[Playerstage-commit] Cats skinned alive in Alabama
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[Playerstage-commit] Paris does it again
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[Playerstage-commit] SF.net SVN: playerstage:[6887] code/player/trunk/server/drivers/laser
Revision: 6887
http://playerstage.svn.sourceforge.net/playerstage/?rev=6887&view=rev
Author: gerkey
Date: 2008-07-18 17:42:14 + (Fri, 18 Jul 2008)
Log Message:
---
added config.h for linux/serial.h and modified build of sicklms200 to check it
Modified Paths:
--
code/player/trunk/server/drivers/laser/CMakeLists.txt
code/player/trunk/server/drivers/laser/sicklms200.cc
Added Paths:
---
code/player/trunk/server/drivers/laser/laser_config.h.in
Modified: code/player/trunk/server/drivers/laser/CMakeLists.txt
===
--- code/player/trunk/server/drivers/laser/CMakeLists.txt 2008-07-18
03:15:24 UTC (rev 6886)
+++ code/player/trunk/server/drivers/laser/CMakeLists.txt 2008-07-18
17:42:14 UTC (rev 6887)
@@ -1,3 +1,7 @@
+CHECK_INCLUDE_FILES (linux/serial.h HAVE_LINUX_SERIAL_H)
+CONFIGURE_FILE(${CMAKE_CURRENT_SOURCE_DIR}/laser_config.h.in
${CMAKE_CURRENT_BINARY_DIR}/laser_config.h)
+include_directories(${CMAKE_CURRENT_BINARY_DIR})
+
PLAYERDRIVER_OPTION (bumper2laser build_bumper2laser ON)
PLAYERDRIVER_ADD_DRIVER (bumper2laser build_bumper2laser SOURCES
bumper2laser.cc)
@@ -5,7 +9,7 @@
PLAYERDRIVER_ADD_DRIVER (pbslaser build_pbslaser SOURCES pbs_driver.cc)
PLAYERDRIVER_OPTION (sicklms200 build_sicklms200 ON)
-PLAYERDRIVER_REQUIRE_HEADER (sicklms200 build_sicklms200 linux/serial.h)
+#PLAYERDRIVER_REQUIRE_HEADER (sicklms200 build_sicklms200 linux/serial.h)
PLAYERDRIVER_ADD_DRIVER (sicklms200 build_sicklms200 SOURCES sicklms200.cc)
IF (HAVE_STL)
@@ -16,7 +20,7 @@
PLAYERDRIVER_ADD_DRIVER (sicklms400 build_sicklms400 SOURCES lms400_cola.cc
sicklms400.cc)
PLAYERDRIVER_OPTION (sicks3000 build_sicks3000 ON)
-PLAYERDRIVER_REQUIRE_HEADER (sicks3000 build_sicks3000 linux/serial.h)
+#PLAYERDRIVER_REQUIRE_HEADER (sicks3000 build_sicks3000 linux/serial.h)
PLAYERDRIVER_ADD_DRIVER (sicks3000 build_sicks3000 SOURCES sicks3000.cc)
PLAYERDRIVER_OPTION (laserposeinterpolator build_laserposeinterpolator ON)
Added: code/player/trunk/server/drivers/laser/laser_config.h.in
===
--- code/player/trunk/server/drivers/laser/laser_config.h.in
(rev 0)
+++ code/player/trunk/server/drivers/laser/laser_config.h.in2008-07-18
17:42:14 UTC (rev 6887)
@@ -0,0 +1 @@
+#cmakedefine HAVE_LINUX_SERIAL_H
Modified: code/player/trunk/server/drivers/laser/sicklms200.cc
===
--- code/player/trunk/server/drivers/laser/sicklms200.cc2008-07-18
03:15:24 UTC (rev 6886)
+++ code/player/trunk/server/drivers/laser/sicklms200.cc2008-07-18
17:42:14 UTC (rev 6887)
@@ -199,6 +199,9 @@
#include
#include
+// TODO: figure out why this can't be included without using the full path
+//#include
+#include <../drivers/laser/laser_config.h>
#undef HAVE_HI_SPEED_SERIAL
#ifdef HAVE_LINUX_SERIAL_H
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[Playerstage-commit] SF.net SVN: playerstage:[6888] code/stage/trunk
Revision: 6888
http://playerstage.svn.sourceforge.net/playerstage/?rev=6888&view=rev
Author: jeremy_asher
Date: 2008-07-18 18:18:17 + (Fri, 18 Jul 2008)
Log Message:
---
stage: applied gbiggs's patch to fix '[ 2021110 ] Stage 3 doesn't use
fltk-config output', several other build tweaks
Modified Paths:
--
code/stage/trunk/CMakeLists.txt
code/stage/trunk/examples/ctrl/CMakeLists.txt
code/stage/trunk/libstage/CMakeLists.txt
code/stage/trunk/worlds/benchmark/CMakeLists.txt
Modified: code/stage/trunk/CMakeLists.txt
===
--- code/stage/trunk/CMakeLists.txt 2008-07-18 17:42:14 UTC (rev 6887)
+++ code/stage/trunk/CMakeLists.txt 2008-07-18 18:18:17 UTC (rev 6888)
@@ -68,7 +68,7 @@
OUTPUT_VARIABLE FLTK_CFLAGS
OUTPUT_STRIP_TRAILING_WHITESPACE)
EXECUTE_PROCESS (COMMAND fltk-config --ldflags --use-gl --use-images
-OUTPUT_VARIABLE FLTK_LIBRARIES
+OUTPUT_VARIABLE FLTK_LDFLAGS
OUTPUT_STRIP_TRAILING_WHITESPACE)
MESSAGE (STATUS "Found FLTK")
SET (FLTK_FOUND TRUE)
@@ -89,9 +89,9 @@
include_directories( .
libstage
replace
- /opt/local/include/
-${GLIB_INCLUDE_DIRS}
- ${LIBPNG_INCLUDE_DIRS}
+/opt/local/include/
+${GLIB_INCLUDE_DIRS}
+${LIBPNG_INCLUDE_DIRS}
${CMAKE_INCLUDE_PATH}
)
@@ -99,7 +99,7 @@
# all targets need these library directories
link_directories(${GLIB_LIBRARY_DIRS}
${LIBPNG_LIBRARY_DIRS}
- ${OPENGL_LIBRARY_DIRS}
+ ${OPENGL_LIBRARY_DIRS}
)
# work through these subdirs
Modified: code/stage/trunk/examples/ctrl/CMakeLists.txt
===
--- code/stage/trunk/examples/ctrl/CMakeLists.txt 2008-07-18 17:42:14 UTC
(rev 6887)
+++ code/stage/trunk/examples/ctrl/CMakeLists.txt 2008-07-18 18:18:17 UTC
(rev 6888)
@@ -1,9 +1,9 @@
-SET( PLUGINS
- fasr
- lasernoise
- sink
- source
+SET( PLUGINS
+ fasr
+ lasernoise
+ sink
+ source
wander
)
Modified: code/stage/trunk/libstage/CMakeLists.txt
===
--- code/stage/trunk/libstage/CMakeLists.txt2008-07-18 17:42:14 UTC (rev
6887)
+++ code/stage/trunk/libstage/CMakeLists.txt2008-07-18 18:18:17 UTC (rev
6888)
@@ -1,46 +1,52 @@
-
-add_library(stage SHARED
- ancestor.cc
- block.cc
+set( stageSrcs ancestor.cc
+ block.cc
camera.cc
- canvas.cc
+ canvas.cc
file_manager.cc
file_manager.hh
- gl.cc
- glcolorstack.cc
- model.cc
+ gl.cc
+ glcolorstack.cc
+ model.cc
model_blinkenlight.cc
- model_blobfinder.cc
- model_callbacks.cc
- model_camera.cc
- model_fiducial.cc
- model_laser.cc
- model_load.cc
- model_position.cc
- model_props.cc
- model_ranger.cc
+ model_blobfinder.cc
+ model_callbacks.cc
+ model_camera.cc
+ model_fiducial.cc
+ model_laser.cc
+ model_load.cc
+ model_position.cc
+ model_props.cc
+ model_ranger.cc
option.cc
option.hh
options_dlg.cc
options_dlg.hh
resource.cc
- stage.cc
+ stage.cc
stage.hh
texture_manager.cc
- typetable.cc
- world.cc
- worldfile.cc
+ typetable.cc
+ world.cc
+ worldfile.cc
worldgui.cc
)
+add_library(stage SHARED ${stageSrcs})
+
target_link_libraries( stage
${GLIB_LIBRARIES}
${OPENGL_LIBRARIES}
- ${FLTK_LIBRARIES}
${APPLE_LIBRARIES}
ltdl
)
+# When linking stage, pass LDFLAGS from fltk-config
+# use quotes to prevent spaces being parsed as a list of properties
+set_target_properties( stage PROPERTIES LINK_FLAGS "${FLTK_LDFLAGS}" )
+
+# When compiling stageSrcs, pass CFLAGS from fltk-config
+set_source_files_properties( ${stageSrcs} PROPERTIES COMPILE_FLAGS
"${FLTK_CFLAGS}" )
+
# for the config.h
include_directories(${PROJECT_BINARY_DIR})
@@ -49,26 +55,27 @@
VERSION ${VERSION}
)
+set( stagebinarySrcs main.cc )
-add_executable( stagebinary main.cc )
+add_executable( stagebinary ${stagebinarySrcs} )
+# When compiling stagebinarySrcs, pass CFLAGS from fltk-config
+set_source_files_properties( ${stagebinarySrcs} PROPERTIES COMPILE_FLAGS
"${FLTK_CFLAGS}" )
+
set_target_properties( stagebinary PROPERTIES
- OUTPUT_NAME stage
+ OUTPUT_NAME stage
)
+target_link_libraries( stagebinary stage )
-set_target_properties( stageb
[Playerstage-commit] SF.net SVN: playerstage:[6889] code/stage/trunk/libstageplugin
Revision: 6889
http://playerstage.svn.sourceforge.net/playerstage/?rev=6889&view=rev
Author: jeremy_asher
Date: 2008-07-18 20:58:47 + (Fri, 18 Jul 2008)
Log Message:
---
libstageplugin: updates to testing framework, using CppUnit
Modified Paths:
--
code/stage/trunk/libstageplugin/CMakeLists.txt
code/stage/trunk/libstageplugin/test/CMakeLists.txt
code/stage/trunk/libstageplugin/test/lsp_test.cc
Added Paths:
---
code/stage/trunk/libstageplugin/test/lsp_test_laser.cc
code/stage/trunk/libstageplugin/test/lsp_test_laser.hh
Modified: code/stage/trunk/libstageplugin/CMakeLists.txt
===
--- code/stage/trunk/libstageplugin/CMakeLists.txt 2008-07-18 18:18:17 UTC
(rev 6888)
+++ code/stage/trunk/libstageplugin/CMakeLists.txt 2008-07-18 20:58:47 UTC
(rev 6889)
@@ -3,8 +3,7 @@
link_directories( ${PLAYER_LIBDIR} )
include_directories( ${PLAYER_INCLUDE_DIRS})
-add_library( stageplugin MODULE
-p_driver.h
+set( stagepluginSrcs p_driver.h
p_driver.cc
p_blobfinder.cc
p_simulation.cc
@@ -16,6 +15,8 @@
stg_time.cc
)
+add_library( stageplugin MODULE ${stagepluginSrcs} )
+
# p_graphics3d.cc
@@ -24,7 +25,7 @@
${PLAYER_LIBRARIES}
playerutils
${OPENGL_LIBRARIES}
-
+
)
IF (BUILD_LSPTEST)
Modified: code/stage/trunk/libstageplugin/test/CMakeLists.txt
===
--- code/stage/trunk/libstageplugin/test/CMakeLists.txt 2008-07-18 18:18:17 UTC
(rev 6888)
+++ code/stage/trunk/libstageplugin/test/CMakeLists.txt 2008-07-18 20:58:47 UTC
(rev 6889)
@@ -1,10 +1,24 @@
MESSAGE( STATUS "Building Player plugin tests" )
pkg_search_module( PLAYERC REQUIRED playerc )
+pkg_search_module( CPPUNIT REQUIRED cppunit )
+include_directories(
+ ${CPPUNIT_INCLUDE_PATH}
+)
+
+link_directories(
+ ${CPPUNIT_LIBRARY_DIRS}
+)
+
SET( lspTestSrcs
lsp_test.cc
+ lsp_test_laser.cc
+ lsp_test_laser.hh
)
add_executable( lsp_test ${lspTestSrcs} )
-target_link_libraries( lsp_test PLAYERC )
+target_link_libraries( lsp_test
+ ${PLAYERC_LIBRARIES}
+ ${CPPUNIT_LIBRARIES}
+)
Modified: code/stage/trunk/libstageplugin/test/lsp_test.cc
===
--- code/stage/trunk/libstageplugin/test/lsp_test.cc2008-07-18 18:18:17 UTC
(rev 6888)
+++ code/stage/trunk/libstageplugin/test/lsp_test.cc2008-07-18 20:58:47 UTC
(rev 6889)
@@ -1,42 +1,32 @@
-#include
+#include
+#include
+#include
+#include
+#include
+#include
-#include
-
-int main(int argc, const char **argv)
+int main( int argc, char* argv[] )
{
- int i;
- playerc_client_t *client;
- playerc_position2d_t *position2d;
- // Create a client and connect it to the server.
- client = playerc_client_create(NULL, "localhost", 6665);
- if (0 != playerc_client_connect(client))
- return -1;
+ // Create the event manager and test controller
+ CPPUNIT_NS::TestResult controller;
- // Create and subscribe to a position2d device.
- position2d = playerc_position2d_create(client, 0);
- if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
- return -1;
+ // Add a listener that colllects test result
+ CPPUNIT_NS::TestResultCollector result;
+ controller.addListener( &result );
- // Make the robot spin!
- if (0 != playerc_position2d_set_cmd_vel(position2d, 0, 0, DTOR(40.0),
1))
- return -1;
+ // Add a listener that print dots as test run.
+ CPPUNIT_NS::BriefTestProgressListener progress;
+ controller.addListener( &progress );
- for (i = 0; i < 200; i++)
- {
- // Wait for new data from server
- playerc_client_read(client);
-
- // Print current robot pose
- printf("position2d : %f %f %f\n",
- position2d->px, position2d->py, position2d->pa);
- }
+ // Add the top suite to the test runner
+ CPPUNIT_NS::TestRunner runner;
+ runner.addTest(
CPPUNIT_NS::TestFactoryRegistry::getRegistry().makeTest() );
+ runner.run( controller );
- // Shutdown
- playerc_position2d_unsubscribe(position2d);
- playerc_position2d_destroy(position2d);
- playerc_client_disconnect(client);
- playerc_client_destroy(client);
+ // Print test in a compiler compatible format.
+ CPPUNIT_NS::CompilerOutputter outputter( &result, CPPUNIT_NS::stdCOut()
);
+ outputter.write();
- return 0;
+ return result.wasSuccessful() ? 0 : 1;
}
Added: code/stage/trunk/libs
[Playerstage-commit] SF.net SVN: playerstage:[6890] code/stage/trunk/libstageplugin/test
Revision: 6890
http://playerstage.svn.sourceforge.net/playerstage/?rev=6890&view=rev
Author: jeremy_asher
Date: 2008-07-18 23:57:33 + (Fri, 18 Jul 2008)
Log Message:
---
libstageproxy: updated test suites
Modified Paths:
--
code/stage/trunk/libstageplugin/test/CMakeLists.txt
code/stage/trunk/libstageplugin/test/lsp_test_laser.cc
code/stage/trunk/libstageplugin/test/lsp_test_laser.hh
Added Paths:
---
code/stage/trunk/libstageplugin/test/lsp_test_proxy.cc
code/stage/trunk/libstageplugin/test/lsp_test_proxy.hh
code/stage/trunk/libstageplugin/test/lsp_test_speech.cc
code/stage/trunk/libstageplugin/test/lsp_test_speech.hh
Modified: code/stage/trunk/libstageplugin/test/CMakeLists.txt
===
--- code/stage/trunk/libstageplugin/test/CMakeLists.txt 2008-07-18 20:58:47 UTC
(rev 6889)
+++ code/stage/trunk/libstageplugin/test/CMakeLists.txt 2008-07-18 23:57:33 UTC
(rev 6890)
@@ -13,8 +13,12 @@
SET( lspTestSrcs
lsp_test.cc
+ lsp_test_proxy.cc
+ lsp_test_proxy.hh
lsp_test_laser.cc
lsp_test_laser.hh
+ lsp_test_speech.cc
+ lsp_test_speech.hh
)
add_executable( lsp_test ${lspTestSrcs} )
Modified: code/stage/trunk/libstageplugin/test/lsp_test_laser.cc
===
--- code/stage/trunk/libstageplugin/test/lsp_test_laser.cc 2008-07-18
20:58:47 UTC (rev 6889)
+++ code/stage/trunk/libstageplugin/test/lsp_test_laser.cc 2008-07-18
23:57:33 UTC (rev 6890)
@@ -1,28 +1,21 @@
#include "lsp_test_laser.hh"
+using namespace lspTest;
-
-void LSPLaserTest::setUp() {
- client = playerc_client_create( NULL, "localhost", 6665 );
-
-// int connectError = playerc_client_connect( client );
- CPPUNIT_ASSERT( playerc_client_connect( client ) == 0 );
-
+void Laser::setUp() {
+ connect();
laserProxy = playerc_laser_create( client, 0 );
-
CPPUNIT_ASSERT( playerc_laser_subscribe( laserProxy, PLAYER_OPEN_MODE )
== 0 );
}
-void LSPLaserTest::tearDown() {
+void Laser::tearDown() {
CPPUNIT_ASSERT( playerc_laser_unsubscribe( laserProxy ) == 0 );
playerc_laser_destroy( laserProxy );
-
- CPPUNIT_ASSERT( playerc_client_disconnect( client ) == 0 );
- playerc_client_destroy( client );
+ disconnect();
}
-void LSPLaserTest::testConfig() {
+void Laser::testConfig() {
const double DELTA = 0.01;
double min = -M_PI/2;
@@ -38,14 +31,14 @@
unsigned char intensity2 = 1;
CPPUNIT_ASSERT( playerc_laser_get_config( laserProxy, &min2, &max2,
&res2, &range_res2, &intensity2, &freq2 ) == 0 );
- CPPUNIT_ASSERT_DOUBLES_EQUAL( min2, min, DELTA );
- CPPUNIT_ASSERT_DOUBLES_EQUAL( max2, max, DELTA );
- CPPUNIT_ASSERT_DOUBLES_EQUAL( res2, res, DELTA );
- CPPUNIT_ASSERT_DOUBLES_EQUAL( range_res2, range_res, DELTA );
- CPPUNIT_ASSERT_DOUBLES_EQUAL( freq2, freq, DELTA );
- CPPUNIT_ASSERT( intensity == intensity2 );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "min scan angle", min, min2,
DELTA );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "max scan angle", max, max2,
DELTA );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "angular resolution", res, res2,
DELTA );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "range resolution", range_res,
range_res2, DELTA );
+ CPPUNIT_ASSERT_DOUBLES_EQUAL_MESSAGE( "scan freq", freq, freq2, DELTA );
+ CPPUNIT_ASSERT_EQUAL_MESSAGE( "intensity", intensity, intensity2 );
}
-void LSPLaserTest::testData() {
+void Laser::testData() {
}
\ No newline at end of file
Modified: code/stage/trunk/libstageplugin/test/lsp_test_laser.hh
===
--- code/stage/trunk/libstageplugin/test/lsp_test_laser.hh 2008-07-18
20:58:47 UTC (rev 6889)
+++ code/stage/trunk/libstageplugin/test/lsp_test_laser.hh 2008-07-18
23:57:33 UTC (rev 6890)
@@ -4,25 +4,28 @@
#include
#include
-class LSPLaserTest : public CPPUNIT_NS::TestFixture
-{
- CPPUNIT_TEST_SUITE( LSPLaserTest );
- CPPUNIT_TEST( testConfig );
- CPPUNIT_TEST( testData );
- CPPUNIT_TEST_SUITE_END();
+#include "lsp_test_proxy.hh"
+
+namespace lspTest {
+ class Laser : public Proxy
+ {
+ CPPUNIT_TEST_SUITE( Laser );
+ CPPUNIT_TEST( testConfig );
+ CPPUNIT_TEST( testData );
+ CPPUNIT_TEST_SUITE_END();
+
+ protected:
+ playerc_laser_t* laserProxy;
+
+ void testConfig();
+ void testData();
+
+ public:
+ void setUp();
+ void tearDown();
+ };
+};
-protected:
- playerc_laser_t* laserProxy;
- playerc_client_t* client;
-
