Re: [Playerstage-users] Custom plugin driver, position1d and position2d interface

[Gonzalo F. P. P. <gfp...@gm...>]

Thanks you very much Rich,
I will try what you say

2010/5/3 Rich Mattes <jp...@gm...>

>  Check the documentation for the ConfigFile class [1].  The last argument
> in the ReadDeviceAddr method is the “key” value.  You can substitute “left”
> and “right” for NULL in your position1d ReadDeviceAddr calls, and change the
> index back to -1.
>
>
>
> As far as publishing, it’s a good idea to initialize the data structure to
> 0s if you don’t intend to fill every field.  Otherwise, your calls look ok,
> you can look at the Driver class’s documentation for more info on the
> Publish commands [2].
>
>
>
> Rich
>
>
>
> [1]:
> http://playerstage.sourceforge.net/doc/Player-cvs/player/classConfigFile.html
>
> [2]:
> http://playerstage.sourceforge.net/doc/Player-cvs/player/classDriver.html
>
>
>
> *From:* Gonzalo Fernando Perez Paina [mailto:gfp...@gm...]
> *Sent:* Monday, May 03, 2010 1:55 PM
> *To:* pla...@li...
> *Subject:* [Playerstage-users] Custom plugin driver, position1d and
> position2d interface
>
>
>
> Hi all,
> I am doing a custom plugin driver for our robot (romaa). The robot have the
> posibility to send speed command in linear and angular speed mode, and in
> wheel speed mode to control each wheel independently. So, I would like to do
> a driver for both modes.
>
>
>
> First I did a driver with the position2d interface to command the robot
> with linear and angular speed, and it work well.  The interface is obtained
> from the .cfg file as follow
>
> if ( cf->ReadDeviceAddr( &position2d_addr, section, "provides",
>             PLAYER_POSITION2D_CODE, -1, NULL) == 0 )
> {
>     if ( this->AddInterface( position2d_addr ) != 0 )
>     {
>         PLAYER_ERROR( "Error adding position2d interface" );
>         this->SetError(-1);
>         return;
>     }
> }
> with the index=-1 so it look for any index.
>
> Next, I did a driver to send wheel speed command using two position1d
> interfaces. In the class constructor the two position1d interface are
> obtained from the .cfg file, as follow
>
>   if ( cf->ReadDeviceAddr( &position1d_addr1, section, "provides",
>         PLAYER_POSITION1D_CODE, 0, NULL) == 0 )
>   {
>     if ( this->AddInterface( position1d_addr1 ) != 0 )
>     {
>       PLAYER_ERROR( "Error adding position1d interface" );
>       this->SetError(-1);
>       return;
>     }
>   }
>   if ( cf->ReadDeviceAddr( &position1d_addr2, section, "provides",
>         PLAYER_POSITION1D_CODE, 1, NULL) == 0 )
>   {
>     if ( this->AddInterface( position1d_addr2 ) != 0 )
>     {
>       PLAYER_ERROR( "Error adding position1d interface" );
>       this->SetError(-1);
>       return;
>     }
>   }
> one with an index=0 and the other with index=1.
>
> And last, I did another driver trying to mix this both. Using one
> position2d interface and two position1d interfaces. But it did not work.
> It only work if I change the indexes of the two position1d interfaces to 1
> and 2 (in the above code section), and in .cfg file, so the provided
> parameter is
>
>
>
> provides [ "position2d:0"
>                   "position1d:1"
>
>                   "position1d:2" ]
>
> How would be the right way to get working these tree interfaces (one
> position2d and two position1d) in the same driver?? I do not know how to use
> the "key" field of the devide address. What is the better way to do this?
> Any help would be appreciate
>
> And, another quiestion is related to the way the position1d data are
> publishes in the Main method, I use the following
>
>   PLAYER_MSG0( 3, "read wheel speed..." );
>   if( romaa_comms->get_wheel_linear_
>
> speed( v1, v2 ) == -1 )
>   {
>     PLAYER_ERROR( "read odometry" );
>   }
>   else
>   {
>     position1d_data1.vel = v1;
>     position1d_data2.vel = v2;
>   }
>   Publish( position1d_addr1,
>       PLAYER_MSGTYPE_DATA, PLAYER_POSITION1D_DATA_STATE,
>       (void*)&position1d_data1, sizeof( player_position1d_data_t ), NULL );
>
>   Publish( position1d_addr2,
>       PLAYER_MSGTYPE_DATA, PLAYER_POSITION1D_DATA_STATE,
>       (void*)&position1d_data2, sizeof( player_position1d_data_t ), NULL );
>
> is this ok??
>
> If with these section code is unclear, I can send the source files.
>
> Thanks in advance
>
>
>
> --
> Gonzalo F. Perez Paina
> Centro de Investigación en Informática para la Ingeniería, CIII.
> Universidad Tecnológica Nacional. Facultad Regional Córdoba.
> Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA
> gp...@sc...
>
>
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>
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> Pla...@li...
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>
>


-- 
Gonzalo F. Perez Paina
Centro de Investigación en Informática para la Ingeniería, CIII.
Universidad Tecnológica Nacional. Facultad Regional Córdoba.
Maestro M. López esq. Cruz Roja Argentina. CP X5016ZAA
gp...@sc...