Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29560
Modified Files:
playerv.c
Log Message:
Added a 'pull' mode to playerv. This should help with keeping the data fresh
on
slower computers (actually, it works quite well on fast ones too).
Index: playerv.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.c,v
retrieving revision 1.45
retrieving revision 1.46
diff -C2 -d -r1.45 -r1.46
*** playerv.c 30 May 2006 19:51:31 -0000 1.45
--- playerv.c 4 Jul 2006 15:53:52 -0000 1.46
***************
*** 42,46 ****
in your PATH, then playerv should also be. Command-line usage is:
@verbatim
! $ playerv [-h <hostname>] [-p <port>] [--<device>:<index>]
[--<device>:<index>] ...
@endverbatim
For example, to connect to Player on localhost at the default port
--- 42,46 ----
in your PATH, then playerv should also be. Command-line usage is:
@verbatim
! $ playerv [-h <hostname>] [-p <port>] [-pull <0|1>] [--<device>:<index>]
[--<device>:<index>] ...
@endverbatim
For example, to connect to Player on localhost at the default port
***************
*** 55,58 ****
--- 55,62 ----
@endverbatim
+ If pull is set to 1, it will set the server's replace rule to true, and only
+ deliver data when a read is requested. This is sometimes useful on slow
+ connections or with slow computers that cannot keep up.
+
When playerv starts, a window will pop up. Click and drag with the left
mouse button to pan the window. Click and drag with the right mouse
***************
*** 118,121 ****
--- 122,126 ----
#include <stdlib.h>
#include <unistd.h>
+ #include <time.h>
#include "playerv.h"
***************
*** 136,140 ****
printf("\nPlayerViewer %s, ", VERSION);
printf("a visualization tool for the Player robot device server.\n");
! printf("Usage : playerv [-h <hostname>] [-p <port>]\n");
printf(" [--<device>:<index>] [--<device>:<index>] ... \n");
printf("Example: playerv -p 6665 --position:0 --sonar:0\n");
--- 141,145 ----
printf("\nPlayerViewer %s, ", VERSION);
printf("a visualization tool for the Player robot device server.\n");
! printf("Usage : playerv [-h <hostname>] [-p <port>] [-pull <0|1>]\n");
printf(" [--<device>:<index>] [--<device>:<index>] ... \n");
printf("Example: playerv -p 6665 --position:0 --sonar:0\n");
***************
*** 155,158 ****
--- 160,164 ----
int rate;
int count;
+ int pull;
char section[256];
int device_count;
***************
*** 160,163 ****
--- 166,170 ----
device_t *device;
void *proxy;
+ struct timeval tv, tc, st = {0, 0};
printf("PlayerViewer %s\n", VERSION);
***************
*** 189,192 ****
--- 196,201 ----
port = opt_get_int(opt, "", "p", 6665);
+ pull = opt_get_int(opt, "", "pull", 0);
+
// Connect to the server
printf("Connecting to [%s:%d]\n", host, port);
***************
*** 199,210 ****
}
! #if 0
! // Change the server's data delivery mode.
! if (playerc_client_datamode(client, PLAYERC_DATAMODE_PUSH_NEW) != 0)
{
! PRINT_ERR1("%s", playerc_error_str());
! return -1;
}
- #endif
// Get the available devices.
--- 208,231 ----
}
! if (0 != pull)
{
! printf("Setting delivery mode to PLAYER_DATAMODE_PULL\n", host, port);
! // Change the server's data delivery mode.
! if (playerc_client_set_replace_rule(client, -1, -1, -1, -1, 1) != 0)
! {
! PRINT_ERR1("%s", playerc_error_str());
! return -1;
! }
!
! // Change the server's data delivery mode.
! // PLAYERC_DATAMODE_PUSH, PLAYERC_DATAMODE_PULL
! if (playerc_client_datamode(client, PLAYERC_DATAMODE_PULL) != 0)
! {
! PRINT_ERR1("%s", playerc_error_str());
! return -1;
! }
!
! gettimeofday(&tv, NULL);
}
// Get the available devices.
***************
*** 298,317 ****
rtk_app_main_loop(app);
! // see if there's data
! count = playerc_client_peek(client, 50);
! if (count < 0)
{
! PRINT_ERR1("%s", playerc_error_str());
! break;
}
! if (count > 0)
{
! proxy = playerc_client_read(client);
! // NULL return from playerc_client_read() means an error in the
! // connection to the server (I think)
! if(!proxy)
! break;
}
// Update the devices
for (i = 0; i < device_count; i++)
--- 319,364 ----
rtk_app_main_loop(app);
! if (0 == pull) // if we're in push mode
{
! // see if there's data
! count = playerc_client_peek(client, 50);
! if (count < 0)
! {
! PRINT_ERR1("%s", playerc_error_str());
! break;
! }
! if (count > 0)
! {
! proxy = playerc_client_read(client);
! // NULL return from playerc_client_read() means an error in the
! // connection to the server (I think)
! if(!proxy)
! break;
! }
}
! else // we're in pull mode
{
! // we only want to request new data at roughly 20 Hz
! gettimeofday(&tc, NULL);
! if ((tc.tv_sec > tv.tv_sec) || (tc.tv_usec > tv.tv_usec + 50000))
! {
! tv = tc;
! // this requests a round of data from the server to be read
! proxy = playerc_client_read(client);
! // NULL return from playerc_client_read() means an error in the
! // connection to the server (I think)
! if(!proxy)
! break;
!
! }
! else
! {
! // sleep for the minimum time we can, so we don't use up too much
! // processor
! nanosleep(&st, NULL);
! }
}
+
// Update the devices
for (i = 0; i < device_count; i++)
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