Revision: 9087
http://playerstage.svn.sourceforge.net/playerstage/?rev=9087&view=rev
Author: jpgr87
Date: 2012-01-01 03:47:04 +0000 (Sun, 01 Jan 2012)
Log Message:
-----------
Documentation cleanup, added configuration requests up to mixed folder
Modified Paths:
--------------
code/player/trunk/server/drivers/camera/kinect/kinectdriver.cc
code/player/trunk/server/drivers/fiducial/laserbar.cc
code/player/trunk/server/drivers/fiducial/laserbarcode.cc
code/player/trunk/server/drivers/fiducial/laserfeature.cc
code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
code/player/trunk/server/drivers/fiducial/laservisualbw.cc
code/player/trunk/server/drivers/imu/RazorIMU.cc
code/player/trunk/server/drivers/imu/nimuplayer.cpp
code/player/trunk/server/drivers/imu/xsens/XSensMT.cc
code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
code/player/trunk/server/drivers/laser/pbs_driver.cc
code/player/trunk/server/drivers/laser/sicklms200.cc
code/player/trunk/server/drivers/laser/sicklms400.cc
code/player/trunk/server/drivers/laser/sicks3000.cc
code/player/trunk/server/drivers/localization/amcl/amcl.cc
code/player/trunk/server/drivers/localization/fakelocalize.cc
code/player/trunk/server/drivers/map/gridmap.cc
code/player/trunk/server/drivers/map/mapfile.cc
code/player/trunk/server/drivers/map/maptransform.cc
code/player/trunk/server/drivers/mixed/erratic/erratic.cc
code/player/trunk/server/drivers/mixed/khepera/khepera.cc
code/player/trunk/server/drivers/mixed/mbase/mbasedriver.cc
code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
code/player/trunk/server/drivers/opaque/flexiport.cc
code/player/trunk/server/drivers/opaque/serialstream.cc
code/player/trunk/server/drivers/opaque/tcpstream.cc
code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.cc
code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.h
code/player/trunk/server/drivers/shell/postlog.cc
Modified: code/player/trunk/server/drivers/camera/kinect/kinectdriver.cc
===================================================================
--- code/player/trunk/server/drivers/camera/kinect/kinectdriver.cc
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/camera/kinect/kinectdriver.cc
2012-01-01 03:47:04 UTC (rev 9087)
@@ -58,6 +58,9 @@
@par Configuration file options
+- See @ref Properties
+
+@par Properties
- heatmap (bool)
- Default: false
- When set to false, the Depth image is published as a greyscale image
Modified: code/player/trunk/server/drivers/fiducial/laserbar.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laserbar.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/fiducial/laserbar.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -275,6 +275,9 @@
int LaserBar::ProcessMessage(QueuePointer &resp_queue, player_msghdr *hdr,
void *data)
{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_GET_GEOM);
+
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN, this->laser_addr))
{
Modified: code/player/trunk/server/drivers/fiducial/laserbarcode.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laserbarcode.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/fiducial/laserbarcode.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -276,6 +276,8 @@
int LaserBarcode::ProcessMessage (QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
assert(hdr);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_GET_GEOM);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
laser_id))
{
Modified: code/player/trunk/server/drivers/fiducial/laserfeature.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laserfeature.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/fiducial/laserfeature.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -710,6 +710,8 @@
// Handle all incoming messages
int LaserFeature::ProcessMessage (QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_GET_GEOM);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_FIDUCIAL_REQ_GET_GEOM, this->fiducial_id))
{
player_fiducial_geom_t geom;
Modified: code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
2012-01-01 03:47:04 UTC (rev 9087)
@@ -410,6 +410,8 @@
int LaserVisualBarcode::ProcessMessage (QueuePointer &resp_queue,
player_msghdr * hdr, void * data)
{
assert(hdr);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_GET_GEOM);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
laser_id))
{
Modified: code/player/trunk/server/drivers/fiducial/laservisualbw.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laservisualbw.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/fiducial/laservisualbw.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -392,6 +392,8 @@
int LaserVisualBW::ProcessMessage (QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
assert(hdr);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_FIDUCIAL_REQ_GET_GEOM);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
laser_id))
{
Modified: code/player/trunk/server/drivers/imu/RazorIMU.cc
===================================================================
--- code/player/trunk/server/drivers/imu/RazorIMU.cc 2012-01-01 02:19:17 UTC
(rev 9086)
+++ code/player/trunk/server/drivers/imu/RazorIMU.cc 2012-01-01 03:47:04 UTC
(rev 9087)
@@ -326,6 +326,10 @@
player_msghdr *hdr, void *data) {
assert(hdr);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_IMU_REQ_SET_DATATYPE);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_IMU_REQ_RESET_EULER);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_IMU_REQ_RESET_ORIENTATION);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_IMU_REQ_SET_DATATYPE, device_addr)) {
Modified: code/player/trunk/server/drivers/imu/nimuplayer.cpp
===================================================================
--- code/player/trunk/server/drivers/imu/nimuplayer.cpp 2012-01-01 02:19:17 UTC
(rev 9086)
+++ code/player/trunk/server/drivers/imu/nimuplayer.cpp 2012-01-01 03:47:04 UTC
(rev 9087)
@@ -241,7 +241,8 @@
void * data)
{
assert (hdr);
-
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_IMU_REQ_SET_DATATYPE);
return -1;
}
Modified: code/player/trunk/server/drivers/imu/xsens/XSensMT.cc
===================================================================
--- code/player/trunk/server/drivers/imu/xsens/XSensMT.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/imu/xsens/XSensMT.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -406,7 +406,10 @@
void * data)
{
assert (hdr);
-
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_IMU_REQ_SET_DATATYPE);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_IMU_REQ_RESET_ORIENTATION);
+
// this holds possible error messages returned by mtcomm.writeMessage
int err;
Modified: code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
2012-01-01 03:47:04 UTC (rev 9087)
@@ -330,7 +330,12 @@
player_msghdr * hdr,
void * data)
{
- if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_CONFIG);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_SET_CONFIG);
+
+ if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LASER_REQ_GET_GEOM,
this->device_addr))
{
Modified: code/player/trunk/server/drivers/laser/pbs_driver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/pbs_driver.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/laser/pbs_driver.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -290,6 +290,8 @@
//! If you handle the message successfully, return 0. Otherwise,
//! return -1, and a NACK will be sent for you, if a response is required.
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM);
// If request for range data has been received
if (Message::MatchMessage (hdr,PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN,
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms200.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -649,6 +649,11 @@
player_msghdr * hdr,
void * data)
{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_CONFIG);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_SET_CONFIG);
+
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LASER_REQ_SET_CONFIG,
this->device_addr))
Modified: code/player/trunk/server/drivers/laser/sicklms400.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms400.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/laser/sicklms400.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -387,6 +387,13 @@
{
assert (hdr);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_CONFIG);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_SET_CONFIG);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_ID);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_SET_FILTER);
+
// ---[ Get geometry
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LASER_REQ_GET_GEOM, device_addr))
Modified: code/player/trunk/server/drivers/laser/sicks3000.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicks3000.cc 2012-01-01 02:19:17 UTC
(rev 9086)
+++ code/player/trunk/server/drivers/laser/sicks3000.cc 2012-01-01 03:47:04 UTC
(rev 9087)
@@ -337,6 +337,11 @@
void * data)
{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_CONFIG);
+
+
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_OPAQUE_DATA_STATE, opaque_id))
{
player_opaque_data_t * recv = reinterpret_cast<player_opaque_data_t * >
(data);
Modified: code/player/trunk/server/drivers/localization/amcl/amcl.cc
===================================================================
--- code/player/trunk/server/drivers/localization/amcl/amcl.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/localization/amcl/amcl.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -132,7 +132,9 @@
@par Configuration requests
-- TODO
+- PLAYER_LOCALIZE_REQ_SET_POSE
+- PLAYER_LOCALIZE_REQ_GET_PARTICLES
+- PLAYER_POSITION2D_REQ_GET_GEOM
@par Configuration file options
@@ -1089,6 +1091,13 @@
player_msghdr * hdr,
void * data)
{
+ HANDLE_CAPABILITY_REQUEST (localize_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (localize_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LOCALIZE_REQ_GET_PARTICLES);
+ HANDLE_CAPABILITY_REQUEST (localize_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LOCALIZE_REQ_SET_POSE);
+
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_GET_GEOM);
+
player_localize_set_pose_t* setposereq;
// Is it a request to set the filter's pose?
Modified: code/player/trunk/server/drivers/localization/fakelocalize.cc
===================================================================
--- code/player/trunk/server/drivers/localization/fakelocalize.cc
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/localization/fakelocalize.cc
2012-01-01 03:47:04 UTC (rev 9087)
@@ -57,6 +57,7 @@
@par Configuration requests
- PLAYER_LOCALIZE_REQ_SET_POSE : acknowledged, but ignored
+- PLAYER_LOCALIZE_REQ_GET_PARTICLES
@par Configuration file options
@@ -345,6 +346,11 @@
player_msghdr * hdr,
void * data)
{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LOCALIZE_REQ_SET_POSE);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LOCALIZE_REQ_GET_PARTICLES);
+
+
// Is it a request to set the filter's pose?
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LOCALIZE_REQ_SET_POSE, this->localize_addr))
{
Modified: code/player/trunk/server/drivers/map/gridmap.cc
===================================================================
--- code/player/trunk/server/drivers/map/gridmap.cc 2012-01-01 02:19:17 UTC
(rev 9086)
+++ code/player/trunk/server/drivers/map/gridmap.cc 2012-01-01 03:47:04 UTC
(rev 9087)
@@ -34,8 +34,9 @@
/** @{ */
/** @defgroup driver_mapping gridmap
* @brief Provides a map using sonars
-Mapping Driver plugin
+Mapping driver plugin
+
This driver is a very simple start to
have the robot mapping its own environment.
It works with an occupancy grid map, using
@@ -47,8 +48,8 @@
- @ref interface_sonar : source of sonar data
@par Configuration requests
-provides ["map:0"]
-requires ["position2d:0" "sonar:0"]
+- PLAYER_MAP_REQ_GET_INFO
+- PLAYER_MAP_REQ_GET_DATA
@par Configuration file options
- width (integer)
@@ -505,7 +506,11 @@
int gridmap::ProcessMessage(QueuePointer & resp_queue,
player_msghdr * hdr,
void * data)
-{ //puts("gridmap processing messages..");
+{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_INFO);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA);
+ //puts("gridmap processing messages..");
// Handle new data from the sonar
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA, PLAYER_SONAR_DATA_RANGES,
this->sonar_addr))
Modified: code/player/trunk/server/drivers/map/mapfile.cc
===================================================================
--- code/player/trunk/server/drivers/map/mapfile.cc 2012-01-01 02:19:17 UTC
(rev 9086)
+++ code/player/trunk/server/drivers/map/mapfile.cc 2012-01-01 03:47:04 UTC
(rev 9087)
@@ -286,6 +286,9 @@
player_msghdr * hdr,
void * data)
{
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_INFO);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA);
// Is it a request for map meta-data?
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_INFO,
this->device_addr))
Modified: code/player/trunk/server/drivers/map/maptransform.cc
===================================================================
--- code/player/trunk/server/drivers/map/maptransform.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/map/maptransform.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -200,6 +200,9 @@
assert(hdr);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_INFO);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_INFO,
device_addr))
{
PLAYER_MSG0(9,"ProcessMessage called for MapTransform Driver:
PLAYER_MAP_REQ_GET_INFO");
Modified: code/player/trunk/server/drivers/mixed/erratic/erratic.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/erratic/erratic.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/mixed/erratic/erratic.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -1,36 +1,36 @@
// -*- mode:C++; tab-width:2; c-basic-offset:2; indent-tabs-mode:1; -*-
-/**
- * Copyright (C) 2006
- * Videre Design
- * Copyright (C) 2000
- * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
- *
- * Videre Erratic robot driver for Player
- *
- * 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
-**/
+/*
+ * Copyright (C) 2006
+ * Videre Design
+ * Copyright (C) 2000
+ * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
+ *
+ * Videre Erratic robot driver for Player
+ *
+ * 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
+ */
-/**
- * This driver is adapted from the p2os driver of player 1.6.
-**/
+/*
+ * This driver is adapted from the p2os driver of player 1.6.
+ */
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_erratic erratic
- * @brief Erratic
+ * @brief Erratic platform driver
This driver talks to the embedded computer in the Erratic robot, which
mediates communication to the devices of the robot.
Modified: code/player/trunk/server/drivers/mixed/khepera/khepera.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/khepera/khepera.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/mixed/khepera/khepera.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -28,7 +28,7 @@
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_khepera khepera
- * @brief K-Team Khepera mobile robot
+ * @brief K-Team %Khepera mobile robot
The khepera driver is used to interface to the K-Team khepera robot.
Modified: code/player/trunk/server/drivers/mixed/mbase/mbasedriver.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/mbase/mbasedriver.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/mixed/mbase/mbasedriver.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -1,43 +1,43 @@
// -*- mode:C++; tab-width:2; c-basic-offset:2; indent-tabs-mode:1; -*-
-/**
- * Copyright (C) 2010
- * Ana Teresa Hernández Malagón <anat.hernand...@gmail.com>
- * Movirobotics <athernan...@movirobotics.com>
- * Copyright (C) 2006
- * Videre Design
- * Copyright (C) 2000
- * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
- *
- * Videre mbasedriver robot driver for Player
- *
- * 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
-**/
+/*
+ * Copyright (C) 2010
+ * Ana Teresa Hernández Malagón <anat.hernand...@gmail.com>
+ * Movirobotics <athernan...@movirobotics.com>
+ * Copyright (C) 2006
+ * Videre Design
+ * Copyright (C) 2000
+ * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
+ *
+ * Videre mbasedriver robot driver for Player
+ *
+ * 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
+ */
-/**
- * This driver is adapted from the p2os driver of player 1.6.
-**/
+/*
+ * This driver is adapted from the p2os driver of player 1.6.
+ */
-/**
+/*
Movirobotic's mBase robot driver for Player 3.0.1 based on erratic
driver developed by Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew
Howard. Developed by Ana Teresa Herández Malagón.
-**/
+*/
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_mbasedriver mbasedriver
- * @brief mbasedriver
+ * @brief mbase platform driver
This driver talks to the embedded computer in the mBase robot, which
mediates communication to the devices of the robot.
Modified: code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
===================================================================
--- code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
2012-01-01 03:47:04 UTC (rev 9087)
@@ -72,9 +72,9 @@
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_mricp MRICP
- * @brief Map Reference ICP
+ * @brief %Map Reference ICP
-This is a Map Reference ICP plugin Driver for real time Map building and
+This is a %Map Reference ICP plugin Driver for real time %Map building and
Localization using Iterative Closest Point laser scan matching and
odom correction. Currently The driver is in stable release stage, more
modifications
might be added later on.
Modified: code/player/trunk/server/drivers/opaque/flexiport.cc
===================================================================
--- code/player/trunk/server/drivers/opaque/flexiport.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/opaque/flexiport.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -20,10 +20,11 @@
*
*/
-/** @ingroup drivers Drivers */
+/** @ingroup drivers */
/** @{ */
-/*
- *
+/** @defgroup driver_flexiport flexiport
+ * @brief Flexiport multi-port driver
+
The flexiport driver provides access to a data communications device (such as
a serial port or a TCP
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.
@@ -34,7 +35,7 @@
@par Provides
- - @ref opaque
+ - @ref interface_opaque
@par Requires
Modified: code/player/trunk/server/drivers/opaque/serialstream.cc
===================================================================
--- code/player/trunk/server/drivers/opaque/serialstream.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/opaque/serialstream.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -20,10 +20,11 @@
*
*/
-/** @ingroup drivers Drivers */
+/** @ingroup drivers*/
/** @{ */
-/*
- *
+/** @defgroup driver_serialstream serialstream
+ * @brief Serial streaming driver
+
The serialstream driver reads form a serial port continuously and publishes
the data.
Currently this is usable with the SickS3000 driver and the Nav200 driver. This
driver does
no interpretation of data output, merely reading it and publishing it, or, if
it is sent a
@@ -35,7 +36,7 @@
@par Provides
-- @ref opaque
+- @ref interface_opaque
@par Requires
@@ -43,8 +44,7 @@
@par Configuration requests
-- PLAYER_LASER_REQ_GET_GEOM
-- PLAYER_LASER_REQ_GET_CONFIG
+- none
@par Configuration file options
Modified: code/player/trunk/server/drivers/opaque/tcpstream.cc
===================================================================
--- code/player/trunk/server/drivers/opaque/tcpstream.cc 2012-01-01
02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/opaque/tcpstream.cc 2012-01-01
03:47:04 UTC (rev 9087)
@@ -18,10 +18,11 @@
*
*/
-/** @ingroup drivers Drivers */
+/** @ingroup drivers*/
/** @{ */
-/*
- *
+/** @defgroup driver_tcpstream tcpstream
+ * @brief TCP streaming driver
+
The tcpstream driver is based on the serialstream driver. It reads from a
socket
continuously and publishes the data. Currently this is usable with the
SickS3000 driver
and the Nav200 driver. This driver does no interpretation of data output,
merely reading
@@ -34,7 +35,7 @@
@par Provides
-- @ref opaque
+- @ref interface_opaque
@par Requires
@@ -42,8 +43,7 @@
@par Configuration requests
-- PLAYER_LASER_REQ_GET_GEOM
-- PLAYER_LASER_REQ_GET_CONFIG
+- none
@par Configuration file options
Modified: code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.cc
===================================================================
--- code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.cc
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.cc
2012-01-01 03:47:04 UTC (rev 9087)
@@ -27,7 +27,7 @@
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_segwayrmp400 segwayrmp400
- * @brief SegwayRMP400 Mobile Robot
+ * @brief Segway RMP 400 Mobile Robot
%Device driver for the Segway RMP 400, subscribes to two "segwayrmp" drivers
Modified: code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.h
===================================================================
--- code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.h
2012-01-01 02:19:17 UTC (rev 9086)
+++ code/player/trunk/server/drivers/position/segwayrmp400/segwayrmp400.h
2012-01-01 03:47:04 UTC (rev 9087)
@@ -39,68 +39,68 @@
#include <libplayercore/playercore.h>
-/// SegwayRMP400 Position Driver
+// SegwayRMP400 Position Driver
class SegwayRMP400 : public ThreadedDriver
{
public:
- /// Standard Constructor
+ // Standard Constructor
SegwayRMP400(ConfigFile* cf, int section);
- /// Initialize (Player Standard)
+ // Initialize (Player Standard)
virtual int MainSetup();
- /// Shutdown (Player Standard)
+ // Shutdown (Player Standard)
virtual void MainQuit();
private:
// Devices
- Device* segwayrmp2d[2]; ///< child segwayrmp200
devices for 2d subsrciption
- Device* segwayrmp3d[2]; ///< child segwayrmp200
devices for 3d subsrciption
+ Device* segwayrmp2d[2]; // child segwayrmp200
devices for 2d subsrciption
+ Device* segwayrmp3d[2]; // child segwayrmp200
devices for 3d subsrciption
// Device Addresses
- player_devaddr_t segwayrmp2d_id[2]; ///< 2d Position
Interface Address (Output)
- player_devaddr_t segwayrmp3d_id[2]; ///< 3d Position
Interface Address (Output)
+ player_devaddr_t segwayrmp2d_id[2]; // 2d Position
Interface Address (Output)
+ player_devaddr_t segwayrmp3d_id[2]; // 3d Position
Interface Address (Output)
- player_devaddr_t position3d_id; ///< 3d Position
Interface Address (Input)
- player_devaddr_t position2d_id; ///< 2d Position
Interface Address (Input)
+ player_devaddr_t position3d_id; // 3d Position
Interface Address (Input)
+ player_devaddr_t position2d_id; // 2d Position
Interface Address (Input)
// Device Data Structures
- player_position2d_data_t rmp2d_data[2]; ///< Incoming data from
child segwayrmp200 devices 2d
- player_position3d_data_t rmp3d_data[2]; ///< Incoming data from
child segwayrmp200 devices 3d
+ player_position2d_data_t rmp2d_data[2]; // Incoming data from
child segwayrmp200 devices 2d
+ player_position3d_data_t rmp3d_data[2]; // Incoming data from
child segwayrmp200 devices 3d
- player_position2d_data_t position2d_data; ///< Output data for
parent segwayrmp400 device 2d
- player_position2d_cmd_vel_t position2d_cmd; ///< Output cmd for
parent segwayrmp400 device 2d
+ player_position2d_data_t position2d_data; // Output data for
parent segwayrmp400 device 2d
+ player_position2d_cmd_vel_t position2d_cmd; // Output cmd for
parent segwayrmp400 device 2d
- player_position3d_data_t position3d_data; ///< Output data for
parent segwayrmp400 device 3d
- player_position3d_cmd_vel_t position3d_cmd; ///< Output cmd for
parent segwayrmp400 device 3d
+ player_position3d_data_t position3d_data; // Output data for
parent segwayrmp400 device 3d
+ player_position3d_cmd_vel_t position3d_cmd; // Output cmd for
parent segwayrmp400 device 3d
// Flags
- bool provide_2d; ///< Provide 2d
interface Flag
- bool provide_3d; ///< Provide 3d
interface Flag
+ bool provide_2d; // Provide 2d interface
Flag
+ bool provide_3d; // Provide 3d interface
Flag
int counter;
- /// Main
+ // Main
void Main();
- /// Process message function (Player Standard)
+ // Process message function (Player Standard)
int ProcessMessage(QueuePointer &resp_queue, player_msghdr_t* hdr,
void* data);
- /// Packages position data and publishes
+ // Packages position data and publishes
void ProcessData();
- /// Internal method to handle position 3D commands
+ // Internal method to handle position 3D commands
int HandlePosition3DCmd(player_position3d_cmd_vel_t* cmd);
- /// Internal method to handle position 2D commands
+ // Internal method to handle position 2D commands
int HandlePosition2DCmd(player_position2d_cmd_vel_t* cmd);
- /// Flags for new data
+ // Flags for new data
bool newfront3d, newback3d, newfront2d, newback2d;
- /// Flag for full speed data reporting.
+ // Flag for full speed data reporting.
bool fullspeed;
};
Modified: code/player/trunk/server/drivers/shell/postlog.cc
===================================================================
--- code/player/trunk/server/drivers/shell/postlog.cc 2012-01-01 02:19:17 UTC
(rev 9086)
+++ code/player/trunk/server/drivers/shell/postlog.cc 2012-01-01 03:47:04 UTC
(rev 9087)
@@ -28,7 +28,7 @@
/** @ingroup drivers */
/** @{ */
/** @defgroup driver_postlog postlog
- * @brief Driver for storing log data into PostgreSQL database
+ * @brief %Driver for storing log data into PostgreSQL database
The postlog driver is for storing log data into given tables of given
PostgreSQL
database.
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