Revision: 6719
http://playerstage.svn.sourceforge.net/playerstage/?rev=6719&view=rev
Author: gbiggs
Date: 2008-06-30 18:01:53 -0700 (Mon, 30 Jun 2008)
Log Message:
-----------
Added PLAYER_RANGER_REQ_POWER to hokuyo_aist driver.
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2008-07-01
00:46:03 UTC (rev 6718)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2008-07-01
01:01:53 UTC (rev 6719)
@@ -46,6 +46,7 @@
- PLAYER_RANGER_REQ_GET_GEOM
- PLAYER_RANGER_REQ_GET_CONFIG
- PLAYER_RANGER_REQ_SET_CONFIG
+ - PLAYER_RANGER_REQ_POWER
- Note: Only the min_angle, max_angle and frequency values can be configured
using this request.
In addition, the frequency value must be equivalent to a suitable RPM value
(see the hokuyo_aist
library documentation for suitable values).
@@ -137,9 +138,9 @@
IntProperty _baudRate;
std::string _portOpts;
// Geometry
- player_ranger_geom_t geom;
- player_pose3d_t sensorPose;
- player_bbox3d_t sensorSize;
+ player_ranger_geom_t _geom;
+ player_pose3d_t _sensorPose;
+ player_bbox3d_t _sensorSize;
// The hardware device itself
hokuyo_aist::HokuyoLaser _device;
// Data storage
@@ -167,21 +168,21 @@
_powerOnStartup = cf->ReadBool (section, "power", true);
// Set up geometry information
- geom.pose.px = cf->ReadTupleLength (section, "pose", 0, 0.0);
- geom.pose.py = cf->ReadTupleLength (section, "pose", 1, 0.0);
- geom.pose.pz = cf->ReadTupleLength (section, "pose", 2, 0.0);
- geom.pose.proll = cf->ReadTupleAngle (section, "pose", 3, 0.0);
- geom.pose.ppitch = cf->ReadTupleAngle (section, "pose", 4, 0.0);
- geom.pose.pyaw = cf->ReadTupleAngle (section, "pose", 5, 0.0);
- geom.size.sw = cf->ReadTupleLength (section, "size", 0, 0.0);
- geom.size.sl = cf->ReadTupleLength (section, "size", 1, 0.0);
- geom.size.sh = cf->ReadTupleLength (section, "size", 2, 0.0);
- geom.sensor_poses_count = 1;
- geom.sensor_poses = &sensorPose;
- memcpy(geom.sensor_poses, &geom.pose, sizeof (geom.pose));
- geom.sensor_sizes_count = 1;
- geom.sensor_sizes = &sensorSize;
- memcpy(geom.sensor_sizes, &geom.size, sizeof (geom.size));
+ _geom.pose.px = cf->ReadTupleLength (section, "pose", 0, 0.0);
+ _geom.pose.py = cf->ReadTupleLength (section, "pose", 1, 0.0);
+ _geom.pose.pz = cf->ReadTupleLength (section, "pose", 2, 0.0);
+ _geom.pose.proll = cf->ReadTupleAngle (section, "pose", 3, 0.0);
+ _geom.pose.ppitch = cf->ReadTupleAngle (section, "pose", 4, 0.0);
+ _geom.pose.pyaw = cf->ReadTupleAngle (section, "pose", 5, 0.0);
+ _geom.size.sw = cf->ReadTupleLength (section, "size", 0, 0.0);
+ _geom.size.sl = cf->ReadTupleLength (section, "size", 1, 0.0);
+ _geom.size.sh = cf->ReadTupleLength (section, "size", 2, 0.0);
+ _geom.sensor_poses_count = 1;
+ _geom.sensor_poses = &_sensorPose;
+ memcpy(_geom.sensor_poses, &_geom.pose, sizeof (_geom.pose));
+ _geom.sensor_sizes_count = 1;
+ _geom.sensor_sizes = &_sensorSize;
+ memcpy(_geom.sensor_sizes, &_geom.size, sizeof (_geom.size));
// Turn on/off verbose mode
_device.SetVerbose (_verbose);
@@ -276,11 +277,34 @@
}
// Standard ranger messages
+ else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_RANGER_REQ_POWER, device_addr))
+ {
+ player_ranger_power_config_t *config =
+ reinterpret_cast<player_ranger_power_config_t*> (data);
+ try
+ {
+ if (config->state)
+ _device.SetPower (true);
+ else
+ _device.SetPower (false);
+ }
+ catch (hokuyo_aist::HokuyoError &e)
+ {
+ PLAYER_ERROR2 ("hokuyo_aist: Error while setting power
state: (%d) %s",
+ e.Code (), e.what ());
+ SetError (e.Code ());
+ Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_POWER,
+ NULL, 0, NULL);
+ }
+ Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_POWER, NULL,
+ 0, NULL);
+ return 0;
+ }
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_RANGER_REQ_GET_GEOM,
device_addr))
{
Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_GET_GEOM,
- &geom, sizeof (geom), NULL);
+ &_geom, sizeof (_geom), NULL);
return 0;
}
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_RANGER_REQ_GET_CONFIG,
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