Revision: 6676
http://playerstage.svn.sourceforge.net/playerstage/?rev=6676&view=rev
Author: gbiggs
Date: 2008-06-24 08:09:10 -0700 (Tue, 24 Jun 2008)
Log Message:
-----------
Updated driver to match changes in library
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/CMakeLists.txt
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/ranger/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/ranger/CMakeLists.txt 2008-06-24
15:01:15 UTC (rev 6675)
+++ code/player/trunk/server/drivers/ranger/CMakeLists.txt 2008-06-24
15:09:10 UTC (rev 6676)
@@ -6,12 +6,12 @@
LINKFLAGS "${gbxsickacfr_linkFlags}" CFLAGS "${gbxsickacfr_cFlags}"
SOURCES gbxsickacfr.cc)
-PLAYERDRIVER_OPTION (urg_nz build_urg_nz ON)
-PLAYERDRIVER_REQUIRE_PKG (urg_nz build_urg_nz urg_nz urg_nz_includeDir
urg_nz_libDir
- urg_nz_linkFlags urg_nz_cFlags)
-PLAYERDRIVER_ADD_DRIVER (urg_nz build_urg_nz INCLUDEDIRS
"${urg_nz_includeDir}" LIBDIRS "${urg_nz_libDir}"
- LINKFLAGS "${urg_nz_linkFlags}" CFLAGS "${urg_nz_cFlags}"
- SOURCES urg_nz.cc)
+PLAYERDRIVER_OPTION (hokuyo_aist build_hokuyo_aist ON)
+PLAYERDRIVER_REQUIRE_PKG (hokuyo_aist build_hokuyo_aist hokuyo_aist
hokuyo_aist_includeDir
+ hokuyo_aist_libDir hokuyo_aist_linkFlags hokuyo_aist_cFlags)
+PLAYERDRIVER_ADD_DRIVER (hokuyo_aist build_hokuyo_aist INCLUDEDIRS
"${hokuyo_aist_includeDir}"
+ LIBDIRS "${hokuyo_aist_libDir}" LINKFLAGS "${hokuyo_aist_linkFlags}"
+ CFLAGS "${hokuyo_aist_cFlags}" SOURCES hokuyo_aist.cc)
PLAYERDRIVER_OPTION (lasertoranger build_lasertoranger ON)
PLAYERDRIVER_ADD_DRIVER (lasertoranger build_lasertoranger SOURCES toranger.cc
lasertoranger.cc)
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2008-06-24
15:01:15 UTC (rev 6675)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2008-06-24
15:09:10 UTC (rev 6676)
@@ -11,13 +11,13 @@
* 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
* Lesser General Public License for more details.
- *
+ *
* You should have received a copy of the GNU Lesser General Public License
along with this program.
* If not, see <http://www.gnu.org/licenses/>.
*/
/*
- Desc: Wrapper driver around the Gearbox urg_nz library (see
http://gearbox.sourceforge.net)
+ Desc: Wrapper driver around the Gearbox hokuyo_aist library (see
http://gearbox.sourceforge.net)
Author: Geoffrey Biggs
Date: 20 June 2008
CVS: $Id$
@@ -25,16 +25,16 @@
/** @ingroup drivers */
/** @{ */
-/** @defgroup driver_urg_nz urg_nz
- * @brief Gearbox urg_nz Hokuyo URG laser scanner driver library
+/** @defgroup driver_hokuyo_aist hokuyo_aist
+ * @brief Gearbox hokuyo_aist Hokuyo laser scanner driver library
- This driver provides a @ref interface_ranger interface to the urg_nz Hokuyo
URG laser scanner
+ This driver provides a @ref interface_ranger interface to the hokuyo_aist
Hokuyo laser scanner
driver provided by Gearbox. Communication with the laser is via the Gearbox
Flexiport library. The
driver supports the SCIP protocol versions 1 and 2.
@par Compile-time dependencies
- - Gearbox library urg_nz
+ - Gearbox library hokuyo_aist
- Gearbox library flexiport
@par Provides
@@ -47,7 +47,7 @@
- PLAYER_RANGER_REQ_GET_CONFIG
- PLAYER_RANGER_REQ_SET_CONFIG
- 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 urg_nz
+ In addition, the frequency value must be equivalent to a suitable RPM value
(see the hokuyo_aist
library documentation for suitable values).
@par Configuration file options
@@ -70,7 +70,7 @@
- frequency (float, Hz)
- Default: 10Hz
- The frequency at which the laser operates. This must be equivalent to a
suitable RPM value. See
- - the urg_nz library documentation for suitable values.
+ - 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
@@ -84,14 +84,15 @@
- baudrate (integer)
- Default: 19200bps
- - Change the baud rate of the connection to the laser. See urg_nz
documentation for valid values.
+ - Change the baud rate of the connection to the laser. See hokuyo_aist
documentation for valid
+ values.
@par Example
@verbatim
driver
(
- name "urg_nz"
+ name "hokuyo_aist"
provides ["ranger:0"]
portopts "type=serial,device=/dev/ttyS0,timeout=1"
)
@@ -104,7 +105,7 @@
#include <string>
-#include <urg_nz/urg_nz.h>
+#include <hokuyo_aist/hokuyo_aist.h>
#include <libplayercore/playercore.h>
const int DEFAULT_BAUDRATE = 19200;
@@ -114,11 +115,11 @@
// Driver object
////////////////////////////////////////////////////////////////////////////////////////////////////
-class UrgDriver : public Driver
+class HokuyoDriver : public Driver
{
public:
- UrgDriver (ConfigFile* cf, int section);
- ~UrgDriver (void);
+ HokuyoDriver (ConfigFile* cf, int section);
+ ~HokuyoDriver (void);
virtual int Setup (void);
virtual int Shutdown (void);
@@ -140,9 +141,9 @@
player_pose3d_t sensorPose;
player_bbox3d_t sensorSize;
// The hardware device itself
- urg_nz::URGLaser _device;
+ hokuyo_aist::HokuyoLaser _device;
// Data storage
- urg_nz::URGData _data;
+ hokuyo_aist::HokuyoData _data;
double *_ranges;
};
@@ -150,7 +151,7 @@
// Constructor/destructor
////////////////////////////////////////////////////////////////////////////////////////////////////
-UrgDriver::UrgDriver (ConfigFile* cf, int section) :
+HokuyoDriver::HokuyoDriver (ConfigFile* cf, int section) :
Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_RANGER_CODE),
_baudRate ("baudrate", DEFAULT_BAUDRATE, false), _ranges (NULL)
{
@@ -186,7 +187,7 @@
_device.SetVerbose (_verbose);
}
-UrgDriver::~UrgDriver (void)
+HokuyoDriver::~HokuyoDriver (void)
{
if (_ranges != NULL)
delete[] _ranges;
@@ -196,7 +197,7 @@
// Driver implementation
////////////////////////////////////////////////////////////////////////////////////////////////////
-bool UrgDriver::AllocateDataSpace (void)
+bool HokuyoDriver::AllocateDataSpace (void)
{
if (_ranges != NULL)
delete _ranges;
@@ -204,14 +205,14 @@
int numRanges = _device.AngleToStep (_maxAngle) - _device.AngleToStep
(_minAngle) + 1;
if ((_ranges = new double[numRanges]) == NULL)
{
- PLAYER_ERROR1 ("urg_nz: Failed to allocate space for %d range
readings.", numRanges);
+ PLAYER_ERROR1 ("hokuyo_aist: Failed to allocate space for %d
range readings.", numRanges);
return false;
}
return true;
}
-void UrgDriver::Main (void)
+void HokuyoDriver::Main (void)
{
while (true)
{
@@ -223,7 +224,7 @@
}
}
-int UrgDriver::ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr,
void *data)
+int HokuyoDriver::ProcessMessage (QueuePointer &resp_queue, player_msghdr
*hdr, void *data)
{
// Check for capability requests
HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
@@ -237,7 +238,7 @@
HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER);
- // Property handlers that need to be done manually due to calling into
the urg_nz library.
+ // 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))
{
player_intprop_req_t *req =
reinterpret_cast<player_intprop_req_t*> (data);
@@ -249,16 +250,19 @@
// Change the baud rate
_device.SetBaud (req->value);
}
- catch (urg_nz::URGError &e)
+ catch (hokuyo_aist::HokuyoError &e)
{
- if (e.Code () != urg_nz::URG_ERR_NOTSERIAL)
+ if (e.Code () !=
hokuyo_aist::HOKUYO_ERR_NOTSERIAL)
{
- PLAYER_ERROR2 ("urg_nz: Error while
changing baud rate: (%d) %s", e.Code (),
- e.what ());
+ PLAYER_ERROR2 ("hokuyo_aist: Error
while changing baud rate: (%d) %s",
+ e.Code (), e.what ());
SetError (e.Code ());
}
else
- PLAYER_WARN ("urg_nz: Cannot change the
baud rate of a non-serial connection.");
+ {
+ PLAYER_WARN (
+ "hokuyo_aist: Cannot change the
baud rate of a non-serial connection.");
+ }
Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
NULL, 0, NULL);
@@ -283,7 +287,7 @@
device_addr))
{
player_ranger_config_t rangerConfig;
- urg_nz::URGSensorInfo info;
+ hokuyo_aist::HokuyoSensorInfo info;
_device.GetSensorInfo (&info);
rangerConfig.min_angle = _minAngle; // These two are
user-configurable
@@ -305,7 +309,7 @@
_maxAngle = newParams->max_angle;
if (!AllocateDataSpace ())
{
- PLAYER_ERROR ("urg_nz: Failed to allocate space for
storing range data.");
+ PLAYER_ERROR ("hokuyo_aist: Failed to allocate space
for storing range data.");
Publish(device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG,
NULL, 0, NULL);
return 0;
@@ -314,23 +318,23 @@
_frequency = static_cast<int> (newParams->frequency);
try
{
- urg_nz::URGSensorInfo info;
+ hokuyo_aist::HokuyoSensorInfo info;
_device.GetSensorInfo (&info);
if (_minAngle < info.minAngle)
{
_minAngle = info.minAngle;
- PLAYER_WARN1 ("urg_nz: Adjusted min_angle to
%lf", _minAngle);
+ PLAYER_WARN1 ("hokuyo_aist: Adjusted min_angle
to %lf", _minAngle);
}
if (_maxAngle> info.maxAngle)
{
_maxAngle = info.maxAngle;
- PLAYER_WARN1 ("urg_nz: Adjusted max_angle to
%lf", _maxAngle);
+ PLAYER_WARN1 ("hokuyo_aist: Adjusted max_angle
to %lf", _maxAngle);
}
_device.SetMotorSpeed (_frequency * 60);
}
- catch (urg_nz::URGError &e)
+ catch (hokuyo_aist::HokuyoError &e)
{
- PLAYER_ERROR2 ("urg_nz: Library error while changing
settings: (%d) %s", e.Code (),
+ PLAYER_ERROR2 ("hokuyo_aist: Library error while
changing settings: (%d) %s", e.Code (),
e.what ());
SetError (e.Code ());
Publish(device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG,
@@ -346,7 +350,7 @@
return -1;
}
-bool UrgDriver::ReadLaser (void)
+bool HokuyoDriver::ReadLaser (void)
{
player_ranger_data_range_t rangeData;
@@ -354,9 +358,9 @@
{
_device.GetRanges (&_data, _minAngle, _maxAngle);
}
- catch (urg_nz::URGError &e)
+ catch (hokuyo_aist::HokuyoError &e)
{
- PLAYER_ERROR2 ("urg_nz: Failed to read scan: (%d) %s", e.Code
(), e.what ());
+ PLAYER_ERROR2 ("hokuyo_aist: Failed to read scan: (%d) %s",
e.Code (), e.what ());
SetError (e.Code ());
return false;
}
@@ -371,24 +375,24 @@
return true;
}
-int UrgDriver::Setup (void)
+int HokuyoDriver::Setup (void)
{
try
{
// Open the laser
_device.Open (_portOpts);
// Get the sensor information and check _minAngle and _maxAngle
are OK
- urg_nz::URGSensorInfo info;
+ hokuyo_aist::HokuyoSensorInfo info;
_device.GetSensorInfo (&info);
if (_minAngle < info.minAngle)
{
_minAngle = info.minAngle;
- PLAYER_WARN1 ("urg_nz: Adjusted min_angle to %lf",
_minAngle);
+ PLAYER_WARN1 ("hokuyo_aist: Adjusted min_angle to %lf",
_minAngle);
}
if (_maxAngle> info.maxAngle)
{
_maxAngle = info.maxAngle;
- PLAYER_WARN1 ("urg_nz: Adjusted max_angle to %lf",
_maxAngle);
+ PLAYER_WARN1 ("hokuyo_aist: Adjusted max_angle to %lf",
_maxAngle);
}
if (!AllocateDataSpace ())
return -1;
@@ -400,16 +404,16 @@
{
_device.SetBaud (_baudRate.GetValue ());
}
- catch (urg_nz::URGError &e)
+ catch (hokuyo_aist::HokuyoError &e)
{
- if (e.Code () != urg_nz::URG_ERR_NOTSERIAL)
+ if (e.Code () != hokuyo_aist::HOKUYO_ERR_NOTSERIAL)
throw;
- PLAYER_WARN ("urg_nz: Cannot change the baud rate of a
non-serial connection.");
+ PLAYER_WARN ("hokuyo_aist: Cannot change the baud rate
of a non-serial connection.");
}
}
- catch (urg_nz::URGError &e)
+ catch (hokuyo_aist::HokuyoError &e)
{
- PLAYER_ERROR2 ("urg_nz: Failed to setup laser driver: (%d) %s",
e.Code (), e.what ());
+ PLAYER_ERROR2 ("hokuyo_aist: Failed to setup laser driver: (%d)
%s", e.Code (), e.what ());
SetError (e.Code ());
return -1;
}
@@ -418,7 +422,7 @@
return 0;
}
-int UrgDriver::Shutdown (void)
+int HokuyoDriver::Shutdown (void)
{
StopThread ();
@@ -434,12 +438,12 @@
// Driver management functions
////////////////////////////////////////////////////////////////////////////////////////////////////
-Driver* UrgDriver_Init (ConfigFile* cf, int section)
+Driver* HokuyoDriver_Init (ConfigFile* cf, int section)
{
- return reinterpret_cast <Driver*> (new UrgDriver (cf, section));
+ return reinterpret_cast <Driver*> (new HokuyoDriver (cf, section));
}
-void urg_nz_Register (DriverTable* table)
+void hokuyo_aist_Register (DriverTable* table)
{
- table->AddDriver ("urg_nz", UrgDriver_Init);
+ table->AddDriver ("hokuyo_aist", HokuyoDriver_Init);
}
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