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;
}
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