Laser_tilt : added

.tb_history

@@ -0,0 +1,115 @@
+Protonek_position.configure
+Protonek_position.start
+ls
+Protonek_position.start
+Protonek_position.start
+cd Protonek_position
+ls
+Device
+Device
+Protonek_position.configure
+Protonek_position.start
+cd Protonek_position
+ls
+Protonek_position.configure
+cd Protonek_position
+start
+Protonek_position.configure
+cd Protonek_position
+start
+ls
+VelocitySetpoint_input.Set(velocity(vector(0.1,0,0),vector(0,0,0)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,0)))
+VelocitySetpoint_input.Set(twist(vector(-0.1,0,0),vector(0,0,0)))
+VelocitySetpoint_input.Set(twist(vector(-0.1,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,-0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,-0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,-0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.2,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.3,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.4)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.7)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.9)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.0)))
+quir
+Protonek_position.configure
+Protonek_position.start
+cd Protonek_position
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.1)))
+ls
+Protonek_position.configure
+cd Protonek_position
+start
+ls
+ls
+ls
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(-0.1,0,0),vector(0,0,0.1)))
+ls
+VelocitySetpoint_input.Set(twist(vector(-0.1,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.1)))
+stop
+start
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.1)))
+stop
+start
+start
+cd Protonek_position
+configure
+start
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.1)))
+cd Protonek_position
+configure
+start
+VelocitySetpoint_input.Set(twist(vector(-0.3,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.1,0,0),vector(0,0,0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,-0.1)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,-0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.3,0,0),vector(0,0,-0.0)))
+VelocitySetpoint_input.Set(twist(vector(0.0,0,0),vector(0,0,-0.0)))
+VelocitySetpoint_input.Set(twist(vector(-0.1,0,0),vector(0,0,-0.0)))
+VelocitySetpoint_input.Set(twist(vector(-0.0,0,0),vector(0,0,-0.0)))
+cd Laser_tilt
+ls
+start
+stop
+ls
+cd Laser_tilt
+start
+ls
+Setpoint_input.Set(0.1)
+Setpoint_input.Set(0.2)
+Setpoint_input.Set(0.3)
+Setpoint_input.Set(0.4)
+Setpoint_input.Set(0.6)
+Setpoint_input.Set(0.7)
+Setpoint_input.Set(0.7)
+Setpoint_input.Set(0.9)
+Setpoint_input.Set(0.0)
+Setpoint_input.Set(0.0)
+Setpoint_input.Set(0.8)
+Setpoint_input.Set(0.3)
+Setpoint_input.Set(-0.1)
+stop
+Setpoint_input.Set(0.1)
+start
+Setpoint_input.Set(-0.05)
+stop
+cd Laser_tilt
+star
+start
+Setpoint_input.Set(-0.1)
+star
+cd Laser_tilt
+start

components/CMakeLists.txt

@@ -6,3 +6,4 @@ ADD_SUBDIRECTORY( ecp_proxy )
 ADD_SUBDIRECTORY( gazebo_position )
 ADD_SUBDIRECTORY( gazebo_laser )
 ADD_SUBDIRECTORY( protonek_position )
+ADD_SUBDIRECTORY( Laser_tilt )

components/Laser_tilt/CMakeLists.txt

@@ -0,0 +1,5 @@
+OPTION( BUILD_Laser_tilt "Build Laser_tilt component" ON )
+
+if(BUILD_Laser_tilt)
+GLOBAL_ADD_COMPONENT(Laser_tilt ourptz.cpp Laser_tilt.cpp)
+endif(BUILD_Laser_tilt)

components/Laser_tilt/Laser_tilt.cpp

@@ -0,0 +1,63 @@
+/*
+ * Laser_tilt.cpp
+ *
+ *  Created on: Jan 8, 2010
+ *      Author: konradb3
+ */
+
+#include <ocl/ComponentLoader.hpp>
+
+#include "Laser_tilt.h"
+
+namespace orocos_test
+{
+
+  Laser_tilt::Laser_tilt(std::string name) :
+    TaskContext(name),
+    setpoint_port("Setpoint_input"),
+    position_port("Position_output"),
+    port_prop("Device", "UNIX device file (/dev/ttySx)")
+  {
+    this->ports()->addPort(&setpoint_port);
+    this->ports()->addPort(&position_port);
+
+    this->properties()->addProperty(&port_prop);
+  }
+
+  bool Laser_tilt::configureHook()
+  {
+   return true;
+  }
+
+  bool Laser_tilt::startHook()
+  {
+    Ourptz_settings set;
+    set.offset = 227;
+    set.pos_res = 1000;
+
+    ptz = new Ourptz(port_prop.get().c_str() ,Ourptz_DEFAULT_BAUD ,set );
+
+    return true;
+  }
+
+  void Laser_tilt::updateHook()
+  {
+    double setpoint, position;
+    setpoint = setpoint_port.Get();
+    ptz->SetPos(setpoint ,false);
+    position = ptz->GetPos();
+    position_port.Set(position);
+  }
+
+  void Laser_tilt::stopHook()
+  {
+    delete ptz;
+  }
+
+  void Laser_tilt::cleanupHook()
+  {
+
+  }
+}
+
+ORO_CREATE_COMPONENT( orocos_test::Laser_tilt );

components/Laser_tilt/Laser_tilt.h

@@ -0,0 +1,67 @@
+/*
+ * Laser_tilt.h
+ *
+ *  Created on: Jan 8, 2010
+ *      Author: konradb3
+ */
+
+#ifndef LASER_TILT_H_
+#define LASER_TILT_H_
+
+#include <rtt/RTT.hpp>
+
+#include <rtt/TaskContext.hpp>
+#include <rtt/Ports.hpp>
+#include <rtt/Properties.hpp>
+
+#include "ourptz.h"
+
+namespace orocos_test
+{
+  class Laser_tilt : public RTT::TaskContext
+  {
+  public:
+    Laser_tilt(std::string name);
+    /**
+     * This function is for the configuration code.
+     * Return false to abort configuration.
+     */
+    bool
+    configureHook();
+
+    /**
+     * This function is for the application's start up code.
+     * Return false to abort start up.
+     */
+    bool
+    startHook();
+
+    /**
+     * This function is called by the Execution Engine.
+     */
+    void
+    updateHook();
+
+    /**
+     * This function is called when the task is stopped.
+     */
+    void
+    stopHook();
+
+    /**
+     * This function is called when the task is being deconfigured.
+     */
+    void
+    cleanupHook();
+
+  protected:
+    RTT::DataPort<double> setpoint_port;
+    RTT::DataPort<double> position_port;
+    RTT::Property<std::string> port_prop;
+  private:
+    Ourptz *ptz;
+  };
+
+}
+
+#endif /* LASER_TILT_H_ */