Revision: 7352
http://playerstage.svn.sourceforge.net/playerstage/?rev=7352&view=rev
Author: natepak
Date: 2009-02-23 22:58:57 +0000 (Mon, 23 Feb 2009)
Log Message:
-----------
update to some player interfaces
Modified Paths:
--------------
code/gazebo/trunk/player/PTZInterface.cc
code/gazebo/trunk/player/Position2dInterface.cc
Modified: code/gazebo/trunk/player/PTZInterface.cc
===================================================================
--- code/gazebo/trunk/player/PTZInterface.cc 2009-02-23 22:58:33 UTC (rev
7351)
+++ code/gazebo/trunk/player/PTZInterface.cc 2009-02-23 22:58:57 UTC (rev
7352)
@@ -73,7 +73,6 @@
int PTZInterface::ProcessMessage(QueuePointer &respQueue,
player_msghdr_t *hdr, void *data)
{
-
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_PTZ_CMD_STATE, this->device_addr))
{
@@ -88,12 +87,34 @@
this->iface->data->cmd_pan = cmd->pan;
this->iface->data->cmd_tilt = cmd->tilt;
this->iface->data->cmd_zoom = cmd->zoom;
+ this->iface->data->cmd_tilt_speed = cmd->tiltspeed;
+ this->iface->data->cmd_pan_speed = cmd->panspeed;
this->iface->Unlock();
return 0;
}
+ else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
+ PLAYER_PTZ_REQ_CONTROL_MODE,
this->device_addr))
+ {
+ player_ptz_req_control_mode_t *req;
+
+ assert(hdr->size >= sizeof(player_ptz_req_control_mode_t));
+
+ req = (player_ptz_req_control_mode_t *) data;
+
+ if (req->mode == PLAYER_PTZ_VELOCITY_CONTROL)
+ this->iface->data->control_mode = GAZEBO_PTZ_VELOCITY_CONTROL;
+ else
+ this->iface->data->control_mode = GAZEBO_PTZ_POSITION_CONTROL;
+
+ this->driver->Publish( this->device_addr, respQueue,
+ PLAYER_MSGTYPE_RESP_ACK,
+ PLAYER_PTZ_REQ_CONTROL_MODE);
+ return(0);
+ }
+
// Is it a request for ptz geometry?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_PTZ_REQ_GEOM, this->device_addr))
Modified: code/gazebo/trunk/player/Position2dInterface.cc
===================================================================
--- code/gazebo/trunk/player/Position2dInterface.cc 2009-02-23 22:58:33 UTC
(rev 7351)
+++ code/gazebo/trunk/player/Position2dInterface.cc 2009-02-23 22:58:57 UTC
(rev 7352)
@@ -76,7 +76,6 @@
int Position2dInterface::ProcessMessage(QueuePointer &respQueue,
player_msghdr_t *hdr, void *data)
{
- printf("Recived Message\n");
if (this->iface->Lock(1))
{
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