Revision: 6969 http://playerstage.svn.sourceforge.net/playerstage/?rev=6969&view=rev Author: natepak Date: 2008-08-20 22:36:51 +0000 (Wed, 20 Aug 2008)
Log Message: ----------- Added patch 2003623 from razorunreal Modified Paths: -------------- code/gazebo/trunk/player/ActarrayInterface.cc Modified: code/gazebo/trunk/player/ActarrayInterface.cc =================================================================== --- code/gazebo/trunk/player/ActarrayInterface.cc 2008-08-20 22:32:30 UTC (rev 6968) +++ code/gazebo/trunk/player/ActarrayInterface.cc 2008-08-20 22:36:51 UTC (rev 6969) @@ -192,6 +192,38 @@ PLAYER_MSGTYPE_RESP_ACK, PLAYER_ACTARRAY_REQ_POWER); return(0); } + else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, + PLAYER_ACTARRAY_REQ_GET_GEOM, this->device_addr)) + { + player_actarray_geom response; + this->iface->Lock(1); + response.actuators_count = this->iface->data->actuators_count; + + player_actarray_actuatorgeom_t geoms[GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS]; + for (unsigned int i = 0; i < GAZEBO_ACTARRAY_MAX_NUM_ACTUATORS; ++i) + { + ActarrayActuatorGeom& gazeboGeom = this->iface->data->actuator_geoms[i]; + geoms[i].type = gazeboGeom.type; + geoms[i].length = 0; // unused + memset(&(geoms[i].orientation), 0, sizeof(geoms[i].orientation)); // unused + memset(&(geoms[i].axis), 0, sizeof(geoms[i].axis)); // unused + geoms[i].min = gazeboGeom.min; + geoms[i].centre = gazeboGeom.center; + geoms[i].max = gazeboGeom.max; + geoms[i].home = gazeboGeom.home; + geoms[i].config_speed = gazeboGeom.config_speed; + geoms[i].hasbrakes = gazeboGeom.hasbrakes; + } + response.actuators = geoms; + + memset(&response.base_pos, 0, sizeof(response.base_pos)); // unused + memset(&response.base_orientation, 0, sizeof(response.base_orientation)); // unused + this->iface->Unlock(); + + driver->Publish(this->device_addr, respQueue, + PLAYER_MSGTYPE_RESP_ACK, PLAYER_ACTARRAY_REQ_GET_GEOM, &response); + return(0); + } return -1; } This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------- This SF.Net email is sponsored by the Moblin Your Move Developer's challenge Build the coolest Linux based applications with Moblin SDK & win great prizes Grand prize is a trip for two to an Open Source event anywhere in the world http://moblin-contest.org/redirect.php?banner_id=100&url=/ _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit