[Playerstage-commit] SF.net SVN: playerstage: [6728] code/player/trunk/server/drivers/blobfinder /acts/acts.cc

[<thjc@us...>]

Revision: 6728
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6728&view=rev
Author:   thjc
Date:     2008-07-01 21:31:56 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
merged acts fix [6726] from 2-1

Modified Paths:
--------------
    code/player/trunk/server/drivers/blobfinder/acts/acts.cc

Modified: code/player/trunk/server/drivers/blobfinder/acts/acts.cc
===================================================================
--- code/player/trunk/server/drivers/blobfinder/acts/acts.cc	2008-07-02 03:58:53 UTC (rev 6727)
+++ code/player/trunk/server/drivers/blobfinder/acts/acts.cc	2008-07-02 04:31:56 UTC (rev 6728)
@@ -495,27 +495,26 @@
   i = 0;
   acts_args[i++] = acts_bin_name;
   // build the argument list, based on version
+  // these are needed as execv expects a const array of char *'s not an array of const char *'s
+  static char dash_d[] = "-d";
+  static char dash_i[] = "-i";
+  static char dash_n[] = "-n";
+  static char dash_p[] = "-p";
+  static char dash_s[] = "-s";
+  static char dash_t[] = "-t";
+  static char dash_w[] = "-w";
+  static char dash_x[] = "-x";
+
+  static char dash_B[] = "-B";
+  static char dash_C[] = "-C";
+  static char dash_G[] = "-G";
+  static char dash_H[] = "-H";
+  static char dash_R[] = "-R";
+  static char dash_V[] = "-V";
+  static char dash_W[] = "-W";
   switch(acts_version)
   {
-    // these are needed as execv expects a const array of char *'s not an array of const char *'s
-    static char dash_d[3] = "-d";
-    static char dash_i[3] = "-i";
-    static char dash_n[3] = "-n";
-    static char dash_p[3] = "-p";
-    static char dash_s[3] = "-s";
-    static char dash_t[3] = "-t";
-    static char dash_w[3] = "-w";
-    static char dash_x[3] = "-x";
-
-    static char dash_B[3] = "-B";
-    static char dash_C[3] = "-C";
-    static char dash_G[3] = "-G";
-    static char dash_H[3] = "-H";
-    static char dash_R[3] = "-R";
-    static char dash_V[3] = "-V";
-    static char dash_W[3] = "-W";
-
-  case ACTS_VERSION_1_0:
+    case ACTS_VERSION_1_0:
       acts_args[i++] = dash_t;
       acts_args[i++] = configfilepath;
       if(strlen(portnumstring))


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[Playerstage-commit] SF.net SVN: playerstage: [6727] code/player/trunk

[<gbiggs@us...>]

Revision: 6727
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6727&view=rev
Author:   gbiggs
Date:     2008-07-01 20:58:53 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
Some work to make Player compile on QNX and Solaris

Modified Paths:
--------------
    code/player/trunk/cmake/internal/SearchForStuff.cmake
    code/player/trunk/libplayercore/CMakeLists.txt
    code/player/trunk/libplayersd/CMakeLists.txt
    code/player/trunk/server/libplayerdrivers/CMakeLists.txt

Modified: code/player/trunk/cmake/internal/SearchForStuff.cmake
===================================================================
--- code/player/trunk/cmake/internal/SearchForStuff.cmake	2008-07-02 03:25:30 UTC (rev 6726)
+++ code/player/trunk/cmake/internal/SearchForStuff.cmake	2008-07-02 03:58:53 UTC (rev 6727)
@@ -4,9 +4,16 @@
 INCLUDE (CheckIncludeFiles)
 INCLUDE (CheckLibraryExists)
 
+IF (PLAYER_OS_QNX)
+    SET (CMAKE_REQUIRED_LIBRARIES socket)
+ELSEIF (PLAYER_OS_SOLARIS)
+    SET (CMAKE_REQUIRED_LIBRARIES socket nsl)
+ENDIF (PLAYER_OS_QNX)
+CHECK_FUNCTION_EXISTS (getaddrinfo HAVE_GETADDRINFO)
+SET (CMAKE_REQUIRED_LIBRARIES)
+
 CHECK_FUNCTION_EXISTS (cfmakeraw HAVE_CFMAKERAW)
 CHECK_FUNCTION_EXISTS (dirname HAVE_DIRNAME)
-CHECK_FUNCTION_EXISTS (getaddrinfo HAVE_GETADDRINFO)
 CHECK_LIBRARY_EXISTS (ltdl lt_dlopenext "" HAVE_LIBLTDL)
 CHECK_INCLUDE_FILES (linux/joystick.h HAVE_LINUX_JOYSTICK_H)
 CHECK_FUNCTION_EXISTS (poll HAVE_POLL)
@@ -83,3 +90,9 @@
         LIST_TO_STRING (GDKPIXBUF_CFLAGS "${GDKPIXBUF_PKG_CFLAGS}")
     ENDIF (GDKPIXBUF_PKG_FOUND)
 ENDIF (NOT PKG_CONFIG_FOUND)
+
+IF (PLAYER_OS_QNX)
+    SET (PTHREAD_LIB)
+ELSE (PLAYER_OS_QNX)
+    SET (PTHREAD_LIB -lpthread)
+ENDIF (PLAYER_OS_QNX)

Modified: code/player/trunk/libplayercore/CMakeLists.txt
===================================================================
--- code/player/trunk/libplayercore/CMakeLists.txt	2008-07-02 03:25:30 UTC (rev 6726)
+++ code/player/trunk/libplayercore/CMakeLists.txt	2008-07-02 03:58:53 UTC (rev 6727)
@@ -62,20 +62,30 @@
 # playerxdr and used here.  Those functions should go into a separate
 # library.
 SET (coreLibs playerutils playererror playerxdr pthread)
-SET (corePCLibs "-lpthread")
-PLAYER_ADD_LINK_LIB (pthread)
+IF (PLAYER_OS_QNX)
+    SET (corePCLibs)
+ELSE (PLAYER_OS_QNX)
+    SET (corePCLibs "-lpthread")
+    PLAYER_ADD_LINK_LIB (pthread)
+ENDIF (NOT PLAYER_OS_QNX)
 
 IF (HAVE_CLOCK_GETTIME)
-  SET (coreLibs ${coreLibs} rt)
-  SET (corePCLibs "${corePCLibs} -lrt")
-  PLAYER_ADD_LINK_LIB (rt)
+    SET (coreLibs ${coreLibs} rt)
+    SET (corePCLibs "${corePCLibs} -lrt")
+    PLAYER_ADD_LINK_LIB (rt)
 ELSE (HAVE_CLOCK_GETTIME)
-  SET (playercoreSrcs ${playercoreSrcs} ${PROJECT_SOURCE_DIR}/replace/clock_gettime.c)
+    SET (playercoreSrcs ${playercoreSrcs} ${PROJECT_SOURCE_DIR}/replace/clock_gettime.c)
 ENDIF (HAVE_CLOCK_GETTIME)
 IF (HAVE_LIBLTDL)
-  SET (coreLibs ${coreLibs} ltdl dl)
-  SET (corePCLibs "${corePCLibs} -lltdl -dl")
-  PLAYER_ADD_LINK_LIB (ltdl dl)
+    IF (PLAYER_OS_QNX)
+        SET (coreLibs ${coreLibs} ltdl)
+        SET (corePCLibs "${corePCLibs} -lltdl")
+        PLAYER_ADD_LINK_LIB (ltdl)
+    ELSE (PLAYER_OS_QNX)
+        SET (coreLibs ${coreLibs} ltdl dl)
+        SET (corePCLibs "${corePCLibs} -lltdl -ldl")
+        PLAYER_ADD_LINK_LIB (ltdl dl)
+    ENDIF (PLAYER_OS_QNX)
 ENDIF (HAVE_LIBLTDL)
 IF (NOT HAVE_DIRNAME)
   SET (playercoreSrcs ${playercoreSrcs} ${PROJECT_SOURCE_DIR}/replace/dirname.c)

Modified: code/player/trunk/libplayersd/CMakeLists.txt
===================================================================
--- code/player/trunk/libplayersd/CMakeLists.txt	2008-07-02 03:25:30 UTC (rev 6726)
+++ code/player/trunk/libplayersd/CMakeLists.txt	2008-07-02 03:58:53 UTC (rev 6727)
@@ -8,7 +8,7 @@
     PLAYER_ADD_LIBRARY (playersd ${playersdSrcs})
     TARGET_LINK_LIBRARIES (playersd playererror playerutils)
     PLAYER_ADD_LINK_LIB (dns_sd)
-    PLAYER_MAKE_PKGCONFIG ("playersd" "Player service discovery library - part of the Player Project" "playererror playerutils" "" "" "-ldns_sd -lpthread")
+    PLAYER_MAKE_PKGCONFIG ("playersd" "Player service discovery library - part of the Player Project" "playererror playerutils" "" "" "-ldns_sd ${PTHREAD_LIB}")
 
     PLAYER_INSTALL_HEADERS (playersd playersd.h)
 ENDIF (HAVE_PLAYERSD)
\ No newline at end of file

Modified: code/player/trunk/server/libplayerdrivers/CMakeLists.txt
===================================================================
--- code/player/trunk/server/libplayerdrivers/CMakeLists.txt	2008-07-02 03:25:30 UTC (rev 6726)
+++ code/player/trunk/server/libplayerdrivers/CMakeLists.txt	2008-07-02 03:58:53 UTC (rev 6727)
@@ -91,6 +91,6 @@
 ENDIF (PLAYER_DRIVERSLIB_LINKFLAGS)
 
 # Package config file for libplayerdrivers
-PLAYER_MAKE_PKGCONFIG ("playerdrivers" "Player driver library - part of the Player Project" "playercore" "" "" "-lpthread")
+PLAYER_MAKE_PKGCONFIG ("playerdrivers" "Player driver library - part of the Player Project" "playercore" "" "" "${PTHREAD_LIB}")
 
 PLAYER_INSTALL_HEADERS (playerdrivers driverregistry.h)


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[Playerstage-commit] SF.net SVN: playerstage: [6726] code/player/branches/release-2-1-patches/ server/drivers/blobfinder/acts/acts.cc

[<thjc@us...>]

Revision: 6726
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6726&view=rev
Author:   thjc
Date:     2008-07-01 20:25:30 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
moved flag declarations out of switch statement

Modified Paths:
--------------
    code/player/branches/release-2-1-patches/server/drivers/blobfinder/acts/acts.cc

Modified: code/player/branches/release-2-1-patches/server/drivers/blobfinder/acts/acts.cc
===================================================================
--- code/player/branches/release-2-1-patches/server/drivers/blobfinder/acts/acts.cc	2008-07-02 03:08:52 UTC (rev 6725)
+++ code/player/branches/release-2-1-patches/server/drivers/blobfinder/acts/acts.cc	2008-07-02 03:25:30 UTC (rev 6726)
@@ -495,27 +495,26 @@
   i = 0;
   acts_args[i++] = acts_bin_name;
   // build the argument list, based on version
+  // these are needed as execv expects a const array of char *'s not an array of const char *'s
+  static char dash_d[] = "-d";
+  static char dash_i[] = "-i";
+  static char dash_n[] = "-n";
+  static char dash_p[] = "-p";
+  static char dash_s[] = "-s";
+  static char dash_t[] = "-t";
+  static char dash_w[] = "-w";
+  static char dash_x[] = "-x";
+
+  static char dash_B[] = "-B";
+  static char dash_C[] = "-C";
+  static char dash_G[] = "-G";
+  static char dash_H[] = "-H";
+  static char dash_R[] = "-R";
+  static char dash_V[] = "-V";
+  static char dash_W[] = "-W";
   switch(acts_version)
   {
-    // these are needed as execv expects a const array of char *'s not an array of const char *'s
-    static char dash_d[3] = "-d";
-    static char dash_i[3] = "-i";
-    static char dash_n[3] = "-n";
-    static char dash_p[3] = "-p";
-    static char dash_s[3] = "-s";
-    static char dash_t[3] = "-t";
-    static char dash_w[3] = "-w";
-    static char dash_x[3] = "-x";
-
-    static char dash_B[3] = "-B";
-    static char dash_C[3] = "-C";
-    static char dash_G[3] = "-G";
-    static char dash_H[3] = "-H";
-    static char dash_R[3] = "-R";
-    static char dash_V[3] = "-V";
-    static char dash_W[3] = "-W";
-
-  case ACTS_VERSION_1_0:
+    case ACTS_VERSION_1_0:
       acts_args[i++] = dash_t;
       acts_args[i++] = configfilepath;
       if(strlen(portnumstring))


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[Playerstage-commit] SF.net SVN: playerstage: [6725] code/player/trunk/cmake/internal/FindOS. cmake

[<gbiggs@us...>]

Revision: 6725
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6725&view=rev
Author:   gbiggs
Date:     2008-07-01 20:08:52 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
Added checks for Solaris and QNX

Modified Paths:
--------------
    code/player/trunk/cmake/internal/FindOS.cmake

Modified: code/player/trunk/cmake/internal/FindOS.cmake
===================================================================
--- code/player/trunk/cmake/internal/FindOS.cmake	2008-07-02 02:36:38 UTC (rev 6724)
+++ code/player/trunk/cmake/internal/FindOS.cmake	2008-07-02 03:08:52 UTC (rev 6725)
@@ -4,6 +4,8 @@
 STRING (REGEX MATCH "Linux" PLAYER_OS_LINUX ${CMAKE_SYSTEM_NAME})
 # Nor *BSD
 STRING (REGEX MATCH "BSD" PLAYER_OS_BSD ${CMAKE_SYSTEM_NAME})
+# Or Solaris. I'm seeing a trend, here
+STRING (REGEX MATCH "Solaris" PLAYER_OS_SOLARIS ${CMAKE_SYSTEM_NAME})
 
 # Windows is easy (for once)
 IF (WIN32)
@@ -19,6 +21,11 @@
     ENDIF (NOT PLAYER_OS_OSX)
 ENDIF (APPLE)
 
+# QNX
+IF (QNXNTO)
+    SET (PLAYER_OS_QNX TRUE BOOL INTERNAL)
+ENDIF (QNXNTO)
+
 IF (PLAYER_OS_LINUX)
     MESSAGE (STATUS "Operating system is Linux")
 ELSEIF (PLAYER_OS_BSD)
@@ -29,6 +36,10 @@
     MESSAGE (STATUS "Operating system is Apple MacOS X")
 ELSEIF (PLAYER_OS_MACOS)
     MESSAGE (STATUS "Operating system is Apple MacOS (not OS X)")
+ELSEIF (PLAYER_OS_QNX)
+    MESSAGE (STATUS "Operating system is QNX")
+ELSEIF (PLAYER_OS_SOLARIS)
+    MESSAGE (STATUS "Operating system is Solaris")
 ELSE (PLAYER_OS_LINUX)
     MESSAGE (STATUS "Operating system is generic Unix")
 ENDIF (PLAYER_OS_LINUX)
\ No newline at end of file


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[Playerstage-commit] SF.net SVN: playerstage: [6724] code/player/trunk/server/drivers/camera/ 1394

[<gbiggs@us...>]

Revision: 6724
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6724&view=rev
Author:   gbiggs
Date:     2008-07-01 19:36:38 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
Fixed API version checks for camera1394

Modified Paths:
--------------
    code/player/trunk/server/drivers/camera/1394/CMakeLists.txt
    code/player/trunk/server/drivers/camera/1394/camera1394.cc

Added Paths:
-----------
    code/player/trunk/server/drivers/camera/1394/camera1394.h.in

Modified: code/player/trunk/server/drivers/camera/1394/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/camera/1394/CMakeLists.txt	2008-07-01 18:50:43 UTC (rev 6723)
+++ code/player/trunk/server/drivers/camera/1394/CMakeLists.txt	2008-07-02 02:36:38 UTC (rev 6724)
@@ -1,13 +1,13 @@
 PLAYERDRIVER_OPTION (camera1394 build_camera1394 ON)
-# PLAYERDRIVER_REQUIRE_LIB (camera1394 build_camera1394 raw1394 main "")
-SET (c1394CFlags "-DDC1394_DMA_SETUP_CAPTURE_ARGS=0 -I${PROJECT_SOURCE_DIR}/server/drivers/blobfinder/cmvision")
 IF (build_camera1394)
+    SET (c1394CFlags "-I${PROJECT_SOURCE_DIR}/server/drivers/blobfinder/cmvision -I${CMAKE_CURRENT_BINARY_DIR}")
+    SET (DC1394_DMA_SETUP_CAPTURE_ARGS 0)
     SET (c1394Sources camera1394.cc ${PROJECT_SOURCE_DIR}/server/drivers/blobfinder/cmvision/conversions.c)
 
     INCLUDE (CheckIncludeFiles)
     CHECK_INCLUDE_FILES (dc1394/control.h haveControlH)
     IF (haveControlH)
-        SET (c1394CFlags "-DDC1394_DMA_SETUP_CAPTURE_ARGS=20")
+        SET (DC1394_DMA_SETUP_CAPTURE_ARGS 20)
         CHECK_INCLUDE_FILES (libraw1394/raw1394.h haveRaw1394H)
         IF (haveRaw1394H)
             SET (c1394LinkFlags "-lraw1394 -ldc1394")
@@ -19,22 +19,27 @@
         PLAYERDRIVER_REQUIRE_HEADER (camera1394 build_camera1394 libraw1394/raw1394.h)
         PLAYERDRIVER_REQUIRE_HEADER (camera1394 build_camera1394 libdc1394/dc1394_control.h)
         IF (HAVE_HDR_LIBRAW1394_RAW1394_H)
-          SET (c1394CFlags "${c1394CFlags} -DHAVE_LIBRAW1394")
+            SET (HAVE_LIBRAW1394 1)
         ENDIF (HAVE_HDR_LIBRAW1394_RAW1394_H)
         SET (testArgsSource ${CMAKE_CURRENT_BINARY_DIR}/CMakeTmp/test_args.c)
         FILE (WRITE ${testArgsSource}
-            "#include \"libdc1394/dc1394_control.h\"\nint main () {dc1394_dma_setup_capture (NULL, 0, 0, 0, 0, 0, 0, 0, 0, NULL, NULL); return 0;}")
-        TRY_COMPILE (argsIs11 ${CMAKE_CURRENT_BINARY_DIR} ${testArgsSource})
+            "#include \"libdc1394/dc1394_control.h\"\nint main () {dc1394_dma_setup_capture (NULL, 0, 0, 0, 0, 0, 0, 0, 0, NULL, NULL); return 0;}\n")
+        TRY_COMPILE (argsIs11 ${CMAKE_CURRENT_BINARY_DIR} ${testArgsSource} CMAKE_FLAGS "-DLINK_LIBRARIES:STRING=raw1394;dc1394_control")
         IF (argsIs11)
-            SET (c1394CFlags "-DDC1394_DMA_SETUP_CAPTURE_ARGS=11")
+            SET (DC1394_DMA_SETUP_CAPTURE_ARGS 11)
         ELSE (argsIs11)
             FILE (WRITE ${testArgsSource}
-                "#include \"libdc1394/dc1394_control.h\"\nint main () {dc1394_dma_setup_capture (NULL, 0, 0, 0, 0, 0, 0, 0, 0, 0, NULL, NULL); return 0;}")
-            TRY_COMPILE (argsIs12 ${CMAKE_CURRENT_BINARY_DIR} ${testArgsSource})
+                "#include \"libdc1394/dc1394_control.h\"\nint main () {dc1394_dma_setup_capture (NULL, 0, 0, 0, 0, 0, 0, 0, 0, 0, NULL, NULL); return 0;}\n")
+            TRY_COMPILE (argsIs12 ${CMAKE_CURRENT_BINARY_DIR} ${testArgsSource} CMAKE_FLAGS "-DLINK_LIBRARIES:STRING=raw1394;dc1394_control")
             IF (argsIs12)
-                SET (c1394CFlags "-DDC1394_DMA_SETUP_CAPTURE_ARGS=12")
+                SET (DC1394_DMA_SETUP_CAPTURE_ARGS 12)
             ENDIF (argsIs12)
         ENDIF (argsIs11)
     ENDIF (haveControlH)
 ENDIF (build_camera1394)
-PLAYERDRIVER_ADD_DRIVER (camera1394 build_camera1394 LINKFLAGS "${c1394LinkFlags}" CFLAGS "${c1394CFlags}" SOURCES ${c1394Sources})
+
+SET (camera1394_h_in "${CMAKE_CURRENT_SOURCE_DIR}/camera1394.h.in")
+SET (camera1394_h "${CMAKE_CURRENT_BINARY_DIR}/camera1394.h")
+CONFIGURE_FILE (${camera1394_h_in} ${camera1394_h})
+
+PLAYERDRIVER_ADD_DRIVER (camera1394 build_camera1394 LINKFLAGS "${c1394LinkFlags}" CFLAGS "${c1394CFlags}" SOURCES ${c1394Sources} ${camera1394_h})

Modified: code/player/trunk/server/drivers/camera/1394/camera1394.cc
===================================================================
--- code/player/trunk/server/drivers/camera/1394/camera1394.cc	2008-07-01 18:50:43 UTC (rev 6723)
+++ code/player/trunk/server/drivers/camera/1394/camera1394.cc	2008-07-02 02:36:38 UTC (rev 6724)
@@ -158,10 +158,6 @@
 */
 /** @} */
 
-#ifdef HAVE_CONFIG_H
-  #include "config.h"
-#endif
-
 #include <errno.h>
 #include <string.h>
 #include <math.h>
@@ -170,6 +166,8 @@
 #include <unistd.h>
 #include <assert.h>
 
+#include <camera1394.h>
+
 #ifdef HAVE_LIBRAW1394
     #include <libraw1394/raw1394.h>
 #endif

Added: code/player/trunk/server/drivers/camera/1394/camera1394.h.in
===================================================================
--- code/player/trunk/server/drivers/camera/1394/camera1394.h.in	                        (rev 0)
+++ code/player/trunk/server/drivers/camera/1394/camera1394.h.in	2008-07-02 02:36:38 UTC (rev 6724)
@@ -0,0 +1,2 @@
+#cmakedefine HAVE_LIBRAW1394 1
+#define DC1394_DMA_SETUP_CAPTURE_ARGS ${DC1394_DMA_SETUP_CAPTURE_ARGS}
\ No newline at end of file


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[Playerstage-commit] SF.net SVN: playerstage: [6723] code/gazebo/trunk

[<natepak@us...>]

Revision: 6723
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6723&view=rev
Author:   natepak
Date:     2008-07-01 11:50:43 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
Updates to the documentation

Modified Paths:
--------------
    code/gazebo/trunk/doc/gazebo.dox
    code/gazebo/trunk/doc/header.html
    code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc
    code/gazebo/trunk/server/physics/BallJoint.hh
    code/gazebo/trunk/server/physics/Body.hh
    code/gazebo/trunk/server/physics/BoxGeom.hh
    code/gazebo/trunk/server/physics/CylinderGeom.hh
    code/gazebo/trunk/server/physics/Hinge2Joint.hh
    code/gazebo/trunk/server/physics/HingeJoint.hh
    code/gazebo/trunk/server/physics/SliderJoint.hh
    code/gazebo/trunk/server/physics/SphereGeom.hh
    code/gazebo/trunk/server/physics/TrimeshGeom.hh
    code/gazebo/trunk/server/physics/UniversalJoint.hh
    code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
    code/gazebo/trunk/server/physics/ode/ODEPhysics.hh

Added Paths:
-----------
    code/gazebo/trunk/doc/xmltags.html

Modified: code/gazebo/trunk/doc/gazebo.dox
===================================================================
--- code/gazebo/trunk/doc/gazebo.dox	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/doc/gazebo.dox	2008-07-01 18:50:43 UTC (rev 6723)
@@ -170,7 +170,7 @@
 # The TAB_SIZE tag can be used to set the number of spaces in a tab. 
 # Doxygen uses this value to replace tabs by spaces in code fragments.
 
-TAB_SIZE               = 8
+TAB_SIZE               = 4
 
 # This tag can be used to specify a number of aliases that acts 
 # as commands in the documentation. An alias has the form "name=value". 
@@ -459,7 +459,7 @@
 # directories like "/usr/src/myproject". Separate the files or directories 
 # with spaces.
 
-INPUT                  =  mainpage.html install.html modules.html tutorial_model.html tutorial_controller.html tutorial_sensor.html tutorial_player.html tutorial_terrain.html config_syntax.html gazebo.txt gui.html prerequisites.html tutorial_mesh.html media_organization.html ../server ../player ../libgazebo
+INPUT                  =  mainpage.html install.html modules.html tutorial_model.html tutorial_controller.html tutorial_sensor.html tutorial_player.html tutorial_terrain.html config_syntax.html gazebo.txt gui.html prerequisites.html tutorial_mesh.html media_organization.html xmltags.html ../server ../player ../libgazebo
 
 # If the value of the INPUT tag contains directories, you can use the 
 # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp 

Modified: code/gazebo/trunk/doc/header.html
===================================================================
--- code/gazebo/trunk/doc/header.html	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/doc/header.html	2008-07-01 18:50:43 UTC (rev 6723)
@@ -47,6 +47,7 @@
           <dd><a href="modules.html">Code Reference</a></dd>
           <dd><a href="annotated.html">Class List</a></dd>
           <dd><a href="hierarchy.html">Class Hierarchy</a></dd>
+          <dd><a href="xmltags.html">Worldfile XML Tags</a></dd>
         </dl>
       </div>
 

Added: code/gazebo/trunk/doc/xmltags.html
===================================================================
--- code/gazebo/trunk/doc/xmltags.html	                        (rev 0)
+++ code/gazebo/trunk/doc/xmltags.html	2008-07-01 18:50:43 UTC (rev 6723)
@@ -0,0 +1,100 @@
+/**
+
+\page xmltags Worldfile XML Tags
+
+\section generaltags General Tags
+
+The following XML tags are general attributes that are applicable to all world files. Specific details of geometries, joints, sensors, etc can be found in their documentation. 
+
+\verbatim
+
+  <!-- Parameters for ODE physics engine -->
+  <physics:ode>
+    <stepTime>#</stepTime> <!-- Duration of a step, in seconds. (default=0.03)-->
+    <gravity># # #</gravity> <!-- Gravity vector. (default=0 0 -9.8)-->
+    <cfm>#</cfm> <!-- Constraint force mixing. (default = 10e-5) -->
+    <erp>#</erp> <!-- Error reduction. (default=0.3) -->
+  </physics:ode>
+
+  <!-- Parameters for the GUI -->
+  <rendering:gui>
+    <size># #</size> <!-- Size in pixels of the initial GUI -->
+    <pos># #</pos> <!-- Position on the screen to place the GUI -->
+  </rendering:gui>
+
+  <!-- Parameters for the OGRE rendering engine -->
+  <rendering:ogre>
+    <ambient># # # #</ambient> <!-- Ambient light color -->
+
+    <sky> <!-- Sky material. Optional -->
+      <material>string</material>
+    </sky>
+
+    <fog> <!-- Fog, optional -->
+      <color># # #</color> <!-- Color of the fog -->
+        <linearStart>#</linearStart> <!-- Distance at which the fog starts -->
+        <linearEnd>#</linearEnd> <!-- Distance at which the fog reaches full density-->
+    </fog>
+  </rendering:ogre>
+
+  <!-- A model. There is no limit to the number of models in a world-->
+  <model:physical name="">
+    <xyz># # #</xyz> <!-- Position of the model in the world -->
+    <rpy># # #</rpy> <!-- Roll, pitch, yaw of the model -->
+
+    <static>true|false</static> <!-- True = makes the model immovable -->
+
+    <!-- A body. There is no limit to the number of bodies in a model -->
+    <body:[plane|box|sphere|cylinder|trimesh] name="">
+      <xyz># # #</xyz> <!-- XYZ position of the body relative to the model -->
+      <rpy># # #</rpy> <!-- Roll, Pitch, Yaw of the body relative to the model -->
+
+      <!-- A geometry that is attached to the parent body. There can be 1..n geometries per body -->
+      <geom:[box|sphere|cylinder|trimesh] name="">
+        <xyz># # #</xyz> <!-- XYZ position of the geom, relative to the body -->
+        <rpy># # #</rpy> <!-- Roll, pitch, yaw of the geom, relative to the body -->
+        <mass>#</mass> <!-- Mass in kilograms -->
+        <laserFiducialId>#</laserFiducialId> <!-- Integer laser fiducial ID -->
+        <laserRetro>#</laserRetro> <!-- Retro reflectance value -->
+
+        <size># # #</size> <!-- Size of geom. Sphere uses radius, Cylinder uses radius, height. Box uses xyz lengths -->
+
+        <visual>
+          <xyz># # #</xyz> <!-- Position relative to the geom -->
+          <rpy># # #<rpy> <!-- Roll, pitch, yaw relative to the geom -->
+          <size># # #<size> <!-- Size of the mesh in the x,y,z dimensions -->
+          <mesh>string</mesh> <!-- Name of the mesh -->
+          <material>string</mesh> <!-- Name of the material. This name must match a name in one of the file at install_path/share/gazebo/Media/materials/scripts. -->
+          <castShadows>true|false</castShadows> <!-- True = cast shadows -->
+        </visual>
+
+      </geom:[box|sphere|cylinder|trimesh]>
+
+      <!-- Attach a sensor to the body. Each sensor has a different set of parameters  -->
+      <sensor:type name="">
+
+        <!-- Define a controller to process the sensor information, and expose the data to libgazebo -->
+        <controller:type name="">
+          <!-- Define an type of interface that the controller interacts with -->
+          <interface:type name="" />
+        </controller:type name="">
+      </sensor>
+
+    </body:[box|sphere|cylinder|trimesh]>
+
+    <!-- A joint connects two bodies together -->
+    <joint:type>
+      <body1>string</body1> <!-- Name of the first body -->
+      <body2>string</body2> <!-- Name of the second body -->
+      <anchor>string</anchor> <!-- Name of the model that acts as the anchor -->
+      <anchorOffset># # #</anchorOffset> <!-- Meters to move the anchor, relative to the anchor -->
+      <erp>#</erp> <!-- Error reduction parameter -->
+      <cfm>#</cfm> <!-- Constraint force mixing parameter -->
+    </joint:type>
+
+  </model:physical>
+
+
+\endverbatim
+
+*/

Modified: code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc
===================================================================
--- code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/examples/libgazebo/simiface/simiface.cc	2008-07-01 18:50:43 UTC (rev 6723)
@@ -30,28 +30,34 @@
     return -1;
   }
 
-  simIface->Lock(1);
   //simIface->data->reset = 1;
 
   // Example of how to move a model (box1_model)
-  uint8_t name[512] = "box1_model";
+  uint8_t name[512] = "pioneer2dx_model1";
   uint8_t cmd[32] = "set_pose3d";
 
-  memcpy(simIface->data->model_name, name, 512);
-  memcpy(simIface->data->model_req,cmd, 32);
+  for (int i=0; i< 10; i++)
+  {
+    simIface->Lock(1);
 
-  simIface->data->model_pose.pos.x = 2;
-  simIface->data->model_pose.pos.y = 0;
-  simIface->data->model_pose.pos.z = 0;
+    memcpy(simIface->data->model_name, name, 512);
+    memcpy(simIface->data->model_req,cmd, 32);
 
-  simIface->Unlock();
+    simIface->data->model_pose.pos.x = i+.1;
+    simIface->data->model_pose.pos.y = 0;
+    simIface->data->model_pose.pos.z = 0.2;
 
-  usleep(1000000);
+    simIface->Unlock();
 
+    usleep(100000);
+  }
+
+
   // Example of resetting the simulator
-  simIface->Lock(1);
+  /*simIface->Lock(1);
   simIface->data->reset = 1;
   simIface->Unlock();
+  */
 
   usleep(1000000);
 

Modified: code/gazebo/trunk/server/physics/BallJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/BallJoint.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/BallJoint.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -46,6 +46,10 @@
     - Name of the second body to attach to the joint
   - anchor (string)
     - Name of the body which will act as the anchor to the joint
+  - erp (double)
+    - Error reduction parameter. Default = 0.4
+  - cfm (double)
+    - Constraint force mixing. Default = 0.8
 
   \par Example
   \verbatim

Modified: code/gazebo/trunk/server/physics/Body.hh
===================================================================
--- code/gazebo/trunk/server/physics/Body.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/Body.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -35,11 +35,13 @@
 #include "Entity.hh"
 #include "Pose3d.hh"
 
+
 namespace gazebo
 {
   class Geom;
   class Sensor;
 
+
 /// \addtogroup gazebo_physics
 /// \brief The body class
 /// \{

Modified: code/gazebo/trunk/server/physics/BoxGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/BoxGeom.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/BoxGeom.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -52,11 +52,15 @@
       <xyz>1 2 3</xyz>
       <rpy>0 0 30</rpy>
       <size>0.1 0.2 0.3</size>
-      <mesh>default</mesh>
       <mass>0.5</mass>
-      <material>Gazebo/Red</material>
       <laserFiducialId>1</laserFiducialId>
       <laserRetro>0.5</laserRetro>
+
+      <visual>
+        <size>0.1 0.2 0.3</size>
+        <mesh>default</mesh>
+        <material>Gazebo/Red</material>
+      </visual>
     </geom:box>
     \endverbatim
     */

Modified: code/gazebo/trunk/server/physics/CylinderGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/CylinderGeom.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/CylinderGeom.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -51,11 +51,15 @@
       <xyz>1 2 3</xyz>
       <rpy>0 0 30</rpy>
       <size>0.1 0.5</size>
-      <mesh>default</mesh>
       <mass>0.5</mass>
-      <material>Gazebo/Red</material>
       <laserFiducialId>1</laserFiducialId>
       <laserRetro>0.5</laserRetro>
+
+      <visual>
+        <size>0.1 0.1 0.5</size>
+        <mesh>default</mesh>
+        <material>Gazebo/Red</material>
+      </visual>
     </geom:box>
     \endverbatim
     */

Modified: code/gazebo/trunk/server/physics/Hinge2Joint.hh
===================================================================
--- code/gazebo/trunk/server/physics/Hinge2Joint.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/Hinge2Joint.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -64,7 +64,14 @@
   - highStop2 (float, degrees)
     - The high stop angle for the second degree of freedom
     - Default: infinity
+  - erp (double)
+    - Error reduction parameter. 
+    - Default = 0.4
+  - cfm (double)
+    - Constraint force mixing. 
+    - Default = 0.8
 
+
   \par Example
   \verbatim
   <joint:hinge2 name="hinge2_joint>

Modified: code/gazebo/trunk/server/physics/HingeJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/HingeJoint.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/HingeJoint.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -55,6 +55,12 @@
   - highStop (float, degrees)
     - The high stop angle for the first degree of freedom
     - Default: infinity
+  - erp (double)
+    - Error reduction parameter. 
+    - Default = 0.4
+  - cfm (double)
+    - Constraint force mixing. 
+    - Default = 0.8
 
   \par Example
   \verbatim

Modified: code/gazebo/trunk/server/physics/SliderJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/SliderJoint.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/SliderJoint.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -56,7 +56,14 @@
   - highStop (float, meters)
     - The high stop position
     - Default: infinity
+  - erp (double)
+    - Error reduction parameter. 
+    - Default = 0.4
+  - cfm (double)
+    - Constraint force mixing. 
+    - Default = 0.8
 
+
   \par Example
   \verbatim
   <joint:slider name="slider_joint>

Modified: code/gazebo/trunk/server/physics/SphereGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/SphereGeom.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/SphereGeom.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -52,11 +52,15 @@
         <xyz>1 2 3</xyz>
         <rpy>0 0 30</rpy>
         <size>0.1</size>
-        <mesh>default</mesh>
         <mass>0.5</mass>
-        <material>Gazebo/Red</material>
         <laserFiducialId>1</laserFiducialId>
         <laserRetro>0.5</laserRetro>
+
+        <visual>
+          <mesh>default</mesh>
+          <size>0.1 0.1 0.1</size>
+          <material>Gazebo/Red</material>
+        </visual>
       </geom:sphere>
       \endverbatim
     */

Modified: code/gazebo/trunk/server/physics/TrimeshGeom.hh
===================================================================
--- code/gazebo/trunk/server/physics/TrimeshGeom.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/TrimeshGeom.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -50,10 +50,15 @@
     \par Example
     \verbatim
       <geom:trimesh name="pallet_geom">
-        <mesh>kitchen.mesh</mesh>
+        <mesh>WoodPallet.mesh</mesh>
         <scale>.2 .2 .2</scale>
-        <material>Gazebo/WoodPallet</material>
-        <mass>1.0</mass>
+        <mass>0.1</mass>
+
+        <visual>
+          <scale>.2 .2 .2</scale>
+          <material>Gazebo/WoodPallet</material>
+          <mesh>WoodPallet.mesh</mesh>
+        </visual>
       </geom:trimesh>
     \endverbatim
   */

Modified: code/gazebo/trunk/server/physics/UniversalJoint.hh
===================================================================
--- code/gazebo/trunk/server/physics/UniversalJoint.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/UniversalJoint.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -62,7 +62,14 @@
   - highStop2 (float, degrees)
     - The high stop angle for the second degree of freedom
     - Default: infinity
+  - erp (double)
+    - Error reduction parameter. 
+    - Default = 0.4
+  - cfm (double)
+    - Constraint force mixing. 
+    - Default = 0.8
 
+
   \par Example
   \verbatim
   <joint:universal name="universal_joint>

Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc	2008-07-01 18:50:43 UTC (rev 6723)
@@ -100,7 +100,7 @@
   this->gravity = cnode->GetVector3("gravity",this->gravity);
   this->stepTime = cnode->GetDouble("stepTime",this->stepTime);
   this->updateRate = cnode->GetDouble("maxUpdateRate", 0, 0);
-  this->globalCFM = cnode->GetDouble("cfm",1e-5,0);
+  this->globalCFM = cnode->GetDouble("cfm",10e-5,0);
   this->globalERP = cnode->GetDouble("erp",0.2,0);
 }
 

Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.hh
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.hh	2008-07-01 08:51:20 UTC (rev 6722)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.hh	2008-07-01 18:50:43 UTC (rev 6723)
@@ -48,23 +48,35 @@
 
 The \c param:physics tag is used to specify certain parameters for the ODE phyics engine. The following parameters are in addition to those provided by the PhysicsEngine base class.
 
-\verbatim
-<param:physics>
-  <cfm>10e-9</cfm>
-  <erp>0.2</erp>
-</param:physics>
-\endverbatim
+\par Attributes
 
 - cfm (float)
-  - Global Constraint Force Mixing parameter
+  - Global constraint force mixing
+  - Default: 10e-5
   - Range:  10e-10 to 1.0
-  - Recommended value: 10e-9
-
+  - Recommended value: 10e-5
 - erp (float)
-  - Global Error Reduction parameter
+  - Global error reduction parameter
+  - Default: 0.2
   - Range: 0 to 1.0
   - Recommended Range: 0.1 to 0.8
+- stepTime (float)
+  - Time, in seconds, that elapse for each iteration of the physics engine
+  - Default: 0.025
+-gravity (float float float)
+  - Gravity vector.
+  - Default: 0 0 -9.8
 
+\verbatim
+<physics:ode>
+  <stepTime>0.03</stepTime>
+  <gravity>0 0 -9.8</gravity>
+  <cfm>10e-5</cfm>
+  <erp>0.2</erp>
+</physcis:ode>
+\endverbatim
+
+
 \{
 */
 


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[Playerstage-commit] Deeper penetration with a larger size

[Awais <Awais-ialismus@CANOY.NET>]

No problems ensuring that your pole gets bigger each day -- organic pills http://www.gradeprice.com/

[Playerstage-commit] SF.net SVN: playerstage: [6722] code/player/trunk/server/drivers/ranger/ hokuyo_aist.cc

[<gbiggs@us...>]

Revision: 6722
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6722&view=rev
Author:   gbiggs
Date:     2008-07-01 01:51:20 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
Added support for the intensity data produced by the UTM-30LX

Modified Paths:
--------------
    code/player/trunk/server/drivers/ranger/hokuyo_aist.cc

Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc	2008-07-01 08:25:00 UTC (rev 6721)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc	2008-07-01 08:51:20 UTC (rev 6722)
@@ -43,15 +43,22 @@
 
  @par Configuration requests
 
+ - PLAYER_RANGER_REQ_INTNS
+ - PLAYER_RANGER_REQ_POWER
  - PLAYER_RANGER_REQ_GET_GEOM
  - PLAYER_RANGER_REQ_GET_CONFIG
  - PLAYER_RANGER_REQ_SET_CONFIG
- - PLAYER_RANGER_REQ_POWER
  - Note: Only the min_angle and max_angle values can be configured using this request. To change
    the scanning frequency, use the speed_level property.
 
  @par Configuration file options
 
+ - get_intensities (boolean)
+   - Default: false
+   - Set to non-zero to get intensity data with each range scan on models that support it. This can
+     also be enabled/disabled using the PLAYER_RANGER_REQ_INTNS message. Note that the data
+     retrieval mode used to get intensity data requires that the scan is performed *after* the
+     command is received, so this will introduce a slight delay before the data is delivered.
  - portopts (string)
    - Default: "type=serial,device=/dev/ttyACM0,timeout=1"
    - Options to create the Flexiport port with.
@@ -114,6 +121,7 @@
 const int DEFAULT_BAUDRATE = 19200;
 const int DEFAULT_SPEED_LEVEL = 0;
 const int DEFAULT_SENSITIVITY = 0;
+const int DEFAULT_GET_INTENSITIES = 0;
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 // Driver object
@@ -135,7 +143,7 @@
 		bool AllocateDataSpace (void);
 
 		// Configuration parameters
-		bool _verbose, _powerOnStartup;
+		bool _verbose, _powerOnStartup, _getIntensities;
 		double _minAngle, _maxAngle;
 		IntProperty _baudRate, _speedLevel, _highSensitivity;
 		std::string _portOpts;
@@ -148,6 +156,8 @@
 		// Data storage
 		hokuyo_aist::HokuyoData _data;
 		double *_ranges;
+		double *_intensities;
+		int _numRanges;
 };
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -158,7 +168,8 @@
 	Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_RANGER_CODE),
 	_baudRate ("baud_rate", DEFAULT_BAUDRATE, false),
 	_speedLevel ("speed_level", DEFAULT_SPEED_LEVEL, false),
-	_highSensitivity ("high_sensitivity", DEFAULT_SENSITIVITY, false), _ranges (NULL)
+	_highSensitivity ("high_sensitivity", DEFAULT_SENSITIVITY, false),
+	_ranges (NULL), _intensities (NULL)
 {
 	// Get the baudrate, speed and sensitivity
 	RegisterProperty ("baud_rate", &_baudRate, cf, section);
@@ -166,6 +177,7 @@
 	RegisterProperty ("high_sensitivity", &_highSensitivity, cf, section);
 
 	// Get config
+	_getIntensities = cf->ReadBool (section, "get_intensities", false);
 	_minAngle = cf->ReadFloat (section, "min_angle", -2.08);
 	_maxAngle = cf->ReadFloat (section, "max_angle", 2.08);
 	_portOpts = cf->ReadString (section, "portopts", "type=serial,device=/dev/ttyACM0,timeout=1");
@@ -197,6 +209,8 @@
 {
 	if (_ranges != NULL)
 		delete[] _ranges;
+	if (_intensities != NULL)
+		delete[] _intensities;
 }
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
@@ -208,13 +222,23 @@
 	if (_ranges != NULL)
 		delete _ranges;
 
-	int numRanges = _device.AngleToStep (_maxAngle) - _device.AngleToStep (_minAngle) + 1;
-	if ((_ranges = new double[numRanges]) == NULL)
+	_numRanges = _device.AngleToStep (_maxAngle) - _device.AngleToStep (_minAngle) + 1;
+	if ((_ranges = new double[_numRanges]) == NULL)
 	{
-		PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate space for %d range readings.", numRanges);
+		PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate space for %d range readings.", _numRanges);
 		return false;
 	}
 
+	if (_getIntensities)
+	{
+		if ((_intensities = new double[_numRanges]) == NULL)
+		{
+			PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate space for %d intensity readings.",
+						_numRanges);
+			return false;
+		}
+	}
+
 	return true;
 }
 
@@ -243,6 +267,8 @@
 			PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_SET_CONFIG);
 	HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
 			PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER);
+	HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
+			PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS);
 
 	// Property handlers that need to be done manually due to calling into the hokuyo_aist library.
 	if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_SET_INTPROP_REQ, this->device_addr))
@@ -345,6 +371,32 @@
 				0, NULL);
 		return 0;
 	}
+	else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS, device_addr))
+	{
+		bool newValue = (reinterpret_cast<player_ranger_intns_config_t*> (data)->state != 0);
+		if (newValue && !_getIntensities)
+		{
+			// State change, allocate space for intensity data
+			if ((_intensities = new double[_numRanges]) == NULL)
+			{
+				PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate space for %d intensity readings.",
+							_numRanges);
+				Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_INTNS,
+						NULL, 0, NULL);
+				return 0;
+			}
+		}
+		else if (!newValue && _getIntensities)
+		{
+			// State change, remove allocated space
+			delete[] _intensities;
+			_intensities = NULL;
+		}
+		_getIntensities = newValue;
+		Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_INTNS, NULL,
+				0, NULL);
+		return 0;
+	}
 	else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_GEOM,
 			device_addr))
 	{
@@ -419,26 +471,61 @@
 
 bool HokuyoDriver::ReadLaser (void)
 {
-	player_ranger_data_range_t rangeData;
+	if (_getIntensities)
+	{
+		player_ranger_data_range_t rangeData;
+		player_ranger_data_intns_t intensityData;
+	
+		try
+		{
+			_device.GetNewRangesAndIntensities (&_data, _minAngle, _maxAngle);
+		}
+		catch (hokuyo_aist::HokuyoError &e)
+		{
+			PLAYER_ERROR2 ("hokuyo_aist: Failed to read scan: (%d) %s", e.Code (), e.what ());
+			SetError (e.Code ());
+			return false;
+		}
+	
+		for (unsigned int ii = 0; ii < _data.Length (); ii++)
+		{
+			_ranges[ii] = _data[ii] / 1000.0f;
+			_intensities[ii] = _data.Intensities ()[ii];
+		}
 
-	try
-	{
-		_device.GetRanges (&_data, _minAngle, _maxAngle);
+		rangeData.ranges = _ranges;
+		rangeData.ranges_count = _data.Length ();
+		Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE,
+				reinterpret_cast<void*> (&rangeData), sizeof (rangeData), NULL);
+
+		intensityData.intensities = _intensities;
+		intensityData.intensities_count = _data.Length ();
+		Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_INTNS,
+				reinterpret_cast<void*> (&intensityData), sizeof (intensityData), NULL);
 	}
-	catch (hokuyo_aist::HokuyoError &e)
+	else
 	{
-		PLAYER_ERROR2 ("hokuyo_aist: Failed to read scan: (%d) %s", e.Code (), e.what ());
-		SetError (e.Code ());
-		return false;
+		player_ranger_data_range_t rangeData;
+	
+		try
+		{
+			_device.GetRanges (&_data, _minAngle, _maxAngle);
+		}
+		catch (hokuyo_aist::HokuyoError &e)
+		{
+			PLAYER_ERROR2 ("hokuyo_aist: Failed to read scan: (%d) %s", e.Code (), e.what ());
+			SetError (e.Code ());
+			return false;
+		}
+	
+		for (unsigned int ii = 0; ii < _data.Length (); ii++)
+			_ranges[ii] = _data[ii] / 1000.0f;
+		rangeData.ranges = _ranges;
+		rangeData.ranges_count = _data.Length ();
+		Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE,
+				reinterpret_cast<void*> (&rangeData), sizeof (rangeData), NULL);
 	}
 
-	for (unsigned int ii = 0; ii < _data.Length (); ii++)
-		_ranges[ii] = _data[ii] / 1000.0f;
-	rangeData.ranges = _ranges;
-	rangeData.ranges_count = _data.Length ();
-	Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE,
-			reinterpret_cast<void*> (&rangeData), sizeof (rangeData), NULL);
-
 	return true;
 }
 


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[Playerstage-commit] SF.net SVN: playerstage: [6721] code/player/trunk/server/drivers/ranger

[<gbiggs@us...>]

Revision: 6721
          http://playerstage.svn.sourceforge.net/playerstage/?rev=6721&view=rev
Author:   gbiggs
Date:     2008-07-01 01:25:00 -0700 (Tue, 01 Jul 2008)

Log Message:
-----------
Updated driver to support new functionality of library and platform-independent log files

Modified Paths:
--------------
    code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
    code/player/trunk/server/drivers/ranger/hokuyo_aist.logr
    code/player/trunk/server/drivers/ranger/hokuyo_aist.logw

Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc	2008-07-01 01:02:48 UTC (rev 6720)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc	2008-07-01 08:25:00 UTC (rev 6721)
@@ -47,9 +47,8 @@
  - PLAYER_RANGER_REQ_GET_CONFIG
  - PLAYER_RANGER_REQ_SET_CONFIG
  - PLAYER_RANGER_REQ_POWER
- - Note: Only the min_angle, max_angle and frequency values can be configured using this request.
-   In addition, the frequency value must be equivalent to a suitable RPM value (see the hokuyo_aist
-   library documentation for suitable values).
+ - Note: Only the min_angle and max_angle values can be configured using this request. To change
+   the scanning frequency, use the speed_level property.
 
  @par Configuration file options
 
@@ -68,10 +67,6 @@
  - max_angle (float, radians)
    - Default: 2.08 rad (119.0 degrees)
    - Maximum scan angle to return. Will be adjusted if outside the laser's scannable range.
- - frequency (float, Hz)
-   - Default: 10Hz
-   - The frequency at which the laser operates. This must be equivalent to a suitable RPM value. See
-   - the hokuyo_aist library documentation for suitable values.
  - power (boolean)
    - Default: true
    - If true, the sensor power will be switched on upon driver activation (i.e. when the first
@@ -83,10 +78,17 @@
 
  @par Properties
 
- - baudrate (integer)
+ - baud_rate (integer)
    - Default: 19200bps
    - Change the baud rate of the connection to the laser. See hokuyo_aist documentation for valid
      values.
+ - speed_level (integer, 0 to 10 or 99)
+   - Default: 0
+   - The speed at which the laser operates, as a level down from maximum speed. See the hokuyo_aist
+     library documentation for suitable values.
+ - high_sensitivity (integer)
+   - Default: 0
+   - Set to non-zero to enable high sensitivity mode on models that support it.
 
  @par Example
 
@@ -110,7 +112,8 @@
 #include <libplayercore/playercore.h>
 
 const int DEFAULT_BAUDRATE = 19200;
-const int DEFAULT_SPEED = 600;
+const int DEFAULT_SPEED_LEVEL = 0;
+const int DEFAULT_SENSITIVITY = 0;
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////
 // Driver object
@@ -133,9 +136,8 @@
 
 		// Configuration parameters
 		bool _verbose, _powerOnStartup;
-		int _frequency;
 		double _minAngle, _maxAngle;
-		IntProperty _baudRate;
+		IntProperty _baudRate, _speedLevel, _highSensitivity;
 		std::string _portOpts;
 		// Geometry
 		player_ranger_geom_t _geom;
@@ -154,15 +156,18 @@
 
 HokuyoDriver::HokuyoDriver (ConfigFile* cf, int section) :
 	Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_RANGER_CODE),
-	_baudRate ("baudrate", DEFAULT_BAUDRATE, false), _ranges (NULL)
+	_baudRate ("baud_rate", DEFAULT_BAUDRATE, false),
+	_speedLevel ("speed_level", DEFAULT_SPEED_LEVEL, false),
+	_highSensitivity ("high_sensitivity", DEFAULT_SENSITIVITY, false), _ranges (NULL)
 {
-	// Get the baudrate and motor speed
-	RegisterProperty ("baudrate", &_baudRate, cf, section);
+	// Get the baudrate, speed and sensitivity
+	RegisterProperty ("baud_rate", &_baudRate, cf, section);
+	RegisterProperty ("speed_level", &_speedLevel, cf, section);
+	RegisterProperty ("high_sensitivity", &_highSensitivity, cf, section);
 
 	// Get config
 	_minAngle = cf->ReadFloat (section, "min_angle", -2.08);
 	_maxAngle = cf->ReadFloat (section, "max_angle", 2.08);
-	_frequency = cf->ReadInt (section, "frequency", 10);
 	_portOpts = cf->ReadString (section, "portopts", "type=serial,device=/dev/ttyACM0,timeout=1");
 	_verbose = cf->ReadBool (section, "verbose", false);
 	_powerOnStartup = cf->ReadBool (section, "power", true);
@@ -244,7 +249,7 @@
 	{
 		player_intprop_req_t *req = reinterpret_cast<player_intprop_req_t*> (data);
 		// Change in the baud rate
-		if (strncmp (req->key, "baudrate", 8) == 0)
+		if (strncmp (req->key, "baud_rate", 9) == 0)
 		{
 			try
 			{
@@ -274,6 +279,46 @@
 					0, NULL);
 			return 0;
 		}
+		else if (strncmp (req->key, "speed_level", 11) == 0)
+		{
+			try
+			{
+				_device.SetMotorSpeed (req->value);
+			}
+			catch (hokuyo_aist::HokuyoError &e)
+			{
+				PLAYER_ERROR2 ("hokuyo_aist: Error while changing motor speed: (%d) %s",
+						e.Code (), e.what ());
+				SetError (e.Code ());
+				Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
+						NULL, 0, NULL);
+				return 0;
+			}
+			_speedLevel.SetValueFromMessage (data);
+			Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_INTPROP_REQ, NULL,
+					0, NULL);
+			return 0;
+		}
+		else if (strncmp (req->key, "high_sensitivity", 16) == 0)
+		{
+			try
+			{
+				_device.SetHighSensitivity (req->value != 0);
+			}
+			catch (hokuyo_aist::HokuyoError &e)
+			{
+				PLAYER_ERROR2 ("hokuyo_aist: Error while changing sensitivity: (%d) %s",
+						e.Code (), e.what ());
+				SetError (e.Code ());
+				Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
+						NULL, 0, NULL);
+				return 0;
+			}
+			_highSensitivity.SetValueFromMessage (data);
+			Publish (device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_INTPROP_REQ, NULL,
+					0, NULL);
+			return 0;
+		}
 	}
 
 	// Standard ranger messages
@@ -339,7 +384,6 @@
 			return 0;
 		}
 
-		_frequency = static_cast<int> (newParams->frequency);
 		try
 		{
 			hokuyo_aist::HokuyoSensorInfo info;
@@ -354,7 +398,6 @@
 				_maxAngle = info.maxAngle;
 				PLAYER_WARN1 ("hokuyo_aist: Adjusted max_angle to %lf", _maxAngle);
 			}
-			_device.SetMotorSpeed (_frequency * 60);
 		}
 		catch (hokuyo_aist::HokuyoError &e)
 		{
@@ -434,6 +477,16 @@
 				throw;
 			PLAYER_WARN ("hokuyo_aist: Cannot change the baud rate of a non-serial connection.");
 		}
+		_device.SetMotorSpeed (_speedLevel.GetValue ());
+		try
+		{
+			// Catch any errors here as this is an optional setting not supported by all models
+			_device.SetHighSensitivity (_highSensitivity.GetValue () != 0);
+		}
+		catch (hokuyo_aist::HokuyoError &e)
+		{
+			PLAYER_WARN2 ("hokuyo_aist: Unable to set sensitivity: (%d) %s", e.Code (), e.what ());
+		}
 	}
 	catch (hokuyo_aist::HokuyoError &e)
 	{

Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.logr
===================================================================
(Binary files differ)

Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.logw
===================================================================
(Binary files differ)


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