Update of /cvsroot/playerstage/code/player/server/drivers/blackboard/localbb
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2884/server/drivers/blackboard/localbb
Modified Files:
localbb.cpp
Log Message:
changes to blackboard interface and client proxies
Index: localbb.cpp
===================================================================
RCS file:
/cvsroot/playerstage/code/player/server/drivers/blackboard/localbb/localbb.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** localbb.cpp 6 Dec 2007 00:20:28 -0000 1.4
--- localbb.cpp 21 Jan 2008 02:58:45 -0000 1.5
***************
*** 76,92 ****
#include <iostream>
! /[EMAIL PROTECTED] Custom blackboard-entry data representation used
internally by the driver. */
typedef struct EntryData
{
/** Constructor. Sets all members to 0 or NULL. */
! EntryData() { interf = 0; type = 0; subtype = 0; data_count = 0; data =
NULL; timestamp_sec = 0; timestamp_usec = 0; }
//~EntryData() { if (data != NULL) delete [] data; } Why doesn't it like
this?
!
! /** Player interface */
! uint16_t interf;
/** Message type */
! uint8_t type;
/** Message sub-type */
! uint8_t subtype;
/** Data size */
--- 76,91 ----
#include <iostream>
! /[EMAIL PROTECTED] EntryData
! * @brief Custom blackboard-entry data representation used internally by the
driver. */
typedef struct EntryData
{
/** Constructor. Sets all members to 0 or NULL. */
! EntryData() { type = 0; subtype = 0; data_count = 0; data = NULL;
timestamp_sec = 0; timestamp_usec = 0; }
//~EntryData() { if (data != NULL) delete [] data; } Why doesn't it like
this?
!
/** Message type */
! uint16_t type;
/** Message sub-type */
! uint16_t subtype;
/** Data size */
***************
*** 94,103 ****
/** Data */
uint8_t* data;
! /** Time entry created */
uint32_t timestamp_sec;
uint32_t timestamp_usec;
} EntryData;
! /[EMAIL PROTECTED] Custom blackboard entry representation used internally by
the driver.*/
typedef struct BlackBoardEntry
{
--- 93,104 ----
/** Data */
uint8_t* data;
! /** Time entry created. Seconds since epoch. */
uint32_t timestamp_sec;
+ /** Time entry created. Microseconds field. */
uint32_t timestamp_usec;
} EntryData;
! /[EMAIL PROTECTED] BlackBoardEntry
! * @brief Custom blackboard entry representation used internally by the
driver.*/
typedef struct BlackBoardEntry
{
***************
*** 113,128 ****
// Function prototypes
! /** Convienience function to convert from the internal blackboard entry
representation to the player format. The user must clean-up the player
blackboard entry. */
player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry
&entry);
! /** Convienience function to convert from the player blackboard entry to the
internal representation. */
BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t
&entry);
- // Remember to clean-up the entry afterwards. Delete the key and data.
player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry
&entry)
{
player_blackboard_entry_t result;
memset(&result, 0, sizeof(player_blackboard_entry_t));
- result.interf = entry.data.interf;
result.type = entry.data.type;
result.subtype = entry.data.subtype;
--- 114,127 ----
// Function prototypes
! /** @brief Convienience function to convert from the internal blackboard
entry representation to the player format. The user must clean-up the player
blackboard entry. Delete the key and data. */
player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry
&entry);
! /** @brief Convienience function to convert from the player blackboard entry
to the internal representation. This entry will be cleaned-up automatically by
the destructor.*/
BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t
&entry);
player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry
&entry)
{
player_blackboard_entry_t result;
memset(&result, 0, sizeof(player_blackboard_entry_t));
result.type = entry.data.type;
result.subtype = entry.data.subtype;
***************
*** 137,146 ****
return result;
}
!
! // This entry will be cleaned-up automatically by the destructor.
BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t
&entry)
{
BlackBoardEntry result;
- result.data.interf = entry.interf;
result.data.type = entry.type;
result.data.subtype = entry.subtype;
--- 136,143 ----
return result;
}
!
BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t
&entry)
{
BlackBoardEntry result;
result.data.type = entry.type;
result.data.subtype = entry.subtype;
***************
*** 156,194 ****
////////////////////////////////////////////////////////////////////////////////
! /** Local memory blackboard driver. Stores entries in a hash-map in local
memory. */
class LocalBB : public Driver
{
public:
! /** Default constructor. */
LocalBB(ConfigFile* cf, int section);
! /** Default destructor. */
~LocalBB();
! /** Driver initialisation. */
int Setup();
! /** Driver de-initialisation. */
int Shutdown();
// MessageHandler
! /** Process incoming messages. */
int ProcessMessage(QueuePointer &resp_queue, player_msghdr *
hdr, void * data);
private:
// Message subhandlers
! /** Process a subscribe to key message. */
int ProcessSubscribeKeyMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void * data);
! /** Process an unsubscribe from key message. */
int ProcessUnsubscribeKeyMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void * data);
! /** Process a set entry message. */
int ProcessSetEntryMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void * data);
// Blackboard handler functions
! /** Add the key and queue combination to the listeners hash-map
and return the entry for the key. */
BlackBoardEntry SubscribeKey(const string &key, const
QueuePointer &resp_queue);
! /** Remove the key and queue combination from the listeners
hash-map. */
void UnsubscribeKey(const string &key, const QueuePointer &qp);
! /** Set the entry in the entries hashmap. */
void SetEntry(const BlackBoardEntry &entry);
// Helper functions
! /** Check that the message has a valid size. */
bool CheckHeader(player_msghdr * hdr);
--- 153,234 ----
////////////////////////////////////////////////////////////////////////////////
! /[EMAIL PROTECTED] LocalBB
! * @brief Local memory blackboard driver. Stores entries in a hash-map in
local memory. */
class LocalBB : public Driver
{
public:
! /**
! * @brief Default constructor.
! * @param cf ConfigFile, the player configuration file
information
! * @param section The section of the configuration file
! */
LocalBB(ConfigFile* cf, int section);
! /** @brief Default destructor. */
~LocalBB();
! /** @brief Driver initialisation. */
int Setup();
! /** @brief Driver de-initialisation. */
int Shutdown();
// MessageHandler
! /** @brief Process incoming messages.
! * Check the incoming message types. If the message type is
PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY,
PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY or PLAYER_BLACKBOARD_REQ_SET_ENTRY,
call
! * the appropriate private method to process it. Otherwise it
is an unknown message.
! * @param resp_queue Player response queue.
! * @param hdr Message header.
! * @param data Message data.
! * @return 0 for success, -1 on error.
! */
int ProcessMessage(QueuePointer &resp_queue, player_msghdr *
hdr, void * data);
private:
// Message subhandlers
! /** @brief Process a subscribe to key message.
! * Adds the response queue to the list of devices listening to
that key in the map.
! * Retrieves the entry for the given key.
! * Publishes the entry.
! * @param resp_queue Player response queue.
! * @param hdr Message header.
! * @param data Message data.
! * @return 0 for success, -1 on error.
! */
int ProcessSubscribeKeyMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void * data);
! /** @brief Process an unsubscribe from key message.
! * Removes the response queue from the list of devices
listening to that key in the map.
! * @param resp_queue Player response queue.
! * @param hdr Message header.
! * @param data Message data.
! * @return 0 for success, -1 on error.
! * */
int ProcessUnsubscribeKeyMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void * data);
! /** @brief Process a set entry message.
! * Set the entry message in the local hashmap.
! * Send out update events to other listening devices.
! * Send back an empty ack.
! * @param resp_queue Player response queue.
! * @param hdr Message header.
! * @return 0 for success, -1 on error.
! */
int ProcessSetEntryMessage(QueuePointer &resp_queue,
player_msghdr * hdr, void * data);
// Blackboard handler functions
! /** @brief Add the key and queue combination to the listeners
hash-map and return the entry for the key.
! * @param key Entry key.
! * @param resp_queue Player response queue of the subscriber.
! */
BlackBoardEntry SubscribeKey(const string &key, const
QueuePointer &resp_queue);
! /** @brief Remove the key and queue combination from the
listeners hash-map.
! * @param key Entry key.
! * @param qp Player response queue of the subscriber.
! */
void UnsubscribeKey(const string &key, const QueuePointer &qp);
! /** @brief Set the entry in the entries hashmap. *
! * @param entry BlackBoardEntry that must be put in the hashmap.
! */
void SetEntry(const BlackBoardEntry &entry);
// Helper functions
! /** @brief Check that the message has a valid size.
! * @param hdr Header of the message to check.
! */
bool CheckHeader(player_msghdr * hdr);
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