Revision: 9068
http://playerstage.svn.sourceforge.net/playerstage/?rev=9068&view=rev
Author: jpgr87
Date: 2011-08-04 21:53:43 +0000 (Thu, 04 Aug 2011)
Log Message:
-----------
Applied patch #3385742: yet another compatibility patch
Modified Paths:
--------------
code/player/trunk/server/drivers/mixed/rmp/segwayrmp.cc
code/player/trunk/server/drivers/mixed/rmp/usb_packet.cc
code/player/trunk/server/drivers/mixed/rmp/usb_packet.h
Modified: code/player/trunk/server/drivers/mixed/rmp/segwayrmp.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/rmp/segwayrmp.cc 2011-07-24
18:34:54 UTC (rev 9067)
+++ code/player/trunk/server/drivers/mixed/rmp/segwayrmp.cc 2011-08-04
21:53:43 UTC (rev 9068)
@@ -1260,7 +1260,7 @@
SegwayRMP::Diff(uint32_t from, uint32_t to, bool first)
{
int diff1, diff2;
- static uint32_t max = (uint32_t)pow(2,32)-1;
+ static uint32_t max = (uint32_t)pow(2.0,32)-1;
// if this is the first time, report no change
if(first)
Modified: code/player/trunk/server/drivers/mixed/rmp/usb_packet.cc
===================================================================
--- code/player/trunk/server/drivers/mixed/rmp/usb_packet.cc 2011-07-24
18:34:54 UTC (rev 9067)
+++ code/player/trunk/server/drivers/mixed/rmp/usb_packet.cc 2011-08-04
21:53:43 UTC (rev 9068)
@@ -27,18 +27,19 @@
#include <stdio.h>
#include <termios.h>
#include <sys/time.h>
+#include <replace/replace.h>
#include "usb_packet.h"
USBpacket::USBpacket( ) {
- pkt.usb_message_header = 0xf0;
- pkt.usb_command_identifier = 0x55;
+ pkt.pkt.usb_message_header = 0xf0;
+ pkt.pkt.usb_command_identifier = 0x55;
// the docs say send 0x01 but the sample code sends a 0
- pkt.command_type = 0;
- pkt.unused0 = 0;
- pkt.unused1 = 0;
- pkt.unused2 = 0;
- pkt.unused3 = 0;
+ pkt.pkt.command_type = 0;
+ pkt.pkt.unused0 = 0;
+ pkt.pkt.unused1 = 0;
+ pkt.pkt.unused2 = 0;
+ pkt.pkt.unused3 = 0;
return;
}
@@ -65,18 +66,18 @@
USBpacket::USBpacket( const CanPacket &can ) {
- pkt.usb_message_header = 0xf0;
- pkt.usb_command_identifier = 0x55;
+ pkt.pkt.usb_message_header = 0xf0;
+ pkt.pkt.usb_command_identifier = 0x55;
// the docs say send 0x01 but the sample code sends a 0
- pkt.command_type = 0;
- pkt.unused0 = 0;
- pkt.unused1 = 0;
- pkt.unused2 = 0;
- pkt.can_message_header = make_can_header( can.id, can.dlc, can.flags );
- pkt.unused3 = 0;
- memcpy( pkt.can_message, can.msg, sizeof(pkt.can_message) );
+ pkt.pkt.command_type = 0;
+ pkt.pkt.unused0 = 0;
+ pkt.pkt.unused1 = 0;
+ pkt.pkt.unused2 = 0;
+ pkt.pkt.can_message_header = make_can_header( can.id, can.dlc,
can.flags );
+ pkt.pkt.unused3 = 0;
+ memcpy( pkt.pkt.can_message, can.msg, sizeof(pkt.pkt.can_message) );
- pkt.usb_message_checksum = compute_checksum();
+ pkt.pkt.usb_message_checksum = compute_checksum();
return;
}
@@ -84,8 +85,8 @@
CanPacket can;
unsigned short hi, lo;
/* not really a CANBUS header
- can.id = pkt.can_message_header >> 5;
- can.dlc = pkt.can_message_header & 0x000f;
+ can.id = pkt.pkt.can_message_header >> 5;
+ can.dlc = pkt.pkt.can_message_header & 0x000f;
*/
hi = pkt.pkt_data[5];
hi = (hi>>5) & 0x0007;
@@ -93,16 +94,16 @@
lo = (lo<<3);
can.id = ( hi | lo ) & 0x0fff;
- if( pkt.can_message_header & 0x0010 )
+ if( pkt.pkt.can_message_header & 0x0010 )
can.flags = canMSG_RTR;
else
can.flags = canMSG_STD;
- memcpy( can.msg, pkt.can_message, sizeof(can.msg) );
+ memcpy( can.msg, pkt.pkt.can_message, sizeof(can.msg) );
return can;
}
bool USBpacket::check() {
- return compute_checksum() == pkt.usb_message_checksum;
+ return compute_checksum() == pkt.pkt.usb_message_checksum;
}
unsigned char USBpacket:: compute_checksum() {
@@ -210,7 +211,7 @@
}
- if( p.pkt.usb_message_header != 0xf0 )
+ if( p.pkt.pkt.usb_message_header != 0xf0 )
synced = false;
else if( !p.check() )
continue;
@@ -235,7 +236,7 @@
gettimeofday( &now, 0 );
}
- return (int) (p.pkt.can_message_header & 0x000f);
+ return (int) (p.pkt.pkt.can_message_header & 0x000f);
}
int USBIO::SyncRead( USBpacket &p ) {
Modified: code/player/trunk/server/drivers/mixed/rmp/usb_packet.h
===================================================================
--- code/player/trunk/server/drivers/mixed/rmp/usb_packet.h 2011-07-24
18:34:54 UTC (rev 9067)
+++ code/player/trunk/server/drivers/mixed/rmp/usb_packet.h 2011-08-04
21:53:43 UTC (rev 9068)
@@ -26,22 +26,23 @@
#include "canio.h"
#include <libplayercommon/playercommon.h>
-typedef struct usb_packet {
- union {
+
+struct usb_struct {
+ unsigned char usb_message_header;
+ unsigned char usb_command_identifier;
+ unsigned char command_type;
+ unsigned char unused0;
+ unsigned char unused1;
+ unsigned char unused2;
+ unsigned short can_message_header;
+ unsigned char unused3;
+ unsigned char can_message[8];
+ unsigned char usb_message_checksum;
+};
+
+typedef union usb_packet {
unsigned char pkt_data[18];
- struct {
- unsigned char usb_message_header;
- unsigned char usb_command_identifier;
- unsigned char command_type;
- unsigned char unused0;
- unsigned char unused1;
- unsigned char unused2;
- unsigned short can_message_header;
- unsigned char unused3;
- unsigned char can_message[8];
- unsigned char usb_message_checksum;
- };
- };
+ struct usb_struct pkt;
} usb_packet_t;
class USBpacket {
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