[Jderobot-admin] jderobot-r912 - in trunk/src/components/gazeboserver: . build-independent
ahcorde en jderobot.org
ahcorde en jderobot.org
Jue Mayo 9 09:21:01 CEST 2013
Author: ahcorde
Date: 2013-05-09 09:20:01 +0200 (Thu, 09 May 2013)
New Revision: 912
Modified:
trunk/src/components/gazeboserver/CMakeLists.txt
trunk/src/components/gazeboserver/build-independent/CMakeLists.txt
trunk/src/components/gazeboserver/camera_dump.cc
Log:
[ahcorde] Eliminado dependencia de gearbox en gazeboserver
actualizados cmakelists
Modified: trunk/src/components/gazeboserver/CMakeLists.txt
===================================================================
--- trunk/src/components/gazeboserver/CMakeLists.txt 2013-05-06 06:41:15 UTC (rev 911)
+++ trunk/src/components/gazeboserver/CMakeLists.txt 2013-05-09 07:20:01 UTC (rev 912)
@@ -10,8 +10,7 @@
target_link_libraries(motors
${GAZEBO_libraries}
${ZeroCIce_LIBRARIES}
- ${LIBS_DIR}/jderobotice/libjderobotice.so
- ${LIBS_DIR}/jderobotutil/libjderobotutil.so
+
${LIBS_DIR}/colorspaces/libcolorspacesmm.so
${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so)
@@ -20,8 +19,6 @@
${GAZEBO_libraries}
${ZeroCIce_LIBRARIES}
- ${LIBS_DIR}/jderobotice/libjderobotice.so
- ${LIBS_DIR}/jderobotutil/libjderobotutil.so
${LIBS_DIR}/colorspaces/libcolorspacesmm.so
${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so)
@@ -31,8 +28,6 @@
${GAZEBO_libraries}
${ZeroCIce_LIBRARIES}
- ${LIBS_DIR}/jderobotice/libjderobotice.so
- ${LIBS_DIR}/jderobotutil/libjderobotutil.so
${LIBS_DIR}/colorspaces/libcolorspacesmm.so
${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so)
@@ -42,8 +37,6 @@
${GAZEBO_libraries}
${ZeroCIce_LIBRARIES}
- ${LIBS_DIR}/jderobotice/libjderobotice.so
- ${LIBS_DIR}/jderobotutil/libjderobotutil.so
${LIBS_DIR}/colorspaces/libcolorspacesmm.so
${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so)
@@ -52,7 +45,5 @@
${GAZEBO_libraries}
${ZeroCIce_LIBRARIES}
- ${LIBS_DIR}/jderobotice/libjderobotice.so
- ${LIBS_DIR}/jderobotutil/libjderobotutil.so
${LIBS_DIR}/colorspaces/libcolorspacesmm.so
${INTERFACES_CPP_DIR}/jderobot/libJderobotInterfaces.so)
Modified: trunk/src/components/gazeboserver/build-independent/CMakeLists.txt
===================================================================
--- trunk/src/components/gazeboserver/build-independent/CMakeLists.txt 2013-05-06 06:41:15 UTC (rev 911)
+++ trunk/src/components/gazeboserver/build-independent/CMakeLists.txt 2013-05-09 07:20:01 UTC (rev 912)
@@ -47,7 +47,7 @@
pkg_check_modules(GAZEBO gazebo)
message(${GAZEBO_INCLUDE_DIRS})
endif()
-include_directories(${GAZEBO_INCLUDE_DIRS} /usr/local/include/jderobot /usr/local/include/gearbox )
+include_directories(${GAZEBO_INCLUDE_DIRS} /usr/local/include/jderobot )
link_directories(${GAZEBO_LIBRARY_DIRS} /usr/local/lib/jderobot)
set( CMAKE_CXX_FLAGS "-lIce -lIceUtil" ) # Opciones para el compilador
@@ -57,8 +57,6 @@
${GAZEBO_libraries}
${opencv_LIBRARIES}
${ZeroCIce_LIBRARIES}
- libjderobotice.so
- libjderobotutil.so
libcolorspacesmm.so
libJderobotInterfaces.so)
@@ -67,8 +65,6 @@
${GAZEBO_libraries}
${opencv_LIBRARIES}
${ZeroCIce_LIBRARIES}
- libjderobotice.so
- libjderobotutil.so
libcolorspacesmm.so
libJderobotInterfaces.so)
@@ -78,8 +74,7 @@
${GAZEBO_libraries}
${opencv_LIBRARIES}
${ZeroCIce_LIBRARIES}
- libjderobotice.so
- libjderobotutil.so
+
libcolorspacesmm.so
libJderobotInterfaces.so)
@@ -89,8 +84,6 @@
${GAZEBO_libraries}
${opencv_LIBRARIES}
${ZeroCIce_LIBRARIES}
- libjderobotice.so
- libjderobotutil.so
libcolorspacesmm.so
libJderobotInterfaces.so)
@@ -100,7 +93,5 @@
${GAZEBO_libraries}
${opencv_LIBRARIES}
${ZeroCIce_LIBRARIES}
- libjderobotice.so
- libjderobotutil.so
libcolorspacesmm.so
libJderobotInterfaces.so)
Modified: trunk/src/components/gazeboserver/camera_dump.cc
===================================================================
--- trunk/src/components/gazeboserver/camera_dump.cc 2013-05-06 06:41:15 UTC (rev 911)
+++ trunk/src/components/gazeboserver/camera_dump.cc 2013-05-09 07:20:01 UTC (rev 912)
@@ -10,14 +10,7 @@
// ICE utils includes
#include <Ice/Ice.h>
#include <IceUtil/IceUtil.h>
-#include <gbxsickacfr/gbxiceutilacfr/safethread.h>
-// JDErobot general ice component includes
-#include <jderobotice/component.h>
-#include <jderobotice/application.h>
-#include <jderobotice/exceptions.h>
-#include <jderobotice/context.h>
-
#include <jderobot/camera.h>
#include <colorspaces/colorspacesmm.h>
@@ -58,13 +51,8 @@
boost::split(tokens, nameCamera, boost::is_any_of("::"));
boost::split(tokens, tokens[2], boost::is_any_of("("));
nameGlobal = tokens[0];
-
- std::string nameParent = this->parentSensor->GetParentName();
- std::vector<std::string> strs;
- boost::split(strs, nameParent, boost::is_any_of("::"));
-
// El nombre del fichero de configuracion tiene que coincidir con el de la cámara en el .world y el .cfg
- nameCamera = std::string("--Ice.Config=" + strs[0] + "_" + tokens[0] + ".cfg");
+ nameCamera = std::string("--Ice.Config=" + tokens[0] + ".cfg");
if (count == 0){
pthread_t thr_gui;
@@ -98,8 +86,8 @@
class CameraI: virtual public jderobot::Camera {
public:
- CameraI(std::string propertyPrefix, const jderobotice::Context& context, gazebo::CameraDump* camera)
- : prefix(propertyPrefix),context(context), cameraI(camera) {
+ CameraI(std::string propertyPrefix, gazebo::CameraDump* camera)
+ : prefix(propertyPrefix), cameraI(camera) {
std::cout << "Constructor CameraI" << std::endl;
@@ -115,12 +103,12 @@
}
std::string getRobotName () {
- return ((context.properties())->getProperty(context.tag()+".RobotName"));
+ return "RobotName";
}
virtual ~CameraI() {
- context.tracer().info("Stopping and joining thread for camera: " + cameraDescription->name);
- gbxiceutilacfr::stopAndJoin(replyTask);
+
+
}
virtual jderobot::ImageDescriptionPtr getImageDescription(const Ice::Current& c){
@@ -140,18 +128,19 @@
}
virtual std::string startCameraStreaming(const Ice::Current&){
- context.tracer().info("Should be made anything to start camera streaming: " + cameraDescription->name);
+
}
virtual void stopCameraStreaming(const Ice::Current&) {
- context.tracer().info("Should be made anything to stop camera streaming: " + cameraDescription->name);
+
}
private:
- class ReplyTask: public gbxiceutilacfr::SafeThread {
+ class ReplyTask: public IceUtil::Thread {
public:
- ReplyTask(CameraI* camera)
- : gbxiceutilacfr::SafeThread(camera->context.tracer()), mycamera(camera) {
+ ReplyTask(CameraI* camera){
+ mycamera = camera;
+
std::cout << "safeThread" << std::endl;
}
@@ -160,7 +149,7 @@
requests.push_back(cb);
}
- virtual void walk(){
+ virtual void run(){
jderobot::ImageDataPtr reply(new jderobot::ImageData);
struct timeval a, b;
int cycle = 48;
@@ -169,7 +158,7 @@
int count =0 ;
- while(!isStopping()){
+ while(1){
if(!mycamera->cameraI->image.data){
usleep(100);
@@ -237,7 +226,7 @@
typedef IceUtil::Handle<ReplyTask> ReplyTaskPtr;
std::string prefix;
- jderobotice::Context context;
+
colorspaces::Image::FormatPtr imageFmt;
jderobot::ImageDescriptionPtr imageDescription;
jderobot::CameraDescriptionPtr cameraDescription;
@@ -269,11 +258,9 @@
std::cout << "CameraGazebo "<< camera->nameGlobal <<" Endpoints > " << Endpoints << std::endl;
Ice::ObjectAdapterPtr adapter =
- ic->createObjectAdapterWithEndpoints("CameraGazebo", Endpoints);
-
- jderobotice::Context context;
+ ic->createObjectAdapterWithEndpoints("CameraGazebo", Endpoints);
- Ice::ObjectPtr object = new CameraI(std::string("CameraGazebo"), context, camera);
+ Ice::ObjectPtr object = new CameraI(std::string("CameraGazebo"), camera);
adapter->add(object, ic->stringToIdentity(camera->nameGlobal));
adapter->activate();
ic->waitForShutdown();
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