sonarinterface.cc

来自「机器人人3D仿真工具,可以加入到Simbad仿真环境下应用。」· CC 代码 · 共 182 行

/*
 *  Gazebo - Outdoor Multi-Robot Simulator
 *  Copyright (C) 2003  
 *     Nate Koenig & Andrew Howard
 *
 *  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: Sonar Interface for Player
 * Author: Nate Koenig
 * Date: 2 March 2006
 * CVS: $Id: SonarInterface.cc,v 1.3 2006/03/03 21:11:04 natepak Exp $
 */

/**
@addtogroup player
@par Sonar Interface
- PLAYER_SONAR_REQ_GET_GEOM
*/

/* TODO
PLAYER_SONAR_REQ_POWER
*/

#include <math.h>

#include "gazebo.h"
#include "GazeboDriver.hh"
#include "SonarInterface.hh"

///////////////////////////////////////////////////////////////////////////////
// Constructor
SonarInterface::SonarInterface(player_devaddr_t addr, 
    GazeboDriver *driver, ConfigFile *cf, int section)
  : GazeboInterface(addr, driver, cf, section)
{
  // Get the ID of the interface
  this->gz_id = (char*) calloc(1024, sizeof(char));
  strcat(this->gz_id, GazeboClient::prefixId);
  strcat(this->gz_id, cf->ReadString(section, "gz_id", ""));

  // Allocate a Position Interface
  this->iface = gz_sonar_alloc();

  this->datatime = -1;
}

///////////////////////////////////////////////////////////////////////////////
// Destructor
SonarInterface::~SonarInterface()
{
  // Release this interface
  gz_sonar_free(this->iface); 
}

///////////////////////////////////////////////////////////////////////////////
// Handle all messages. This is called from GazeboDriver
int SonarInterface::ProcessMessage(MessageQueue *respQueue,
                   player_msghdr_t *hdr, void *data)
{
  if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, 
        PLAYER_SONAR_REQ_GET_GEOM, this->device_addr))
  {
    player_sonar_geom_t geom;

    gz_sonar_lock(this->iface, 1);

    geom.poses_count = this->iface->data->sonar_count;

    //the position of valid sonar
    for (int i = 0; i < this->iface->data->sonar_count; i++)
    {
      geom.poses[i].px = this->iface->data->sonar_pos[i][0];
      geom.poses[i].py = this->iface->data->sonar_pos[i][1];
      geom.poses[i].pa = this->iface->data->sonar_rot[i][2];
    }
    gz_sonar_unlock(this->iface);

    this->driver->Publish(this->device_addr, respQueue,
        PLAYER_MSGTYPE_RESP_ACK, 
        PLAYER_SONAR_REQ_GET_GEOM,
        &geom, sizeof(geom), NULL);

    return 0;
  }

  else if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, 
        PLAYER_SONAR_REQ_POWER,this->device_addr))
  {
    player_sonar_power_config_t *power;

    assert((size_t) hdr->size >= sizeof(player_sonar_power_config_t));
    power = (player_sonar_power_config_t*) data;

    gz_sonar_lock(this->iface, 1);

    // TODO

    gz_sonar_unlock(this->iface);

    this->driver->Publish(this->device_addr, respQueue,
        PLAYER_MSGTYPE_RESP_ACK, 
        PLAYER_SONAR_REQ_POWER,
        power, sizeof(*power), NULL);

    return 0;
  }

  return -1;
}

///////////////////////////////////////////////////////////////////////////////
// Update this interface, publish new info. This is
// called from GazeboDriver::Update
void SonarInterface::Update()
{
  player_sonar_data_t data;
  struct timeval ts;

  gz_sonar_lock(this->iface, 1);

  // Only Update when new data is present
  if (this->iface->data->time > this->datatime)
  {
    int i;
    float rangeRes;
    float angleRes;

    this->datatime = this->iface->data->time;

    ts.tv_sec = (int) (this->iface->data->time);
    ts.tv_usec = (int) (fmod(this->iface->data->time, 1) * 1e6);

    memset(&data, 0, sizeof(data));

    data.ranges_count = this->iface->data->sonar_count;

    for (int i = 0; i < this->iface->data->sonar_count; i++)
      data.ranges[i] = this->iface->data->sonar_ranges[i];

    this->driver->Publish( this->device_addr, NULL,
                   PLAYER_MSGTYPE_DATA,
                   PLAYER_SONAR_DATA_RANGES,     
                   (void*)&data, sizeof(data), &this->datatime );

  }

  gz_sonar_unlock(this->iface);
}


///////////////////////////////////////////////////////////////////////////////
// Open a SHM interface when a subscription is received. This is called from
// GazeboDriver::Subscribe
void SonarInterface::Subscribe()
{
  // Open the interface
  if (gz_sonar_open(this->iface, GazeboClient::client, this->gz_id) != 0)
  {
    printf("Error Subscribing to Gazebo Position Interface\n");
  }
}

///////////////////////////////////////////////////////////////////////////////
// Close a SHM interface. This is called from GazeboDriver::Unsubscribe
void SonarInterface::Unsubscribe()
{
  gz_sonar_close(this->iface);
}