Revision: 6612
http://playerstage.svn.sourceforge.net/playerstage/?rev=6612&view=rev
Author: thjc
Date: 2008-06-16 19:57:46 -0700 (Mon, 16 Jun 2008)
Log Message:
-----------
merged [6566] from 2-1 (applied patch [ 1982705 ] Player-2.1.0rc2: QNX Neutrino
6.2.0 compatibility bigpatch)
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/client.c
code/player/trunk/client_libs/libplayerc/dev_audio.c
code/player/trunk/client_libs/libplayerc/dev_blackboard.c
code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c
code/player/trunk/client_libs/libplayerc/dev_camera.c
code/player/trunk/client_libs/libplayerc/dev_laser.c
code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
code/player/trunk/client_libs/libplayerc/test/test_dio.c
code/player/trunk/client_libs/libplayerc/test/test_graphics2d.c
code/player/trunk/client_libs/libplayerc/test/test_graphics3d.c
code/player/trunk/client_libs/libplayerc/test/test_simulation.c
code/player/trunk/client_libs/libplayerc/test/test_speech.c
code/player/trunk/examples/libplayerc/vmap.c
code/player/trunk/examples/plugins/exampleinterface/eginterf_client.c
code/player/trunk/libplayercore/devicetable.cc
code/player/trunk/libplayercore/driver.h
code/player/trunk/replace/poll.c
code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
code/player/trunk/server/drivers/gps/garminnmea.cc
code/player/trunk/server/drivers/imu/MTComm.cpp
code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
code/player/trunk/server/drivers/laser/RS4Leuze_laser.cc
code/player/trunk/server/drivers/laser/RS4Leuze_laser.h
code/player/trunk/server/drivers/laser/bumper2laser.cc
code/player/trunk/server/drivers/laser/pbs_driver.cc
code/player/trunk/server/drivers/laser/sicklms200.cc
code/player/trunk/server/drivers/laser/urglaserdriver.cc
code/player/trunk/server/drivers/localization/fakelocalize.cc
code/player/trunk/server/drivers/map/mapcspace.cc
code/player/trunk/server/drivers/mixed/p2os/p2os.cc
code/player/trunk/server/drivers/mixed/rflex/rflex-io.cc
code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
code/player/trunk/server/drivers/position/nav200/nav200.h
code/player/trunk/server/drivers/position/roboteq/roboteq.cc
code/player/trunk/server/drivers/ptz/canonvcc4.cc
code/player/trunk/server/drivers/ptz/ptu46.cc
code/player/trunk/server/drivers/rfid/insideM300.cc
code/player/trunk/server/drivers/rfid/rfi341_protocol.cc
code/player/trunk/server/drivers/shell/readlog.cc
code/player/trunk/server/drivers/wifi/aodv.cc
code/player/trunk/utils/logsplitter/logsplitter.c
Modified: code/player/trunk/client_libs/libplayerc/client.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/client.c 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/client_libs/libplayerc/client.c 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -56,7 +56,6 @@
#include <netinet/tcp.h>
#endif
#include <sys/socket.h>
-#include <sys/poll.h>
#include <netdb.h> // for gethostbyname()
#include <errno.h>
#include <sys/time.h>
@@ -64,8 +63,11 @@
#include <unistd.h>
#include <fcntl.h>
-
+#ifdef HAVE_POLL
+#include <sys/poll.h>
+#else
#include <replace/replace.h> // for poll(2)
+#endif
#include "playerc.h"
#include "error.h"
@@ -319,9 +321,11 @@
"unexpected exit may result");
else
{
+#ifdef SA_RESTART
sigact.sa_handler = dummy;
sigact.sa_flags &= ~SA_RESTART;
if(sigaction(SIGALRM, &sigact, NULL) != 0)
+#endif
PLAYER_WARN("failed to set SIGALRM action data; "
"unexpected exit may result");
}
@@ -337,9 +341,11 @@
"unexpected exit may result");
/* Restore normal SIGALRM behavior */
+#ifdef SA_RESTART
sigact.sa_handler = SIG_DFL;
sigact.sa_flags |= SA_RESTART;
if(sigaction(SIGALRM, &sigact, NULL) != 0)
+#endif
PLAYER_WARN("failed to reset SIGALRM action data; "
"unexpected behavior may result");
Modified: code/player/trunk/client_libs/libplayerc/dev_audio.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_audio.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/dev_audio.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -87,8 +87,8 @@
{
if((header->type == PLAYER_MSGTYPE_DATA) && (header->subtype ==
PLAYER_AUDIO_DATA_WAV_REC))
{
+ player_audio_wav_t * wdata = (player_audio_wav_t *) data;
assert(header->size > 0);
- player_audio_wav_t * wdata = (player_audio_wav_t *) data;
device->wav_data.data_count = wdata->data_count;
if (device->wav_data.data != NULL)
free (device->wav_data.data);
@@ -102,22 +102,22 @@
}
else if((header->type == PLAYER_MSGTYPE_DATA) && (header->subtype ==
PLAYER_AUDIO_DATA_SEQ))
{
+ player_audio_seq_t * sdata = (player_audio_seq_t *) data;
assert(header->size > 0);
- player_audio_seq_t * sdata = (player_audio_seq_t *) data;
device->seq_data.tones_count = sdata->tones_count;
memcpy(device->seq_data.tones, sdata->tones, sdata->tones_count *
sizeof(device->seq_data.tones[0]));
}
else if((header->type == PLAYER_MSGTYPE_DATA) && (header->subtype ==
PLAYER_AUDIO_DATA_MIXER_CHANNEL))
{
+ player_audio_mixer_channel_list_t * wdata =
(player_audio_mixer_channel_list_t *) data;
assert(header->size > 0);
- player_audio_mixer_channel_list_t * wdata =
(player_audio_mixer_channel_list_t *) data;
device->mixer_data.channels_count = wdata->channels_count;
memcpy(device->mixer_data.channels, wdata->channels, wdata->channels_count
* sizeof(device->mixer_data.channels[0]));
}
else if((header->type == PLAYER_MSGTYPE_DATA) && (header->subtype ==
PLAYER_AUDIO_DATA_STATE))
{
+ player_audio_state_t *sdata = (player_audio_state_t *) data;
assert(header->size > 0);
- player_audio_state_t *sdata = (player_audio_state_t *) data;
device->state = sdata->state;
}
else
Modified: code/player/trunk/client_libs/libplayerc/dev_blackboard.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_blackboard.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/dev_blackboard.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -153,10 +153,12 @@
char *playerc_unpack_blackboard_entry_string(const player_blackboard_entry_t
*entry)
{
+ char * result;
+
assert(entry->type == PLAYERC_BLACKBOARD_DATA_TYPE_COMPLEX);
assert(entry->subtype == PLAYERC_BLACKBOARD_DATA_SUBTYPE_STRING);
- char *result = malloc(entry->data_count);
+ result = malloc(entry->data_count);
assert(result);
memcpy(result, entry->data, entry->data_count);
@@ -164,10 +166,11 @@
}
int playerc_unpack_blackboard_entry_int(const player_blackboard_entry_t *entry)
{
+ int result = 0;
+
assert(entry->type == PLAYERC_BLACKBOARD_DATA_TYPE_SIMPLE);
assert(entry->subtype == PLAYERC_BLACKBOARD_DATA_SUBTYPE_INT);
- int result = 0;
memcpy(&result, entry->data, entry->data_count);
return result;
@@ -175,10 +178,11 @@
double playerc_unpack_blackboard_entry_double(const player_blackboard_entry_t
*entry)
{
+ double result = 0.0;
+
assert(entry->type == PLAYERC_BLACKBOARD_DATA_TYPE_SIMPLE);
assert(entry->subtype == PLAYERC_BLACKBOARD_DATA_SUBTYPE_DOUBLE);
- double result = 0.0;
memcpy(&result, entry->data, entry->data_count);
return result;
Modified: code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -66,8 +66,6 @@
player_msghdr_t *header,
void* data, size_t len)
{
- //int i = 0;
-
if((header->type == PLAYER_MSGTYPE_DATA) &&
(header->subtype == PLAYER_BLINKENLIGHT_DATA_STATE))
{
Modified: code/player/trunk/client_libs/libplayerc/dev_camera.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_camera.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/dev_camera.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -130,36 +130,36 @@
void playerc_camera_decompress(playerc_camera_t *device)
{
if (device->compression == PLAYER_CAMERA_COMPRESS_RAW)
+ {
return;
-
+ } else
+ {
#if HAVE_JPEG
- int dst_size;
- unsigned char *dst;
+ // Create a temp buffer
+ int dst_size = device->width * device->height * device->bpp / 8;
+ unsigned char * dst = malloc(dst_size);
- // Create a temp buffer
- dst_size = device->width * device->height * device->bpp / 8;
- dst = malloc(dst_size);
+ // Decompress into temp buffer
+ jpeg_decompress(dst, dst_size, device->image, device->image_count);
- // Decompress into temp buffer
- jpeg_decompress(dst, dst_size, device->image, device->image_count);
+ // Copy uncompress image
+ device->image_count = dst_size;
+ device->image = realloc(device->image,
sizeof(device->image[0])*device->image_count);
+ if (device->image)
+ memcpy(device->image, dst, dst_size);
+ else
+ PLAYERC_ERR1("failed to allocate memory for image, needed %ld bytes\n",
sizeof(device->image[0])*device->image_count);
+ free(dst);
- // Copy uncompress image
- device->image_count = dst_size;
- device->image = realloc(device->image,
sizeof(device->image[0])*device->image_count);
- if (device->image)
- memcpy(device->image, dst, dst_size);
- else
- PLAYERC_ERR1("failed to allocate memory for image, needed %ld bytes\n",
sizeof(device->image[0])*device->image_count);
- free(dst);
+ // Pixels are now raw
+ device->compression = PLAYER_CAMERA_COMPRESS_RAW;
- // Pixels are now raw
- device->compression = PLAYER_CAMERA_COMPRESS_RAW;
-
#else
- PLAYERC_ERR("JPEG decompression support was not included at compile-time");
+ PLAYERC_ERR("JPEG decompression support was not included at compile-time");
#endif
+ }
return;
}
Modified: code/player/trunk/client_libs/libplayerc/dev_laser.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_laser.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/dev_laser.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -307,6 +307,7 @@
void playerc_laser_printout( playerc_laser_t * device,
const char* prefix )
{
+ int i;
if( prefix )
printf( "%s: ", prefix );
@@ -316,7 +317,6 @@
device->scan_count );
printf( "# ranges\n" );
- int i;
for( i=0; i<device->scan_count; i++ )
printf( "%.3f ", device->ranges[i] );
puts( "" );
Modified: code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
2008-06-17 02:57:46 UTC (rev 6612)
@@ -13,9 +13,13 @@
// Basic test for an dio device.
int test_blinkenlight(playerc_client_t *client, int index) {
- //int t;
- //void *rdevice;
playerc_blinkenlight_t *device;
+ unsigned long shortsleep = 200000L;
+ unsigned long longsleep = 500000L;
+ int u;
+ int lightnum;
+ double rate;
+ double duty;
printf("device [blinkenlight] index [%d]\n", index);
@@ -27,18 +31,18 @@
return -1;
}
PASS();
-
+
/* for (t = 0; t < 5; t++) { */
/* TEST1("reading light state (attempt %d)", t); */
-
+
/* do */
/* rdevice = playerc_client_read(client); */
/* while (rdevice == client); */
-
+
/* if (rdevice == device) */
/* { */
/* PASS(); */
-
+
/* printf("blinkenlight: enable %u color (%hhX,%hhX,%hhX) period %.3f
duty %.3f\n", */
/* device->enable, */
/* device->red, */
@@ -46,7 +50,7 @@
/* device->blue, */
/* device->period, */
/* device->duty ); */
-
+
/* } */
/* else { */
/* //printf("error: %s", playerc_error_str()); */
@@ -54,36 +58,31 @@
/* break; */
/* } */
/* } */
-
- unsigned long shortsleep = 200000L;
- unsigned long longsleep = 500000L;
-
+
TEST("Turning light on");
- if (playerc_blinkenlight_enable( device, 1 ) != 0)
+ if (playerc_blinkenlight_enable( device, 1 ) != 0)
FAIL();
PASS();
usleep( longsleep );
-
+
TEST("Turning light off");
- if (playerc_blinkenlight_enable( device, 0 ) != 0)
+ if (playerc_blinkenlight_enable( device, 0 ) != 0)
FAIL();
PASS();
usleep( longsleep );
TEST("Turning light on");
- if (playerc_blinkenlight_enable( device, 1 ) != 0)
+ if (playerc_blinkenlight_enable( device, 1 ) != 0)
FAIL();
PASS();
usleep( longsleep );
-
- int u;
TEST( "Setting colors RED");
for( u=5; u<256; u+=50 )
- {
+ {
for( index=0; index<LIGHTCOUNT; index++ )
{
- if (playerc_blinkenlight_color(device, index, u,0,0 ) != 0)
+ if (playerc_blinkenlight_color(device, index, u,0,0 ) != 0)
{
FAIL();
break;
@@ -93,14 +92,12 @@
}
PASS();
- int lightnum;
-
TEST( "Setting colors GREEN");
for( u=5; u<256; u+=50 )
- {
+ {
for( lightnum=0; lightnum<LIGHTCOUNT; lightnum++ )
{
- if (playerc_blinkenlight_color(device, lightnum, 0,u,0 ) != 0)
+ if (playerc_blinkenlight_color(device, lightnum, 0,u,0 ) != 0)
{
FAIL();
break;
@@ -109,13 +106,13 @@
}
}
PASS();
-
+
TEST( "Setting colors BLUE");
for( u=5; u<256; u+=50 )
- {
+ {
for( lightnum=0; lightnum<LIGHTCOUNT; lightnum++ )
{
- if (playerc_blinkenlight_color(device, lightnum, 0,0,u ) != 0)
+ if (playerc_blinkenlight_color(device, lightnum, 0,0,u ) != 0)
{
FAIL();
break;
@@ -124,13 +121,13 @@
}
}
PASS();
-
+
TEST( "Setting colors R+G+B");
for( u=5; u<256; u+=50 )
- {
+ {
for( lightnum=0; lightnum<LIGHTCOUNT; lightnum++ )
{
- if (playerc_blinkenlight_color(device, lightnum, u,u,u ) != 0)
+ if (playerc_blinkenlight_color(device, lightnum, u,u,u ) != 0)
{
FAIL();
break;
@@ -142,14 +139,14 @@
TEST( "Setting colors randomly");
for( u=0; u<10; u++ )
- {
+ {
for( lightnum=0; lightnum<LIGHTCOUNT; lightnum++ )
{
- if (playerc_blinkenlight_color(device,
+ if (playerc_blinkenlight_color(device,
lightnum,
random()%255,
random()%255,
- random()%255) != 0)
+ random()%255) != 0)
{
FAIL();
break;
@@ -161,14 +158,11 @@
usleep(longsleep); //some time to see the effect
TEST("Varying blink rate");
-
- double rate;
- double duty;
-
+
for( rate=3; rate<=10; rate++ )
for( duty=0.1; rate<=1.0; rate+=0.1 )
for( lightnum=0; lightnum<6; lightnum++ )
- if (playerc_blinkenlight_blink( device, lightnum, rate, duty ) !=
0)
+ if (playerc_blinkenlight_blink( device, lightnum, rate, duty ) != 0)
{
FAIL();
break;
@@ -176,17 +170,17 @@
PASS();
TEST("Turning light off");
- if (playerc_blinkenlight_enable( device, 0 ) != 0)
+ if (playerc_blinkenlight_enable( device, 0 ) != 0)
FAIL();
PASS();
-
+
TEST("unsubscribing");
if (playerc_blinkenlight_unsubscribe(device) != 0)
FAIL();
PASS();
-
+
playerc_blinkenlight_destroy(device);
-
+
return 0;
}
Modified: code/player/trunk/client_libs/libplayerc/test/test_dio.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_dio.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/test/test_dio.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -15,6 +15,9 @@
int t;
void *rdevice;
playerc_dio_t *device;
+ int i;
+ unsigned int do_value;
+ const unsigned int do_count = 8;
printf("device [dio] index [%d]\n", index);
@@ -39,7 +42,6 @@
printf("dio: [%8.3f] MSB...LSB:[ ",
device->info.datatime);
- int i=0;
//printf("%d : ",device->digin);
for (i=0 ; i != device->count ; i++) {
@@ -62,9 +64,7 @@
}
- unsigned int do_value=0;
- const unsigned int do_count=8;
-
+ do_value = 0;
for (t = 0; t < 5; t++) {
TEST1("writing data (attempt %d)", t);
@@ -81,7 +81,7 @@
}
//turn everything off:
- do_value=0;
+ do_value = 0;
playerc_dio_set_output(device, do_count, do_value );
@@ -96,4 +96,3 @@
return 0;
}
-
Modified: code/player/trunk/client_libs/libplayerc/test/test_graphics2d.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_graphics2d.c
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/test/test_graphics2d.c
2008-06-17 02:57:46 UTC (rev 6612)
@@ -19,6 +19,10 @@
/* int t;
void *rdevice;*/
playerc_graphics2d_t *device;
+ int p;
+ double r;
+ player_point_2d_t pts[RAYS];
+ player_color_t col;
printf("device [graphics2d] index [%d]\n", index);
@@ -32,15 +36,10 @@
}
PASS();
-
- player_point_2d_t pts[RAYS];
-
- double r;
for( r=0; r<1.0; r+=0.05 )
{
TEST("drawing points");
-
- int p;
+
for( p=0; p<RAYS; p++ )
{
pts[p].px = r * cos(p * M_PI/(RAYS/2));
@@ -56,7 +55,6 @@
}
TEST("changing color");
- player_color_t col;
col.red = 0;
col.green = 255;
col.blue = 0;
@@ -92,8 +90,6 @@
for( r=1.0; r>0; r-=0.1 )
{
TEST("drawing polygon");
-
- player_point_2d_t pts[4];
pts[0].px = -r;
pts[0].py = -r;
pts[1].px = r;
Modified: code/player/trunk/client_libs/libplayerc/test/test_graphics3d.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_graphics3d.c
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/test/test_graphics3d.c
2008-06-17 02:57:46 UTC (rev 6612)
@@ -19,6 +19,11 @@
/* int t;
void *rdevice;*/
playerc_graphics3d_t *device;
+ player_color_t col;
+ player_point_3d_t pts[RAYS];
+ player_point_3d_t pt;
+ int p;
+ double r;
printf("device [graphics3d] index [%d]\n", index);
@@ -32,9 +37,7 @@
}
PASS();
-
TEST("changing color");
- player_color_t col;
col.red = 0;
col.green = 0;
col.blue = 255;
@@ -44,15 +47,11 @@
FAIL();
else
PASS();
-
- player_point_3d_t pts[RAYS];
-
- double r;
+
for( r=0; r<1.0; r+=0.05 )
{
TEST("drawing line loop");
-
- int p;
+
for( p=0; p<RAYS; p++ )
{
pts[p].px = 5 * r * cos(p * M_PI/(RAYS/2));
@@ -107,7 +106,6 @@
for( r=0; r<300; r++ )
{
- player_point_3d_t pt;
pt.px = fmod( rand(), 100 ) / 50.0 - 1.0;
pt.py = fmod( rand(), 100 ) / 50.0 - 1.0;
pt.pz = fmod( rand(), 100 ) / 30;
Modified: code/player/trunk/client_libs/libplayerc/test/test_simulation.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_simulation.c
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/test/test_simulation.c
2008-06-17 02:57:46 UTC (rev 6612)
@@ -17,6 +17,7 @@
double x,y,a;
//void *rdevice;
playerc_simulation_t *device;
+ int fr, col;
printf("device [simulation] index [%d]\n", index);
@@ -55,13 +56,13 @@
FAIL();
TEST("setting property \"fiducial_return\" for model robot1 to 42");
- int fr = 42;
+ fr = 42;
if (playerc_simulation_set_property(device, "robot1", "_mp_fiducial_return",
&fr, sizeof(fr) ) == 0)
PASS();
else
FAIL();
- int col = 0xFF00;
+ col = 0xFF00;
TEST("setting property \"color\" for model robot1 to 0x00FF00 (green)");
if (playerc_simulation_set_property(device, "robot1", "_mp_color", &col,
sizeof(col) ) == 0)
PASS();
Modified: code/player/trunk/client_libs/libplayerc/test/test_speech.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_speech.c 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/client_libs/libplayerc/test/test_speech.c 2008-06-17
02:57:46 UTC (rev 6612)
@@ -16,6 +16,8 @@
//int t;
//void *rdevice;
playerc_speech_t *device;
+ char text[]="Hello World!";
+ char text2[]="12345678901234567890123456789012345678901234567890";
printf("device [speech] index [%d]\n", index);
@@ -32,8 +34,6 @@
TEST1("writing data (attempt %d)",1);
- char text[]="Hello World!";
-
if (playerc_speech_say(device, text ) != 0) {
FAIL();
} else {
@@ -43,8 +43,6 @@
TEST1("writing data (attempt %d)",2);
- char text2[]="12345678901234567890123456789012345678901234567890";
-
TEST1("Printing: %s",text2);
if (playerc_speech_say(device, text2 ) != 0) {
FAIL();
Modified: code/player/trunk/examples/libplayerc/vmap.c
===================================================================
--- code/player/trunk/examples/libplayerc/vmap.c 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/examples/libplayerc/vmap.c 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -9,6 +9,7 @@
{
playerc_client_t* client = NULL;
playerc_vectormap_t* vmap = NULL;
+ GEOSGeom g;
printf("Creating client\n");
client = playerc_client_create(NULL, "localhost", 6665);
@@ -56,7 +57,7 @@
PrintLayerData(vmap);
printf("Getting feature data\n");
- GEOSGeom g = playerc_vectormap_get_feature_data(vmap, 0, 0);
+ g = playerc_vectormap_get_feature_data(vmap, 0, 0);
if (g == NULL)
{
printf("Error getting feature data\n");
@@ -75,16 +76,16 @@
void PrintMapInfo(playerc_vectormap_t* vmap)
{
+ player_extent2d_t extent = vmap->extent;
printf("MapInfo\n");
printf("srid = %d\nlayer_count = %d\n", vmap->srid, vmap->layers_count);
- player_extent2d_t extent = vmap->extent;
printf("extent = (%f %f, %f %f)\n", extent.x0, extent.y0, extent.x1,
extent.y1);
}
void PrintLayerInfo(playerc_vectormap_t* vmap)
{
+ player_extent2d_t extent = vmap->layers_info[0]->extent;
printf("LayerInfo\n");
- player_extent2d_t extent = vmap->layers_info[0]->extent;
printf("extent = (%f %f, %f %f)\n", extent.x0, extent.y0, extent.x1,
extent.y1);
printf("name = %s\n", vmap->layers_info[0]->name);
}
Modified: code/player/trunk/examples/plugins/exampleinterface/eginterf_client.c
===================================================================
--- code/player/trunk/examples/plugins/exampleinterface/eginterf_client.c
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/examples/plugins/exampleinterface/eginterf_client.c
2008-06-17 02:57:46 UTC (rev 6612)
@@ -56,8 +56,8 @@
{
if((header->type == PLAYER_MSGTYPE_DATA) && (header->subtype ==
PLAYER_EXAMPLE_DATA_EXAMPLE))
{
+ player_eginterf_data_t *stuffData = (player_eginterf_data_t *)
data;
assert(header->size > 0);
- player_eginterf_data_t *stuffData = (player_eginterf_data_t *)
data;
if (device->stuff != NULL)
free (device->stuff);
if ((device->stuff = (double*) malloc (stuffData->stuff_count))
== NULL)
Modified: code/player/trunk/libplayercore/devicetable.cc
===================================================================
--- code/player/trunk/libplayercore/devicetable.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/libplayercore/devicetable.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -43,6 +43,7 @@
* class to keep track of available devices.
*/
#include <string.h> // for strncpy(3)
+#include <stdlib.h> // for atoi(3)
#include <libplayercore/error.h>
#include <libplayercore/devicetable.h>
Modified: code/player/trunk/libplayercore/driver.h
===================================================================
--- code/player/trunk/libplayercore/driver.h 2008-06-17 02:43:27 UTC (rev
6611)
+++ code/player/trunk/libplayercore/driver.h 2008-06-17 02:57:46 UTC (rev
6612)
@@ -54,7 +54,6 @@
#include <libplayercore/player.h>
#include <libplayercore/property.h>
-#include <map>
using namespace std;
/**
Modified: code/player/trunk/replace/poll.c
===================================================================
--- code/player/trunk/replace/poll.c 2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/replace/poll.c 2008-06-17 02:57:46 UTC (rev 6612)
@@ -33,6 +33,28 @@
#include <sys/param.h>
#include <unistd.h>
+/* *-*-nto-qnx doesn't define this constant in the system headers */
+#ifndef NFDBITS
+#define NFDBITS (8 * sizeof(unsigned long))
+#endif
+
+/* Macros for counting and rounding. */
+#ifndef howmany
+#define howmany(x, y) (((x) + ((y) - 1)) / (y))
+#endif
+#ifndef powerof2
+#define powerof2(x) ((((x) - 1) & (x)) == 0)
+#endif
+#ifndef roundup
+#ifdef __GNUC__
+#define roundup(x, y) (__builtin_constant_p (y) && powerof2 (y) \
+ ? (((x) + (y) - 1) & ~((y) - 1)) \
+ : ((((x) + ((y) - 1)) / (y)) * (y)))
+#else
+#define roundup(x, y) ((((x) + ((y) - 1)) / (y)) * (y))
+#endif
+#endif
+
/* Poll the file descriptors described by the NFDS structures starting at
FDS. If TIMEOUT is nonzero and not -1, allow TIMEOUT milliseconds for
an event to occur; if TIMEOUT is -1, block until an event occurs.
Modified: code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
===================================================================
--- code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/blobfinder/cmvision/cmvision.cc
2008-06-17 02:57:46 UTC (rev 6612)
@@ -32,6 +32,8 @@
=========================================================================*/
#include "cmvision.h"
+#include <string.h>
+#include <strings.h>
//==== Utility Functions ===========================================//
// These could be coded as macros, but the inline versions seem to
Modified: code/player/trunk/server/drivers/gps/garminnmea.cc
===================================================================
--- code/player/trunk/server/drivers/gps/garminnmea.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/gps/garminnmea.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -224,7 +224,7 @@
int ParseGPRMC(const char *buf);
int ParsePGRME(const char *buf);
int ParseGPGST(const char *buf);
- char* GetNextField(char* field, size_t len, const char* ptr);
+ const char* GetNextField(char* field, size_t len, const char* ptr);
// utility functions to convert geodetic to UTM position
void UTM(double lat, double lon, double *x, double *y);
@@ -380,11 +380,13 @@
cfsetispeed(&term, B115200);
cfsetospeed(&term, B115200);
}
+#ifdef B230400
else if (gps_baud == 230400)
{
cfsetispeed(&term, B230400);
cfsetospeed(&term, B230400);
}
+#endif
else
{
cfsetispeed(&term, B4800);
@@ -615,7 +617,7 @@
//printf("reading sentence\n");
//fflush(stdout);
- while(!(ptr = strchr((const char*)nmea_buf, NMEA_START_CHAR)))
+ while(!(ptr = strchr(nmea_buf, NMEA_START_CHAR)))
{
nmea_buf_len=0;
memset(nmea_buf,0,sizeof(nmea_buf));
@@ -629,7 +631,7 @@
//printf("found start char:[%s]:[%d]\n", nmea_buf,nmea_buf_len);
//fflush(stdout);
- while(!(ptr = strchr((const char*)nmea_buf, NMEA_END_CHAR)))
+ while(!(ptr = strchr(nmea_buf, NMEA_END_CHAR)))
{
if(nmea_buf_len >= sizeof(nmea_buf) - 1)
{
@@ -674,7 +676,7 @@
// verify the checksum, if present. two hex digits are the XOR of all the
// characters between the $ and *.
- if((ptr2 = strchr((const char*)buf,NMEA_CHKSUM_CHAR)) && (strlen(ptr2) == 3))
+ if((ptr2 = strchr(buf,NMEA_CHKSUM_CHAR)) && (strlen(ptr2) == 3))
{
////printf("ptr2 %s\n", ptr2);
////fflush(stdout);
@@ -796,11 +798,11 @@
/*
* Get the next field from an NMEA sentence.
*/
-char*
+const char*
GarminNMEA::GetNextField(char* field, size_t len, const char* ptr)
{
- char* start;
- char* end;
+ const char* start;
+ const char* end;
size_t fieldlen;
if(strlen(ptr) < 2 || !(start = strchr(ptr, ',')))
Modified: code/player/trunk/server/drivers/imu/MTComm.cpp
===================================================================
--- code/player/trunk/server/drivers/imu/MTComm.cpp 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/imu/MTComm.cpp 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -112,6 +112,14 @@
#define new DEBUG_NEW
#endif
+#ifndef CRTSCTS
+#ifdef IHFLOW
+#ifdef OHFLOW
+#define CRTSCTS ((IHFLOW) | (OHFLOW))
+#endif
+#endif
+#endif
+
//////////////////////////////////////////////////////////////////////
// Construction/Destruction
//////////////////////////////////////////////////////////////////////
Modified: code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
2008-06-17 02:57:46 UTC (rev 6612)
@@ -135,11 +135,7 @@
#include <math.h>
#include <termios.h>
-#include <vector>
-
#include <time.h>
-#include <iostream>
-#include <fstream>
#include "RS4Leuze_laser.h"
@@ -185,7 +181,7 @@
//bool UseSerial;
int BaudRate;
- char * Port;
+ const char * Port;
bool invert;
int ScanPoints;
struct timeval tv;/**<termios variable time interval*/
@@ -227,7 +223,7 @@
// serial configuration
- cout << "myLaser RS4 Leuze:"<< endl;
+ PLAYER_MSG1(1, "%s", "myLaser RS4 Leuze:");
int b = cf->ReadInt(section, "baud", 57600);
switch(b)
@@ -256,10 +252,10 @@
b = 57600;
break;
}
- cout << "baud rate : " << b << endl;
+ PLAYER_MSG1(1, "baud rate: %d", b);
- Port = strdup(cf->ReadString(section, "port", "/dev/ttyS1"));
- cout << "port :" << Port << endl;
+ Port = cf->ReadString(section, "port", "/dev/ttyS1");
+ PLAYER_MSG1(1, "port: %s", Port);
// Scan points configuration
int sc = cf->ReadInt(section, "scan_points", 132);
@@ -287,7 +283,7 @@
Conf.resolution = DTOR(4*0.36);
break;
}
- cout << "scan points : " << ScanPoints << endl;
+ PLAYER_MSG1(1, "scan points: %d", ScanPoints);
//invert data from teh leuze. Check if the leuze is
upside-down.Normally dat must be inverted
//int sc = cf->ReadInt(section, "scan_points", 132);
@@ -318,7 +314,7 @@
// this->SetError(1);
// return -1;
//}
- cout << "S4LeuzeLaserDriver::Setup" << endl;
+ PLAYER_MSG1(1, "%s", "S4LeuzeLaserDriver::Setup");
// Start the device thread; spawns a new thread and executes
// ExampleDriver::Main(), which contains the main loop for the driver.
@@ -369,12 +365,12 @@
// Main function for device thread
void RS4LeuzeLaserDriver::Main()
{
- cout << "RS4LeuzeLaserDriver::Main" << endl;
+ PLAYER_MSG1(1, "%s", "RS4LeuzeLaserDriver::Main");
bool laser_ON=1;
//int i;
- cout<<"Laser Ok"<<endl;
+ PLAYER_MSG1(1, "%s", "Laser Ok");
// The main loop; interact with the device here
for(int veces = 0;;veces++) {
@@ -396,7 +392,7 @@
int top_ii = Data.ranges_count;
float tmp;
- cout << "Data: ";
+ PLAYER_MSG1(1, "%s", "Data: ");
for (unsigned int i = 0; i < Data.ranges_count; ++i)
{
tmp = myLaser->scanData.Reading[i];
@@ -411,9 +407,8 @@
//Laser upside-down
Data.ranges[i] = tmp;
}
- cout << Data.ranges[i] << " ";
+ PLAYER_MSG1(1, "%.4f ", Data.ranges[i]);
}
- cout << endl;
Publish(device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN,
Modified: code/player/trunk/server/drivers/laser/RS4Leuze_laser.cc
===================================================================
--- code/player/trunk/server/drivers/laser/RS4Leuze_laser.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/RS4Leuze_laser.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -7,7 +7,9 @@
//include
#include "RS4Leuze_laser.h"
+#include <unistd.h>
#include <string.h>
+#include <libplayercore/playercore.h>
/**
Default constructor.
*/
@@ -34,12 +36,12 @@
close(serialFD);
}
-void Claser::openSerial(bool *laser_ON, int Baud_rate, char * Port)
+void Claser::openSerial(bool *laser_ON, int Baud_rate, const char * Port)
{
serialFD = open(Port, O_RDWR|O_NOCTTY);
if (serialFD<0)
{
- cout << "Claser, Error opening serial port " << endl;
+ PLAYER_ERROR("Claser, Error opening serial port");
*laser_ON=0;
return;
}
@@ -55,7 +57,7 @@
// Set configuration immediately.
if (tcsetattr(serialFD, TCSANOW, &ttyset)<0)
{
- cout << "Claser, Error opening serial port " << endl;
+ PLAYER_ERROR("Claser, Error opening serial port");
*laser_ON=0;
return;
}
@@ -118,7 +120,7 @@
if(byte != 0x00)
{
//cout << " Claser::scanRead(STEP 1), Error reading
Laser message header" << endl;
- cout << "Error reading Laser message header" << endl;
+ PLAYER_ERROR("Error reading Laser message header");
return 1;
}
}
@@ -154,7 +156,7 @@
if (byte != 0xFE)
{
//cout << "Claser::scanRead(STEP 2), Error
reading Laser message header" << endl;
- cout << "Error reading Laser message header" <<
endl;
+ PLAYER_ERROR("Error reading Laser message
header");
return 1;
}
}
@@ -212,7 +214,7 @@
}
else
{
- cout<<"Laser disconnected!!!!!!!!!!!!!!!!"<<endl;
+ PLAYER_ERROR("Laser disconnected!!!!!!!!!!!!!!!!");
}
}
Modified: code/player/trunk/server/drivers/laser/RS4Leuze_laser.h
===================================================================
--- code/player/trunk/server/drivers/laser/RS4Leuze_laser.h 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/RS4Leuze_laser.h 2008-06-17
02:57:46 UTC (rev 6612)
@@ -15,8 +15,6 @@
#include <time.h>
#include <sys/time.h>
#include <stdlib.h>
-#include <iostream>
-#include <fstream>
using namespace std;
@@ -51,9 +49,6 @@
struct timeval tv;/**<termios variable time interval*/
timeval timeStamp; /**<Time in microseconds resolution*/
-
- ofstream laserDataFile; /**<Laser Scanner Data file*/
-
public:
//Claser(ClogMsg *lgMsg, bool *laser_ON, char dir_name[80]);
/**<Opens serial port*/
@@ -67,7 +62,7 @@
int scanRead(); /**<reads one scan and puts it in scanData
array*/
void runLaser(); /**<Return the scan reading from the laser*/
void closeSerial(); /**<Closes serial Port */
- void openSerial(bool *laser_ON,int Baud_rate, char * Port);
/**<Opens serial Port and get the default paarameters or those given in the
.cfg file*/
+ void openSerial(bool *laser_ON,int Baud_rate, const char *
Port); /**<Opens serial Port and get the default paarameters or those given in
the .cfg file*/
RS4Leuze_laser_readings_t scanData;
};
Modified: code/player/trunk/server/drivers/laser/bumper2laser.cc
===================================================================
--- code/player/trunk/server/drivers/laser/bumper2laser.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/bumper2laser.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -71,17 +71,14 @@
/** @} */
-#include <iostream>
-#include <cassert>
-#include <cstddef>
-#include <cstring>
-#include <ctime>
-#include <cmath>
+#include <assert.h>
+#include <stddef.h>
+#include <string.h>
+#include <time.h>
+#include <math.h>
#include <pthread.h>
#include <libplayercore/playercore.h>
-using namespace std;
-
extern PlayerTime * GlobalTime;
#ifndef M_PI
Modified: code/player/trunk/server/drivers/laser/pbs_driver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/pbs_driver.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/pbs_driver.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -80,8 +80,6 @@
#include <stdlib.h>
#include <termios.h>
#include <unistd.h>
-#include <iostream>
-#include <fstream>
#include <string.h>
#include <sys/types.h>
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms200.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -456,9 +456,11 @@
case 115200:
this->serial_high_speed_baudremap = B115200;
break;
+#ifdef B230400
case 230400:
this->serial_high_speed_baudremap = B230400;
break;
+#endif
default:
printf("Unknown baud rate [%d] defaulting to B38400\n",
this->serial_high_speed_baudremap);
this->serial_high_speed_baudremap = B38400;
Modified: code/player/trunk/server/drivers/laser/urglaserdriver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/urglaserdriver.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/laser/urglaserdriver.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -103,7 +103,6 @@
#include <termios.h>
#include <replace/replace.h>
-#include <vector>
using namespace std;
#include "urg_laser.h"
Modified: code/player/trunk/server/drivers/localization/fakelocalize.cc
===================================================================
--- code/player/trunk/server/drivers/localization/fakelocalize.cc
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/localization/fakelocalize.cc
2008-06-17 02:57:46 UTC (rev 6612)
@@ -90,11 +90,11 @@
/** @} */
#include <unistd.h>
-#include <cstddef>
-#include <cstdlib>
-#include <ctime>
-#include <cassert>
-#include <cstring>
+#include <stddef.h>
+#include <stdlib.h>
+#include <time.h>
+#include <assert.h>
+#include <string.h>
#include <libplayercore/playercore.h>
Modified: code/player/trunk/server/drivers/map/mapcspace.cc
===================================================================
--- code/player/trunk/server/drivers/map/mapcspace.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/map/mapcspace.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -198,7 +198,7 @@
for(di = -r; di <= r; di++)
{
// stay within the radius
- if((int)rint(sqrt(di*di + dj*dj)) > r)
+ if((int)rint(sqrt(static_cast<double>(di*di + dj*dj))) > r)
continue;
// make sure we stay on the map
Modified: code/player/trunk/server/drivers/mixed/p2os/p2os.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/p2os/p2os.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/mixed/p2os/p2os.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -309,12 +309,17 @@
#include "config.h"
#endif
+#include "p2os.h"
+#include <libplayerxdr/playerxdr.h>
+
#include <fcntl.h>
#include <signal.h>
#include <sys/stat.h>
#include <sys/types.h>
+#include <stddef.h>
#include <stdio.h>
#include <string.h>
+#include <strings.h>
#include <unistd.h>
#include <math.h>
#include <stdlib.h> /* for abs() */
@@ -324,9 +329,6 @@
#include <netinet/tcp.h>
#include <netdb.h>
-#include "p2os.h"
-#include <libplayerxdr/playerxdr.h>
-
Driver*
P2OS_Init(ConfigFile* cf, int section)
{
@@ -1614,7 +1616,6 @@
P2OS::SendReceive(P2OSPacket* pkt, bool publish_data)
{
P2OSPacket packet;
- //double msgTime;
// zero the combined data buffer. it will be filled with the latest data
// by corresponding SIP::Fill*()
Modified: code/player/trunk/server/drivers/mixed/rflex/rflex-io.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/rflex/rflex-io.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/mixed/rflex/rflex-io.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -12,7 +12,6 @@
#include <unistd.h>
#include <termios.h>
#include <fcntl.h>
-#include <sys/signal.h>
#include <sys/types.h>
#include <sys/time.h>
#include <sys/ioctl.h>
@@ -21,6 +20,14 @@
#include "rflex-info.h"
#include "rflex-io.h"
+#ifndef CRTSCTS
+#ifdef IHFLOW
+#ifdef OHFLOW
+#define CRTSCTS ((IHFLOW) | (OHFLOW))
+#endif
+#endif
+#endif
+
int
iParity( enum PARITY_TYPE par )
{
@@ -132,9 +139,11 @@
case 115200:
return(B115200);
break;
+#ifdef B230400
case 230400:
return(B230400);
break;
+#endif
#ifdef B460800 // POSIX doesn't have this one
#warning Including support for baud rate B460800 which is not available in all
implementations of termios.
Modified: code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
===================================================================
--- code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/planner/wavefront/plan_plan.c
2008-06-17 02:57:46 UTC (rev 6612)
@@ -195,6 +195,7 @@
while (1)
{
+ float * p;
cell = plan_pop(plan);
if (cell == NULL)
break;
@@ -204,7 +205,7 @@
//printf("pop %d %d %f\n", cell->ci, cell->cj, cell->plan_cost);
- float* p = plan->dist_kernel_3x3;
+ p = plan->dist_kernel_3x3;
for (dj = -1; dj <= +1; dj++)
{
ncell = plan->cells + PLAN_INDEX(plan,oi-1,oj+dj);
Modified: code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
===================================================================
--- code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
2008-06-17 02:57:46 UTC (rev 6612)
@@ -60,6 +60,8 @@
*/
/** @} */
+#include <libplayercore/playercore.h>
+
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
@@ -74,8 +76,6 @@
#include <pthread.h>
#include <math.h>
-#include <libplayercore/playercore.h>
-
// Flock of Birds Serial device interface...
// two classes, the first to do the access, the second to interface with player
// fairly light weight,
Modified: code/player/trunk/server/drivers/position/nav200/nav200.h
===================================================================
--- code/player/trunk/server/drivers/position/nav200/nav200.h 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/position/nav200/nav200.h 2008-06-17
02:57:46 UTC (rev 6612)
@@ -9,6 +9,7 @@
#ifndef _NAV200_H
#define _NAV200_H
+#include <libplayercore/playercore.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <sys/time.h>
@@ -22,7 +23,6 @@
#include <string.h>
#include <pthread.h>
#include <math.h>
-#include <libplayercore/playercore.h>
//#include <stdint.h>
Modified: code/player/trunk/server/drivers/position/roboteq/roboteq.cc
===================================================================
--- code/player/trunk/server/drivers/position/roboteq/roboteq.cc
2008-06-17 02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/position/roboteq/roboteq.cc
2008-06-17 02:57:46 UTC (rev 6612)
@@ -104,7 +104,6 @@
#include <string.h> // for strncpy(3),memcpy(3)
#include <stdlib.h> // for atexit(3),atoi(3)
#include <pthread.h> // for pthread stuff
-#include <sys/poll.h> // for poll and poll_fd
#include <math.h>
#include <libplayercore/playercore.h>
@@ -115,6 +114,14 @@
#define ROBOTEQ_CON_TIMEOUT 10 // seconds to time-out on
setting RS-232 mode
#define ROBOTEQ_DEFAULT_BAUD 9600
+#ifndef CRTSCTS
+#ifdef IHFLOW
+#ifdef OHFLOW
+#define CRTSCTS ((IHFLOW) | (OHFLOW))
+#endif
+#endif
+#endif
+
// *************************************
// some assumptions made by this driver:
@@ -287,7 +294,7 @@
}
// check response from RoboteQ
- bzero(serialin_buff, SERIAL_BUFF_SIZE);
+ memset(serialin_buff, 0, SERIAL_BUFF_SIZE);
ret = read(roboteq_fd, serialin_buff, SERIAL_BUFF_SIZE);
int beg_time = time(NULL);
bool mode_changed = true;
@@ -296,7 +303,7 @@
mode_changed = false;
break;
}
- bzero(serialin_buff, SERIAL_BUFF_SIZE);
+ memset(serialin_buff, 0, SERIAL_BUFF_SIZE);
ret = read(roboteq_fd, serialin_buff, SERIAL_BUFF_SIZE);
}
if (!mode_changed)
@@ -331,7 +338,7 @@
usleep(25000);
// check response from RoboteQ
- bzero(serialin_buff, SERIAL_BUFF_SIZE);
+ memset(serialin_buff, 0, SERIAL_BUFF_SIZE);
ret = read(roboteq_fd, serialin_buff, SERIAL_BUFF_SIZE);
int beg_time = time(NULL);
while (! strchr(serialin_buff, 'W')){
@@ -345,7 +352,7 @@
// failing or is the test bad?
return 0;
}
- bzero(serialin_buff, SERIAL_BUFF_SIZE);
+ memset(serialin_buff, 0, SERIAL_BUFF_SIZE);
ret = read(roboteq_fd, serialin_buff, SERIAL_BUFF_SIZE);
}
fputs("Unable to reset Roboteq to RC mode!", stderr);
Modified: code/player/trunk/server/drivers/ptz/canonvcc4.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/canonvcc4.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/ptz/canonvcc4.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -18,6 +18,14 @@
#include <libplayercore/playercore.h>
#include <replace/replace.h>
+#ifndef CRTSCTS
+#ifdef IHFLOW
+#ifdef OHFLOW
+#define CRTSCTS ((IHFLOW) | (OHFLOW))
+#endif
+#endif
+#endif
+
#define CAM_ERROR_NONE 0x30
#define CAM_ERROR_BUSY 0x31
#define CAM_ERROR_PARAM 0x35
Modified: code/player/trunk/server/drivers/ptz/ptu46.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/ptu46.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/ptz/ptu46.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -79,6 +79,9 @@
* set up of a player driver
*/
+// Includes needed for player
+#include <libplayercore/playercore.h>
+
// serial includes
#include <sys/types.h>
#include <sys/stat.h>
@@ -106,9 +109,6 @@
#define PTU46_VELOCITY 'v'
#define PTU46_POSITION 'i'
-// Includes needed for player
-#include <libplayercore/playercore.h>
-
#define DEFAULT_PTZ_PORT "/dev/ttyR1"
#define PTZ_SLEEP_TIME_USEC 100000
Modified: code/player/trunk/server/drivers/rfid/insideM300.cc
===================================================================
--- code/player/trunk/server/drivers/rfid/insideM300.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/rfid/insideM300.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -89,6 +89,8 @@
#include <termios.h>
#include <unistd.h>
#include <sys/ioctl.h>
+#include <stddef.h>
+#include <stdlib.h>
// Includes needed for player
#include <libplayercore/playercore.h>
Modified: code/player/trunk/server/drivers/rfid/rfi341_protocol.cc
===================================================================
--- code/player/trunk/server/drivers/rfid/rfi341_protocol.cc 2008-06-17
02:43:27 UTC (rev 6611)
+++ code/player/trunk/server/drivers/rfid/rfi341_protocol.cc 2008-06-17
02:57:46 UTC (rev 6612)
@@ -6,9 +6,13 @@
*/
#include <termios.h>
#include <iostream>
+#include <unistd.h>
#include <fcntl.h>
#include <libplayercore/playercore.h>
#include <libplayercore/playercommon.h>
+#include <stddef.h>
+#include <stdlib.h>
+#include <string.h>
#include "rfi341_protocol.h"
@@ -265,7 +269,7 @@
int
rfi341_protocol::ReadResult ()
{
- bzero (buffer, 256);
+ memset(buffer, 0, 256);
// Read ACK
int n = read (fd, buffer, 1);
if (verbose && ((n < 0) || (buffer[0] != ACK)))
Modified: code/player/trunk/server/drivers/shell/readlog.cc
===================================================================
--- code/player/trunk/server/drivers/shell/readlog.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/shell/readlog.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -130,6 +130,9 @@
#include <config.h>
+#include <libplayercore/playercore.h>
+#include <libplayerxdr/playerxdr.h>
+
#include <assert.h>
#include <ctype.h>
#include <errno.h>
@@ -137,6 +140,7 @@
#include <sys/time.h>
#include <stdlib.h>
#include <string.h>
+#include <strings.h>
#include <math.h>
#include <unistd.h>
@@ -144,9 +148,6 @@
#include <zlib.h>
#endif
-#include <libplayercore/playercore.h>
-#include <libplayerxdr/playerxdr.h>
-
#include "encode.h"
#include "readlog_time.h"
Modified: code/player/trunk/server/drivers/wifi/aodv.cc
===================================================================
--- code/player/trunk/server/drivers/wifi/aodv.cc 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/server/drivers/wifi/aodv.cc 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -71,6 +71,8 @@
#include <errno.h>
#include <stdio.h>
#include <string.h>
+#include <stddef.h>
+#include <stdlib.h>
#include <netinet/in.h>
#include <libplayercore/playercore.h>
Modified: code/player/trunk/utils/logsplitter/logsplitter.c
===================================================================
--- code/player/trunk/utils/logsplitter/logsplitter.c 2008-06-17 02:43:27 UTC
(rev 6611)
+++ code/player/trunk/utils/logsplitter/logsplitter.c 2008-06-17 02:57:46 UTC
(rev 6612)
@@ -41,6 +41,10 @@
char data[1024];
char fileName[80];
double t1;
+ FILE *output;
+ FILE *rest;
+ struct stat fbuf;
+ long lastdatalen;
// Save current position in file
long currentPos = ftell (input);
@@ -59,16 +63,14 @@
}
}
memset (data, 0, 1024);
-
+
sprintf (fileName, "%lf-split.log", t1);
-
+
// Seek to the beginning of the file
fseek (input, 0L, SEEK_SET);
-
+
// Create output file
- FILE *output;
- struct stat fbuf;
-
+
if (stat (fileName, &fbuf) != 0)
{
output = fopen (fileName, "w+");
@@ -100,9 +102,8 @@
sprintf (fileName, "%lf-split.log", t2);
if (stat (fileName, &fbuf) != 0)
{
- FILE *rest = fopen (fileName, "w+");
- printf ("I: Creating... %s\n", fileName);
- long lastdatalen;
+ rest = fopen (fileName, "w+");
+ printf ("I: Creating... %s\n", fileName);
while (1)
{
fgets (data, 1024, input);
@@ -137,6 +138,9 @@
long before, after;
char btime[26];
const char *base_filename;
+ float min_timedifference;
+ struct stat fbuf;
+ struct stat ftempbuf;
// We need 2 parameters
if (argc != 3)
@@ -148,7 +152,7 @@
}
// Get the minimum time difference between two consecutive timestamps
- float min_timedifference = atof (argv[1]);
+ min_timedifference = atof (argv[1]);
base_filename = argv[2];
printf ("I: Minimum time difference is: %f seconds.\n",
min_timedifference);
@@ -162,8 +166,7 @@
}
else
printf ("I: Opening %s ...[success]\n", base_filename);
-
- struct stat fbuf;
+
stat (base_filename, &fbuf);
// Create a temporary file
@@ -186,7 +189,6 @@
// Close the original logfile
fclose (fd);
- struct stat ftempbuf;
fstat (fileno (tempfd), &ftempbuf);
if ((fbuf.st_size - ftempbuf.st_size) != 0)
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