Revision: 6885
http://playerstage.svn.sourceforge.net/playerstage/?rev=6885&view=rev
Author: jeremy_asher
Date: 2008-07-17 21:30:23 +0000 (Thu, 17 Jul 2008)
Log Message:
-----------
stage: added player plugin test, added CMake options to toggle building plugin
and plugin tests
Modified Paths:
--------------
code/stage/trunk/CMakeLists.txt
code/stage/trunk/libstageplugin/CMakeLists.txt
code/stage/trunk/libstageplugin/p_driver.cc
code/stage/trunk/libstageplugin/p_fiducial.cc
code/stage/trunk/libstageplugin/p_speech.cc
code/stage/trunk/worlds/simple.cfg
Added Paths:
-----------
code/stage/trunk/libstageplugin/test/
code/stage/trunk/libstageplugin/test/CMakeLists.txt
code/stage/trunk/libstageplugin/test/lsp_test.cc
Modified: code/stage/trunk/CMakeLists.txt
===================================================================
--- code/stage/trunk/CMakeLists.txt 2008-07-17 21:22:33 UTC (rev 6884)
+++ code/stage/trunk/CMakeLists.txt 2008-07-17 21:30:23 UTC (rev 6885)
@@ -10,6 +10,8 @@
# minimum version of Player to build the plugin
SET( MIN_PLAYER 2.1.0 )
+OPTION (BUILD_PLAYER_PLUGIN "Build Player plugin" ON)
+OPTION (BUILD_LSPTEST "Build Player plugin tests" OFF)
cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
@@ -59,7 +61,6 @@
MESSAGE (STATUS "pkg-config not found, skipping Player plugin")
ENDIF (PKGCONFIG)
-
# find FLTK and set flags
FIND_PROGRAM (FLTKCONFIG NAMES fltk-config)
IF (FLTKCONFIG)
@@ -107,9 +108,9 @@
ADD_SUBDIRECTORY(assets)
ADD_SUBDIRECTORY(worlds)
-IF ( PLAYER_FOUND )
+IF ( BUILD_PLAYER_PLUGIN AND PLAYER_FOUND )
ADD_SUBDIRECTORY(libstageplugin)
-ENDIF ( PLAYER_FOUND )
+ENDIF ( BUILD_PLAYER_PLUGIN AND PLAYER_FOUND )
# generate a cpack config file used to create packaged tarballs
Modified: code/stage/trunk/libstageplugin/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstageplugin/CMakeLists.txt 2008-07-17 21:22:33 UTC
(rev 6884)
+++ code/stage/trunk/libstageplugin/CMakeLists.txt 2008-07-17 21:30:23 UTC
(rev 6885)
@@ -1,3 +1,4 @@
+MESSAGE( STATUS "Building Player plugin" )
link_directories( ${PLAYER_LIBDIR} )
include_directories( ${PLAYER_INCLUDE_DIRS})
@@ -26,6 +27,10 @@
)
+IF (BUILD_LSPTEST)
+ ADD_SUBDIRECTORY(test)
+ENDIF (BUILD_LSPTEST)
+
INSTALL(TARGETS stageplugin
LIBRARY DESTINATION lib
)
Modified: code/stage/trunk/libstageplugin/p_driver.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_driver.cc 2008-07-17 21:22:33 UTC (rev
6884)
+++ code/stage/trunk/libstageplugin/p_driver.cc 2008-07-17 21:30:23 UTC (rev
6885)
@@ -568,6 +568,7 @@
for( int i=0; i<(int)this->devices->len; i++ )
{
Interface* interface = (Interface*)g_ptr_array_index( this->devices, i );
+
assert( interface );
switch( interface->addr.interf )
Modified: code/stage/trunk/libstageplugin/p_fiducial.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_fiducial.cc 2008-07-17 21:22:33 UTC
(rev 6884)
+++ code/stage/trunk/libstageplugin/p_fiducial.cc 2008-07-17 21:30:23 UTC
(rev 6885)
@@ -68,11 +68,7 @@
assert( fids );
pdata.fiducials_count = fidmod->fiducial_count;
-
- //printf( "reporting %d fiducials\n",
- // fcount );
-
- pdata.fiducials = new player_fiducial_item_t[pdata.fiducials_count];
+ pdata.fiducials = new
player_fiducial_item_t[pdata.fiducials_count];
for( int i=0; i<(int)pdata.fiducials_count; i++ )
{
Modified: code/stage/trunk/libstageplugin/p_speech.cc
===================================================================
--- code/stage/trunk/libstageplugin/p_speech.cc 2008-07-17 21:22:33 UTC (rev
6884)
+++ code/stage/trunk/libstageplugin/p_speech.cc 2008-07-17 21:30:23 UTC (rev
6885)
@@ -81,9 +81,6 @@
mod->Say( pcmd->string );
- this->driver->Publish(this->addr, resp_queue,
-
PLAYER_MSGTYPE_RESP_ACK,
-
PLAYER_SPEECH_CMD_SAY);
return( 0 );
}
else
Added: code/stage/trunk/libstageplugin/test/CMakeLists.txt
===================================================================
--- code/stage/trunk/libstageplugin/test/CMakeLists.txt
(rev 0)
+++ code/stage/trunk/libstageplugin/test/CMakeLists.txt 2008-07-17 21:30:23 UTC
(rev 6885)
@@ -0,0 +1,10 @@
+MESSAGE( STATUS "Building Player plugin tests" )
+
+pkg_search_module( PLAYERC REQUIRED playerc )
+
+SET( lspTestSrcs
+ lsp_test.cc
+)
+
+add_executable( lsp_test ${lspTestSrcs} )
+target_link_libraries( lsp_test PLAYERC )
Added: code/stage/trunk/libstageplugin/test/lsp_test.cc
===================================================================
--- code/stage/trunk/libstageplugin/test/lsp_test.cc
(rev 0)
+++ code/stage/trunk/libstageplugin/test/lsp_test.cc 2008-07-17 21:30:23 UTC
(rev 6885)
@@ -0,0 +1,42 @@
+#include <stdio.h>
+
+#include <libplayerc/playerc.h>
+
+int main(int argc, const char **argv)
+{
+ int i;
+ playerc_client_t *client;
+ playerc_position2d_t *position2d;
+
+ // Create a client and connect it to the server.
+ client = playerc_client_create(NULL, "localhost", 6665);
+ if (0 != playerc_client_connect(client))
+ return -1;
+
+ // Create and subscribe to a position2d device.
+ position2d = playerc_position2d_create(client, 0);
+ if (playerc_position2d_subscribe(position2d, PLAYER_OPEN_MODE))
+ return -1;
+
+ // Make the robot spin!
+ if (0 != playerc_position2d_set_cmd_vel(position2d, 0, 0, DTOR(40.0),
1))
+ return -1;
+
+ for (i = 0; i < 200; i++)
+ {
+ // Wait for new data from server
+ playerc_client_read(client);
+
+ // Print current robot pose
+ printf("position2d : %f %f %f\n",
+ position2d->px, position2d->py, position2d->pa);
+ }
+
+ // Shutdown
+ playerc_position2d_unsubscribe(position2d);
+ playerc_position2d_destroy(position2d);
+ playerc_client_disconnect(client);
+ playerc_client_destroy(client);
+
+ return 0;
+}
Modified: code/stage/trunk/worlds/simple.cfg
===================================================================
--- code/stage/trunk/worlds/simple.cfg 2008-07-17 21:22:33 UTC (rev 6884)
+++ code/stage/trunk/worlds/simple.cfg 2008-07-17 21:30:23 UTC (rev 6885)
@@ -18,7 +18,7 @@
)
# Create a Stage driver and attach position2d and laser interfaces
-# to the model "robot1"
+# to the model "r0"
driver
(
name "stage"
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