////////////////////////////////////////
// Process laser data.
-int LaserCutter::UpdateLaser(player_laser_data_t * data)
+int LaserCutter::UpdateLaser(player_laser_data_t * indata)
{
unsigned int i;
double current_angle;
// Construct the outgoing laser packet
- this->data.resolution = data->resolution;
+ this->data.resolution = indata->resolution;
this->data.min_angle = (min_angle);
this->data.max_angle = (max_angle);
- this->data.max_range = data->max_range;
- this->data.id = data->id;
+ this->data.max_range = indata->max_range;
+ this->data.id = indata->id;
this->data.ranges_count = 0;
this->data.intensity_count = 0;
- current_angle = data->min_angle;
- if (data->ranges_count+1 > allocated_ranges)
- data->ranges =
(float*)realloc(data->ranges,sizeof(data->ranges[0])*(data->ranges_count+1));
- for (i = 0; i < data->ranges_count; i++)
+ current_angle = indata->min_angle;
+ if (indata->ranges_count+1 > allocated_ranges)
{
- current_angle += data->resolution;
-
+ data.ranges =
(float*)realloc(data.ranges,sizeof(data.ranges[0])*(indata->ranges_count+1));
+ data.intensity =
(uint8_t*)realloc(data.intensity,sizeof(data.intensity[0])*(indata->ranges_count+1));
+ }
+ for (i = 0; i < indata->ranges_count; i++)
+ {
if ((current_angle >= min_angle) && (current_angle <= max_angle))
{
- this->data.ranges[this->data.ranges_count] = data->ranges[i];
+ this->data.ranges[this->data.ranges_count] = indata->ranges[i];
this->data.ranges_count++;
}
+ current_angle += indata->resolution;
}
- current_angle = data->min_angle;
- for (i = 0; i < data->intensity_count; i++)
+ current_angle = indata->min_angle;
+ if (indata->intensity_count+1 > allocated_ranges)
{
- current_angle += data->resolution;
-
+ data.ranges =
(float*)realloc(data.ranges,sizeof(data.ranges[0])*(indata->intensity_count+1));
+ data.intensity =
(uint8_t*)realloc(data.intensity,sizeof(data.intensity[0])*(indata->intensity_count+1));
+ }
+ for (i = 0; i < indata->intensity_count; i++)
+ {
if ((current_angle >= min_angle) && (current_angle <= max_angle))
{
- this->data.intensity[this->data.intensity_count] = data->intensity[i];
+ this->data.intensity[this->data.intensity_count] = indata->intensity[i];
this->data.intensity_count++;
}
+ current_angle += indata->resolution;
}
- this->Publish(this->device_addr,
- PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
- &this->data, sizeof(this->data), NULL);
+ this->Publish(this->device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN, &this->data);
return 1;
}
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