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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