[Personalrobots-commit] SF.net SVN: personalrobots:[4639] pkg/trunk

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

Revision: 4639
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=4639&view=rev
Author:   stuglaser
Date:     2008-09-24 17:09:03 +0000 (Wed, 24 Sep 2008)

Log Message:
-----------
More controllers now come down cleanly.

Modified Paths:
--------------
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_effort_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_blind_calibration_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
    pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_effort_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_blind_calibration_controller.cpp
    pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
    pkg/trunk/util/misc_utils/include/misc_utils/advertised_service_guard.h

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_effort_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_effort_controller.h	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/cartesian_effort_controller.h	2008-09-24 17:09:03 UTC (rev 4639)
@@ -47,6 +47,7 @@
 #include "robot_mechanism_controllers/SetVectorCommand.h"
 #include "mechanism_model/controller.h"
 #include "LinearMath/btVector3.h"
+#include "misc_utils/advertised_service_guard.h"
 
 namespace controller {
 
@@ -80,6 +81,7 @@
 
 private:
   CartesianEffortController c_;
+  AdvertisedServiceGuard guard_set_actual_;
 };
 
 }

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_blind_calibration_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_blind_calibration_controller.h	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_blind_calibration_controller.h	2008-09-24 17:09:03 UTC (rev 4639)
@@ -56,7 +56,9 @@
 /***************************************************/
 
 
-#include "joint_manual_calibration_controller.h"
+#include "mechanism_model/controller.h"
+#include "robot_mechanism_controllers/joint_velocity_controller.h"
+#include "misc_utils/advertised_service_guard.h"
 
 // Services
 #include <robot_mechanism_controllers/CalibrateJoint.h>
@@ -147,6 +149,7 @@
 
 private:
   JointBlindCalibrationController *c_;
+  AdvertisedServiceGuard guard_calibrate_;
 };
 }
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/controllers/robot_mechanism_controllers/include/robot_mechanism_controllers/joint_effort_controller.h	2008-09-24 17:09:03 UTC (rev 4639)
@@ -51,6 +51,7 @@
 
 #include <ros/node.h>
 #include <mechanism_model/controller.h>
+#include "misc_utils/advertised_service_guard.h"
 
 // Services
 #include <robot_mechanism_controllers/SetCommand.h>
@@ -150,6 +151,7 @@
 
 private:
   JointEffortController *c_;
+  AdvertisedServiceGuard guard_set_command_, guard_get_actual_;
 };
 }
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_effort_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_effort_controller.cpp	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/cartesian_effort_controller.cpp	2008-09-24 17:09:03 UTC (rev 4639)
@@ -39,7 +39,9 @@
 ROS_REGISTER_CONTROLLER(CartesianEffortController)
 
 CartesianEffortController::CartesianEffortController()
-: command_(0,0,0), links_(0,(mechanism::LinkState*)NULL), joints_(0,(mechanism::JointState*)NULL)
+: command_(0,0,0),
+  links_(0,(mechanism::LinkState*)NULL),
+  joints_(0,(mechanism::JointState*)NULL)
 {
 }
 
@@ -195,6 +197,7 @@
 
   node->advertise_service(topic + "/set_command",
                           &CartesianEffortControllerNode::setCommand, this);
+  guard_set_actual_.set(topic + "/set_command");
   return true;
 }
 

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_blind_calibration_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_blind_calibration_controller.cpp	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_blind_calibration_controller.cpp	2008-09-24 17:09:03 UTC (rev 4639)
@@ -225,5 +225,6 @@
     return false;
 
   node->advertise_service(topic + "/calibrate", &JointBlindCalibrationControllerNode::calibrateCommand, this);
+  guard_calibrate_.set(topic + "/calibrate");
   return true;
 }

Modified: pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp
===================================================================
--- pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/controllers/robot_mechanism_controllers/src/joint_effort_controller.cpp	2008-09-24 17:09:03 UTC (rev 4639)
@@ -151,7 +151,9 @@
   if (!c_->initXml(robot, config))
     return false;
   node->advertise_service(topic + "/set_command", &JointEffortControllerNode::setCommand, this);
+  guard_set_command_.set(topic + "/set_command");
   node->advertise_service(topic + "/get_actual", &JointEffortControllerNode::getActual, this);
+  guard_get_actual_.set(topic + "/get_actual");
   return true;
 }
 

Modified: pkg/trunk/util/misc_utils/include/misc_utils/advertised_service_guard.h
===================================================================
--- pkg/trunk/util/misc_utils/include/misc_utils/advertised_service_guard.h	2008-09-24 17:08:31 UTC (rev 4638)
+++ pkg/trunk/util/misc_utils/include/misc_utils/advertised_service_guard.h	2008-09-24 17:09:03 UTC (rev 4639)
@@ -30,6 +30,8 @@
 /*
  * Author: Stuart Glaser
  */
+#ifndef ADVERTISED_SERVICE_GUARD
+#define ADVERTISED_SERVICE_GUARD
 
 #include <ros/node.h>
 
@@ -61,3 +63,5 @@
   bool valid_;
   std::string service_name_;
 };
+
+#endif


This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site.