working on fixing player plugin

rtv · Nov 23, 2010 · 1d44d2b · 1d44d2b
1 parent 15132c8
commit 1d44d2b
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Showing 6 changed files with 230 additions and 219 deletions.
diff --git a/avonstage/avonstage.cc b/avonstage/avonstage.cc
@@ -179,7 +179,7 @@ int RangerData( Stg::Model* mod, av_msg_t* data )
 		t.pose[5] = s.pose.a;		
 
 		const std::vector<Stg::meters_t>& ranges = s.ranges;
-		const std::vector<float>& intensities = s.intensities;
+		const std::vector<double>& intensities = s.intensities;
 
 		assert( ranges.size() == intensities.size() );
 

diff --git a/libstage/model.cc b/libstage/model.cc
@@ -339,55 +339,54 @@ void Model::GuiState::Load( Worldfile* wf, int wf_entity )
 // constructor
 Model::Model( World* world,
 							Model* parent,
-							const std::string& type ) :
+				  const std::string& type ) :
   Ancestor(), 	 
   alwayson(false),
   blockgroup(),
   blocks_dl(0),
   boundary(false),
-	callbacks(__CB_TYPE_COUNT), // one slot in the vector for each type
+  callbacks(__CB_TYPE_COUNT), // one slot in the vector for each type
   color( 1,0,0 ), // red
   data_fresh(false),
   disabled(false),
-	cv_list(),
-	flag_list(),
-	geom(),
-	has_default_block( true ),
-	id( Model::count++ ),
-	interval((usec_t)1e5), // 100msec
-	interval_energy((usec_t)1e5), // 100msec
-	interval_pose((usec_t)1e5), // 100msec
-	last_update(0),
-	log_state(false),
-	map_resolution(0.1),
-	mass(0),
-	parent(parent),
-	pose(),
-	power_pack( NULL ),
-	pps_charging(),
-	rastervis(),
-	rebuild_displaylist(true),
-	say_string(),
-	stack_children( true ),
-	stall(false),	 
-	subs(0),
-	thread_safe( false ),
-	trail(trail_length),
-	trail_index(0),
-	type(type),	
-	event_queue_num( 0 ),
-	used(false),
-	velocity(),
-	velocity_enable( false ),
-	watts(0.0),
-	watts_give(0.0),
-	watts_take(0.0),	 
-	wf(NULL),
-	wf_entity(0),
-	world(world),
-	world_gui( dynamic_cast<WorldGui*>( world ) )
-{
-  //assert( modelsbyid );
+  cv_list(),
+  flag_list(),
+  geom(),
+  has_default_block( true ),
+  id( Model::count++ ),
+  interval((usec_t)1e5), // 100msec
+  interval_energy((usec_t)1e5), // 100msec
+  interval_pose((usec_t)1e5), // 100msec
+  last_update(0),
+  log_state(false),
+  map_resolution(0.1),
+  mass(0),
+  parent(parent),
+  pose(),
+  power_pack( NULL ),
+  pps_charging(),
+  rastervis(),
+  rebuild_displaylist(true),
+  say_string(),
+  stack_children( true ),
+  stall(false),	 
+  subs(0),
+  thread_safe( false ),
+  trail(trail_length),
+  trail_index(0),
+  type(type),	
+  event_queue_num( 0 ),
+  used(false),
+  velocity(),
+  velocity_enable( false ),
+  watts(0.0),
+  watts_give(0.0),
+  watts_take(0.0),	 
+  wf(NULL),
+  wf_entity(0),
+  world(world),
+  world_gui( dynamic_cast<WorldGui*>( world ) )
+{
   assert( world );
 
   PRINT_DEBUG3( "Constructing model world: %s parent: %s type: %s \n",

diff --git a/libstage/stage.hh b/libstage/stage.hh
@@ -2793,7 +2793,7 @@ namespace Stg
 			static Option showTransducers;		
 
 			Vis( World* world );		
-			virtual ~Vis( void ){}
+		  virtual ~Vis( void ){} 
 			virtual void Visualize( Model* mod, Camera* cam );
 		} vis;
 
@@ -2808,7 +2808,7 @@ namespace Stg
 			Color col;
 
 			std::vector<meters_t> ranges;
-			std::vector<float_t> intensities;
+			std::vector<double> intensities;
 
 			Sensor() : pose( 0,0,0,0 ), 
 								 size( 0.02, 0.02, 0.02 ), // teeny transducer
@@ -2824,32 +2824,32 @@ namespace Stg
 			void Load( Worldfile* wf, int entity );
 		};
 
-		/** returns a const reference to a vector of range and reflectance samples */
-			const std::vector<Sensor>& GetSensors() const
-		{ return sensors; }
-
-		/** returns a vector of range samples from the indicated sensor
-				(defaults to zero) */
-		const std::vector<meters_t>& GetRanges( unsigned int sensor=0) const 
-		{ 
-			if( sensor < sensors.size() )
-				return sensors[sensor].ranges;
-
-			PRINT_ERR1( "invalid sensor index specified (%d)", sensor );
-			exit(-1);
-		}
+	 /** returns a const reference to a vector of range and reflectance samples */
+	 const std::vector<Sensor>& GetSensors() const
+	 { return sensors; }
+
+	 /** returns a vector of range samples from the indicated sensor
+		  (defaults to zero) */
+	 const std::vector<meters_t>& GetRanges( unsigned int sensor=0) const 
+	 { 
+		if( sensor < sensors.size() )
+		  return sensors[sensor].ranges;
 
-		/** returns a vector of intensitye samples from the indicated sensor
-				(defaults to zero) */
-		const std::vector<float_t>& GetIntensities( unsigned int sensor=0) const 
-		{ 
-			if( sensor < sensors.size() )
-				return sensors[sensor].intensities;
-			
-			PRINT_ERR1( "invalid sensor index specified (%d)", sensor );
-			exit(-1);
-		}
+		PRINT_ERR1( "invalid sensor index specified (%d)", sensor );
+		exit(-1);
+	 }
+
+	 /** returns a vector of intensitye samples from the indicated sensor
+		  (defaults to zero) */
+	 const std::vector<double>& GetIntensities( unsigned int sensor=0) const 
+	 { 
+		if( sensor < sensors.size() )
+		  return sensors[sensor].intensities;
 
+		PRINT_ERR1( "invalid sensor index specified (%d)", sensor );
+		exit(-1);
+	 }
+
 		void LoadSensor( Worldfile* wf, int entity );
 
   private:

diff --git a/libstageplugin/p_driver.cc b/libstageplugin/p_driver.cc
@@ -106,7 +106,7 @@ driver
 driver
 (
   name "stage"
-  provides ["position2d:0" "laser:0"]
+  provides ["position2d:0" "ranger:0"]
   model "marvin"
 )
 

diff --git a/libstageplugin/p_driver.h b/libstageplugin/p_driver.h
@@ -176,8 +176,8 @@ class InterfaceRanger : public InterfaceModel
   private:
     int scan_id;
  public:
-  InterfaceLaser( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
-  virtual ~InterfaceLaser( void ){ /* TODO: clean up*/ };
+  InterfaceRanger( player_devaddr_t addr, StgDriver* driver, ConfigFile* cf, int section );
+  virtual ~InterfaceRanger( void ){ /* TODO: clean up*/ };
   virtual int ProcessMessage(QueuePointer & resp_queue,
 			      player_msghdr_t* hdr,
 			      void* data);