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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: Ranger interface for Stage's player driver
* Author: Richard Vaughan
* Date: 25 November 2010
* CVS: $Id$
*/
// DOCUMENTATION ------------------------------------------------------------
/** @addtogroup player
@par Ranger interface
- PLAYER_RANGER_DATA_RANGE
- PLAYER_RANGER_DATA_INTENS
- PLAYER_RANGER_REQ_GET_CONFIG
- PLAYER_RANGER_REQ_GET_GEOM
*/
// CODE ----------------------------------------------------------------------
#include "p_driver.h"
using namespace Stg;
InterfaceRanger::InterfaceRanger(player_devaddr_t addr, StgDriver *driver, ConfigFile *cf,
int section)
: InterfaceModel(addr, driver, cf, section, "ranger")
{
this->scan_id = 0;
}
void InterfaceRanger::Publish(void)
{
ModelRanger *rgr = dynamic_cast<ModelRanger *>(this->mod);
// the Player interface dictates that if multiple sensor poses are
// given, then we have exactly one range reading per sensor. To give
// multiple ranges from the same origin, only one sensor is allowed.
// need to use the mutable version since we access the range data via a regular pointer
std::vector<ModelRanger::Sensor> &sensors = rgr->GetSensorsMutable();
player_ranger_data_range_t prange;
memset(&prange, 0, sizeof(prange));
player_ranger_data_intns_t pintens;
memset(&pintens, 0, sizeof(pintens));
std::vector<double> rv, iv;
if (sensors.size() == 1) // a laser scanner type, with one beam origin and many ranges
{
prange.ranges_count = sensors[0].ranges.size();
prange.ranges = prange.ranges_count ? &sensors[0].ranges[0] : NULL;
pintens.intensities_count = sensors[0].intensities.size();
pintens.intensities = pintens.intensities_count ? &sensors[0].intensities[0] : NULL;
} else { // a sonar/IR type with one range per beam origin
FOR_EACH (it, sensors) {
if (it->ranges.size())
rv.push_back(it->ranges[0]);
if (it->intensities.size())
iv.push_back(it->intensities[0]);
}
prange.ranges_count = rv.size();
prange.ranges = rv.size() ? &rv[0] : NULL;
pintens.intensities_count = iv.size();
pintens.intensities = iv.size() ? &iv[0] : NULL;
}
if (prange.ranges_count)
this->driver->Publish(this->addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_RANGE,
(void *)&prange, sizeof(prange), NULL);
if (pintens.intensities_count)
this->driver->Publish(this->addr, PLAYER_MSGTYPE_DATA, PLAYER_RANGER_DATA_INTNS,
(void *)&pintens, sizeof(pintens), NULL);
}
int InterfaceRanger::ProcessMessage(QueuePointer &resp_queue, player_msghdr_t *hdr, void *data)
{
ModelRanger *mod = (ModelRanger *)this->mod;
// Is it a request to get the ranger's config?
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_CONFIG, this->addr)) {
if (hdr->size == 0) {
// the Player ranger config is a little weaker than Stage's
// natice device, so all we can do is warn about this.
PRINT_WARN("stageplugin ranger config describes only the first sensor of the ranger.");
player_ranger_config_t prc;
bzero(&prc, sizeof(prc));
const ModelRanger::Sensor &s = mod->GetSensors()[0];
prc.min_angle = -s.fov / 2.0;
prc.max_angle = +s.fov / 2.0;
prc.angular_res = s.fov / (double)s.sample_count;
prc.max_range = s.range.max;
prc.min_range = s.range.min;
prc.range_res = 1.0 / mod->GetWorld()->Resolution();
prc.frequency = 1.0E6 / mod->GetInterval();
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_GET_CONFIG, (void *)&prc, sizeof(prc), NULL);
return (0);
} else {
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size, 0);
return (-1);
}
} else // Is it a request to get the ranger's geom?
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, PLAYER_RANGER_REQ_GET_GEOM, this->addr)) {
if (hdr->size == 0) {
Geom geom = mod->GetGeom();
Pose pose = mod->GetPose();
const std::vector<ModelRanger::Sensor> &sensors = mod->GetSensors();
// fill in the geometry data formatted player-like
player_ranger_geom_t pgeom;
bzero(&pgeom, sizeof(pgeom));
pgeom.pose.px = pose.x;
pgeom.pose.py = pose.y;
pgeom.pose.pyaw = pose.a;
pgeom.size.sl = geom.size.x;
pgeom.size.sw = geom.size.y;
pgeom.element_poses_count = pgeom.element_sizes_count = sensors.size();
player_pose3d_t poses[sensors.size()];
player_bbox3d_t sizes[sensors.size()];
for (size_t s = 0; s < pgeom.element_poses_count; s++) {
poses[s].px = sensors[s].pose.x;
poses[s].py = sensors[s].pose.y;
poses[s].pz = sensors[s].pose.z;
poses[s].proll = 0.0;
poses[s].ppitch = 0.0;
poses[s].pyaw = sensors[s].pose.a;
sizes[s].sw = sensors[s].size.x;
sizes[s].sl = sensors[s].size.y;
sizes[s].sh = sensors[s].size.z;
}
pgeom.element_poses = poses;
pgeom.element_sizes = sizes;
this->driver->Publish(this->addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_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);
}
}
// Don't know how to handle this message.
PRINT_WARN2("stage ranger doesn't support message %d:%d.", hdr->type, hdr->subtype);
return (-1);
}