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)) { This was sent by the SourceForge.net collaborative development platform, the world's largest Open Source development site. ------------------------------------------------------------------------------ Open Source Business Conference (OSBC), March 24-25, 2009, San Francisco, CA -OSBC tackles the biggest issue in open source: Open Sourcing the Enterprise -Strategies to boost innovation and cut costs with open source participation -Receive a $600 discount off the registration fee with the source code: SFAD http://p.sf.net/sfu/XcvMzF8H _______________________________________________ Playerstage-commit mailing list Playerstage-commit@lists.sourceforge.net https://lists.sourceforge.net/lists/listinfo/playerstage-commit