Update of /cvsroot/playerstage/code/player/server/drivers/shell
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv25787/server/drivers/shell
Modified Files:
Tag: b_thjc_dynamic_arrays
passthrough.cc .cvsignore kartowriter.cc Makefile.am
Log Message:
Merged some changes from head a while back
Work on updating drivers, A-J done, laser is next
Index: .cvsignore
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/.cvsignore,v
retrieving revision 1.1
retrieving revision 1.1.20.1
diff -C2 -d -r1.1 -r1.1.20.1
*** .cvsignore 5 Feb 2003 22:33:57 -0000 1.1
--- .cvsignore 10 Oct 2007 09:26:04 -0000 1.1.20.1
***************
*** 1,2 ****
--- 1,7 ----
Makefile
Makefile.in
+ .deps
+ *.la
+ *.a
+ *.lo
+ *.libs
Index: kartowriter.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/kartowriter.cc,v
retrieving revision 1.5
retrieving revision 1.5.2.1
diff -C2 -d -r1.5 -r1.5.2.1
*** kartowriter.cc 23 Aug 2007 19:58:48 -0000 1.5
--- kartowriter.cc 10 Oct 2007 09:26:04 -0000 1.5.2.1
***************
*** 222,231 ****
this->device_addr))
{
- if(hdr->size != sizeof(player_log_set_write_state_t))
- {
- PLAYER_ERROR2("request is wrong length (%d != %d);
ignoring",
- hdr->size,
sizeof(player_log_set_write_state_t));
- return(-1);
- }
player_log_set_write_state_t* sreq =
(player_log_set_write_state_t*)data;
--- 222,225 ----
***************
*** 250,260 ****
PLAYER_LOG_REQ_GET_STATE, this->device_addr))
{
- if(hdr->size != 0)
- {
- PLAYER_ERROR2("request is wrong length (%d != %d);
ignoring",
- hdr->size, 0);
- return(-1);
- }
-
player_log_get_state_t greq;
--- 244,247 ----
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/Makefile.am,v
retrieving revision 1.17
retrieving revision 1.17.2.1
diff -C2 -d -r1.17 -r1.17.2.1
*** Makefile.am 2 May 2007 22:09:00 -0000 1.17
--- Makefile.am 10 Oct 2007 09:26:04 -0000 1.17.2.1
***************
*** 14,21 ****
endif
AM_CPPFLAGS = -g3 -Wall -I$(top_srcdir)
libdummy_la_SOURCES = dummy.cc
! #libpassthrough_a_SOURCES = passthrough.cc
liblogfile_la_SOURCES = writelog.cc encode.h encode.cc \
readlog_time.h readlog_time.cc readlog.cc
--- 14,25 ----
endif
+ if INCLUDE_PASSTHROUGH
+ noinst_LTLIBRARIES += libpassthrough.la
+ endif
+
AM_CPPFLAGS = -g3 -Wall -I$(top_srcdir)
libdummy_la_SOURCES = dummy.cc
! libpassthrough_la_SOURCES = passthrough.cc
liblogfile_la_SOURCES = writelog.cc encode.h encode.cc \
readlog_time.h readlog_time.cc readlog.cc
Index: passthrough.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/passthrough.cc,v
retrieving revision 1.20
retrieving revision 1.20.4.1
diff -C2 -d -r1.20 -r1.20.4.1
*** passthrough.cc 23 Feb 2006 18:54:55 -0000 1.20
--- passthrough.cc 10 Oct 2007 09:26:04 -0000 1.20.4.1
***************
*** 1,6 ****
/*
* Player - One Hell of a Robot Server
! * Copyright (C) 2000 Brian Gerkey & Kasper Stoy
! * [EMAIL PROTECTED] [EMAIL PROTECTED]
*
* This program is free software; you can redistribute it and/or modify
--- 1,6 ----
/*
* Player - One Hell of a Robot Server
! * Copyright (C) 2007 Alexis Maldonado Herrera
! * maldonad \/at/\ cs.tum.edu
*
* This program is free software; you can redistribute it and/or modify
***************
*** 21,54 ****
/*
! * $Id$
! */
/** @ingroup drivers */
/** @{ */
! /** @defgroup driver_passthrough passthrough (deprecated)
* @brief General-purpose proxy driver
! @deprecated This driver is probably no longer needed, since a driver can now
! require a remote driver directly in the configuration file.
! The @p passthrough driver acts as a @e client to another Player server;
! it returns data generated by the remote server to client programs, and
! send commands from the client programs to the remote server. In this
! way, one Player server can pretend to have devices that are actually
! located at some other location in the network (i.e., owned by some
! other Player server). Thus, the @p passthrough driver makes possible
! three important capabilities:
! - Data from multiple robots can be aggregated in a single Player
! server; client programs can then talk to more than one robot through
! a single connection.
! - Computationally intensive drivers can be moved off the robot and
! onto a workstation. Client programs connect to the workstation rather
! that the robot, but are otherwise unchanged.
! - When working with Stage 1.3.x, you can use sophisticated drivers,
! like @ref driver_amcl and @ref driver_vfh by instantiating
! them in a second copy of Player, and passing through data and commands
! for the simulated devices.
! See the below for some examples of the @p passthrough driver in
! action.
@par Compile-time dependencies
--- 21,51 ----
/*
! This is the new passthrough driver for Player 2.
! It does the following:
! - From the configuration file, reads requires ["SRC interface"], and
provides ["DST interface"]
! - When a client connects to our DST interface, it subscribes to the
SRC interface, and forwards all packets to the DST interface.
! - If the client sends a command to the DST, it gets forwarded to the
SRC interfaces, and the ACK, NACK, or SYNCH answers get sent back to the DST
interface
! - When the client disconnects from our DST interface, we unsubscribe
from the SRC interface.
! - When forwarding packets, the header gets changed accordingly,
specifically: devaddr (host, robot, interface, index)
! */
!
! //Doxygen documentation taken partly from the old Player 1.x passthrough
driver, and modified to fit the new one
/** @ingroup drivers */
/** @{ */
! /** @defgroup driver_passthrough passthrough
* @brief General-purpose proxy driver
! The @p passthrough driver relays packets between two player interfaces.
! It connects as a @e client to an interface, and offers the same interface
! to other clients. All communication packets are forwarded between the two.
! This is specially useful to aggregate many player devices in a single Player
! Server, and control them using only one connection. Probably the most
! useful usage is to have a Player Server offering a stable set of interfaces,
! that get forwarded to the appropriate Player Servers connected to the
hardware.
! If a device is moved around to a different computer, the clients don't have to
! be reconfigured, since the change is done only in the server running the
passthrough
! driver.
@par Compile-time dependencies
***************
*** 59,63 ****
- The @p passthrough driver will support any of Player's interfaces,
! and can connect to any Player device.
@par Requires
--- 56,60 ----
- The @p passthrough driver will support any of Player's interfaces,
! and can connect to any Player device.
@par Requires
***************
*** 71,558 ****
@par Configuration file options
! The @p passthrough driver needs the full address of the remote device
! which is a tuple host:port:interface:index. The interface is determined
! with the normal "provides" syntax. Specify the remaining parts in the
! configuration file:
!
! - remote_host (string)
! - Default: "localhost"
! - Hostname of the remote device
! - remote_port (integer)
! - Default: the port being used by this instance of Player
! - TCP port of the remote device
! - remote_index (integer)
! - Default: the index of the passthrough device
! - Index of the remote device
! - access (string)
! - Default: "a"
! - The access to be acquired ("r", "w", or "a")
!
! @par Example: Controlling multiple robots through a single connection
!
! The @p passthrough driver can be used to aggregate devices from multiple
! robots into a single server. The following example illustrates the
! general method for doing this.
! - Imagine that we have two laser-equipped Pioneer robots named @p bee
! and @p bug. On each robot, start a Player server with the following
! configuration file:
! @verbatim
! driver
! (
! name "p2os"
! provides ["odometry::position:0"]
! )
! driver
! (
! name "sicklms200"
! provides ["laser:0"]
! )
! @endverbatim
! - Now imagine that we have a workstation named @p orac. On this
! workstation, start another instance of Player with the following
! configuration file:
@verbatim
driver
(
! name "passthrough"
! provides ["position:0"]
! remote_host "bee"
! remote_port 6665
! remote_index 0
! access "a"
! )
! driver
! (
! name "passthrough"
! provides ["laser:0"]
! remote_host "bee"
! remote_port 6665
! remote_index 0
! access "r"
! )
! driver
! (
! name "passthrough"
! provides ["position:1"]
! remote_host "bug"
! remote_port 6665
! remote_index 0
! access "a"
! )
! driver
! (
! name "passthrough"
! provides ["laser:1"]
! remote_host "bug"
! remote_port 6665
! remote_index 0
! access "r"
)
@endverbatim
- A client connecting to @p orac will see four devices: two @ref
- interface_position2d devices and two @ref interface_laser
- devices. Both robots can now be controlled through a single connection
- to @p orac.
-
- @par Example: Shifting computation
-
- Computationally expensive drivers (such as @ref driver_amcl)
- can be shifted off the robot and onto a workstation. The basic method
- is a straight-forward variant of the example given above.
! - Imagine that we have a robot named @p bee. On @p bee, run the Player
! server with this configuration file:
@verbatim
driver
(
! name "p2os"
! provides ["odometry::position:0"]
! )
! driver
! (
! name "sicklms200"
! provides ["laser:0"]
)
@endverbatim
- The robot is assumed to be a Pioneer with a SICK laser range-finder.
! - Now imagine that we have a workstation named @p orac. On
! this workstation, start another instance of Player with the
! following configuration file:
! @verbatim
! driver
! (
! name "passthrough"
! provides ["position:0"]
! remote_host "bee"
! remote_port 6665
! remote_index 0
! access "a"
! )
! driver
! (
! name "passthrough"
! provides ["laser:0"]
! remote_host "bee"
! remote_port 6665
! remote_index 0
! access "r"
! )
! driver
! (
! name "amcl"
! provides ["localize:0"]
! requires ["position:0" "laser:0"]
! ....
! )
! @endverbatim
! (See the documentation for the @ref driver_amcl driver for a
! detailed description of the additional setings for that driver.)
! Clients connecting to this server will see a robot with @ref
! interface_position2d, @ref interface_laser and @ref
! interface_localize devices, but all of the heavy computation will
! be done on the workstation.
- @par Example: Using the amcl driver with Stage 1.3.x
! Some newer drivers, such as the @ref driver_amcl and @ref
! driver_vfh driver, are not supported natively in Stage. For these
! drivers users must employ a second Player server configured to use the
! @p passthrough driver. The basic procedure is as follows.
- - Start Stage with a world file something like this:
- @verbatim
- ...
- position (port 6665 laser ())
- ...
- @endverbatim
- Stage will create one robot (position device) with a laser, and
- will start a Player server that listens on port 6665.
- - Start another Player server using the command
- @verbatim
- player -p 7000 amcl.cfg
- @endverbatim
- where the configuration file @p amcl.cfg looks like this (see the
- documentation for the @ref driver_amcl driver for a detailed
- description of the additional setings for that driver):
- @verbatim
- driver
- (
- name "passthrough"
- provides ["position:0"]
- remote_host "localhost"
- remote_port 6665
- remote_index 0
- access "a"
- )
- driver
- (
- name "passthrough"
- provides ["laser:0"]
- remote_host "localhost"
- remote_port 6665
- remote_index 0
- access "r"
- )
- driver
- (
- name "mapfile"
- provides ["map:0"]
- filename "cave.pnm"
- resolution 0.03
- negate 1
- )
- driver
- (
- name "amcl"
- provides ["localize:0"]
- requires ["odometry::position:0" "laser:0" "laser::map:0"]
- )
- @endverbatim
- The second Player server will start up and listen on port 7000;
- clients connecting to this server will see a robot with @ref
- interface_position2d, @ref interface_laser, and @ref
- interface_localize devices.
- @author Brian Gerkey, Andrew Howard
- */
- /** @} */
! #include <stdlib.h>
! #include <sys/time.h>
#include <string.h>
- // we'll use the C client facilities to connect to the remote server
#include <libplayercore/playercore.h>
- #include <playercclient.h>
! extern int global_playerport;
! class PassThrough:public Driver
! {
! private:
! // info for our local device
! player_device_id_t local_id;
! // info for the server/device to which we will connect
! const char* remote_hostname;
! player_device_id_t remote_id;
! unsigned char remote_access;
! char remote_drivername[PLAYER_MAX_DEVICE_STRING_LEN];
! // bookkeeping for the client connection
! player_connection_t conn;
! char* remote_data;
! char* remote_command;
! char* remote_config;
! char* remote_reply;
! // MessageHandler
! int ProcessMessage(ClientData * client, player_msghdr * hdr, uint8_t *
data, uint8_t * resp_data, int * resp_len);
! // this function will be run in a separate thread
! virtual void Main();
! // close and cleanup
! void CloseConnection();
- public:
- PassThrough(ConfigFile* cf, int section);
- ~PassThrough();
- virtual int Setup();
- virtual int Shutdown();
};
- // initialization function
Driver*
! PassThrough_Init( ConfigFile* cf, int section)
! {
! return((Driver*)(new PassThrough(cf, section)));
}
! // a driver registration function
! void
! PassThrough_Register(DriverTable* table)
! {
! table->AddDriver("passthrough", PassThrough_Init);
}
PassThrough::PassThrough(ConfigFile* cf, int section)
! : Driver(cf, section, true, PLAYER_MSGQUEUE_DEFAULT_MAXLEN, -1,
PLAYER_ALL_MODE)
! {
! this->local_id = this->device_id;
! // Figure out remote device location
! this->remote_hostname = cf->ReadString(section, "remote_host", "localhost");
! // Figure out remote device id
! this->remote_id.code = this->local_id.code;
! this->remote_id.index = cf->ReadInt(section, "remote_index",
this->local_id.index);
! this->remote_id.port = cf->ReadInt(section, "remote_port",
this->local_id.port);
! // See if we are connected to ourself
! if(!strcmp(this->remote_hostname,"localhost") && (this->remote_id.port ==
this->local_id.port))
! {
! PLAYER_ERROR("passthrough connected to itself; you should specify\n the
hostname and/or port of the remote server in the configuration file");
! this->SetError(-1);
! return;
! }
- this->remote_access = (unsigned char)cf->ReadString(section, "access",
"a")[0];
- this->conn.protocol = PLAYER_TRANSPORT_TCP;
! assert(this->remote_data = (char*)calloc(PLAYER_MAX_PAYLOAD_SIZE,1));
! assert(this->remote_command = (char*)calloc(PLAYER_MAX_PAYLOAD_SIZE,1));
! assert(this->remote_config = (char*)calloc(PLAYER_MAX_PAYLOAD_SIZE,1));
! assert(this->remote_reply = (char*)calloc(PLAYER_MAX_PAYLOAD_SIZE,1));
}
! void
! PassThrough::CloseConnection()
! {
! if(this->conn.sock >=0)
! player_disconnect(&this->conn);
! //PutData(NULL,0,NULL);
! }
! PassThrough::~PassThrough()
! {
! //CloseConnection();
! free(this->remote_data);
! free(this->remote_command);
! free(this->remote_config);
! free(this->remote_reply);
! }
- int
- PassThrough::Setup()
- {
- unsigned char grant_access;
- Device* devp;
- player_msghdr_t hdr;
! // zero out the buffers
! //PutData(NULL,0,0,0);
! //PutCommand(this->device_id,NULL,0,NULL);
! printf("Passthrough connecting to server at %s:%d...",
this->remote_hostname,
! this->remote_id.port);
! // connect to the server
! if(player_connect(&this->conn,this->remote_hostname,this->remote_id.port) <
0)
! {
! PLAYER_ERROR1("couldn't connect to remote host \"%s\"",
! this->remote_hostname);
! return(-1);
! }
- puts("Done");
! printf("Passthrough opening device %d:%d:%d...",
! this->remote_id.port,
! this->remote_id.code,
! this->remote_id.index);
! // open the device
! if((player_request_device_access(&this->conn,
! this->remote_id.code,
! this->remote_id.index,
! this->remote_access,
! &grant_access,
! this->remote_drivername,
! sizeof(this->remote_drivername)) < 0) ||
! (grant_access != this->remote_access))
! {
! PLAYER_ERROR("couldn't get requested access to remote device");
! CloseConnection();
! return(-1);
! }
! puts("Done");
! // set the driver name in the devicetable
! if(!(devp = deviceTable->GetDevice(this->device_id)))
! {
! PLAYER_ERROR("couldn't find my own entry in the deviceTable");
! CloseConnection();
! return(-1);
! }
!
strncpy(devp->drivername,this->remote_drivername,PLAYER_MAX_DEVICE_STRING_LEN);
- for(;;)
- {
- // wait for one data packet from the remote server, to avoid sending
- // zero length packets to our clients
-
if(player_read(&this->conn,&hdr,this->remote_data,PLAYER_MAX_PAYLOAD_SIZE))
- {
- PLAYER_ERROR("got error while reading data; bailing");
- CloseConnection();
- return(-1);
- }
! if((hdr.type == PLAYER_MSGTYPE_DATA) &&
! (hdr.device == this->remote_id.code) &&
! (hdr.device_index == this->remote_id.index))
! {
! struct timeval ts;
! ts.tv_sec = hdr.timestamp_sec;
! ts.tv_usec = hdr.timestamp_usec;
! PutMsg(remote_id,NULL,PLAYER_MSGTYPE_DATA,0,this->remote_data,hdr.size,
&ts);
! break;
! }
! }
- StartThread();
! return(0);
! }
! int
! PassThrough::Shutdown()
! {
! StopThread();
! CloseConnection();
! return(0);
}
! /*int player_request(player_connection_t* conn, uint8_t reqtype,
! uint16_t device, uint16_t device_index,
! const char* payload, size_t payloadlen,
! player_msghdr_t* replyhdr, char* reply, size_t replylen);*/
- int PassThrough::ProcessMessage(ClientData * client, player_msghdr * hdr,
uint8_t * data, uint8_t * resp_data, int * resp_len)
- {
- assert(hdr);
- assert(data);
- assert(resp_data);
- assert(resp_len);
! player_msghdr_t replyhdr;
! if (hdr->type == PLAYER_MSGTYPE_REQ)
! {
! // send it
! if(player_request(&this->conn,hdr->subtype,this->remote_id.code,
! this->remote_id.index,
! (const char*)data,hdr->size,&replyhdr,
! this->remote_reply,PLAYER_MAX_PAYLOAD_SIZE) < 0)
! {
! PLAYER_ERROR("got error while sending request; bailing");
! CloseConnection();
! pthread_exit(NULL);
! }
! *resp_len = replyhdr.size;
! memcpy(resp_data,remote_reply,*resp_len);
! return replyhdr.type;
}
! if (hdr->type == PLAYER_MSGTYPE_CMD)
! {
! if(player_write(&this->conn,this->remote_id.code,
! this->remote_id.index,
! (const char *)data,hdr->size) < 0)
! {
! PLAYER_ERROR("got error while writing command; bailing");
! CloseConnection();
! pthread_exit(NULL);
! }
}
! *resp_len = 0;
! return -1;
! }
- void
- PassThrough::Main()
- {
- // size_t len_command;
- // size_t len_config;
- player_msghdr_t hdr;
- // void* client;
- // player_msghdr_t replyhdr;
- // struct timeval ts;
! for(;;)
! {
! // get new data from the remote server
!
if(player_read(&this->conn,&hdr,this->remote_data,PLAYER_MAX_PAYLOAD_SIZE))
! {
! PLAYER_ERROR("got error while reading data; bailing");
! CloseConnection();
! pthread_exit(NULL);
! }
! if((hdr.type == PLAYER_MSGTYPE_DATA) &&
! //(hdr.robot == this->remote_id.robot) &&
! (hdr.device == this->remote_id.code) &&
! (hdr.device_index == this->remote_id.index))
! {
! struct timeval ts;
! ts.tv_sec = hdr.timestamp_sec;
! ts.tv_usec = hdr.timestamp_usec;
! PutMsg(this->local_id, NULL,
PLAYER_MSGTYPE_DATA,0,this->remote_data,hdr.size,&ts);
}
- }
}
--- 68,269 ----
@par Configuration file options
! The @p passthrough driver can be used with local or remote interfaces using
the
! requires section in the configuration file.
! For local interfaces, the format is:
@verbatim
driver
(
! name "passthrough"
! requires ["interface:index"] // example: ["dio:0"]
! provides ["interface:anotherindex"] // example: ["dio:25"]
)
@endverbatim
! To connect to an interface running on another server, the format is:
@verbatim
driver
(
! name "passthrough"
! requires [":hostname:port:interface:index"] // example:
[":someserver:6665:dio:0"]
! provides ["interface:someindex"] //example: [dio:0]
)
@endverbatim
! Note that the in the case of connecting to remote interfaces, the provided
interface can have
! any index number. The driver changes the header accordingly.
! @author Alexis Maldonado
! */
! /** @} */
! #include <unistd.h>
#include <string.h>
#include <libplayercore/playercore.h>
! class PassThrough : public Driver {
! public:
! PassThrough(ConfigFile* cf, int section);
! virtual int Setup();
! virtual int Shutdown();
! virtual int ProcessMessage(QueuePointer &resp_queue, player_msghdr * hdr,
void * data);
! private:
! virtual void Main();
! //Devices used to compare the header, and forward packets accordingly
! player_devaddr_t dstAddr;
! player_devaddr_t srcAddr;
! //the device that this server connects to to get data
! Device *srcDevice;
};
Driver*
! PassThrough_Init(ConfigFile* cf, int section) {
! return((Driver*)(new PassThrough(cf, section)));
}
!
! void PassThrough_Register(DriverTable* table) {
! table->AddDriver("passthrough", PassThrough_Init);
}
+
PassThrough::PassThrough(ConfigFile* cf, int section)
! : Driver(cf, section) {
! memset(&srcAddr, 0, sizeof(player_devaddr_t));
! memset(&dstAddr, 0, sizeof(player_devaddr_t));
! //let's create our DST interface
! if (cf->ReadDeviceAddr(&dstAddr, section, "provides",
! -1, 0, NULL) == 0) {
! if (AddInterface(dstAddr) != 0) {
! SetError(-1);
! return;
! }
! } else {
! PLAYER_ERROR("PassThrough: Missing 'provides' section, aborting.");
! SetError(-1);
! return;
! }
! //Find our SRC inteface
! if (cf->ReadDeviceAddr(&srcAddr, section, "requires", -1, 0, NULL) != 0) {
! PLAYER_ERROR("PassThrough: Missing 'requires' section, aborting.");
! this->SetError(-1);
! return;
! }
! return;
}
!
////////////////////////////////////////////////////////////////////////////////
! // Set up the device. Return 0 if things go well, and -1 otherwise.
! int PassThrough::Setup() {
! PLAYER_MSG0(1,"PassThrough driver initialising");
! PLAYER_MSG0(1,"PassThrough driver ready");
! srcDevice=deviceTable->GetDevice(srcAddr);
! if (!srcDevice) {
! PLAYER_ERROR3("Could not locate device [%d:%s:%d] for forwarding",
! srcDevice->addr.robot,::lookup_interface_name(0,
srcDevice->addr.interf),
! srcDevice->addr.index);
! return -1;
! }
! if (srcDevice->Subscribe(this->InQueue) != 0) {
! PLAYER_ERROR("unable to subscribe to device");
! return -1;
! }
! StartThread();
! return(0);
! }
! int PassThrough::Shutdown() {
! PLAYER_MSG0(1,"Shutting PassThrough driver down");
! StopThread();
! //Our clients disconnected, so let's disconnect from our SRC interface
! srcDevice->Unsubscribe(this->InQueue);
!
! PLAYER_MSG0(1,"PassThrough driver has been shutdown");
!
! return(0);
}
! int PassThrough::ProcessMessage(QueuePointer & resp_queue,
! player_msghdr * hdr,
! void * data) {
! bool inspected(false);
! PLAYER_MSG0(9,"PassThrough::ProcessMessage: Received a packet!");
!
! if ( Device::MatchDeviceAddress(hdr->addr,srcAddr) && ( (hdr->type ==
PLAYER_MSGTYPE_DATA) || (hdr->type == PLAYER_MSGTYPE_RESP_ACK) || (hdr->type ==
PLAYER_MSGTYPE_SYNCH) || (hdr->type == PLAYER_MSGTYPE_RESP_NACK) ) ) {
! PLAYER_MSG7(3,"PassThrough: Forwarding SRC->DST Interface code=%d
%d:%d:%d -> %d:%d:%d",hdr->addr.interf, hdr->addr.host,hdr->addr.robot,
hdr->addr.index, dstAddr.host, dstAddr.robot, dstAddr.index);
!
! hdr->addr=dstAddr; //will send to my clients, making it seem like it
comes from my DST interface
!
! this->Publish (hdr,data); //publish to all clients that subscribed
to my DST interface. *data remains unchanged
! inspected=true;
}
! if ( Device::MatchDeviceAddress(hdr->addr,dstAddr) && ( (hdr->type ==
PLAYER_MSGTYPE_CMD) || (hdr->type == PLAYER_MSGTYPE_REQ) ) ) {
! PLAYER_MSG7(3,"PassThrough: Forwarding DST->SRC Interface code=%d
%d:%d:%d -> %d:%d:%d",hdr->addr.interf, hdr->addr.host,hdr->addr.robot,
hdr->addr.index, srcAddr.host, srcAddr.robot, srcAddr.index);
!
!
! hdr->addr=srcAddr; //send to the device to which I subscribed,
making it seem like it comes from my original interface
!
! srcDevice->PutMsg(this->InQueue,hdr,data); //putMsg is the correct
way to talk to this subscribed device, any answer comes to the queue of this
driver
! inspected=true;
}
! //Check if a packet went thorugh, without being forwarded
! if (!inspected) {
! static bool reported(false);
! if (!reported) {
! PLAYER_WARN("PassThrough: A packet did not get forwarded.\nThis
warning is only shown once.\nRun player -d 2 or -d 3 for more information.");
! reported=true;
! }
! PLAYER_MSG0(2,"PassThrough: Something did not get forwarded. Check
the header:");
! PLAYER_MSG4(2,"host: %d robot: %d interf: %d index:
%d",hdr->addr.host,hdr->addr.robot,hdr->addr.interf,hdr->addr.index);
! PLAYER_MSG2(2,"type: %d subtype: %d",hdr->type,hdr->subtype);
! }
! return(0);
! }
! void PassThrough::Main() {
! //The forwarding is done in the ProcessMessage method. Called once per
each message by ProcessMessages()
! while (true) {
! pthread_testcancel();
! ProcessMessages();
!
! usleep(100);
}
}
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