Update of /cvsroot/playerstage/code/player/client_libs/libplayerc++
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv29188/libplayerc++
Modified Files:
Makefile.am playerc++.h
Added Files:
blackboardproxy.cc
Log Message:
work on the blackboard proxies, added c++, updates for c
Index: playerc++.h
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/playerc++.h,v
retrieving revision 1.101
retrieving revision 1.102
diff -C2 -d -r1.101 -r1.102
*** playerc++.h 24 Oct 2007 22:32:02 -0000 1.101
--- playerc++.h 31 Oct 2007 01:18:42 -0000 1.102
***************
*** 321,324 ****
--- 321,355 ----
};
+ /**
+ * The BlackBoardProxy class is used to subscribe to a blackboard device.
+ * A blackboard is a data-store which sends updates when an entry is changed.
+ * It also returns the current value of an entry when a proxy first subcribes
+ * to that entries key.
+ * If an entry does not exist, the default value of that entry is returned.
+ */
+ class BlackBoardProxy : public ClientProxy
+ {
+ private:
+ void Subscribe(uint aIndex);
+ void Unsubscribe();
+
+ // libplayerc data structure
+ playerc_blackboard_t *mDevice;
+
+ public:
+ /** Constructor */
+ BlackBoardProxy(PlayerClient *aPc, uint aIndex=0);
+ /** Destructor */
+ ~BlackBoardProxy();
+ /** Subscribe to a key. If the key does not exist the default value is
returned. The user must free the entry. */
+ player_blackboard_entry_t *SubscribeToKey(const char *key);
+ /** Stop receiving updates about this key. */
+ void UnsubscribeFromKey(const char *key);
+ /** Set a key value */
+ void SetEntry(const player_blackboard_entry_t &entry);
+ /** Set the function pointer which will be called when an entry is
updated. */
+ void SetEventHandler(void
(*on_blackboard_event)(player_blackboard_entry_t));
+ };
+
// /**
// The @p BlinkenlightProxy class is used to enable and disable
Index: Makefile.am
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc++/Makefile.am,v
retrieving revision 1.50
retrieving revision 1.51
diff -C2 -d -r1.50 -r1.51
*** Makefile.am 25 Sep 2007 20:25:14 -0000 1.50
--- Makefile.am 31 Oct 2007 01:18:42 -0000 1.51
***************
*** 33,36 ****
--- 33,37 ----
aioproxy.cc \
audioproxy.cc \
+ blackboardproxy.cc \
blobfinderproxy.cc \
bumperproxy.cc \
--- NEW FILE: blackboardproxy.cc ---
/*
* Player - One Hell of a Robot Server
* Copyright (C) 2000-2003
* Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
*
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
/********************************************************************
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
********************************************************************/
/*
* $Id: blackboardproxy.cc,v 1.1 2007/10/31 01:18:42 thjc Exp $
*/
#include "playerc++.h"
#include "string.h"
using namespace std;
using namespace PlayerCc;
// Constructor
BlackBoardProxy::BlackBoardProxy(PlayerClient *aPc, uint aIndex) :
ClientProxy(aPc, aIndex),
mDevice(NULL)
{
Subscribe(aIndex);
mInfo = &(mDevice->info);
}
// Destructor
BlackBoardProxy::~BlackBoardProxy()
{
Unsubscribe();
}
// Subscribe
void BlackBoardProxy::Subscribe(uint aIndex)
{
scoped_lock_t lock(mPc->mMutex);
mDevice = playerc_blackboard_create(mClient, aIndex);
if (NULL==mDevice)
{
throw PlayerError("BlackBoardProxy::Subscribe(uint aIndex)", "could not
create");
}
if (0 != playerc_blackboard_subscribe(mDevice, PLAYER_OPEN_MODE))
{
throw PlayerError("BlackBoardProxy::Subscribe(uint aIndex)", "could not
subscribe");
}
mDevice->on_blackboard_event = NULL;
}
// Unsubscribe
void BlackBoardProxy::Unsubscribe()
{
assert(NULL!=mDevice);
scoped_lock_t lock(mPc->mMutex);
playerc_blackboard_unsubscribe(mDevice);
playerc_blackboard_destroy(mDevice);
mDevice = NULL;
}
player_blackboard_entry_t *BlackBoardProxy::SubscribeToKey(const char *key)
{
scoped_lock_t lock(mPc->mMutex);
player_blackboard_entry_t **t;
*t = new player_blackboard_entry_t;
memset(*t, 0, sizeof(player_blackboard_entry_t));
if (0 != playerc_blackboard_subscribe_to_key(mDevice, key, t))
{
delete *t;
throw PlayerError("BlackBoardProxy::SubscribeToKey(const string& key)",
"could not subscribe to key");
}
return *t;
}
void BlackBoardProxy::UnsubscribeFromKey(const char *key)
{
scoped_lock_t lock(mPc->mMutex);
if (0 != playerc_blackboard_unsubscribe_from_key(mDevice, key))
{
throw PlayerError("BlackBoardProxy::UnsubscribeFromKey(const
string& key)", "could not unsubscribe from key");
}
}
void BlackBoardProxy::SetEntry(const player_blackboard_entry_t &entry)
{
scoped_lock_t lock(mPc->mMutex);
player_blackboard_entry_t *copy = new player_blackboard_entry_t;
// shallow copy
memcpy(copy, &entry, sizeof(player_blackboard_entry_t));
if (0 != playerc_blackboard_set_entry(mDevice, copy))
{
throw PlayerError("BlackBoardProxy::SetEntry(const
player_blackboard_entry_t &entry)", "could not set entry");
}
delete copy;
}
void BlackBoardProxy::SetEventHandler(void
(*on_blackboard_event)(player_blackboard_entry_t))
{
mDevice->on_blackboard_event = on_blackboard_event;
}
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