Revision: 6977
http://playerstage.svn.sourceforge.net/playerstage/?rev=6977&view=rev
Author: gbiggs
Date: 2008-08-25 00:58:33 +0000 (Mon, 25 Aug 2008)
Log Message:
-----------
Applied patch 2062373
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/dev_ranger.c
code/player/trunk/client_libs/libplayerc++/actarrayproxy.cc
code/player/trunk/client_libs/libplayerc++/audioproxy.cc
code/player/trunk/client_libs/libplayerc++/cameraproxy.cc
code/player/trunk/client_libs/libplayerc++/limbproxy.cc
code/player/trunk/cmake/internal/FindOS.cmake
code/player/trunk/cmake/internal/SearchForStuff.cmake
code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
code/player/trunk/server/drivers/mixed/mricp/src/Timer.cpp
code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
code/player/trunk/server/drivers/wsn/accel_calib.cc
code/player/trunk/server/drivers/wsn/mica2.cc
code/player/trunk/utils/logsplitter/logsplitter.c
code/player/trunk/utils/playercam/playercam.c
code/player/trunk/utils/playerv/pv_dev_actarray.c
code/player/trunk/utils/playerv/pv_dev_gripper.c
code/player/trunk/utils/playerv/pv_dev_vectormap.c
Modified: code/player/trunk/client_libs/libplayerc/dev_ranger.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_ranger.c 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/client_libs/libplayerc/dev_ranger.c 2008-08-25
00:58:33 UTC (rev 6977)
@@ -52,7 +52,7 @@
{
playerc_ranger_t *device;
- device = malloc(sizeof(playerc_ranger_t));
+ device = (playerc_ranger_t*) malloc(sizeof(playerc_ranger_t));
memset(device, 0, sizeof(playerc_ranger_t));
playerc_device_init(&device->info, client, PLAYER_RANGER_CODE, index,
(playerc_putmsg_fn_t) playerc_ranger_putmsg);
@@ -98,6 +98,9 @@
// Calculate bearings
void playerc_ranger_calculate_bearings(playerc_ranger_t *device)
{
+ double b;
+ uint32_t ii;
+
device->bearings_count = device->ranges_count;
if (device->bearings_count == 0 && device->bearings != NULL)
{
@@ -113,8 +116,7 @@
return;
}
- double b = device->min_angle;
- uint32_t ii;
+ b = device->min_angle;
for (ii = 0; ii < device->bearings_count; ii++)
{
device->bearings[ii] = b;
@@ -127,6 +129,9 @@
// Calculate scan points
void playerc_ranger_calculate_points(playerc_ranger_t *device)
{
+ double b;
+ uint32_t ii;
+
device->points_count = device->ranges_count;
if (device->points_count == 0 && device->points != NULL)
{
@@ -142,8 +147,7 @@
return;
}
- double b = device->min_angle;
- uint32_t ii;
+ b = device->min_angle;
for (ii = 0; ii < device->points_count; ii++)
{
double r = device->ranges[ii];
Modified: code/player/trunk/client_libs/libplayerc++/actarrayproxy.cc
===================================================================
--- code/player/trunk/client_libs/libplayerc++/actarrayproxy.cc 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/client_libs/libplayerc++/actarrayproxy.cc 2008-08-25
00:58:33 UTC (rev 6977)
@@ -48,6 +48,7 @@
#include <sstream>
#include <iomanip>
#include <vector>
+#include <iostream>
#include "playerc++.h"
#include "debug.h"
@@ -94,7 +95,7 @@
player_actarray_actuatorgeom_t geom;
int old_precision = os.precision(3);
- std::_Ios_Fmtflags old_flags = os.flags();
+ std::ios::fmtflags old_flags = os.flags();
os.setf(std::ios::fixed);
os << a.GetCount () << " actuators:" << std::endl;
Modified: code/player/trunk/client_libs/libplayerc++/audioproxy.cc
===================================================================
--- code/player/trunk/client_libs/libplayerc++/audioproxy.cc 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/client_libs/libplayerc++/audioproxy.cc 2008-08-25
00:58:33 UTC (rev 6977)
@@ -47,6 +47,7 @@
#include <cassert>
#include <sstream>
#include <iomanip>
+#include <iostream>
#include "playerc++.h"
#include "debug.h"
@@ -93,7 +94,7 @@
player_audio_mixer_channel_t channel;
int old_precision = os.precision(3);
- std::_Ios_Fmtflags old_flags = os.flags();
+ std::ios::fmtflags old_flags = os.flags();
os.setf(std::ios::fixed);
int NumChannelDetails = a.GetMixerDetailsCount();
Modified: code/player/trunk/client_libs/libplayerc++/cameraproxy.cc
===================================================================
--- code/player/trunk/client_libs/libplayerc++/cameraproxy.cc 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/client_libs/libplayerc++/cameraproxy.cc 2008-08-25
00:58:33 UTC (rev 6977)
@@ -46,6 +46,9 @@
#include <cassert>
#include <sstream>
#include <iomanip>
+#if __GNUC__ > 2
+ #include <locale>
+#endif
#include "playerc++.h"
#include "debug.h"
@@ -95,7 +98,9 @@
CameraProxy::SaveFrame(const std::string aPrefix, uint32_t aWidth)
{
std::ostringstream filename;
+#if __GNUC__ > 2
filename.imbue(std::locale(""));
+#endif
filename.fill('0');
filename << aPrefix << std::setw(aWidth) << mFrameNo++;
Modified: code/player/trunk/client_libs/libplayerc++/limbproxy.cc
===================================================================
--- code/player/trunk/client_libs/libplayerc++/limbproxy.cc 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/client_libs/libplayerc++/limbproxy.cc 2008-08-25
00:58:33 UTC (rev 6977)
@@ -47,6 +47,7 @@
#include <cassert>
#include <sstream>
#include <iomanip>
+#include <iostream>
#include "playerc++.h"
#include "debug.h"
@@ -94,7 +95,7 @@
player_limb_geom_req_t geom = a.GetGeom ();
int old_precision = os.precision(3);
- std::_Ios_Fmtflags old_flags = os.flags();
+ std::ios::fmtflags old_flags = os.flags();
os.setf(std::ios::fixed);
os << "Limb offset: " << geom.basePos.px << ", " << geom.basePos.py << ", "
<< geom.basePos.pz << endl;
Modified: code/player/trunk/cmake/internal/FindOS.cmake
===================================================================
--- code/player/trunk/cmake/internal/FindOS.cmake 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/cmake/internal/FindOS.cmake 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -5,7 +5,7 @@
# Nor *BSD
STRING (REGEX MATCH "BSD" PLAYER_OS_BSD ${CMAKE_SYSTEM_NAME})
# Or Solaris. I'm seeing a trend, here
-STRING (REGEX MATCH "Solaris" PLAYER_OS_SOLARIS ${CMAKE_SYSTEM_NAME})
+STRING (REGEX MATCH "SunOS" PLAYER_OS_SOLARIS ${CMAKE_SYSTEM_NAME})
# Windows is easy (for once)
IF (WIN32)
Modified: code/player/trunk/cmake/internal/SearchForStuff.cmake
===================================================================
--- code/player/trunk/cmake/internal/SearchForStuff.cmake 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/cmake/internal/SearchForStuff.cmake 2008-08-25
00:58:33 UTC (rev 6977)
@@ -37,6 +37,7 @@
CHECK_INCLUDE_FILES (stdint.h HAVE_STDINT_H)
CHECK_INCLUDE_FILES (strings.h HAVE_STRINGS_H)
CHECK_INCLUDE_FILES (dns_sd.h HAVE_DNS_SD)
+CHECK_INCLUDE_FILES (sys/filio.h HAVE_SYS_FILIO_H)
IF (HAVE_DNS_SD)
CHECK_LIBRARY_EXISTS (dns_sd DNSServiceRefDeallocate
"${PLAYER_EXTRA_LIB_DIRS}" HAVE_DNS_SD)
ENDIF (HAVE_DNS_SD)
Modified: code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
===================================================================
--- code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
2008-08-22 18:19:44 UTC (rev 6976)
+++ code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
2008-08-25 00:58:33 UTC (rev 6977)
@@ -66,13 +66,15 @@
/** @} */
#include <sys/types.h> // required by Darwin
-#include <stdlib.h>
#include <libplayercore/playercore.h>
#include <libplayercore/error.h>
#include <vector>
#include <map>
-#include <strings.h>
#include <iostream>
+#include <cstdlib>
+#include <cstddef>
+#include <string>
+#include <cstring>
bool operator ==(const player_devaddr_t &a, const player_devaddr_t &b);
bool operator <(const player_devaddr_t &a, const player_devaddr_t &b);
@@ -108,9 +110,9 @@
BlackBoardEntry() { key = ""; group = ""; }
/** Entry label */
- string key;
+ std::string key;
/** Secondary identifier. */
- string group;
+ std::string group;
/** Entry data */
EntryData data;
} BlackBoardEntry;
@@ -154,8 +156,8 @@
BlackBoardEntry result;
result.data.type = entry.type;
result.data.subtype = entry.subtype;
- result.key = string(entry.key);
- result.group = string(entry.group);
+ result.key = std::string(entry.key);
+ result.group = std::string(entry.group);
result.data.data_count = entry.data_count;
result.data.data = new uint8_t[result.data.data_count];
memcpy(result.data.data, entry.data, result.data.data_count);
@@ -258,26 +260,26 @@
* @param group Second identifier.
* @param resp_queue Player response queue of the subscriber.
*/
- BlackBoardEntry SubscribeKey(const string &key, const string
&group, const QueuePointer &resp_queue, const player_devaddr_t addr);
+ BlackBoardEntry SubscribeKey(const std::string &key, const
std::string &group, const QueuePointer &resp_queue, const player_devaddr_t
addr);
/** @brief Remove the key and queue combination from the
listeners hash-map.
* @param key Entry key.
* @param group Second identifier.
* @param qp Player response queue of the unsubscriber.
* @return Blackboard entry containing the value of the key and
group.
*/
- void UnsubscribeKey(const string &key, const string &group,
const QueuePointer &qp);
+ void UnsubscribeKey(const std::string &key, const std::string
&group, const QueuePointer &qp);
/** @brief Add a group to the group listeners hash-map and
return all entries of that group
* @param group Entry gruop
* @param qp resp_queue Player response queue of the subscriber
* @return Vector of blackboard entries of that group
*/
- vector<BlackBoardEntry> SubscribeGroup(const string &group,
const QueuePointer &qp, const player_devaddr_t addr);
+ vector<BlackBoardEntry> SubscribeGroup(const std::string
&group, const QueuePointer &qp, const player_devaddr_t addr);
/**
* @brief Remove the group from the group listeners hash-map.
* @param group Entry group
* @param qp Player response queue of the unsubscriber
*/
- void UnsubscribeGroup(const string &group, const QueuePointer
&qp);
+ void UnsubscribeGroup(const std::string &group, const
QueuePointer &qp);
/** @brief Set the entry in the entries hashmap. *
* @param entry BlackBoardEntry that must be put in the hashmap.
@@ -295,16 +297,16 @@
* map<group, map<key, entry> >
*/
- map<string, map<string, BlackBoardEntry> > entries;
+ map<std::string, map<std::string, BlackBoardEntry> > entries;
/** Map of labels to listening queues.
* map<group, map<key, vector<device queue> > >
*/
- map<string, map<string, vector<QueuePointer> > > listeners;
+ map<std::string, map<std::string, vector<QueuePointer> > >
listeners;
/** Map of groups to queues subscribed to groups.
* map<group, vector<device queue> >
*/
- map<string, vector<QueuePointer> > group_listeners;
+ map<std::string, vector<QueuePointer> > group_listeners;
/** Map of queues to devices. Used to remove unneeded queues
when a device is unsubscribed. */
map<player_devaddr_t, QueuePointer> subscribed_devices;
@@ -314,10 +316,10 @@
int LocalBB::Unsubscribe(player_devaddr_t addr)
{
QueuePointer &qp = subscribed_devices[addr];
- for (map<string, map<string, vector<QueuePointer> > >::iterator itr =
listeners.begin(); itr != listeners.end(); itr++)
+ for (map<std::string, map<std::string, vector<QueuePointer> >
>::iterator itr = listeners.begin(); itr != listeners.end(); itr++)
{
- map<string, vector<QueuePointer> > &keys = (*itr).second;
- for (map<string, vector<QueuePointer> >::iterator jtr =
keys.begin(); jtr != keys.end(); jtr++)
+ map<std::string, vector<QueuePointer> > &keys = (*itr).second;
+ for (map<std::string, vector<QueuePointer> >::iterator jtr =
keys.begin(); jtr != keys.end(); jtr++)
{
vector<QueuePointer> &qps = (*jtr).second;
vector<vector<QueuePointer>::iterator> remove_list;
@@ -335,7 +337,7 @@
}
}
- for (map<string, vector<QueuePointer> >::iterator itr =
group_listeners.begin(); itr != group_listeners.end(); itr++)
+ for (map<std::string, vector<QueuePointer> >::iterator itr =
group_listeners.begin(); itr != group_listeners.end(); itr++)
{
vector<QueuePointer> &qps = (*itr).second;
vector<vector<QueuePointer>::iterator> remove_list;
@@ -497,7 +499,7 @@
// Retrieve the entry for the key
player_blackboard_entry_t *request =
reinterpret_cast<player_blackboard_entry_t*>(data);
- BlackBoardEntry current_value =
entries[string(request->group)][string(request->key)];
+ BlackBoardEntry current_value =
entries[std::string(request->group)][std::string(request->key)];
// Convert the entry
player_blackboard_entry_t response =
ToPlayerBlackBoardEntry(current_value);
@@ -685,7 +687,7 @@
////////////////////////////////////////////////////////////////////////////////
// Add a device to the listener list for a key. Return the current value of
the entry.
-BlackBoardEntry LocalBB::SubscribeKey(const string &key, const string &group,
const QueuePointer &resp_queue, const player_devaddr_t addr)
+BlackBoardEntry LocalBB::SubscribeKey(const std::string &key, const
std::string &group, const QueuePointer &resp_queue, const player_devaddr_t addr)
{
listeners[group][key].push_back(resp_queue);
subscribed_devices[addr] = resp_queue;
@@ -700,7 +702,7 @@
////////////////////////////////////////////////////////////////////////////////
// Remove a device from the listener list for a key.
-void LocalBB::UnsubscribeKey(const string &key, const string &group, const
QueuePointer &qp)
+void LocalBB::UnsubscribeKey(const std::string &key, const std::string &group,
const QueuePointer &qp)
{
vector<QueuePointer> &devices = listeners[group][key];
@@ -716,16 +718,16 @@
////////////////////////////////////////////////////////////////////////////////
// Add a device to the group listener map. Return vector of entries for that
group.
-vector<BlackBoardEntry> LocalBB::SubscribeGroup(const string &group, const
QueuePointer &qp, const player_devaddr_t addr)
+vector<BlackBoardEntry> LocalBB::SubscribeGroup(const std::string &group,
const QueuePointer &qp, const player_devaddr_t addr)
{
group_listeners[group].push_back(qp);
subscribed_devices[addr] = qp;
vector<BlackBoardEntry> group_entries;
//map<group, map<key, entry> >
- map<string, BlackBoardEntry> &entry_map = entries[group];
+ map<std::string, BlackBoardEntry> &entry_map = entries[group];
- for (map<string, BlackBoardEntry>::iterator itr = entry_map.begin();
itr != entry_map.end(); itr++)
+ for (map<std::string, BlackBoardEntry>::iterator itr =
entry_map.begin(); itr != entry_map.end(); itr++)
{
BlackBoardEntry current_value = (*itr).second;
if (current_value.key == "")
@@ -743,7 +745,7 @@
////////////////////////////////////////////////////////////////////////////////
// Remove a device from the group listener map
-void LocalBB::UnsubscribeGroup(const string &group, const QueuePointer &qp)
+void LocalBB::UnsubscribeGroup(const std::string &group, const QueuePointer
&qp)
{
vector<QueuePointer> &devices = group_listeners[group];
Modified: code/player/trunk/server/drivers/mixed/mricp/src/Timer.cpp
===================================================================
--- code/player/trunk/server/drivers/mixed/mricp/src/Timer.cpp 2008-08-22
18:19:44 UTC (rev 6976)
+++ code/player/trunk/server/drivers/mixed/mricp/src/Timer.cpp 2008-08-25
00:58:33 UTC (rev 6977)
@@ -1,4 +1,6 @@
#include "Timer.h"
+#include <ctime>
+#include <cstddef>
Timer::Timer()
{
@@ -7,8 +9,8 @@
double Timer::TimeElapsed() // return in usec
{
gettimeofday(&end_time,NULL);
- time_diff = ((double) end_time.tv_sec*1e6 + (double)end_time.tv_usec)
-
- ((double) start_time.tv_sec*1e6 +
(double)start_time.tv_usec);
+ time_diff = ((double) end_time.tv_sec*1000000 +
(double)end_time.tv_usec) -
+ ((double) start_time.tv_sec*1000000 +
(double)start_time.tv_usec);
return time_diff;
}
Timer::~Timer()
@@ -20,7 +22,17 @@
}
void Timer::Synch(double period)
{
+ struct timespec ts;
+ int us;
+
double time_elapsed = this->TimeElapsed();
- if( time_elapsed < period*1e3)
- usleep((int)(period*1e3 -time_elapsed));
+ if( time_elapsed < period*1000)
+ usleep((int)(period*1000 -time_elapsed));
+ if (time_elapsed < (period*1000))
+ {
+ us = static_cast<int>(period*1000-time_elapsed);
+ ts.tv_sec = us/1000000;
+ ts.tv_nsec = (us%1000000)*1000;
+ nanosleep(&ts, NULL);
+ }
}
Modified: code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
===================================================================
--- code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
2008-08-22 18:19:44 UTC (rev 6976)
+++ code/player/trunk/server/drivers/mixed/mricp/src/mricp_driver.cpp
2008-08-25 00:58:33 UTC (rev 6977)
@@ -36,22 +36,24 @@
#include <sys/time.h>
#include <fcntl.h>
#include <termios.h>
-#include <stdio.h>
-#include <strings.h>
+#include <cstdio>
#include <unistd.h>
-#include <stdlib.h>
-#include <errno.h>
-#include <string.h>
+#include <cstdlib>
+#include <cstddef>
+#include <cerrno>
+#include <cstring>
+#include <string>
#include <pthread.h>
-#include <math.h>
+#include <cmath>
#include <fstream>
#include <iostream>
-#include <signal.h>
+#include <csignal>
+#include <vector>
#include <netinet/in.h>
// Player includes
#include <libplayercore/playercore.h>
-#include <assert.h>
+#include <cassert>
#include "icp.h"
#include "map.h"
#include "lasermodel.h"
Modified: code/player/trunk/server/drivers/wsn/accel_calib.cc
===================================================================
--- code/player/trunk/server/drivers/wsn/accel_calib.cc 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/server/drivers/wsn/accel_calib.cc 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -383,13 +383,11 @@
NodeCalibrationValues Accel_Calib::FindNodeValues (unsigned int nodeID)
{
NodeCalibrationValues n;
+ NCV::iterator it;
- unsigned int i = 0;
-
- for (i = 0; i < ncv.size (); i++)
+ for (it = ncv.begin (); it != ncv.end (); it++)
{
- n = ncv.at (i);
-
+ n = *it;
if (n.node_id == nodeID)
break;
}
Modified: code/player/trunk/server/drivers/wsn/mica2.cc
===================================================================
--- code/player/trunk/server/drivers/wsn/mica2.cc 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/server/drivers/wsn/mica2.cc 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -883,15 +883,13 @@
NodeCalibrationValues Mica2::FindNodeValues (unsigned int nodeID)
{
NodeCalibrationValues n;
+ NCV::iterator it;
- unsigned int i = 0;
-
- for (i = 0; i < ncv.size (); i++)
+ for (it = ncv.begin (); it != ncv.end (); it++)
{
- n = ncv.at (i);
-
- if (n.node_id == nodeID)
- break;
+ n = *it;
+ if (n.node_id == nodeID)
+ break;
}
return n;
Modified: code/player/trunk/utils/logsplitter/logsplitter.c
===================================================================
--- code/player/trunk/utils/logsplitter/logsplitter.c 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/utils/logsplitter/logsplitter.c 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -19,8 +19,8 @@
* CVS: $Id$
*/
/*
- Desc : Splits log files into smaller chunks, based on the difference between
- consecutive timestamp entries. A bit ugly, but it works. There's room
+ Desc : Splits log files into smaller chunks, based on the difference between
+ consecutive timestamp entries. A bit ugly, but it works. There's room
for optimization, so feel free.
Author: Radu Bogdan Rusu
Date : 20th of September, 2006
@@ -35,7 +35,7 @@
#include <sys/stat.h>
// Splits a logfile and returns the new file handle
-FILE
+FILE
*copySplitData (FILE *input, double t2, long before)
{
char data[1024];
@@ -48,10 +48,10 @@
// Save current position in file
long currentPos = ftell (input);
-
+
// Seek to the beginning of the file
fseek (input, 0L, SEEK_SET);
-
+
// Read the first entry
while (!feof (input))
{
@@ -75,7 +75,7 @@
{
output = fopen (fileName, "w+");
printf ("I: Creating... %s\n", fileName);
-
+
// Copy the relevant data
while (!feof (input))
{
@@ -84,10 +84,10 @@
break;
fputs (data, output);
}
-
+
// Seek back in the source file
fseek (input, currentPos - strlen (data), SEEK_SET);
-
+
// Close output file
fclose (output);
}
@@ -97,18 +97,18 @@
// Seek back in the source file
fseek (input, currentPos - before, SEEK_SET);
}
-
+
// Create a new file and copy the remainings there
sprintf (fileName, "%lf-split.log", t2);
if (stat (fileName, &fbuf) != 0)
{
rest = fopen (fileName, "w+");
- printf ("I: Creating... %s\n", fileName);
+ printf ("I: Creating... %s\n", fileName);
while (1)
{
fgets (data, 1024, input);
lastdatalen = strlen (data);
- if (feof (input))
+ if (feof (input))
break;
fputs (data, rest);
}
@@ -118,7 +118,7 @@
// Truncate the remainings from the source file
ftruncate (fileno (input), currentPos - before);
fclose (input);
-
+
return rest;
}
else
@@ -141,7 +141,7 @@
float min_timedifference;
struct stat fbuf;
struct stat ftempbuf;
-
+
// We need 2 parameters
if (argc != 3)
{
@@ -150,13 +150,13 @@
"USAGE: logsplitter [min_time_difference_in_seconds]
[FILE]\n\n");
return -1;
}
-
+
// Get the minimum time difference between two consecutive timestamps
min_timedifference = atof (argv[1]);
base_filename = argv[2];
-
+
printf ("I: Minimum time difference is: %f seconds.\n",
min_timedifference);
-
+
// Open file for reading
fd = fopen (base_filename, "r+");
if (!fd)
@@ -175,17 +175,17 @@
printf ("E: Cannot create a temporary file! Aborting...\n");
return -1;
}
-
+
// Copy the content of our logfile to that temporary file
while (1)
{
fgets (buf, 1024, fd);
- if (feof (fd))
+ if (feof (fd))
break;
fputs (buf, tempfd);
}
fflush (tempfd);
-
+
// Close the original logfile
fclose (fd);
@@ -196,7 +196,7 @@
printf ("E: The temporary file differs than the original log file by
%ld bytes! Aborting...",
fbuf.st_size - ftempbuf.st_size);
}
-
+
// Get an initial reading
rewind (tempfd);
while (!feof (tempfd))
@@ -223,13 +223,17 @@
sscanf (buf, "%lf", &t2);
after = ftell (tempfd);
-
+
// Verify if we need a break
if ((fabs (t2 - t1) > min_timedifference) && (after - before > 0))
{
- time_t t = (time_t)t1;
- ctime_r (&t, btime);
- printf ("I: Break (%f) needed after T = %f -> %s", t2 - t1, t1,
btime);
+ time_t t = (time_t)t1;
+#if defined (__SVR4) && defined (__sun)
+ ctime_r (&t, btime, sizeof (btime));
+#else
+ ctime_r (&t, btime);
+#endif
+ printf ("I: Break (%f) needed after T = %f -> %s", t2 - t1, t1, btime);
tempfd = copySplitData (tempfd, t2, after - before);
if (ftell (tempfd) == 0)
@@ -241,6 +245,6 @@
// Close file
fclose (tempfd);
-
+
return 0;
}
Modified: code/player/trunk/utils/playercam/playercam.c
===================================================================
--- code/player/trunk/utils/playercam/playercam.c 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/utils/playercam/playercam.c 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -190,9 +190,10 @@
GdkPixbuf *blobbuf= NULL;
GdkGC *gc = NULL;
GtkWidget *drawing_area = GTK_WIDGET(data);
- gc =
GTK_WIDGET(drawing_area)->style->fg_gc[GTK_WIDGET_STATE(GTK_WIDGET(drawing_area))];
uint16_t i;
+ gc =
GTK_WIDGET(drawing_area)->style->fg_gc[GTK_WIDGET_STATE(GTK_WIDGET(drawing_area))];
+
player_update();
if (g_blob_count > 0)
@@ -447,7 +448,7 @@
assert(g_width>0);
assert(g_height>0);
- playerc_client_datamode(g_client,PLAYER_DATAMODE_PULL);
+ playerc_client_datamode(g_client,PLAYER_DATAMODE_PULL);
playerc_client_set_replace_rule(g_client,-1,-1,PLAYER_MSGTYPE_DATA,-1,1);
}
@@ -462,17 +463,17 @@
{
// Decompress the image if necessary
playerc_camera_decompress(g_camera);
+ assert(allocated_size > g_camera->image_count*3);
// figure out the colorspace
switch (g_camera->format)
{
- assert(allocated_size > g_camera->image_count*3);
case PLAYER_CAMERA_FORMAT_MONO8:
// we should try to use the alpha layer,
// but for now we need to change
// the image data
for (i=0;i<g_camera->image_count;++i)
{
-
+
memcpy(g_img+i*3, g_camera->image+i, 3);
}
break;
@@ -482,8 +483,8 @@
// Transform to MONO8
for (i = 0; i < g_camera->image_count; i++, j+=2)
{
- g_img[i*3+1] = g_img[i*3+2] = g_img[i*3+3] =
- ((unsigned char)(g_camera->image[j]) << 8) +
+ g_img[i*3+1] = g_img[i*3+2] = g_img[i*3+3] =
+ ((unsigned char)(g_camera->image[j]) << 8) +
(unsigned char)(g_camera->image[j+1]);
}
break;
Modified: code/player/trunk/utils/playerv/pv_dev_actarray.c
===================================================================
--- code/player/trunk/utils/playerv/pv_dev_actarray.c 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/utils/playerv/pv_dev_actarray.c 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -1,4 +1,4 @@
-/*
+/*
* PlayerViewer
* Copyright (C) Andrew Howard 2002
*
@@ -46,7 +46,7 @@
char section[64];
char label[64];
actarray_t *actarray;
-
+
actarray = malloc(sizeof(actarray_t));
actarray->datatime = 0;
actarray->drivername = strdup(drivername);
@@ -66,7 +66,7 @@
actarray->menu = rtk_menu_create_sub(mainwnd->device_menu, label);
actarray->subscribe_item = rtk_menuitem_create(actarray->menu, "Subscribe",
1);
actarray->command_item = rtk_menuitem_create(actarray->menu, "Command", 1);
-
+
// Set the initial menu state
rtk_menuitem_check(actarray->subscribe_item,
actarray->proxy->info.subscribed);
@@ -75,7 +75,7 @@
actarray->actuator_fig_cmd = NULL;
actarray->lastvalue = NULL;
actarray->mainwnd = mainwnd;
-
+
return actarray;
}
@@ -198,8 +198,8 @@
double min, max;
double ax, ay, bx, by;
double fx, fd;
-
int ii;
+ rtk_fig_t *fig;
actarray_allocate(actarray, actarray->proxy->actuators_count);
@@ -217,7 +217,7 @@
if (value > max) value = max;
if (value < min) value = min;
value = 2*(value-min)/(max-min) -1;
- rtk_fig_t * fig = actarray->actuator_fig[ii];
+ fig = actarray->actuator_fig[ii];
rtk_fig_show(fig, 1);
rtk_fig_clear(fig);
rtk_fig_origin(actarray->actuator_fig[ii], ARRAY_SPACING*ii
+ARRAY_X_OFFSET, 0, 0);
Modified: code/player/trunk/utils/playerv/pv_dev_gripper.c
===================================================================
--- code/player/trunk/utils/playerv/pv_dev_gripper.c 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/utils/playerv/pv_dev_gripper.c 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -105,6 +105,10 @@
// Update a gripper device
void gripper_update(gripper_t *gripper)
{
+ double gripper_length, gripper_width;
+ double paddle_center, paddle_length, paddle_width, paddle_pos;
+ double ibbx, obbx, bby;
+ double led_dx;
int i;
// Update the device subscription
@@ -151,12 +155,12 @@
// draw paddles
- double gripper_length = gripper->proxy->outer_size.sw;
- double gripper_width = gripper->proxy->outer_size.sl;
+ gripper_length = gripper->proxy->outer_size.sw;
+ gripper_width = gripper->proxy->outer_size.sl;
- double paddle_center = gripper_length * (1.0/6.0);
- double paddle_length = gripper_length * (2.0/3.0);
- double paddle_width = gripper_width * 0.15;
+ paddle_center = gripper_length * (1.0/6.0);
+ paddle_length = gripper_length * (2.0/3.0);
+ paddle_width = gripper_width * 0.15;
rtk_fig_color_rgb32( gripper->grip_fig, GRIPPER_COLOR_FILL );
rtk_fig_rectangle( gripper->grip_fig,
@@ -174,7 +178,7 @@
if( gripper->proxy->state == PLAYER_GRIPPER_STATE_OPEN )
{
- double paddle_pos = gripper_width/2.0 - paddle_width/2.0;
+ paddle_pos = gripper_width/2.0 - paddle_width/2.0;
rtk_fig_color_rgb32( gripper->grip_fig, GRIPPER_COLOR_FILL );
rtk_fig_rectangle(gripper->grip_fig,
@@ -196,7 +200,7 @@
if( gripper->proxy->state == PLAYER_GRIPPER_STATE_CLOSED )
{
- double paddle_pos = paddle_width/2.0;
+ paddle_pos = paddle_width/2.0;
rtk_fig_color_rgb32( gripper->grip_fig, GRIPPER_COLOR_FILL );
rtk_fig_rectangle(gripper->grip_fig,
@@ -227,14 +231,14 @@
// different x location for each beam
- double ibbx = paddle_center - 0.3*paddle_length;
- double obbx = paddle_center + 0.3*paddle_length;
+ ibbx = paddle_center - 0.3*paddle_length;
+ obbx = paddle_center + 0.3*paddle_length;
// common y position
- double bby = (gripper->proxy->state == PLAYER_GRIPPER_STATE_OPEN) ?
gripper_width/2.0 - paddle_width: 0;
+ bby = (gripper->proxy->state == PLAYER_GRIPPER_STATE_OPEN) ?
gripper_width/2.0 - paddle_width: 0;
// size of the paddle indicator lights
- double led_dx = paddle_width/2.0;
+ led_dx = paddle_width/2.0;
if( gripper->proxy->beams & 0x00000001 )
{
Modified: code/player/trunk/utils/playerv/pv_dev_vectormap.c
===================================================================
--- code/player/trunk/utils/playerv/pv_dev_vectormap.c 2008-08-22 18:19:44 UTC
(rev 6976)
+++ code/player/trunk/utils/playerv/pv_dev_vectormap.c 2008-08-25 00:58:33 UTC
(rev 6977)
@@ -1,4 +1,4 @@
-/*
+/*
* PlayerViewer
* Copyright (C) Andrew Howard 2002
*
@@ -32,7 +32,7 @@
// Update the map configuration
void vectormap_update_config(vectormap_t *map);
-// Draw the map
+// Draw the map
void vectormap_draw(vectormap_t *map);
// Draw a single map feature
@@ -46,7 +46,7 @@
char label[64];
char section[64];
vectormap_t *map;
-
+
map = malloc(sizeof(vectormap_t));
map->proxy = playerc_vectormap_create(client, index);
map->drivername = strdup(drivername);
@@ -163,12 +163,13 @@
{
unsigned ii, jj;
GEOSGeom feature;
+ uint32_t colour = 0xFF0000;
+ double xCenter, yCenter;
rtk_fig_show(map->fig, 1);
rtk_fig_clear(map->fig);
// draw map data
- uint32_t colour = 0xFF0000;
for (ii = 0; ii < map->proxy->layers_count; ++ii)
{
// get a different colour for each layer the quick way, will duplicate
after 6 layers
@@ -186,8 +187,8 @@
// draw map extent
rtk_fig_color_rgb32( map->fig, 0xFF0000 );
- double xCenter = map->proxy->extent.x1 - (map->proxy->extent.x1 -
map->proxy->extent.x0)/2;
- double yCenter = map->proxy->extent.y1 - (map->proxy->extent.y1 -
map->proxy->extent.y0)/2;
+ xCenter = map->proxy->extent.x1 - (map->proxy->extent.x1 -
map->proxy->extent.x0)/2;
+ yCenter = map->proxy->extent.y1 - (map->proxy->extent.y1 -
map->proxy->extent.y0)/2;
rtk_fig_rectangle(
map->fig,
@@ -210,7 +211,8 @@
unsigned numcoords;
unsigned ii;
double x,y,x2,y2;
- switch (GEOSGeomTypeId(geom))
+
+ switch (GEOSGeomTypeId(geom))
{
case GEOS_POINT:
seq = GEOSGeom_getCoordSeq(geom);
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