Update of /cvsroot/playerstage/code/player/server/drivers/mixed/p2os
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv30199/server/drivers/mixed/p2os
Modified Files:
p2os.cc sip.cc
Log Message:
overhaul of the player interface definitions
interfaces are now defined with a very light weight IDL allowing them to be
edited in a single file
some subtype names were also modified as a side effect, making them more
consistent globally
Index: sip.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/sip.cc,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** sip.cc 31 Jan 2007 21:20:30 -0000 1.23
--- sip.cc 20 Aug 2007 06:37:29 -0000 1.24
***************
*** 152,156 ****
// digital I/O
data->dio.count = (unsigned char)8;
! data->dio.digin = (unsigned int)this->digin;
///////////////////////////////////////////////////////////////
--- 152,156 ----
// digital I/O
data->dio.count = (unsigned char)8;
! data->dio.bits = (unsigned int)this->digin;
///////////////////////////////////////////////////////////////
Index: p2os.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/mixed/p2os/p2os.cc,v
retrieving revision 1.81
retrieving revision 1.82
diff -C2 -d -r1.81 -r1.82
*** p2os.cc 9 Jul 2007 17:18:01 -0000 1.81
--- p2os.cc 20 Aug 2007 06:37:29 -0000 1.82
***************
*** 119,135 ****
- "odometry" @ref interface_position2d :
! - PLAYER_POSITION_SET_ODOM_REQ
! - PLAYER_POSITION_MOTOR_POWER_REQ
! - PLAYER_POSITION_RESET_ODOM_REQ
! - PLAYER_POSITION_GET_GEOM_REQ
! - PLAYER_POSITION_VELOCITY_MODE_REQ
- @ref interface_sonar :
! - PLAYER_SONAR_POWER_REQ
! - PLAYER_SONAR_GET_GEOM_REQ
- @ref interface_bumper :
! - PLAYER_BUMPER_GET_GEOM
- @ref interface_blobfinder :
! - PLAYER_BLOBFINDER_SET_COLOR_REQ
! - PLAYER_BLOBFINDER_SET_IMAGER_PARAMS_REQ
@par Configuration file options
--- 119,135 ----
- "odometry" @ref interface_position2d :
! - PLAYER_POSITION2D_REQ_SET_ODOM
! - PLAYER_POSITION2D_REQ_MOTOR_POWER
! - PLAYER_POSITION2D_REQ_RESET_ODOM
! - PLAYER_POSITION2D_REQ_GET_GEOM
! - PLAYER_POSITION2D_REQ_VELOCITY_MODE
- @ref interface_sonar :
! - PLAYER_SONAR_REQ_POWER
! - PLAYER_SONAR_REQ_GET_GEOM
- @ref interface_bumper :
! - PLAYER_BUMPER_REQ_GET_GEOM
- @ref interface_blobfinder :
! - PLAYER_BLOBFINDER_REQ_SET_COLOR
! - PLAYER_BLOBFINDER_REQ_SET_IMAGER_PARAMS
@par Configuration file options
***************
*** 531,537 ****
}
// Stop actarray messages in the queue from being overwritten
! this->InQueue->AddReplaceRule (this->actarray_id, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_POS_CMD, false);
! this->InQueue->AddReplaceRule (this->actarray_id, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_SPEED_CMD, false);
! this->InQueue->AddReplaceRule (this->actarray_id, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_HOME_CMD, false);
}
--- 531,537 ----
}
// Stop actarray messages in the queue from being overwritten
! this->InQueue->AddReplaceRule (this->actarray_id, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_CMD_POS, false);
! this->InQueue->AddReplaceRule (this->actarray_id, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_CMD_SPEED, false);
! this->InQueue->AddReplaceRule (this->actarray_id, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_CMD_HOME, false);
}
***************
*** 1470,1474 ****
this->Publish(this->limb_id, NULL,
PLAYER_MSGTYPE_DATA,
! PLAYER_LIMB_DATA,
(void*)&(this->limb_data),
sizeof(player_limb_data_t),
--- 1470,1474 ----
this->Publish(this->limb_id, NULL,
PLAYER_MSGTYPE_DATA,
! PLAYER_LIMB_DATA_STATE,
(void*)&(this->limb_data),
sizeof(player_limb_data_t),
***************
*** 2075,2094 ****
HANDLE_CAPABILITY_REQUEST (position_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL);
// Act array caps
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_POS_CMD);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_MULTI_POS_CMD);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_HOME_CMD);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_POWER_REQ);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_GET_GEOM_REQ);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_SPEED_REQ);
// Lift caps
! HANDLE_CAPABILITY_REQUEST (lift_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_POS_CMD);
! HANDLE_CAPABILITY_REQUEST (lift_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_HOME_CMD);
! HANDLE_CAPABILITY_REQUEST (lift_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_GET_GEOM_REQ);
// Limb caps
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_LIMB_HOME_CMD);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_LIMB_STOP_CMD);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_LIMB_SETPOSE_CMD);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LIMB_POWER_REQ);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LIMB_GEOM_REQ);
// Gripper caps
HANDLE_CAPABILITY_REQUEST (gripper_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_OPEN);
--- 2075,2094 ----
HANDLE_CAPABILITY_REQUEST (position_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_POSITION2D_CMD_VEL);
// Act array caps
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_POS);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_MULTI_POS);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_HOME);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_POWER);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_GET_GEOM);
! HANDLE_CAPABILITY_REQUEST (actarray_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_SPEED);
// Lift caps
! HANDLE_CAPABILITY_REQUEST (lift_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_POS);
! HANDLE_CAPABILITY_REQUEST (lift_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_ACTARRAY_CMD_HOME);
! HANDLE_CAPABILITY_REQUEST (lift_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_GET_GEOM);
// Limb caps
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_LIMB_CMD_HOME);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_LIMB_CMD_STOP);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_LIMB_CMD_SETPOSE);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LIMB_REQ_POWER);
! HANDLE_CAPABILITY_REQUEST (limb_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_LIMB_REQ_GEOM);
// Gripper caps
HANDLE_CAPABILITY_REQUEST (gripper_id, resp_queue, hdr, data,
PLAYER_MSGTYPE_CMD, PLAYER_GRIPPER_CMD_OPEN);
***************
*** 2372,2382 ****
return(0);
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_POWER_REQ,this->actarray_id))
{
ToggleActArrayPower (((player_actarray_power_config_t*) data)->value);
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_POWER_REQ);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_GET_GEOM_REQ,this->actarray_id))
{
// First ask for an ARMINFOpac (because we need to get any updates to
speed settings)
--- 2372,2382 ----
return(0);
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_REQ_POWER,this->actarray_id))
{
ToggleActArrayPower (((player_actarray_power_config_t*) data)->value);
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_REQ_POWER);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_REQ_GET_GEOM,this->actarray_id))
{
// First ask for an ARMINFOpac (because we need to get any updates to
speed settings)
***************
*** 2415,2422 ****
aaGeom.base_orientation.pyaw = aaBaseOrient.pyaw;
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_GET_GEOM_REQ, &aaGeom, sizeof (aaGeom), NULL);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_SPEED_REQ,this->actarray_id))
{
joint = ((player_actarray_speed_config_t*) data)->joint + 1;
--- 2415,2422 ----
aaGeom.base_orientation.pyaw = aaBaseOrient.pyaw;
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_REQ_GET_GEOM, &aaGeom, sizeof (aaGeom), NULL);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_REQ_SPEED,this->actarray_id))
{
joint = ((player_actarray_speed_config_t*) data)->joint + 1;
***************
*** 2424,2442 ****
SetActArrayJointSpeed (joint, newSpeed);
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_SPEED_REQ);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_POWER_REQ,this->limb_id))
{
ToggleActArrayPower (((player_actarray_power_config_t*) data)->value);
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LIMB_POWER_REQ);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_BRAKES_REQ,this->limb_id))
{
// We don't have any brakes
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_GEOM_REQ,this->limb_id))
{
player_limb_geom_req_t limbGeom;
--- 2424,2442 ----
SetActArrayJointSpeed (joint, newSpeed);
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_REQ_SPEED);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_REQ_POWER,this->limb_id))
{
ToggleActArrayPower (((player_actarray_power_config_t*) data)->value);
! this->Publish(this->actarray_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LIMB_REQ_POWER);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_REQ_BRAKES,this->limb_id))
{
// We don't have any brakes
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_REQ_GEOM,this->limb_id))
{
player_limb_geom_req_t limbGeom;
***************
*** 2446,2453 ****
limbGeom.basePos.pz = armOffsetZ;
! this->Publish(this->limb_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LIMB_GEOM_REQ, &limbGeom, sizeof (limbGeom), NULL);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_SPEED_REQ,this->limb_id))
{
// FIXME - need to figure out what sort of speed support we should
provide through the IK interface
--- 2446,2453 ----
limbGeom.basePos.pz = armOffsetZ;
! this->Publish(this->limb_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LIMB_REQ_GEOM, &limbGeom, sizeof (limbGeom), NULL);
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_LIMB_REQ_SPEED,this->limb_id))
{
// FIXME - need to figure out what sort of speed support we should
provide through the IK interface
***************
*** 2461,2468 ****
}
! this->Publish(this->limb_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LIMB_SPEED_REQ);
return 0;
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BUMPER_GET_GEOM, this->bumper_id))
{
/* Return the bumper geometry. */
--- 2461,2468 ----
}
! this->Publish(this->limb_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_LIMB_REQ_SPEED);
return 0;
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BUMPER_REQ_GET_GEOM, this->bumper_id))
{
/* Return the bumper geometry. */
***************
*** 2485,2493 ****
this->Publish(this->bumper_id, resp_queue,
! PLAYER_MSGTYPE_RESP_ACK, PLAYER_BUMPER_GET_GEOM,
(void*)&geom, sizeof(geom), NULL);
return(0);
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_GET_GEOM_REQ,this->lift_id))
{
player_actarray_geom_t aaGeom;
--- 2485,2493 ----
this->Publish(this->bumper_id, resp_queue,
! PLAYER_MSGTYPE_RESP_ACK, PLAYER_BUMPER_REQ_GET_GEOM,
(void*)&geom, sizeof(geom), NULL);
return(0);
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_REQ,PLAYER_ACTARRAY_REQ_GET_GEOM,this->lift_id))
{
player_actarray_geom_t aaGeom;
***************
*** 2504,2508 ****
aaGeom.actuators[0].hasbrakes = 0;
! this->Publish(this->lift_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_GET_GEOM_REQ, &aaGeom, sizeof (aaGeom), NULL);
return 0;
}
--- 2504,2508 ----
aaGeom.actuators[0].hasbrakes = 0;
! this->Publish(this->lift_id, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_ACTARRAY_REQ_GET_GEOM, &aaGeom, sizeof (aaGeom), NULL);
return 0;
}
***************
*** 2733,2737 ****
P2OSPacket packet;
! if (!(lastActArrayCmd == PLAYER_ACTARRAY_POS_CMD) || ((lastActArrayCmd ==
PLAYER_ACTARRAY_POS_CMD) &&
(cmd.joint != lastActArrayPosCmd.joint || cmd.position !=
lastActArrayPosCmd.position)))
{
--- 2733,2737 ----
P2OSPacket packet;
! if (!(lastActArrayCmd == PLAYER_ACTARRAY_CMD_POS) || ((lastActArrayCmd ==
PLAYER_ACTARRAY_CMD_POS) &&
(cmd.joint != lastActArrayPosCmd.joint || cmd.position !=
lastActArrayPosCmd.position)))
{
***************
*** 2751,2755 ****
P2OSPacket packet;
! if ((lastActArrayCmd == PLAYER_ACTARRAY_POS_CMD) || (!(lastActArrayCmd ==
PLAYER_ACTARRAY_POS_CMD) &&
(cmd.joint != lastActArrayHomeCmd.joint)))
{
--- 2751,2755 ----
P2OSPacket packet;
! if ((lastActArrayCmd == PLAYER_ACTARRAY_CMD_POS) || (!(lastActArrayCmd ==
PLAYER_ACTARRAY_CMD_POS) &&
(cmd.joint != lastActArrayHomeCmd.joint)))
{
***************
*** 2765,2785 ****
int P2OS::HandleActArrayCommand (player_msghdr * hdr, void * data)
{
! if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_POS_CMD, this->actarray_id))
{
player_actarray_position_cmd_t cmd;
cmd = *(player_actarray_position_cmd_t*) data;
this->HandleActArrayPosCmd (cmd);
! lastActArrayCmd = PLAYER_ACTARRAY_POS_CMD;
return 0;
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_HOME_CMD, this->actarray_id))
{
player_actarray_home_cmd_t cmd;
cmd = *(player_actarray_home_cmd_t*) data;
this->HandleActArrayHomeCmd (cmd);
! lastActArrayCmd = PLAYER_ACTARRAY_HOME_CMD;
return 0;
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_MULTI_POS_CMD, this->actarray_id))
{
player_actarray_multi_position_cmd_t cmd =
*(player_actarray_multi_position_cmd_t*) data;
--- 2765,2785 ----
int P2OS::HandleActArrayCommand (player_msghdr * hdr, void * data)
{
! if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_CMD_POS, this->actarray_id))
{
player_actarray_position_cmd_t cmd;
cmd = *(player_actarray_position_cmd_t*) data;
this->HandleActArrayPosCmd (cmd);
! lastActArrayCmd = PLAYER_ACTARRAY_CMD_POS;
return 0;
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_CMD_HOME, this->actarray_id))
{
player_actarray_home_cmd_t cmd;
cmd = *(player_actarray_home_cmd_t*) data;
this->HandleActArrayHomeCmd (cmd);
! lastActArrayCmd = PLAYER_ACTARRAY_CMD_HOME;
return 0;
}
! else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_ACTARRAY_CMD_MULTI_POS, this->actarray_id))
{
player_actarray_multi_position_cmd_t cmd =
*(player_actarray_multi_position_cmd_t*) data;
***************
*** 2791,2795 ****
this->HandleActArrayPosCmd (singleCmd);
}
! lastActArrayCmd = PLAYER_ACTARRAY_MULTI_POS_CMD;
}
--- 2791,2795 ----
this->HandleActArrayPosCmd (singleCmd);
}
! lastActArrayCmd = PLAYER_ACTARRAY_CMD_MULTI_POS;
}
***************
*** 2966,2980 ****
int P2OS::HandleLimbCommand (player_msghdr *hdr, void *data)
{
!
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_HOME_CMD,this->limb_id))
{
this->HandleLimbHomeCmd ();
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_STOP_CMD,this->limb_id))
{
this->HandleLimbStopCmd ();
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_SETPOSE_CMD,this->limb_id))
{
player_limb_setpose_cmd_t cmd;
--- 2966,2980 ----
int P2OS::HandleLimbCommand (player_msghdr *hdr, void *data)
{
!
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_CMD_HOME,this->limb_id))
{
this->HandleLimbHomeCmd ();
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_CMD_STOP,this->limb_id))
{
this->HandleLimbStopCmd ();
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_CMD_SETPOSE,this->limb_id))
{
player_limb_setpose_cmd_t cmd;
***************
*** 2983,3000 ****
return 0;
}
- // else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_SETPOSITION_CMD,this->limb_id))
- // {
- // player_limb_setposition_cmd_t cmd;
- // cmd = *(player_limb_setposition_cmd_t*) data;
- // this->HandleLimbSetPositionCmd (cmd);
- // retVal = 0;
- // }
- // else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_LIMB_VECMOVE_CMD,this->limb_id))
- // {
- // player_limb_vecmove_cmd_t cmd;
- // cmd = *(player_limb_vecmove_cmd_t*) data;
- // this->HandleLimbVecMoveCmd (cmd);
- // retVal = 0;
- // }
return -1;
}
--- 2983,2986 ----
***************
*** 3008,3012 ****
P2OSPacket packet;
!
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_ACTARRAY_POS_CMD,this->lift_id))
{
player_actarray_position_cmd_t cmd;
--- 2994,2998 ----
P2OSPacket packet;
!
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_ACTARRAY_CMD_POS,this->lift_id))
{
player_actarray_position_cmd_t cmd;
***************
*** 3017,3021 ****
return -1;
! if (lastLiftCmd == PLAYER_ACTARRAY_POS_CMD && lastLiftPosCmd.position ==
cmd.position)
return 0;
--- 3003,3007 ----
return -1;
! if (lastLiftCmd == PLAYER_ACTARRAY_CMD_POS && lastLiftPosCmd.position ==
cmd.position)
return 0;
***************
*** 3072,3083 ****
}
! lastLiftCmd = PLAYER_ACTARRAY_POS_CMD;
lastLiftPosCmd = cmd;
sippacket->lastLiftPos = cmd.position;
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_ACTARRAY_HOME_CMD,this->lift_id))
{
! if (lastLiftCmd == PLAYER_ACTARRAY_HOME_CMD)
return 0;
--- 3058,3069 ----
}
! lastLiftCmd = PLAYER_ACTARRAY_CMD_POS;
lastLiftPosCmd = cmd;
sippacket->lastLiftPos = cmd.position;
return 0;
}
! else
if(Message::MatchMessage(hdr,PLAYER_MSGTYPE_CMD,PLAYER_ACTARRAY_CMD_HOME,this->lift_id))
{
! if (lastLiftCmd == PLAYER_ACTARRAY_CMD_HOME)
return 0;
***************
*** 3089,3093 ****
packet.Build (command, 4);
SendReceive (&packet);
! lastLiftCmd = PLAYER_ACTARRAY_HOME_CMD;
lastLiftPosCmd.position = 1.0f;
return 0;
--- 3075,3079 ----
packet.Build (command, 4);
SendReceive (&packet);
! lastLiftCmd = PLAYER_ACTARRAY_CMD_HOME;
lastLiftPosCmd.position = 1.0f;
return 0;
***************
*** 3281,3285 ****
retVal = 0;
}
! else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_AUDIO_SAMPLE_PLAY_CMD, this->audio_id))
{
// get and send the latest audio command, if it's new
--- 3267,3271 ----
retVal = 0;
}
! else if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_CMD,
PLAYER_AUDIO_CMD_SAMPLE_PLAY, this->audio_id))
{
// get and send the latest audio command, if it's new
-------------------------------------------------------------------------
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