[Personalrobots-commit] SF.net SVN: personalrobots:[11826] pkg/trunk

[<is...@us...>]

Revision: 11826
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=11826&view=rev
Author:   isucan
Date:     2009-02-26 19:18:31 +0000 (Thu, 26 Feb 2009)

Log Message:
-----------
publishing new_id

Modified Paths:
--------------
    pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
    pkg/trunk/prcore/robot_msgs/msg/KinematicPlanStatus.msg

Modified: pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp
===================================================================
--- pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2009-02-26 19:01:01 UTC (rev 11825)
+++ pkg/trunk/motion_planning/kinematic_planning/src/kinematic_planning.cpp	2009-02-26 19:18:31 UTC (rev 11826)
@@ -203,6 +203,7 @@
 	m_currentRequestType = R_NONE;
 	
 	m_currentPlanStatus.id = -1;
+	m_currentPlanStatus.new_id = 0;
 	m_currentPlanStatus.distance = -1.0;
 	m_currentPlanStatus.done = 1;
 	m_currentPlanStatus.approximate = 0;
@@ -345,6 +346,7 @@
 		m_currentRequestType = R_STATE;
 		
 		m_currentPlanStatus.id = ++m_replanID;
+		m_currentPlanStatus.new_id = 1;
 		m_currentPlanStatus.valid = 1;
 		m_currentPlanStatus.path.set_states_size(0);
 		m_currentPlanStatus.done = 0;
@@ -386,6 +388,7 @@
 		m_currentRequestType = R_POSITION;
 		
 		m_currentPlanStatus.id = ++m_replanID;
+		m_currentPlanStatus.new_id = 1;
 		m_currentPlanStatus.valid = 1;
 		m_currentPlanStatus.path.set_states_size(0);
 		m_currentPlanStatus.done = 0;
@@ -428,6 +431,7 @@
 	}
 	
 	res.value.id = -1;
+	res.value.new_id = 0;
 	res.value.done = trivial ? 1 : 0;
 	res.value.valid = res.value.path.get_states_size() > 0;
 	res.value.approximate = approximate ? 1 : 0;
@@ -456,6 +460,7 @@
 	}
 		
 	res.value.id = -1;
+	res.value.new_id = 0;
 	res.value.done = trivial ? 1 : 0;
 	res.value.valid = res.value.path.get_states_size() > 0;
 	res.value.approximate = approximate ? 1 : 0;
@@ -590,6 +595,10 @@
 		    m_currentlyExecutedPath.set_states_size(0);
 	    }
 	    
+	    // make sure new_id becomes 0, if it was 1
+	    if (m_currentPlanStatus.new_id == 1)
+		m_currentPlanStatus.new_id = 0;
+	    
 	    m_statusLock.unlock();
 	    
 	    if (replan_inactive)

Modified: pkg/trunk/prcore/robot_msgs/msg/KinematicPlanStatus.msg
===================================================================
--- pkg/trunk/prcore/robot_msgs/msg/KinematicPlanStatus.msg	2009-02-26 19:01:01 UTC (rev 11825)
+++ pkg/trunk/prcore/robot_msgs/msg/KinematicPlanStatus.msg	2009-02-26 19:18:31 UTC (rev 11826)
@@ -4,6 +4,9 @@
 # replanning is not active
 int32 id
 
+# If the ID just changed, this value will be 1. Subsequent messages
+# will have the value equal to 0
+byte new_id
 
 # The result of a motion plan: a kinematic path. If the motion plan is
 # not succesful, this path has 0 states. If the motion plan is
@@ -19,7 +22,6 @@
 # discard the path
 float64 distance
 
-
 # If the starting state was already in the goal region,
 # this is set to 1. Otherwise, it will be set to 0
 byte done


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