?? xr4000_ipc.c
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/********************************************************* * * This source code is part of the Carnegie Mellon Robot * Navigation Toolkit (CARMEN) * * CARMEN Copyright (c) 2002 Michael Montemerlo, Nicholas * Roy, Sebastian Thrun, Dirk Haehnel, Cyrill Stachniss, * and Jared Glover * * CARMEN 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. * * CARMEN 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 CARMEN; if not, write to the * Free Software Foundation, Inc., 59 Temple Place, * Suite 330, Boston, MA 02111-1307 USA * ********************************************************/#include <carmen/carmen.h>#include "xr4000_control.h"static void carmen_xr4000_velocity_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *clientData __attribute__ ((unused))){ IPC_RETURN_TYPE err; FORMATTER_PTR formatter; carmen_base_velocity_message vel; formatter = IPC_msgInstanceFormatter(msgRef); err = IPC_unmarshallData(formatter, callData, &vel, sizeof(carmen_base_velocity_message)); IPC_freeByteArray(callData); carmen_test_ipc_return(err, "Could not unmarshall", IPC_msgInstanceName(msgRef)); carmen_xr4000_set_velocity(0, vel.tv, vel.rv);}static void carmen_xr4000_holonomic_velocity_handler(MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *clientData __attribute__ ((unused))){ IPC_RETURN_TYPE err; FORMATTER_PTR formatter; carmen_base_holonomic_velocity_message vel; formatter = IPC_msgInstanceFormatter(msgRef); err = IPC_unmarshallData(formatter, callData, &vel, sizeof(carmen_base_holonomic_velocity_message)); IPC_freeByteArray(callData); carmen_test_ipc_return(err, "Could not unmarshall", IPC_msgInstanceName(msgRef)); carmen_xr4000_set_velocity(vel.xv, vel.yv, vel.rv);}void carmen_xr4000_register_ipc_messages(void){ IPC_RETURN_TYPE err; /* define messages created by this module */ err = IPC_defineMsg(CARMEN_BASE_ODOMETRY_NAME, IPC_VARIABLE_LENGTH, CARMEN_BASE_ODOMETRY_FMT); carmen_test_ipc_exit(err, "Could not define", CARMEN_BASE_ODOMETRY_NAME); err = IPC_defineMsg(CARMEN_BASE_SONAR_NAME, IPC_VARIABLE_LENGTH, CARMEN_BASE_SONAR_FMT); carmen_test_ipc_exit(err, "Could not define IPC message", CARMEN_BASE_SONAR_NAME); err = IPC_defineMsg(CARMEN_BASE_VELOCITY_NAME, IPC_VARIABLE_LENGTH, CARMEN_BASE_VELOCITY_FMT); carmen_test_ipc_exit(err, "Could not define", CARMEN_BASE_VELOCITY_NAME); err = IPC_defineMsg(CARMEN_BASE_HOLONOMIC_VELOCITY_NAME, IPC_VARIABLE_LENGTH, CARMEN_BASE_HOLONOMIC_VELOCITY_FMT); carmen_test_ipc_exit(err, "Could not define", CARMEN_BASE_HOLONOMIC_VELOCITY_NAME); /* setup incoming message handlers */ err = IPC_subscribe(CARMEN_BASE_VELOCITY_NAME, carmen_xr4000_velocity_handler, NULL); carmen_test_ipc_exit(err, "Could not subscribe", CARMEN_BASE_VELOCITY_NAME); IPC_setMsgQueueLength(CARMEN_BASE_VELOCITY_NAME, 1); err = IPC_subscribe(CARMEN_BASE_HOLONOMIC_VELOCITY_NAME, carmen_xr4000_holonomic_velocity_handler, NULL); carmen_test_ipc_exit(err, "Could not subscribe", CARMEN_BASE_HOLONOMIC_VELOCITY_NAME); IPC_setMsgQueueLength(CARMEN_BASE_HOLONOMIC_VELOCITY_NAME, 1);}
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