Revision: 6356
http://playerstage.svn.sourceforge.net/playerstage/?rev=6356&view=rev
Author: gbiggs
Date: 2008-04-18 00:32:41 -0700 (Fri, 18 Apr 2008)
Log Message:
-----------
Merging changes 4437:4451 from trunk
Modified Paths:
--------------
code/player/branches/cmake/libplayercore/driver.cc
code/player/branches/cmake/libplayercore/message.cc
code/player/branches/cmake/server/drivers/laser/lasercutter.cc
code/player/branches/cmake/server/drivers/laser/sicks3000.cc
Modified: code/player/branches/cmake/libplayercore/driver.cc
===================================================================
--- code/player/branches/cmake/libplayercore/driver.cc 2008-04-18 07:28:02 UTC
(rev 6355)
+++ code/player/branches/cmake/libplayercore/driver.cc 2008-04-18 07:32:41 UTC
(rev 6356)
@@ -151,7 +151,6 @@
{
Device* dev;
- Message msg(*hdr,src,copy);
// lock here, because we're accessing our device's queue list
this->Lock();
// push onto each queue subscribed to the given device
@@ -165,6 +164,7 @@
this->Unlock();
return;
}
+ Message msg(*hdr,src,copy);
for(size_t i=0;i<dev->len_queues;i++)
{
if(dev->queues[i] != NULL)
Modified: code/player/branches/cmake/libplayercore/message.cc
===================================================================
--- code/player/branches/cmake/libplayercore/message.cc 2008-04-18 07:28:02 UTC
(rev 6355)
+++ code/player/branches/cmake/libplayercore/message.cc 2008-04-18 07:32:41 UTC
(rev 6356)
@@ -129,7 +129,7 @@
}
else
{
- PLAYER_ERROR3 ("failed to clone message %s: %s, %d", interf_to_str
(Header.addr.interf), msgtype_to_str (Header.type), Header.subtype);
+ PLAYER_ERROR3 ("failed to find clone function for message %s: %s, %d",
interf_to_str (Header.addr.interf), msgtype_to_str (Header.type),
Header.subtype);
}
}
else
Modified: code/player/branches/cmake/server/drivers/laser/lasercutter.cc
===================================================================
--- code/player/branches/cmake/server/drivers/laser/lasercutter.cc
2008-04-18 07:28:02 UTC (rev 6355)
+++ code/player/branches/cmake/server/drivers/laser/lasercutter.cc
2008-04-18 07:32:41 UTC (rev 6356)
@@ -138,8 +138,9 @@
// Settings.
allocated_ranges = 0;
data.ranges = NULL;
- this->max_angle = cf->ReadAngle(section, "max_angle", M_PI/2.0);
- this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI/2.0);
+ data.intensity = NULL;
+ this->max_angle = cf->ReadAngle(section, "max_angle", M_PI_2);
+ this->min_angle = cf->ReadAngle(section, "min_angle", -M_PI_2);
return;
}
@@ -147,55 +148,60 @@
LaserCutter::~LaserCutter()
{
free(data.ranges);
+ free(data.intensity);
}
////////////////////////////////////////////////////////////////////////////////
// Process laser data.
-int LaserCutter::UpdateLaser(player_laser_data_t * data)
+int LaserCutter::UpdateLaser(player_laser_data_t * indata)
{
unsigned int i;
double current_angle;
// Construct the outgoing laser packet
- this->data.resolution = data->resolution;
+ this->data.resolution = indata->resolution;
this->data.min_angle = (min_angle);
this->data.max_angle = (max_angle);
- this->data.max_range = data->max_range;
- this->data.id = data->id;
+ this->data.max_range = indata->max_range;
+ this->data.id = indata->id;
this->data.ranges_count = 0;
this->data.intensity_count = 0;
- current_angle = data->min_angle;
- if (data->ranges_count+1 > allocated_ranges)
- data->ranges =
(float*)realloc(data->ranges,sizeof(data->ranges[0])*(data->ranges_count+1));
- for (i = 0; i < data->ranges_count; i++)
+ current_angle = indata->min_angle;
+ if (indata->ranges_count+1 > allocated_ranges)
{
- current_angle += data->resolution;
-
+ data.ranges =
(float*)realloc(data.ranges,sizeof(data.ranges[0])*(indata->ranges_count+1));
+ data.intensity =
(uint8_t*)realloc(data.intensity,sizeof(data.intensity[0])*(indata->ranges_count+1));
+ }
+ for (i = 0; i < indata->ranges_count; i++)
+ {
if ((current_angle >= min_angle) && (current_angle <= max_angle))
{
- this->data.ranges[this->data.ranges_count] = data->ranges[i];
+ this->data.ranges[this->data.ranges_count] = indata->ranges[i];
this->data.ranges_count++;
}
+ current_angle += indata->resolution;
}
- current_angle = data->min_angle;
- for (i = 0; i < data->intensity_count; i++)
+ current_angle = indata->min_angle;
+ if (indata->intensity_count+1 > allocated_ranges)
{
- current_angle += data->resolution;
-
+ data.ranges =
(float*)realloc(data.ranges,sizeof(data.ranges[0])*(indata->intensity_count+1));
+ data.intensity =
(uint8_t*)realloc(data.intensity,sizeof(data.intensity[0])*(indata->intensity_count+1));
+ }
+ for (i = 0; i < indata->intensity_count; i++)
+ {
if ((current_angle >= min_angle) && (current_angle <= max_angle))
{
- this->data.intensity[this->data.intensity_count] = data->intensity[i];
+ this->data.intensity[this->data.intensity_count] = indata->intensity[i];
this->data.intensity_count++;
}
+ current_angle += indata->resolution;
}
- this->Publish(this->device_addr,
- PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
- &this->data, sizeof(this->data), NULL);
+ this->Publish(this->device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN, &this->data);
return 1;
}
Modified: code/player/branches/cmake/server/drivers/laser/sicks3000.cc
===================================================================
--- code/player/branches/cmake/server/drivers/laser/sicks3000.cc
2008-04-18 07:28:02 UTC (rev 6355)
+++ code/player/branches/cmake/server/drivers/laser/sicks3000.cc
2008-04-18 07:32:41 UTC (rev 6356)
@@ -112,7 +112,8 @@
//#include <replace/replace.h>
extern PlayerTime* GlobalTime;
-#define DEFAULT_RX_BUFFER_SIZE 4096
+// 1 second of data at 500kbaud
+#define DEFAULT_RX_BUFFER_SIZE 500*1024/8
// The laser device class.
class SickS3000 : public Driver
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