Revision: 6418
http://playerstage.svn.sourceforge.net/playerstage/?rev=6418&view=rev
Author: thjc
Date: 2008-05-10 21:45:52 -0700 (Sat, 10 May 2008)
Log Message:
-----------
merged 6401 from release-2-1
memory issues in python binding for blackboard and some rework of thebindings.
Modified Paths:
--------------
code/player/trunk/client_libs/libplayerc/bindings/python/playerc.i
code/player/trunk/client_libs/libplayerc/client.c
code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c
code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
Modified: code/player/trunk/client_libs/libplayerc/bindings/python/playerc.i
===================================================================
--- code/player/trunk/client_libs/libplayerc/bindings/python/playerc.i
2008-05-11 04:30:38 UTC (rev 6417)
+++ code/player/trunk/client_libs/libplayerc/bindings/python/playerc.i
2008-05-11 04:45:52 UTC (rev 6418)
@@ -418,25 +418,32 @@
{
static void python_on_blackboard_event(playerc_blackboard_t *device,
player_blackboard_entry_t entry)
{
- PyObject *data;
- PyObject *dict;
char * str;
int i;
double d;
+ PyObject *data, *entry_dict, *group_dict, *groups, *list;
+ groups = (PyObject *)PyTuple_GetItem(device->py_private,0);
+ assert(groups);
- if (device->py_private == NULL)
+ group_dict = (PyObject*) PyDict_GetItemString(groups, entry.group);
+ if (!group_dict)
{
- device->py_private = PyList_New(0);
+ return;
}
+
+ // find our key in the group, if it exists
+ entry_dict = (PyObject*) PyDict_GetItemString(group_dict, entry.key);
+ if (!entry_dict)
+ {
+ return;
+ }
- dict = PyDict_New();
- PyDict_SetItem(dict, PyString_FromString("key"),
PyString_FromString(entry.key));
- PyDict_SetItem(dict, PyString_FromString("group"),
PyString_FromString(entry.group));
- PyDict_SetItem(dict, PyString_FromString("type"),
PyLong_FromLong(entry.type));
- PyDict_SetItem(dict, PyString_FromString("subtype"),
PyLong_FromLong(entry.subtype));
- PyDict_SetItem(dict, PyString_FromString("timestamp_sec"),
PyLong_FromLong(entry.timestamp_sec));
- PyDict_SetItem(dict, PyString_FromString("timestamp_usec"),
PyLong_FromLong(entry.timestamp_usec));
-
+ PyDict_SetItemString(entry_dict, "type", PyLong_FromLong(entry.type));
+ PyDict_SetItemString(entry_dict, "subtype",
PyLong_FromLong(entry.subtype));
+ PyDict_SetItemString(entry_dict, "timestamp_sec",
PyLong_FromLong(entry.timestamp_sec));
+ PyDict_SetItemString(entry_dict, "timestamp_usec",
PyLong_FromLong(entry.timestamp_usec));
+ list = (PyObject*)PyTuple_GetItem(device->py_private,1);
+ assert(list);
data = NULL;
switch(entry.subtype)
{
@@ -468,60 +475,148 @@
}
assert(data != NULL);
- PyDict_SetItem(dict, PyString_FromString("data"), data);
- PyList_Append(device->py_private, dict);
+ PyDict_SetItemString(entry_dict, "data", data);
+
+ if (PyLong_AsLong(PyTuple_GetItem(device->py_private,2)) > 0)
+ {
+ list = (PyObject*)PyTuple_GetItem(device->py_private,1);
+ assert(list);
+ PyList_Append(list, PyDict_Copy(entry_dict));
+ }
}
- // Will always return a list object. Returns a list of dictionary
objects containing the event data.
- PyObject *get_events()
- {
- PyObject *list, *copy;
- int i;
+// Will always return a list object. Returns a list of dictionary objects
containing the event data.
+PyObject *get_events()
+{
+ PyObject *list, *copy;
+ int i, j;
+ assert(self->py_private);
- if (self->py_private == NULL)
- {
- return Py_BuildValue("[]");
- }
+ list = (PyObject*)PyTuple_GetItem(self->py_private,1);
+ copy = PyList_New(0);
+ j = PyList_Size(list);
+ for (i = 0; i < j; i++)
+ {
+ PyList_Append(copy, PyList_GetItem(list, 0));
+ PySequence_DelItem(list,0);
+ }
+ return copy;
+}
- list = (PyObject*)self->py_private;
- copy = PyList_New(0);
- for (i = 0; i < PyList_Size(list); i++)
- {
- PyList_Append(copy, PyList_GetItem(list, i));
- }
+void set_queue_events(PyObject *boolean)
+{
+ if(!PyBool_Check(boolean))
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Expected a bool object.");
+ return;
+ }
+ if (boolean==Py_False)
+ {
+ PyTuple_SetItem(self->py_private,2,PyLong_FromLong(0));
+ }
+ else
+ {
+ PyTuple_SetItem(self->py_private,2,PyLong_FromLong(1));
+ }
+}
- Py_DECREF(list);
- list = NULL;
- return copy;
- }
+void unsubscribe_from_key_py(const char *key, const char *group)
+{
+ long refcount;
+ PyObject *group_dict, *entry_dict, *groups;
- PyObject * subscribe_to_key(const char *key, const char *group)
- {
+ groups = (PyObject *)PyTuple_GetItem(self->py_private,0);
+ assert(groups);
+
+ group_dict = (PyObject*) PyDict_GetItemString(groups, group);
+ if (!group_dict)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Group does not exist");
+ return;
+ }
+
+ // find our key in the group, if it exists
+ entry_dict = (PyObject*) PyDict_GetItemString(group_dict, key);
+ if (!entry_dict)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Key does not exist");
+ return;
+ }
+ refcount = PyLong_AsLong(PyDict_GetItemString(entry_dict,
"___refcount"));
+ if(refcount==0)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "No subscription to key to
unsubscribe from.");
+ return;
+ }
+ if(refcount==1)
+ {
+ playerc_blackboard_unsubscribe_from_key(self, key, group);
+ }
+ PyDict_SetItemString(entry_dict, "___refcount",
PyLong_FromLong(refcount-1));
+}
+
+PyObject * subscribe_to_key_py(const char *key, const char *group)
+{
char *str;
- int i;
+ int i, result, refcount;
double d;
- PyObject *data, *dict;
+ PyObject *data, *entry_dict, *group_dict, *groups;
player_blackboard_entry_t *entry;
+ groups = (PyObject *)PyTuple_GetItem(self->py_private,0);
+ assert(groups);
+ // grab our group dict, if it doesnt exist create a new one
+ group_dict = (PyObject*) PyDict_GetItemString(groups, group);
+ if (!group_dict)
+ {
+ group_dict = PyDict_New();
+ assert (group_dict);
+ result = PyDict_SetItemString(groups,group,group_dict);
+ if (result != 0)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Failed to set
group key");
+ return Py_None;
+ }
+ }
+ // find our key in the group, if it exists, create it if not
+ entry_dict = (PyObject*) PyDict_GetItemString(group_dict, key);
+ if (!entry_dict)
+ {
+ entry_dict = PyDict_New();
+ assert (entry_dict);
+ PyDict_SetItemString(entry_dict, "key",
PyString_FromString(key));
+ PyDict_SetItemString(entry_dict, "group",
PyString_FromString(group));
+ PyDict_SetItemString(entry_dict, "___refcount",
PyLong_FromLong(1));
+ }
+ else
+ {
+ // key already exists, so increment our ref count and return
current value
+ refcount = PyLong_AsLong(PyDict_GetItemString(entry_dict,
"___refcount"));
+ if(refcount>=1000)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Reached over 1000
subscriptions");
+ }
+ if(refcount!=0)
+ {
+ PyDict_SetItemString(entry_dict, "___refcount",
PyLong_FromLong(refcount+1));
+ Py_INCREF(entry_dict);
+ return entry_dict;
+ }
+ }
assert(self);
- int result = playerc_blackboard_subscribe_to_key(self, key, group,
&entry);
+ result = playerc_blackboard_subscribe_to_key(self, key, group, &entry);
if (result != 0)
{
- return NULL;
+ PyErr_SetString(PyExc_RuntimeError, "Failed to subscribe to
key");
+ return Py_None;
}
-
assert(entry);
assert(entry->key);
assert(entry->key_count > 0);
-
- dict = PyDict_New();
- PyDict_SetItem(dict, PyString_FromString("key"),
PyString_FromString(entry->key));
- PyDict_SetItem(dict, PyString_FromString("group"),
PyString_FromString(entry->group));
- PyDict_SetItem(dict, PyString_FromString("type"),
PyLong_FromLong(entry->type));
- PyDict_SetItem(dict, PyString_FromString("subtype"),
PyLong_FromLong(entry->subtype));
- PyDict_SetItem(dict, PyString_FromString("timestamp_sec"),
PyLong_FromLong(entry->timestamp_sec));
- PyDict_SetItem(dict, PyString_FromString("timestamp_usec"),
PyLong_FromLong(entry->timestamp_usec));
-
+ PyDict_SetItemString(entry_dict, "type", PyLong_FromLong(entry->type));
+ PyDict_SetItemString(entry_dict, "subtype",
PyLong_FromLong(entry->subtype));
+ PyDict_SetItemString(entry_dict, "timestamp_sec",
PyLong_FromLong(entry->timestamp_sec));
+ PyDict_SetItemString(entry_dict, "timestamp_usec",
PyLong_FromLong(entry->timestamp_usec));
switch(entry->subtype)
{
case PLAYERC_BLACKBOARD_DATA_SUBTYPE_NONE:
@@ -551,15 +646,48 @@
break;
}
-
- PyDict_SetItem(dict, PyString_FromString("data"), data);
+ PyDict_SetItemString(entry_dict, "data", data);
+ result = PyDict_SetItemString(group_dict,key,entry_dict);
+ if (result != 0)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Failed to create key
dictionary entry");
+ return Py_None;
+ }
free(entry->key);
free(entry->group);
free(entry->data);
free(entry);
- return dict;
+ Py_INCREF(entry_dict);
+ return entry_dict;
}
+PyObject * subscribe_to_key(const char *key, const char *group)
+{
+ return playerc_blackboard_subscribe_to_key_py( self, key, group);
+}
+
+PyObject * get_value(const char *key, const char *group)
+{
+ PyObject *group_dict, *entry_dict, *groups;
+ int refcount;
+
+ groups = (PyObject *)PyTuple_GetItem(self->py_private,0);
+ assert(groups);
+
+ group_dict = (PyObject*) PyDict_GetItemString(groups, group);
+ if (!group_dict)
+ return playerc_blackboard_subscribe_to_key_py( self, key,
group);
+ // find our key in the group, if it exists
+ entry_dict = (PyObject*) PyDict_GetItemString(group_dict, key);
+ if (!entry_dict)
+ return playerc_blackboard_subscribe_to_key_py( self, key,
group);
+ refcount = PyLong_AsLong(PyDict_GetItemString(entry_dict,
"___refcount"));
+ if(refcount==0)
+ return playerc_blackboard_subscribe_to_key_py( self, key,
group);
+ Py_INCREF(entry_dict);
+ return entry_dict;
+}
+
void set_entry_raw(player_blackboard_entry_t *entry)
{
playerc_blackboard_set_entry(self,entry);
@@ -581,7 +709,7 @@
if (!PyDict_Check(dict))
{
- printf("Expected a dictionary object.\n");
+ PyErr_SetString(PyExc_RuntimeError, "Expected a dictionary
object.");
return PyLong_FromLong(-1);
}
@@ -598,43 +726,43 @@
if (key == NULL || group == NULL || type == NULL || subtype == NULL ||
timestamp_sec == NULL || timestamp_usec == NULL || data == NULL)
{
- printf("Dictionary object missing keys.\n");
+ PyErr_SetString(PyExc_RuntimeError, "Dictionary object missing
keys.");
return PyLong_FromLong(-1);
}
if (!PyString_Check(key))
{
- printf("key should be a string type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "key should be a string
type.");
return PyLong_FromLong(-1);
}
if (!PyString_Check(group))
{
- printf("group should be a string type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "group should be a string
type.");
return PyLong_FromLong(-1);
}
if (!PyLong_Check(type))
{
- printf("type should be a long type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "type should be a long
type.");
return PyLong_FromLong(-1);
}
if (!PyLong_Check(subtype))
{
- printf("subtype should be a long type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "subtype should be a long
type.");
return PyLong_FromLong(-1);
}
if (!PyLong_Check(timestamp_sec))
{
- printf("timestamp_sec should be a long type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "timestamp_sec should be a
long type.");
return PyLong_FromLong(-1);
}
if (!PyLong_Check(timestamp_usec))
{
- printf("timestamp_usec should be a long type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "timestamp_usec should be a
long type");
return PyLong_FromLong(-1);
}
@@ -656,12 +784,11 @@
case PLAYERC_BLACKBOARD_DATA_SUBTYPE_STRING:
if (!PyString_Check(data))
{
- printf("data should be a string type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "data should be a
string type.");
return PyLong_FromLong(-1);
}
str = NULL;
str = PyString_AsString(data);
- printf("str=%s\n", str);
length = strlen(str) + 1;
entry.data = malloc(length);
assert(entry.data);
@@ -671,7 +798,7 @@
case PLAYERC_BLACKBOARD_DATA_SUBTYPE_INT:
if (!PyLong_Check(data))
{
- printf("data should be a long type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "data should be a
long type.");
return PyLong_FromLong(-1);
}
i = 0;
@@ -685,7 +812,7 @@
case PLAYERC_BLACKBOARD_DATA_SUBTYPE_DOUBLE:
if (!PyLong_Check(data))
{
- printf("data should be a long type.\n");
+ PyErr_SetString(PyExc_RuntimeError, "data should be a
long type.");
return PyLong_FromLong(-1);
}
d = 0.0;
@@ -701,17 +828,6 @@
entry.data_count = 0;
break;
}
-
- printf("entry:\n");
- printf("key:%s\n", entry.key);
- printf("key_count:%d\n", entry.key_count);
- printf("group:%s\n", entry.group);
- printf("data:%s\n", (char*)entry.data);
- printf("data_count:%d\n", entry.data_count);
- printf("timestamp_sec:%d\n", entry.timestamp_sec);
- printf("timestamp_usec:%d\n", entry.timestamp_usec);
- printf("type:%d\n", entry.type);
- printf("subtype:%d\n", entry.subtype);
result = playerc_blackboard_set_entry(self, &entry);
if (result != 0)
{
@@ -728,15 +844,18 @@
// It performs the same functionality, but points the callback function to the
new python one.
playerc_blackboard_t *python_playerc_blackboard_create(playerc_client_t
*client, int index)
{
- playerc_blackboard_t *device= playerc_blackboard_create(client, index);
- if (device == NULL)
- {
- return NULL;
- }
+ playerc_blackboard_t *device= playerc_blackboard_create(client, index);
+ if (device == NULL)
+ {
+ PyErr_SetString(PyExc_RuntimeError, "Failed to create blackboard");
+ return NULL;
+ }
+
+ device->py_private = Py_BuildValue("({},[],i)",0); // tuple of a dict and a
list to store our keys and events in
+
+ device->on_blackboard_event = playerc_blackboard_python_on_blackboard_event;
+ return device;
- device->on_blackboard_event =
playerc_blackboard_python_on_blackboard_event;
- return device;
-
}
#undef new_playerc_blackboard
#define new_playerc_blackboard python_playerc_blackboard_create
Modified: code/player/trunk/client_libs/libplayerc/client.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/client.c 2008-05-11 04:30:38 UTC
(rev 6417)
+++ code/player/trunk/client_libs/libplayerc/client.c 2008-05-11 04:45:52 UTC
(rev 6418)
@@ -675,7 +675,13 @@
client->data_received = 1;
if (result == NULL)
{
- PLAYERC_WARN ("Failed to dispatch data message");
+ PLAYERC_WARN1 ("Failed to dispatch data message: subtype %d",
header.subtype);
+ printf("address: %u:%u:%s:%u\nsize: %u",
+ header.addr.host,
+ header.addr.robot,
+ interf_to_str(header.addr.interf),
+ header.addr.index,
+ header.size);
return -1;
}
break;
Modified: code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c 2008-05-11
04:30:38 UTC (rev 6417)
+++ code/player/trunk/client_libs/libplayerc/dev_blinkenlight.c 2008-05-11
04:45:52 UTC (rev 6418)
@@ -66,7 +66,7 @@
player_msghdr_t *header,
void* data, size_t len)
{
- int i = 0;
+ //int i = 0;
if((header->type == PLAYER_MSGTYPE_DATA) &&
(header->subtype == PLAYER_BLINKENLIGHT_DATA_STATE))
Modified: code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
===================================================================
--- code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
2008-05-11 04:30:38 UTC (rev 6417)
+++ code/player/trunk/client_libs/libplayerc/test/test_blinkenlight.c
2008-05-11 04:45:52 UTC (rev 6418)
@@ -13,8 +13,8 @@
// Basic test for an dio device.
int test_blinkenlight(playerc_client_t *client, int index) {
- int t;
- void *rdevice;
+ //int t;
+ //void *rdevice;
playerc_blinkenlight_t *device;
printf("device [blinkenlight] index [%d]\n", index);
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