Revision: 8984
http://playerstage.svn.sourceforge.net/playerstage/?rev=8984&view=rev
Author: thjc
Date: 2010-11-28 17:45:54 +0000 (Sun, 28 Nov 2010)
Log Message:
-----------
update deb packaging files for maverick
Modified Paths:
--------------
packages/debian/gazebo/debian/changelog
packages/debian/gazebo/debian/control
packages/debian/gazebo/debian/libgazebo0.install
packages/debian/gazebo/debian/rules
packages/debian/player/debian/changelog
packages/debian/player/debian/control
packages/debian/player/debian/patches/series
packages/debian/player/debian/python-playerc.install
packages/debian/player/debian/ruby-playerc.install
packages/debian/player/debian/rules
packages/debian/stage/debian/changelog
packages/debian/stage/debian/control
packages/debian/stage/debian/rules
Added Paths:
-----------
packages/debian/gazebo/debian/patches/
packages/debian/gazebo/debian/patches/series
packages/debian/gazebo/debian/patches/soname
packages/debian/gazebo/debian/patches/uint
packages/debian/player/debian/patches/artoolkitplus
packages/debian/player/debian/patches/gbx
Modified: packages/debian/gazebo/debian/changelog
===================================================================
--- packages/debian/gazebo/debian/changelog 2010-11-27 23:58:23 UTC (rev
8983)
+++ packages/debian/gazebo/debian/changelog 2010-11-28 17:45:54 UTC (rev
8984)
@@ -1,3 +1,45 @@
+gazebo (0.10.0-1~ppa7) maverick; urgency=low
+
+ * fix up sonames
+
+ -- Toby Collett <[email protected]> Sun, 28 Nov 2010 17:14:46 +0100
+
+gazebo (0.10.0-1~ppa6) maverick; urgency=low
+
+ * patch for stdint defines
+
+ -- Toby Collett <[email protected]> Sun, 28 Nov 2010 14:09:40 +0100
+
+gazebo (0.10.0-1~ppa5) maverick; urgency=low
+
+ * rebuild for maverick
+
+ -- Toby Collett <[email protected]> Sun, 28 Nov 2010 12:54:23 +0100
+
+gazebo (0.10.0-1~ppa4) lucid; urgency=low
+
+ * Rebuild for lucid boost library version changes
+
+ -- Toby Collett <[email protected]> Sun, 08 Aug 2010 18:42:09 +0100
+
+gazebo (0.10.0-1~ppa3) karmic; urgency=low
+
+ * add missing library libassimp.so to libgazebo
+
+ -- Toby Collett <[email protected]> Fri, 14 May 2010 18:22:40 +0100
+
+gazebo (0.10.0-1~ppa2) karmic; urgency=low
+
+ * higher ogre dependency
+
+ -- Toby Collett <[email protected]> Sun, 24 Jan 2010 16:01:27 +0000
+
+gazebo (0.10.0-1~ppa1) karmic; urgency=low
+
+ * New upstream release
+
+ -- Toby Collett <[email protected]> Sun, 24 Jan 2010 13:47:11 +0000
+
gazebo (0.9.0+svn7927-1~ppa1) karmic; urgency=low
* enabled player modules again
Modified: packages/debian/gazebo/debian/control
===================================================================
--- packages/debian/gazebo/debian/control 2010-11-27 23:58:23 UTC (rev
8983)
+++ packages/debian/gazebo/debian/control 2010-11-28 17:45:54 UTC (rev
8984)
@@ -2,8 +2,8 @@
Section: science
Priority: extra
Maintainer: Toby Collett <[email protected]>
-Build-Depends: cdbs, debhelper (>= 7), cmake, libfreeimage-dev,
libfltk1.1-dev, libode-dev, libogre-dev (>= 1.6), libboost-thread-dev,
libboost-signals-dev, libxml2-dev, libxft-dev, libopenal-dev, libavformat-dev,
libavcodec-dev, libltdl7-dev, libglu1-mesa-dev, robot-player-dev (>= 3)
-Standards-Version: 3.8.0
+Build-Depends: cdbs, debhelper (>= 7), cmake, quilt, libfreeimage-dev,
libfltk1.1-dev, libode-dev, libogre-dev (>= 1.6.3), libboost-thread-dev,
libboost-signals-dev, libxml2-dev, libxft-dev, libopenal-dev, libavformat-dev,
libavcodec-dev, libltdl7-dev, libglu1-mesa-dev, robot-player-dev (>= 3)
+Standards-Version: 3.9.1
Homepage: http://playerstage.sourceforge.net/
Package: gazebo
Modified: packages/debian/gazebo/debian/libgazebo0.install
===================================================================
--- packages/debian/gazebo/debian/libgazebo0.install 2010-11-27 23:58:23 UTC
(rev 8983)
+++ packages/debian/gazebo/debian/libgazebo0.install 2010-11-28 17:45:54 UTC
(rev 8984)
@@ -1,2 +1,4 @@
/usr/lib/libgazebo.so.*
-/usr/lib/libgazebo_*.so.*
\ No newline at end of file
+/usr/lib/libgazebo_*.so.*
+/usr/lib/libassimp.so*
+
Added: packages/debian/gazebo/debian/patches/series
===================================================================
--- packages/debian/gazebo/debian/patches/series
(rev 0)
+++ packages/debian/gazebo/debian/patches/series 2010-11-28 17:45:54 UTC
(rev 8984)
@@ -0,0 +1,2 @@
+uint
+soname
Added: packages/debian/gazebo/debian/patches/soname
===================================================================
--- packages/debian/gazebo/debian/patches/soname
(rev 0)
+++ packages/debian/gazebo/debian/patches/soname 2010-11-28 17:45:54 UTC
(rev 8984)
@@ -0,0 +1,38 @@
+--- a/3rd_party/assimp/code/CMakeLists.txt
++++ b/3rd_party/assimp/code/CMakeLists.txt
+@@ -588,6 +588,7 @@
+ )
+
+ install (TARGETS assimp DESTINATION ${CMAKE_INSTALL_PREFIX}/lib)
++set_target_properties(assimp PROPERTIES OUTPUT_NAME "assimp" VERSION
${GAZEBO_VERSION})
+
+ APPEND_TO_CACHED_LIST(gazeboserver_link_dirs
+ ${gazeboserver_link_dirs_desc}
+--- a/server/physics/CMakeLists.txt
++++ b/server/physics/CMakeLists.txt
+@@ -56,5 +56,6 @@
+
+ add_library(gazebo_physics SHARED ${sources})
+ install ( TARGETS gazebo_physics DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
++set_target_properties(gazebo_physics PROPERTIES OUTPUT_NAME "gazebo_physics"
VERSION ${GAZEBO_VERSION})
+ #APPEND_TO_SERVER_SOURCES(${sources})
+ APPEND_TO_SERVER_HEADERS(${headers})
+--- a/server/physics/ode/CMakeLists.txt
++++ b/server/physics/ode/CMakeLists.txt
+@@ -31,6 +31,6 @@
+ )
+
+ add_library(gazebo_physics_ode SHARED ${sources})
+-set_target_properties(gazebo_physics_ode PROPERTIES COMPILE_FLAGS "-fPIC")
++set_target_properties(gazebo_physics_ode PROPERTIES COMPILE_FLAGS "-fPIC"
VERSION ${GAZEBO_VERSION})
+ target_link_libraries( gazebo_physics_ode ${ODE_LIBRARIES})
+ install ( TARGETS gazebo_physics_ode DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+--- a/server/rendering/CMakeLists.txt
++++ b/server/rendering/CMakeLists.txt
+@@ -43,5 +43,6 @@
+
+ add_library(gazebo_rendering SHARED ${sources})
+ target_link_libraries( gazebo_rendering ${OGRE_LIBRARIES} X11)
++set_target_properties( gazebo_rendering PROPERTIES OUTPUT_NAME
"gazebo_rendering" VERSION ${GAZEBO_VERSION})
+ install ( TARGETS gazebo_rendering DESTINATION ${CMAKE_INSTALL_PREFIX}/lib )
+ APPEND_TO_SERVER_HEADERS(${headers})
Added: packages/debian/gazebo/debian/patches/uint
===================================================================
--- packages/debian/gazebo/debian/patches/uint (rev 0)
+++ packages/debian/gazebo/debian/patches/uint 2010-11-28 17:45:54 UTC (rev
8984)
@@ -0,0 +1,12 @@
+--- a/server/audio_video/AudioDecoder.hh
++++ b/server/audio_video/AudioDecoder.hh
+@@ -31,6 +31,9 @@
+
+ #ifdef HAVE_FFMPEG
+
++#define __STDC_CONSTANT_MACROS
++#include <stdint.h>
++
+ extern "C" {
+
+ #include <avformat.h>
Modified: packages/debian/gazebo/debian/rules
===================================================================
--- packages/debian/gazebo/debian/rules 2010-11-27 23:58:23 UTC (rev 8983)
+++ packages/debian/gazebo/debian/rules 2010-11-28 17:45:54 UTC (rev 8984)
@@ -1,6 +1,7 @@
#!/usr/bin/make -f
include /usr/share/cdbs/1/rules/debhelper.mk
+include /usr/share/cdbs/1/rules/patchsys-quilt.mk
include /usr/share/cdbs/1/class/cmake.mk
Modified: packages/debian/player/debian/changelog
===================================================================
--- packages/debian/player/debian/changelog 2010-11-27 23:58:23 UTC (rev
8983)
+++ packages/debian/player/debian/changelog 2010-11-28 17:45:54 UTC (rev
8984)
@@ -1,3 +1,77 @@
+player (3.0.2-1~ppa4) maverick; urgency=low
+
+ * fix package deps since artoolkitplus is not atuomatically detected
+
+ -- Toby Collett <[email protected]> Sun, 28 Nov 2010 16:05:29 +0100
+
+player (3.0.2-1~ppa3) maverick; urgency=low
+
+ * change python package install path
+
+ -- Toby Collett <[email protected]> Sun, 28 Nov 2010 10:14:47 +0100
+
+player (3.0.2-1~ppa2) maverick; urgency=low
+
+ * rebuild for maverick
+ * patch for artoolkitplus 2.2.0
+
+ -- Toby Collett <[email protected]> Fri, 26 Nov 2010 21:28:06 +0100
+
+player (3.0.2-1~ppa1) lucid; urgency=low
+
+ * upstream release of 3.0.2
+ * fixing up of dependencies
+
+ -- Toby Collett <[email protected]> Wed, 21 Jul 2010 11:13:07 +0100
+
+player (3.0.1-1~ppa11) lucid; urgency=low
+
+ * fix up build dependencies for lucid
+
+ -- Toby Collett <[email protected]> Wed, 23 Jun 2010 20:49:32 +0100
+
+player (3.0.1-1~ppa9) lucid; urgency=low
+
+ * Trigger rebuild for licid dependencies.
+
+ -- Toby Collett <[email protected]> Wed, 23 Jun 2010 09:29:11 +0100
+
+player (3.0.1-1~ppa8) karmic; urgency=low
+
+ * Fix robot- prefix on binaries
+
+ -- Toby Collett <[email protected]> Tue, 11 May 2010 20:01:51 +0100
+
+player (3.0.1-1~ppa6) karmic; urgency=low
+
+ * actual fix for /usr/lib64 issue
+
+ -- Toby Collett <[email protected]> Sun, 24 Jan 2010 21:14:53 +0000
+
+player (3.0.1-1~ppa5) karmic; urgency=low
+
+ * add libplayerc-dev dependency on libplayerwkb3-dev
+
+ -- Toby Collett <[email protected]> Sun, 24 Jan 2010 13:28:27 +0000
+
+player (3.0.1-1~ppa4) karmic; urgency=low
+
+ * move libs from /usr/lib64 to /usr/lib in amd64 build
+
+ -- Toby Collett <[email protected]> Sun, 24 Jan 2010 12:39:05 +0000
+
+player (3.0.1-1~ppa3) karmic; urgency=low
+
+ * removed old reference to playerutils which no longer exists
+
+ -- Toby Collett <[email protected]> Mon, 11 Jan 2010 20:29:01 +0000
+
+player (3.0.1-1~ppa2) karmic; urgency=low
+
+ * use /usr/lib as lib install path
+
+ -- Toby Collett <[email protected]> Sun, 10 Jan 2010 19:22:41 +0000
+
player (3.0.1-1~ppa1) karmic; urgency=low
* new upstream release
Modified: packages/debian/player/debian/control
===================================================================
--- packages/debian/player/debian/control 2010-11-27 23:58:23 UTC (rev
8983)
+++ packages/debian/player/debian/control 2010-11-28 17:45:54 UTC (rev
8984)
@@ -2,10 +2,10 @@
Section: science
Priority: extra
Maintainer: Ubuntu MOTU Developers <[email protected]>
-XSBC-Original-Maintainer: Michael Janssen <[email protected]>
-Build-Depends: cdbs, debhelper (>= 7), cmake, libmagick++9-dev, libgsl0-dev,
libcv-dev, libhighgui-dev, libgtk2.0-dev, libdc1394-22-dev | libdc1394-dev,
libboost-signals-dev, libboost-thread-dev, swig, libjpeg62-dev, python-central
(>= 0.5), doxygen, linux-kernel-headers, libgnomecanvas2-dev, python-dev,
freeglut3-dev, libvorbis-dev, libtheora-dev, libgeos-dev, ruby, ruby-dev,
libpqxx-dev, libxmu-dev, libgearbox-dev
+#XSBC-Original-Maintainer: Michael Janssen <[email protected]>
+Build-Depends: cdbs, debhelper (>= 7), quilt, cmake, libmagick++9-dev,
libgsl0-dev, libcv-dev, libcvaux-dev, libhighgui-dev, libgtk2.0-dev,
libdc1394-22-dev | libdc1394-dev, libboost-signals-dev, libboost-thread-dev,
swig, libjpeg62-dev, python-central (>= 0.5), doxygen, linux-kernel-headers,
libgnomecanvas2-dev, python-dev, freeglut3-dev, libvorbis-dev, libtheora-dev,
libgeos-dev, ruby, ruby-dev, libpqxx-dev, libxmu-dev, libgearbox-dev,
artoolkitplus-dev
XS-Python-Version: all
-Standards-Version: 3.8.0
+Standards-Version: 3.9.1
Homepage: http://playerstage.sourceforge.net/
Package: robot-player
@@ -32,7 +32,7 @@
sensor hardware. The client/server model allows robot programs to be
written in many programming languages. This package provides the
Doxygen documentation for player, libplayercore, libplayerc++, libplayerc,
- libplayerdrivers, libplayererror, libplayertcp, and libplayerxdr.
+ libplayerdrivers, libplayererror, libplayertcp, and libplayerinterface.
Package: robot-player-dev
Architecture: all
@@ -64,7 +64,7 @@
Conflicts: libplayercommon-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayercommon3
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayercommon3 (=
${binary:Version})
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - error handling
development files
Provides a network interface to a variety of robot and sensor
@@ -80,7 +80,7 @@
Package: libplayercore3
Section: libs
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}, artoolkitplus
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - core library
Provides a network interface to a variety of robot and sensor
@@ -99,7 +99,7 @@
Conflicts: libplayercore-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayercore3,
libplayerinterface3-dev, libplayercommon3-dev, libgeos-dev
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayercore3 (=
${binary:Version}), libplayerinterface3-dev, libplayercommon3-dev, libgeos-dev,
artoolkitplus-dev
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - core library
development files
Provides a network interface to a variety of robot and sensor
@@ -135,7 +135,7 @@
Conflicts: libplayertcp-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayertcp3,
libplayercore3-dev, libplayerxdr3-dev
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayertcp3 (=
${binary:Version}), libplayercore3-dev, libplayerinterface3-dev
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - core library
development files
Provides a network interface to a variety of robot and sensor
@@ -170,7 +170,7 @@
Conflicts: libplayerinterface-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerinterface3,
libplayercommon3-dev, python
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerinterface3 (=
${binary:Version}), libplayercommon3-dev, python
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - interface library
development files
Provides a network interface to a variety of robot and sensor
@@ -204,7 +204,7 @@
Conflicts: libplayerc-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerc3,
libplayerinterface3-dev
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerc3 (=
${binary:Version}), libplayerinterface3-dev, libplayerwkb3-dev
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - C client library
development files
Provides a network interface to a variety of robot and sensor
@@ -236,7 +236,7 @@
Conflicts: libplayerc++-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerc++3, libplayerc3-dev,
libboost-thread-dev, libboost-signals-dev
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerc++3 (=
${binary:Version}), libplayerc3-dev, libboost-thread-dev, libboost-signals-dev
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - C++ client library
development files
Provides a network interface to a variety of robot and sensor
@@ -269,7 +269,7 @@
Conflicts: libplayerjpeg-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerjpeg3 (=
${binary:Version})
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - hardware drivers
development files
Provides a network interface to a variety of robot and sensor
@@ -302,7 +302,7 @@
Conflicts: libplayerwkb-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerwkb3 (=
${binary:Version})
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - hardware drivers
development files
Provides a network interface to a variety of robot and sensor
@@ -337,7 +337,7 @@
Conflicts: libplayerdrivers-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerdrivers3,
libplayercore3-dev, libplayerutils3-dev, libcv-dev, libcvaux-dev, libgsl0-dev,
libdc1394-22-dev | libdc1394-dev, libhighgui-dev
+Depends: ${shlibs:Depends}, ${misc:Depends}, libplayerdrivers3 (=
${binary:Version}), libplayercore3-dev, libcv-dev, libcvaux-dev, libgsl0-dev,
libdc1394-22-dev | libdc1394-dev, libhighgui-dev
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - hardware drivers
development files
Provides a network interface to a variety of robot and sensor
@@ -405,7 +405,7 @@
Conflicts: libpmap-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, libpmap0
+Depends: ${shlibs:Depends}, ${misc:Depends}, libpmap0 (= ${binary:Version})
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - particle library dev
files
Provides a network interface to a variety of robot and sensor
@@ -440,7 +440,7 @@
Conflicts: liblodo-dev
Section: libdevel
Architecture: any
-Depends: ${shlibs:Depends}, ${misc:Depends}, liblodo0
+Depends: ${shlibs:Depends}, ${misc:Depends}, liblodo0 (= ${binary:Version})
Homepage: http://playerstage.sourceforge.net/
Description: Networked server for robots and sensors - laser odometry dev files
Provides a network interface to a variety of robot and sensor
Added: packages/debian/player/debian/patches/artoolkitplus
===================================================================
--- packages/debian/player/debian/patches/artoolkitplus
(rev 0)
+++ packages/debian/player/debian/patches/artoolkitplus 2010-11-28 17:45:54 UTC
(rev 8984)
@@ -0,0 +1,85 @@
+--- a/patch/artoolkitplus.pc
++++ b/patch/artoolkitplus.pc
+@@ -1,8 +1,8 @@
+-prefix=/usr/local/src/artoolkitplus
++prefix=/usr
+
+ Name: artoolkitplus
+ Description: ARToolkitPlus Augmented Reality library
+-Version: 2.0.2
++Version: 2.2.0
+ Requires:
+ Libs: -L${prefix}/lib -lARToolKitPlus
+ Cflags: -I${prefix}/include/
+--- a/server/drivers/blobfinder/artoolkitplus/CMakeLists.txt
++++ b/server/drivers/blobfinder/artoolkitplus/CMakeLists.txt
+@@ -1,6 +1,6 @@
+ PLAYERDRIVER_OPTION (artoolkitplus build_artoolkitplus ON)
+ PLAYERDRIVER_REQUIRE_PKG (artoolkitplus build_artoolkitplus artoolkitplus
+- artoolkitplus_includeDirs artoolkitplus_libDirs artoolkitplus_linkLibs
artoolkitplus_linkFlags artoolkitplus_cFlags >=2.1)
++ artoolkitplus_includeDirs artoolkitplus_libDirs artoolkitplus_linkLibs
artoolkitplus_linkFlags artoolkitplus_cFlags >=2.2)
+ PLAYERDRIVER_ADD_DRIVER (artoolkitplus build_artoolkitplus
+ INCLUDEDIRS ${artoolkitplus_includeDirs} LIBDIRS ${artoolkitplus_libDirs}
LINKLIBS ${artoolkitplus_linkLibs}
+ LINKFLAGS ${artoolkitplus_linkFlags} CFLAGS ${artoolkitplus_cFlags}
+--- a/server/drivers/blobfinder/artoolkitplus/artoolkitplus.cc
++++ b/server/drivers/blobfinder/artoolkitplus/artoolkitplus.cc
+@@ -79,24 +79,15 @@
+
+ #include <libplayercore/playercore.h>
+
+-#include <ARToolKitPlus/TrackerSingleMarkerImpl.h>
++#include <ARToolKitPlus/TrackerSingleMarker.h>
+ #include <ARToolKitPlus/Camera.h>
+ #include <ARToolKitPlus/ar.h>
+-#include <ARToolKitPlus/Logger.h>
+
+ #include "../../base/imagebase.h"
+
+ using namespace ARToolKitPlus;
+
+
+-class MyLogger : public ARToolKitPlus::Logger
+-{
+- void artLog(const char* nStr)
+- {
+- printf(nStr);
+- }
+-};
+-
+ // Driver for detecting laser retro-reflectors.
+ class ARToolkitPlusDriver : public ImageBase
+ {
+@@ -116,7 +107,6 @@
+ ARToolKitPlus::Camera * DummyCam; //< the
camera
+
+ bool useBCH;
+- MyLogger logger;
+ ARToolKitPlus::TrackerSingleMarker *tracker;
+
+ };
+@@ -158,15 +148,10 @@
+ // - can load a maximum of 1 patterns
+ // - can detect a maximum of 8 patterns in one image
+ // - with an arbitrary default image size
+- tracker = new ARToolKitPlus::TrackerSingleMarkerImpl<6,6,6, 1,
8>(LastFrameWidth,LastFrameHeight);
++ tracker = new
ARToolKitPlus::TrackerSingleMarker(LastFrameWidth,LastFrameHeight);
+
+ tracker->setPixelFormat(ARToolKitPlus::PIXEL_FORMAT_LUM);
+
+-
+- // set a logger so we can output error messages
+- //
+- tracker->setLogger(&logger);
+-
+ if(!tracker->init(NULL, 1.0f, 1000.0f)) // load NULL camera
+ {
+ SetError(-1);
+@@ -177,7 +162,7 @@
+ tracker->setUndistortionMode(ARToolKitPlus::UNDIST_NONE);
+
+ // setup a fake camera so we can set the width and height
+- DummyCam = new CameraImpl;
++ DummyCam = new Camera;
+ memset(DummyCam->dist_factor,0,sizeof (DummyCam->dist_factor));
+ memset(DummyCam->mat,0,sizeof (DummyCam->mat));
+ DummyCam->changeFrameSize(LastFrameWidth,LastFrameHeight);
Added: packages/debian/player/debian/patches/gbx
===================================================================
--- packages/debian/player/debian/patches/gbx (rev 0)
+++ packages/debian/player/debian/patches/gbx 2010-11-28 17:45:54 UTC (rev
8984)
@@ -0,0 +1,630 @@
+--- a/server/drivers/gps/gbxgarminacfr.cc
++++ b/server/drivers/gps/gbxgarminacfr.cc
+@@ -152,8 +152,8 @@
+ int GbxGarminAcfr::MainSetup (void)
+ {
+ // Validate the configuration
+- //std::string reason;
+- if (!_config.isValid ())
++ std::string reason;
++ if (!_config.isValid (reason))
+ {
+ PLAYER_ERROR("GbxGarminAcfr: Invalid sensor configuration.\n");//,
reason.c_str());
+ return -1;
+--- a/server/drivers/ranger/CMakeLists.txt
++++ b/server/drivers/ranger/CMakeLists.txt
+@@ -10,7 +10,7 @@
+ PLAYERDRIVER_OPTION (hokuyo_aist build_hokuyo_aist ON)
+ PLAYERDRIVER_REQUIRE_PKG (hokuyo_aist build_hokuyo_aist hokuyo_aist
+ hokuyo_aist_includeDirs hokuyo_aist_libDirs hokuyo_aist_linkLibs
+- hokuyo_aist_linkFlags hokuyo_aist_cFlags =1.0.0)
++ hokuyo_aist_linkFlags hokuyo_aist_cFlags =2.0.0)
+ PLAYERDRIVER_ADD_DRIVER (hokuyo_aist build_hokuyo_aist
+ INCLUDEDIRS ${hokuyo_aist_includeDirs} LIBDIRS ${hokuyo_aist_libDirs}
+ LINKLIBS ${hokuyo_aist_linkLibs} LINKFLAGS ${hokuyo_aist_linkFlags}
+--- a/server/drivers/ranger/hokuyo_aist.cc
++++ b/server/drivers/ranger/hokuyo_aist.cc
+@@ -20,7 +20,7 @@
+ Desc: Wrapper driver around the Gearbox hokuyo_aist library (see
http://gearbox.sourceforge.net)
+ Author: Geoffrey Biggs
+ Date: 20 June 2008
+- CVS: $Id: hokuyo_aist.cc 8243 2009-09-07 02:04:21Z gbiggs $
++ CVS: $Id: hokuyo_aist.cc 8982 2010-11-27 13:49:55Z gbiggs $
+ */
+
+ /** @ingroup drivers */
+@@ -75,6 +75,10 @@
+ - max_angle (float, radians)
+ - Default: 4.0 rad (Will use laser default)
+ - Maximum scan angle to return. Will be adjusted if outside the laser's
scannable range.
++ - invert (boolean)
++ - Default: false
++ - If true, the reading will be inverted (i.e. read backwards). Useful if
the laser scanner is
++ mounted upside down.
+ - power (boolean)
+ - Default: true
+ - If true, the sensor power will be switched on upon driver activation
(i.e. when the first
+@@ -158,7 +162,7 @@
+ bool AllocateDataSpace (void);
+
+ // Configuration parameters
+- bool _verbose, _powerOnStartup, _getIntensities,
_ignoreUnknowns;
++ bool _verbose, _invert, _powerOnStartup, _getIntensities,
_ignoreUnknowns;
+ double _minAngle, _maxAngle;
+ IntProperty _baudRate, _speedLevel, _highSensitivity;
+ DoubleProperty _minDist;
+@@ -169,9 +173,9 @@
+ player_pose3d_t _sensorPose;
+ player_bbox3d_t _sensorSize;
+ // The hardware device itself
+- hokuyo_aist::HokuyoLaser _device;
++ hokuyo_aist::Sensor _device;
+ // Data storage
+- hokuyo_aist::HokuyoData _data;
++ hokuyo_aist::ScanData _data;
+ double *_ranges;
+ double *_intensities;
+ int _numRanges;
+@@ -201,6 +205,7 @@
+ _getIntensities = cf->ReadBool (section, "get_intensities", false);
+ _minAngle = cf->ReadFloat (section, "min_angle", -4.0);
+ _maxAngle = cf->ReadFloat (section, "max_angle", 4.0);
++ _invert = cf->ReadBool (section, "invert", false);
+ _portOpts = cf->ReadString (section, "portopts",
"type=serial,device=/dev/ttyACM0,timeout=1");
+ _verbose = cf->ReadBool (section, "verbose", false);
+ _ignoreUnknowns = cf->ReadBool (section, "ignoreunknowns", false);
+@@ -224,7 +229,7 @@
+ memcpy(_geom.element_sizes, &_geom.size, sizeof (_geom.size));
+
+ // Turn on/off verbose mode
+- _device.SetVerbose (_verbose);
++ _device.set_verbose (_verbose);
+ }
+
+ HokuyoDriver::~HokuyoDriver (void)
+@@ -244,7 +249,7 @@
+ if (_ranges != NULL)
+ delete _ranges;
+
+- _numRanges = _device.AngleToStep (_maxAngle) - _device.AngleToStep
(_minAngle) + 1;
++ _numRanges = _device.angle_to_step (_maxAngle) - _device.angle_to_step
(_minAngle) + 1;
+ if ((_ranges = new double[_numRanges]) == NULL)
+ {
+ PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate space for %d
range readings.", _numRanges);
+@@ -301,25 +306,21 @@
+ try
+ {
+ // Change the baud rate
+- _device.SetBaud (req->value);
++ _device.set_baud (req->value);
+ }
+- catch (hokuyo_aist::HokuyoError &e)
+- {
+-#if defined (WIN32)
+- if (e.Code () != HOKUYO_ERR_NOTSERIAL)
+-#else
+- if (e.Code () !=
hokuyo_aist::HOKUYO_ERR_NOTSERIAL)
+-#endif
+- {
+- PLAYER_ERROR2 ("hokuyo_aist: Error
while changing baud rate: (%d) %s",
+- e.Code (), e.what ());
+- SetError (e.Code ());
+- }
+- else
++ catch (hokuyo_aist::NotSerialError)
+ {
+ PLAYER_WARN (
+ "hokuyo_aist: Cannot change the
baud rate of a non-serial connection.");
++
++ Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_SET_INTPROP_REQ,
++ NULL, 0, NULL);
++ return 0;
+ }
++ catch (hokuyo_aist::BaseError &e)
++ {
++ PLAYER_ERROR1 ("hokuyo_aist: Error while changing baud rate:
%s", e.what ());
++ SetError (-1);
+
+ Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
+ NULL, 0, NULL);
+@@ -334,13 +335,12 @@
+ {
+ try
+ {
+- _device.SetMotorSpeed (req->value);
++ _device.set_motor_speed (req->value);
+ }
+- catch (hokuyo_aist::HokuyoError &e)
++ catch (hokuyo_aist::BaseError &e)
+ {
+- PLAYER_ERROR2 ("hokuyo_aist: Error while
changing motor speed: (%d) %s",
+- e.Code (), e.what ());
+- SetError (e.Code ());
++ PLAYER_ERROR1 ("hokuyo_aist: Error while changing motor
speed: %s", e.what ());
++ SetError (-1);
+ Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
+ NULL, 0, NULL);
+ return 0;
+@@ -354,13 +354,12 @@
+ {
+ try
+ {
+- _device.SetHighSensitivity (req->value != 0);
++ _device.set_high_sensitivity (req->value != 0);
+ }
+- catch (hokuyo_aist::HokuyoError &e)
++ catch (hokuyo_aist::BaseError &e)
+ {
+- PLAYER_ERROR2 ("hokuyo_aist: Error while
changing sensitivity: (%d) %s",
+- e.Code (), e.what ());
+- SetError (e.Code ());
++ PLAYER_ERROR1 ("hokuyo_aist: Error while changing
sensitivity: %s", e.what ());
++ SetError (-1);
+ Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
+ NULL, 0, NULL);
+ return 0;
+@@ -371,76 +370,27 @@
+ return 0;
+ }
+ }
+-
+- // Standard ranger messages
+- else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_RANGER_REQ_POWER, device_addr))
++ else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_RANGER_REQ_GET_CONFIG,
++ device_addr))
+ {
+- player_ranger_power_config_t *config =
+- reinterpret_cast<player_ranger_power_config_t*> (data);
+- try
++ player_ranger_config_t rangerConfig;
++ hokuyo_aist::SensorInfo info;
++ _device.get_sensor_info (info);
++
++ if (!_invert)
+ {
+- 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);
++ rangerConfig.min_angle = _minAngle; // These two are
user-configurable
++ rangerConfig.max_angle = _maxAngle;
+ }
+- 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_INTNS, device_addr))
+- {
+- bool newValue =
(reinterpret_cast<player_ranger_intns_config_t*> (data)->state != 0);
+- if (newValue && !_getIntensities)
++ else
+ {
+- // State change, allocate space for intensity data
+- if ((_intensities = new double[_numRanges]) == NULL)
+- {
+- PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate
space for %d intensity readings.",
+- _numRanges);
+- Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_INTNS,
+- NULL, 0, NULL);
+- return 0;
+- }
++ rangerConfig.min_angle = -_maxAngle;
++ rangerConfig.max_angle = -_minAngle;
+ }
+- else if (!newValue && _getIntensities)
+- {
+- // State change, remove allocated space
+- delete[] _intensities;
+- _intensities = NULL;
+- }
+- _getIntensities = newValue;
+- Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_INTNS, 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);
+- return 0;
+- }
+- else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_RANGER_REQ_GET_CONFIG,
+- device_addr))
+- {
+- player_ranger_config_t rangerConfig;
+- hokuyo_aist::HokuyoSensorInfo info;
+- _device.GetSensorInfo (&info);
+
+- rangerConfig.min_angle = _minAngle; // These two are
user-configurable
+- rangerConfig.max_angle = _maxAngle;
+ rangerConfig.angular_res = info.resolution;
+- rangerConfig.min_range = info.minRange / 1000.0;
+- rangerConfig.max_range = info.maxRange / 1000.0;
++ rangerConfig.min_range = info.min_range / 1000.0;
++ rangerConfig.max_range = info.max_range / 1000.0;
+ rangerConfig.range_res = 0.001; // 1mm
+ rangerConfig.frequency = info.speed / 60.0;
+ Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_GET_CONFIG,
+@@ -452,41 +402,49 @@
+ {
+ player_ranger_config_t *newParams =
reinterpret_cast<player_ranger_config_t*> (data);
+
+- _minAngle = newParams->min_angle;
+- _maxAngle = newParams->max_angle;
+- if (!AllocateDataSpace ())
++ if (!_invert)
+ {
+- PLAYER_ERROR ("hokuyo_aist: Failed to allocate space
for storing range data.");
+- Publish(device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG,
+- NULL, 0, NULL);
+- return 0;
++ _minAngle = newParams->min_angle;
++ _maxAngle = newParams->max_angle;
+ }
+-
+- try
++ else
+ {
+- hokuyo_aist::HokuyoSensorInfo info;
+- _device.GetSensorInfo (&info);
+- if (_minAngle < info.minAngle)
+- {
+- _minAngle = info.minAngle;
+- PLAYER_WARN1 ("hokuyo_aist: Adjusted min_angle
to %lf", _minAngle);
+- }
+- if (_maxAngle> info.maxAngle)
+- {
+- _maxAngle = info.maxAngle;
+- PLAYER_WARN1 ("hokuyo_aist: Adjusted max_angle
to %lf", _maxAngle);
+- }
++ _minAngle = -newParams->max_angle;
++ _maxAngle = -newParams->min_angle;
+ }
+- catch (hokuyo_aist::HokuyoError &e)
++
++ if (!AllocateDataSpace ())
+ {
+- PLAYER_ERROR2 ("hokuyo_aist: Library error while
changing settings: (%d) %s", e.Code (),
+- e.what ());
+- SetError (e.Code ());
++ PLAYER_ERROR ("hokuyo_aist: Failed to allocate space
for storing range data.");
+ Publish(device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG,
+ NULL, 0, NULL);
+ return 0;
+ }
+
++ try
++ {
++ hokuyo_aist::SensorInfo info;
++ _device.get_sensor_info (info);
++ if (_minAngle < info.min_angle)
++ {
++ _minAngle = info.min_angle;
++ PLAYER_WARN1 ("hokuyo_aist: Adjusted min_angle to %lf",
_minAngle);
++ }
++ if (_maxAngle> info.max_angle)
++ {
++ _maxAngle = info.max_angle;
++ PLAYER_WARN1 ("hokuyo_aist: Adjusted max_angle to %lf",
_maxAngle);
++ }
++ }
++ catch (hokuyo_aist::BaseError &e)
++ {
++ PLAYER_ERROR1 ("hokuyo_aist: Library error while changing
settings: %s", e.what ());
++ SetError (-1);
++ Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
PLAYER_RANGER_REQ_GET_CONFIG,
++ NULL, 0, NULL);
++ return 0;
++ }
++
+ Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_GET_CONFIG,
+ newParams, sizeof (*newParams), NULL);
+ return 0;
+@@ -506,94 +464,129 @@
+ try
+ {
+ GlobalTime->GetTimeDouble (&time1);
+- _device.GetNewRangesAndIntensitiesByAngle (&_data,
_minAngle, _maxAngle);
++ _device.get_new_ranges_intensities_by_angle (_data, _minAngle,
_maxAngle);
+ GlobalTime->GetTimeDouble (&time2);
+ time1 = (time1 + time2) / 2.0;
+ }
+- catch (hokuyo_aist::HokuyoError &e)
++ catch (hokuyo_aist::BaseError &e)
+ {
+- PLAYER_ERROR2 ("hokuyo_aist: Failed to read scan: (%d)
%s", e.Code (), e.what ());
+- SetError (e.Code ());
++ PLAYER_ERROR1 ("hokuyo_aist: Failed to read scan: %s", e.what ());
++ SetError (-1);
+ return false;
+ }
+
+ double lastValidValue = _minDist;
+- for (unsigned int ii = 0; ii < _data.Length (); ii++)
++ if (!_invert)
+ {
+- _ranges[ii] = _data[ii] / 1000.0f;
+- _intensities[ii] = _data.Intensities ()[ii];
+- if (_minDist > 0)
++ for (unsigned int ii = 0; ii < _data.ranges_length();
ii++)
+ {
+- if (_ranges[ii] < _minDist)
+- _ranges[ii] = lastValidValue;
+- else
+- lastValidValue = _ranges[ii];
++ _ranges[ii] = _data[ii] / 1000.0f;
++ _intensities[ii] = _data.intensities ()[ii];
++ if (_minDist > 0)
++ {
++ if (_ranges[ii] < _minDist)
++ _ranges[ii] = lastValidValue;
++ else
++ lastValidValue = _ranges[ii];
++ }
+ }
+ }
+-
+- rangeData.ranges = _ranges;
+- rangeData.ranges_count = _data.Length ();
+- if (_hwTimeStamps.GetValue ())
+- {
+- double ts = _data.TimeStamp () / 1000.0;
+- Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
+- reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), &ts);
+- }
+- else
++ else // invert
+ {
+- Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
+- reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), &time1);
+- }
+-
+- intensityData.intensities = _intensities;
+- intensityData.intensities_count = _data.Length ();
+- if (_hwTimeStamps.GetValue ())
+- {
+- double ts = _data.TimeStamp () / 1000.0;
+- Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_INTNS,
+- reinterpret_cast<void*>
(&intensityData), sizeof (intensityData), &ts);
+- }
+- else
+- {
+- Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_INTNS,
+- reinterpret_cast<void*>
(&intensityData), sizeof (intensityData), &time1);
++ for (unsigned int ii = 0; ii < _data.ranges_length ();
ii++)
++ {
++ unsigned int jj = _data.ranges_length () - 1 -
ii;
++ _ranges[ii] = _data[jj] / 1000.0f;
++ _intensities[ii] = _data.intensities ()[jj];
++ if (_minDist > 0)
++ {
++ if (_ranges[ii] < _minDist)
++ _ranges[ii] = lastValidValue;
++ else
++ lastValidValue = _ranges[ii];
++ }
++ }
+ }
+- }
+- else
+- {
+- player_ranger_data_range_t rangeData;
+
+- try
+- {
+- GlobalTime->GetTimeDouble (&time1);
+- _device.GetRangesByAngle (&_data, _minAngle, _maxAngle);
+- GlobalTime->GetTimeDouble (&time2);
+- time1 = (time1 + time2) / 2.0;
+- }
+- catch (hokuyo_aist::HokuyoError &e)
+- {
+- PLAYER_ERROR2 ("hokuyo_aist: Failed to read scan: (%d)
%s", e.Code (), e.what ());
+- SetError (e.Code ());
+- return false;
+- }
++ rangeData.ranges = _ranges;
++ rangeData.ranges_count = _data.ranges_length ();
++ if (_hwTimeStamps.GetValue ())
++ {
++ double ts = _data.system_time_stamp () / 1e9;
++ Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
++ reinterpret_cast<void*> (&rangeData), sizeof (rangeData),
&ts);
++ }
++ else
++ {
++ Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
++ reinterpret_cast<void*> (&rangeData), sizeof (rangeData),
&time1);
++ }
++
++ intensityData.intensities = _intensities;
++ intensityData.intensities_count = _data.intensities_length ();
++ if (_hwTimeStamps.GetValue ())
++ {
++ double ts = _data.system_time_stamp () / 1e9;
++ Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_INTNS,
++ reinterpret_cast<void*> (&intensityData), sizeof
(intensityData), &ts);
++ }
++ else
++ {
++ Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_INTNS,
++ reinterpret_cast<void*> (&intensityData), sizeof
(intensityData), &time1);
++ }
++ }
++ else
++ {
++ player_ranger_data_range_t rangeData;
++
++ try
++ {
++ GlobalTime->GetTimeDouble (&time1);
++ _device.get_ranges_by_angle (_data, _minAngle, _maxAngle);
++ GlobalTime->GetTimeDouble (&time2);
++ time1 = (time1 + time2) / 2.0;
++ }
++ catch (hokuyo_aist::BaseError &e)
++ {
++ PLAYER_ERROR1 ("hokuyo_aist: Failed to read scan: %s", e.what ());
++ SetError (-1);
++ return false;
++ }
+
+ double lastValidValue = _minDist;
+- for (unsigned int ii = 0; ii < _data.Length (); ii++)
++ if (!_invert) {
++ for (unsigned int ii = 0; ii < _data.ranges_length ();
ii++)
++ {
++ _ranges[ii] = _data[ii] / 1000.0f;
++ if (_minDist > 0)
++ {
++ if (_ranges[ii] < _minDist)
++ _ranges[ii] = lastValidValue;
++ else
++ lastValidValue = _ranges[ii];
++ }
++ }
++ }
++ else // invert
+ {
+- _ranges[ii] = _data[ii] / 1000.0f;
+- if (_minDist > 0)
++ for (unsigned int ii = 0; ii < _data.ranges_length ();
ii++)
+ {
+- if (_ranges[ii] < _minDist)
+- _ranges[ii] = lastValidValue;
+- else
+- lastValidValue = _ranges[ii];
++ _ranges[ii] = _data[_data.ranges_length () - 1
- ii] / 1000.0f;
++ if (_minDist > 0)
++ {
++ if (_ranges[ii] < _minDist)
++ _ranges[ii] = lastValidValue;
++ else
++ lastValidValue = _ranges[ii];
++ }
+ }
+ }
+ rangeData.ranges = _ranges;
+- rangeData.ranges_count = _data.Length ();
++ rangeData.ranges_count = _data.ranges_length ();
+ if (_hwTimeStamps.GetValue ())
+ {
+- double ts = _data.TimeStamp () / 1000.0;
++ double ts = _data.laser_time_stamp () / 1000.0;
+ Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
+ reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), &ts);
+ }
+@@ -611,66 +604,63 @@
+ {
+ try
+ {
+- _device.IgnoreUnknowns (_ignoreUnknowns);
++ _device.ignore_unknowns (_ignoreUnknowns);
+ // Open the laser
+- _device.OpenWithProbing (_portOpts);
++ _device.open_with_probing (_portOpts);
+ // Get the sensor information and check _minAngle and _maxAngle
are OK
+- hokuyo_aist::HokuyoSensorInfo info;
+- _device.GetSensorInfo (&info);
+- if (_minAngle < info.minAngle)
++ hokuyo_aist::SensorInfo info;
++ _device.get_sensor_info (info);
++ if (_minAngle < info.min_angle)
+ {
+- _minAngle = info.minAngle;
++ _minAngle = info.min_angle;
+ PLAYER_WARN1 ("hokuyo_aist: Adjusted min_angle to %lf",
_minAngle);
+ }
+- if (_maxAngle> info.maxAngle)
++ if (_maxAngle> info.max_angle)
+ {
+- _maxAngle = info.maxAngle;
++ _maxAngle = info.max_angle;
+ PLAYER_WARN1 ("hokuyo_aist: Adjusted max_angle to %lf",
_maxAngle);
+ }
+ if (!AllocateDataSpace ())
+ return -1;
+
+ if (_powerOnStartup)
+- _device.SetPower (true);
++ _device.set_power (true);
+
+ try
+ {
+- _device.SetBaud (_baudRate.GetValue ());
++ _device.set_baud (_baudRate.GetValue ());
+ }
+- catch (hokuyo_aist::HokuyoError &e)
++ catch (hokuyo_aist::NotSerialError)
+ {
+-#if defined (WIN32)
+- if (e.Code () != HOKUYO_ERR_NOTSERIAL)
+-#else
+- if (e.Code () != hokuyo_aist::HOKUYO_ERR_NOTSERIAL)
+-#endif
+ PLAYER_WARN ("hokuyo_aist: Cannot change the
baud rate of a non-serial connection.");
+- else
+- PLAYER_WARN2 ("hokuyo_aist: Error changing baud
rate: (%d) %s", e.Code (), e.what ());
++ }
++ catch (hokuyo_aist::BaseError &e)
++ {
++ PLAYER_WARN1 ("hokuyo_aist: Error changing baud rate: %s", e.what
());
+ }
+ try
+ {
+ // Catch any errors here as this is an optional setting
not supported by all models
+- _device.SetMotorSpeed (_speedLevel.GetValue ());
+- }
+- catch (hokuyo_aist::HokuyoError &e)
+- {
+- PLAYER_WARN2 ("hokuyo_aist: Unable to set motor speed:
(%d) %s", e.Code (), e.what ());
++ _device.set_motor_speed (_speedLevel.GetValue ());
++ }
++ catch (hokuyo_aist::BaseError &e)
++ {
++ PLAYER_WARN1 ("hokuyo_aist: Unable to set motor speed: %s",
e.what ());
+ }
+ try
+ {
+ // Optional setting
+- _device.SetHighSensitivity (_highSensitivity.GetValue
() != 0);
+- }
+- catch (hokuyo_aist::HokuyoError &e)
++ _device.set_high_sensitivity (_highSensitivity.GetValue () != 0);
++ }
++ catch (hokuyo_aist::BaseError &e)
+ {
+- PLAYER_WARN2 ("hokuyo_aist: Unable to set sensitivity:
(%d) %s", e.Code (), e.what ());
++ PLAYER_WARN1 ("hokuyo_aist: Unable to set sensitivity: %s",
e.what ());
+ }
+ }
+- catch (hokuyo_aist::HokuyoError &e)
++ catch (hokuyo_aist::BaseError &e)
+ {
+- PLAYER_ERROR2 ("hokuyo_aist: Failed to setup laser driver: (%d)
%s", e.Code (), e.what ());
+- SetError (e.Code ());
++ PLAYER_ERROR1 ("hokuyo_aist: Failed to setup laser driver: %s",
e.what ());
++ SetError (-1);
+ return -1;
+ }
+ return 0;
+@@ -678,8 +668,8 @@
+
+ void HokuyoDriver::MainQuit (void)
+ {
+- _device.Close ();
+- _data.CleanUp ();
++ _device.close ();
++ _data.clean_up ();
+ if (_ranges != NULL)
+ {
+ delete[] _ranges;
Modified: packages/debian/player/debian/patches/series
===================================================================
--- packages/debian/player/debian/patches/series 2010-11-27 23:58:23 UTC
(rev 8983)
+++ packages/debian/player/debian/patches/series 2010-11-28 17:45:54 UTC
(rev 8984)
@@ -0,0 +1,2 @@
+artoolkitplus
+gbx
Modified: packages/debian/player/debian/python-playerc.install
===================================================================
--- packages/debian/player/debian/python-playerc.install 2010-11-27
23:58:23 UTC (rev 8983)
+++ packages/debian/player/debian/python-playerc.install 2010-11-28
17:45:54 UTC (rev 8984)
@@ -1,3 +1,3 @@
-usr/lib*/python*/site-packages/*.py
-usr/lib*/python*/site-packages/*.so
+usr/lib*/python*/dist-packages/*.py
+usr/lib*/python*/dist-packages/*.so
Modified: packages/debian/player/debian/ruby-playerc.install
===================================================================
--- packages/debian/player/debian/ruby-playerc.install 2010-11-27 23:58:23 UTC
(rev 8983)
+++ packages/debian/player/debian/ruby-playerc.install 2010-11-28 17:45:54 UTC
(rev 8984)
@@ -1,2 +1,2 @@
-usr/lib*/site_ruby/*/*.so
+usr/lib*/site_ruby/*/*/*.so
Modified: packages/debian/player/debian/rules
===================================================================
--- packages/debian/player/debian/rules 2010-11-27 23:58:23 UTC (rev 8983)
+++ packages/debian/player/debian/rules 2010-11-28 17:45:54 UTC (rev 8984)
@@ -1,15 +1,25 @@
#!/usr/bin/make -f
+LIBRARY_OUTPUT_PATH=lib
+
include /usr/share/cdbs/1/rules/debhelper.mk
+include /usr/share/cdbs/1/rules/patchsys-quilt.mk
include /usr/share/cdbs/1/class/cmake.mk
# Add here any variable or target overrides you need.
+export PKG_CONFIG_PATH=$(CURDIR)/patch
# We need to rename the player binaries
PLAYER_BIN_DIR=$(DEB_DESTDIR)/usr/bin
install/robot-player::
mkdir -p debian/tmp/robot-player/usr/bin/
- for b in `ls $(PLAYER_BIN_DIR)`; do cp $(PLAYER_BIN_DIR)/$$b
debian/tmp/robot-player/usr/bin/robot-$$b; done
+ mkdir -p debian/robot-player/usr/bin/
+ for b in `ls $(PLAYER_BIN_DIR)`; do cp $(PLAYER_BIN_DIR)/$$b
debian/robot-player/usr/bin/robot-$$b; done
mkdir -p debian/tmp/libplayerxdr3-dev/usr/bin/
- mv debian/tmp/robot-player/usr/bin/robot-playerxdrgen
debian/tmp/libplayerxdr3-dev/usr/bin/
- rm debian/tmp/robot-player/usr/bin/robot-pmaptest
+ mv debian/robot-player/usr/bin/robot-playerxdrgen
debian/tmp/libplayerxdr3-dev/usr/bin/
+ rm debian/robot-player/usr/bin/robot-pmaptest
+
+# Also if libs installed to lib64 move them to lib so dhshlibs can find them
+common-install-impl::
+ test ! -d $(DEB_DESTDIR)usr/lib64 || mv $(DEB_DESTDIR)usr/lib64
$(DEB_DESTDIR)usr/lib
+ mv $(DEB_DESTDIR)usr/lib/python2.6/site-packages
$(DEB_DESTDIR)usr/lib/python2.6/dist-packages
Modified: packages/debian/stage/debian/changelog
===================================================================
--- packages/debian/stage/debian/changelog 2010-11-27 23:58:23 UTC (rev
8983)
+++ packages/debian/stage/debian/changelog 2010-11-28 17:45:54 UTC (rev
8984)
@@ -1,3 +1,21 @@
+stage (4.0.0-1~ppa2) maverick; urgency=low
+
+ * update dependency that was still pointing to old stage player plugin
+
+ -- Toby Collett <[email protected]> Sun, 28 Nov 2010 15:55:19 +0100
+
+stage (4.0.0-1~ppa1) maverick; urgency=low
+
+ * upstream release
+
+ -- Toby Collett <[email protected]> Sat, 27 Nov 2010 15:08:36 +0100
+
+stage (3.2.2-1~ppa1) karmic; urgency=low
+
+ * upstream release
+
+ -- Toby Collett <[email protected]> Sun, 10 Jan 2010 17:47:11 +0000
+
stage (3.1.0-1~ppa1) karmic; urgency=low
* updatream release
Modified: packages/debian/stage/debian/control
===================================================================
--- packages/debian/stage/debian/control 2010-11-27 23:58:23 UTC (rev
8983)
+++ packages/debian/stage/debian/control 2010-11-28 17:45:54 UTC (rev
8984)
@@ -11,7 +11,7 @@
Priority: extra
Section: science
Architecture: any
-Depends: ${misc:Depends}, libstage3, libstageplugin1, robot-player
+Depends: ${misc:Depends}, libstage3, stage-player-plugin, robot-player
Description: Robot simulation for Player
Player/Stage is a framework for controlling,
accessing and simulating robots and sensors.
Modified: packages/debian/stage/debian/rules
===================================================================
--- packages/debian/stage/debian/rules 2010-11-27 23:58:23 UTC (rev 8983)
+++ packages/debian/stage/debian/rules 2010-11-28 17:45:54 UTC (rev 8984)
@@ -3,3 +3,6 @@
include /usr/share/cdbs/1/rules/debhelper.mk
include /usr/share/cdbs/1/class/cmake.mk
+# Also if libs installed to lib64 move them to lib so dhshlibs can find them
+common-install-impl::
+ test ! -d $(DEB_DESTDIR)usr/lib64 || mv $(DEB_DESTDIR)usr/lib64
$(DEB_DESTDIR)usr/lib
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