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/*
* 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: $Id$
*/
#include "p_driver.h"
//#include "playerclient.h" // for the dumb pioneer gripper command defines
/** @addtogroup player
@par Gripper interface
- PLAYER_GRIPPER_DATA_STATE
- PLAYER_GRIPPER_CMD_STATE
- PLAYER_GRIPPER_REQ_GET_GEOM
*/
#include "p_driver.h"
using namespace Stg;
InterfaceGripper::InterfaceGripper(player_devaddr_t addr, StgDriver *driver, ConfigFile *cf,
int section)
: InterfaceModel(addr, driver, cf, section, "gripper")
{
// nothing to do
}
void InterfaceGripper::Publish(void)
{
ModelGripper *gmod = reinterpret_cast<ModelGripper *>(this->mod);
player_gripper_data_t pdata;
memset(&pdata, 0, sizeof(pdata));
// set the proper bits
pdata.beams = 0;
pdata.beams |= gmod->GetConfig().beam[0] ? 0x04 : 0x00;
pdata.beams |= gmod->GetConfig().beam[1] ? 0x08 : 0x00;
switch (gmod->GetConfig().paddles) {
case ModelGripper::PADDLE_OPEN: pdata.state = PLAYER_GRIPPER_STATE_OPEN; break;
case ModelGripper::PADDLE_CLOSED: pdata.state = PLAYER_GRIPPER_STATE_CLOSED; break;
case ModelGripper::PADDLE_OPENING:
case ModelGripper::PADDLE_CLOSING: pdata.state = PLAYER_GRIPPER_STATE_MOVING; break;
default: pdata.state = PLAYER_GRIPPER_STATE_ERROR;
}
// Write data
this->driver->Publish(this->addr, PLAYER_MSGTYPE_DATA, PLAYER_GRIPPER_DATA_STATE, (void *)&pdata);
}
int InterfaceGripper::ProcessMessage(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
{
ModelGripper *gmod = reinterpret_cast<ModelGripper *>(this->mod);
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_OPEN, this->addr)) {
gmod->CommandOpen();
return 0;
} else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_CLOSE, this->addr)) {
gmod->CommandClose();
return 0;
}
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_GRIPPER_REQ_GET_GEOM, this->addr)) {
Geom geom = this->mod->GetGeom();
Pose pose = this->mod->GetPose();
player_gripper_geom_t pgeom;
memset(&pgeom, 0, sizeof(pgeom));
pgeom.pose.px = pose.x;
pgeom.pose.py = pose.y;
pgeom.pose.pz = pose.z;
pgeom.pose.pyaw = pose.a;
pgeom.outer_size.sl = geom.size.x;
pgeom.outer_size.sw = geom.size.y;
pgeom.outer_size.sh = geom.size.z;
pgeom.num_beams = 2;
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_GRIPPER_REQ_GET_GEOM, (void *)&pgeom);
return (0);
}
PRINT_WARN2("stage gripper doesn't support message id:%d/%d", hdr->type, hdr->subtype);
return -1;
}