[Personalrobots-commit] SF.net SVN: personalrobots:[12301] pkg/trunk

[<rob...@us...>]

Revision: 12301
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=12301&view=rev
Author:   rob_wheeler
Date:     2009-03-09 19:50:56 +0000 (Mon, 09 Mar 2009)

Log Message:
-----------
Report the ethercat device position in the mechanism state message

Modified Paths:
--------------
    pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
    pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h
    pkg/trunk/mechanism/mechanism_control/scripts/detect.py
    pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
    pkg/trunk/prcore/robot_msgs/msg/ActuatorState.msg

Modified: pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp
===================================================================
--- pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2009-03-09 19:40:22 UTC (rev 12300)
+++ pkg/trunk/drivers/motor/ethercat_hardware/src/wg0x.cpp	2009-03-09 19:50:56 UTC (rev 12301)
@@ -361,6 +361,7 @@
   prev_status = (WG0XStatus *)prev_buffer;
 
   state.timestamp_ = this_status->timestamp_ / 1e+6;
+  state.device_id_ = sh_->get_ring_position();
   state.encoder_count_ = this_status->encoder_count_;
   state.position_ = double(this_status->encoder_count_) / actuator_info_.pulses_per_revolution_ * 2 * M_PI - state.zero_offset_;
   state.encoder_velocity_ = double(int(this_status->encoder_count_ - prev_status->encoder_count_))

Modified: pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h
===================================================================
--- pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h	2009-03-09 19:40:22 UTC (rev 12300)
+++ pkg/trunk/mechanism/hardware_interface/include/hardware_interface/hardware_interface.h	2009-03-09 19:50:56 UTC (rev 12301)
@@ -58,6 +58,7 @@
 public:
   ActuatorState() :
       timestamp_(0),
+      device_id_(0),
       encoder_count_(0),
       position_(0),
       encoder_velocity_(0),
@@ -81,6 +82,8 @@
   {}
   double timestamp_;
 
+  int device_id_;
+
   int encoder_count_;
   double position_;
   double encoder_velocity_;

Modified: pkg/trunk/mechanism/mechanism_control/scripts/detect.py
===================================================================
--- pkg/trunk/mechanism/mechanism_control/scripts/detect.py	2009-03-09 19:40:22 UTC (rev 12300)
+++ pkg/trunk/mechanism/mechanism_control/scripts/detect.py	2009-03-09 19:50:56 UTC (rev 12301)
@@ -17,7 +17,7 @@
 
 def callback(data):
     #stdscr.clear()
-    l = [(x, data.actuator_states[x].encoder_count, data.actuator_states[x].encoder_velocity, data.actuator_states[x].name) for x in xrange(len(data.actuator_states))]
+    l = [(data.actuator_states[x].device_id, data.actuator_states[x].encoder_count, data.actuator_states[x].encoder_velocity, data.actuator_states[x].name) for x in xrange(len(data.actuator_states))]
     m = list(l)
     m.sort(mycmp)
     row = 0

Modified: pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp	2009-03-09 19:40:22 UTC (rev 12300)
+++ pkg/trunk/mechanism/mechanism_control/src/mechanism_control.cpp	2009-03-09 19:50:56 UTC (rev 12301)
@@ -507,6 +507,7 @@
         out->encoder_count = in->encoder_count_;
         out->position = in->position_;
         out->timestamp = in->timestamp_;
+        out->device_id = in->device_id_;
         out->encoder_velocity = in->encoder_velocity_;
         out->velocity = in->velocity_;
         out->calibration_reading = in->calibration_reading_;

Modified: pkg/trunk/prcore/robot_msgs/msg/ActuatorState.msg
===================================================================
--- pkg/trunk/prcore/robot_msgs/msg/ActuatorState.msg	2009-03-09 19:40:22 UTC (rev 12300)
+++ pkg/trunk/prcore/robot_msgs/msg/ActuatorState.msg	2009-03-09 19:50:56 UTC (rev 12301)
@@ -1,4 +1,5 @@
 string name
+int32 device_id
 int32 encoder_count
 float64 position
 float64 timestamp


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