Revision: 7888
http://playerstage.svn.sourceforge.net/playerstage/?rev=7888&view=rev
Author: gbiggs
Date: 2009-06-24 13:25:20 +0000 (Wed, 24 Jun 2009)
Log Message:
-----------
Added drivers for GbxGarminAcfr and GbxSmartBatteryAcfr libs
Modified Paths:
--------------
code/player/trunk/server/drivers/CMakeLists.txt
code/player/trunk/server/drivers/gps/CMakeLists.txt
code/player/trunk/server/drivers/ranger/gbxsickacfr.cc
Added Paths:
-----------
code/player/trunk/server/drivers/gps/gbxgarminacfr.cc
code/player/trunk/server/drivers/power/
code/player/trunk/server/drivers/power/CMakeLists.txt
code/player/trunk/server/drivers/power/oceanserver.cc
Modified: code/player/trunk/server/drivers/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/CMakeLists.txt 2009-06-24 13:21:49 UTC
(rev 7887)
+++ code/player/trunk/server/drivers/CMakeLists.txt 2009-06-24 13:25:20 UTC
(rev 7888)
@@ -23,6 +23,7 @@
ADD_SUBDIRECTORY (planner)
ADD_SUBDIRECTORY (pointcloud3d)
ADD_SUBDIRECTORY (position)
+ADD_SUBDIRECTORY (power)
ADD_SUBDIRECTORY (ptz)
ADD_SUBDIRECTORY (ranger)
ADD_SUBDIRECTORY (rfid)
Modified: code/player/trunk/server/drivers/gps/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/gps/CMakeLists.txt 2009-06-24 13:21:49 UTC
(rev 7887)
+++ code/player/trunk/server/drivers/gps/CMakeLists.txt 2009-06-24 13:25:20 UTC
(rev 7888)
@@ -1,3 +1,13 @@
PLAYERDRIVER_OPTION (garminnmea build_garminnmea ON)
PLAYERDRIVER_REJECT_OS (garminnmea build_garminnmea PLAYER_OS_WIN)
PLAYERDRIVER_ADD_DRIVER (garminnmea build_garminnmea SOURCES garminnmea.cc)
+
+PLAYERDRIVER_OPTION (gbxgarminacfr build_gbxgarminacfr ON)
+PLAYERDRIVER_REQUIRE_PKG (gbxgarminacfr build_gbxgarminacfr GbxGarminAcfr
+ gbxgarminacfr_includeDirs gbxgarminacfr_libDirs gbxgarminacfr_linkLibs
+ gbxgarminacfr_linkFlags gbxgarminacfr_cFlags)
+PLAYERDRIVER_ADD_DRIVER (gbxgarminacfr build_gbxgarminacfr
+ INCLUDEDIRS "${gbxgarminacfr_includeDirs}" LIBDIRS
"${gbxgarminacfr_libDirs}"
+ LINKLIBS "${gbxgarminacfr_linkLibs}" LINKFLAGS "${gbxgarminacfr_linkFlags}"
+ CFLAGS "${gbxgarminacfr_cFlags}" SOURCES gbxgarminacfr.cc)
+
Added: code/player/trunk/server/drivers/gps/gbxgarminacfr.cc
===================================================================
--- code/player/trunk/server/drivers/gps/gbxgarminacfr.cc
(rev 0)
+++ code/player/trunk/server/drivers/gps/gbxgarminacfr.cc 2009-06-24
13:25:20 UTC (rev 7888)
@@ -0,0 +1,288 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2000-2003 Brian Gerkey [email protected]
+ * Andrew Howard [email protected]
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+///////////////////////////////////////////////////////////////////////////
+//
+// Desc: Driver wrapper around the Gearbox gbxgarminacfr library.
+// Author: Geoffrey Biggs
+// Date: 24/06/2009
+//
+// Provides - GPS device.
+//
+///////////////////////////////////////////////////////////////////////////
+
+/** @ingroup drivers */
+/** @{ */
+/** @defgroup driver_gbxgarminacfr gbxgarminacfr
+ * @brief Gearbox Garmin GPS driver
+
+This driver provides a @ref interface_gps interface to Garmin GPS devices,
+as well as any other GPS device supported by the GbxGarminAcfr library. This
+should include most GPS devices that use NMEA to communicate.
+
+...@par Compile-time dependencies
+
+- Gearbox library GbxGarminAcfr
+
+...@par Provides
+
+- @ref interface_gps: Output GPS interface
+
+...@par Supported configuration requests
+
+- None.
+
+...@par Configuration file options
+
+ - read_gga (boolean)
+ - Default: true
+ - Read and parse GGA messages.
+ - read_vtg (boolean)
+ - Default: true
+ - Read and parse VTG messages.
+ - read_rme (boolean)
+ - Default: true
+ - Read and parse RME messages.
+ - ignore_unknown (boolean)
+ - Default: false
+ - Silently ignore unknown messages.
+ - port (string)
+ - Default: /dev/ttyS0
+ - Serial port the laser is connected to.
+ - debug (int)
+ - Default: 0
+ - Debugging level of the underlying library to get verbose output.
+ - pose (float 6-tuple: (m, m, m, rad, rad, rad))
+ - Default: [0.0 0.0 0.0 0.0 0.0 0.0]
+ - Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent
object (e.g. the robot).
+ - size (float 3-tuple: (m, m, m))
+ - Default: [0.0 0.0 0.0]
+ - Size of the laser in metres.
+
+...@par Example
+
+...@verbatim
+driver
+(
+ name "gbxgarminacfr"
+ provides ["gps:0"]
+ port "/dev/ttyS0"
+)
+...@endverbatim
+
+...@author Geoffrey Biggs
+
+*/
+/** @} */
+
+#include <gbxgarminacfr/driver.h>
+#include <gbxutilacfr/trivialtracer.h>
+#include <gbxutilacfr/trivialstatus.h>
+#include <gbxutilacfr/mathdefs.h>
+
+#include <libplayercore/playercore.h>
+
+class GbxGarminAcfr : public ThreadedDriver
+{
+ public:
+ GbxGarminAcfr (ConfigFile* cf, int section);
+ ~GbxGarminAcfr (void);
+
+ virtual int MainSetup (void);
+ virtual void MainQuit (void);
+ virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr
*hdr, void *data);
+
+ private:
+ virtual void Main (void);
+ bool ReadSensor (void);
+
+ // Configuration parameters
+ gbxgarminacfr::Config _config;
+ unsigned int _debug;
+ // Geometry
+ player_ranger_geom_t _geom;
+ player_pose3d_t _sensorPose;
+ player_bbox3d_t _sensorSize;
+ // Data storage
+ player_gps_data_t _gpsData;
+ // The hardware device itself
+ std::auto_ptr<gbxgarminacfr::Driver> _device;
+ // Objects to handle messages from the driver
+ std::auto_ptr<gbxutilacfr::TrivialTracer> _tracer;
+ std::auto_ptr<gbxutilacfr::TrivialStatus> _status;
+};
+
+Driver*
+GbxGarminAcfr_Init (ConfigFile* cf, int section)
+{
+ return reinterpret_cast <Driver*> (new GbxGarminAcfr (cf, section));
+}
+
+void gbxgarminacfr_Register(DriverTable* table)
+{
+ table->AddDriver ("gbxgarminacfr", GbxGarminAcfr_Init);
+}
+
+GbxGarminAcfr::GbxGarminAcfr (ConfigFile* cf, int section)
+ : ThreadedDriver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_RANGER_CODE)
+{
+ // Setup config object
+ _config.readGga = cf->ReadFloat (section, "read_gga", true);
+ _config.readVtg = cf->ReadFloat (section, "read_vtg", true);
+ _config.readRme = cf->ReadFloat (section, "read_rme", true);
+ _config.ignoreUnknown = cf->ReadInt (section, "ignore_unknown", false);
+ _config.device = cf->ReadString (section, "port", "/dev/ttyS0");
+ _debug = cf->ReadBool (section, "debug", 0);
+ // Set up geometry information
+ _geom.pose.px = cf->ReadTupleLength (section, "pose", 0, 0.0f);
+ _geom.pose.py = cf->ReadTupleLength (section, "pose", 1, 0.0f);
+ _geom.pose.pz = cf->ReadTupleLength (section, "pose", 2, 0.0f);
+ _geom.pose.proll = cf->ReadTupleAngle (section, "pose", 3, 0.0f);
+ _geom.pose.ppitch = cf->ReadTupleAngle (section, "pose", 4, 0.0f);
+ _geom.pose.pyaw = cf->ReadTupleAngle (section, "pose", 5, 0.0f);
+ _geom.size.sw = cf->ReadTupleLength (section, "size", 0, 0.0f);
+ _geom.size.sl = cf->ReadTupleLength (section, "size", 1, 0.0f);
+ _geom.size.sh = cf->ReadTupleLength (section, "size", 2, 0.0f);
+ _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));
+
+ memset (&_gpsData, 0, sizeof (_gpsData));
+}
+
+GbxGarminAcfr::~GbxGarminAcfr (void)
+{
+}
+
+int GbxGarminAcfr::MainSetup (void)
+{
+ // Validate the configuration
+ if (!_config.isValid ())
+ {
+ PLAYER_ERROR ("GbxGarminAcfr: Invalid sensor configuration.\n");
+ return -1;
+ }
+
+ // Create status trackers
+ _tracer.reset (new gbxutilacfr::TrivialTracer (_debug));
+ _status.reset (new gbxutilacfr::TrivialStatus (*_tracer));
+
+ // Create the driver object
+ try
+ {
+ _device.reset (new gbxgarminacfr::Driver (_config, *_tracer,
*_status));
+ }
+ catch (const std::exception& e)
+ {
+ PLAYER_ERROR1 ("GbxGarminAcfr: Failed to initialise GPS device: %s\n",
e.what ());
+ return -1;
+ }
+
+ return 0;
+}
+
+void GbxGarminAcfr::MainQuit (void)
+{
+ _device.reset (NULL);
+ _status.reset (NULL);
+ _tracer.reset (NULL);
+}
+
+int GbxGarminAcfr::ProcessMessage (QueuePointer &resp_queue, player_msghdr
*hdr, void *data)
+{
+ // Check for capability requests
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILTIES_REQ);
+ return -1;
+}
+
+void GbxGarminAcfr::Main (void)
+{
+ while (true)
+ {
+ pthread_testcancel ();
+ ProcessMessages ();
+
+ if (!ReadSensor ())
+ break;
+ }
+}
+
+bool GbxGarminAcfr::ReadSensor (void)
+{
+ std::auto_ptr<gbxgarminacfr::GenericData> data;
+
+ try
+ {
+ data = _device->read ();
+
+ // find out which data type it is
+ switch (data->type ())
+ {
+ case gbxgarminacfr::GpGga:
+ {
+ gbxgarminacfr::GgaData *d =
reinterpret_cast<gbxgarminacfr::GgaData*> (data.get ());
+ _gpsData.time_sec = d->timeStampSec;
+ _gpsData.time_usec = d->timeStampUsec;
+ _gpsData.latitude = static_cast<int32_t> (d->latitude / 1e7);
+ _gpsData.longitude = static_cast<int32_t> (d->longitude / 1e7);
+ _gpsData.altitude = static_cast<int32_t> (d->altitude * 1000);
+ _gpsData.num_sats = d->satellites;
+ _gpsData.hdop = static_cast<uint32_t>
(d->horizontalDilutionOfPosition * 10);
+ if (d->fixType == gbxgarminacfr::Autonomous)
+ _gpsData.quality = 1;
+ else if (d->fixType == gbxgarminacfr::Differential)
+ _gpsData.quality = 2;
+ else
+ _gpsData.quality = 0;
+ break;
+ }
+ case gbxgarminacfr::GpVtg:
+ {
+ gbxgarminacfr::VtgData *d =
reinterpret_cast<gbxgarminacfr::VtgData*> (data.get ());
+ _gpsData.time_sec = d->timeStampSec;
+ _gpsData.time_usec = d->timeStampUsec;
+ break;
+ }
+ case gbxgarminacfr::PgRme:
+ {
+ gbxgarminacfr::RmeData *d =
reinterpret_cast<gbxgarminacfr::RmeData*> (data.get ());
+ _gpsData.time_sec = d->timeStampSec;
+ _gpsData.time_usec = d->timeStampUsec;
+ _gpsData.err_horz = d->horizontalPositionError;
+ _gpsData.err_vert = d->verticalPositionError;
+ break;
+ }
+ default:
+ PLAYER_WARN ("GbxGarminAcfr: Unknown message type received
from GPS sensor.");
+ }
+ Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_GPS_DATA_STATE,
reinterpret_cast<void*> (&_gpsData), sizeof (_gpsData), NULL);
+ }
+ catch (const std::exception &e)
+ {
+ PLAYER_ERROR1 ("GbxGarminAcfr: Failed to read data: %s\n", e.what ());
+ return false;
+ }
+
+ return true;
+}
Added: code/player/trunk/server/drivers/power/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/power/CMakeLists.txt
(rev 0)
+++ code/player/trunk/server/drivers/power/CMakeLists.txt 2009-06-24
13:25:20 UTC (rev 7888)
@@ -0,0 +1,9 @@
+PLAYERDRIVER_OPTION (oceanserver build_oceanserver ON)
+PLAYERDRIVER_REQUIRE_PKG (oceanserver build_oceanserver GbxSmartBatteryAcfr
+ gbxsmartbatteryacfr_includeDirs gbxsmartbatteryacfr_libDirs
gbxsmartbatteryacfr_linkLibs
+ gbxsmartbatteryacfr_linkFlags gbxsmartbatteryacfr_cFlags)
+PLAYERDRIVER_ADD_DRIVER (oceanserver build_oceanserver
+ INCLUDEDIRS "${gbxsmartbatteryacfr_includeDirs}" LIBDIRS
"${gbxsmartbatteryacfr_libDirs}"
+ LINKLIBS "${gbxsmartbatteryacfr_linkLibs}" LINKFLAGS
"${gbxsmartbatteryacfr_linkFlags}"
+ CFLAGS "${gbxsmartbatteryacfr_cFlags}" SOURCES oceanserver.cc)
+
Added: code/player/trunk/server/drivers/power/oceanserver.cc
===================================================================
--- code/player/trunk/server/drivers/power/oceanserver.cc
(rev 0)
+++ code/player/trunk/server/drivers/power/oceanserver.cc 2009-06-24
13:25:20 UTC (rev 7888)
@@ -0,0 +1,257 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2000-2003 Brian Gerkey [email protected]
+ * Andrew Howard [email protected]
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+///////////////////////////////////////////////////////////////////////////
+//
+// Desc: Driver wrapper around the Gearbox gbxsmartbatteryacfr library.
+// Author: Geoffrey Biggs
+// Date: 24/06/2009
+//
+// Provides - Power device.
+//
+///////////////////////////////////////////////////////////////////////////
+
+/** @ingroup drivers */
+/** @{ */
+/** @defgroup driver_gbxsmartbatteryacfr gbxsmartbatteryacfr
+ * @brief Gearbox SmartBattery driver for OceanServer devices.
+
+This driver provides a @ref interface_power interface to the OceanServer
+Smart Battery systems supported by the GbxSmartBatteryAcfr library.
+
+...@par Compile-time dependencies
+
+- Gearbox library GbxSmartBatteryAcfr
+
+...@par Provides
+
+- @ref interface_power: Output power interface
+
+...@par Supported configuration requests
+
+- None.
+
+...@par Configuration file options
+
+ - port (string)
+ - Default: /dev/ttyS0
+ - Serial port the laser is connected to.
+ - debug (int)
+ - Default: 0
+ - Debugging level of the underlying library to get verbose output.
+ - pose (float 6-tuple: (m, m, m, rad, rad, rad))
+ - Default: [0.0 0.0 0.0 0.0 0.0 0.0]
+ - Pose (x, y, z, roll, pitch, yaw) of the laser relative to its parent
object (e.g. the robot).
+ - size (float 3-tuple: (m, m, m))
+ - Default: [0.0 0.0 0.0]
+ - Size of the laser in metres.
+
+...@par Example
+
+...@verbatim
+driver
+(
+ name "gbxsmartbatteryacfr"
+ provides ["power:0"]
+ port "/dev/ttyS0"
+)
+...@endverbatim
+
+...@author Geoffrey Biggs
+
+*/
+/** @} */
+
+#include <string>
+#include <gbxutilacfr/trivialtracer.h>
+#include <gbxsmartbatteryacfr/gbxsmartbatteryacfr.h>
+
+#include <libplayercore/playercore.h>
+
+class OceanServer : public ThreadedDriver
+{
+ public:
+ OceanServer (ConfigFile* cf, int section);
+ ~OceanServer (void);
+
+ virtual int MainSetup (void);
+ virtual void MainQuit (void);
+ virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr
*hdr, void *data);
+
+ private:
+ virtual void Main (void);
+ bool ReadSensor (void);
+
+ // Configuration parameters
+ std::string _port;
+ unsigned int _debug;
+ // Geometry
+ player_ranger_geom_t _geom;
+ player_pose3d_t _sensorPose;
+ player_bbox3d_t _sensorSize;
+ // The hardware device itself
+ std::auto_ptr<gbxsmartbatteryacfr::OceanServer> _device;
+ // Objects to handle messages from the driver
+ std::auto_ptr<gbxutilacfr::TrivialTracer> _tracer;
+};
+
+Driver*
+OceanServer_Init (ConfigFile* cf, int section)
+{
+ return reinterpret_cast <Driver*> (new OceanServer (cf, section));
+}
+
+void oceanserver_Register(DriverTable* table)
+{
+ table->AddDriver ("oceanserver", OceanServer_Init);
+}
+
+OceanServer::OceanServer (ConfigFile* cf, int section)
+ : ThreadedDriver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_RANGER_CODE)
+{
+ // Setup config object
+ _port = cf->ReadString (section, "port", "/dev/ttyS0");
+ _debug = cf->ReadBool (section, "debug", 0);
+ // Set up geometry information
+ _geom.pose.px = cf->ReadTupleLength (section, "pose", 0, 0.0f);
+ _geom.pose.py = cf->ReadTupleLength (section, "pose", 1, 0.0f);
+ _geom.pose.pz = cf->ReadTupleLength (section, "pose", 2, 0.0f);
+ _geom.pose.proll = cf->ReadTupleAngle (section, "pose", 3, 0.0f);
+ _geom.pose.ppitch = cf->ReadTupleAngle (section, "pose", 4, 0.0f);
+ _geom.pose.pyaw = cf->ReadTupleAngle (section, "pose", 5, 0.0f);
+ _geom.size.sw = cf->ReadTupleLength (section, "size", 0, 0.0f);
+ _geom.size.sl = cf->ReadTupleLength (section, "size", 1, 0.0f);
+ _geom.size.sh = cf->ReadTupleLength (section, "size", 2, 0.0f);
+ _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));
+}
+
+OceanServer::~OceanServer (void)
+{
+}
+
+int OceanServer::MainSetup (void)
+{
+ // Create status tracker
+ _tracer.reset (new gbxutilacfr::TrivialTracer (_debug));
+
+ // Create the driver object
+ try
+ {
+ _device.reset (new gbxsmartbatteryacfr::OceanServer (_port, *_tracer));
+ }
+ catch (const std::exception& e)
+ {
+ PLAYER_ERROR1 ("OceanServer: Failed to initialise device: %s\n",
e.what ());
+ return -1;
+ }
+
+ return 0;
+}
+
+void OceanServer::MainQuit (void)
+{
+ _device.reset (NULL);
+ _tracer.reset (NULL);
+}
+
+int OceanServer::ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr,
void *data)
+{
+ // Check for capability requests
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILTIES_REQ);
+ return -1;
+}
+
+void OceanServer::Main (void)
+{
+ while (true)
+ {
+ pthread_testcancel ();
+ ProcessMessages ();
+
+ if (!ReadSensor ())
+ break;
+ }
+}
+
+bool OceanServer::ReadSensor (void)
+{
+ try
+ {
+ gbxsmartbatteryacfr::OceanServerSystem data = _device->getData ();
+ player_power_data_t powerData;
+ memset (&powerData, 0, sizeof (powerData));
+
+ powerData.percent = data.percentCharge;
+ powerData.valid |= PLAYER_POWER_MASK_PERCENT;
+
+ float lowVoltage = -1;
+ for (unsigned int ii = 0; ii < 8; ii++)
+ {
+ if (!data.availableBatteries[ii])
+ continue;
+ powerData.valid |= PLAYER_POWER_MASK_VOLTS;
+ if (data.battery (ii).has (gbxsmartbatteryacfr::Voltage))
+ {
+ if (lowVoltage == -1)
+ lowVoltage = data.battery (ii).voltage ();
+ else if (data.battery (ii).voltage () < lowVoltage)
+ lowVoltage = data.battery (ii).voltage ();
+ }
+ }
+ powerData.volts = lowVoltage;
+
+ // First check if any batteries are charging
+ for (unsigned int ii = 0; ii < 8; ii++)
+ {
+ if (!data.availableBatteries[ii])
+ continue;
+ powerData.valid |= PLAYER_POWER_MASK_CHARGING;
+ if (data.chargingStates[ii])
+ powerData.charging = 1;
+ }
+ // Next check if any are discharing - because we have to squeeze
+ // up to 8 batteries into one status, give discharging priority over
+ // charging.
+ for (unsigned int ii = 0; ii < 8; ii++)
+ {
+ if (!data.availableBatteries[ii])
+ continue;
+ powerData.valid |= PLAYER_POWER_MASK_CHARGING;
+ if (data.supplyingPowerStates[ii])
+ powerData.charging = -1;
+ }
+
+ Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_POWER_DATA_STATE,
reinterpret_cast<void*> (&powerData), sizeof (powerData), NULL);
+ }
+ catch (const std::exception &e)
+ {
+ PLAYER_ERROR1 ("OceanServer: Failed to read data: %s\n", e.what ());
+ return false;
+ }
+
+ return true;
+}
+
Modified: code/player/trunk/server/drivers/ranger/gbxsickacfr.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/gbxsickacfr.cc 2009-06-24
13:21:49 UTC (rev 7887)
+++ code/player/trunk/server/drivers/ranger/gbxsickacfr.cc 2009-06-24
13:25:20 UTC (rev 7888)
@@ -78,10 +78,10 @@
- size (float 3-tuple: (m, m, m))
- Default: [0.0 0.0 0.0]
- Size of the laser in metres.
-- retry (integer)
+ - retry (integer)
- Default: 0
- If the initial connection to the laser fails, retry this many times
before giving up.
-- delay (integer)
+ - delay (integer)
- Default: 0
- Delay (in seconds) before laser is initialized (set this to 32-35 if you
have a newer
generation Pioneer whose laser is switched on when the serial port is
open).
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
