Revision: 7989
http://playerstage.svn.sourceforge.net/playerstage/?rev=7989&view=rev
Author: robotos
Date: 2009-07-11 02:18:03 +0000 (Sat, 11 Jul 2009)
Log Message:
-----------
GetModelFiducialID to SimulationIface. Catch closing interfaces without opening
them
Modified Paths:
--------------
code/gazebo/trunk/libgazebo/Client.cc
code/gazebo/trunk/libgazebo/Iface.cc
code/gazebo/trunk/libgazebo/SimIface.cc
code/gazebo/trunk/libgazebo/gazebo.h
Modified: code/gazebo/trunk/libgazebo/Client.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Client.cc 2009-07-11 01:08:17 UTC (rev
7988)
+++ code/gazebo/trunk/libgazebo/Client.cc 2009-07-11 02:18:03 UTC (rev
7989)
@@ -220,7 +220,7 @@
// No semaphore, so no server
if (errno == ENOENT)
{
- throw("No semphaore, so no server");
+ throw("No semaphore, so no server");
}
// Ooops, some kind of error
Modified: code/gazebo/trunk/libgazebo/Iface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/Iface.cc 2009-07-11 01:08:17 UTC (rev
7988)
+++ code/gazebo/trunk/libgazebo/Iface.cc 2009-07-11 02:18:03 UTC (rev
7989)
@@ -74,6 +74,8 @@
this->client = NULL;
this->creator = false;
+
+ this->mMap = NULL;
}
@@ -327,6 +329,11 @@
// Close the interface (client)
void Iface::Close()
{
+ if (this->mMap == 0) //Closing without opening!
+ {
+ throw("mmap file not opened. Closing interface without opening it first?");
+ }
+
((GazeboData*)this->mMap)->openCount--;
if (((GazeboData*)this->mMap)->openCount <= 0)
Modified: code/gazebo/trunk/libgazebo/SimIface.cc
===================================================================
--- code/gazebo/trunk/libgazebo/SimIface.cc 2009-07-11 01:08:17 UTC (rev
7988)
+++ code/gazebo/trunk/libgazebo/SimIface.cc 2009-07-11 02:18:03 UTC (rev
7989)
@@ -532,3 +532,29 @@
return true;
}
+////////////////////////////////////////////////////////////////////////////////
+/// Get the Fiducial ID of this model
+bool SimulationIface::GetModelFiducialID(const char *modelName, unsigned int
&id)
+{
+ this->Lock(1);
+
+ this->data->responseCount = 0;
+ SimulationRequestData *request;
+
+ request = &(this->data->requests[this->data->requestCount++]);
+ request->type = SimulationRequestData::GET_MODEL_FIDUCIAL_ID;
+
+ memset(request->modelName, 0, 512);
+ strncpy(request->modelName, modelName, 512);
+ request->modelName[511] = '\0';
+
+ this->Unlock();
+
+ if (!this->WaitForResponse())
+ return false;
+
+ assert(this->data->responseCount == 1);
+ id = data->responses[0].uintValue;
+
+ return true;
+}
Modified: code/gazebo/trunk/libgazebo/gazebo.h
===================================================================
--- code/gazebo/trunk/libgazebo/gazebo.h 2009-07-11 01:08:17 UTC (rev
7988)
+++ code/gazebo/trunk/libgazebo/gazebo.h 2009-07-11 02:18:03 UTC (rev
7989)
@@ -590,6 +590,9 @@
/// \brief Get the extents of a model
public: bool GetModelExtent(const char *modelName, Vec3 &ext);
+ /// \brief Get the model Fiducial ID (if one global ID was set)
+ public: bool GetModelFiducialID(const char *modelName, unsigned int &id);
+
public: void GoAckWait();
public: void GoAckPost();
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