Revision: 7203 http://playerstage.svn.sourceforge.net/playerstage/?rev=7203&view=rev Author: gbiggs Date: 2008-12-18 05:57:44 +0000 (Thu, 18 Dec 2008)
Log Message: ----------- Added a ranger-to-laser interface converter Modified Paths: -------------- code/player/trunk/server/drivers/ranger/CMakeLists.txt code/player/trunk/server/drivers/ranger/lasertoranger.cc code/player/trunk/server/drivers/ranger/sonartoranger.cc code/player/trunk/server/drivers/ranger/toranger.h Added Paths: ----------- code/player/trunk/server/drivers/ranger/fromranger.cc code/player/trunk/server/drivers/ranger/fromranger.h code/player/trunk/server/drivers/ranger/rangertolaser.cc Modified: code/player/trunk/server/drivers/ranger/CMakeLists.txt =================================================================== --- code/player/trunk/server/drivers/ranger/CMakeLists.txt 2008-12-12 02:15:53 UTC (rev 7202) +++ code/player/trunk/server/drivers/ranger/CMakeLists.txt 2008-12-18 05:57:44 UTC (rev 7203) @@ -18,3 +18,7 @@ PLAYERDRIVER_OPTION (sonartoranger build_sonartoranger ON) PLAYERDRIVER_ADD_DRIVER (sonartoranger build_sonartoranger SOURCES toranger.cc sonartoranger.cc) + +PLAYERDRIVER_OPTION (rangertolaser build_rangertolaser ON) +PLAYERDRIVER_ADD_DRIVER (rangertolaser build_rangertolaser SOURCES fromranger.cc rangertolaser.cc) + Added: code/player/trunk/server/drivers/ranger/fromranger.cc =================================================================== --- code/player/trunk/server/drivers/ranger/fromranger.cc (rev 0) +++ code/player/trunk/server/drivers/ranger/fromranger.cc 2008-12-18 05:57:44 UTC (rev 7203) @@ -0,0 +1,105 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * ger...@usc.edu kasp...@robotics.usc.edu + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Base class for ->ranger interface converter drivers. +// Author: Geoffrey Biggs +// Date: 06/05/2007 +// +/////////////////////////////////////////////////////////////////////////// + +#include "fromranger.h" + +//////////////////////////////////////////////////////////////////////////////// +// Driver management +//////////////////////////////////////////////////////////////////////////////// + +// Constructor +// Nothing to do +FromRanger::FromRanger (ConfigFile* cf, int section) + : Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, PLAYER_LASER_CODE) +{ + inputDevice = NULL; +} + +// Destructor +FromRanger::~FromRanger (void) +{ +} + +// Setup function +// Cleans up the output data for use +int FromRanger::Setup (void) +{ + return 0; +} + +// Shutdown function +// Ensures all the ranger data memory is freed +int FromRanger::Shutdown (void) +{ + return 0; +} + +//////////////////////////////////////////////////////////////////////////////// +// Message handling +//////////////////////////////////////////////////////////////////////////////// + +// Message processing +int FromRanger::ProcessMessage (QueuePointer &respQueue, player_msghdr *hdr, void *data) +{ + // Check for capabilities requests first + HANDLE_CAPABILITY_REQUEST (device_addr, respQueue, hdr, data, PLAYER_MSGTYPE_REQ, PLAYER_CAPABILTIES_REQ); + + // Pass property get/set messages through to the input device + if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_GET_INTPROP_REQ, device_addr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_SET_INTPROP_REQ, device_addr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_GET_DBLPROP_REQ, device_addr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_SET_DBLPROP_REQ, device_addr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_GET_STRPROP_REQ, device_addr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_SET_STRPROP_REQ, device_addr)) + { + inputDevice->PutMsg (InQueue, hdr, data); + ret_queue = respQueue; + return 0; + } + // Pass responses to them back to the client + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_GET_INTPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_INTPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_GET_DBLPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_DBLPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_GET_STRPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_STRPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_GET_INTPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_GET_DBLPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_DBLPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_GET_STRPROP_REQ, inputDeviceAddr) || + Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_STRPROP_REQ, inputDeviceAddr)) + { + hdr->addr = device_addr; + Publish (ret_queue, hdr, data); + return 0; + } + + return -1; +} Added: code/player/trunk/server/drivers/ranger/fromranger.h =================================================================== --- code/player/trunk/server/drivers/ranger/fromranger.h (rev 0) +++ code/player/trunk/server/drivers/ranger/fromranger.h 2008-12-18 05:57:44 UTC (rev 7203) @@ -0,0 +1,49 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * ger...@usc.edu kasp...@robotics.usc.edu + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ + +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Base class for ranger-> interface converter drivers. +// Author: Geoffrey Biggs +// Date: 06/05/2007 +// +/////////////////////////////////////////////////////////////////////////// + +#include <libplayercore/playercore.h> +#include <libplayercore/error.h> + +class FromRanger : public Driver +{ + public: + FromRanger (ConfigFile* cf, int section); + ~FromRanger (void); + + // Message processor - must be called first by child classes if overridden + virtual int ProcessMessage (QueuePointer &resp_queue, player_msghdr *hdr, void *data); + + virtual int Setup (void); + virtual int Shutdown (void); + + protected: + // Input device + Device *inputDevice; // Input device interface + player_devaddr_t inputDeviceAddr; // Input device address +}; Modified: code/player/trunk/server/drivers/ranger/lasertoranger.cc =================================================================== --- code/player/trunk/server/drivers/ranger/lasertoranger.cc 2008-12-12 02:15:53 UTC (rev 7202) +++ code/player/trunk/server/drivers/ranger/lasertoranger.cc 2008-12-18 05:57:44 UTC (rev 7203) @@ -88,7 +88,6 @@ #include "toranger.h" -// Driver for computing the free c-space from a laser scan. class LaserToRanger : public ToRanger { public: Added: code/player/trunk/server/drivers/ranger/rangertolaser.cc =================================================================== --- code/player/trunk/server/drivers/ranger/rangertolaser.cc (rev 0) +++ code/player/trunk/server/drivers/ranger/rangertolaser.cc 2008-12-18 05:57:44 UTC (rev 7203) @@ -0,0 +1,487 @@ +/* + * Player - One Hell of a Robot Server + * Copyright (C) 2000 Brian Gerkey & Kasper Stoy + * ger...@usc.edu kasp...@robotics.usc.edu + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA + * + */ +/////////////////////////////////////////////////////////////////////////// +// +// Desc: Driver for converting laser-interface devices to ranger-interface +// devices +// Author: Geoffrey Biggs +// Date: 06/05/2007 +// +// Requires - Laser device. +// +/////////////////////////////////////////////////////////////////////////// + +/** @ingroup drivers */ +/** @{ */ +/** @defgroup driver_lasertoranger RangerToLaser + * @brief Laser-to-Ranger converter + +This driver translates data provided via the @ref interface_laser interface into +the @ref interface_ranger interface. + +...@par Compile-time dependencies + +- None + +...@par Provides + +- @ref interface_ranger : Output ranger interface + +...@par Requires + +- @ref interface_laser : Laser interface to translate + +...@par Configuration requests + +- PLAYER_LASER_REQ_GET_GEOM +- PLAYER_LASER_REQ_POWER +- PLAYER_LASER_REQ_GET_CONFIG +- PLAYER_LASER_REQ_SET_CONFIG + +...@par Configuration file options + + - None + +...@par Example + +...@verbatim +driver +( + name "sicklms200" + provides ["laser:0"] + port "/dev/ttyS0" +) +driver +( + name "RangerToLaser" + requires ["ranger:0"] # read from ranger:0 + provides ["laser:0"] # output results on laser:0 +) +...@endverbatim + +...@author Geoffrey Biggs + +*/ +/** @} */ + +#include <errno.h> +#include <string.h> + +#include <libplayercore/playercore.h> + +#include "fromranger.h" + +class RangerToLaser : public FromRanger +{ + public: + RangerToLaser (ConfigFile *cf, int section); + + int Setup (void); + int Shutdown (void); + + protected: + // Child message handler, for handling messages from the input device + int ProcessMessage (QueuePointer &respQueue, player_msghdr *hdr, void *data); + // Set power state + int SetPower (QueuePointer &respQueue, player_msghdr *hdr, uint8_t state); + // Set intensity data state + int SetIntensity (QueuePointer &respQueue, player_msghdr *hdr, uint8_t state); + // Convert laser data to ranger data + int ConvertData (player_msghdr *hdr, void *data); + // Convert geometry data + bool HandleGeomRequest (player_laser_geom_t *dest, player_ranger_geom_t *data); + // Handle config values + void CopyConfig (player_ranger_config_t *data); + + bool receivedCfgResp, receivedIntnsResp, setConfigFailed; + player_laser_config_t config; + bool startup; +}; + +// Initialisation function +Driver* RangerToLaser_Init (ConfigFile* cf, int section) +{ + return reinterpret_cast<Driver*> (new RangerToLaser (cf, section)); +} + +// Register function +void rangertolaser_Register (DriverTable* table) +{ + table->AddDriver ("rangertolaser", RangerToLaser_Init); +} + +//////////////////////////////////////////////////////////////////////////////// +// Driver management +//////////////////////////////////////////////////////////////////////////////// + +// Constructor +// Sets up the input laser interface +RangerToLaser::RangerToLaser (ConfigFile* cf, int section) + : FromRanger (cf, section) +{ + // Need a laser device as input + if (cf->ReadDeviceAddr(&inputDeviceAddr, section, "requires", PLAYER_RANGER_CODE, -1, NULL) != 0) + { + SetError (-1); + return; + } +} + +// Setup function +int RangerToLaser::Setup (void) +{ + // First call the base setup + if (FromRanger::Setup () != 0) + return -1; + + receivedCfgResp = receivedIntnsResp = setConfigFailed = false; + memset (&config, 0, sizeof (config)); + startup = true; + + // Subscribe to the laser. + if ((inputDevice = deviceTable->GetDevice (inputDeviceAddr)) == NULL) + { + PLAYER_ERROR ("Could not find input laser device"); + return -1; + } + + if (inputDevice->Subscribe (InQueue) != 0) + { + PLAYER_ERROR ("Could not subscribe to ranger laser device"); + return -1; + } + + // Request the ranger device's configuration + inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_CONFIG, NULL, 0, NULL); + + return 0; +} + +// Shutdown function +int RangerToLaser::Shutdown (void) +{ + // Unsubscribe from the laser device + inputDevice->Unsubscribe (InQueue); + + // Call the base shutdown function + return FromRanger::Shutdown (); +} + +//////////////////////////////////////////////////////////////////////////////// +// Message handling +//////////////////////////////////////////////////////////////////////////////// + +int RangerToLaser::ConvertData (player_msghdr *hdr, void *data) +{ + player_laser_data_scanpose_t scanData; + double *rangeData = NULL, *intensityData = NULL; + int rangeCount = 0, intensityCount = 0; + player_ranger_geom_t *pose = NULL; + + memset (&scanData, 0, sizeof (scanData)); + + switch (hdr->subtype) + { + case PLAYER_RANGER_DATA_RANGE: + if (reinterpret_cast<player_ranger_data_range_t*> (data)->ranges_count > 0) + { + rangeData = reinterpret_cast<player_ranger_data_range_t*> (data)->ranges; + rangeCount = reinterpret_cast<player_ranger_data_range_t*> (data)->ranges_count; + } + break; + case PLAYER_RANGER_DATA_RANGEPOSE: + if (reinterpret_cast<player_ranger_data_rangepose_t*> (data)->data.ranges_count > 0) + { + rangeData = reinterpret_cast<player_ranger_data_rangepose_t*> (data)->data.ranges; + rangeCount = reinterpret_cast<player_ranger_data_rangepose_t*> (data)->data.ranges_count; + } + pose = &reinterpret_cast<player_ranger_data_rangepose_t*> (data)->geom; + break; + case PLAYER_RANGER_DATA_INTNS: + if (reinterpret_cast<player_ranger_data_intns_t*> (data)->intensities_count > 0) + { + intensityData = reinterpret_cast<player_ranger_data_intns_t*> (data)->intensities; + intensityCount = reinterpret_cast<player_ranger_data_intns_t*> (data)->intensities_count; + } + break; + case PLAYER_RANGER_DATA_INTNSPOSE: + if (reinterpret_cast<player_ranger_data_intnspose_t*> (data)->data.intensities_count > 0) + { + intensityData = reinterpret_cast<player_ranger_data_intnspose_t*> (data)->data.intensities; + intensityCount = reinterpret_cast<player_ranger_data_intnspose_t*> (data)->data.intensities_count; + } + pose = &reinterpret_cast<player_ranger_data_intnspose_t*> (data)->geom; + break; + case PLAYER_RANGER_DATA_GEOM: + default: + return 0; + } + + // Copy the data into the laser message format + if (rangeData != NULL) + { + scanData.scan.ranges_count = rangeCount; + if ((scanData.scan.ranges = new float[rangeCount]) == NULL) + { + PLAYER_ERROR ("Failed to allocate memory for range data"); + return 0; + } + for (int ii = 0; ii < rangeCount; ii++) + scanData.scan.ranges[ii] = rangeData[ii]; + } + if (intensityData != NULL) + { + scanData.scan.intensity_count = intensityCount; + if ((scanData.scan.intensity = new uint8_t[intensityCount]) == NULL) + { + PLAYER_ERROR ("Failed to allocate memory for intensity data"); + return 0; + } + for (int ii = 0; ii < intensityCount; ii++) + scanData.scan.intensity[ii] = static_cast<uint8_t> (intensityData[ii]); + } + + // If we found a pose, copy it + if (pose != NULL) + { + scanData.pose.px = pose->pose.px; + scanData.pose.py = pose->pose.py; + } + + // Need to copy across the latest configuration information + scanData.scan.min_angle = config.min_angle; + scanData.scan.max_angle = config.max_angle; + scanData.scan.resolution = config.resolution; + scanData.scan.max_range = config.max_range; + scanData.scan.id = 0; + + if (pose != NULL) + Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCANPOSE, reinterpret_cast<void*> (&scanData), sizeof (scanData), NULL); + else + Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN, reinterpret_cast<void*> (&scanData.scan), sizeof (scanData.scan), NULL); + + if (scanData.scan.ranges != NULL) + delete[] scanData.scan.ranges; + if (scanData.scan.intensity != NULL) + delete[] scanData.scan.intensity; + + return 0; +} + +bool RangerToLaser::HandleGeomRequest (player_laser_geom_t *dest, player_ranger_geom_t *data) +{ + dest->pose.px = data->pose.px; + dest->pose.py = data->pose.py; + dest->pose.pz = data->pose.pz; + dest->pose.proll = data->pose.proll; + dest->pose.ppitch = data->pose.ppitch; + dest->pose.pyaw = data->pose.pyaw; + + dest->size.sw = data->size.sw; + dest->size.sl = data->size.sl; + dest->size.sh = data->size.sh; + + return true; +} + +void RangerToLaser::CopyConfig (player_ranger_config_t *data) +{ + config.min_angle = data->min_angle; + config.max_angle = data->max_angle; + config.resolution = data->resolution; + config.max_range = data->max_range; + config.range_res = data->range_res; + config.scanning_frequency = data->frequency; +} + +int RangerToLaser::ProcessMessage (QueuePointer &respQueue, player_msghdr *hdr, void *data) +{ + // Check the parent message handler + if (FromRanger::ProcessMessage (respQueue, hdr, data) == 0) + return 0; + + // Check capabilities requests + HANDLE_CAPABILITY_REQUEST (device_addr, respQueue, hdr, data, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_POWER); + HANDLE_CAPABILITY_REQUEST (device_addr, respQueue, hdr, data, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM); + HANDLE_CAPABILITY_REQUEST (device_addr, respQueue, hdr, data, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_SET_CONFIG); + HANDLE_CAPABILITY_REQUEST (device_addr, respQueue, hdr, data, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_CONFIG); + + // Messages from the laser interface + // Power config request + if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_POWER, device_addr)) + { + // Tell the ranger device to switch the power state + player_ranger_power_config_t req; + req.state = reinterpret_cast<player_laser_power_config_t*> (data)->state; + inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_POWER, &req, sizeof (req), 0); + // Store the return queue + ret_queue = respQueue; + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_GEOM, device_addr)) + { + // Get geometry from the ranger device + inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_GEOM, NULL, 0, NULL); + ret_queue = respQueue; + return 0; + } + // Config set request + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_SET_CONFIG, device_addr)) + { + // Translate and forward the request to the ranger device + player_laser_config_t *req = reinterpret_cast<player_laser_config_t*> (data); + player_ranger_config_t translation; + translation.min_angle = req->min_angle; + translation.max_angle = req->max_angle; + translation.resolution = req->resolution; + translation.max_range = req->max_range; + translation.range_res = req->range_res; + translation.frequency = req->scanning_frequency; + inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_SET_CONFIG, &translation, sizeof (translation), 0); + receivedCfgResp = false; + // Also need to send the intensity configuration request + player_ranger_intns_config_t intns; + intns.state = req->intensity; + config.intensity = req->intensity; + inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_INTNS, &intns, sizeof (intns), 0); + receivedIntnsResp = false; + setConfigFailed = false; + ret_queue = respQueue; + return 0; + } + // Config get request + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ, PLAYER_LASER_REQ_GET_CONFIG, device_addr)) + { + // Forward the request onto the ranger device, will handle the response when it comes + inputDevice->PutMsg (InQueue, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_CONFIG, NULL, 0, NULL); + ret_queue = respQueue; + return 0; + } + + // Messages from the ranger interface + // Reqest ACKs + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_POWER, inputDeviceAddr)) + { + // Power request + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_LASER_REQ_POWER, NULL, 0, NULL); + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_SET_CONFIG, inputDeviceAddr)) + { + if (setConfigFailed) + { + // Ignore this message if the intensity message failed + receivedCfgResp = false; + receivedIntnsResp = false; + return 0; + } + + CopyConfig (reinterpret_cast<player_ranger_config_t*> (data)); + if (receivedIntnsResp) + { + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_LASER_REQ_SET_CONFIG, &config, sizeof (config), NULL); + receivedIntnsResp = false; + } + else + receivedCfgResp = true; + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_GET_CONFIG, inputDeviceAddr)) + { + CopyConfig (reinterpret_cast<player_ranger_config_t*> (data)); + // No need to send an ACK in startup mode, as this is our request + if (startup) + startup = false; + else + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_LASER_REQ_GET_CONFIG, &config, sizeof (config), NULL); + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_INTNS, inputDeviceAddr)) + { + if (setConfigFailed) + { + // Ignore this message if the config message failed + receivedCfgResp = false; + receivedIntnsResp = false; + return 0; + } + + config.intensity = reinterpret_cast<player_ranger_intns_config_t*> (data)->state; + if (receivedCfgResp) + { + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_LASER_REQ_SET_CONFIG, &config, sizeof (config), NULL); + receivedCfgResp = false; + } + else + receivedIntnsResp = true; + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_ACK, PLAYER_RANGER_REQ_GET_GEOM, inputDeviceAddr)) + { + // Geometry request - need to manage the info we just got + player_laser_geom_t geom; + if (HandleGeomRequest (&geom, reinterpret_cast<player_ranger_geom_t*> (data))) + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_ACK, PLAYER_LASER_REQ_GET_GEOM, &geom, sizeof (geom), NULL); + else + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_LASER_REQ_GET_GEOM, NULL, 0, NULL); + return 0; + } + + // Request NACKs + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_POWER, inputDeviceAddr)) + { + // Power request + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_LASER_REQ_POWER, NULL, 0, NULL); + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_SET_CONFIG, inputDeviceAddr)) + { + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_LASER_REQ_SET_CONFIG, NULL, 0, NULL); + setConfigFailed = true; + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG, inputDeviceAddr)) + { + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_LASER_REQ_GET_CONFIG, NULL, 0, NULL); + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_GEOM, inputDeviceAddr)) + { + // Geometry request + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_LASER_REQ_GET_GEOM, NULL, 0, NULL); + return 0; + } + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_INTNS, inputDeviceAddr)) + { + Publish (device_addr, ret_queue, PLAYER_MSGTYPE_RESP_NACK, PLAYER_LASER_REQ_SET_CONFIG, NULL, 0, NULL); + setConfigFailed = true; + return 0; + } + + // Data + else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, -1, inputDeviceAddr)) + { + return ConvertData (hdr, data); + } + + return -1; +} + Modified: code/player/trunk/server/drivers/ranger/sonartoranger.cc =================================================================== --- code/player/trunk/server/drivers/ranger/sonartoranger.cc 2008-12-12 02:15:53 UTC (rev 7202) +++ code/player/trunk/server/drivers/ranger/sonartoranger.cc 2008-12-18 05:57:44 UTC (rev 7203) @@ -86,7 +86,6 @@ #include "toranger.h" -// Driver for computing the free c-space from a sonar scan. class SonarToRanger : public ToRanger { public: Modified: code/player/trunk/server/drivers/ranger/toranger.h =================================================================== --- code/player/trunk/server/drivers/ranger/toranger.h 2008-12-12 02:15:53 UTC (rev 7202) +++ code/player/trunk/server/drivers/ranger/toranger.h 2008-12-18 05:57:44 UTC (rev 7203) @@ -30,7 +30,6 @@ #include <libplayercore/playercore.h> #include <libplayercore/error.h> -// Driver for computing the free c-space from a laser scan. class ToRanger : public Driver { public: This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------------ SF.Net email is Sponsored by MIX09, March 18-20, 2009 in Las Vegas, Nevada. The future of the web can't happen without you. Join us at MIX09 to help pave the way to the Next Web now. Learn more and register at http://ad.doubleclick.net/clk;208669438;13503038;i?http://2009.visitmix.com/ _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit