Skip to content

HTTPS clone URL

Subversion checkout URL

You can clone with HTTPS or Subversion.

Download ZIP
tree: 0f72ec239f
Fetching contributors…

Cannot retrieve contributors at this time

136 lines (110 sloc) 3.76 kb
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2004, 2005 Richard Vaughan
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/*
* Desc: A plugin driver for Player that gives access to Stage devices.
* Author: Richard Vaughan
* Date: 10 December 2004
* CVS: $Id$
*/
// DOCUMENTATION ------------------------------------------------------------
/** @addtogroup player
@par Bumper interface
- PLAYER_BUMPER_DATA_STATE
- PLAYER_BUMPER_GET_GEOM
*/
// CODE ----------------------------------------------------------------------
#include "p_driver.h"
//
// BUMPER INTERFACE
//
extern "C" {
int bumper_init( model_t* mod );
}
InterfaceBumper::InterfaceBumper( player_devaddr_t id,
StgDriver* driver,
ConfigFile* cf,
int section )
: InterfaceModel( id, driver, cf, section, bumper_init )
{
}
void InterfaceBumper::Publish( void )
{
size_t len = mod->data_len;
bumper_sample_t* sdata = (bumper_sample_t*)mod->data;
player_bumper_data_t pdata;
memset( &pdata, 0, sizeof(pdata) );
if( len > 0 )
{
size_t bcount = len / sizeof(bumper_sample_t);
// limit the number of samples to Player's maximum
if( bcount > PLAYER_BUMPER_MAX_SAMPLES )
bcount = PLAYER_BUMPER_MAX_SAMPLES;
pdata.bumpers_count = bcount;
for( int i=0; i<(int)bcount; i++ )
pdata.bumpers[i] = sdata[i].hit ? 1 : 0;
}
this->driver->Publish( this->addr, NULL,
PLAYER_MSGTYPE_DATA,
PLAYER_BUMPER_DATA_STATE,
&pdata, sizeof(pdata), NULL);
}
int InterfaceBumper::ProcessMessage( MessageQueue* resp_queue,
player_msghdr_t* hdr,
void* data )
{
if( Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BUMPER_GET_GEOM,
this->addr) )
{
size_t cfglen = mod->cfg_len;
bumper_config_t* cfgs = (bumper_config_t*)mod->cfg;
assert( cfgs );
size_t bcount = cfglen / sizeof(bumper_config_t);
// convert the bumper data into Player-format bumper poses
player_bumper_geom_t pgeom;
memset( &pgeom, 0, sizeof(pgeom) );
// limit the number of samples to Player's maximum
if( bcount > PLAYER_BUMPER_MAX_SAMPLES )
bcount = PLAYER_BUMPER_MAX_SAMPLES;
pgeom.bumper_def_count = bcount;
for( int i=0; i<(int)bcount; i++ )
{
// fill in the geometry data formatted player-like
pgeom.bumper_def[i].pose.px = cfgs[i].pose.x;
pgeom.bumper_def[i].pose.py = cfgs[i].pose.y;
pgeom.bumper_def[i].pose.pa = cfgs[i].pose.a;
pgeom.bumper_def[i].length = cfgs[i].length;
pgeom.bumper_def[i].radius = 0;
}
this->driver->Publish( this->addr, resp_queue,
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_BUMPER_GET_GEOM,
(void*)&pgeom, sizeof(pgeom), NULL );
return 0; // ok
}
else
{
// Don't know how to handle this message.
PRINT_WARN2( "bumper doesn't support msg with type/subtype %d/%d",
hdr->type, hdr->subtype);
return(-1);
}
}
Jump to Line
Something went wrong with that request. Please try again.