personalrobots-commit

[Personalrobots-commit] SF.net SVN: personalrobots: [132] pkg/trunk/hokuyourg_player/ hokuyourg_player.cc

[<jl...@us...>]

Revision: 132
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=132&view=rev
Author:   jleibs
Date:     2008-04-17 19:14:17 -0700 (Thu, 17 Apr 2008)

Log Message:
-----------
. no longer gets used for flow name

Modified Paths:
--------------
    pkg/trunk/hokuyourg_player/hokuyourg_player.cc

Modified: pkg/trunk/hokuyourg_player/hokuyourg_player.cc
===================================================================
--- pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-18 02:12:21 UTC (rev 131)
+++ pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-18 02:14:17 UTC (rev 132)
@@ -68,7 +68,7 @@
       // Create a message queue
       this->q = QueuePointer(false,PLAYER_QUEUE_LEN);
 
-      this->register_source(this->fl = new FlowLaserScan(".scans"));
+      this->register_source(this->fl = new FlowLaserScan("scans"));
     }
 
     ~HokuyoNode()


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[Personalrobots-commit] SF.net SVN: personalrobots: [148] pkg/trunk/hokuyourg_player/ hokuyourg_player.cc

[<jl...@us...>]

Revision: 148
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=148&view=rev
Author:   jleibs
Date:     2008-04-21 14:46:26 -0700 (Mon, 21 Apr 2008)

Log Message:
-----------
Added ROS parameter for port.

Modified Paths:
--------------
    pkg/trunk/hokuyourg_player/hokuyourg_player.cc

Modified: pkg/trunk/hokuyourg_player/hokuyourg_player.cc
===================================================================
--- pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-21 21:44:30 UTC (rev 147)
+++ pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-21 21:46:26 UTC (rev 148)
@@ -25,6 +25,9 @@
 
     HokuyoNode() : ROS_Slave()
     {
+      register_source(fl = new FlowLaserScan("scans"));
+
+
       // libplayercore boiler plate
       player_globals_init();
       itable_init();
@@ -50,8 +53,15 @@
       this->cf->InsertFieldValue(0,"unit_angle","degrees");
       this->cf->InsertFieldValue(0,"min_angle","-90");
       this->cf->InsertFieldValue(0,"max_angle","90");
-      this->cf->InsertFieldValue(0,"port","/dev/ttyACM0");
 
+      string port;
+      if (!get_string_param(".port", port))
+	port = "/dev/ttyACM0";
+
+      printf("Setting port to: %s\n",port.c_str());
+
+      this->cf->InsertFieldValue(0,"port",port.c_str());
+
       // Create an instance of the driver, passing it the ConfigFile object.
       // The -1 tells it to look into the "global" section of the ConfigFile,
       // which is where ConfigFile::InsertFieldValue() put the parameters.
@@ -68,7 +78,6 @@
       // Create a message queue
       this->q = QueuePointer(false,PLAYER_QUEUE_LEN);
 
-      this->register_source(this->fl = new FlowLaserScan("scans"));
     }
 
     ~HokuyoNode()


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[Personalrobots-commit] SF.net SVN: personalrobots: [162] pkg/trunk/hokuyourg_player/ hokuyourg_player.cc

[<jl...@us...>]

Revision: 162
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=162&view=rev
Author:   jleibs
Date:     2008-04-22 18:46:13 -0700 (Tue, 22 Apr 2008)

Log Message:
-----------
Check for min/max ang in hokuyourg_player.

Modified Paths:
--------------
    pkg/trunk/hokuyourg_player/hokuyourg_player.cc

Modified: pkg/trunk/hokuyourg_player/hokuyourg_player.cc
===================================================================
--- pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-23 01:41:30 UTC (rev 161)
+++ pkg/trunk/hokuyourg_player/hokuyourg_player.cc	2008-04-23 01:46:13 UTC (rev 162)
@@ -10,6 +10,8 @@
 // I'm using a LaserScan flow
 #include <common_flows/FlowLaserScan.h>
 
+#include <sstream>
+
 #define PLAYER_QUEUE_LEN 32
 
 // Must prototype this function here.  It's implemented inside
@@ -51,13 +53,32 @@
       // presumably come from the param server
       this->cf->InsertFieldValue(0,"provides",player_addr);
       this->cf->InsertFieldValue(0,"unit_angle","degrees");
-      this->cf->InsertFieldValue(0,"min_angle","-90");
-      this->cf->InsertFieldValue(0,"max_angle","90");
 
+      double min_ang;
+      if (!get_double_param(".min_ang", &min_ang))
+	min_ang = -90;
+      printf("Setting min_ang to: %g\n",min_ang);
+
+      double max_ang;
+      if (!get_double_param(".max_ang", &max_ang))
+	max_ang = 90;
+      printf("Setting max_ang to: %g\n",max_ang);
+
+      ostringstream oss;
+      oss << min_ang;
+
+      this->cf->InsertFieldValue(0,"min_angle",oss.str().c_str());
+
+      oss.str("");
+      oss << max_ang;
+
+      this->cf->InsertFieldValue(0,"max_angle",oss.str().c_str());
+
+
+
       string port;
       if (!get_string_param(".port", port))
 	port = "/dev/ttyACM0";
-
       printf("Setting port to: %s\n",port.c_str());
 
       this->cf->InsertFieldValue(0,"port",port.c_str());
@@ -160,7 +181,7 @@
       // Publish the new data
       hn.fl->publish();
 
-      printf("Published a scan with %d ranges\n", pdata->ranges_count);
+      //      printf("Published a scan with %d ranges\n", pdata->ranges_count);
     }
 
     // We're done with the message now


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