[ playerstage-Patches-3056946 ] Stage: Support for power interface

"SourceForge.net" <[email protected]>
Newsgroups gmane.science.robotics.playerstage
Message-ID <[email protected]>
Patches item #3056946, was opened at 2010-08-31 21:11
Message generated for change (Tracker Item Submitted) made by f0k
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Category: Stage
Group: None
Status: Open
Resolution: None
Priority: 5
Private: No
Submitted By: Jan Schlüter (f0k)
Assigned to: Richard Vaughan (rtv)
Summary: Stage: Support for power interface

Initial Comment:
Both Stage 3.2.2 and the git version do not support the power interface any more. This patch reintroduces it.
To achieve that, I rewrote the libstageplugin/p_power.cc InterfaceModel such that it translates the Model's PowerPack data into the proper Player format and offers it via the power interface for any Model. I created two different versions:
a) offers the power interface for any Model, just like the speech interface is currently implemented, by specifying an empty model type for InterfacePower. Disadvantage: The interface is available even if the model does not have a power pack (i.e. no joules or joules_capacity attribute).
b) offers the interface only for Models that have a PowerPack, by treating model type "power" as a special case in Model::GetUnusedModelOfType. This code is untested, I just wanted to convey the idea. If you think this is a better solution than a) and would like me to create a tested patch, please ask me.
The patches are against Stage 3.2.2, but I could create patches against the latest git version if somebody tells me where to obtain it. To patch, copy the patch files (a.patch and a2b.patch) into the Stage source directory and issue "patch -p1 -i a.patch" for solution a), optionally followed by "patch -p1 -i a2b.patch" for solution b).

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