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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: p_laser.cc,v 1.18 2006/03/22 08:46:29 rtv Exp $
*/
// DOCUMENTATION ------------------------------------------------------------
/** @addtogroup player
@par Laser interface
- PLAYER_LASER_DATA_SCAN
- PLAYER_LASER_REQ_SET_CONFIG
- PLAYER_LASER_REQ_GET_CONFIG
- PLAYER_LASER_REQ_GET_GEOM
*/
// CODE ----------------------------------------------------------------------
#include "p_driver.h"
extern "C" {
int laser_init( stg_model_t* mod );
}
InterfaceLaser::InterfaceLaser( player_devaddr_t addr,
StgDriver* driver,
ConfigFile* cf,
int section )
: InterfaceModel( addr, driver, cf, section, laser_init )
{
this->scan_id = 0;
}
void InterfaceLaser::Publish( void )
{
size_t len = 0;
stg_laser_sample_t* samples = (stg_laser_sample_t*)mod->data;
int sample_count = mod->data_len / sizeof( stg_laser_sample_t );
player_laser_data_t pdata;
memset( &pdata, 0, sizeof(pdata) );
stg_laser_config_t *cfg = (stg_laser_config_t*)mod->cfg;
assert(cfg);
if( sample_count != cfg->samples )
{
//PRINT_ERR2( "bad laser data: got %d/%d samples",
// sample_count, cfg->samples );
}
else
{
pdata.min_angle = -cfg->fov/2.0;
pdata.max_angle = +cfg->fov/2.0;
pdata.max_range = cfg->range_max;
pdata.resolution = cfg->fov / (double)(cfg->samples-1);
pdata.ranges_count = pdata.intensity_count = cfg->samples;
pdata.id = this->scan_id++;
for( int i=0; i<cfg->samples; i++ )
{
//printf( "range %d %d\n", i, samples[i].range);
pdata.ranges[i] = samples[i].range;
pdata.intensity[i] = (uint8_t)samples[i].reflectance;
}
// Write laser data
this->driver->Publish(this->addr, NULL,
PLAYER_MSGTYPE_DATA,
PLAYER_LASER_DATA_SCAN,
(void*)&pdata, sizeof(pdata), NULL);
}
}
int InterfaceLaser::ProcessMessage(MessageQueue* resp_queue,
player_msghdr_t* hdr,
void* data)
{
// Is it a request to set the laser's config?
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LASER_REQ_SET_CONFIG,
this->addr))
{
player_laser_config_t* plc = (player_laser_config_t*)data;
if( hdr->size == sizeof(player_laser_config_t) )
{
// TODO
// int intensity = plc->intensity;
PRINT_DEBUG3( "requested laser config:\n %f %f %f",
RTOD(plc->min_angle), RTOD(plc->max_angle),
plc->resolution/1e2);
stg_laser_config_t *current = (stg_laser_config_t*)mod->cfg;
assert( current );
stg_laser_config_t slc;
// copy the existing config
memcpy( &slc, current, sizeof(slc));
// tweak the parts that player knows about
slc.fov = plc->max_angle - plc->min_angle;
slc.samples = (int)(slc.fov / DTOR(plc->resolution/1e2));
PRINT_DEBUG2( "setting laser config: fov %.2f samples %d",
slc.fov, slc.samples );
stg_model_set_cfg( this->mod, &slc, sizeof(slc));
this->driver->Publish(this->addr, resp_queue,
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LASER_REQ_SET_CONFIG);
return(0);
}
else
{
PRINT_ERR2("config request len is invalid (%d != %d)",
(int)hdr->size, (int)sizeof(player_laser_config_t));
return(-1);
}
}
// Is it a request to get the laser's config?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LASER_REQ_GET_CONFIG,
this->addr))
{
if( hdr->size == 0 )
{
stg_laser_config_t *slc = (stg_laser_config_t*)mod->cfg;
assert(slc);
uint8_t angular_resolution = (uint8_t)(RTOD(slc->fov / (slc->samples-1)) * 100);
int intensity = 1; // todo
//printf( "laser config:\n %d %d %d %d\n",
// min_angle, max_angle, angular_resolution, intensity );
player_laser_config_t plc;
memset(&plc,0,sizeof(plc));
plc.min_angle = -slc->fov/2.0;
plc.max_angle = +slc->fov/2.0;
plc.max_range = slc->range_max;
plc.resolution = angular_resolution;
plc.intensity = intensity;
this->driver->Publish(this->addr, resp_queue,
PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LASER_REQ_GET_CONFIG,
(void*)&plc, sizeof(plc), NULL);
return(0);
}
else
{
PRINT_ERR2("config request len is invalid (%d != %d)", (int)hdr->size,0);
return(-1);
}
}
// Is it a request to get the laser's geom?
else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_LASER_REQ_GET_GEOM,
this->addr))
{
if(hdr->size == 0)
{
stg_geom_t geom;
stg_model_get_geom( this->mod, &geom );
stg_pose_t pose;
stg_model_get_pose( this->mod, &pose);
// fill in the geometry data formatted player-like
player_laser_geom_t pgeom;
pgeom.pose.px = pose.x;
pgeom.pose.py = pose.y;
pgeom.pose.pa = 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_LASER_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 laser doesn't support message %d:%d.",
hdr->type, hdr->subtype);
return(-1);
}
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