Revision: 7916
http://playerstage.svn.sourceforge.net/playerstage/?rev=7916&view=rev
Author: asadat
Date: 2009-06-27 00:06:41 +0000 (Sat, 27 Jun 2009)
Log Message:
-----------
added some functionality to simIface for getting interfaces and their types
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/SimIface.cc
code/gazebo/trunk/libgazebo/gazebo.h
Modified: code/gazebo/trunk/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/SimIface.cc 2009-06-27 00:04:46 UTC (rev
7915)
+++ code/gazebo/trunk/libgazebo/SimIface.cc 2009-06-27 00:06:41 UTC (rev
7916)
@@ -276,8 +276,39 @@
this->Unlock();
}
+//////////////////////////////////////////////////////////////////////////////////
+/// Get then children of a model
+void SimulationIface::GetChildInterfaces(const char *modelName)
+{
-////////////////////////////////////////////////////////////////////////////////
+ this->Lock(1);
+ SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
+
+ request->type = gazebo::SimulationRequestData::GET_MODEL_INTERFACES;
+
+ memset(request->modelName, 0, 512);
+ strncpy(request->modelName, modelName, 512);
+ request->modelName[511] = '\0';
+
+ this->Unlock();
+
+}
+///////////////////////////////////////////////////////////////////////////////////
+/// \brief Get the Type of a model e.g. "laser" "model" "fiducial"
+void SimulationIface::GetInterfaceType(const char *modelName)
+{
+ this->Lock(1);
+ SimulationRequestData *request =
&(this->data->requests[this->data->requestCount++]);
+
+ request->type = gazebo::SimulationRequestData::GET_INTERFACE_TYPE;
+
+ memset(request->modelName, 0, 512);
+ strncpy(request->modelName, modelName, 512);
+ request->modelName[511] = '\0';
+
+ this->Unlock();
+}
+///////////////////////////////////////////////////////////////////////////////
// Wait for a post on the go ack semaphore
void SimulationIface::GoAckWait()
{
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2009-06-27 00:04:46 UTC (rev
7915)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2009-06-27 00:06:41 UTC (rev
7916)
@@ -413,6 +413,7 @@
*/
#define GAZEBO_SIMULATION_MAX_REQUESTS 128
+#define GAZEBO_MAX_NUMBER_OF_CHILDREN 256
class SimulationRequestData
{
@@ -426,12 +427,15 @@
SET_POSE2D,
SET_STATE,
GO,
- GET_MODEL_TYPE,
+ GET_MODEL_TYPE,
GET_NUM_MODELS,
GET_NUM_CHILDREN,
GET_CHILD_NAME,
GET_MODEL_NAME,
- GET_MODEL_EXTENT
+ GET_MODEL_EXTENT,
+ GET_MODEL_INTERFACES, // for getting interfaces as well
as the models which are ancestors of interfaces
+ GET_INTERFACE_TYPE // if the model is not an interface
'unknown' is returned
+
};
public: Type type;
@@ -446,6 +450,10 @@
public: Vec3 modelLinearAccel;
public: Vec3 modelAngularAccel;
public: unsigned int runTime;
+ public: char childInterfaces[GAZEBO_MAX_NUMBER_OF_CHILDREN][512];
+ public: int nChildInterfaces;
+ //public: char modelType[512];
+
};
/// \brief Simulation interface data
@@ -548,6 +556,13 @@
const Vec3 &linearVel, const Vec3 &angularVel,
const Vec3 &linearAccel, const Vec3 &angularAccel );
+
+ /// \brief Get the child interfaces of a model
+ public: void GetChildInterfaces(const char *modelName);
+
+ /// \brief Get the Type of an interface e.g. "laser" "model" "fiducial"
+ public: void GetInterfaceType(const char *modelName);
+
/// \brief Get the type of this model
public: bool GetModelType(const char *modelName, std::string &type);
@@ -567,6 +582,7 @@
/// \brief Get the extents of a model
public: bool GetModelExtent(const char *modelName, Vec3 &ext);
+
public: void GoAckWait();
public: void GoAckPost();
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