Revision: 7600
http://playerstage.svn.sourceforge.net/playerstage/?rev=7600&view=rev
Author: gbiggs
Date: 2009-04-17 01:25:16 +0000 (Fri, 17 Apr 2009)
Log Message:
-----------
Applied patch #2767915
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/rangertolaser.cc
Modified: code/player/trunk/server/drivers/ranger/rangertolaser.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/rangertolaser.cc 2009-04-15
07:02:22 UTC (rev 7599)
+++ code/player/trunk/server/drivers/ranger/rangertolaser.cc 2009-04-17
01:25:16 UTC (rev 7600)
@@ -20,22 +20,22 @@
*/
///////////////////////////////////////////////////////////////////////////
//
-// Desc: Driver for converting laser-interface devices to ranger-interface
+// Desc: Driver for converting ranger-interface devices to laser-interface
// devices
// Author: Geoffrey Biggs
// Date: 06/05/2007
//
-// Requires - Laser device.
+// Requires - Ranger device.
//
///////////////////////////////////////////////////////////////////////////
/** @ingroup drivers */
/** @{ */
-/** @defgroup driver_lasertoranger RangerToLaser
- * @brief Laser-to-Ranger converter
+/** @defgroup driver_rangertolaser RangerToLaser
+ * @brief Ranger-to-Laser converter
-This driver translates data provided via the @ref interface_laser interface
into
-the @ref interface_ranger interface.
+This driver translates data provided via the @ref interface_ranger interface
into
+the @ref interface_laser interface.
@par Compile-time dependencies
@@ -43,11 +43,11 @@
@par Provides
-- @ref interface_ranger : Output ranger interface
+- @ref interface_laser : Output laser interface
@par Requires
-- @ref interface_laser : Laser interface to translate
+- @ref interface_ranger : Ranger interface to translate
@par Configuration requests
@@ -65,13 +65,12 @@
@verbatim
driver
(
- name "sicklms200"
- provides ["laser:0"]
- port "/dev/ttyS0"
+ name "hokuyo_aist"
+ provides ["ranger:0"]
)
driver
(
- name "RangerToLaser"
+ name "rangertolaser"
requires ["ranger:0"] # read from ranger:0
provides ["laser:0"] # output results on laser:0
)
@@ -104,7 +103,7 @@
int SetPower (QueuePointer &respQueue, player_msghdr *hdr,
uint8_t state);
// Set intensity data state
int SetIntensity (QueuePointer &respQueue, player_msghdr *hdr,
uint8_t state);
- // Convert laser data to ranger data
+ // Convert ranger data to laser data
int ConvertData (player_msghdr *hdr, void *data);
// Convert geometry data
bool HandleGeomRequest (player_laser_geom_t *dest,
player_ranger_geom_t *data);
@@ -133,11 +132,11 @@
////////////////////////////////////////////////////////////////////////////////
// Constructor
-// Sets up the input laser interface
+// Sets up the input ranger interface
RangerToLaser::RangerToLaser (ConfigFile* cf, int section)
: FromRanger (cf, section)
{
- // Need a laser device as input
+ // Need a ranger device as input
if (cf->ReadDeviceAddr(&inputDeviceAddr, section, "requires",
PLAYER_RANGER_CODE, -1, NULL) != 0)
{
SetError (-1);
@@ -156,10 +155,10 @@
memset (&config, 0, sizeof (config));
startup = true;
- // Subscribe to the laser.
+ // Subscribe to the ranger.
if ((inputDevice = deviceTable->GetDevice (inputDeviceAddr)) == NULL)
{
- PLAYER_ERROR ("Could not find input laser device");
+ PLAYER_ERROR ("Could not find input ranger device");
return -1;
}
@@ -178,7 +177,7 @@
// Shutdown function
int RangerToLaser::Shutdown (void)
{
- // Unsubscribe from the laser device
+ // Unsubscribe from the ranger device
inputDevice->Unsubscribe (InQueue);
// Call the base shutdown function
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