Revision: 7428
http://playerstage.svn.sourceforge.net/playerstage/?rev=7428&view=rev
Author: rtv
Date: 2009-03-10 05:52:20 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
functional client
Modified Paths:
--------------
code/branches/federation/stage/examples/gzfed/confederate.cc
code/branches/federation/stage/examples/gzfed/main.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 05:48:01 UTC (rev 7427)
+++ code/branches/federation/stage/examples/gzfed/confederate.cc
2009-03-10 05:52:20 UTC (rev 7428)
@@ -4,7 +4,8 @@
#include "websim.hh"
WebSim::Confederate::Confederate( WebSim* ws, const char* host, unsigned short
port ) :
- puppet_list( NULL )
+ puppet_list( NULL ),
+ unacknowledged_pushes( 0 )
{
if(! (http_con = evhttp_connection_new( host, port )) )
printf( "Error: Confederate object failed to connect to server at
%s:%d\n",
@@ -40,7 +41,7 @@
pup->created = true;
else
{
- printf( "bad response regarding puppet \"%s\"\n", pup->name );
+ printf( "bad response regarding puppet creation \"%s\"\n",
pup->name );
printf( "code: %d\n", req->response_code );
printf( "response: %s\n", req->input_buffer->buffer );
}
@@ -81,11 +82,62 @@
g_list_append( puppet_list, puppet );
}
+void WebSim::Confederate::PuppetPushCallback( evhttp_request* req, void* arg )
+{
+ cb_chunk_t* ch = (cb_chunk_t*)arg;
+
+ if( req->response_code == 200 )
+ {
+ --ch->conf->unacknowledged_pushes;
+ printf( "puppet push for \"%s\" acked OK. Outstanding pushes
%u\n",
+ ch->name, ch->conf->unacknowledged_pushes );
+ }
+ else
+ {
+ printf( "bad response regarding puppet push \"%s\"\n", ch->name
);
+ printf( "code: %d\n", req->response_code );
+ printf( "response: %s\n", req->input_buffer->buffer );
+ }
+}
+
int WebSim::Confederate::Push( const char* name, Pose p, Velocity v,
Acceleration a )
{
printf( "\tconfederate %s pushing state of \"%s\"\n",
this->name,
name );
+
+ // compose a struct to send into the callback
+ cb_chunk_t ch;
+ ch.name = name;
+ ch.conf = this;
+
+ struct evhttp_request* er =
+ evhttp_request_new( PuppetPushCallback, &ch );
+ assert(er);
+
+ char buf[512];
+ snprintf( buf, 512, "/%s/pva/set?"
+
"px=%.6f&py=%.6f&pz=%.6f&pr=%.6f&pp=%.6f&pa=%.6f&"
+
"vx=%.6f&vy=%.6f&vz=%.6f&vr=%.6f&vp=%.6f&va=%.6f&"
+
"ax=%.6f&ay=%.6f&az=%.6f&ar=%.6f&ap=%.6f&aa=%.6f",
+ name,
+ p.x, p.y, p.z, p.r, p.p, p.a,
+ v.x, v.y, v.z, v.r, v.p, v.a,
+ a.x, a.y, a.z, a.r, a.p, a.a );
+
+ printf( "Emitting: http://%s%s\n";, this->name, buf );
+
+ ++unacknowledged_pushes; // decremented when reply is received
+
+ int ret = evhttp_make_request( http_con, er, EVHTTP_REQ_GET, buf );
+ if( ret != 0 )
+ {
+ printf( "make request returned error %d\n", ret );
+ exit(0);
+ }
+
+ while( unacknowledged_pushes )
+ event_loop( EVLOOP_NONBLOCK ); // loops until the request has completed
}
int WebSim::Confederate::RunStep()
Modified: code/branches/federation/stage/examples/gzfed/main.cc
===================================================================
--- code/branches/federation/stage/examples/gzfed/main.cc 2009-03-10
05:48:01 UTC (rev 7427)
+++ code/branches/federation/stage/examples/gzfed/main.cc 2009-03-10
05:52:20 UTC (rev 7428)
@@ -8,6 +8,10 @@
{
WebSim ws( argv[1] );//, createcallback, stateupdatecallback );
+ WebSim::Pose p( 0,0,0,0,0,0 );
+ WebSim::Velocity v( 0,0,0,0,0,0 );
+ WebSim::Acceleration a( 0,0,0,0,0,0 );
+
while( 1 )
{
@@ -20,9 +24,11 @@
//}
//for each model
- // ws.Push( "monkey", x,y,z )
-
- //ws.Update();
+
+ sleep( 1 );
+
+ ws.Push( "monkey", p, v, a );
+ ws.Update();
}
return 0;
Modified: code/branches/federation/stage/examples/gzfed/websim.hh
===================================================================
--- code/branches/federation/stage/examples/gzfed/websim.hh 2009-03-10
05:48:01 UTC (rev 7427)
+++ code/branches/federation/stage/examples/gzfed/websim.hh 2009-03-10
05:52:20 UTC (rev 7428)
@@ -90,13 +90,23 @@
// manage a federated simulator
class Confederate
{
+ typedef struct
+ {
+ const char* name;
+ Confederate* conf;
+ } cb_chunk_t;
+
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 );
-
+ static void PuppetPushCallback( evhttp_request* req, void* arg );
+
+ // counts the number of status messages sent and replies not yet
received
+ unsigned int unacknowledged_pushes;
+
WebSim* ws;
public:
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