Revision: 7278
http://playerstage.svn.sourceforge.net/playerstage/?rev=7278&view=rev
Author: thjc
Date: 2009-01-16 22:32:00 +0000 (Fri, 16 Jan 2009)
Log Message:
-----------
removed empty structures from player
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/client.c
code/player/trunk/client_libs/libplayerc/dev_gripper.c
code/player/trunk/client_libs/libplayerc/dev_limb.c
code/player/trunk/client_libs/libplayerc/dev_position3d.c
code/player/trunk/libplayercore/interfaces/001_player.def
code/player/trunk/libplayercore/interfaces/003_gripper.def
code/player/trunk/libplayercore/interfaces/004_position2d.def
code/player/trunk/libplayercore/interfaces/030_position3d.def
code/player/trunk/libplayercore/interfaces/045_log.def
code/player/trunk/libplayercore/interfaces/054_limb.def
code/player/trunk/libplayercore/interfaces/055_graphics2d.def
code/player/trunk/libplayercore/interfaces/056_rfid.def
code/player/trunk/libplayercore/interfaces/058_graphics3d.def
code/player/trunk/libplayercore/player.h
code/player/trunk/libplayercore/playerinterfacegen.py
code/player/trunk/server/drivers/mixed/botrics/obot.cc
Modified: code/player/trunk/client_libs/libplayerc/client.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/client.c 2009-01-16 21:58:55 UTC
(rev 7277)
+++ code/player/trunk/client_libs/libplayerc/client.c 2009-01-16 22:32:00 UTC
(rev 7278)
@@ -551,13 +551,12 @@
playerc_client_requestdata(playerc_client_t* client)
{
int ret;
- player_null_t req;
if(client->mode != PLAYER_DATAMODE_PULL || client->data_requested)
return(0);
ret = playerc_client_request(client, NULL, PLAYER_PLAYER_REQ_DATA,
- &req, NULL);
+ NULL, NULL);
if(ret == 0)
{
client->data_requested = 1;
Modified: code/player/trunk/client_libs/libplayerc/dev_gripper.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_gripper.c 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/client_libs/libplayerc/dev_gripper.c 2009-01-16
22:32:00 UTC (rev 7278)
@@ -108,46 +108,31 @@
// Command the gripper to open
int playerc_gripper_open_cmd (playerc_gripper_t *device)
{
- player_null_t cmd;
-
- memset (&cmd, 0, sizeof (cmd));
- return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_OPEN, &cmd, NULL);
+ return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_OPEN, NULL, NULL);
}
// Command the gripper to close
int playerc_gripper_close_cmd (playerc_gripper_t *device)
{
- player_null_t cmd;
-
- memset (&cmd, 0, sizeof (cmd));
- return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_CLOSE, &cmd, NULL);
+ return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_CLOSE, NULL, NULL);
}
// Command the gripper to stop
int playerc_gripper_stop_cmd (playerc_gripper_t *device)
{
- player_null_t cmd;
-
- memset (&cmd, 0, sizeof (cmd));
- return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_STOP, &cmd, NULL);
+ return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_STOP, NULL, NULL);
}
// Command the gripper to store
int playerc_gripper_store_cmd (playerc_gripper_t *device)
{
- player_null_t cmd;
-
- memset (&cmd, 0, sizeof (cmd));
- return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_STORE, &cmd, NULL);
+ return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_STORE, NULL, NULL);
}
// Command the gripper to retrieve
int playerc_gripper_retrieve_cmd (playerc_gripper_t *device)
{
- player_null_t cmd;
-
- memset (&cmd, 0, sizeof (cmd));
- return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_RETRIEVE, &cmd, NULL);
+ return playerc_client_write (device->info.client, &device->info,
PLAYER_GRIPPER_CMD_RETRIEVE, NULL, NULL);
}
// Get the geometry. The writes the result into the proxy
Modified: code/player/trunk/client_libs/libplayerc/dev_limb.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_limb.c 2009-01-16 21:58:55 UTC
(rev 7277)
+++ code/player/trunk/client_libs/libplayerc/dev_limb.c 2009-01-16 22:32:00 UTC
(rev 7278)
@@ -125,25 +125,17 @@
// Command the end effector to move home
int playerc_limb_home_cmd(playerc_limb_t *device)
{
- player_null_t cmd;
-
- memset(&cmd, 0, sizeof(cmd));
-
return playerc_client_write(device->info.client, &device->info,
PLAYER_LIMB_CMD_HOME,
- &cmd, NULL);
+ NULL, NULL);
}
// Command the end effector to stop immediatly
int playerc_limb_stop_cmd(playerc_limb_t *device)
{
- player_null_t cmd;
-
- memset(&cmd, 0, sizeof(cmd));
-
return playerc_client_write(device->info.client, &device->info,
PLAYER_LIMB_CMD_STOP,
- &cmd, NULL);
+ NULL, NULL);
}
// Command the end effector to move to a specified pose
Modified: code/player/trunk/client_libs/libplayerc/dev_position3d.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_position3d.c 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/client_libs/libplayerc/dev_position3d.c 2009-01-16
22:32:00 UTC (rev 7278)
@@ -193,7 +193,7 @@
//TODO: Actually store the geometry
player_position3d_geom_t_free(config);
-
+
return 0;
}
@@ -324,14 +324,8 @@
int playerc_position3d_reset_odom(playerc_position3d_t *device)
{
- player_position3d_reset_odom_config_t config;
-
- memset(&config, 0, sizeof(config));
-
-
-
return playerc_client_request(device->info.client,
&device->info,
PLAYER_POSITION3D_REQ_RESET_ODOM,
- &config,NULL);
+ NULL,NULL);
}
Modified: code/player/trunk/libplayercore/interfaces/001_player.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/001_player.def 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/001_player.def 2009-01-16
22:32:00 UTC (rev 7278)
@@ -21,14 +21,14 @@
client can request a single round of data by sending a zero-argument
request with type code @p PLAYER_PLAYER_REQ_DATA. The response will
be a zero-length acknowledgement. */
-message { REQ, DATA, 4, player_null_t };
+message { REQ, DATA, 4, NULL };
message { REQ, DATAMODE, 5, player_device_datamode_req_t };
message { REQ, AUTH, 7, player_device_auth_req_t };
message { REQ, NAMESERVICE, 8, player_device_nameservice_req_t };
message { REQ, ADD_REPLACE_RULE, 10, player_add_replace_rule_req_t };
-message { SYNCH, OK, 1, player_null_t };
+message { SYNCH, OK, 1, NULL };
message { SYNCH, OVERFLOW, 2, player_uint32_t };
Modified: code/player/trunk/libplayercore/interfaces/003_gripper.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/003_gripper.def 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/003_gripper.def 2009-01-16
22:32:00 UTC (rev 7278)
@@ -20,28 +20,28 @@
/** @brief Command: Open (@ref PLAYER_GRIPPER_CMD_OPEN)
Tells the gripper to open. */
-message { CMD, OPEN, 1, player_null_t };
+message { CMD, OPEN, 1, NULL };
/** @brief Command: Close (@ref PLAYER_GRIPPER_CMD_CLOSE)
Tells the gripper to close. */
-message { CMD, CLOSE, 2, player_null_t };
+message { CMD, CLOSE, 2, NULL };
/** @brief Command: Stop (@ref PLAYER_GRIPPER_CMD_STOP)
Tells the gripper to stop. */
-message { CMD, STOP, 3, player_null_t };
+message { CMD, STOP, 3, NULL };
/** @brief Command: Store (@ref PLAYER_GRIPPER_CMD_STORE)
Tells the gripper to store whatever it is holding. */
-message { CMD, STORE, 4, player_null_t };
+message { CMD, STORE, 4, NULL };
/** @brief Command: Retrieve (@ref PLAYER_GRIPPER_CMD_RETRIEVE)
Tells the gripper to retrieve a stored object (so that it can
be put back into the world). The opposite of store. */
-message { CMD, RETRIEVE, 5, player_null_t };
+message { CMD, RETRIEVE, 5, NULL };
/** Gripper state: open */
Modified: code/player/trunk/libplayercore/interfaces/004_position2d.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/004_position2d.def
2009-01-16 21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/004_position2d.def
2009-01-16 22:32:00 UTC (rev 7278)
@@ -191,7 +191,7 @@
To reset the robot's odometry to @f$(x, y, yaw) = (0,0,0)@f$, send
a @ref PLAYER_POSITION2D_REQ_RESET_ODOM request. Null response. */
- message { REQ, RESET_ODOM, 6, player_null_t };
+ message { REQ, RESET_ODOM, 6, NULL };
/** @brief Request/reply: Set velocity PID parameters.
*
Modified: code/player/trunk/libplayercore/interfaces/030_position3d.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/030_position3d.def
2009-01-16 21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/030_position3d.def
2009-01-16 22:32:00 UTC (rev 7278)
@@ -24,7 +24,7 @@
/** Request/reply subtype: position mode */
message { REQ, POSITION_MODE, 4, player_position3d_position_mode_req_t };
/** Request/reply subtype: reset odometry */
-message { REQ, RESET_ODOM, 5, player_position3d_set_odom_req_t };
+message { REQ, RESET_ODOM, 5, NULL };
/** Request/reply subtype: set odometry */
message { REQ, SET_ODOM, 6, player_position3d_set_odom_req_t };
/** Request/reply subtype: set speed PID params */
@@ -139,9 +139,6 @@
To reset the robot's odometry to @f$(x,y,\theta) = (0,0,0)@f$,
send a @ref PLAYER_POSITION3D_RESET_ODOM request. Null response. */
-typedef struct player_position3d_reset_odom_config
-{
-} player_position3d_reset_odom_config_t;
/** @brief Request/reply: Set velocity PID parameters.
*
Modified: code/player/trunk/libplayercore/interfaces/045_log.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/045_log.def 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/045_log.def 2009-01-16
22:32:00 UTC (rev 7278)
@@ -14,7 +14,7 @@
/** Request/reply subtype: get state */
message { REQ, GET_STATE, 3, player_log_get_state_t };
/** Request/reply subtype: rewind */
-message { REQ, SET_READ_REWIND, 4, player_log_set_read_rewind_t };
+message { REQ, SET_READ_REWIND, 4, NULL };
/** Request/reply subtype: set filename to write */
message { REQ, SET_FILENAME, 5, player_log_set_filename_t };
@@ -50,10 +50,8 @@
To rewind log playback to beginning of logfile, send a
@ref PLAYER_LOG_REQ_SET_READ_REWIND request. Does not affect playback state
(i.e., whether it is started or stopped. Null response. */
-typedef struct player_log_set_read_rewind
-{
-} player_log_set_read_rewind_t;
+
/** @brief Request/reply: Get state.
To find out whether logging/playback is enabled or disabled, send a null
Modified: code/player/trunk/libplayercore/interfaces/054_limb.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/054_limb.def 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/054_limb.def 2009-01-16
22:32:00 UTC (rev 7278)
@@ -23,11 +23,11 @@
/** @brief Command: home (@ref PLAYER_LIMB_HOME_CMD)
Tells the end effector to return to its home position. */
-message { CMD, HOME, 1, player_null_t };
+message { CMD, HOME, 1, NULL };
/** @brief Command: stop (@ref PLAYER_LIMB_STOP_CMD)
Tells the limb to stop moving immediatly. */
-message { CMD, STOP, 2, player_null_t };
+message { CMD, STOP, 2, NULL };
/** Command subtype: set pose */
message { CMD, SETPOSE, 3, player_limb_setpose_cmd_t };
/** Command subtype: set position */
Modified: code/player/trunk/libplayercore/interfaces/055_graphics2d.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/055_graphics2d.def
2009-01-16 21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/055_graphics2d.def
2009-01-16 22:32:00 UTC (rev 7278)
@@ -8,7 +8,7 @@
}
/** Command subtype: clear the drawing area (send an empty message) */
-message { CMD, CLEAR, 1, player_null_t };
+message { CMD, CLEAR, 1, NULL };
/** Command subtype: draw points */
message { CMD, POINTS, 2, player_graphics2d_cmd_points_t };
/** Command subtype: draw a polyline */
Modified: code/player/trunk/libplayercore/interfaces/056_rfid.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/056_rfid.def 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/056_rfid.def 2009-01-16
22:32:00 UTC (rev 7278)
@@ -10,13 +10,13 @@
message { DATA, TAGS, 1, player_rfid_data_t };
/** Request/reply: put the reader in sleep mode (0) or wake it up (1). */
-message { REQ, POWER, 1, player_null_t };
+message { REQ, POWER, 1, NULL };
/** Request/reply: read data from the RFID tag - to be implemented. */
-message { REQ, READTAG, 2, player_null_t };
+message { REQ, READTAG, 2, NULL };
/** Request/reply: write data to the RFID tag - to be implemented. */
-message { REQ, WRITETAG, 3, player_null_t };
+message { REQ, WRITETAG, 3, NULL };
/** Request/reply: lock data blocks of a RFID tag - to be implemented. */
-message { REQ, LOCKTAG, 4, player_null_t };
+message { REQ, LOCKTAG, 4, NULL };
/** @brief Structure describing a single RFID tag. */
Modified: code/player/trunk/libplayercore/interfaces/058_graphics3d.def
===================================================================
--- code/player/trunk/libplayercore/interfaces/058_graphics3d.def
2009-01-16 21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/interfaces/058_graphics3d.def
2009-01-16 22:32:00 UTC (rev 7278)
@@ -12,7 +12,7 @@
}
/** Command subtype: clear the drawing area (send an empty message) */
-message { CMD, CLEAR, 1, player_null_t };
+message { CMD, CLEAR, 1, NULL };
/** Command subtype: draw items */
message { CMD, DRAW, 2, player_graphics3d_cmd_draw_t };
/** Command subtype: translate coordinate system */
@@ -20,9 +20,9 @@
/** Command subtype: rotate coordinate system */
message { CMD, ROTATE, 4, player_graphics3d_cmd_rotate_t };
/** Command subtype: push current coordinate system onto stack */
-message { CMD, PUSH, 5, player_null_t };
+message { CMD, PUSH, 5, NULL };
/** Command subtype: pop coordinate system from stack to become current */
-message { CMD, POP, 6, player_null_t };
+message { CMD, POP, 6, NULL };
/** Drawmode: enumeration that defines the drawing mode */
Modified: code/player/trunk/libplayercore/player.h
===================================================================
--- code/player/trunk/libplayercore/player.h 2009-01-16 21:58:55 UTC (rev
7277)
+++ code/player/trunk/libplayercore/player.h 2009-01-16 22:32:00 UTC (rev
7278)
@@ -176,11 +176,6 @@
* These structures often appear inside other structures.
* @{ */
-/** @brief A null structure for parsing completeness */
-typedef struct player_null
-{
-} player_null_t;
-
/** @brief A point in the plane */
typedef struct player_point_2d
{
Modified: code/player/trunk/libplayercore/playerinterfacegen.py
===================================================================
--- code/player/trunk/libplayercore/playerinterfacegen.py 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/libplayercore/playerinterfacegen.py 2009-01-16
22:32:00 UTC (rev 7278)
@@ -132,8 +132,9 @@
""" % {"interface_name": interface_name}
print "\n /* %s messages */" % interface_name
for m in interface_messages:
- print " {", interface_def, ",", m.msg_type, ",", m.msg_subtype_string,
","
- print " (player_pack_fn_t)%(dt_base)s_pack,
(player_copy_fn_t)%(dt)s_copy,
(player_cleanup_fn_t)%(dt)s_cleanup,(player_clone_fn_t)%(dt)s_clone,(player_free_fn_t)%(dt)s_free,(player_sizeof_fn_t)%(dt)s_sizeof},"
% { "dt_base": m.datatype[:-2], "dt": m.datatype}
+ if m.datatype != "NULL":
+ print " {", interface_def, ",", m.msg_type, ",",
m.msg_subtype_string, ","
+ print " (player_pack_fn_t)%(dt_base)s_pack,
(player_copy_fn_t)%(dt)s_copy,
(player_cleanup_fn_t)%(dt)s_cleanup,(player_clone_fn_t)%(dt)s_clone,(player_free_fn_t)%(dt)s_free,(player_sizeof_fn_t)%(dt)s_sizeof},"
% { "dt_base": m.datatype[:-2], "dt": m.datatype}
if plugin:
print """
/* This NULL element signals the end of the list */
Modified: code/player/trunk/server/drivers/mixed/botrics/obot.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/botrics/obot.cc 2009-01-16
21:58:55 UTC (rev 7277)
+++ code/player/trunk/server/drivers/mixed/botrics/obot.cc 2009-01-16
22:32:00 UTC (rev 7278)
@@ -137,7 +137,7 @@
static void StopRobot(void* obotdev);
-class Obot : public ThreadedDriver
+class Obot : public ThreadedDriver
{
private:
// this function will be run in a separate thread
@@ -776,12 +776,6 @@
PLAYER_POSITION2D_REQ_RESET_ODOM,
this->position_addr))
{
- if(hdr->size != sizeof(player_null_t))
- {
- PLAYER_WARN("Arg to odometry reset requests wrong size; ignoring");
- return(-1);
- }
-
// Just overwrite our current odometric pose.
this->px = 0.0;
this->py = 0.0;
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