Revision: 6641
http://playerstage.svn.sourceforge.net/playerstage/?rev=6641&view=rev
Author: natepak
Date: 2008-06-18 11:39:30 -0700 (Wed, 18 Jun 2008)
Log Message:
-----------
Removed multi-line comments. Fixed Fiducial player interface
Modified Paths:
--------------
code/gazebo/trunk/player/ActarrayInterface.hh
code/gazebo/trunk/player/CameraInterface.cc
code/gazebo/trunk/player/CameraInterface.hh
code/gazebo/trunk/player/FiducialInterface.cc
code/gazebo/trunk/player/FiducialInterface.hh
code/gazebo/trunk/player/GripperInterface.hh
code/gazebo/trunk/player/LaserInterface.hh
code/gazebo/trunk/player/PTZInterface.cc
code/gazebo/trunk/player/PTZInterface.hh
code/gazebo/trunk/player/Position3dInterface.hh
Modified: code/gazebo/trunk/player/ActarrayInterface.hh
===================================================================
--- code/gazebo/trunk/player/ActarrayInterface.hh 2008-06-18 18:21:31 UTC
(rev 6640)
+++ code/gazebo/trunk/player/ActarrayInterface.hh 2008-06-18 18:39:30 UTC
(rev 6641)
@@ -55,11 +55,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
Modified: code/gazebo/trunk/player/CameraInterface.cc
===================================================================
--- code/gazebo/trunk/player/CameraInterface.cc 2008-06-18 18:21:31 UTC (rev
6640)
+++ code/gazebo/trunk/player/CameraInterface.cc 2008-06-18 18:39:30 UTC (rev
6641)
@@ -164,7 +164,7 @@
// Save an image frame
void CameraInterface::SaveFrame(const char *filename)
{
- int i, j,k, width, height;
+ int i, width, height;
FILE *file;
file = fopen(filename, "w+");
Modified: code/gazebo/trunk/player/CameraInterface.hh
===================================================================
--- code/gazebo/trunk/player/CameraInterface.hh 2008-06-18 18:21:31 UTC (rev
6640)
+++ code/gazebo/trunk/player/CameraInterface.hh 2008-06-18 18:39:30 UTC (rev
6641)
@@ -57,11 +57,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
Modified: code/gazebo/trunk/player/FiducialInterface.cc
===================================================================
--- code/gazebo/trunk/player/FiducialInterface.cc 2008-06-18 18:21:31 UTC
(rev 6640)
+++ code/gazebo/trunk/player/FiducialInterface.cc 2008-06-18 18:39:30 UTC
(rev 6641)
@@ -32,6 +32,7 @@
#include <math.h>
+#include <libplayerxdr/playerxdr.h>
#include "GazeboError.hh"
#include "gazebo.h"
@@ -43,7 +44,8 @@
///////////////////////////////////////////////////////////////////////////////
// Constructor
FiducialInterface::FiducialInterface(player_devaddr_t addr,
- GazeboDriver *driver, ConfigFile *cf, int
section)
+ GazeboDriver *driver, ConfigFile *cf,
+ int section)
: GazeboInterface(addr, driver, cf, section)
{
// Get the ID of the interface
@@ -55,12 +57,17 @@
this->iface = new FiducialIface();
this->datatime = -1;
+
+ memset(&this->data, 0, sizeof(this->data));
+
}
///////////////////////////////////////////////////////////////////////////////
// Destructor
FiducialInterface::~FiducialInterface()
{
+ player_fiducial_data_t_cleanup(&this->data);
+
// Release this interface
delete this->iface;
}
@@ -152,7 +159,6 @@
// called from GazeboDriver::Update
void FiducialInterface::Update()
{
- player_fiducial_data_t data;
struct timeval ts;
this->iface->Lock(1);
@@ -168,36 +174,37 @@
ts.tv_sec = (int) (this->iface->data->head.time);
ts.tv_usec = (int) (fmod(this->iface->data->head.time, 1) * 1e6);
- memset(&data, 0, sizeof(data));
+ unsigned int oldCount = data.fiducials_count;
+
data.fiducials_count = i;
- //data.fiducials = new player_fiducial_item_t[data.fiducials_count];
+ if (oldCount != this->data.fiducials_count)
+ {
+ delete [] this->data.fiducials;
+ this->data.fiducials = new
player_fiducial_item_t[this->data.fiducials_count];
+ }
+
for (i = 0; i < this->iface->data->count; i++)
{
fid = this->iface->data->fids + i;
- data.fiducials[i].id = (int16_t) fid->id;
+ this->data.fiducials[i].id = (int16_t) fid->id;
- data.fiducials[i].pose.px = fid->pose.pos.x;
- data.fiducials[i].pose.py = fid->pose.pos.y;
- data.fiducials[i].pose.pz = fid->pose.pos.z;
- data.fiducials[i].pose.proll = fid->pose.roll;
- data.fiducials[i].pose.ppitch = fid->pose.pitch;
- data.fiducials[i].pose.pyaw = fid->pose.yaw;
-
- /*printf("fiducial %d %.2f %.2f %.2f\n",
- fid->id, data.fiducials[i].pose.px, data.fiducials[i].pose.py,
- data.fiducials[i].pose.pyaw);
- */
-
+ this->data.fiducials[i].pose.px = fid->pose.pos.x;
+ this->data.fiducials[i].pose.py = fid->pose.pos.y;
+ this->data.fiducials[i].pose.pz = fid->pose.pos.z;
+ this->data.fiducials[i].pose.proll = fid->pose.roll;
+ this->data.fiducials[i].pose.ppitch = fid->pose.pitch;
+ this->data.fiducials[i].pose.pyaw = fid->pose.yaw;
}
this->driver->Publish( this->device_addr,
PLAYER_MSGTYPE_DATA,
PLAYER_FIDUCIAL_DATA_SCAN,
- (void*)&data, sizeof(data), &this->datatime );
- delete [] data.fiducials;
+ reinterpret_cast<void*>(&data), sizeof(this->data),
+ &this->datatime );
+
}
this->iface->Unlock();
Modified: code/gazebo/trunk/player/FiducialInterface.hh
===================================================================
--- code/gazebo/trunk/player/FiducialInterface.hh 2008-06-18 18:21:31 UTC
(rev 6640)
+++ code/gazebo/trunk/player/FiducialInterface.hh 2008-06-18 18:39:30 UTC
(rev 6641)
@@ -64,11 +64,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
@@ -81,6 +81,7 @@
/// \brief Timestamp on last data update
private: double datatime;
+ private: player_fiducial_data_t data;
};
/// \}
/// \}
Modified: code/gazebo/trunk/player/GripperInterface.hh
===================================================================
--- code/gazebo/trunk/player/GripperInterface.hh 2008-06-18 18:21:31 UTC
(rev 6640)
+++ code/gazebo/trunk/player/GripperInterface.hh 2008-06-18 18:39:30 UTC
(rev 6641)
@@ -56,11 +56,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
Modified: code/gazebo/trunk/player/LaserInterface.hh
===================================================================
--- code/gazebo/trunk/player/LaserInterface.hh 2008-06-18 18:21:31 UTC (rev
6640)
+++ code/gazebo/trunk/player/LaserInterface.hh 2008-06-18 18:39:30 UTC (rev
6641)
@@ -65,11 +65,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
Modified: code/gazebo/trunk/player/PTZInterface.cc
===================================================================
--- code/gazebo/trunk/player/PTZInterface.cc 2008-06-18 18:21:31 UTC (rev
6640)
+++ code/gazebo/trunk/player/PTZInterface.cc 2008-06-18 18:39:30 UTC (rev
6641)
@@ -139,10 +139,6 @@
// Only Update when new data is present
if (this->iface->data->head.time > this->datatime)
{
- int i;
- float rangeRes;
- float angleRes;
-
this->datatime = this->iface->data->head.time;
ts.tv_sec = (int) (this->iface->data->head.time);
@@ -158,8 +154,6 @@
PLAYER_MSGTYPE_DATA,
PLAYER_PTZ_DATA_STATE,
(void*)&data, sizeof(data), &this->datatime );
-
-
}
this->iface->Unlock();
Modified: code/gazebo/trunk/player/PTZInterface.hh
===================================================================
--- code/gazebo/trunk/player/PTZInterface.hh 2008-06-18 18:21:31 UTC (rev
6640)
+++ code/gazebo/trunk/player/PTZInterface.hh 2008-06-18 18:39:30 UTC (rev
6641)
@@ -57,11 +57,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
Modified: code/gazebo/trunk/player/Position3dInterface.hh
===================================================================
--- code/gazebo/trunk/player/Position3dInterface.hh 2008-06-18 18:21:31 UTC
(rev 6640)
+++ code/gazebo/trunk/player/Position3dInterface.hh 2008-06-18 18:39:30 UTC
(rev 6641)
@@ -59,11 +59,11 @@
/// \brief Update this interface, publish new info.
public: virtual void Update();
- /// \brief Open a SHM interface when a subscription is received. \
+ /// \brief Open a SHM interface when a subscription is received.
/// This is called fromGazeboDriver::Subscribe
public: virtual void Subscribe();
- /// \brief Close a SHM interface. This is called from \
+ /// \brief Close a SHM interface. This is called from
/// GazeboDriver::Unsubscribe
public: virtual void Unsubscribe();
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