Re: [Playerstage-developers] Roomba vacuum interface

[David B. <dav...@br...>]

Hi,
    I am trying to implement Chad's ideas for the roomba driver.  The first
thing I am trying to do is implement the ir interface.  I have made the
modifications that were listed, but when I try to run player I get an error:

error   : Driver has no (usable) interfaces "roomba"
error   : failed to parse config file test.cfg

test.cfg
------------------------------------------------------------
driver
(
  name "roomba"
  provides ["position2d:0"]
  port "/dev/ttyS0"
  safe 1
  alwayson 1
)
driver
(
	name "camera1394"
	provides ["camera:0"]
)
driver
(
        name "cmvision"
	provides ["blobfinder:0"]
	requires ["camera:0"]
	colorfile "colors.txt"
)
driver
(
  name "roomba"
  provides ["bumper:0"]
)

driver
(
  name "roomba"
  provides ["ir:0"]
)

--------------------------------------------------------------------
Addition to Roomba::Roomba(ConfigFile* cf, int section) in roomba_driver.cc
--------------------------------------------------------------------

  // ir interface
  if(cf->ReadDeviceAddr(&(this->bumper_addr), section, "provides",
                        PLAYER_IR_CODE, -1, NULL) == 0)
  {
    if(this->AddInterface(this->ir_addr) != 0)
    {
      this->SetError(-1);
      return;
    }
  }


--------------------------------------------------------------------
Addition to Roomba::Main() in roomba_driver.cc
--------------------------------------------------------------------


     ////////////////////////////
     // Update ir data
     player_ir_data_t irdata;
     memset(&irdata,0,sizeof(irdata));

     irdata.rangescount=6;

     irdata.ranges[0]=this->roomba_dev->wall;
     irdata.ranges[1]=this->roomba_dev->cliff_left;
     irdata.ranges[2]=this->roomba_dev->cliff_frontleft;
     irdata.ranges[3]=this->roomba_dev->cliff_frontright;
     irdata.ranges[4]=this->roomba_dev->cliff_right;
     irdata.ranges[5]=this->roomba_dev->virtual_wall;
------------------------------------------------------------------------------


Brian Gerkey wrote:
> 
> 
> - Add 'ir' and 'gripper' interfaces via Driver::AddInterface() in  
> Roomba::Roomba().  This happens in roomba_driver.cc.
> 
> - Check for incoming 'ir' and 'gripper' messages (both commands and  
> requests) in Roomba::ProcessMessage().  Commands translate into calls  
> into the underlying roomba_comms library (I may not have implemented  
> the entire Roomba command set in that library, so you may need to add  
> some calls to turn the vacuum on/off).  Requests require a response  
> (e.g., the client may ask for the IR geometry).  This happens in  
> roomba_driver.cc and roomba_comms.[h,c]
> 
> - Update and Publish() new 'ir' and 'gripper' state data in  
> Roomba::Main().  This happens in roomba_driver.cc.
> 
> - Change your config file to make the 'roomba' driver 'requires' the  
> new interfaces.  Give it a try with playerv to see whether you're  
> getting reasonable data.
> 
> Feel free to ask questions as you go, and please send a patch when  
> you've got something working.
> 
> 	brian.
> 
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