Permalink
Find file
Fetching contributors…
Cannot retrieve contributors at this time
235 lines (194 sloc) 7.94 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 Position interface
- PLAYER_POSITION2D_CMD_POS
- PLAYER_POSITION2D_CMD_VEL
- PLAYER_POSITION2D_CMD_CAR
- PLAYER_POSITION2D_DATA_STATE
- PLAYER_POSITION2D_REQ_GET_GEOM
- PLAYER_POSITION2D_REQ_MOTOR_POWER
- PLAYER_POSITION2D_REQ_RESET_ODOM
- PLAYER_POSITION2D_REQ_SET_ODOM
- PLAYER_POSITION2D_REQ_POSITION_MODE
*/
// CODE ----------------------------------------------------------------------
#include "p_driver.h"
using namespace Stg;
InterfacePosition::InterfacePosition(player_devaddr_t addr, StgDriver *driver, ConfigFile *cf,
int section)
: InterfaceModel(addr, driver, cf, section, "position")
{
// puts( "InterfacePosition constructor" );
}
int InterfacePosition::ProcessMessage(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
{
ModelPosition *mod = (ModelPosition *)this->mod;
// Is it a new motor command?
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL, this->addr)) {
// convert from Player to Stage format
player_position2d_cmd_vel_t *pcmd = (player_position2d_cmd_vel_t *)data;
// position_cmd_t scmd;
// memset( &scmd, 0, sizeof(scmd));
mod->SetSpeed(pcmd->vel.px, pcmd->vel.py, pcmd->vel.pa);
return 0;
}
// Is it a new motor command?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_POS, this->addr)) {
// convert from Player to Stage format
player_position2d_cmd_pos_t *pcmd = (player_position2d_cmd_pos_t *)data;
mod->GoTo(pcmd->pos.px, pcmd->pos.py, pcmd->pos.pa);
return 0;
}
// Is it a new motor command?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_CAR, this->addr)) {
// convert from Player to Stage format
player_position2d_cmd_car_t *pcmd = (player_position2d_cmd_car_t *)data;
mod->SetSpeed(pcmd->velocity, 0, pcmd->angle);
return 0;
}
// Is it a request for position geometry?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_GET_GEOM,
this->addr)) {
if (hdr->size == 0) {
Geom geom = this->mod->GetGeom();
// fill in the geometry data formatted player-like
player_position2d_geom_t pgeom;
pgeom.pose.px = geom.pose.x;
pgeom.pose.py = geom.pose.y;
pgeom.pose.pyaw = geom.pose.a;
pgeom.size.sl = geom.size.x;
pgeom.size.sw = geom.size.y;
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION2D_REQ_GET_GEOM, (void *)&pgeom, sizeof(pgeom), NULL);
return 0;
} else {
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size, 0);
return (-1);
}
}
// Is it a request to reset odometry?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_RESET_ODOM,
this->addr)) {
if (hdr->size == 0) {
PRINT_DEBUG("resetting odometry");
mod->est_pose.x = 0;
mod->est_pose.y = 0;
mod->est_pose.z = 0;
mod->est_pose.a = 0;
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION2D_REQ_RESET_ODOM);
return 0;
} else {
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size, 0);
return -1;
}
}
// Is it a request to set odometry?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_SET_ODOM,
this->addr)) {
if (hdr->size == sizeof(player_position2d_set_odom_req_t)) {
player_position2d_set_odom_req_t *req = (player_position2d_set_odom_req_t *)data;
mod->est_pose.x = req->pose.px;
mod->est_pose.y = req->pose.py;
// mod->est_pose.z = req->pose.pz;
mod->est_pose.a = req->pose.pa;
PRINT_DEBUG3("set odometry to (%.2f,%.2f,%.2f)", pose.x, pose.y, pose.a);
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION2D_REQ_SET_ODOM);
return (0);
} else {
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size,
(int)sizeof(player_position2d_set_odom_req_t));
return (-1);
}
}
// Is it a request to enable motor power?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_MOTOR_POWER,
this->addr)) {
if (hdr->size == sizeof(player_position2d_power_config_t)) {
player_position2d_power_config_t *req = (player_position2d_power_config_t *)data;
int motors_on = req->state;
PRINT_WARN1("Stage ignores motor power state (%d)", motors_on);
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION2D_REQ_MOTOR_POWER);
return (0);
} else {
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size,
(int)sizeof(player_position2d_power_config_t));
return (-1);
}
}
// Is it a request to switch control mode?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_POSITION2D_REQ_POSITION_MODE,
this->addr)) {
if (hdr->size == sizeof(player_position2d_position_mode_req_t)) {
// player_position2d_position_mode_req_t* req =
// (player_position2d_position_mode_req_t*)data;
// position_control_mode_t mode = (position_control_mode_t)req->state;
PRINT_WARN2("Put model %s into %s control mode", this->mod->Token(),
mod ? "POSITION" : "VELOCITY");
PRINT_WARN("set control mode not yet implemented");
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_POSITION2D_REQ_POSITION_MODE);
return (0);
} else {
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size,
(int)sizeof(player_position2d_position_mode_req_t));
return (-1);
}
}
// else
// Don't know how to handle this message.
PRINT_WARN2("position doesn't support msg with type %d subtype %d", hdr->type, hdr->subtype);
return (-1);
}
void InterfacePosition::Publish(void)
{
// puts( "publishing position data" );
ModelPosition *mod = (ModelPosition *)this->mod;
// printf( "stage position data: %.2f,%.2f,%.2f\n",
// data->pose.x, data->pose.y, data->pose.a );
player_position2d_data_t ppd;
bzero(&ppd, sizeof(ppd));
// pack the data into player format
// packing by hand allows for type conversions
ppd.pos.px = mod->est_pose.x;
ppd.pos.py = mod->est_pose.y;
// ppd.pos.pz = mod->est_pose.z;
ppd.pos.pa = mod->est_pose.a;
Velocity v = mod->GetVelocity();
ppd.vel.px = v.x;
ppd.vel.py = v.y;
ppd.vel.pa = v.a;
// etc
ppd.stall = this->mod->Stalled();
// publish this data
this->driver->Publish(this->addr, PLAYER_MSGTYPE_DATA, PLAYER_POSITION2D_DATA_STATE, (void *)&ppd,
sizeof(ppd), NULL);
}