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[Playerstage-commit] code/player/client_libs/libplayerc++ rangerproxy.cc, NONE, 1.1 Makefile.am, 1.45, 1.46 playerc++.h, 1.86, 1.87
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From: Toby C. <th...@us...> - 2007-05-19 17:30:22
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Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++ In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv22655/client_libs/libplayerc++ Modified Files: Makefile.am playerc++.h Added Files: rangerproxy.cc Log Message: added geoffs ranger interface --- NEW FILE: rangerproxy.cc --- /* * Player - One Hell of a Robot Server * Copyright (C) 2000-2003 * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard * * * 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 * */ #if HAVE_CONFIG_H #include "config.h" #endif #include "playerc++.h" using namespace PlayerCc; RangerProxy::RangerProxy(PlayerClient *aPc, uint aIndex) : ClientProxy(aPc, aIndex), mDevice(NULL) { Subscribe(aIndex); mInfo = &(mDevice->info); } RangerProxy::~RangerProxy() { Unsubscribe(); } void RangerProxy::Subscribe(uint aIndex) { scoped_lock_t lock(mPc->mMutex); mDevice = playerc_ranger_create(mClient, aIndex); if (mDevice == NULL) throw PlayerError("RangerProxy::RangerProxy()", "could not create"); if (playerc_ranger_subscribe(mDevice, PLAYER_OPEN_MODE) != 0) throw PlayerError("RangerProxy::RangerProxy()", "could not subscribe"); } void RangerProxy::Unsubscribe() { assert(mDevice != NULL); scoped_lock_t lock(mPc->mMutex); playerc_ranger_unsubscribe(mDevice); playerc_ranger_destroy(mDevice); mDevice = NULL; } player_pose3d_t RangerProxy::GetSensorPose(uint aIndex) const { if (aIndex > mDevice->sensor_count) throw PlayerError("RangerProxy::GetSensorPose", "index out of bounds"); return GetVar(mDevice->sensor_poses[aIndex]); } player_bbox3d_t RangerProxy::GetSensorSize(uint aIndex) const { if (aIndex > mDevice->sensor_count) throw PlayerError("RangerProxy::GetSensorSize", "index out of bounds"); return GetVar(mDevice->sensor_sizes[aIndex]); } double RangerProxy::GetRange(uint aIndex) const { if (aIndex > mDevice->ranges_count) throw PlayerError("RangerProxy::GetRange", "index out of bounds"); return GetVar(mDevice->ranges[aIndex]); } double RangerProxy::GetIntensity(uint aIndex) const { if (aIndex > mDevice->intensities_count) throw PlayerError("RangerProxy::GetIntensity", "index out of bounds"); return GetVar(mDevice->intensities[aIndex]); } void RangerProxy::SetPower(bool aEnable) { scoped_lock_t lock(mPc->mMutex); if (playerc_ranger_power_config(mDevice, aEnable ? 1 : 0) != 0) throw PlayerError("RangerProxy::SetPower()", "error setting power"); } void RangerProxy::SetIntensityData(bool aEnable) { scoped_lock_t lock(mPc->mMutex); if (playerc_ranger_intns_config(mDevice, aEnable ? 1 : 0) != 0) throw PlayerError("RangerProxy::SetIntensityData()", "error setting power"); } void RangerProxy::RequestGeom() { scoped_lock_t lock(mPc->mMutex); if (playerc_ranger_get_geom(mDevice) != 0) throw PlayerError("RangerProxy::RequestGeom()", "error requesting geometry"); } std::ostream& std::operator << (std::ostream &os, const PlayerCc::RangerProxy &c) { player_pose3d_t pose; player_bbox3d_t size; os << "#Ranger (" << c.GetInterface() << ":" << c.GetIndex() << ")" << std::endl; pose = c.GetDevicePose (); os << "Device pose: (" << pose.px << ", " << pose.py << ", " << pose.pz << "), (" << pose.proll << ", " << pose.ppitch << ", " << pose.pyaw << ")" << endl; size = c.GetDeviceSize (); os << "Device size: (" << size.sw << ", " << size.sl << ", " << size.sh << ")" << endl; if (c.GetSensorCount() > 0) { os << c.GetSensorCount() << " sensors:" << endl; for (uint ii = 0; ii < c.GetSensorCount(); ii++) { pose = c.GetSensorPose(ii); size = c.GetSensorSize(ii); os << " Pose: (" << pose.px << ", " << pose.py << ", " << pose.pz << "), (" << pose.proll << ", " << pose.ppitch << ", " << pose.pyaw << ")" << "\tSize: (" << size.sw << ", " << size.sl << ", " << size.sh << ")" << endl; } } if (c.GetRangeCount() > 0) { os << c.GetRangeCount() << " range readings:" << endl << " ["; uint ii; for (ii = 0; ii < c.GetRangeCount() - 1; ii++) os << c.GetRange(ii) << ", "; os << c.GetRange(ii) << "]" << endl; } if (c.GetIntensityCount() > 0) { os << c.GetIntensityCount() << " intensity readings:" << endl << " ["; uint ii; for (ii = 0; ii < c.GetIntensityCount() - 1; ii++) os << c.GetIntensity(ii) << ", "; os << c.GetIntensity(ii) << "]" << endl; } return os; } Index: Makefile.am =================================================================== RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc++/Makefile.am,v retrieving revision 1.45 retrieving revision 1.46 diff -C2 -d -r1.45 -r1.46 *** Makefile.am 14 Mar 2007 16:41:51 -0000 1.45 --- Makefile.am 20 May 2007 00:30:14 -0000 1.46 *************** *** 57,60 **** --- 57,61 ---- powerproxy.cc \ ptzproxy.cc \ + rangerproxy.cc \ rfidproxy.cc \ simulationproxy.cc \ Index: playerc++.h =================================================================== RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v retrieving revision 1.86 retrieving revision 1.87 diff -C2 -d -r1.86 -r1.87 *** playerc++.h 30 Apr 2007 23:52:12 -0000 1.86 --- playerc++.h 20 May 2007 00:30:14 -0000 1.87 *************** *** 2132,2135 **** --- 2132,2190 ---- /** + The @p RangerProxy class is used to control a @ref interface_ranger device. */ + class RangerProxy : public ClientProxy + { + private: + + void Subscribe(uint aIndex); + void Unsubscribe(); + + // libplayerc data structure + playerc_ranger_t *mDevice; + + public: + /// constructor + RangerProxy(PlayerClient *aPc, uint aIndex=0); + /// destructor + ~RangerProxy(); + + /// Return the individual range sensor count + uint GetSensorCount() const { return GetVar(mDevice->sensor_count); }; + + /// Return the device pose + player_pose3d_t GetDevicePose() const { return GetVar(mDevice->device_pose); }; + /// Return the device size + player_bbox3d_t GetDeviceSize() const { return GetVar(mDevice->device_size); }; + + /// Return the pose of an individual sensor + player_pose3d_t GetSensorPose(uint aIndex) const; + /// Return the size of an individual sensor + player_bbox3d_t GetSensorSize(uint aIndex) const; + + /// Return the number of range readings + uint GetRangeCount() const { return GetVar(mDevice->ranges_count); }; + /// Get a range reading + double GetRange(uint aIndex) const; + /// Operator to get a range reading + double operator[] (uint aIndex) const { return GetRange(aIndex); } + + /// Return the number of intensity readings + uint GetIntensityCount() const { return GetVar(mDevice->intensities_count); } ; + /// Get an intensity reading + double GetIntensity(uint aIndex) const; + + /// Turn the device power on or off. + /// Set @p state to true to enable, false to disable. + void SetPower(bool aEnable); + + /// Turn intensity data on or off. + /// Set @p state to true to enable, false to disable. + void SetIntensityData(bool aEnable); + + /// Request the ranger geometry. + void RequestGeom(); + }; + + /** The @p RFIDProxy class is used to control a @ref interface_rfid device. */ class RFIDProxy : public ClientProxy *************** *** 2509,2512 **** --- 2564,2568 ---- std::ostream& operator << (std::ostream& os, const PlayerCc::PowerProxy& c); std::ostream& operator << (std::ostream& os, const PlayerCc::PtzProxy& c); + std::ostream& operator << (std::ostream &os, const PlayerCc::RangerProxy &c); std::ostream& operator << (std::ostream& os, const PlayerCc::SimulationProxy& c); std::ostream& operator << (std::ostream& os, const PlayerCc::SonarProxy& c); |