fiducialinterface.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 214 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: Fiducial Interface for Player
 * Author: Nate Koenig
 * Date: 2 March 2006
 * CVS: $Id: FiducialInterface.cc,v 1.2 2006/03/03 21:11:04 natepak Exp $
 */

/**
@addtogroup player
@par Fiducial Interface
- PLAYER_FIDUCIAL_REQ_GET_GEOM
*/

/* TODO
- PLAYER_FIDUCIAL_REQ_GET_GEOM
- PLAYER_FIDUCIAL_REQ_SET_ID
- PLAYER_FIDUCIAL_REQ_GET_ID
*/


#include <math.h>

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

///////////////////////////////////////////////////////////////////////////////
// Constructor
FiducialInterface::FiducialInterface(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_fiducial_alloc();

  this->datatime = -1;
}

///////////////////////////////////////////////////////////////////////////////
// Destructor
FiducialInterface::~FiducialInterface()
{
  // Release this interface
  gz_fiducial_free(this->iface); 
}

///////////////////////////////////////////////////////////////////////////////
// Handle all messages. This is called from GazeboDriver
int FiducialInterface::ProcessMessage(MessageQueue *respQueue,
                   player_msghdr_t *hdr, void *data)
{
  // Is it a request to get the geometry?
  if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, 
        PLAYER_FIDUCIAL_REQ_GET_GEOM, this->device_addr))
  {
    player_fiducial_geom_t rep;

    rep.pose.px = 0.0;
    rep.pose.py = 0.0;
    rep.pose.pa = 0.0;
    rep.size.sw = 0.0;
    rep.size.sl = 0.0;
    rep.fiducial_size.sw = 0.05;
    rep.fiducial_size.sl = 0.50;

    this->driver->Publish(this->device_addr, respQueue,
        PLAYER_MSGTYPE_RESP_ACK, 
        PLAYER_FIDUCIAL_REQ_GET_GEOM, 
        &rep, sizeof(rep),NULL);

    return 0;
  }
  
  else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, 
        PLAYER_FIDUCIAL_REQ_SET_ID, this->device_addr))
  {  
    if( hdr->size == sizeof(player_fiducial_id_t) )
    {
      // TODO: Implement me

      player_fiducial_id_t pid;
      pid.id = 0;

      // acknowledge, including the new ID
      this->driver->Publish(this->device_addr, respQueue,
          PLAYER_MSGTYPE_RESP_ACK, 
          PLAYER_FIDUCIAL_REQ_SET_ID,
          (void*)&pid, sizeof(pid) );

      return 0;
    }
    else
    {
      printf("Incorrect packet size setting fiducial ID (%d/%d)",
          (int)hdr->size, (int)sizeof(player_fiducial_id_t) );      

      return -1; // error - NACK is sent automatically
    }
  }  
  else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ, 
        PLAYER_FIDUCIAL_REQ_GET_ID, this->device_addr))
  {

    // TODO: Implement me
    
    // fill in the data formatted player-like
    player_fiducial_id_t pid;
    pid.id = 0;

    // acknowledge, including the new ID
    this->driver->Publish(this->device_addr, respQueue,
        PLAYER_MSGTYPE_RESP_ACK, 
        PLAYER_FIDUCIAL_REQ_GET_ID,
        (void*)&pid, sizeof(pid) );      

    return 0;
  }      

  return -1;
}

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

  gz_fiducial_lock(this->iface, 1);

  // Only Update when new data is present
  if (this->iface->data->time > this->datatime)
  {
    int i;
    gz_fiducial_fid_t *fid;

    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));

    for (i = 0; i < this->iface->data->fid_count; i++)
    {
      fid = this->iface->data->fids + i;
      if (i >= PLAYER_FIDUCIAL_MAX_SAMPLES)
        break;

      data.fiducials[i].id = (int16_t) fid->id;

      data.fiducials[i].pose.px = fid->pos[0];
      data.fiducials[i].pose.py = fid->pos[1];
      data.fiducials[i].pose.pz = fid->pos[2];      
      data.fiducials[i].pose.proll = fid->rot[0];
      data.fiducials[i].pose.ppitch = fid->rot[1];
      data.fiducials[i].pose.pyaw = fid->rot[2];
    }
    data.fiducials_count = i;

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

  gz_fiducial_unlock(this->iface);
}


///////////////////////////////////////////////////////////////////////////////
// Open a SHM interface when a subscription is received. This is called from
// GazeboDriver::Subscribe
void FiducialInterface::Subscribe()
{
  // Open the interface
  if (gz_fiducial_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 FiducialInterface::Unsubscribe()
{
  gz_fiducial_close(this->iface);
}