Revision: 6446
http://playerstage.svn.sourceforge.net/playerstage/?rev=6446&view=rev
Author: thjc
Date: 2008-05-17 17:50:10 -0700 (Sat, 17 May 2008)
Log Message:
-----------
changed the way the nav200 driver checks for orphaned data on its incoming queue
Modified Paths:
--------------
code/player/branches/release-2-1-patches/server/drivers/position/nav200/nav200.cc
Modified:
code/player/branches/release-2-1-patches/server/drivers/position/nav200/nav200.cc
===================================================================
---
code/player/branches/release-2-1-patches/server/drivers/position/nav200/nav200.cc
2008-05-16 14:49:50 UTC (rev 6445)
+++
code/player/branches/release-2-1-patches/server/drivers/position/nav200/nav200.cc
2008-05-18 00:50:10 UTC (rev 6446)
@@ -586,13 +586,26 @@
player_opaque_data_t mData;
mData.data_count = length;
mData.data = buffer;
+
+ // before we send a command to the NAV200, flush and data coming in from the
remote file
+ sn200->InQueue->SetFilter(opaque_id.host, opaque_id.robot, opaque_id.interf,
opaque_id.index, PLAYER_MSGTYPE_DATA, PLAYER_OPAQUE_DATA_STATE);
+ //puts("waiting for data");
+ sn200->ProcessMessages();
+
// before we send a command to the NAV200, flush and data coming in from the
remote file
- if (!sn200->InQueue->Empty())
+ if (bytesReceived)
{
- PLAYER_WARN("Queue was not empty on NAV200, flushing");
- while (sn200->InQueue->Pop());
+
+ do
+ {
+ PLAYER_WARN1("Buffer was not empty on NAV200 (%d),
flushing",bytesReceived);
+ bytesReceived = 0;
+ usleep(100000);
+ sn200->ProcessMessages();
+ } while (bytesReceived != 0);
}
+ sn200->InQueue->ClearFilter();
opaque->PutMsg(sn200->InQueue, PLAYER_MSGTYPE_CMD, PLAYER_OPAQUE_CMD_DATA,
reinterpret_cast<void*>(&mData), 0, NULL);
@@ -729,6 +742,7 @@
if ((now.tv_sec - start.tv_sec) * 1e6 + now.tv_usec - start.tv_usec >
timeout_usec)
{
fprintf(stderr,"Timed out waiting for packet %d uSecs
passed\n",static_cast<int>((now.tv_sec - start.tv_sec) * 1e6 + now.tv_usec -
start.tv_usec));
+ sn200->InQueue->ClearFilter();
return -1;
}
usleep(1000);
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