Revision: 7064 http://playerstage.svn.sourceforge.net/playerstage/?rev=7064&view=rev Author: gbiggs Date: 2008-10-06 01:23:34 +0000 (Mon, 06 Oct 2008)
Log Message: ----------- Applied patch 2147767 Modified Paths: -------------- code/player/branches/release-2-1-patches/server/drivers/joystick/linuxjoy.cc Modified: code/player/branches/release-2-1-patches/server/drivers/joystick/linuxjoy.cc =================================================================== --- code/player/branches/release-2-1-patches/server/drivers/joystick/linuxjoy.cc 2008-10-06 01:22:47 UTC (rev 7063) +++ code/player/branches/release-2-1-patches/server/drivers/joystick/linuxjoy.cc 2008-10-06 01:23:34 UTC (rev 7064) @@ -223,7 +223,6 @@ #include <replace/replace.h> // for poll(2) #include <libplayercore/playercore.h> #include <libplayercore/error.h> -#include <iostream> extern PlayerTime *GlobalTime; @@ -412,42 +411,18 @@ this->position = NULL; // If we're asked, open the position2d device - if(this->cmd_position_addr.interf) + if (this->cmd_position_addr.interf) { - if(!(this->position = deviceTable->GetDevice(this->cmd_position_addr))) + if (!(this->position = deviceTable->GetDevice(this->cmd_position_addr))) { PLAYER_ERROR("unable to locate suitable position2d device"); return -1; } - if(this->position->Subscribe(this->InQueue) != 0) + if (this->position->Subscribe(this->InQueue) != 0) { PLAYER_ERROR("unable to subscribe to position2d device"); return -1; } - - // Enable the motors - player_position2d_power_config_t motorconfig; - motorconfig.state = 1; - Message* msg; - if(!(msg = this->position->Request(this->InQueue, - PLAYER_MSGTYPE_REQ, - PLAYER_POSITION2D_REQ_MOTOR_POWER, - (void*)&motorconfig, - sizeof(motorconfig),NULL,false))) - { - PLAYER_WARN("failed to enable motors"); - } - else - delete msg; - - // Stop the robot - player_position2d_cmd_vel_t cmd; - memset(&cmd,0,sizeof(cmd)); - this->position->PutMsg(this->InQueue, - PLAYER_MSGTYPE_CMD, - PLAYER_POSITION2D_CMD_VEL, - (void*)&cmd, sizeof(player_position2d_cmd_vel_t), - NULL); } this->gripper = NULL; // If we're asked, open the gripper device @@ -503,6 +478,33 @@ // Main function for device thread void LinuxJoystick::Main() { + if (this->cmd_position_addr.interf) + { + // Enable the motors + player_position2d_power_config_t motorconfig; + memset(&motorconfig, 0, sizeof motorconfig); + motorconfig.state = 1; + Message* msg; + if (!(msg = this->position->Request(this->InQueue, + PLAYER_MSGTYPE_REQ, + PLAYER_POSITION2D_REQ_MOTOR_POWER, + reinterpret_cast<void *>(&motorconfig), + sizeof motorconfig, NULL))) + { + PLAYER_WARN("failed to enable motors"); + } + else + delete msg; + + // Stop the robot + player_position2d_cmd_vel_t cmd; + memset(&cmd, 0, sizeof cmd); + this->position->PutMsg(this->InQueue, + PLAYER_MSGTYPE_CMD, + PLAYER_POSITION2D_CMD_VEL, + reinterpret_cast<void *>(&cmd), sizeof cmd, + NULL); + } // The main loop; interact with the device here while (true) { 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