Revision: 7325
http://playerstage.svn.sourceforge.net/playerstage/?rev=7325&view=rev
Author: gbiggs
Date: 2009-02-10 08:14:48 +0000 (Tue, 10 Feb 2009)
Log Message:
-----------
Changes to compile on Solaris
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/dev_vectormap.c
code/player/trunk/cmake/internal/SearchForStuff.cmake
code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
code/player/trunk/server/drivers/laser/lms400_cola.h
code/player/trunk/server/drivers/laser/urglaserdriver.cc
code/player/trunk/server/drivers/mixed/irobot/create/create_driver.cc
code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
code/player/trunk/server/drivers/mixed/khepera/khepera.cc
code/player/trunk/server/drivers/wsn/mica2.cc
Modified: code/player/trunk/client_libs/libplayerc/dev_vectormap.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_vectormap.c 2009-02-10
03:58:02 UTC (rev 7324)
+++ code/player/trunk/client_libs/libplayerc/dev_vectormap.c 2009-02-10
08:14:48 UTC (rev 7325)
@@ -54,6 +54,7 @@
#include <stdlib.h>
#include <stdarg.h>
#include <string.h>
+#include <stddef.h>
#include "playerc.h"
#include "error.h"
Modified: code/player/trunk/cmake/internal/SearchForStuff.cmake
===================================================================
--- code/player/trunk/cmake/internal/SearchForStuff.cmake 2009-02-10
03:58:02 UTC (rev 7324)
+++ code/player/trunk/cmake/internal/SearchForStuff.cmake 2009-02-10
08:14:48 UTC (rev 7325)
@@ -47,7 +47,6 @@
CHECK_FUNCTION_EXISTS (gettimeofday HAVE_GETTIMEOFDAY)
CHECK_FUNCTION_EXISTS (usleep HAVE_USLEEP)
-CHECK_FUNCTION_EXISTS (nanosleep HAVE_NANOSLEEP)
CHECK_FUNCTION_EXISTS (cfmakeraw HAVE_CFMAKERAW)
CHECK_FUNCTION_EXISTS (dirname HAVE_DIRNAME)
CHECK_INCLUDE_FILES (linux/joystick.h HAVE_LINUX_JOYSTICK_H)
@@ -62,6 +61,13 @@
SET (CMAKE_REQUIRED_LIBRARIES dl)
CHECK_LIBRARY_EXISTS (ltdl lt_dlopenext "${PLAYER_EXTRA_LIB_DIRS}"
HAVE_LIBLTDL)
SET (CMAKE_REQUIRED_LIBRARIES)
+IF (PLAYER_OS_SUN)
+ SET (CMAKE_REQUIRED_LIBRARIES rt)
+ CHECK_FUNCTION_EXISTS (nanosleep HAVE_NANOSLEEP)
+ SET (CMAKE_REQUIRED_LIBRARIES)
+ELSE (PLAYER_OS_SUN)
+ CHECK_FUNCTION_EXISTS (nanosleep HAVE_NANOSLEEP)
+ENDIF (PLAYER_OS_SUN)
CHECK_FUNCTION_EXISTS (poll HAVE_POLL)
IF (PLAYER_OS_WIN)
Modified: code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
2009-02-10 03:58:02 UTC (rev 7324)
+++ code/player/trunk/server/drivers/laser/RS4LeuzeLaserDriver.cc
2009-02-10 08:14:48 UTC (rev 7325)
@@ -427,7 +427,6 @@
//Registers the driver in the driver table. Called from the
// player_driver_init function that the loader looks for
-int rs4leuze_Register(DriverTable* table) {
+void rs4leuze_Register(DriverTable* table) {
table->AddDriver("rs4leuze", RS4LeuzeLaserDriver_Init);
- return 0;
}
Modified: code/player/trunk/server/drivers/laser/lms400_cola.h
===================================================================
--- code/player/trunk/server/drivers/laser/lms400_cola.h 2009-02-10
03:58:02 UTC (rev 7324)
+++ code/player/trunk/server/drivers/laser/lms400_cola.h 2009-02-10
08:14:48 UTC (rev 7325)
@@ -91,7 +91,7 @@
const char* hostname;
int sockfd, portno, n;
struct sockaddr_in serv_addr;
-#if defined (HAVE_GETADDRINFO)
+#if HAVE_GETADDRINFO
struct addrinfo *addr_ptr;
#else
struct hostent *server;
Modified: code/player/trunk/server/drivers/laser/urglaserdriver.cc
===================================================================
--- code/player/trunk/server/drivers/laser/urglaserdriver.cc 2009-02-10
03:58:02 UTC (rev 7324)
+++ code/player/trunk/server/drivers/laser/urglaserdriver.cc 2009-02-10
08:14:48 UTC (rev 7325)
@@ -373,9 +373,8 @@
// Registers the driver in the driver table. Called from the
// player_driver_init function that the loader looks for
-int
+void
urglaser_Register (DriverTable* table)
{
table->AddDriver ("urglaser", URGLaserDriver_Init);
- return (0);
}
Modified: code/player/trunk/server/drivers/mixed/irobot/create/create_driver.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/irobot/create/create_driver.cc
2009-02-10 03:58:02 UTC (rev 7324)
+++ code/player/trunk/server/drivers/mixed/irobot/create/create_driver.cc
2009-02-10 08:14:48 UTC (rev 7325)
@@ -527,9 +527,20 @@
{
uint8_t index = opaque_data.data[1];
uint8_t length = opaque_data.data[2];
- uint8_t notes[length];
- uint8_t note_lengths[length];
+ uint8_t *notes;
+ uint8_t *note_lengths;
+ if ((notes = new uint8_t[length]) == NULL)
+ {
+ PLAYER_ERROR("Failed to allocate memory for notes in create driver.");
+ return(-1);
+ }
+ if ((note_lengths = new uint8_t [length]) == NULL)
+ {
+ PLAYER_ERROR("Failed to allocate memory for note_lengths in create
driver.");
+ delete [] notes;
+ return -1;
+ }
for (unsigned int i=0; i<length; i++)
{
notes[i] = opaque_data.data[3+i*2];
@@ -538,6 +549,8 @@
create_set_song(this->create_dev, index, length,
notes, note_lengths);
+ delete [] notes;
+ delete [] note_lengths;
}
// Set the LEDs
else if (opaque_data.data[0] == 2)
Modified: code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
2009-02-10 03:58:02 UTC (rev 7324)
+++ code/player/trunk/server/drivers/mixed/irobot/roomba/roomba_driver.cc
2009-02-10 08:14:48 UTC (rev 7325)
@@ -111,6 +111,7 @@
#include <string.h>
#include <pthread.h>
#include <time.h>
+#include <stdlib.h>
#include <libplayercore/playercore.h>
#include "roomba_comms.h"
@@ -354,14 +355,20 @@
memset(&bumperdata,0,sizeof(bumperdata));
bumperdata.bumpers_count = 2;
- bumperdata.bumpers = new uint8_t[bumperdata.bumpers_count];
- bumperdata.bumpers[0] = this->roomba_dev->bumper_left;
- bumperdata.bumpers[1] = this->roomba_dev->bumper_right;
+ if ((bumperdata.bumpers = new uint8_t[bumperdata.bumpers_count]) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate memory for bumper data in roomba
driver.");
+ }
+ else
+ {
+ bumperdata.bumpers[0] = this->roomba_dev->bumper_left;
+ bumperdata.bumpers[1] = this->roomba_dev->bumper_right;
- this->Publish(this->bumper_addr,
- PLAYER_MSGTYPE_DATA, PLAYER_BUMPER_DATA_STATE,
- (void*)&bumperdata);
- delete [] bumperdata.bumpers;
+ this->Publish(this->bumper_addr,
+ PLAYER_MSGTYPE_DATA, PLAYER_BUMPER_DATA_STATE,
+ (void*)&bumperdata);
+ delete [] bumperdata.bumpers;
+ }
////////////////////////////
// Update IR data
@@ -369,23 +376,29 @@
memset(&irdata,0,sizeof(irdata));
irdata.ranges_count = 11;
- irdata.ranges = new float [irdata.ranges_count];
- irdata.ranges[0] = (float)this->roomba_dev->wall;
- irdata.ranges[1] = (float)this->roomba_dev->cliff_left;
- irdata.ranges[2] = (float)this->roomba_dev->cliff_frontleft;
- irdata.ranges[3] = (float)this->roomba_dev->cliff_frontright;
- irdata.ranges[4] = (float)this->roomba_dev->cliff_right;
- irdata.ranges[5] = (float)this->roomba_dev->virtual_wall;
- irdata.ranges[6] = (float)this->roomba_dev->dirtdetector_right;
- irdata.ranges[7] = (float)this->roomba_dev->dirtdetector_left;
- irdata.ranges[8] = (float)this->roomba_dev->wheeldrop_caster;
- irdata.ranges[9] = (float)this->roomba_dev->wheeldrop_left;
- irdata.ranges[10] = (float)this->roomba_dev->wheeldrop_right;
+ if ((irdata.ranges = new float [irdata.ranges_count]) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate memory for IR data in roomba
driver.");
+ }
+ else
+ {
+ irdata.ranges[0] = (float)this->roomba_dev->wall;
+ irdata.ranges[1] = (float)this->roomba_dev->cliff_left;
+ irdata.ranges[2] = (float)this->roomba_dev->cliff_frontleft;
+ irdata.ranges[3] = (float)this->roomba_dev->cliff_frontright;
+ irdata.ranges[4] = (float)this->roomba_dev->cliff_right;
+ irdata.ranges[5] = (float)this->roomba_dev->virtual_wall;
+ irdata.ranges[6] = (float)this->roomba_dev->dirtdetector_right;
+ irdata.ranges[7] = (float)this->roomba_dev->dirtdetector_left;
+ irdata.ranges[8] = (float)this->roomba_dev->wheeldrop_caster;
+ irdata.ranges[9] = (float)this->roomba_dev->wheeldrop_left;
+ irdata.ranges[10] = (float)this->roomba_dev->wheeldrop_right;
- this->Publish(this->ir_addr,
- PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_RANGES,
- (void*)&irdata);
- delete [] irdata.ranges;
+ this->Publish(this->ir_addr,
+ PLAYER_MSGTYPE_DATA, PLAYER_IR_DATA_RANGES,
+ (void*)&irdata);
+ delete [] irdata.ranges;
+ }
////////////////////////////
@@ -408,19 +421,24 @@
memset(&cpdata,0,sizeof(cpdata));
cpdata.data_count=5;
- cpdata.data = new uint8_t [cpdata.data_count];
+ if ((cpdata.data = new uint8_t [cpdata.data_count]) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate memory for opaque data in roomba
driver.");
+ }
+ else
+ {
+ cpdata.data[0]=this->roomba_dev->button_max;
+ cpdata.data[1]=this->roomba_dev->button_clean;
+ cpdata.data[2]=this->roomba_dev->button_spot;
+ cpdata.data[3]=this->roomba_dev->button_power;
+ cpdata.data[4]=this->roomba_dev->remote_opcode;
- cpdata.data[0]=this->roomba_dev->button_max;
- cpdata.data[1]=this->roomba_dev->button_clean;
- cpdata.data[2]=this->roomba_dev->button_spot;
- cpdata.data[3]=this->roomba_dev->button_power;
- cpdata.data[4]=this->roomba_dev->remote_opcode;
+ this->Publish(this->opaque_addr,
+ PLAYER_MSGTYPE_DATA,PLAYER_OPAQUE_DATA_STATE,
+ (void*)&cpdata);
+ delete [] cpdata.data;
+ }
- this->Publish(this->opaque_addr,
- PLAYER_MSGTYPE_DATA,PLAYER_OPAQUE_DATA_STATE,
- (void*)&cpdata);
- delete [] cpdata.data;
-
struct timespec ts;
ts.tv_sec = 0;
ts.tv_nsec = CYCLE_TIME_NS;
@@ -576,9 +594,21 @@
{
uint8_t index = opaque_data.data[1];
uint8_t length = opaque_data.data[2];
- uint8_t notes[length];
- uint8_t note_lengths[length];
+ uint8_t *notes;
+ uint8_t *note_lengths;
+ if ((notes = new uint8_t[length]) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate memory for notes in roomba driver.");
+ return -1;
+ }
+ if ((note_lengths = new uint8_t[length]) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate memory for note_lengths in roomba
driver.");
+ delete [] notes;
+ return -1;
+ }
+
for (unsigned int i=0; i<length; i++)
{
notes[i] = opaque_data.data[3+i*2];
@@ -587,6 +617,8 @@
roomba_set_song(this->roomba_dev, index, length,
notes, note_lengths);
+ delete [] notes;
+ delete [] note_lengths;
}
// Set the LEDs
else if (opaque_data.data[0] == 2)
Modified: code/player/trunk/server/drivers/mixed/khepera/khepera.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/khepera/khepera.cc 2009-02-10
03:58:02 UTC (rev 7324)
+++ code/player/trunk/server/drivers/mixed/khepera/khepera.cc 2009-02-10
08:14:48 UTC (rev 7325)
@@ -521,7 +521,7 @@
for (unsigned int i =0; i < geometry->ir.poses_count; i++)
{
- d->ranges[i] = geometry->scale * geometry->ir_calib_a[i] *
pow(d->voltages[i],geometry->ir_calib_b[i]);
+ d->ranges[i] = geometry->scale * geometry->ir_calib_a[i] *
pow(static_cast<double> (d->voltages[i]),static_cast<double>
(geometry->ir_calib_b[i]));
d->voltages[i] = d->voltages[i];
}
}
Modified: code/player/trunk/server/drivers/wsn/mica2.cc
===================================================================
--- code/player/trunk/server/drivers/wsn/mica2.cc 2009-02-10 03:58:02 UTC
(rev 7324)
+++ code/player/trunk/server/drivers/wsn/mica2.cc 2009-02-10 08:14:48 UTC
(rev 7325)
@@ -1050,8 +1050,8 @@
wsn_data.data_packet.temperature =
(1 / (0.001307050f + 0.000214381f *
- log (rthr) + 0.000000093f *
- pow (log (rthr),3))) - 273.15;
+ log (static_cast<double> (rthr)) +
0.000000093f *
+ pow (log (static_cast<double>
(rthr)),3))) - 273.15;
// Convert the magnetometer data to Gauss
wsn_data.data_packet.magn_x =
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