[Personalrobots-commit] SF.net SVN: personalrobots: [50] pkg/trunk

[<mor...@us...>]

Revision: 50
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=50&view=rev
Author:   morgan_quigley
Date:     2008-03-27 16:52:34 -0700 (Thu, 27 Mar 2008)

Log Message:
-----------
range flows package. copying over from my personal svn. this will need to eventually get absorbed into the common_flows package and a range_utils package (for tests, visualization, etc.)

Added Paths:
-----------
    pkg/trunk/range_flows/
    pkg/trunk/range_flows/build.yaml
    pkg/trunk/range_flows/flows/
    pkg/trunk/range_flows/flows/RangeScan.flow
    pkg/trunk/range_flows/manifest.xml
    pkg/trunk/range_flows/nodes/
    pkg/trunk/range_flows/nodes/test_send_recv
    pkg/trunk/range_flows/rosbuild
    pkg/trunk/range_flows/src/
    pkg/trunk/range_flows/src/test/
    pkg/trunk/range_flows/src/test/range_receiver/
    pkg/trunk/range_flows/src/test/range_receiver/Makefile
    pkg/trunk/range_flows/src/test/range_receiver/range_receiver.cpp
    pkg/trunk/range_flows/src/test/range_sender/
    pkg/trunk/range_flows/src/test/range_sender/Makefile
    pkg/trunk/range_flows/src/test/range_sender/range_sender.cpp

Added: pkg/trunk/range_flows/build.yaml
===================================================================
--- pkg/trunk/range_flows/build.yaml	                        (rev 0)
+++ pkg/trunk/range_flows/build.yaml	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,4 @@
+cpp:
+  make:
+    - src/test/range_sender
+    - src/test/range_receiver

Added: pkg/trunk/range_flows/flows/RangeScan.flow
===================================================================
--- pkg/trunk/range_flows/flows/RangeScan.flow	                        (rev 0)
+++ pkg/trunk/range_flows/flows/RangeScan.flow	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,5 @@
+int32 frame_id
+float32 start_angle
+float32 angle_increment
+float32[] scan
+

Added: pkg/trunk/range_flows/manifest.xml
===================================================================
--- pkg/trunk/range_flows/manifest.xml	                        (rev 0)
+++ pkg/trunk/range_flows/manifest.xml	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,10 @@
+<package>
+  <description brief="Flows carrying ranges">
+    This package contains serialization/deserialization for range scans. 
+  </description>
+  <author>Morgan Quigley (email: mqu...@cs...)</author>
+  <license>BSD</license>
+  <url>http://stair.stanford.edu</url>
+  <depend package="roscpp"/>
+</package>
+

Added: pkg/trunk/range_flows/nodes/test_send_recv
===================================================================
--- pkg/trunk/range_flows/nodes/test_send_recv	                        (rev 0)
+++ pkg/trunk/range_flows/nodes/test_send_recv	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,12 @@
+#!/usr/bin/env ruby
+(puts "aaaaaa no ROS_ROOT"; exit) if !ENV['ROS_ROOT']
+require "#{`#{ENV['ROS_ROOT']}/rospack latest yamlgraph`}/lib/yamlgraph/ygl.rb"
+g = YAMLGraph.new
+g.param 'range_sender.freq', '1000.0'
+
+g.param 'ros_launch_args', ["/usr/bin/xterm", "-T", "%(node_name)s", "-e", "bash", "-c", "valgrind %(rospack)s run %(pkg)s %(node_type)s; bash"]
+
+g.node 'range_flows/range_sender'
+g.node 'range_flows/range_receiver'
+g.flow 'range_sender.scan', 'range_receiver.scan'
+YAMLGraphLauncher.new.launch g


Property changes on: pkg/trunk/range_flows/nodes/test_send_recv
___________________________________________________________________
Name: svn:executable
   + *

Added: pkg/trunk/range_flows/rosbuild
===================================================================
--- pkg/trunk/range_flows/rosbuild	                        (rev 0)
+++ pkg/trunk/range_flows/rosbuild	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,2 @@
+#!/usr/bin/env ruby
+exec("#{`#{ENV['ROS_ROOT']}/rospack find rostools`}/scripts/yamlbuild", 'build.yaml', *ARGV)


Property changes on: pkg/trunk/range_flows/rosbuild
___________________________________________________________________
Name: svn:executable
   + *

Added: pkg/trunk/range_flows/src/test/range_receiver/Makefile
===================================================================
--- pkg/trunk/range_flows/src/test/range_receiver/Makefile	                        (rev 0)
+++ pkg/trunk/range_flows/src/test/range_receiver/Makefile	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,4 @@
+SRC = range_receiver.cpp
+OUT = ../../../nodes/range_receiver
+PKG = range_flows
+include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk

Added: pkg/trunk/range_flows/src/test/range_receiver/range_receiver.cpp
===================================================================
--- pkg/trunk/range_flows/src/test/range_receiver/range_receiver.cpp	                        (rev 0)
+++ pkg/trunk/range_flows/src/test/range_receiver/range_receiver.cpp	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,37 @@
+#include <sstream>
+#include "ros/ros_slave.h"
+#include "range_flows/FlowRangeScan.h"
+
+class RangeReceiver : public ROS_Slave
+{
+public:
+  FlowRangeScan *my_scan;
+  double freq;
+
+  RangeReceiver() : ROS_Slave(), freq(1)
+  {
+    register_sink(my_scan = new FlowRangeScan("scan"), ROS_CALLBACK(RangeReceiver, range_cb));
+    printf("params:\n");
+    print_param_names();
+    printf("EO talker params\n");
+    bool b = get_double_param("freq", &freq);
+    printf("b = %d freq = %f\n", b, freq);
+  }
+  virtual ~RangeReceiver() { }
+  void range_cb()
+  {
+    printf("count = %d secs = %d nsecs = %d\n", my_scan->publish_count, my_scan->get_stamp_secs(), my_scan->get_stamp_nsecs());
+    /*
+    for (int i = 0; i < my_scan->get_scan_size(); i++)
+      printf("range %d = %f\n", i, my_scan->scan[i]);
+    */
+  }
+};
+
+int main(int argc, char **argv)
+{
+  RangeReceiver rr;
+  printf("entering receiver spin loop\n");
+  rr.spin();
+  return 0;
+}

Added: pkg/trunk/range_flows/src/test/range_sender/Makefile
===================================================================
--- pkg/trunk/range_flows/src/test/range_sender/Makefile	                        (rev 0)
+++ pkg/trunk/range_flows/src/test/range_sender/Makefile	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,4 @@
+SRC = range_sender.cpp
+OUT = ../../../nodes/range_sender
+PKG = range_flows
+include $(shell $(ROS_ROOT)/rospack find roscpp)/make_include/node.mk

Added: pkg/trunk/range_flows/src/test/range_sender/range_sender.cpp
===================================================================
--- pkg/trunk/range_flows/src/test/range_sender/range_sender.cpp	                        (rev 0)
+++ pkg/trunk/range_flows/src/test/range_sender/range_sender.cpp	2008-03-27 23:52:34 UTC (rev 50)
@@ -0,0 +1,43 @@
+#include <sstream>
+#include "ros/ros_slave.h"
+#include "range_flows/FlowRangeScan.h"
+
+class RangeSender : public ROS_Slave
+{
+public:
+  FlowRangeScan *my_scan;
+  double freq;
+
+  RangeSender() : ROS_Slave(), freq(1)
+  {
+    register_source(my_scan = new FlowRangeScan("scan"));
+    my_scan->set_scan_size(10);
+    printf("TALKER params:\n");
+    print_param_names();
+    printf("EO talker params\n");
+    bool b = get_double_param(".freq", &freq);
+    printf("b = %d freq = %f\n", b, freq);
+  }
+  virtual ~RangeSender() { }
+  void send_scan()
+  {
+    for (int i = 0; i < my_scan->get_scan_size(); i++)
+      my_scan->scan[i] = rand() % 100;
+    my_scan->publish();
+  }
+};
+
+int main(int argc, char **argv)
+{
+  RangeSender rs;
+  printf("entering talker spin loop\n");
+  int sleep_usecs = (int)(1000000.0 / rs.freq);
+  printf("sleep usecs = %d\n", sleep_usecs);
+  while (rs.happy())
+  {
+    usleep(sleep_usecs);
+    rs.send_scan();
+  }
+  printf("rangesender says GOODNIGHT\n");
+  return 0;
+}


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