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[Playerstage-commit] SF.net SVN: playerstage:[7805] code/player/trunk/server/drivers/mixed
|
From: <th...@us...> - 2009-06-07 07:16:30
|
Revision: 7805
http://playerstage.svn.sourceforge.net/playerstage/?rev=7805&view=rev
Author: thjc
Date: 2009-06-07 07:16:23 +0000 (Sun, 07 Jun 2009)
Log Message:
-----------
Added epuck driver as per patch 2189872
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/CMakeLists.txt
Added Paths:
-----------
code/player/trunk/server/drivers/mixed/epuck/
code/player/trunk/server/drivers/mixed/epuck/CMakeLists.txt
code/player/trunk/server/drivers/mixed/epuck/COPYING
code/player/trunk/server/drivers/mixed/epuck/README
code/player/trunk/server/drivers/mixed/epuck/doc/
code/player/trunk/server/drivers/mixed/epuck/doc/camera_config.dox
code/player/trunk/server/drivers/mixed/epuck/doc/examples.dox
code/player/trunk/server/drivers/mixed/epuck/doc/main_page.dox
code/player/trunk/server/drivers/mixed/epuck/doc/player2_0.dox
code/player/trunk/server/drivers/mixed/epuck/doc/player2_1.dox
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/Makefile
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/blinkenlight.c
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/camera.c
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/epuck.cfg
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/ir.c
code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/position2d.c
code/player/trunk/server/drivers/mixed/epuck/epuckCamera.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckCamera.hpp
code/player/trunk/server/drivers/mixed/epuck/epuckDriver.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckDriver.hpp
code/player/trunk/server/drivers/mixed/epuck/epuckIR.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckIR.hpp
code/player/trunk/server/drivers/mixed/epuck/epuckInterface.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckInterface.hpp
code/player/trunk/server/drivers/mixed/epuck/epuckLEDs.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckLEDs.hpp
code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.cpp
code/player/trunk/server/drivers/mixed/epuck/epuckPosition2d.hpp
code/player/trunk/server/drivers/mixed/epuck/serialPort.cpp
code/player/trunk/server/drivers/mixed/epuck/serialPort.hpp
code/player/trunk/server/drivers/mixed/epuck/timer.hpp
Modified: code/player/trunk/server/drivers/mixed/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/mixed/CMakeLists.txt 2009-06-06 10:44:38 UTC (rev 7804)
+++ code/player/trunk/server/drivers/mixed/CMakeLists.txt 2009-06-07 07:16:23 UTC (rev 7805)
@@ -2,6 +2,7 @@
ADD_SUBDIRECTORY (chatterbox)
ADD_SUBDIRECTORY (clodbuster)
ADD_SUBDIRECTORY (cmucam2)
+ADD_SUBDIRECTORY (epuck)
ADD_SUBDIRECTORY (erratic)
ADD_SUBDIRECTORY (evolution)
ADD_SUBDIRECTORY (garcia)
Added: code/player/trunk/server/drivers/mixed/epuck/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/CMakeLists.txt (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/CMakeLists.txt 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,3 @@
+PLAYERDRIVER_OPTION (epuck build_epuck ON)
+PLAYERDRIVER_REJECT_OS (epuck build_epuck PLAYER_OS_WIN)
+PLAYERDRIVER_ADD_DRIVER (epuck build_epuck SOURCES epuckCamera.cpp epuckDriver.cpp epuckInterface.cpp epuckIR.cpp epuckLEDs.cpp epuckPosition2d.cpp serialPort.cpp)
Added: code/player/trunk/server/drivers/mixed/epuck/COPYING
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/COPYING (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/COPYING 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,674 @@
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+
+ If, pursuant to or in connection with a single transaction or
+arrangement, you convey, or propagate by procuring conveyance of, a
+covered work, and grant a patent license to some of the parties
+receiving the covered work authorizing them to use, propagate, modify
+or convey a specific copy of the covered work, then the patent license
+you grant is automatically extended to all recipients of the covered
+work and works based on it.
+
+ A patent license is "discriminatory" if it does not include within
+the scope of its coverage, prohibits the exercise of, or is
+conditioned on the non-exercise of one or more of the rights that are
+specifically granted under this License. You may not convey a covered
+work if you are a party to an arrangement with a third party that is
+in the business of distributing software, under which you make payment
+to the third party based on the extent of your activity of conveying
+the work, and under which the third party grants, to any of the
+parties who would receive the covered work from you, a discriminatory
+patent license (a) in connection with copies of the covered work
+conveyed by you (or copies made from those copies), or (b) primarily
+for and in connection with specific products or compilations that
+contain the covered work, unless you entered into that arrangement,
+or that patent license was granted, prior to 28 March 2007.
+
+ Nothing in this License shall be construed as excluding or limiting
+any implied license or other defenses to infringement that may
+otherwise be available to you under applicable patent law.
+
+ 12. No Surrender of Others' Freedom.
+
+ If conditions are imposed on you (whether by court order, agreement or
+otherwise) that contradict the conditions of this License, they do not
+excuse you from the conditions of this License. If you cannot convey a
+covered work so as to satisfy simultaneously your obligations under this
+License and any other pertinent obligations, then as a consequence you may
+not convey it at all. For example, if you agree to terms that obligate you
+to collect a royalty for further conveying from those to whom you convey
+the Program, the only way you could satisfy both those terms and this
+License would be to refrain entirely from conveying the Program.
+
+ 13. Use with the GNU Affero General Public License.
+
+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
Added: code/player/trunk/server/drivers/mixed/epuck/README
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/README (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/README 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,20 @@
+E-puck Player Driver
+--------------------
+
+http://code.google.com/p/epuck-player-driver/
+
+E-puck Player Driver is a driver for Player, which provide a way
+for to control a e-puck robot by Player. This driver is only
+for control the real robot, the driver for simulation on Stage
+is not provided.
+Currently this driver work in player version 2.0.X and 2.1.X.
+
+This driver is composite by a PC side program and an e-puck side program.
+The PC side program is under folder src, is written in C++ and use the Player
+libraries. The e-puck side program is under folder epuckSide, is written in C
+and use the e-puck project library.
+
+In the e-puck side program, if the e-puck was turned on or reseted with the
+switch in position zero, it will enter in upload program mode, where it does
+nothing else turn on the led zero and wait. Any other position will enter in
+Player Driver mode.
\ No newline at end of file
Added: code/player/trunk/server/drivers/mixed/epuck/doc/camera_config.dox
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/camera_config.dox (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/camera_config.dox 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,90 @@
+/** \page pageCamera Camera configuration
+ * .
+ *
+ * There are two possible camera models in e-pucks: PO3030K and PO6030K. The
+ * resolution of both is 640x480, but in e-pucks which have the PO3030K, this
+ * is rotated 90 degrees. Because this, in practice, in e-pucks with PO3030K
+ * camera the resolution is 480x640. The grabbed image will be rotated, and
+ * no difference can be noticed between the PO3030K and PO6030K, but in
+ * configuration, see \ref sensor_wh.
+ *
+ * The version of camera in e-puck will be printed by Player in start of
+ * driver.
+ *
+ * The e-puck camera can be configured through the player .cfg file. A complete
+ * example which work with both Player 2.0 and 2.1, with all possible camera
+ * options is below:
+ *
+ * \code
+ * driver
+ * (
+ * name "epuck"
+ * plugin "libepuck"
+ * provides ["camera:0"]
+ * port "/dev/rfcomm1"
+ *
+ * sensor_x1 240
+ * sensor_y1 160
+ * sensor_width 160
+ * sensor_height 160
+ * zoom_fact_width 4
+ * zoom_fact_height 4
+ * color_mode "GREY_SCALE_MODE"
+ * )
+ * \endcode
+ *
+ * \attention
+ * The e-puck have a camera that capture images in a resolution of 640x480
+ * (or 480x640) pixels. However, the memory on dsPIC in e-puck is not enough
+ * to handle all this amount. In fact, only 6500 bytes in e-puck is reserved
+ * to camera image. Therefore the equation:
+ * \f[ \frac{ \mathrm{sensor\_width} }{ \mathrm{zoom\_fact\_width} } \cdot
+ * \frac{ \mathrm{sensor\_height} }{ \mathrm{zoom\_fact\_height} } \f]
+ * must be lesser or equal than 6500 in GREY color mode, or, lesser or equal
+ * than 3250 in RGB or YUV color mode.
+ *
+ * \section options The camera options
+ *
+ * All options may be omitted, in this case the default image would have
+ * 40x40 pixels and grey color mode.
+ *
+ * \subsection zoom_factor Zoom factor
+ * The options zoom_fact_width and zoom_fact_height point to how many pixels
+ * will be subsampling in width and height respectively. Is strongly
+ * recommended that they be either 2 or 4, because in this case part of the
+ * subsampling is done by the camera (see e-puck standard library
+ * documentation). Furthermore, I experienced problems with other values.
+ *
+ * The default value for both zoom_fact_width and zoom_fact_height are 4.
+ *
+ * \subsection sensor_wh Sensor width and height
+ * The options sensor_width and sensor_height define what is the image width
+ * and height before the subsampling operation. The final image width will be:
+ * \f[ \frac{ \mathrm{sensor\_width} }{ \mathrm{zoom\_fact\_width} } \f]
+ * And the final height will be:
+ * \f[ \frac{ \mathrm{sensor\_height} }{ \mathrm{zoom\_fact\_height} } \f]
+ *
+ * In the e-pucks which has the PO6030K camera, the camera resolution is
+ * 640(width)x480(height). The ones with the PO3030K camera, the camera
+ * resolution is 480(width)x640(height). Be careful for select valid values.
+ *
+ * The default values for both sensor_width and sensor_height are 160.
+ *
+ * \subsection sensor_xy Sensor x1 and y1
+ * The options sensor_x1 and sensor_y1 configure the pixel where the
+ * sensor_width and sensor_height will begin the count. For a image
+ * centralized in camera field of vision, the sensor_x1 must be:
+ * \f[ \frac{640 - \mathrm{sensor\_width} }{2} \f]
+ * and the sensor_y1 must be:
+ * \f[ \frac{480 - \mathrm{sensor\_height} }{2} \f]
+ *
+ * The default values to sensor_x1 and sensor_y1 are respectively 240 and 160.
+ *
+ * \subsection color_mode Color mode
+ * The option color_mode may be:
+ * - "GREY_SCALE_MODE"
+ * - "RGB_565_MODE"
+ * - "YUV_MODE"
+ *
+ * The default option is "GREY_SCALE_MODE".
+ */
Added: code/player/trunk/server/drivers/mixed/epuck/doc/examples.dox
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/examples.dox (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/examples.dox 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,47 @@
+//-------------------------------- PLAYER 2.0.* EXAMPLES
+
+/** \example player_2_0/position2d.c
+ * This is an example of how make a program for e-puck position2d interface.
+ * The e-puck goes 10cm forward, printing the current pose.
+ */
+
+/** \example player_2_0/ir.c
+ * This is an example of how make a program for read the e-puck ir sensors.
+ * The sensor will be reads until a object distance 2cm or lesser.
+ */
+
+/** \example player_2_0/camera.c
+ * This is an example of how capture images from e-epuck.
+ * A image will be read from e-epuck camera and save in local folder.
+ * \n For a description of camera options on player .cfg file, see
+ * \ref pageCamera.
+ */
+
+/** \example player_2_0/opaqueLED.c
+ * This is an exemple of how to manage the e-puck LEDs.
+ * The ring LEDs 2 and 6, and the front and body LEDs will turn on.
+ */
+
+//-------------------------------- PLAYER 2.1.* EXAMPLES
+
+/** \example player_2_1/position2d.c
+ * This is an example of how make a program for e-puck position2d interface.
+ * The e-puck goes 10cm forward, printing the current pose.
+ */
+
+/** \example player_2_1/ir.c
+ * This is an example of how make a program for read the e-puck ir sensors.
+ * The sensor will be reads until a object distance 2cm or lesser.
+ */
+
+/** \example player_2_1/camera.c
+ * This is an example of how capture images from e-epuck.
+ * A image will be read from e-epuck camera and save in local folder.
+ * \n For a description of camera options on player .cfg file, see
+ * \ref pageCamera.
+ */
+
+/** \example player_2_1/blinkenlight.c
+ * This is an exemple of how to manage the e-puck LEDs.
+ * The ring LEDs 2 and 6, and the front and body LEDs will turn on.
+ */
Added: code/player/trunk/server/drivers/mixed/epuck/doc/main_page.dox
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/main_page.dox (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/main_page.dox 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,25 @@
+/*! \mainpage E-puck Player Driver
+ *
+ * \par Copyright:
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 3 as
+ * published by the Free Software Foundation.
+ *\par
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *\par
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * The E-puck Player Driver work with Player version 2.0.X and 2.1.X. The
+ * supported interfaces and requests can be viewed in pages \ref player2_0 and
+ * \ref player2_1 respectively.
+ *
+ * \note
+ * In the e-puck side program, if the e-puck was turned on or reseted with the
+ * switch in position zero, it will enter in upload program mode, where it does
+ * nothing else turn on the led zero and wait. Any other position will enter in
+ * Player Driver mode.
+ */
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player2_0.dox
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player2_0.dox (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player2_0.dox 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,60 @@
+/** \page player2_0 Player 2.0 driver specification
+ *
+ * \par Name:
+ *
+ * - epuck
+ *
+ * \par Provides:
+ *
+ * - position2d
+ * - ir
+ * - camera
+ * - opaque (for LEDs)
+ *
+ * \par Requires:
+ *
+ * - none
+ *
+ * \par Implemented requests:
+ * \par
+ * \b interface_position2d
+ * - PLAYER_POSITION2D_CMD_VEL
+ * - PLAYER_POSITION2D_CMD_CAR
+ * - PLAYER_POSITION2D_REQ_GET_GEOM
+ * - PLAYER_POSITION2D_REQ_SET_ODOM
+ * - PLAYER_POSITION2D_REQ_RESET_ODOM
+ * - PLAYER_POSITION2D_DATA_STATE
+ * \par
+ * \b interface_ir :
+ * - PLAYER_IR_POSE
+ * - PLAYER_IR_DATA_RANGES
+ * \par
+ * \b interface_camera :
+ * - PLAYER_CAMERA_DATA_STATE
+ * \par
+ * <b>opaque (for LEDs)</b>
+ * - PLAYER_OPAQUE_CMD
+ *
+ * \par Configuration file example:
+ *
+ * \code
+ * driver
+ * (
+ * name "epuck"
+ * plugin "libepuck"
+ *
+ * provides ["position2d:0"
+ * "ir:0"
+ * "camera:0"
+ * "ring_leds:::opaque:0"
+ * "front_led:::opaque:1"
+ * "body_led:::opaque:2"]
+ *
+ * port "/dev/rfcomm1"
+ * )
+ * \endcode
+ *
+ * Each of the ring, front, and body LEDs can be used independently, and
+ * the keys "ring_leds", "front_led" and "body_led" must be placed in LEDs
+ * opaque interface. Without them the interface won't be subscribed.
+ */
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player2_1.dox
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player2_1.dox (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player2_1.dox 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,68 @@
+/** \page player2_1 Player 2.1 driver specification
+ *
+ * \par Name:
+ *
+ * - epuck
+ *
+ * \par Provides:
+ *
+ * - position2d
+ * - ir
+ * - camera
+ * - blinkenlight
+ *
+ * \par Requires:
+ *
+ * - none
+ *
+ * \par Implemented requests:
+ * \par
+ * \b interface_position2d
+ * - PLAYER_POSITION2D_CMD_VEL
+ * - PLAYER_POSITION2D_CMD_CAR
+ * - PLAYER_POSITION2D_REQ_GET_GEOM
+ * - PLAYER_POSITION2D_REQ_SET_ODOM
+ * - PLAYER_POSITION2D_REQ_RESET_ODOM
+ * - PLAYER_POSITION2D_DATA_STATE
+ * \par
+ * \b interface_ir :
+ * - PLAYER_IR_REQ_POSE
+ * - PLAYER_IR_DATA_RANGES
+ * \par
+ * \b interface_camera :
+ * - PLAYER_CAMERA_DATA_STATE
+ * \par
+ * \b blinkenlight
+ * - PLAYER_BLINKENLIGHT_CMD_POWER
+ *
+ * \par Configuration file example:
+ *
+ * \code
+ * driver
+ * (
+ * name "epuck"
+ * plugin "libepuck"
+ *
+ * provides ["position2d:0"
+ * "ir:0"
+ * "camera:0"
+ * "ring_led0:::blinkenlight:0"
+ * "ring_led1:::blinkenlight:1"
+ * "ring_led2:::blinkenlight:2"
+ * "ring_led3:::blinkenlight:3"
+ * "ring_led4:::blinkenlight:4"
+ * "ring_led5:::blinkenlight:5"
+ * "ring_led6:::blinkenlight:6"
+ * "ring_led7:::blinkenlight:7"
+ * "front_led:::blinkenlight:8"
+ * "body_led:::blinkenlight:9"]
+ *
+ * port "/dev/rfcomm1"
+ * )
+ * \endcode
+ *
+ * Each of the eigth ring LEDs, the front LED, and the body LED can be used
+ * independently, and the keys "ring_ledX" (where X is the number of ring LED),
+ * "front_led" and "body_led" must be placed in blinkenlight device addresses.
+ * Without them that LED won't be subscribed.
+ */
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/Makefile
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/Makefile (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/Makefile 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,11 @@
+C_ARGS = `pkg-config --cflags playerc`
+C_LINK = `pkg-config --libs playerc`
+
+OBJECTS = position2d ir camera blinkenlight
+all: $(OBJECTS)
+
+clean:
+ rm -f $(OBJECTS)
+
+%: %.c
+ $(CC) $(C_ARGS) $(C_LINK) $^ -o $@
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/blinkenlight.c
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/blinkenlight.c (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/blinkenlight.c 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,84 @@
+/** This is an example of how to manage the e-puck LEDs in Player version 2.1.X
+ */
+#include <stdio.h>
+#include <libplayerc/playerc.h>
+#include <unistd.h>
+
+#define RING_LEDS_NUMBER 8
+#define LED_ON 1
+
+int main(int argc, const char **argv)
+{
+ playerc_client_t *client;
+ playerc_blinkenlight_t *ringLED[RING_LEDS_NUMBER];
+ playerc_blinkenlight_t *frontLED;
+ playerc_blinkenlight_t *bodyLED;
+ int led;
+
+ client = playerc_client_create(NULL, "localhost", 6665);
+ if(playerc_client_connect(client) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+ for(led=0; led<RING_LEDS_NUMBER; led++)
+ {
+ ringLED[led] = playerc_blinkenlight_create(client, led);
+ if(playerc_blinkenlight_subscribe(ringLED[led], PLAYERC_OPEN_MODE) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+ }
+ frontLED = playerc_blinkenlight_create(client, 8);
+ if(playerc_blinkenlight_subscribe(frontLED, PLAYERC_OPEN_MODE) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+ bodyLED = playerc_blinkenlight_create(client, 9);
+ if(playerc_blinkenlight_subscribe(bodyLED, PLAYERC_OPEN_MODE) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+
+ if(playerc_client_datamode(client, PLAYERC_DATAMODE_PULL) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+ if(playerc_client_set_replace_rule(client, -1, -1,
+ PLAYER_MSGTYPE_DATA, -1, 1) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+
+ /* Turn on the ring LEDs 2 and 6, and the front and body LEDs. */
+ playerc_blinkenlight_enable(ringLED[2], LED_ON);
+ playerc_blinkenlight_enable(ringLED[6], LED_ON);
+ playerc_blinkenlight_enable(frontLED, LED_ON);
+ playerc_blinkenlight_enable(bodyLED, LED_ON);
+
+ /* Without this sleep there will not be enough time for process all above *
+ * messages. If the camera interface is not in provides section of Player *
+ * configuration file, the time for e-puck initialization will be smaller, *
+ * and consequently this sleep time will can be smaller. */
+ usleep(3e6);
+
+ /* Shutdown and tidy up */
+ for(led=0; led<RING_LEDS_NUMBER; led++)
+ {
+ playerc_blinkenlight_unsubscribe(ringLED[led]);
+ playerc_blinkenlight_destroy(ringLED[led]);
+ }
+ playerc_blinkenlight_unsubscribe(frontLED);
+ playerc_blinkenlight_destroy(frontLED);
+ playerc_blinkenlight_unsubscribe(bodyLED);
+ playerc_blinkenlight_destroy(bodyLED);
+ playerc_client_disconnect(client);
+ playerc_client_destroy(client);
+
+ return 0;
+}
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/camera.c
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/camera.c (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/camera.c 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,89 @@
+#include <stdio.h>
+#include <libplayerc/playerc.h>
+
+int main(int argc, char *argv[])
+{
+ playerc_client_t *client;
+ playerc_camera_t *camera;
+
+ client = playerc_client_create(NULL, "localhost", 6665);
+ if (playerc_client_connect(client) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+ camera = playerc_camera_create(client, 0);
+ if(playerc_camera_subscribe(camera, PLAYERC_OPEN_MODE) != 0)
+ {
+ fprintf(stderr, "CameraRerror: %s\n", playerc_error_str());
+ return -1;
+ }
+
+ if(playerc_client_datamode(client, PLAYERC_DATAMODE_PULL) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+ if(playerc_client_set_replace_rule(client, -1, -1,
+ PLAYER_MSGTYPE_DATA, -1, 1) != 0)
+ {
+ fprintf(stderr, "error: %s\n", playerc_error_str());
+ return -1;
+ }
+
+ /* Get up to 50 images until we have a valid frame (width > 0) */
+ int i, width;
+ for (i=0, width=0;
+ i < 50 && width==0 && NULL != playerc_client_read(client);
+ ++i)
+ {
+ printf("camera: [w %d h %d d %d] [%d bytes]\n",
+ camera->width, camera->height, camera->bpp, camera->image_count);
+
+ width = camera->width;
+ }
+
+ if(camera->format == PLAYER_CAMERA_FORMAT_MONO8)
+ {
+ playerc_camera_save(camera, "image.ppm");
+ }
+ else if(camera->format == PLAYER_CAMERA_FORMAT_RGB565)
+ {
+ char str_width[4], str_height[4];
+ sprintf(str_width, "%d", camera->width);
+ sprintf(str_height, "%d", camera->height);
+
+ FILE *image = fopen("image.ppm", "w");
+ fprintf(image, "P6\n%s %s\n255\n", str_width, str_height);
+
+ unsigned char pixel1, pixel2;
+ unsigned char red, green, blue;
+ int i;
+ for(i=0; i<camera->image_count; i+=2)
+ {
+ pixel1 = camera->image[i];
+ pixel2 = camera->image[i+1];
+
+ red = (pixel1 & 0xF8) >> 3;
+ green = ((pixel1 & 0x07)<<3)|((pixel2 & 0xE0)>>5);
+ blue = (pixel2 & 0x1F);
+
+ red = ((float)red/0x1F) * 255;
+ green = ((float)green/0x3F) * 255;
+ blue = ((float)blue/0x1F) * 255;
+
+ fputc(red, image);
+ fputc(green, image);
+ fputc(blue, image);
+ }
+
+ fclose(image);
+ }
+
+ playerc_camera_unsubscribe(camera);
+ playerc_camera_destroy(camera);
+ playerc_client_disconnect(client);
+ playerc_client_destroy(client);
+
+ return 0;
+}
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/epuck.cfg
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/epuck.cfg (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/epuck.cfg 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,35 @@
+#Epuck driver
+driver
+(
+ name "epuck"
+ plugin "libepuck"
+
+# The camera interface slow down the e-puck response for others interfaces,
+# if you will not use the camera, don't put it in "provides".
+#
+ provides ["position2d:0"
+ "ir:0"
+ "camera:0"
+ "ring_led0:::blinkenlight:0"
+ "ring_led1:::blinkenlight:1"
+ "ring_led2:::blinkenlight:2"
+ "ring_led3:::blinkenlight:3"
+ "ring_led4:::blinkenlight:4"
+ "ring_led5:::blinkenlight:5"
+ "ring_led6:::blinkenlight:6"
+ "ring_led7:::blinkenlight:7"
+ "front_led:::blinkenlight:8"
+ "body_led:::blinkenlight:9"]
+
+ port "/dev/rfcomm1"
+
+# Camera configuration, all these options may be omitted
+# sensor_x1 240
+# sensor_y1 160
+# sensor_width 160
+# sensor_height 160
+# zoom_fact_width 4
+# zoom_fact_height 4
+# color_mode "GREY_SCALE_MODE"
+
+)
Added: code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/ir.c
===================================================================
--- code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/ir.c (rev 0)
+++ code/player/trunk/server/drivers/mixed/epuck/doc/player_2_1/ir.c 2009-06-07 07:16:23 UTC (rev 7805)
@@ -0,0 +1,58 @@
+#include <stdio.h>
+#include <libplayerc/playerc.h>
+
+int main(int argc, const char **argv)
+{
+ int i, stop;
+ playerc_client_t *client;
+ playerc_ir_t *ir1;
+
+ client = play...
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