[Jderobot-admin] jderobot-r913 - trunk/src/components/pluginsGazebo/kinect
ahcorde en jderobot.org
ahcorde en jderobot.org
Jue Mayo 9 09:51:37 CEST 2013
Author: ahcorde
Date: 2013-05-09 09:50:37 +0200 (Thu, 09 May 2013)
New Revision: 913
Modified:
trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt
trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc
trunk/src/components/pluginsGazebo/kinect/kinectPlugin.h
Log:
[ahcorde] Eliminada dependencia de gearbox en plugins de kinect
Modified: trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt 2013-05-09 07:20:01 UTC (rev 912)
+++ trunk/src/components/pluginsGazebo/kinect/CMakeLists.txt 2013-05-09 07:50:37 UTC (rev 913)
@@ -11,7 +11,6 @@
include_directories(
${GAZEBO_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
- /usr/local/include/gearbox/
/usr/local/include/jderobot
)
@@ -29,7 +28,5 @@
${PCL_LIBRARIES}
${OpenCV_LIBS}
/usr/local/lib/jderobot/libJderobotInterfaces.so
- /usr/local/lib/jderobot/libjderobotice.so
- /usr/local/lib/jderobot/libjderobotutil.so
)
Modified: trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc 2013-05-09 07:20:01 UTC (rev 912)
+++ trunk/src/components/pluginsGazebo/kinect/kinectPlugin.cc 2013-05-09 07:50:37 UTC (rev 913)
@@ -237,15 +237,16 @@
class KinectI: virtual public jderobot::pointCloud{
public:
- KinectI (std::string propertyPrefix, const jderobotice::Context& context, gazebo::DepthCameraPlugin* kinect):prefix(propertyPrefix),context(context)
+ KinectI (std::string propertyPrefix, gazebo::DepthCameraPlugin* kinect):prefix(propertyPrefix)
{
- KData = new jderobot::pointCloudData();
+
this->kinect = kinect;
}
virtual jderobot::pointCloudDataPtr getCloudData(const Ice::Current&){
pthread_mutex_lock (&kinect->mutex);
+ jderobot::pointCloudDataPtr KData = new jderobot::pointCloudData();
pcl::PointCloud<pcl::PointXYZRGBA> cloud = *kinect->cloud;
pthread_mutex_unlock (&kinect->mutex);
@@ -264,17 +265,15 @@
}
return KData;
};
- jderobot::pointCloudDataPtr KData;
gazebo::DepthCameraPlugin* kinect;
std::string prefix;
- jderobotice::Context context;
}; //end class KinectI
class CameraI: virtual public jderobot::Camera {
public:
- CameraI(std::string propertyPrefix, const jderobotice::Context& context, gazebo::DepthCameraPlugin* camera)
- : prefix(propertyPrefix),context(context), cameraI(camera) {
+ CameraI(std::string propertyPrefix, gazebo::DepthCameraPlugin* camera)
+ : prefix(propertyPrefix), cameraI(camera) {
std::cout << "Constructor CameraI" << std::endl;
@@ -290,12 +289,11 @@
}
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){
@@ -315,18 +313,18 @@
}
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) {
+ : mycamera(camera) {
std::cout << "safeThread" << std::endl;
}
@@ -335,7 +333,7 @@
requests.push_back(cb);
}
- virtual void walk(){
+ virtual void run(){
jderobot::ImageDataPtr reply(new jderobot::ImageData);
struct timeval a, b;
int cycle = 48;
@@ -344,7 +342,7 @@
int count =0 ;
- while(!isStopping()){
+ while(1){
if(!mycamera->cameraI->imageRGB.data){
usleep(100);
@@ -412,7 +410,6 @@
typedef IceUtil::Handle<ReplyTask> ReplyTaskPtr;
std::string prefix;
- jderobotice::Context context;
colorspaces::Image::FormatPtr imageFmt;
jderobot::ImageDescriptionPtr imageDescription;
jderobot::CameraDescriptionPtr cameraDescription;
@@ -424,8 +421,8 @@
class CameraII: virtual public jderobot::Camera {
public:
- CameraII(std::string propertyPrefix, const jderobotice::Context& context, gazebo::DepthCameraPlugin* camera)
- : prefix(propertyPrefix),context(context), cameraI(camera) {
+ CameraII(std::string propertyPrefix, gazebo::DepthCameraPlugin* camera)
+ : prefix(propertyPrefix), cameraI(camera) {
std::cout << "Constructor CameraDepth" << std::endl;
@@ -441,12 +438,11 @@
}
std::string getRobotName () {
- return ((context.properties())->getProperty(context.tag()+".RobotName"));
+ return ("RobotName");
}
virtual ~CameraII() {
- context.tracer().info("Stopping and joining thread for camera: " + cameraDescription->name);
- gbxiceutilacfr::stopAndJoin(replyTask);
+
}
virtual jderobot::ImageDescriptionPtr getImageDescription(const Ice::Current& c){
@@ -466,18 +462,18 @@
}
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(CameraII* camera)
- : gbxiceutilacfr::SafeThread(camera->context.tracer()), mycamera(camera) {
+ : mycamera(camera) {
std::cout << "safeThread" << std::endl;
}
@@ -486,7 +482,7 @@
requests.push_back(cb);
}
- virtual void walk(){
+ virtual void run(){
jderobot::ImageDataPtr reply(new jderobot::ImageData);
struct timeval a, b;
int cycle = 48;
@@ -495,7 +491,7 @@
int count =0 ;
- while(!isStopping()){
+ while(1){
if(!mycamera->cameraI->imageDepth.data){
usleep(100);
@@ -563,7 +559,6 @@
typedef IceUtil::Handle<ReplyTask> ReplyTaskPtr;
std::string prefix;
- jderobotice::Context context;
colorspaces::Image::FormatPtr imageFmt;
jderobot::ImageDescriptionPtr imageDescription;
jderobot::CameraDescriptionPtr cameraDescription;
@@ -595,12 +590,12 @@
Ice::ObjectAdapterPtr adapter =
ic->createObjectAdapterWithEndpoints("Kinect", Endpoints);
- jderobotice::Context context;
- Ice::ObjectPtr object = new KinectI(std::string("pointcloud1"), context, kinect);
- Ice::ObjectPtr object2 = new CameraI(std::string("cameraRGB"), context, kinect);
- Ice::ObjectPtr object3 = new CameraII(std::string("cameraDepth"), context, kinect);
+ Ice::ObjectPtr object = new KinectI(std::string("pointcloud1"), kinect);
+ Ice::ObjectPtr object2 = new CameraI(std::string("cameraRGB"), kinect);
+ Ice::ObjectPtr object3 = new CameraII(std::string("cameraDepth"), kinect);
+
adapter->add(object, ic->stringToIdentity("pointcloud1"));
adapter->add(object2, ic->stringToIdentity("cameraRGB"));
adapter->add(object3, ic->stringToIdentity("cameraDepth"));
Modified: trunk/src/components/pluginsGazebo/kinect/kinectPlugin.h
===================================================================
--- trunk/src/components/pluginsGazebo/kinect/kinectPlugin.h 2013-05-09 07:20:01 UTC (rev 912)
+++ trunk/src/components/pluginsGazebo/kinect/kinectPlugin.h 2013-05-09 07:50:37 UTC (rev 913)
@@ -31,15 +31,9 @@
#include <pcl/filters/voxel_grid.h>
// ICE utils includes
-#include <gbxsickacfr/gbxiceutilacfr/safethread.h>
#include <Ice/Ice.h>
#include <IceUtil/IceUtil.h>
-// JDErobot general ice component includes
-#include <jderobotice/component.h>
-#include <jderobotice/application.h>
-#include <jderobotice/exceptions.h>
-#include <jderobotice/context.h>
#include <colorspaces/colorspacesmm.h>
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