Update of /cvsroot/playerstage/code/player/utils/playerv
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10759/utils/playerv
Modified Files:
playerv.c
Log Message:
fixed push/pull, and vfh
Index: playerv.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/utils/playerv/playerv.c,v
retrieving revision 1.53
retrieving revision 1.54
diff -C2 -d -r1.53 -r1.54
*** playerv.c 1 Dec 2007 21:15:03 -0000 1.53
--- playerv.c 7 Dec 2007 01:50:15 -0000 1.54
***************
*** 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
--- 42,46 ----
in your PATH, then playerv should also be. Command-line usage is:
@verbatim
! $ playerv [-h <hostname>] [-p <port>] [-rate <Hz>] [--<device>:<index>]
[--<device>:<index>] ...
@endverbatim
For example, to connect to Player on localhost at the default port
***************
*** 55,61 ****
@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
--- 55,61 ----
@endverbatim
! If rate is a positive value, playerv attempts to poll the server for data
! at the requested rate, in Hz. If rate is 0, then playerv switches to PUSH
! mode, in which the server pushes all data, when it's ready. The default rate
is 5Hz.
When playerv starts, a window will pop up. Click and drag with the left
***************
*** 142,146 ****
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");
--- 142,146 ----
printf("\nPlayerViewer %s, ", VERSION);
printf("a visualization tool for the Player robot device server.\n");
! printf("Usage : playerv [-h <hostname>] [-p <port>] [-rate <Hz>]\n");
printf(" [--<device>:<index>] [--<device>:<index>] ... \n");
printf("Example: playerv -p 6665 --position:0 --sonar:0\n");
***************
*** 159,165 ****
int port;
int i;
- int rate;
int count;
! int pull;
char section[256];
int device_count;
--- 159,164 ----
int port;
int i;
int count;
! double rate;
char section[256];
int device_count;
***************
*** 188,192 ****
// Pick out some important program options
- rate = opt_get_int(opt, "gui", "rate", 10);
host = opt_get_string(opt, "", "host", NULL);
if (!host)
--- 187,190 ----
***************
*** 197,201 ****
port = opt_get_int(opt, "", "p", 6665);
! pull = opt_get_int(opt, "", "pull", 1);
// Connect to the server
--- 195,201 ----
port = opt_get_int(opt, "", "p", 6665);
! rate = opt_get_double(opt, "", "rate", 5.0);
! if(rate < 0.0)
! rate = 0.0;
// Connect to the server
***************
*** 209,213 ****
}
! if (0 == pull)
{
printf("Setting delivery mode to PLAYER_DATAMODE_PUSH\n", host, port);
--- 209,213 ----
}
! if(rate == 0.0)
{
printf("Setting delivery mode to PLAYER_DATAMODE_PUSH\n", host, port);
***************
*** 314,318 ****
// start out timer if in pull mode
! if (0 != pull)
gettimeofday(&tv, NULL);
--- 314,318 ----
// start out timer if in pull mode
! if(rate > 0.0)
gettimeofday(&tv, NULL);
***************
*** 322,326 ****
rtk_app_main_loop(app);
! if (0 == pull) // if we're in push mode
{
// see if there's data
--- 322,326 ----
rtk_app_main_loop(app);
! if(rate == 0.0) // if we're in push mode
{
// see if there's data
***************
*** 338,344 ****
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)*1e6 + tc.tv_usec - tv.tv_usec) > 50000)
{
tv = tc;
--- 338,344 ----
else // we're in pull mode
{
! // we only want to request new data at the target rate
gettimeofday(&tc, NULL);
! if(((tc.tv_sec - tv.tv_sec) + (tc.tv_usec - tv.tv_usec)/1e6) > 1.0/rate)
{
tv = tc;
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