Revision: 7420
http://playerstage.svn.sourceforge.net/playerstage/?rev=7420&view=rev
Author: rtv
Date: 2009-03-10 03:07:02 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
refactored to get instance of websim
Modified Paths:
--------------
code/branches/federation/stage/examples/gzfed/confederate.cc
code/branches/federation/stage/examples/gzfed/main.cc
code/branches/federation/stage/examples/gzfed/parser.cc
code/branches/federation/stage/examples/gzfed/puppet.cc
code/branches/federation/stage/examples/gzfed/websim.cc
code/branches/federation/stage/examples/gzfed/websim.hh
Modified: code/branches/federation/stage/examples/gzfed/confederate.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/confederate.cc
2009-03-10 02:28:14 UTC (rev 7419)
+++ code/branches/federation/stage/examples/gzfed/confederate.cc
2009-03-10 03:07:02 UTC (rev 7420)
@@ -3,7 +3,7 @@
#include "websim.hh"
-Confederate::Confederate( const char* host, unsigned short port ) :
+WebSim::Confederate::Confederate( WebSim* ws, const char* host, unsigned short
port ) :
puppet_list( NULL )
{
if(! (http_con = evhttp_connection_new( host, port )) )
@@ -19,18 +19,21 @@
&remote_port );
// build the canonical name for this confederate
- snprintf( name, 512, "%s:%u", remote_host, remote_port );
-
- g_hash_table_insert( WebSim::confederates, name, this );
+ char buf[512];
+ snprintf( buf, 512, "%s:%u", remote_host, remote_port );
+
+ name = strdup(buf);
+
+ g_hash_table_insert( ws->confederates, (void*)name, this );
//printf( "\t\tConfederate %s constructed \n", name );
}
-Confederate::~Confederate()
+WebSim::Confederate::~Confederate()
{
evhttp_connection_free( http_con );
}
-void Confederate::PuppetCreationCallback( evhttp_request* req, void* arg )
+void WebSim::Confederate::PuppetCreationCallback( evhttp_request* req, void*
arg )
{
Puppet* pup = (Puppet*)arg;
printf( "response regarding puppet \"%s\"\n", pup->name );
@@ -43,7 +46,7 @@
pup->created = true;
}
-void Confederate::AddPuppet( Puppet* puppet,
+void WebSim::Confederate::AddPuppet( Puppet* puppet,
const
char* prototype )
{
// send a create message
@@ -78,14 +81,14 @@
g_list_append( puppet_list, puppet );
}
-int Confederate::Push( Puppet* puppet )
+int WebSim::Confederate::Push( const char* name, Pose p, Velocity v,
Acceleration a )
{
- printf( "\tpushing \"%s\" to %s.\n",
- puppet->name,
+ printf( "\tconfederate %s pushing state of \"%s\"\n",
+ this->name,
name );
}
-int Confederate::RunStep()
+int WebSim::Confederate::RunStep()
{
// construct and send a tick message
printf( "Confederate %s clock tick\n",
Modified: code/branches/federation/stage/examples/gzfed/main.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/main.cc 2009-03-10
02:28:14 UTC (rev 7419)
+++ code/branches/federation/stage/examples/gzfed/main.cc 2009-03-10
03:07:02 UTC (rev 7420)
@@ -4,48 +4,25 @@
#include "websim.hh"
-void print_confederate( const char* name, Confederate* conf, void* prefix )
-{
- //printf( "%skey: %s name :%s\n", prefix, name, conf->name );
- printf( "%s%s\n", prefix, conf->name );
-}
-
-void update_puppet( const char* name, Puppet* pup, void* dummy )
-{
- // poke new state into puppet here
- pup->pose.x = 10;
- pup->pose.y = 10;
- pup->pose.z = 10;
- pup->pose.a = 10;
-
- // and send the changes to the remote simulator
- pup->Push();
-}
-
int main( int argc, char** argv )
{
- WebSim ws( argv[1], createcallback, stateupdatecallback );
+ WebSim ws( argv[1] );//, createcallback, stateupdatecallback );
- puts( "\nConfederates:" );
- ws.ForEachConfederate( print_confederate,
- (void*)"\t" );
-
while( 1 )
{
-
// native loop
- until( simtime >= (lasttime + ws.interval) )
- {
- for each model
- update model
- }
+ // until( simtime >= (lasttime + ws.interval) )
+ //{
+ // for each model
+ // update model
+ //}
- for each model
- ws.Push( "monkey", x,y,z )
+ //for each model
+ // ws.Push( "monkey", x,y,z )
- ws.Update();
+ //ws.Update();
}
return 0;
Modified: code/branches/federation/stage/examples/gzfed/parser.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/parser.cc 2009-03-10
02:28:14 UTC (rev 7419)
+++ code/branches/federation/stage/examples/gzfed/parser.cc 2009-03-10
03:07:02 UTC (rev 7420)
@@ -9,16 +9,13 @@
#include "websim.hh"
-static yaml_event_t event;
-static yaml_parser_t parser;
-static string hostname;
void httprequest( string req )
{
cout << "\t" << req << endl;
}
-void parse_failed( const char* message )
+void WebSim::Parser::parse_failed( const char* message )
{
printf( "federation file parse failed at line: %u column: %u type %u %s\n",
event.start_mark.line,
@@ -28,7 +25,7 @@
exit(0);
}
-yaml_event_t next_event( const char* msg )
+yaml_event_t WebSim::Parser::next_event( const char* msg )
{
yaml_event_delete( &event );
@@ -38,7 +35,7 @@
return event;
}
-void expect( yaml_event_type_t event_type, const char* msg )
+void WebSim::Parser::expect( yaml_event_type_t event_type, const char* msg )
{
//printf( "expecting %s\n", msg );
@@ -46,30 +43,30 @@
parse_failed( msg );
}
-bool test( yaml_event_type_t event_type, const char* msg )
-{
- printf( "expecting %s\n", msg );
+// bool test( yaml_event_type_t event_type, const char* msg )
+// {
+// printf( "expecting %s\n", msg );
- return( next_event( "" ).type != event_type );
-}
+// return( next_event( "" ).type != event_type );
+// }
-Confederate* GetConfederate( const char* host, unsigned short port )
+WebSim::Confederate* WebSim::Parser::GetConfederate( const char* host,
unsigned short port )
{
char lookup[256];
snprintf( lookup, 256, "%s:%u", host, port );
Confederate* conf = (Confederate*)
- g_hash_table_lookup( WebSim::confederates, lookup );
+ g_hash_table_lookup( ws->confederates, lookup );
if( ! conf )
- conf = new Confederate( host, port );
+ conf = new Confederate( ws, host, port );
return conf;
}
-Confederate* GetConfederate( const char* hostandport )
+WebSim::Confederate* WebSim::Parser::GetConfederate( const char* hostandport )
{
unsigned int port = WebSim::DEFAULT_PORT;
char hostnoport[256];
@@ -83,7 +80,7 @@
return GetConfederate( hostnoport, port );
}
-void parse_puppet_mapping( Puppet* pup )
+void WebSim::Parser::parse_puppet_mapping( Puppet* pup )
{
expect( YAML_SCALAR_EVENT, "puppet host" );
const char* host = strdup((const char*)event.data.scalar.value);
@@ -100,7 +97,7 @@
GetConfederate( host ); // federate for time sync only
}
-void parse_puppet_mapping_sequence( Puppet* pup )
+void WebSim:: Parser::parse_puppet_mapping_sequence( Puppet* pup )
{
expect( YAML_SEQUENCE_START_EVENT, "start of sequence of puppet mappings" );
@@ -120,22 +117,22 @@
}
}
-void parse_model_mapping( string host )
+void WebSim::Parser::parse_model_mapping( string host )
{
expect( YAML_SCALAR_EVENT, "model name" );
string model = (char*)event.data.scalar.value;
Puppet* pup = NULL;
- if( host == hostname )
- pup = new Puppet( model.c_str() );
+ if( host == ws->hostname )
+ pup = new Puppet( ws, model.c_str() );
parse_puppet_mapping_sequence( pup );
expect( YAML_MAPPING_END_EVENT, "end of model mapping" );
}
-void parse_model_mapping_sequence( string host )
+void WebSim::Parser::parse_model_mapping_sequence( string host )
{
expect( YAML_SEQUENCE_START_EVENT, "start of sequence of model mappings" );
@@ -155,7 +152,7 @@
}
}
-void parse_host_mapping()
+void WebSim::Parser::parse_host_mapping()
{
expect( YAML_MAPPING_START_EVENT, "host mapping start" );
@@ -182,21 +179,22 @@
}
}
-void parse_document()
+void WebSim::Parser::parse_document()
{
expect( YAML_DOCUMENT_START_EVENT, "document start" );
parse_host_mapping();
expect( YAML_DOCUMENT_END_EVENT, "document end" );
}
-void parse_stream()
+void WebSim::Parser::parse_stream()
{
expect( YAML_STREAM_START_EVENT, "stream start" );
parse_document();
expect( YAML_STREAM_END_EVENT, "stream end" );
}
-int parse_federation_file( const char* filename )
+WebSim::Parser::Parser( WebSim* ws, const char* filename ) :
+ ws( ws )
{
char hst[256];
if( gethostname( hst, 256 ) )
@@ -204,31 +202,29 @@
perror( "failed to get hostname" );
exit( 0 );
}
-
+
char buf[256];
snprintf( buf, 256, "%s:%u", hst, WebSim::DEFAULT_PORT );
-
+
// copy the c string into a std:string
- hostname = buf;
+ ws->hostname = buf;
/* Create the Parser object. */
yaml_parser_initialize(&parser);
-
+
/* Set a file input. */
FILE *input = fopen( filename, "rb");
assert( input );
-
+
yaml_parser_set_input_file(&parser, input);
parse_stream();
/* The application is responsible for destroying the event object. */
yaml_event_delete(&event);
-
+
/* Destroy the Parser object. */
yaml_parser_delete(&parser);
-
- return 0;
}
Modified: code/branches/federation/stage/examples/gzfed/puppet.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/puppet.cc 2009-03-10
02:28:14 UTC (rev 7419)
+++ code/branches/federation/stage/examples/gzfed/puppet.cc 2009-03-10
03:07:02 UTC (rev 7420)
@@ -5,29 +5,30 @@
#include "websim.hh"
-Puppet::Puppet( const char* name ) :
+WebSim::Puppet::Puppet( WebSim* ws, const char* name ) :
name( strdup(name) ),
- created( false )
+ created( false ),
+ ws( ws )
{
- g_hash_table_insert( WebSim::puppets, (void*)this->name, this );
+ g_hash_table_insert( ws->puppets, (void*)this->name, this );
//printf( "\t Puppet \"%s\" constructed\n", this->name );
}
-void Puppet::Push()
+void WebSim::Puppet::Push( Pose p, Velocity v, Acceleration a )
{
for( GList* it = confederates;
it;
it = it->next )
{
Confederate* conf = (Confederate*)it->data;
- conf->Push( this );
+ conf->Push( name, p, v, a );
}
}
-void Puppet::AddConfederate( Confederate* conf,
- const
char* prototype )
+void WebSim::Puppet::AddConfederate( Confederate* conf,
+
const char* prototype )
{
conf->AddPuppet( this, prototype );
confederates = g_list_append( confederates, conf );
Modified: code/branches/federation/stage/examples/gzfed/websim.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/websim.cc 2009-03-10
02:28:14 UTC (rev 7419)
+++ code/branches/federation/stage/examples/gzfed/websim.cc 2009-03-10
03:07:02 UTC (rev 7420)
@@ -2,36 +2,22 @@
#include "websim.hh"
-// declaration - parser defined in parser.cc
-int parse_federation_file( const char* filename );
// static members
- GHashTable* WebSim::confederates =
- g_hash_table_new( g_str_hash, g_str_equal );
-
-GHashTable* WebSim::puppets =
- g_hash_table_new( g_str_hash, g_str_equal );
-
const unsigned short WebSim::DEFAULT_PORT = 8000;
-
const std::string WebSim::package = "WebSim";
const std::string WebSim::version = "0.1";
-// WebSim::WebSim( const char* filename )
-// {
-// std::cout << package << ' ' << version << std::endl;
-// parse_federation_file( filename );
-// std::cout << package << " ready." << std::endl;
-// }
-
-void WebSim::Init( const char* filename )
+WebSim::WebSim( const char* filename ) :
+ confederates( g_hash_table_new( g_str_hash, g_str_equal ) ),
+ puppets( g_hash_table_new( g_str_hash, g_str_equal ) )
{
std::cout << package << ' ' << version << std::endl;
-
event_init(); // libevent startup
- parse_federation_file( filename );
-
+
+ Parser p( this, filename );
+
std::cout << package << " ready." << std::endl;
}
@@ -42,25 +28,36 @@
arg );
}
-void WebSim::ForEachPuppet( void(*cb)(const char*, Puppet*, void*), void* arg )
+void WebSim::ForEachPuppet( void(*cb)(const char*, WebSim::Puppet*, void*),
void* arg )
{
g_hash_table_foreach( WebSim::puppets,
(GHFunc)cb,
arg );
}
-
-Puppet* WebSim::GetPuppet( const char* name )
+WebSim::Puppet* WebSim::GetPuppet( const char* name )
{
return( (Puppet*)g_hash_table_lookup( WebSim::puppets, name ) );
}
-Confederate* WebSim::GetConfederate( const char* name )
+WebSim::Confederate* WebSim::GetConfederate( const char* name )
{
return( (Confederate*)g_hash_table_lookup( WebSim::confederates, name ) );
}
void WebSim::Update()
{
- event_loop( EVLOOP_ONCE );
+ //event_loop( EVLOOP_ONCE );
}
+
+
+void WebSim::Push( const char* name, Pose p, Velocity v, Acceleration a )
+{
+ Puppet* pup = GetPuppet( name );
+
+ if( pup )
+ pup->Push( p, v, a );
+ else
+ printf( "websim warning: failed to push state for non-existent model
\"%s\"\n",
+ name );
+}
Modified: code/branches/federation/stage/examples/gzfed/websim.hh
===================================================================
--- code/branches/federation/stage/examples/gzfed/websim.hh 2009-03-10
02:28:14 UTC (rev 7419)
+++ code/branches/federation/stage/examples/gzfed/websim.hh 2009-03-10
03:07:02 UTC (rev 7420)
@@ -1,5 +1,6 @@
#include <sys/types.h>
#include <sys/queue.h>
+#include <yaml.h>
#include <event.h> // libevent
#include <evhttp.h> // libevent's http tools
@@ -7,140 +8,171 @@
#include <glib.h>
-class Pose
+#define MODELNAMEMAX 512
+
+// forward decl.
+
+class WebSim
{
-public:
- double x,y,z,r,p,a;
+public:
+ class Pose
+ {
+ public:
+ double x,y,z,r,p,a;
+
+ Pose() :
+ x(0), y(0), z(0), a(0)
+ {}
+
+ Pose( double x, double y, double z,
+ double r, double p, double a ) :
+ x(x), y(y), z(z), a(a)
+ {}
+ };
- Pose() :
- x(0), y(0), z(0), a(0)
+ class Velocity : public Pose
{
- // nothing to do
- }
+ public:
+ Velocity() : Pose()
+ {}
+
+ Velocity( double x, double y, double z,
+ double r, double p, double a ) :
+ Pose( x, y, z, r, p, a )
+ {}
+ };
- Pose( double x, double y, double z,
- double r, double p, double a ) :
- x(x), y(y), z(z), a(a)
+ class Acceleration : public Pose
{
- // nothing to do
- }
+ public:
+ Acceleration() : Pose()
+ {}
+
+ Acceleration( double x, double y, double z,
+ double r, double p, double a ) :
+ Pose( x, y, z, r, p, a )
+ {}
+ };
-};
+private:
-class Velocity : public Pose
-{
-public:
- Velocity() : Pose()
- {}
+ // forward decare
+ class Confederate;
- Velocity( double x, double y, double z,
- double r, double p, double a ) :
- Pose( x, y, z, r, p, a )
- {}
-};
+ // manage an object we control on some federated simulators
+ class Puppet
+ {
+ private:
+ WebSim* ws;
-class Acceleration : public Pose
-{
-public:
- Acceleration() : Pose()
- {}
+ public:
+ Puppet( WebSim* ws, const char* name );
- Acceleration( double x, double y, double z,
- double r, double p, double a ) :
- Pose( x, y, z, r, p, a )
- {}
-};
+ // unique ID used as a system-widel handle for this puppet, used as
+ // hash table key
+ const char* name;
+
+ bool created;
+
+ // the remote servers that are hosting an instance of this puppet
+ GList* confederates;
+
+ // sends the current physical state of the puppet to all
+ // confederates
+ void Push( Pose p, Velocity v, Acceleration a );
+
+ // create an instance of the puppet on this confederate, using the
+ // named puppet prototype (defined locally at the conferderate)
+ void AddConfederate( Confederate* conf,
+ const char*
prototype );
+ };
+
+ // manage a federated simulator
+ class Confederate
+ {
+ private:
+ // connection to a remote http simulation server
+ struct evhttp_connection* http_con;
+ struct evhttp_request* http_req;
+
+ static void PuppetCreationCallback( evhttp_request* req, void* arg );
+
+ WebSim* ws;
+ public:
+ Confederate( WebSim* ws, const char* host, unsigned short port );
+ ~Confederate();
+
+ void AddPuppet( Puppet* puppet,
+ const char* prototype );
+
+ int Push( const char* name, Pose p, Velocity v, Acceleration a );
-// forward decl.
-class Confederate;
-
-// manage an object we control on some federated simulators
-class Puppet
-{
-public:
- Puppet( const char* name );
+ int RunStep();
+
+ // list of pointers to Puppet objects that are hosted on this
+ // connection - can iterate over these to update all puppets
+ GList* puppet_list;
+
+ // unique ID for this confederate in format "hostname:port", used as
+ // hash table key
+ const char* name;
+ };
- // unique ID used as a system-widel handle for this puppet, used as
- // hash table key
- const char* name;
-
- Pose pose;
- Velocity vel;
- Acceleration acc;
-
- bool created;
+ class Parser
+ {
+ private:
+ yaml_event_t event;
+ yaml_parser_t parser;
+ WebSim* ws;
+
+ void parse_failed( const char* message );
+ yaml_event_t next_event( const char* msg );
+ void expect( yaml_event_type_t event_type, const char* msg );
+ bool test( yaml_event_type_t event_type, const char* msg );
+ Confederate* GetConfederate( const char* host, unsigned short port );
+ Confederate* GetConfederate( const char* hostandport );
+ void parse_puppet_mapping( Puppet* pup );
+ void parse_puppet_mapping_sequence( Puppet* pup );
+ void parse_model_mapping( std::string host );
+ void parse_model_mapping_sequence( std::string host );
+ void parse_host_mapping();
+ void parse_document();
+ void parse_stream();
+
+ public:
+ Parser( WebSim* ws, const char* filename );
+ };
- // the remote servers that are hosting an instance of this puppet
- GList* confederates;
- // sends the current physical state of the puppet to all
- // confederates
- void Push();
-
- // create an instance of the puppet on this confederate, using the
- // named puppet prototype (defined locally at the conferderate)
- void AddConfederate( Confederate* conf,
- const char* prototype
);
-};
-
-// manage a federated simulator
-class Confederate
-{
private:
- // connection to a remote http simulation server
- struct evhttp_connection* http_con;
- struct evhttp_request* http_req;
-
- static void PuppetCreationCallback( evhttp_request* req, void* arg );
-
-
-public:
- Confederate( const char* host, unsigned short port );
- ~Confederate();
+ static const unsigned short DEFAULT_PORT;
+ static const std::string package;
+ static const std::string version;
- void AddPuppet( Puppet* puppet,
- const char* prototype );
+ std::string hostname;
- int Push( Puppet* puppet );
- int RunStep();
+ GHashTable* puppets;
+ GHashTable* confederates;
- // list of pointers to Puppet objects that are hosted on this
- // connection - can iterate over these to update all puppets
- GList* puppet_list;
+ /** Get a puppet by name */
+ Puppet* GetPuppet( const char* name );
+
+ /** Get a confederate by name in format "host:port" */
+ Confederate* GetConfederate( const char* name );
+public:
+ WebSim( const char* federation_filename );
- // unique ID for this confederate in format "hostname:port", used as
- // hash table key
- char name[512];
-};
-
-
-class WebSim
-{
-public:
- static const unsigned short DEFAULT_PORT;
- static const std::string package;
- static const std::string version;
- static GHashTable* puppets;
- static GHashTable* confederates;
-
- static void Init( const char* federation_filename );
-
- //WebSim( const char* federation_filename );
-
/** For each confederate, call the callback function */
- static void ForEachConfederate( void(*cb)(const char*, Confederate*, void*),
void* arg );
-
+ void ForEachConfederate( void(*cb)(const char*, Confederate*, void*), void*
arg );
+
/** For each puppet, call the callback function */
- static void ForEachPuppet( void(*cb)(const char*, Puppet*, void*), void* arg
);
+ void ForEachPuppet( void(*cb)(const char*, Puppet*, void*), void* arg );
- /** Get a puppet by name */
- static Puppet* GetPuppet( const char* name );
+
+ void Push( const char* name, Pose p, Velocity v, Acceleration a );
- /** Get a confederate by name in format "host:port" */
- static Confederate* GetConfederate( const char* name );
-
- static void Update();
+ void Update();
};
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