Revision: 8312
http://playerstage.svn.sourceforge.net/playerstage/?rev=8312&view=rev
Author: thjc
Date: 2009-10-18 15:31:25 +0000 (Sun, 18 Oct 2009)
Log Message:
-----------
applied patch 2880788: Player SVN trunk: collective ranger patch
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/dev_ranger.c
code/player/trunk/server/drivers/ranger/lasertoranger.cc
code/player/trunk/server/drivers/ranger/sonartoranger.cc
code/player/trunk/server/drivers/ranger/toranger.cc
code/player/trunk/utils/playerv/pv_dev_ranger.c
Modified: code/player/trunk/client_libs/libplayerc/dev_ranger.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_ranger.c 2009-10-18
15:26:36 UTC (rev 8311)
+++ code/player/trunk/client_libs/libplayerc/dev_ranger.c 2009-10-18
15:31:25 UTC (rev 8312)
@@ -122,20 +122,23 @@
return;
}
- if (device->element_count == 1)
+ if (device->bearings_count >= device->element_count)
{
- b = device->min_angle;
- for (ii = 0; ii < device->bearings_count; ii++)
+ if (device->element_count == 1)
{
- device->bearings[ii] = b + device->device_pose.pyaw;
- b += device->angular_res;
+ b = device->min_angle;
+ for (ii = 0; ii < device->bearings_count; ii++)
+ {
+ device->bearings[ii] = b + device->device_pose.pyaw;
+ b += device->angular_res;
+ }
}
- }
- else
- {
- for (ii = 0; ii < device->element_count; ii++)
+ else
{
- device->bearings[ii] = device->element_poses[ii].pyaw;
+ for (ii = 0; ii < device->element_count; ii++)
+ {
+ device->bearings[ii] = device->element_poses[ii].pyaw;
+ }
}
}
}
@@ -145,7 +148,7 @@
// Calculate scan points
void playerc_ranger_calculate_points(playerc_ranger_t *device)
{
- double b;
+ double b, r, s;
uint32_t ii;
device->points_count = device->ranges_count;
@@ -163,27 +166,30 @@
return;
}
- if (device->element_count == 1)
+ if (device->points_count >= device->element_count)
{
- b = device->min_angle;
- for (ii = 0; ii < device->points_count; ii++)
+ if (device->element_count == 1)
{
- double r = device->ranges[ii];
- device->points[ii].px = r * cos(b);
- device->points[ii].py = r * sin(b);
- device->points[ii].pz = 0.0;
- b += device->angular_res;
+ b = device->min_angle;
+ for (ii = 0; ii < device->points_count; ii++)
+ {
+ r = device->ranges[ii];
+ device->points[ii].px = r * cos(b);
+ device->points[ii].py = r * sin(b);
+ device->points[ii].pz = 0.0;
+ b += device->angular_res;
+ }
}
- }
- else
- {
- for (ii = 0; ii < device->element_count; ii++)
+ else
{
- double r = device->ranges[ii];
- double s = r * cos(device->element_poses[ii].ppitch);
- device->points[ii].px = s * cos(device->element_poses[ii].pyaw) +
device->element_poses[ii].px;
- device->points[ii].py = s * sin(device->element_poses[ii].pyaw) +
device->element_poses[ii].py;
- device->points[ii].pz = r * sin(device->element_poses[ii].ppitch) +
device->element_poses[ii].pz;
+ for (ii = 0; ii < device->element_count; ii++)
+ {
+ r = device->ranges[ii];
+ s = r * cos(device->element_poses[ii].ppitch);
+ device->points[ii].px = s * cos(device->element_poses[ii].pyaw) +
device->element_poses[ii].px;
+ device->points[ii].py = s * sin(device->element_poses[ii].pyaw) +
device->element_poses[ii].py;
+ device->points[ii].pz = r * sin(device->element_poses[ii].ppitch) +
device->element_poses[ii].pz;
+ }
}
}
}
@@ -204,7 +210,7 @@
}
}
// Copy the range data
- memcpy(device->ranges, data->ranges, data->ranges_count *
sizeof(data->ranges[0]));
+ if (data->ranges_count > 0) memcpy(device->ranges, data->ranges,
data->ranges_count * sizeof(data->ranges[0]));
device->ranges_count = data->ranges_count;
}
@@ -223,7 +229,7 @@
}
}
// Copy the range data
- memcpy(device->intensities, data->intensities, data->intensities_count *
sizeof(data->intensities[0]));
+ if (data->intensities_count > 0) memcpy(device->intensities,
data->intensities, data->intensities_count * sizeof(data->intensities[0]));
device->intensities_count = data->intensities_count;
}
Modified: code/player/trunk/server/drivers/ranger/lasertoranger.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/lasertoranger.cc 2009-10-18
15:26:36 UTC (rev 8311)
+++ code/player/trunk/server/drivers/ranger/lasertoranger.cc 2009-10-18
15:31:25 UTC (rev 8312)
@@ -57,8 +57,18 @@
@par Configuration file options
- - None
+- buggy_geom (integer)
+ - Default: 0
+ - If set to 1, the pz, proll and ppitch fields will be set to 0.0
+ - This option is added to provide compatibility with old buggy laser drivers
+ that do not clean unused geometry structure fields
+- force_config (float tuple)
+ - Default: not set
+ - If set, it will override configuration values obtained from buggy laser
drivers
+ - values: [min_angle max_angle angular_res max_range range_res]
+ - units: [deg deg deg m m]
+
@par Example
@verbatim
@@ -114,6 +124,13 @@
uint8_t lastReqType; // Last request
type on the ranger interface
bool startupComplete; // True once
this driver is ready to go
+ int buggy_geom;
+ int force_config;
+ float force_min_angle;
+ float force_max_angle;
+ float force_angular_res;
+ float force_max_range;
+ float force_range_res;
};
// Initialisation function
@@ -140,9 +157,28 @@
// Need a laser device as input
if (cf->ReadDeviceAddr(&inputDeviceAddr, section, "requires",
PLAYER_LASER_CODE, -1, NULL) != 0)
{
- SetError (-1);
+ this->SetError(-1);
return;
}
+ this->buggy_geom = cf->ReadInt(section, "buggy_geom", 0);
+ this->force_config = 0;
+ switch (cf->GetTupleCount(section, "force_config"))
+ {
+ case 0:
+ break;
+ case 5:
+ this->force_config = !0;
+ this->force_min_angle = cf->ReadTupleAngle(section,
"force_config", 0, 0.0);
+ this->force_max_angle = cf->ReadTupleAngle(section,
"force_config", 1, 0.0);
+ this->force_angular_res = cf->ReadTupleAngle(section,
"force_config", 2, 0.0);
+ this->force_max_range = cf->ReadTupleFloat(section,
"force_config", 3, 0.0);
+ this->force_range_res = cf->ReadTupleFloat(section,
"force_config", 4, 0.0);
+ break;
+ default:
+ PLAYER_ERROR("Invalid number of forced settings");
+ this->SetError(-1);
+ return;
+ }
}
// Setup function
@@ -240,10 +276,19 @@
if (data != NULL)
{
// Update the properties from the data
- laserConfig.min_angle = scanData->min_angle;
- laserConfig.max_angle = scanData->max_angle;
- laserConfig.resolution = scanData->resolution;
- laserConfig.max_range = scanData->max_range;
+ if (this->force_config)
+ {
+ laserConfig.min_angle = this->force_min_angle;
+ laserConfig.max_angle = this->force_max_angle;
+ laserConfig.resolution = this->force_angular_res;
+ laserConfig.max_range = this->force_max_range;
+ } else
+ {
+ laserConfig.min_angle = scanData->min_angle;
+ laserConfig.max_angle = scanData->max_angle;
+ laserConfig.resolution = scanData->resolution;
+ laserConfig.max_range = scanData->max_range;
+ }
// Copy out the range data
if (scanData->ranges_count > 0)
@@ -306,6 +351,12 @@
deviceGeom.size.sw = data->size.sw;
deviceGeom.size.sl = data->size.sl;
deviceGeom.size.sh = data->size.sh;
+ if (this->buggy_geom)
+ {
+ deviceGeom.pose.pz = 0.0;
+ deviceGeom.pose.proll = 0.0;
+ deviceGeom.pose.ppitch = 0.0;
+ }
*(deviceGeom.element_poses) = deviceGeom.pose;
*(deviceGeom.element_sizes) = deviceGeom.size;
@@ -318,11 +369,21 @@
// Save a copy of the laser config, we need it to set intensity and/or
config later
memcpy (&laserConfig, data, sizeof (player_laser_config_t));
// Copy it into the destination
- dest->min_angle = data->min_angle;
- dest->max_angle = data->max_angle;
- dest->angular_res = data->resolution;
- dest->max_range = data->max_range;
- dest->range_res = data->range_res;
+ if (this->force_config)
+ {
+ dest->min_angle = this->force_min_angle;
+ dest->max_angle = this->force_max_angle;
+ dest->angular_res = this->force_angular_res;
+ dest->max_range = this->force_max_range;
+ dest->range_res = this->force_range_res;
+ } else
+ {
+ dest->min_angle = data->min_angle;
+ dest->max_angle = data->max_angle;
+ dest->angular_res = data->resolution;
+ dest->max_range = data->max_range;
+ dest->range_res = data->range_res;
+ }
dest->frequency = data->scanning_frequency;
}
Modified: code/player/trunk/server/drivers/ranger/sonartoranger.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/sonartoranger.cc 2009-10-18
15:26:36 UTC (rev 8311)
+++ code/player/trunk/server/drivers/ranger/sonartoranger.cc 2009-10-18
15:31:25 UTC (rev 8312)
@@ -105,6 +105,8 @@
int ConvertGeom (player_sonar_geom_t *geom);
// Convert sonar data to ranger data
int ConvertData (player_sonar_data_t *data);
+ private:
+ int skip_rq;
};
// Initialisation function
@@ -128,6 +130,7 @@
SonarToRanger::SonarToRanger( ConfigFile* cf, int section)
: ToRanger (cf, section)
{
+ this->skip_rq = 0;
// Need a sonar device as input
if (cf->ReadDeviceAddr(&inputDeviceAddr, section, "requires",
PLAYER_SONAR_CODE, -1, NULL) != 0)
{
@@ -158,6 +161,7 @@
// Request the sonar geometry
inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ,
PLAYER_SONAR_REQ_GET_GEOM, NULL, 0, NULL);
+ this->skip_rq = !0;
return 0;
}
@@ -314,12 +318,14 @@
// Geometry request - need to manage the info we just got
if (ConvertGeom (reinterpret_cast<player_sonar_geom_t*> (data))
== 0)
{
- Publish (device_addr, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_GET_GEOM, reinterpret_cast<void*> (&deviceGeom), sizeof
(deviceGeom), NULL);
+ if (!(this->skip_rq)) Publish (device_addr,
PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_GET_GEOM, reinterpret_cast<void*>
(&deviceGeom), sizeof (deviceGeom), NULL);
+ this->skip_rq = 0;
return 0;
}
else
{
- Publish (device_addr, ret_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_GEOM, NULL, 0, NULL);
+ if (!(this->skip_rq)) Publish (device_addr, ret_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_GEOM, NULL, 0, NULL);
+ this->skip_rq = 0;
return 0;
}
}
@@ -334,7 +340,8 @@
else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SONAR_REQ_GET_GEOM, inputDeviceAddr))
{
// Geometry request
- Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_RANGER_REQ_GET_GEOM, NULL, 0, NULL);
+ if (!(this->skip_rq)) Publish (device_addr, ret_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_GEOM, NULL, 0, NULL);
+ this->skip_rq = 0;
return 0;
}
Modified: code/player/trunk/server/drivers/ranger/toranger.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/toranger.cc 2009-10-18 15:26:36 UTC
(rev 8311)
+++ code/player/trunk/server/drivers/ranger/toranger.cc 2009-10-18 15:31:25 UTC
(rev 8312)
@@ -38,6 +38,9 @@
ToRanger::ToRanger (ConfigFile* cf, int section)
: Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_RANGER_CODE)
{
+ memset (&deviceGeom, 0, sizeof (deviceGeom));
+ deviceGeom.element_poses = NULL;
+ deviceGeom.element_sizes = NULL;
inputDevice = NULL;
}
@@ -56,6 +59,8 @@
{
// Clean output
memset (&deviceGeom, 0, sizeof (deviceGeom));
+ deviceGeom.element_poses = NULL;
+ deviceGeom.element_sizes = NULL;
return 0;
}
Modified: code/player/trunk/utils/playerv/pv_dev_ranger.c
===================================================================
--- code/player/trunk/utils/playerv/pv_dev_ranger.c 2009-10-18 15:26:36 UTC
(rev 8311)
+++ code/player/trunk/utils/playerv/pv_dev_ranger.c 2009-10-18 15:31:25 UTC
(rev 8312)
@@ -19,6 +19,7 @@
*/
#include <assert.h>
+#include <stddef.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
@@ -199,6 +200,7 @@
double point1[2], point2[2];
double (*points)[2];
double temp = 0.0;
+ double b, range;
// Drawing type depends on the assumed sensor type
// Singular sensors (e.g. sonar sensors):
@@ -221,7 +223,7 @@
// Assume the range is straight ahead (ignore min_angle and angular_res
properties)
points[0][0] = 0.0f;
points[0][1] = 0.0f;
- double range = ranger->proxy->ranges[ii];
+ range = ranger->proxy->ranges[ii];
if (range < ranger->proxy->min_range)
range = ranger->proxy->max_range;
points[1][0] = range * cos(-temp);
@@ -252,10 +254,10 @@
// Draw empty space
points[0][0] = 0.0;
points[0][1] = 0.0;
- double b = ranger->proxy->min_angle;
+ b = ranger->proxy->min_angle;
for (ii = 0; ii < ranger->proxy->ranges_count; ii++)
{
- double range = ranger->proxy->ranges[ii];
+ range = ranger->proxy->ranges[ii];
if (range < ranger->proxy->min_range) {
points[ii + 1][0] = ranger->proxy->max_range * cos(b);
points[ii + 1][1] = ranger->proxy->max_range * sin(b);
@@ -292,9 +294,9 @@
rtk_fig_color_rgb32(ranger->scan_fig[0], COLOR_LASER_OCC);
// Get the first point
- double b = ranger->proxy->min_angle;
+ b = ranger->proxy->min_angle;
- double range = ranger->proxy->ranges[0];
+ range = ranger->proxy->ranges[0];
if (range < ranger->proxy->min_range) {
point1[0] = ranger->proxy->max_range * cos(b);
point1[1] = ranger->proxy->max_range * sin(b);
@@ -326,14 +328,14 @@
if (rtk_menuitem_ischecked(ranger->intns_item))
{
// Draw an intensity scan
- double b = ranger->proxy->min_angle;
+ b = ranger->proxy->min_angle;
if (ranger->proxy->intensities_count > 0)
{
for (ii = 0; ii < ranger->proxy->intensities_count; ii++)
{
if (ranger->proxy->intensities[ii] != 0)
{
- double range = ranger->proxy->ranges[ii];
+ range = ranger->proxy->ranges[ii];
if (range < ranger->proxy->min_range) {
point1[0] = ranger->proxy->max_range * cos(b);
point1[1] = ranger->proxy->max_range * sin(b);
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