Revision: 7206
http://playerstage.svn.sourceforge.net/playerstage/?rev=7206&view=rev
Author: thjc
Date: 2008-12-18 19:58:30 +0000 (Thu, 18 Dec 2008)
Log Message:
-----------
Merged assert fixes from 7204
also some cmake fixes for postgis/vec2map drivers
Modified Paths:
--------------
code/player/trunk/server/drivers/base/imagebase.cc
code/player/trunk/server/drivers/camera/1394/camera1394.cc
code/player/trunk/server/drivers/camera/compress/cameracompress.cc
code/player/trunk/server/drivers/camera/compress/camerauncompress.cc
code/player/trunk/server/drivers/camera/sphere/sphere_mixed.cc
code/player/trunk/server/drivers/camera/v4l/camerav4l.cc
code/player/trunk/server/drivers/fiducial/laserbar.cc
code/player/trunk/server/drivers/fiducial/laserbarcode.cc
code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
code/player/trunk/server/drivers/fiducial/laservisualbw.cc
code/player/trunk/server/drivers/imu/XSensMT.cc
code/player/trunk/server/drivers/imu/nimuplayer.cpp
code/player/trunk/server/drivers/laser/sicklms400.cc
code/player/trunk/server/drivers/map/maptransform.cc
code/player/trunk/server/drivers/mcom/lifomcom.cc
code/player/trunk/server/drivers/mixed/clodbuster/clodbuster.cc
code/player/trunk/server/drivers/mixed/cmucam2/cmucam2.cc
code/player/trunk/server/drivers/mixed/evolution/er1/er.cc
code/player/trunk/server/drivers/mixed/garcia/garcia_mixed.cc
code/player/trunk/server/drivers/mixed/khepera/khepera.cc
code/player/trunk/server/drivers/mixed/reb/reb.cc
code/player/trunk/server/drivers/mixed/sr3000/sr3000.cc
code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
code/player/trunk/server/drivers/position/bumpersafe/bumpersafe.cc
code/player/trunk/server/drivers/position/isense/inertiacube2.cc
code/player/trunk/server/drivers/position/lasersafe/lasersafe.cc
code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
code/player/trunk/server/drivers/position/roboteq/roboteq.cc
code/player/trunk/server/drivers/ptz/amtecpowercube.cc
code/player/trunk/server/drivers/ptz/canonvcc4.cc
code/player/trunk/server/drivers/ptz/ptu46.cc
code/player/trunk/server/drivers/ptz/sonyevid30.cc
code/player/trunk/server/drivers/rfid/sickrfi341.cc
code/player/trunk/server/drivers/speech/festival.cc
code/player/trunk/server/drivers/vectormap/CMakeLists.txt
code/player/trunk/server/drivers/vectormap/vec2map.cc
code/player/trunk/server/drivers/wifi/linuxwifi.cc
code/player/trunk/server/drivers/wsn/accel_calib.cc
code/player/trunk/server/drivers/wsn/mica2.cc
code/player/trunk/server/drivers/wsn/rcore_xbridge.cc
Property Changed:
----------------
code/player/trunk/
Property changes on: code/player/trunk
___________________________________________________________________
Modified: svn:mergeinfo
-
/code/player/branches/release-2-1-patches:6672-6673,6738,6834,6886,6905,6930,6936,6946,6951,6955,6975,6979-6981,6985,6987-6996
/code/player/trunk:6985
+
/code/player/branches/release-2-1-patches:6672-6673,6738,6834,6886,6905,6930,6936,6946,6951,6955,6975,6979-6981,6985,6987-6996,7204
/code/player/trunk:6985
Modified: code/player/trunk/server/drivers/base/imagebase.cc
===================================================================
--- code/player/trunk/server/drivers/base/imagebase.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/base/imagebase.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -120,13 +120,13 @@
int ImageBase::ProcessMessage (QueuePointer &resp_queue, player_msghdr * hdr,
void * data)
{
uint32_t new_image_count;
- player_camera_data_t * compdata = reinterpret_cast<player_camera_data_t
*>(data);
assert(hdr);
- assert(compdata);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, camera_addr))
{
+ assert(data);
+ player_camera_data_t * compdata = reinterpret_cast<player_camera_data_t
*>(data);
Lock();
if (!HaveData)
{
Modified: code/player/trunk/server/drivers/camera/1394/camera1394.cc
===================================================================
--- code/player/trunk/server/drivers/camera/1394/camera1394.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/camera/1394/camera1394.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -1157,7 +1157,6 @@
void * data)
{
assert(hdr);
- assert(data);
/* We currently don't support any messages, but if we do...
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
Modified: code/player/trunk/server/drivers/camera/compress/cameracompress.cc
===================================================================
--- code/player/trunk/server/drivers/camera/compress/cameracompress.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/camera/compress/cameracompress.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -204,10 +204,10 @@
void * data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, camera_id))
{
+ assert(data);
player_camera_data_t * recv = reinterpret_cast<player_camera_data_t * >
(data);
ProcessImage(*recv);
return 0;
Modified: code/player/trunk/server/drivers/camera/compress/camerauncompress.cc
===================================================================
--- code/player/trunk/server/drivers/camera/compress/camerauncompress.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/camera/compress/camerauncompress.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -198,10 +198,10 @@
void * data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, camera_id))
{
+ assert(data);
if(hdr->size < sizeof(player_camera_data_t))
{
PLAYER_WARN("Not enough camera data recieved");
Modified: code/player/trunk/server/drivers/camera/sphere/sphere_mixed.cc
===================================================================
--- code/player/trunk/server/drivers/camera/sphere/sphere_mixed.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/camera/sphere/sphere_mixed.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -419,7 +419,6 @@
void* data)
{
assert(hdr);
- assert(data);
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, mPtzAddr))
Modified: code/player/trunk/server/drivers/camera/v4l/camerav4l.cc
===================================================================
--- code/player/trunk/server/drivers/camera/v4l/camerav4l.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/camera/v4l/camerav4l.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -533,8 +533,6 @@
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_CAMERA_REQ_GET_GEOM, this->device_addr))
{
- assert(data);
- assert(hdr->size == sizeof(player_position2d_data_t));
ProcessGetGeom(hdr, *reinterpret_cast<player_camera_data_t *> (data));
return(0);
Modified: code/player/trunk/server/drivers/fiducial/laserbar.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laserbar.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/fiducial/laserbar.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -287,7 +287,6 @@
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN, this->laser_addr))
{
- //assert(hdr->size == sizeof(player_laser_data_t));
player_laser_data_t *laser_data = reinterpret_cast<player_laser_data_t
* > (data);
this->Lock();
Modified: code/player/trunk/server/drivers/fiducial/laserbarcode.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laserbarcode.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/fiducial/laserbarcode.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -278,11 +278,9 @@
int LaserBarcode::ProcessMessage (QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
assert(hdr);
- assert(data);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
laser_id))
{
- assert(hdr->size == sizeof(player_laser_data_t));
laser_data = *reinterpret_cast<player_laser_data_t * > (data);
// Analyse the laser data
Modified: code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/fiducial/laservisualbarcode.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -412,11 +412,9 @@
int LaserVisualBarcode::ProcessMessage (QueuePointer &resp_queue,
player_msghdr * hdr, void * data)
{
assert(hdr);
- assert(data);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
laser_id))
{
- assert(hdr->size == sizeof(player_laser_data_t));
player_laser_data_t * l_data = reinterpret_cast<player_laser_data_t * >
(data);
UpdateLaser(l_data, hdr->timestamp);
@@ -426,14 +424,12 @@
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_PTZ_DATA_STATE,
ptz_id))
{
- assert(hdr->size == sizeof(player_ptz_data_t));
UpdatePtz(reinterpret_cast<player_ptz_data_t * > (data), hdr->timestamp);
return 0;
}
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA,
PLAYER_BLOBFINDER_DATA_BLOBS, blobfinder_id))
{
- assert(hdr->size == sizeof(player_blobfinder_data_t));
UpdateBlobfinder(reinterpret_cast<player_blobfinder_data_t * > (data),
hdr->timestamp);
return 0;
}
Modified: code/player/trunk/server/drivers/fiducial/laservisualbw.cc
===================================================================
--- code/player/trunk/server/drivers/fiducial/laservisualbw.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/fiducial/laservisualbw.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -394,11 +394,9 @@
int LaserVisualBW::ProcessMessage (QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
assert(hdr);
- assert(data);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_LASER_DATA_SCAN,
laser_id))
{
- assert(hdr->size == sizeof(player_laser_data_t));
player_laser_data_t * l_data = reinterpret_cast<player_laser_data_t * >
(data);
UpdateLaser(l_data, hdr->timestamp);
@@ -408,14 +406,12 @@
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_PTZ_DATA_STATE,
ptz_id))
{
- assert(hdr->size == sizeof(player_ptz_data_t));
UpdatePtz(reinterpret_cast<player_ptz_data_t * > (data), hdr->timestamp);
return 0;
}
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA,
PLAYER_CAMERA_DATA_STATE, camera_id))
{
- assert(hdr->size == sizeof(player_camera_data_t));
UpdateCamera(reinterpret_cast<player_camera_data_t * > (data),
hdr->timestamp);
return 0;
}
Modified: code/player/trunk/server/drivers/imu/XSensMT.cc
===================================================================
--- code/player/trunk/server/drivers/imu/XSensMT.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/imu/XSensMT.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -278,7 +278,6 @@
void * data)
{
assert (hdr);
- assert (data);
// this holds possible error messages returned by mtcomm.writeMessage
int err;
Modified: code/player/trunk/server/drivers/imu/nimuplayer.cpp
===================================================================
--- code/player/trunk/server/drivers/imu/nimuplayer.cpp 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/imu/nimuplayer.cpp 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -249,7 +249,6 @@
void * data)
{
assert (hdr);
- assert (data);
return -1;
}
Modified: code/player/trunk/server/drivers/laser/sicklms400.cc
===================================================================
--- code/player/trunk/server/drivers/laser/sicklms400.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/laser/sicklms400.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -391,7 +391,6 @@
void* data)
{
assert (hdr);
-// assert (data);
// ---[ Get geometry
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
Modified: code/player/trunk/server/drivers/map/maptransform.cc
===================================================================
--- code/player/trunk/server/drivers/map/maptransform.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/map/maptransform.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -199,8 +199,6 @@
PLAYER_MSG0(9,"ProcessMessage called for MapTransform Driver");
assert(hdr);
- // assert fails on empty messages
- //assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_INFO,
device_addr))
{
Modified: code/player/trunk/server/drivers/mcom/lifomcom.cc
===================================================================
--- code/player/trunk/server/drivers/mcom/lifomcom.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/mcom/lifomcom.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -124,8 +124,6 @@
int LifoMCom::ProcessMessage(ClientData * client, player_msghdr * hdr, uint8_t
* data, uint8_t * resp_data, size_t * resp_len)
{
assert(hdr);
- assert(data);
- assert(resp_len);
if (hdr->size < sizeof(player_mcom_config_t))
return -1;
Modified: code/player/trunk/server/drivers/mixed/clodbuster/clodbuster.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/clodbuster/clodbuster.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/mixed/clodbuster/clodbuster.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -255,7 +255,6 @@
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_POSITION2D_REQ_SET_ODOM, device_addr))
{
Modified: code/player/trunk/server/drivers/mixed/cmucam2/cmucam2.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/cmucam2/cmucam2.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/mixed/cmucam2/cmucam2.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -309,7 +309,6 @@
void * data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, ptz_id))
{
Modified: code/player/trunk/server/drivers/mixed/evolution/er1/er.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/evolution/er1/er.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/mixed/evolution/er1/er.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -790,7 +790,6 @@
void * data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_POSITION2D_REQ_GET_GEOM, position_id))
{
Modified: code/player/trunk/server/drivers/mixed/garcia/garcia_mixed.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/garcia/garcia_mixed.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/mixed/garcia/garcia_mixed.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -357,9 +357,7 @@
player_msghdr* hdr,
void* data)
{
- assert(resp_queue);
assert(hdr);
- assert(data);
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_POSITION2D_CMD_POS, mPos2dAddr))
@@ -378,14 +376,12 @@
else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_SPEECH_CMD_SAY, mSpeechAddr))
{
- assert(hdr->size == sizeof(player_speech_cmd_t));
ProcessSpeechCommand(hdr, *reinterpret_cast<player_speech_cmd_t *>(data));
return(0);
}
else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA,
PLAYER_DIO_CMD_VALUES, mDioAddr))
{
- assert(hdr->size == sizeof(player_dio_cmd_t));
ProcessDioCommand(hdr, *reinterpret_cast<player_dio_cmd_t *>(data));
return(0);
}
Modified: code/player/trunk/server/drivers/mixed/khepera/khepera.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/khepera/khepera.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/mixed/khepera/khepera.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -162,7 +162,6 @@
int Khepera::ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data)
{
assert(hdr);
- assert(data);
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_REQ_POSE,
ir_addr))
{
Modified: code/player/trunk/server/drivers/mixed/reb/reb.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/reb/reb.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/mixed/reb/reb.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -738,9 +738,6 @@
int REB::ProcessMessage(ClientData * client, player_msghdr * hdr, uint8_t *
data, uint8_t * resp_data, size_t * resp_len)
{
assert(hdr);
- assert(data);
- assert(resp_data);
- assert(resp_len);
if (MatchMessage(hdr, PLAYER_MSGTYPE_CMD, 0, position_id))
{
@@ -752,7 +749,6 @@
if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_REQ_POWER, ir_id))
{
- assert(hdr->size == sizeof(player_ir_power_req_t));
player_ir_power_req_t * powreq = reinterpret_cast<player_ir_power_req_t
*> (data);
if (powreq->state)
@@ -766,7 +762,6 @@
if (MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_IR_REQ_POSE, ir_id))
{
- assert(*resp_len >= sizeof(player_ir_pose_t));
player_ir_pose_t & irpose = *reinterpret_cast<player_ir_pose_t *>
(resp_data);
uint16_t numir = PlayerUBotRobotParams[param_index].NumberIRSensors;
Modified: code/player/trunk/server/drivers/mixed/sr3000/sr3000.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/sr3000/sr3000.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/mixed/sr3000/sr3000.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -429,7 +429,6 @@
void * data)
{
assert (hdr);
- assert (data);
if (provideStereo)
ProcessMessageCamera (resp_queue, hdr, data, stereo_addr);
Modified: code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
===================================================================
--- code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/position/ascension/flockofbirds.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -492,9 +492,6 @@
int FlockOfBirds_Device::ProcessMessage(QueuePointer & resp_queue,
player_msghdr * hdr, void * data)
{
- assert(hdr);
- assert(data);
-
return -1;
}
Modified: code/player/trunk/server/drivers/position/bumpersafe/bumpersafe.cc
===================================================================
--- code/player/trunk/server/drivers/position/bumpersafe/bumpersafe.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/position/bumpersafe/bumpersafe.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -161,7 +161,6 @@
void * data)
{
assert(hdr);
- assert(data);
if (hdr->type==PLAYER_MSGTYPE_SYNCH)
{
Modified: code/player/trunk/server/drivers/position/isense/inertiacube2.cc
===================================================================
--- code/player/trunk/server/drivers/position/isense/inertiacube2.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/position/isense/inertiacube2.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -454,7 +454,6 @@
int InertiaCube2::ProcessMessage (QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
assert(hdr);
- assert(data);
if(Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA ,
PLAYER_POSITION2D_DATA_STATE, position_id))
{
Modified: code/player/trunk/server/drivers/position/lasersafe/lasersafe.cc
===================================================================
--- code/player/trunk/server/drivers/position/lasersafe/lasersafe.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/position/lasersafe/lasersafe.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -274,8 +274,6 @@
int LaserSafe::ProcessMessage (QueuePointer & resp_queue, player_msghdr * hdr,
void * data)
{
assert(hdr);
- assert(data);
-
if (hdr->type==PLAYER_MSGTYPE_SYNCH)
{
return 0;
Modified: code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
===================================================================
--- code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/position/mbicp/mbicp_driver.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -7,7 +7,7 @@
J. Minguez, L. Montesano, and F. Lamiraux, "Metric-based iterative
closest point scan matching for sensor displacement estimation," IEEE
-Transactions on Robotics, vol. 22, no. 5, pp. 1047 \u2013 1054, 2006.
+Transactions on Robotics, vol. 22, no. 5, pp. 1047 \u2013 1054, 2006.
@par Compile-time dependencies
@@ -20,7 +20,7 @@
@par Requires
- @ref interface_position2d : source of pose and velocity information
-- @ref interface_laser : Pose-stamped laser scans (subtype
+- @ref interface_laser : Pose-stamped laser scans (subtype
PLAYER_LASER_DATA_SCANPOSE)
@par Configuration requests
@@ -30,111 +30,111 @@
@par Configuration file options
- max_laser_range (float)
- - Default: 7.9 m
+ - Default: 7.9 m
- Maximum laser range.
- laserPose_x (float)
- - Default: 0.16 m
+ - Default: 0.16 m
- Offset of the laser on the edge x (in the robot's system of reference).
- laserPose_y (float)
- - Default: 0.0 m
+ - Default: 0.0 m
- Offset of the laser on the edge y (in the robot's system of reference).
-
+
- laserPose_th (float)
- - Default: 0.0 rad
+ - Default: 0.0 rad
- Offset of the laser on th (in the robot's system of reference).
- radial_window (float)
- - Default: 0.3 m
- - Maximum distance difference between points of different scans. Points
+ - Default: 0.3 m
+ - Maximum distance difference between points of different scans. Points
with greater Br cannot be correspondent (eliminate spurius asoc.).
-
+
- angular_window (float)
- Default: 0.523333333 rad
- - Maximum angle diference between points of different scans. Points
- with greater Bw cannot be correspondent (eliminate spurius asoc.).
-
+ - Maximum angle diference between points of different scans. Points
+ with greater Bw cannot be correspondent (eliminate spurius asoc.).
+
- L (float)
- - Default: 3.00
- - Value of the metric. When L tends to infinity you are using the
- standart ICP. When L tends to 0 you use the metric (more importance
+ - Default: 3.00
+ - Value of the metric. When L tends to infinity you are using the
+ standart ICP. When L tends to 0 you use the metric (more importance
to rotation), when L tends to infinity you are using Euclidian metric.
- laserStep (integer)
- - Default: 1
+ - Default: 1
- Selects points of each scan with an step laserStep.
When laserStep=1 uses all the points of the scans
- When laserStep=2 uses one each two ...
- This is an speed up parameter.
-
+ When laserStep=2 uses one each two ...
+ This is an speed up parameter.
+
- MaxDistInter (float)
- - Default: 0.5 m
- - Maximum distance to interpolate between points in the ref scan.
Consecutive
- points with less Euclidean distance than MaxDistInter are considered
+ - Default: 0.5 m
+ - Maximum distance to interpolate between points in the ref scan. Consecutive
+ points with less Euclidean distance than MaxDistInter are considered
to be a segment.
- filter (float)
- - Default: 0.95
- - In [0,1] sets the % of asociations NOT considered spurious. E.g. if
- filter=0.9 you use 90% of the associations. The associations
- are ordered by distance and the (1-filter) with greater distance
+ - Default: 0.95
+ - In [0,1] sets the % of asociations NOT considered spurious. E.g. if
+ filter=0.9 you use 90% of the associations. The associations
+ are ordered by distance and the (1-filter) with greater distance
are not used. This type of filtering is called "trimmed-ICP".
-
+
- ProjectionFilter (int)
- - Default: 1
- - Eliminate the points that cannot be seen given the two scans
- (see Lu&Millios 97). It works well for angles < 45 deg.
+ - Default: 1
+ - Eliminate the points that cannot be seen given the two scans
+ (see Lu&Millios 97). It works well for angles < 45 deg.
1 : activates the filter.
0 : desactivates the filter.
- AsocError (float)
- - Default: 0.1
+ - Default: 0.1
- In [0,1]. Sets the % of minimun associations to run the algorithm.
- One way to check if the algorithm diverges is to supervise
- if the number of associatios goes below a thresold. When the number
+ One way to check if the algorithm diverges is to supervise
+ if the number of associatios goes below a thresold. When the number
of associations is below AsocError, the main function will return
error in associations step.
-
+
- MaxIter (int)
- - Default: 50
- - Sets the maximum number of iterations for the algorithm to exit. The
+ - Default: 50
+ - Sets the maximum number of iterations for the algorithm to exit. The
more iterations, the more chance you give the algorithm to be more
accurate.
- errorRatio (float)
- Default: 0.0001 m
- - In [0,1] sets the maximum error ratio between iterations to exit. In
- iteration K, let be errorK the residual of the minimization.
- Error_th=(errorK-1/errorK). When error_th tends to 1 more precise is
+ - In [0,1] sets the maximum error ratio between iterations to exit. In
+ iteration K, let be errorK the residual of the minimization.
+ Error_th=(errorK-1/errorK). When error_th tends to 1 more precise is
the solution of the scan matching.
- IterSmoothConv (int)
- - Default: 2
- - Number of consecutive iterations that satisfity the error criteria
+ - Default: 2
+ - Number of consecutive iterations that satisfity the error criteria
(the two above criteria) (error_th) OR (errorx_out && errory_out &&
errt_out).
- With this parameter >1 avoids random solutions and estabilices the
algorithm.
+ With this parameter >1 avoids random solutions and estabilices the
algorithm.
- errx_out (float)
- - Default: 0.0001 m
- - Minimum error in x of the asociations to exit. In each iteration, the
error
- is the residual of the minimization in each component. The condition is
- (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK
+ - Default: 0.0001 m
+ - Minimum error in x of the asociations to exit. In each iteration, the error
+ is the residual of the minimization in each component. The condition is
+ (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK
tends to 0 the more precise is the solution of the scan matching
-
+
- erry_out (float)
- - Default: 0.0001 m
- - Minimum error in x of the asociations to exit. In each iteration, the
error
- is the residual of the minimization in each component. The condition is
- (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK
+ - Default: 0.0001 m
+ - Minimum error in x of the asociations to exit. In each iteration, the error
+ is the residual of the minimization in each component. The condition is
+ (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK
tends to 0 the more precise is the solution of the scan matching
- errt_out (float)
- - Default: 0.0001 m
- - Minimum error in x of the asociations to exit. In each iteration, the
error
- is the residual of the minimization in each component. The condition is
- (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK
+ - Default: 0.0001 m
+ - Minimum error in x of the asociations to exit. In each iteration, the error
+ is the residual of the minimization in each component. The condition is
+ (errorKx<errx_out && errorKx<erry_out && errorKx<errt_out). When errorK
tends to 0 the more precise is the solution of the scan matching
-
+
@par Example
@verbatim
@@ -148,23 +148,23 @@
laserPose_x 0.16
laserPose_y 0
laserPose_th 0
-
- radial_window 0.3
- angular_window 0.523333333
-
- L 3.00
- laserStep 1
- MaxDistInter 0.5
- filter 0.95
- ProjectionFilter 1
- AsocError 0.1
- MaxIter 50
-
- errorRatio 0.0001
- errx_out 0.0001
- erry_out 0.0001
- errt_out 0.0001
- IterSmoothConv 2
+
+ radial_window 0.3
+ angular_window 0.523333333
+
+ L 3.00
+ laserStep 1
+ MaxDistInter 0.5
+ filter 0.95
+ ProjectionFilter 1
+ AsocError 0.1
+ MaxIter 50
+
+ errorRatio 0.0001
+ errx_out 0.0001
+ erry_out 0.0001
+ errt_out 0.0001
+ IterSmoothConv 2
)
@endverbatim
@@ -185,7 +185,7 @@
{
public:
-
+
mbicp( ConfigFile* cf, int section);
virtual ~mbicp();
@@ -213,7 +213,7 @@
float errt_out;
int IterSmoothConv;
Tsc laserPoseTsc;
-
+
player_pose2d_t lastPoseOdom,
currentPose,
previousPose,
@@ -221,7 +221,7 @@
player_laser_data_t currentScan,
previousScan;
-
+
bool havePrevious;
//Compute scanMatching
@@ -300,21 +300,21 @@
////////////////////////////////////////////////////////////////////////////////
void mbicp::setupScanMatching(){
-Init_MbICP_ScanMatching(
+Init_MbICP_ScanMatching(
this->max_laser_range,
- this->Bw,
- this->Br,
- this->L,
+ this->Bw,
+ this->Br,
+ this->L,
this->laserStep,
this->MaxDistInter,
- this->filter,
+ this->filter,
this->ProjectionFilter,
this->AsocError,
- this->MaxIter,
+ this->MaxIter,
this->errorRatio,
- this->errx_out,
- this->erry_out,
- this->errt_out,
+ this->errx_out,
+ this->erry_out,
+ this->errt_out,
this->IterSmoothConv);
}
@@ -420,7 +420,7 @@
cmd.vel.px = 0;
cmd.vel.py = 0;
cmd.vel.pa = 0;
-
+
odom->PutMsg(InQueue, PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL,
(void*)&cmd,sizeof(cmd),NULL);
@@ -436,7 +436,7 @@
while (true){
// Wait till we get new data
Wait();
-
+
// Test if we are supposed to cancel this thread.
pthread_testcancel();
@@ -452,7 +452,6 @@
// PLAYER_LASER_DATA_SCANPOSE
if(Message::MatchMessage(hdr,
PLAYER_MSGTYPE_DATA,PLAYER_LASER_DATA_SCANPOSE, laser_addr))
{
- assert(hdr->size == sizeof(player_laser_data_scanpose_t));
ProcessSubtypeLaser(hdr,
*reinterpret_cast<player_laser_data_scanpose_t *> (data));
}else
@@ -469,7 +468,7 @@
player_msghdr_t newhdr = *hdr;
newhdr.addr = device_addr;
Publish(&newhdr, (void*)&data);
- }else
+ }else
if(Message::MatchMessage(hdr,
PLAYER_MSGTYPE_CMD,/*PLAYER_POSITION2D_CMD_VEL*/ -1, device_addr))
{
@@ -479,7 +478,7 @@
newhdr.addr = odom_addr;
odom->PutMsg(InQueue, &newhdr, (void*)data);
}else
- {
+ {
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, -1,
device_addr)){
// Pass the request on to the underlying position
device and wait for
// the reply.
@@ -505,14 +504,14 @@
void mbicp::ProcessOdom(player_msghdr_t* hdr,player_position2d_data_t &data)
{
-
+
Tsc outComposicion1,
outComposicion2,
outInversion1;
-
+
Tsc lastPoseOdomTsc,
previousPoseTsc,
- scanmatchingPoseTsc;
+ scanmatchingPoseTsc;
lastPoseOdom.px = data.pos.px;
@@ -528,15 +527,15 @@
inversion_sis(&previousPoseTsc, &outInversion1);
composicion_sis(&outInversion1, &lastPoseOdomTsc,
&outComposicion1);
composicion_sis(&scanmatchingPoseTsc, &outComposicion1,
&outComposicion2);
-
+
data.pos.px = outComposicion2.x;
data.pos.py = outComposicion2.y;
data.pos.pa = outComposicion2.tita;
- }
-
+ }
+
player_msghdr_t newhdr = *hdr;
newhdr.addr = device_addr;
Publish(&newhdr, (void*)&data);
@@ -552,20 +551,20 @@
currentPose = lastPoseOdom;
- currentScan.min_angle = data.scan.min_angle;
- currentScan.max_angle = data.scan.max_angle;
+ currentScan.min_angle = data.scan.min_angle;
+ currentScan.max_angle = data.scan.max_angle;
currentScan.resolution = data.scan.resolution;
- currentScan.max_range = data.scan.max_range;
+ currentScan.max_range = data.scan.max_range;
currentScan.ranges_count = data.scan.ranges_count;
- currentScan.intensity_count = data.scan.intensity_count;
+ currentScan.intensity_count = data.scan.intensity_count;
currentScan.id = data.scan.id;
-
+
for (unsigned int i=0; i < currentScan.ranges_count; i++){
currentScan.ranges[i] = data.scan.ranges[i];
currentScan.intensity[i] = data.scan.intensity[i];
}
- if (havePrevious && ( currentPose.px != previousPose.px ||
+ if (havePrevious && ( currentPose.px != previousPose.px ||
currentPose.py != previousPose.py ||
currentPose.pa != previousPose.pa))
{
@@ -578,7 +577,7 @@
previousPose = currentPose;
scanmatchingPose = currentPose;
havePrevious = true;
- }
+ }
}
@@ -589,7 +588,7 @@
currentPoseTsc,
scanmatchingPoseTsc,
solutionTsc;
-
+
Tsc outComposicion1,
outComposicion2,
outComposicion3,
@@ -598,13 +597,13 @@
outComposicion11,
outInversion1,
outInversion4;
-
+
Tpfp previousScanTpfp[LASER_MAX_SAMPLES],
currentScanTpfp[LASER_MAX_SAMPLES];
-
- int salidaMbicp;
-
+ int salidaMbicp;
+
+
currentPoseTsc = playerPose2Tsc(currentPose);
previousPoseTsc = playerPose2Tsc(previousPose);
scanmatchingPoseTsc = playerPose2Tsc(scanmatchingPose);
@@ -618,7 +617,7 @@
playerLaser2Tpfp(previousScan,previousScanTpfp);
playerLaser2Tpfp(currentScan,currentScanTpfp);
- salidaMbicp =
MbICPmatcher(previousScanTpfp,currentScanTpfp,&outComposicion3, &solutionTsc);
+ salidaMbicp =
MbICPmatcher(previousScanTpfp,currentScanTpfp,&outComposicion3, &solutionTsc);
if (salidaMbicp == 1){
@@ -635,7 +634,7 @@
else{
if (salidaMbicp == 2)
- fprintf(stderr,"2 : Everything OK but reached the
Maximum number of iterations\n");
+ fprintf(stderr,"2 : Everything OK but reached the
Maximum number of iterations\n");
else{
if (salidaMbicp == -1)
fprintf(stderr,"Failure in the association
step\n");
@@ -663,7 +662,7 @@
Tsc mbicp::playerPose2Tsc(player_pose2d_t posicion)
{
Tsc posicionTsc;
-
+
posicionTsc.x = posicion.px;
posicionTsc.y = posicion.py;
posicionTsc.tita = posicion.pa;
@@ -675,7 +674,7 @@
player_pose2d_t mbicp::Tsc2playerPose(Tsc posicion)
{
player_pose2d_t posicionPlayer;
-
+
posicionPlayer.px = posicion.x;
posicionPlayer.py = posicion.y;
posicionPlayer.pa = posicion.tita;
Modified: code/player/trunk/server/drivers/position/roboteq/roboteq.cc
===================================================================
--- code/player/trunk/server/drivers/position/roboteq/roboteq.cc
2008-12-18 19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/position/roboteq/roboteq.cc
2008-12-18 19:58:30 UTC (rev 7206)
@@ -23,7 +23,7 @@
/** @{ */
/** @defgroup driver_roboteq roboteq
* @brief Motor control driver for Roboteq AX2550
-
+
Provides position2d interface to the Roboteq AX2550 motor controller
http://www.roboteq.com/ax2550-folder.html
This driver ignores all configuration requests and produces no data
@@ -77,7 +77,7 @@
driver
(
name "roboteq"
- provides ["position2d:0"]
+ provides ["position2d:0"]
devicepath "/dev/ttyS0"
max_trans_spd 6.0
max_rot_spd 4.0
@@ -95,15 +95,15 @@
#include <termios.h>
#include <sys/ioctl.h> // ioctl
#include <unistd.h> // close(2),fcntl(2),getpid(2),usleep(3),execvp(3),fork(2)
-#include <netdb.h> // for gethostbyname(3)
-#include <netinet/in.h> // for struct sockaddr_in, htons(3)
-#include <sys/types.h> // for socket(2)
-#include <sys/socket.h> // for socket(2)
-#include <signal.h> // for kill(2)
-#include <fcntl.h> // for fcntl(2)
-#include <string.h> // for strncpy(3),memcpy(3)
-#include <stdlib.h> // for atexit(3),atoi(3)
-#include <pthread.h> // for pthread stuff
+#include <netdb.h> // for gethostbyname(3)
+#include <netinet/in.h> // for struct sockaddr_in, htons(3)
+#include <sys/types.h> // for socket(2)
+#include <sys/socket.h> // for socket(2)
+#include <signal.h> // for kill(2)
+#include <fcntl.h> // for fcntl(2)
+#include <string.h> // for strncpy(3),memcpy(3)
+#include <stdlib.h> // for atexit(3),atoi(3)
+#include <pthread.h> // for pthread stuff
#include <math.h>
#include <libplayercore/playercore.h>
@@ -112,7 +112,7 @@
#define SERIAL_BUFF_SIZE 128
#define MAX_MOTOR_SPEED 127
#define ROBOTEQ_CON_TIMEOUT 10 // seconds to time-out on
setting RS-232 mode
-#define ROBOTEQ_DEFAULT_BAUD 9600
+#define ROBOTEQ_DEFAULT_BAUD 9600
#ifndef CRTSCTS
#ifdef IHFLOW
@@ -165,8 +165,8 @@
public:
roboteq( ConfigFile* cf, int section);
-
- virtual int ProcessMessage(QueuePointer &resp_queue,
+
+ virtual int ProcessMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void *
data);
virtual int Setup();
virtual int Shutdown();
@@ -191,7 +191,7 @@
///////////////////////////////////////////////////////////////////////////
roboteq::roboteq( ConfigFile* cf, int section) : Driver(cf, section)
-{
+{
memset (&this->position2d_id, 0, sizeof (player_devaddr_t));
// Outgoing position 2d interface
@@ -199,12 +199,12 @@
PLAYER_POSITION2D_CODE, -1, NULL) == 0){
if(this->AddInterface(this->position2d_id) != 0){
this->SetError(-1);
- return;
+ return;
} }
double max_trans_spd, max_rot_spd;
- // required parameter(s)
+ // required parameter(s)
if(!(this->devicepath = (char*)cf->ReadString(section, "devicepath", NULL))){
PLAYER_ERROR("must specify devicepath");
this->SetError(-1);
@@ -244,10 +244,10 @@
roboteq_fd = open(devicepath, O_RDWR|O_NDELAY);
if (roboteq_fd == -1){
fputs("Unable to configure serial port for RoboteQ!", stderr);
- return 0;
+ return 0;
}else{
struct termios options;
-
+
tcgetattr(roboteq_fd, &options);
// default is 9600 unless otherwise specified
@@ -287,7 +287,7 @@
// initialize RoboteQ to RS-232 mode
strcpy(serialout_buff, "\r");
- for (i=0; i<10; i++){
+ for (i=0; i<10; i++){
write(roboteq_fd, serialout_buff, 1);
tcdrain(roboteq_fd);
usleep(25000);
@@ -311,9 +311,9 @@
else
fputs("Successfully initialized Roboteq connection.\n", stderr);
- fputs("Done.\n", stderr);
+ fputs("Done.\n", stderr);
- // now spawn reading thread
+ // now spawn reading thread
StartThread();
return(0);
@@ -346,11 +346,11 @@
// no 'W's for ROBOTEQ_CON_TIMEOUT seconds
// means we're probably in RC mode again
- // 07-09-07
+ // 07-09-07
// this test may need to change since the reset
// appears to fail quite often. is it really
// failing or is the test bad?
- return 0;
+ return 0;
}
memset(serialin_buff, 0, SERIAL_BUFF_SIZE);
ret = read(roboteq_fd, serialin_buff, SERIAL_BUFF_SIZE);
@@ -358,7 +358,7 @@
fputs("Unable to reset Roboteq to RC mode!", stderr);
close(roboteq_fd);
-
+
return(0);
}
@@ -368,22 +368,21 @@
int roboteq::ProcessMessage (QueuePointer &resp_queue, player_msghdr * hdr,
void * data)
{
assert(hdr);
- assert(data);
/*
- fprintf(stderr, "ProcessMessage: type=%d subtype=%d\n",
+ fprintf(stderr, "ProcessMessage: type=%d subtype=%d\n",
hdr->type, hdr->subtype);
- */
- if (Message::MatchMessage(hdr, PLAYER_POSITION2D_REQ_MOTOR_POWER,
- PLAYER_POSITION2D_CMD_VEL, position2d_id)){
+ */
+ if (Message::MatchMessage(hdr, PLAYER_POSITION2D_REQ_MOTOR_POWER,
+ PLAYER_POSITION2D_CMD_VEL, position2d_id)){
assert(hdr->size == sizeof(player_position2d_cmd_vel_t));
- player_position2d_cmd_vel_t & command
+ player_position2d_cmd_vel_t & command
= *reinterpret_cast<player_position2d_cmd_vel_t *> (data);
-
+
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
- // convert from the generic position interface
+ // convert from the generic position interface
// to the Roboteq-specific command
- // assumes "Mixed Mode" --
+ // assumes "Mixed Mode" --
// channel 1 : FW/BW speed
// channel 2 : rotation
// ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
@@ -392,7 +391,7 @@
float vel_yawspd = command.vel.pa;
//fprintf(stderr, "ProcessMessage: trans=%f, steer=%f\n", vel_trans,
vel_turret);
-
+
// scale and translate to Roboteq command
vel_xtrans = (double)vel_xtrans * speed_scaling_factor;
vel_yawspd = (double)vel_yawspd * rot_scaling_factor;
@@ -409,7 +408,7 @@
*/
return 0;
}
-
+
return -1;
}
@@ -419,20 +418,20 @@
void roboteq::Main()
{
double position_time=0;
-
+
pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED,NULL);
for(;;){
ProcessMessages();
pthread_testcancel();
// publish dummy data
- Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE,
+ Publish(device_addr, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE,
(unsigned char*) &data, sizeof(data), &position_time);
usleep(10);
}
pthread_exit(NULL);
-
+
return;
}
@@ -447,22 +446,22 @@
else if (trans_command < -MAX_MOTOR_SPEED) trans_command = -MAX_MOTOR_SPEED;
if (rot_command > MAX_MOTOR_SPEED) rot_command = MAX_MOTOR_SPEED;
else if (rot_command < -MAX_MOTOR_SPEED) rot_command = -MAX_MOTOR_SPEED;
-
+
if (trans_command > 0)
strcpy(speed, FORWARD);
else strcpy(speed, REVERSE);
if (rot_command > 0)
strcpy(heading, LEFT);
else strcpy(heading, RIGHT);
-
+
// form motor cmd string
strcpy(cmd_str, speed);
snprintf(cmd_str+2, 4, "%.2x", abs(trans_command)); // start at char 3
- strcat(cmd_str, "\r");
+ strcat(cmd_str, "\r");
strcat(cmd_str, heading);
snprintf(cmd_str + strlen(cmd_str), 4, "%.2x", abs(rot_command));
strcat(cmd_str, "\r");
-
+
return 0;
}
Modified: code/player/trunk/server/drivers/ptz/amtecpowercube.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/amtecpowercube.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/ptz/amtecpowercube.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -999,7 +999,6 @@
int AmtecPowerCube::ProcessMessage(QueuePointer &resp_queue, player_msghdr *
hdr, void * data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, device_addr))
{
Modified: code/player/trunk/server/drivers/ptz/canonvcc4.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/canonvcc4.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/ptz/canonvcc4.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -949,7 +949,6 @@
int canonvcc4::ProcessMessage(QueuePointer &resp_queue, player_msghdr * hdr,
void * data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr,
PLAYER_MSGTYPE_REQ,
Modified: code/player/trunk/server/drivers/ptz/ptu46.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/ptu46.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/ptz/ptu46.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -632,7 +632,6 @@
PTU46_Device::ProcessMessage (QueuePointer &resp_queue, player_msghdr * hdr,
void * data)
{
assert (hdr);
- assert (data);
// No REQ_GENERIC
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_PTZ_REQ_GENERIC, device_addr))
Modified: code/player/trunk/server/drivers/ptz/sonyevid30.cc
===================================================================
--- code/player/trunk/server/drivers/ptz/sonyevid30.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/ptz/sonyevid30.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -1377,7 +1377,6 @@
player_msghdr * hdr,
void *data)
{
assert(hdr);
- assert(data);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_PTZ_REQ_GENERIC,
device_addr)) {
Modified: code/player/trunk/server/drivers/rfid/sickrfi341.cc
===================================================================
--- code/player/trunk/server/drivers/rfid/sickrfi341.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/rfid/sickrfi341.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -203,9 +203,6 @@
player_msghdr* hdr,
void* data)
{
- assert (hdr);
- assert (data);
-
return (-1);
}
Modified: code/player/trunk/server/drivers/speech/festival.cc
===================================================================
--- code/player/trunk/server/drivers/speech/festival.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/speech/festival.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -402,9 +402,6 @@
int Festival::ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data)
{
- assert(hdr);
- assert(data);
-
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_SPEECH_CMD_SAY, device_addr))
{
player_speech_cmd_t * cmd = (player_speech_cmd_t *) data;
Modified: code/player/trunk/server/drivers/vectormap/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/vectormap/CMakeLists.txt 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/vectormap/CMakeLists.txt 2008-12-18
19:58:30 UTC (rev 7206)
@@ -9,4 +9,4 @@
PLAYERDRIVER_OPTION (vec2map build_vec2map ON)
PLAYERDRIVER_REQUIRE_HEADER (vec2map build_vec2map geos_c.h)
-PLAYERDRIVER_ADD_DRIVER (postgis build_postgis LINKFLAGS "-lgeos" SOURCES
vec2map.cc)
+PLAYERDRIVER_ADD_DRIVER (vec2map build_vec2map LINKFLAGS "-lgeos" SOURCES
vec2map.cc)
Modified: code/player/trunk/server/drivers/vectormap/vec2map.cc
===================================================================
--- code/player/trunk/server/drivers/vectormap/vec2map.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/vectormap/vec2map.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -1,6 +1,6 @@
/*
* Player - One Hell of a Robot Server
- * Copyright (C) 2004 Brian Gerkey ger...@stanford.edu
+ * Copyright (C) 2004 Brian Gerkey ger...@stanford.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
@@ -57,7 +57,7 @@
- Default: ""
- Do not draw feature with that name on final grid map
-...@par Example
+...@par Example
@verbatim
driver
@@ -103,7 +103,7 @@
class Vec2Map : public Driver
{
- public:
+ public:
// Constructor; need that
Vec2Map(ConfigFile * cf, int section);
@@ -114,7 +114,7 @@
virtual int Shutdown();
// This method will be invoked on each incoming message
- virtual int ProcessMessage(QueuePointer & resp_queue,
+ virtual int ProcessMessage(QueuePointer & resp_queue,
player_msghdr * hdr,
void * data);
@@ -223,7 +223,7 @@
////////////////////////////////////////////////////////////////////////////////
// Set up the device. Return 0 if things go well, and -1 otherwise.
int Vec2Map::Setup()
-{
+{
// Retrieve the handle to the vectormap device.
this->vectormap_dev = deviceTable->GetDevice(this->vectormap_addr);
if (!(this->vectormap_dev))
@@ -251,7 +251,7 @@
{
// Stop and join the driver thread
StopThread();
-
+
// Unsubscribe from the vectormap
this->vectormap_dev->Unsubscribe(this->InQueue);
@@ -260,7 +260,7 @@
////////////////////////////////////////////////////////////////////////////////
// Main function for device thread
-void Vec2Map::Main()
+void Vec2Map::Main()
{
struct timespec tspec;
@@ -271,7 +271,7 @@
this->InQueue->Wait();
pthread_testcancel();
-
+
// Process incoming messages
ProcessMessages();
@@ -411,10 +411,10 @@
if (over(static_cast<int>(x), 0, width)) break;
if (over(static_cast<int>(y), 0, height)) break;
cells[(static_cast<int>(y) * width) + (static_cast<int>(x))] = 1;
- }
+ }
}
-int Vec2Map::ProcessMessage(QueuePointer & resp_queue,
+int Vec2Map::ProcessMessage(QueuePointer & resp_queue,
player_msghdr * hdr,
void * data)
{
@@ -768,7 +768,7 @@
// that it can be invoked without object context. In this function, we add
// the driver into the given driver table, indicating which interface the
// driver can support and how to create a driver instance.
-void Vec2Map_Register(DriverTable * table)
+void vec2map_Register(DriverTable * table)
{
table->AddDriver("vec2map", Vec2Map_Init);
}
Modified: code/player/trunk/server/drivers/wifi/linuxwifi.cc
===================================================================
--- code/player/trunk/server/drivers/wifi/linuxwifi.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/wifi/linuxwifi.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -274,9 +274,6 @@
int LinuxWiFi::ProcessMessage(QueuePointer & resp_queue, player_msghdr * hdr,
void * data)
{
- assert(hdr);
- assert(data);
-
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_WIFI_REQ_MAC,
device_addr))
{
player_wifi_mac_req_t req;
Modified: code/player/trunk/server/drivers/wsn/accel_calib.cc
===================================================================
--- code/player/trunk/server/drivers/wsn/accel_calib.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/wsn/accel_calib.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -297,9 +297,6 @@
player_wsn_data_t new_wsn_data;
player_wsn_data_t* original_wsn_data;
- assert (hdr);
- assert (data);
-
// Handle new data from the WSN device
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_DATA, PLAYER_WSN_DATA_STATE,
wsn_addr))
Modified: code/player/trunk/server/drivers/wsn/mica2.cc
===================================================================
--- code/player/trunk/server/drivers/wsn/mica2.cc 2008-12-18 19:43:37 UTC
(rev 7205)
+++ code/player/trunk/server/drivers/wsn/mica2.cc 2008-12-18 19:58:30 UTC
(rev 7206)
@@ -474,9 +474,6 @@
player_msghdr * hdr,
void * data)
{
- assert (hdr);
- assert (data);
-
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_WSN_CMD_DEVSTATE, wsn_addr))
{
Modified: code/player/trunk/server/drivers/wsn/rcore_xbridge.cc
===================================================================
--- code/player/trunk/server/drivers/wsn/rcore_xbridge.cc 2008-12-18
19:43:37 UTC (rev 7205)
+++ code/player/trunk/server/drivers/wsn/rcore_xbridge.cc 2008-12-18
19:58:30 UTC (rev 7206)
@@ -309,9 +309,6 @@
player_msghdr * hdr,
void * data)
{
- assert (hdr);
- assert (data);
-
if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_WSN_REQ_POWER, device_addr))
{
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