Revision: 9071
http://playerstage.svn.sourceforge.net/playerstage/?rev=9071&view=rev
Author: gbiggs
Date: 2011-08-11 01:31:19 +0000 (Thu, 11 Aug 2011)
Log Message:
-----------
Updated Flexiport and HokuyoAIST drivers to use new libraries
Modified Paths:
--------------
code/player/trunk/server/drivers/opaque/CMakeLists.txt
code/player/trunk/server/drivers/opaque/flexiport.cc
code/player/trunk/server/drivers/ranger/CMakeLists.txt
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/opaque/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/opaque/CMakeLists.txt 2011-08-11
01:26:59 UTC (rev 9070)
+++ code/player/trunk/server/drivers/opaque/CMakeLists.txt 2011-08-11
01:31:19 UTC (rev 9071)
@@ -1,6 +1,6 @@
PLAYERDRIVER_OPTION (flexiport build_flexiport ON)
PLAYERDRIVER_REQUIRE_PKG (flexiport build_flexiport flexiport
flexiport_includeDirs
- flexiport_libDirs flexiport_linkLibs flexiport_linkFlags flexiport_cFlags
=1.0.0)
+ flexiport_libDirs flexiport_linkLibs flexiport_linkFlags flexiport_cFlags
=2.0.0)
PLAYERDRIVER_ADD_DRIVER (flexiport build_flexiport
INCLUDEDIRS ${flexiport_includeDirs} LIBDIRS ${flexiport_libDirs}
LINKLIBS ${flexiport_linkLibs} LINKFLAGS ${flexiport_linkFlags} CFLAGS
${flexiport_cFlags}
Modified: code/player/trunk/server/drivers/opaque/flexiport.cc
===================================================================
--- code/player/trunk/server/drivers/opaque/flexiport.cc 2011-08-11
01:26:59 UTC (rev 9070)
+++ code/player/trunk/server/drivers/opaque/flexiport.cc 2011-08-11
01:31:19 UTC (rev 9071)
@@ -25,12 +25,12 @@
/*
*
The flexiport driver provides access to a data communications device (such as
a serial port or a TCP
-network port) via the Gearbox flexiport library. Any data received over this
device is published,
+network port) via the Flexiport library. Any data received over this device is
published,
and any writes to this driver are written to the device. It does not process
the data in any way.
@par Compile-time dependencies
- - flexiport (from Gearbox, see http://gearbox.sourceforge.net)
+ - Flexiport 2.0 (from Github, see https://github.com/gbiggs/flexiport)
@par Provides
Modified: code/player/trunk/server/drivers/ranger/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/ranger/CMakeLists.txt 2011-08-11
01:26:59 UTC (rev 9070)
+++ code/player/trunk/server/drivers/ranger/CMakeLists.txt 2011-08-11
01:31:19 UTC (rev 9071)
@@ -7,14 +7,14 @@
LINKLIBS ${gbxsickacfr_linkLibs} LINKFLAGS ${gbxsickacfr_linkFlags}
CFLAGS ${gbxsickacfr_cFlags} SOURCES gbxsickacfr.cc)
-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 =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}
- CFLAGS ${hokuyo_aist_cFlags} SOURCES hokuyo_aist.cc)
+PLAYERDRIVER_OPTION (hokuyoaist build_hokuyoaist ON)
+PLAYERDRIVER_REQUIRE_PKG (hokuyoaist build_hokuyoaist hokuyoaist
+ hokuyoaist_includeDirs hokuyoaist_libDirs hokuyoaist_linkLibs
+ hokuyoaist_linkFlags hokuyoaist_cFlags =3.0.0)
+PLAYERDRIVER_ADD_DRIVER (hokuyoaist build_hokuyoaist
+ INCLUDEDIRS ${hokuyoaist_includeDirs} LIBDIRS ${hokuyoaist_libDirs}
+ LINKLIBS ${hokuyoaist_linkLibs} LINKFLAGS ${hokuyoaist_linkFlags}
+ CFLAGS ${hokuyoaist_cFlags} SOURCES hokuyo_aist.cc)
PLAYERDRIVER_OPTION (lasertoranger build_lasertoranger ON)
PLAYERDRIVER_ADD_DRIVER (lasertoranger build_lasertoranger SOURCES toranger.cc
lasertoranger.cc)
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2011-08-11
01:26:59 UTC (rev 9070)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2011-08-11
01:31:19 UTC (rev 9071)
@@ -17,7 +17,7 @@
*/
/*
- Desc: Wrapper driver around the Gearbox hokuyo_aist library (see
http://gearbox.sourceforge.net)
+ Desc: Wrapper driver around the HokuyoAIST library (see
https://github.com/gbiggs/hokuyoaist)
Author: Geoffrey Biggs
Date: 20 June 2008
CVS: $Id$
@@ -25,17 +25,17 @@
/** @ingroup drivers */
/** @{ */
-/** @defgroup driver_hokuyo_aist hokuyo_aist
- * @brief Gearbox hokuyo_aist Hokuyo laser scanner driver library
+/** @defgroup driver_hokuyoaist hokuyoaist
+ * @brief HokuyoAIST Hokuyo laser scanner driver library
- This driver provides a @ref interface_ranger interface to the hokuyo_aist
Hokuyo laser scanner
- driver provided by Gearbox. Communication with the laser is via the Gearbox
Flexiport library. The
+ This driver provides a @ref interface_ranger interface to the HokuyoAIST
Hokuyo laser scanner
+ driver. Communication with the laser is via the Flexiport library. The
driver supports the SCIP protocol versions 1 and 2.
@par Compile-time dependencies
- - Gearbox library hokuyo_aist
- - Gearbox library flexiport
+ - HokuyoAIST 3.0
+ - Flexiport 2.0
@par Provides
@@ -95,12 +95,12 @@
- baud_rate (integer)
- Default: 19200bps
- - Change the baud rate of the connection to the laser. See hokuyo_aist
documentation for valid
+ - Change the baud rate of the connection to the laser. See HokuyoAIST
documentation for valid
values. This is separate from the scanner's power-on default baud rate,
which should be
specified in portopts.
- speed_level (integer, 0 to 10 or 99)
- Default: 0
- - The speed at which the laser operates, as a level down from maximum
speed. See the hokuyo_aist
+ - The speed at which the laser operates, as a level down from maximum
speed. See the HokuyoAIST
library documentation for suitable values.
- high_sensitivity (integer)
- Default: 0
@@ -119,7 +119,7 @@
@verbatim
driver
(
- name "hokuyo_aist"
+ name "hokuyoaist"
provides ["ranger:0"]
portopts "type=serial,device=/dev/ttyS0,timeout=1"
)
@@ -132,7 +132,7 @@
#include <string>
-#include <hokuyo_aist/hokuyo_aist.h>
+#include <hokuyoaist/hokuyoaist.h>
#include <libplayercore/playercore.h>
const int DEFAULT_BAUDRATE = 19200;
@@ -175,9 +175,9 @@
player_pose3d_t sensorPose_;
player_bbox3d_t sensorSize_;
// The hardware device itself
- hokuyo_aist::Sensor device_;
+ hokuyoaist::Sensor device_;
// Data storage
- hokuyo_aist::ScanData data_;
+ hokuyoaist::ScanData data_;
double *_ranges;
double *_intensities;
int _numRanges;
@@ -257,7 +257,7 @@
device_.angle_to_step(minAngle_) + 1;
if ((_ranges = new double[_numRanges]) == NULL)
{
- PLAYER_ERROR1("hokuyo_aist: Failed to allocate space for %d range
readings.",
+ PLAYER_ERROR1("HokuyoAIST: Failed to allocate space for %d range
readings.",
_numRanges);
return false;
}
@@ -266,7 +266,7 @@
{
if ((_intensities = new double[_numRanges]) == NULL)
{
- PLAYER_ERROR1("hokuyo_aist: Failed to allocate space for %d
intensity readings.",
+ PLAYER_ERROR1("HokuyoAIST: Failed to allocate space for %d
intensity readings.",
_numRanges);
return false;
}
@@ -304,7 +304,7 @@
PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS);
// Property handlers that need to be done manually due to calling into the
- // hokuyo_aist library.
+ // HokuyoAIST library.
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_SET_INTPROP_REQ,
this->device_addr))
{
@@ -318,17 +318,17 @@
// Change the baud rate
device_.set_baud(req->value);
}
- catch(hokuyo_aist::NotSerialError)
+ catch(hokuyoaist::NotSerialError)
{
PLAYER_WARN(
- "hokuyo_aist: Cannot change the baud rate of a non-serial
connection.");
+ "HokuyoAIST: 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)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_ERROR1("hokuyo_aist: Error while changing baud rate:
%s",
+ PLAYER_ERROR1("HokuyoAIST: Error while changing baud rate: %s",
e.what());
SetError(-1);
@@ -347,9 +347,9 @@
{
device_.set_motor_speed(req->value);
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_ERROR1("hokuyo_aist: Error while changing motor speed:
%s",
+ PLAYER_ERROR1("HokuyoAIST: Error while changing motor speed:
%s",
e.what());
SetError(-1);
Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
@@ -367,10 +367,10 @@
{
device_.set_high_sensitivity(req->value != 0);
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
PLAYER_ERROR1(
- "hokuyo_aist: Error while changing sensitivity: %s",
+ "HokuyoAIST: Error while changing sensitivity: %s",
e.what());
SetError(-1);
Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
@@ -397,9 +397,9 @@
else
device_.set_power(false);
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_ERROR1("hokuyo_aist: Error while setting power state: %s",
+ PLAYER_ERROR1("HokuyoAIST: Error while setting power state: %s",
e.what());
SetError(-1);
Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
@@ -420,7 +420,7 @@
if ((_intensities = new double[_numRanges]) == NULL)
{
PLAYER_ERROR1(
- "hokuyo_aist: Failed to allocate space for %d intensity
readings.",
+ "HokuyoAIST: 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);
@@ -449,7 +449,7 @@
PLAYER_RANGER_REQ_GET_CONFIG, device_addr))
{
player_ranger_config_t rangerConfig;
- hokuyo_aist::SensorInfo info;
+ hokuyoaist::SensorInfo info;
device_.get_sensor_info(info);
if (!invert_)
@@ -493,7 +493,7 @@
if (!AllocateDataSpace())
{
PLAYER_ERROR(
- "hokuyo_aist: Failed to allocate space for storing range
data.");
+ "HokuyoAIST: 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;
@@ -501,23 +501,23 @@
try
{
- hokuyo_aist::SensorInfo info;
+ hokuyoaist::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_);
+ PLAYER_WARN1("HokuyoAIST: 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_);
+ PLAYER_WARN1("HokuyoAIST: Adjusted max_angle to %lf",
maxAngle_);
}
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
PLAYER_ERROR1(
- "hokuyo_aist: Library error while changing settings: %s",
+ "HokuyoAIST: Library error while changing settings: %s",
e.what());
SetError(-1);
Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK,
@@ -550,9 +550,9 @@
GlobalTime->GetTimeDouble(&time2);
time1 = (time1 + time2) / 2.0;
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_ERROR1("hokuyo_aist: Failed to read scan: %s", e.what());
+ PLAYER_ERROR1("HokuyoAIST: Failed to read scan: %s", e.what());
SetError(-1);
return false;
}
@@ -633,9 +633,9 @@
GlobalTime->GetTimeDouble(&time2);
time1 = (time1 + time2) / 2.0;
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_ERROR1("hokuyo_aist: Failed to read scan: %s", e.what());
+ PLAYER_ERROR1("HokuyoAIST: Failed to read scan: %s", e.what());
SetError(-1);
return false;
}
@@ -696,17 +696,17 @@
// Open the laser
device_.open_with_probing(portOpts_);
// Get the sensor information and check minAngle_ and maxAngle_ are OK
- hokuyo_aist::SensorInfo info;
+ hokuyoaist::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_);
+ PLAYER_WARN1("HokuyoAIST: 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_);
+ PLAYER_WARN1("HokuyoAIST: Adjusted max_angle to %lf", maxAngle_);
}
if (!AllocateDataSpace())
return -1;
@@ -715,14 +715,14 @@
{
device_.set_baud(baudRate_.GetValue());
}
- catch(hokuyo_aist::NotSerialError)
+ catch(hokuyoaist::NotSerialError)
{
PLAYER_WARN(
- "hokuyo_aist: Cannot change the baud rate of a non-serial
connection.");
+ "HokuyoAIST: Cannot change the baud rate of a non-serial
connection.");
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_WARN1("hokuyo_aist: Error while changing baud rate: %s",
+ PLAYER_WARN1("HokuyoAIST: Error while changing baud rate: %s",
e.what());
}
try
@@ -730,9 +730,9 @@
// Catch any errors here as this is an optional setting not
supported by all models
device_.set_motor_speed(speedLevel_.GetValue());
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_WARN1("hokuyo_aist: Unable to set motor speed: %s",
+ PLAYER_WARN1("HokuyoAIST: Unable to set motor speed: %s",
e.what());
}
try
@@ -740,9 +740,9 @@
// Optional setting
device_.set_high_sensitivity(highSensitivity_.GetValue() != 0);
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_WARN1("hokuyo_aist: Unable to set sensitivity: %s",
+ PLAYER_WARN1("HokuyoAIST: Unable to set sensitivity: %s",
e.what());
}
if (hwTimeStamps_.GetValue()) {
@@ -753,9 +753,9 @@
device_.set_power(true);
}
- catch(hokuyo_aist::BaseError &e)
+ catch(hokuyoaist::BaseError &e)
{
- PLAYER_ERROR1("hokuyo_aist: Failed to setup laser driver: %s",
+ PLAYER_ERROR1("HokuyoAIST: Failed to setup laser driver: %s",
e.what());
SetError(-1);
return -1;
@@ -783,7 +783,7 @@
return reinterpret_cast <Driver*> (new HokuyoDriver(cf, section));
}
-void hokuyo_aist_Register(DriverTable* table)
+void hokuyoaist_Register(DriverTable* table)
{
- table->AddDriver("hokuyo_aist", HokuyoDriver_Init);
+ table->AddDriver("hokuyoaist", HokuyoDriver_Init);
}
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