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[Personalrobots-commit] SF.net SVN: personalrobots:[17716] pkg/trunk/highlevel/safety/safety_core
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From: <mm...@us...> - 2009-06-25 23:06:06
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Revision: 17716
http://personalrobots.svn.sourceforge.net/personalrobots/?rev=17716&view=rev
Author: mmwise
Date: 2009-06-25 23:05:59 +0000 (Thu, 25 Jun 2009)
Log Message:
-----------
changes for ticket 1324
Modified Paths:
--------------
pkg/trunk/highlevel/safety/safety_core/CMakeLists.txt
pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_detect_plug_on_base.h
pkg/trunk/highlevel/safety/safety_core/manifest.xml
pkg/trunk/highlevel/safety/safety_core/src/action_detect_plug_on_base.cpp
pkg/trunk/highlevel/safety/safety_core/src/run_detect_plug_on_base.cpp
pkg/trunk/highlevel/safety/safety_core/src/run_doors_tuck_arms.cpp
pkg/trunk/highlevel/safety/safety_core/src/run_tuck_arms.cpp
Removed Paths:
-------------
pkg/trunk/highlevel/safety/safety_core/src/action_runner.cpp
Modified: pkg/trunk/highlevel/safety/safety_core/CMakeLists.txt
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/CMakeLists.txt 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/CMakeLists.txt 2009-06-25 23:05:59 UTC (rev 17716)
@@ -8,9 +8,6 @@
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
-rospack_add_executable(action_runner src/action_detect_plug_on_base.cpp
- src/action_tuck_arms.cpp
- src/action_runner.cpp)
rospack_add_executable(run_detect_plug_on_base
src/run_detect_plug_on_base.cpp
Modified: pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_detect_plug_on_base.h
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_detect_plug_on_base.h 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/include/safety_core/action_detect_plug_on_base.h 2009-06-25 23:05:59 UTC (rev 17716)
@@ -40,7 +40,7 @@
#include <ros/node.h>
-#include <robot_msgs/PlugStow.h>
+#include <plugs_msgs/PlugStow.h>
#include <pr2_srvs/SetPeriodicCmd.h>
#include <std_msgs/Empty.h>
#include <robot_actions/action.h>
@@ -48,13 +48,13 @@
namespace safety_core{
-class DetectPlugOnBaseAction: public robot_actions::Action<std_msgs::Empty, robot_msgs::PlugStow>
+class DetectPlugOnBaseAction: public robot_actions::Action<std_msgs::Empty, plugs_msgs::PlugStow>
{
public:
DetectPlugOnBaseAction(ros::Node& node);
virtual ~DetectPlugOnBaseAction();
- robot_actions::ResultStatus execute(const std_msgs::Empty& empty, robot_msgs::PlugStow& feedback);
+ robot_actions::ResultStatus execute(const std_msgs::Empty& empty, plugs_msgs::PlugStow& feedback);
private:
// average the last couple plug centroids
@@ -67,8 +67,8 @@
PlugOnBaseDetector::PlugOnBaseDetector* detector_;
- robot_msgs::PlugStow plug_stow_;
- robot_msgs::PlugStow plug_stow_msg;
+ plugs_msgs::PlugStow plug_stow_;
+ plugs_msgs::PlugStow plug_stow_msg;
std::string laser_controller_;
int not_found_count_;
Modified: pkg/trunk/highlevel/safety/safety_core/manifest.xml
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/manifest.xml 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/manifest.xml 2009-06-25 23:05:59 UTC (rev 17716)
@@ -17,7 +17,7 @@
<depend package="std_msgs" />
<depend package="pr2_srvs" />
<depend package="pr2_mechanism_controllers"/>
-
+ <depend package="plugs_msgs"/>
<export>
<cpp cflags="-I${prefix}/msg/cpp -I${prefix}/include" lflags="-Wl,-rpath,${prefix}/lib -L${prefix}/lib"/>
</export>
Modified: pkg/trunk/highlevel/safety/safety_core/src/action_detect_plug_on_base.cpp
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/src/action_detect_plug_on_base.cpp 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/src/action_detect_plug_on_base.cpp 2009-06-25 23:05:59 UTC (rev 17716)
@@ -39,7 +39,7 @@
namespace safety_core{
DetectPlugOnBaseAction::DetectPlugOnBaseAction(ros::Node& node) :
- robot_actions::Action<std_msgs::Empty, robot_msgs::PlugStow>("detect_plug_on_base"),
+ robot_actions::Action<std_msgs::Empty, plugs_msgs::PlugStow>("detect_plug_on_base"),
action_name_("detect_plug_on_base"),
node_(node),
laser_controller_("laser_tilt_controller")
@@ -63,7 +63,7 @@
if(detector_) delete detector_;
};
-robot_actions::ResultStatus DetectPlugOnBaseAction::execute(const std_msgs::Empty& empty, robot_msgs::PlugStow& feedback)
+robot_actions::ResultStatus DetectPlugOnBaseAction::execute(const std_msgs::Empty& empty, plugs_msgs::PlugStow& feedback)
{
reset();
Deleted: pkg/trunk/highlevel/safety/safety_core/src/action_runner.cpp
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/src/action_runner.cpp 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/src/action_runner.cpp 2009-06-25 23:05:59 UTC (rev 17716)
@@ -1,76 +0,0 @@
-/*********************************************************************
- * Software License Agreement (BSD License)
- *
- * Copyright (c) 2008, Willow Garage, Inc.
- * All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * * Redistributions of source code must retain the above copyright
- * notice, this list of conditions and the following disclaimer.
- * * Redistributions in binary form must reproduce the above
- * copyright notice, this list of conditions and the following
- * disclaimer in the documentation and/or other materials provided
- * with the distribution.
- * * Neither the name of Willow Garage nor the names of its
- * contributors may be used to endorse or promote products derived
- * from this software without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
- * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *********************************************************************/
-
-// Msgs
-#include <robot_msgs/PlugStow.h>
-#include <std_msgs/Empty.h>
-
-// Actions
-#include <safety_core/action_detect_plug_on_base.h>
-#include <safety_core/action_tuck_arms.h>
-
-// State Msgs
-#include <robot_actions/NoArgumentsActionState.h>
-#include <pr2_robot_actions/DetectPlugOnBaseState.h>
-
-#include <robot_actions/action.h>
-#include <robot_actions/action_runner.h>
-
-using namespace safety_core;
-
-// -----------------------------------
-// MAIN
-// -----------------------------------
-
-int main(int argc, char** argv)
-{
- ros::init(argc,argv);
-
- ros::Node node("safety_core_actions");
- std_msgs::Empty empty;
- DetectPlugOnBaseAction detect(node);
- TuckArmsAction tuck_arms;
-
- robot_actions::ActionRunner runner(10.0);
- runner.connect<std_msgs::Empty, pr2_robot_actions::DetectPlugOnBaseState, robot_msgs::PlugStow>(detect);
- runner.connect<std_msgs::Empty, robot_actions::NoArgumentsActionState, std_msgs::Empty>(tuck_arms);
-
- runner.run();
-
- //robot_msgs::PlugStow feedback;
- //detect.execute(empty, feedback);
- //tuck_arms.execute(empty, empty);
- node.spin();
- return 0;
-}
Modified: pkg/trunk/highlevel/safety/safety_core/src/run_detect_plug_on_base.cpp
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/src/run_detect_plug_on_base.cpp 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/src/run_detect_plug_on_base.cpp 2009-06-25 23:05:59 UTC (rev 17716)
@@ -33,7 +33,7 @@
*********************************************************************/
// Msgs
-#include <robot_msgs/PlugStow.h>
+#include <plugs_msgs/PlugStow.h>
#include <std_msgs/Empty.h>
// Actions
@@ -60,7 +60,7 @@
DetectPlugOnBaseAction detect(node);
robot_actions::ActionRunner runner(10.0);
- runner.connect<std_msgs::Empty, pr2_robot_actions::DetectPlugOnBaseState, robot_msgs::PlugStow>(detect);
+ runner.connect<std_msgs::Empty, pr2_robot_actions::DetectPlugOnBaseState, plugs_msgs::PlugStow>(detect);
runner.run();
node.spin();
Modified: pkg/trunk/highlevel/safety/safety_core/src/run_doors_tuck_arms.cpp
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/src/run_doors_tuck_arms.cpp 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/src/run_doors_tuck_arms.cpp 2009-06-25 23:05:59 UTC (rev 17716)
@@ -33,7 +33,6 @@
*********************************************************************/
// Msgs
-#include <robot_msgs/PlugStow.h>
#include <std_msgs/Empty.h>
// Actions
Modified: pkg/trunk/highlevel/safety/safety_core/src/run_tuck_arms.cpp
===================================================================
--- pkg/trunk/highlevel/safety/safety_core/src/run_tuck_arms.cpp 2009-06-25 23:04:46 UTC (rev 17715)
+++ pkg/trunk/highlevel/safety/safety_core/src/run_tuck_arms.cpp 2009-06-25 23:05:59 UTC (rev 17716)
@@ -33,7 +33,6 @@
*********************************************************************/
// Msgs
-#include <robot_msgs/PlugStow.h>
#include <std_msgs/Empty.h>
// Actions
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