Update of /cvsroot/playerstage/code/player/client_libs/libplayerc
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv19040/client_libs/libplayerc
Modified Files:
client.c dev_blackboard.c dev_laser.c mclient.c playerc.h
Log Message:
fixed error handling in read so it can timeout/exit properly on disconnection.
fixed a couple of warnings
added accessor for range data in libplayerc
Index: mclient.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/mclient.c,v
retrieving revision 1.10
retrieving revision 1.11
diff -C2 -d -r1.10 -r1.11
*** mclient.c 7 Dec 2007 01:50:14 -0000 1.10
--- mclient.c 17 Jan 2008 04:37:23 -0000 1.11
***************
*** 156,160 ****
(mclient->pollfd[i].revents & POLLIN) > 0)
{
! if(playerc_client_read_nonblock(mclient->client[i]))
{
// cache the latest timestamp
--- 156,160 ----
(mclient->pollfd[i].revents & POLLIN) > 0)
{
! if(playerc_client_read_nonblock(mclient->client[i])>0)
{
// cache the latest timestamp
Index: client.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/client.c,v
retrieving revision 1.92
retrieving revision 1.93
diff -C2 -d -r1.92 -r1.93
*** client.c 15 Jan 2008 23:50:52 -0000 1.92
--- client.c 17 Jan 2008 04:37:23 -0000 1.93
***************
*** 577,581 ****
void *playerc_client_read(playerc_client_t *client)
{
! void* ret;
// 10ms delay
struct timespec sleeptime = {0,10000000};
--- 577,582 ----
void *playerc_client_read(playerc_client_t *client)
{
! void* ret_proxy;
! int ret;
// 10ms delay
struct timespec sleeptime = {0,10000000};
***************
*** 586,601 ****
if(playerc_client_requestdata(client) < 0)
return NULL;
! ret = playerc_client_read_nonblock(client);
! if((ret != NULL) || (client->sock < 0))
! break;
nanosleep(&sleeptime,NULL);
}
- return(ret);
}
// Read and process a packet (nonblocking)
! void *playerc_client_read_nonblock(playerc_client_t *client)
{
player_msghdr_t header;
while (true)
--- 587,613 ----
if(playerc_client_requestdata(client) < 0)
return NULL;
! ret = playerc_client_read_nonblock_withproxy(client, &ret_proxy);
! if((ret > 0) || (client->sock < 0))
! return ret_proxy;
! if (ret < 0)
! return NULL;
nanosleep(&sleeptime,NULL);
}
}
+
// Read and process a packet (nonblocking)
! // returns 0 if no data recieved, 1 if data recieved and -1 on error
! int playerc_client_read_nonblock(playerc_client_t *client)
! {
! return playerc_client_read_nonblock_withproxy(client, NULL);
! }
!
! // Read and process a packet (nonblocking), fills in pointer to proxy that
got data
! // returns 0 if no data recieved, 1 if data recieved and -1 on error
! int playerc_client_read_nonblock_withproxy(playerc_client_t *client, void **
proxy)
{
player_msghdr_t header;
+ int ret;
while (true)
***************
*** 605,613 ****
{
// If there is no queued data, peek at the socket
! if(playerc_client_internal_peek(client,0) <= 0)
! return NULL;
// There's data on the socket, so read a packet (blocking).
! if(playerc_client_readpacket (client, &header, client->data) < 0)
! return NULL;
}
--- 617,625 ----
{
// If there is no queued data, peek at the socket
! if((ret = playerc_client_internal_peek(client,0)) <= 0)
! return ret;
// There's data on the socket, so read a packet (blocking).
! if((ret = playerc_client_readpacket (client, &header, client->data)) <
0)
! return ret;
}
***************
*** 624,632 ****
{
PLAYERC_WARN ("No data recieved with SYNC");
! return NULL;
}
else
{
! return client->id;
}
case PLAYER_MSGTYPE_DATA:
--- 636,646 ----
{
PLAYERC_WARN ("No data recieved with SYNC");
! return -1;
}
else
{
! if (proxy)
! *proxy = client->id;
! return 1;
}
case PLAYER_MSGTYPE_DATA:
***************
*** 639,643 ****
// Need to ensure that any dynamic data made during unpacking is
cleaned up
playerxdr_cleanup_message(client->data, header.addr.interf,
header.type, header.subtype);
! return result;
}
else // PULL mode, so keep on going
--- 653,659 ----
// Need to ensure that any dynamic data made during unpacking is
cleaned up
playerxdr_cleanup_message(client->data, header.addr.interf,
header.type, header.subtype);
! if (proxy)
! *proxy = result;
! return 1;
}
else // PULL mode, so keep on going
***************
*** 649,653 ****
{
PLAYERC_WARN ("Failed to dispatch data message");
! return NULL;
}
break;
--- 665,669 ----
{
PLAYERC_WARN ("Failed to dispatch data message");
! return -1;
}
break;
***************
*** 661,665 ****
header.addr.index,
header.size);
! return NULL;
}
}
--- 677,681 ----
header.addr.index,
header.size);
! return -1;
}
}
Index: playerc.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/playerc.h,v
retrieving revision 1.245
retrieving revision 1.246
diff -C2 -d -r1.245 -r1.246
*** playerc.h 9 Jan 2008 11:45:36 -0000 1.245
--- playerc.h 17 Jan 2008 04:37:23 -0000 1.246
***************
*** 727,731 ****
// Read and process a packet (nonblocking)
! void *playerc_client_read_nonblock(playerc_client_t *client);
/** @brief Set the timeout for client requests.
--- 727,735 ----
// Read and process a packet (nonblocking)
! // returns 0 if no data recieved, 1 if data recieved and -1 on error
! int playerc_client_read_nonblock(playerc_client_t *client);
! // Read and process a packet (nonblocking), fills in pointer to proxy that
got data
! // returns 0 if no data recieved, 1 if data recieved and -1 on error
! int playerc_client_read_nonblock_withproxy(playerc_client_t *client, void **
proxy);
/** @brief Set the timeout for client requests.
Index: dev_blackboard.c
===================================================================
RCS file:
/cvsroot/playerstage/code/player/client_libs/libplayerc/dev_blackboard.c,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** dev_blackboard.c 26 Nov 2007 22:14:59 -0000 1.5
--- dev_blackboard.c 17 Jan 2008 04:37:23 -0000 1.6
***************
*** 96,100 ****
if (playerc_client_request(device->info.client, &device->info,
! PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY, &req, entry_out) < 0)
{
free(req.key);
--- 96,100 ----
if (playerc_client_request(device->info.client, &device->info,
! PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY, &req, (void**)entry_out) < 0)
{
free(req.key);
Index: dev_laser.c
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/dev_laser.c,v
retrieving revision 1.47
retrieving revision 1.48
diff -C2 -d -r1.47 -r1.48
*** dev_laser.c 16 Dec 2007 20:50:47 -0000 1.47
--- dev_laser.c 17 Jan 2008 04:37:23 -0000 1.48
***************
*** 209,213 ****
double scanning_frequency)
{
! player_laser_config_t config, *resp;
config.min_angle = min_angle;
--- 209,213 ----
double scanning_frequency)
{
! player_laser_config_t config;
config.min_angle = min_angle;
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