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From: <stu...@us...> - 2008-08-11 21:32:11
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Revision: 2914
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=2914&view=rev
Author: stuglaser
Date: 2008-08-11 21:32:13 +0000 (Mon, 11 Aug 2008)
Log Message:
-----------
MechanismControlNode's update function gets called now.
Modified Paths:
--------------
pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp
pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
Modified: pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp
===================================================================
--- pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp 2008-08-11 21:32:09 UTC (rev 2913)
+++ pkg/trunk/drivers/simulator/gazebo_plugin/src/gazebo_actuators.cpp 2008-08-11 21:32:13 UTC (rev 2914)
@@ -155,7 +155,8 @@
// Runs Mechanism Control
//--------------------------------------------------
hw_.current_time_ = Simulator::Instance()->GetSimTime();
- mc_.update();
+ //mc_.update();
+ mcn_.update();
//--------------------------------------------------
// Takes in actuation commands
Modified: pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h
===================================================================
--- pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2008-08-11 21:32:09 UTC (rev 2913)
+++ pkg/trunk/mechanism/mechanism_control/include/mechanism_control/mechanism_control.h 2008-08-11 21:32:13 UTC (rev 2914)
@@ -70,13 +70,13 @@
bool spawnController(const std::string &type, const std::string &name, TiXmlElement *config);
mechanism::Robot model_;
+ HardwareInterface *hw_;
// TODO: deprecated. Replaced by ControllerFactory
void registerControllerType(const std::string& type, ControllerAllocator f);
private:
bool initialized_;
- HardwareInterface *hw_;
const static int MAX_NUM_CONTROLLERS = 100;
ros::thread::mutex controllers_mutex_;
@@ -93,6 +93,10 @@
MechanismControlNode(MechanismControl *mc);
virtual ~MechanismControlNode() {}
+ bool initXml(TiXmlElement *config);
+
+ void update(); // Must be realtime safe
+
bool listControllerTypes(mechanism_control::ListControllerTypes::request &req,
mechanism_control::ListControllerTypes::response &resp);
bool listControllers(mechanism_control::ListControllers::request &req,
Modified: pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp 2008-08-11 21:32:09 UTC (rev 2913)
+++ pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp 2008-08-11 21:32:13 UTC (rev 2914)
@@ -180,7 +180,16 @@
advertise_service("spawn_controller", &MechanismControlNode::spawnController);
}
+bool MechanismControlNode::initXml(TiXmlElement *config)
+{
+ return mc_->initXml(config);
+}
+void MechanismControlNode::update()
+{
+ mc_->update();
+}
+
bool MechanismControlNode::listControllerTypes(
mechanism_control::ListControllerTypes::request &req,
mechanism_control::ListControllerTypes::response &resp)
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