[Personalrobots-commit] SF.net SVN: personalrobots:[2914] pkg/trunk

[<stu...@us...>]

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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