A new ORTE type for laser commands.

diff --git a/src/types/robottype_eb2008.c b/src/types/robottype_eb2008.c
index 7525d9a8d13ce3de388651acb90a125c7df190c8..3ac7e00015a20c45544db8aff9aa75205fb932ec 100644 (file)
--- a/src/types/robottype_eb2008.c
+++ b/src/types/robottype_eb2008.c
@@ -92,6 +92,38 @@ drives_type_register(ORTEDomain *d) {
   return ret;
 }
 
+/****************************************************************/
+/* struct - laser_cmd                                           */
+/****************************************************************/
+
+void laser_cmd_serialize(CDR_Codec *cdrCodec,laser_cmd *object) {
+  CORBA_octet_serialize(cdrCodec,&(object->power));
+}
+
+void
+laser_cmd_deserialize(CDR_Codec *cdrCodec,laser_cmd *object) {
+  CORBA_octet_deserialize(cdrCodec,&(object->power));
+}
+
+int
+laser_cmd_get_max_size(ORTEGetMaxSizeParam *gms) {
+  CORBA_octet_get_max_size(gms);
+  return gms->csize;
+}
+
+Boolean
+laser_cmd_type_register(ORTEDomain *d) {
+  Boolean ret;
+
+  ret=ORTETypeRegisterAdd(d,
+                          "laser_cmd",
+                          (ORTETypeSerialize)laser_cmd_serialize,
+                          (ORTETypeDeserialize)laser_cmd_deserialize,
+                          laser_cmd_get_max_size,
+                          0);
+  return ret;
+}
+
 /****************************************************************/
 /* struct - laser_meas                                          */
 /****************************************************************/

diff --git a/src/types/robottype_eb2008.h b/src/types/robottype_eb2008.h
index 8cc72b7d89e7fb3619673e2db54d2e2182a19bf1..d333b7a7edbbb91d909e92399fad373b1d4877c6 100644 (file)
--- a/src/types/robottype_eb2008.h
+++ b/src/types/robottype_eb2008.h
@@ -37,6 +37,14 @@ CORBA_octet bagr;
 CORBA_octet carousel_pos;
 };
 
+#endif
+#if !defined(_laser_cmd_defined)
+#define _laser_cmd_defined 1
+typedef struct laser_cmd_type laser_cmd;
+struct laser_cmd_type {
+CORBA_octet power;
+};
+
 #endif
 #if !defined(_laser_meas_defined)
 #define _laser_meas_defined 1
@@ -82,6 +90,11 @@ void drives_deserialize(CDR_Codec *cdrCodec,drives *object);
 int drives_get_max_size(ORTEGetMaxSizeParam *gms);
 Boolean drives_type_register(ORTEDomain *d);
 
+void laser_cmd_serialize(CDR_Codec *cdrCodec,laser_cmd *object);
+void laser_cmd_deserialize(CDR_Codec *cdrCodec,laser_cmd *object);
+int laser_cmd_get_max_size(ORTEGetMaxSizeParam *gms);
+Boolean laser_cmd_type_register(ORTEDomain *d);
+
 void laser_meas_serialize(CDR_Codec *cdrCodec,laser_meas *object);
 void laser_meas_deserialize(CDR_Codec *cdrCodec,laser_meas *object);
 int laser_meas_get_max_size(ORTEGetMaxSizeParam *gms);

diff --git a/src/types/robottype_eb2008.idl b/src/types/robottype_eb2008.idl
index 55ad51fc3d3f9bd63592714e69285b992fa0cca3..3018360e2d2aaa32b8ea72c9a8980c52e4558548 100644 (file)
--- a/src/types/robottype_eb2008.idl
+++ b/src/types/robottype_eb2008.idl
@@ -14,6 +14,9 @@ struct drives {
        octet carousel_pos;
 };
 
+struct laser_cmd {
+       octet power;
+};
 
 struct laser_meas {
        unsigned short cnt;