Revision: 8170
http://playerstage.svn.sourceforge.net/playerstage/?rev=8170&view=rev
Author: gbiggs
Date: 2009-08-04 03:00:26 +0000 (Tue, 04 Aug 2009)
Log Message:
-----------
Applied patch #2828425
Modified Paths:
--------------
code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
Modified: code/player/trunk/server/drivers/ranger/hokuyo_aist.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2009-08-04
02:33:23 UTC (rev 8169)
+++ code/player/trunk/server/drivers/ranger/hokuyo_aist.cc 2009-08-04
03:00:26 UTC (rev 8170)
@@ -492,6 +492,7 @@
bool HokuyoDriver::ReadLaser (void)
{
+ double time1, time2;
if (_getIntensities)
{
player_ranger_data_range_t rangeData;
@@ -499,7 +500,10 @@
try
{
+ GlobalTime->GetTimeDouble (&time1);
_device.GetNewRangesAndIntensitiesByAngle (&_data,
_minAngle, _maxAngle);
+ GlobalTime->GetTimeDouble (&time2);
+ time1 = (time1 + time2) / 2.0;
}
catch (hokuyo_aist::HokuyoError &e)
{
@@ -533,7 +537,7 @@
else
{
Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
- reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), NULL);
+ reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), &time1);
}
intensityData.intensities = _intensities;
@@ -547,7 +551,7 @@
else
{
Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_INTNS,
- reinterpret_cast<void*>
(&intensityData), sizeof (intensityData), NULL);
+ reinterpret_cast<void*>
(&intensityData), sizeof (intensityData), &time1);
}
}
else
@@ -556,7 +560,10 @@
try
{
+ GlobalTime->GetTimeDouble (&time1);
_device.GetRangesByAngle (&_data, _minAngle, _maxAngle);
+ GlobalTime->GetTimeDouble (&time2);
+ time1 = (time1 + time2) / 2.0;
}
catch (hokuyo_aist::HokuyoError &e)
{
@@ -588,7 +595,7 @@
else
{
Publish (device_addr, PLAYER_MSGTYPE_DATA,
PLAYER_RANGER_DATA_RANGE,
- reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), NULL);
+ reinterpret_cast<void*> (&rangeData),
sizeof (rangeData), &time1);
}
}
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