Revision: 7434
http://playerstage.svn.sourceforge.net/playerstage/?rev=7434&view=rev
Author: rtv
Date: 2009-03-10 07:00:05 +0000 (Tue, 10 Mar 2009)
Log Message:
-----------
added rtv federation client side stuff
Modified Paths:
--------------
code/websim/CMakeLists.txt
code/websim/src/websim.cc
Added Paths:
-----------
code/websim/src/websim.hh
Removed Paths:
-------------
code/websim/src/websim.h
Modified: code/websim/CMakeLists.txt
===================================================================
--- code/websim/CMakeLists.txt 2009-03-10 06:53:56 UTC (rev 7433)
+++ code/websim/CMakeLists.txt 2009-03-10 07:00:05 UTC (rev 7434)
@@ -2,17 +2,32 @@
cmake_minimum_required( VERSION 2.4 FATAL_ERROR )
+include(FindPkgConfig)
+
+pkg_search_module( GLIB REQUIRED glib-2.0 )
+IF( GLIB_FOUND )
+ MESSAGE( STATUS ${INDENT} "Glib version ${GLIB_VERSION} detected at
${GLIB_PREFIX}" )
+ MESSAGE( STATUS " GLIB_CFLAGS = ${GLIB_CFLAGS}" )
+ MESSAGE( STATUS " GLIB_LDFLAGS = ${GLIB_LDFLAGS}" )
+ELSE( GLIB_FOUND )
+ MESSAGE( ${INDENT} "Glib not detected" )
+ENDIF( GLIB_FOUND )
+
+include_directories( ${GLIB_INCLUDE_DIRS} )
+link_directories(${GLIB_LIBRARY_DIRS} )
+
include_directories(include)
-add_library(websim SHARED src/websim.cc)
-add_library(websim-static STATIC src/websim.cc)
+add_library(websim SHARED src/websim.cc src/parser.cc src/confederate.cc )
+add_library(websim-static STATIC src/websim.cc src/parser.cc
src/confederate.cc )
# Set output name to be the same as shared lib (may not work on Windows)
set_target_properties(websim-static PROPERTIES OUTPUT_NAME websim)
# Prevent deletion of existing lib of same name
set_target_properties(websim-static PROPERTIES CLEAN_DIRECT_OUTPUT 1)
-target_link_libraries(websim event)
+target_link_libraries(websim event ${GLIB_LIBRARIES} )
install(TARGETS websim websim-static
LIBRARY DESTINATION lib
ARCHIVE DESTINATION lib)
-install(FILES src/websim.h DESTINATION include/websim)
+install(FILES src/websim.hh DESTINATION include/websim)
+
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-03-10 06:53:56 UTC (rev 7433)
+++ code/websim/src/websim.cc 2009-03-10 07:00:05 UTC (rev 7434)
@@ -25,7 +25,7 @@
* SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
*/
-#include "websim.h"
+#include "websim.hh"
#include <boost/lexical_cast.hpp>
@@ -34,15 +34,24 @@
using namespace websim;
+const std::string WebSim::package = "WebSim";
+const std::string WebSim::version = "0.1";
+
WebSim::WebSim(const std::string& _fedfile,
const std::string& _host,
- int _port) :
+ unsigned short _port) :
fedfile(_fedfile), host(_host), port(_port), tick_count_expected(0)
{
// Set up the HTTP server
// Not sure whether it's safe to do this more that once in one process
event_init();
+ printf( "%s %s\n", package.c_str(), version.c_str() );
+
+ char buf[512];
+ snprintf( buf, 512, "%s:%u", host.c_str(), port );
+ hostportname = buf;
+
printf("[websim] Starting HTTP server listening on %s:%d...",
this->host.c_str(), this->port);
fflush(stdout);
@@ -50,7 +59,12 @@
assert(eh);
evhttp_set_gencb(eh, &WebSim::EventCallback, (void*)this);
puts("Done.");
-
+
+ // if a federation file was specified, we parse it to populate the
+ // WebSim with confederates and puppets.
+ if( fedfile != "" )
+ Parser p( this, _fedfile.c_str() );
+
puts("[websim] Ready");
}
Deleted: code/websim/src/websim.h
===================================================================
--- code/websim/src/websim.h 2009-03-10 06:53:56 UTC (rev 7433)
+++ code/websim/src/websim.h 2009-03-10 07:00:05 UTC (rev 7434)
@@ -1,164 +0,0 @@
-/*
- * WebSim - Library for web-enabling and federating simulators.
- * Copyright (C) 2009
- * Richard Vaughan, Brian Gerkey, and Nate Koenig
- *
- * This library is free software; you can redistribute it and/or
- * modify it under the terms of the GNU Lesser General Public
- * License as published by the Free Software Foundation; either
- * version 2.1 of the License, or (at your option) any later version.
- *
- * This library is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
- * Lesser General Public License for more details.
- *
- * You should have received a copy of the GNU Lesser General Public
- * License along with this library; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-
-/* Desc: HTTP portal to libgazebo
- * Author: Brian Gerkey
- * Date: 9 March 2009
- * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
- */
-
-#include <string>
-#include <vector>
-#include <map>
-
-// These headers must be included prior to the libevent headers
-#include <sys/types.h>
-#include <sys/queue.h>
-
-// libevent
-#include <event.h>
-#include <evhttp.h>
-
-namespace websim
-{
-
-class Pose;
-class Velocity;
-class Acceleration;
-
-class WebSim
-{
- public:
- WebSim(const std::string& _fedfile,
- const std::string& _host,
- int _port);
- virtual ~WebSim();
-
- void Update();
-
- // Interface to be implemented by simulators
- virtual bool CreateModel(const std::string& name,
- const std::string& type,
- std::string& response) = 0;
- virtual bool DeleteModel(const std::string& name,
- std::string& response) = 0;
- virtual bool SetModelPVA(const std::string& name,
- const Pose& p,
- const Velocity& v,
- const Acceleration& a,
- std::string& response) = 0;
- virtual bool GetModelPVA(const std::string& name,
- Pose& p,
- Velocity& v,
- Acceleration& a,
- std::string& response) = 0;
-
- protected:
- void StringSplit(const std::string &s,
- std::vector<std::string> &t,
- const std::string &d);
-
- private:
- std::string fedfile;
- std::string host;
- int port;
-
- // Number of ticks we require before exiting Update()
- int tick_count_expected;
- // Number of ticks we've received since the last Update()
- int tick_count;
-
- struct evhttp* eh;
-
- // Static, so that it can be passed as a callback to libevent
- static void EventCallback(evhttp_request* req, void* arg);
-
- bool GetValue(std::string& value,
- struct evkeyvalq* query_args,
- const std::string& key);
- bool HandleURI(const std::string& model,
- const std::string& prop,
- const std::string& action,
- struct evkeyvalq* kv,
- std::string& response);
- bool HandleSimRequest(const std::string& prop,
- const std::string& action,
- struct evkeyvalq* kv,
- std::string& response);
- bool HandleModelRequest(const std::string& model,
- const std::string& prop,
- const std::string& action,
- struct evkeyvalq* kv,
- std::string& response);
- bool ParseURI(std::string& model,
- std::string& prop,
- std::string& action,
- std::string uri,
- std::string& response);
- void DeleteKeyVal(struct evkeyvalq* query_args);
-};
-
-class Pose
-{
-public:
- double x,y,z,r,p,a;
-
- Pose() :
- x(0), y(0), z(0), r(0), p(0), a(0)
- {
- // nothing to do
- }
-
- Pose( double x, double y, double z,
- double r, double p, double a ) :
- x(x), y(y), z(z), r(r), p(p), a(a)
- {
- // nothing to do
- }
-
-};
-
-class Velocity : public Pose
-{
-public:
- Velocity() : Pose()
- {}
-
- Velocity( double x, double y, double z,
- double r, double p, double a ) :
- Pose( x, y, z, r, p, a )
- {}
-};
-
-class Acceleration : public Pose
-{
-public:
- Acceleration() : Pose()
- {}
-
- Acceleration( double x, double y, double z,
- double r, double p, double a ) :
- Pose( x, y, z, r, p, a )
- {}
-};
-
-
-}
Added: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh (rev 0)
+++ code/websim/src/websim.hh 2009-03-10 07:00:05 UTC (rev 7434)
@@ -0,0 +1,285 @@
+/*
+ * WebSim - Library for web-enabling and federating simulators.
+ * Copyright (C) 2009
+ * Richard Vaughan, Brian Gerkey, and Nate Koenig
+ *
+ * This library is free software; you can redistribute it and/or
+ * modify it under the terms of the GNU Lesser General Public
+ * License as published by the Free Software Foundation; either
+ * version 2.1 of the License, or (at your option) any later version.
+ *
+ * This library is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+ * Lesser General Public License for more details.
+ *
+ * You should have received a copy of the GNU Lesser General Public
+ * License along with this library; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ *
+ */
+
+/* Desc: HTTP interface to simulators
+ * Author: Brian Gerkey, Richard Vaughan
+ * Date: 9 March 2009
+ * SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
+ */
+
+#include <string>
+#include <vector>
+#include <map>
+
+// These headers must be included prior to the libevent headers
+#include <sys/types.h>
+#include <sys/queue.h>
+
+// libevent
+#include <event.h>
+#include <evhttp.h>
+
+// GLib-2.0
+#include <glib.h>
+
+// YAML
+#include <yaml.h>
+
+namespace websim
+{
+
+class Pose;
+class Velocity;
+class Acceleration;
+
+class WebSim
+{
+ public:
+ WebSim(const std::string& _fedfile,
+ const std::string& _host,
+ unsigned short _port);
+ virtual ~WebSim();
+
+ void Update();
+
+ // Interface to be implemented by simulators
+ virtual bool CreateModel(const std::string& name,
+ const std::string& type,
+ std::string& response) = 0;
+ virtual bool DeleteModel(const std::string& name,
+ std::string& response) = 0;
+ virtual bool SetModelPVA(const std::string& name,
+ const Pose& p,
+ const Velocity& v,
+ const Acceleration& a,
+ std::string& response) = 0;
+ virtual bool GetModelPVA(const std::string& name,
+ Pose& p,
+ Velocity& v,
+ Acceleration& a,
+ std::string& response) = 0;
+
+ protected:
+ void StringSplit(const std::string &s,
+ std::vector<std::string> &t,
+ const std::string &d);
+
+
+ // Number of ticks we require before exiting Update()
+ int tick_count_expected;
+ // Number of ticks we've received since the last Update()
+ int tick_count;
+
+ private:
+ std::string fedfile;
+ std::string host;
+ std::string hostportname; // format "host:port" to uniquely identify this
instance
+ unsigned short port;
+
+ struct evhttp* eh;
+
+ // Static, so that it can be passed as a callback to libevent
+ static void EventCallback(evhttp_request* req, void* arg);
+
+ bool GetValue(std::string& value,
+ struct evkeyvalq* query_args,
+ const std::string& key);
+ bool HandleURI(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleSimRequest(const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool HandleModelRequest(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+ bool ParseURI(std::string& model,
+ std::string& prop,
+ std::string& action,
+ std::string uri,
+ std::string& response);
+ void DeleteKeyVal(struct evkeyvalq* query_args);
+
+
+ // forward decare
+ class Confederate;
+
+ // manage an object we control on some federated simulators
+ class Puppet
+ {
+ private:
+ WebSim* ws;
+
+ public:
+ Puppet( WebSim* ws, const char* name );
+
+ // 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
+ {
+ 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:
+ 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 );
+
+ 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;
+ };
+
+ 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 );
+ };
+
+ private:
+ // static const unsigned short DEFAULT_PORT;
+ static const std::string package;
+ static const std::string version;
+
+ GHashTable* puppets;
+ GHashTable* confederates;
+
+ /** Get a puppet by name */
+ Puppet* GetPuppet( const char* name );
+
+ /** Get a confederate by name in format "host:port" */
+ Confederate* GetConfederate( const char* name );
+};
+
+class Pose
+{
+public:
+ double x,y,z,r,p,a;
+
+ Pose() :
+ x(0), y(0), z(0), r(0), p(0), a(0)
+ {
+ // nothing to do
+ }
+
+ Pose( double x, double y, double z,
+ double r, double p, double a ) :
+ x(x), y(y), z(z), r(r), p(p), a(a)
+ {
+ // nothing to do
+ }
+
+};
+
+class Velocity : public Pose
+{
+public:
+ Velocity() : Pose()
+ {}
+
+ Velocity( double x, double y, double z,
+ double r, double p, double a ) :
+ Pose( x, y, z, r, p, a )
+ {}
+};
+
+class Acceleration : public Pose
+{
+public:
+ Acceleration() : Pose()
+ {}
+
+ Acceleration( double x, double y, double z,
+ double r, double p, double a ) :
+ Pose( x, y, z, r, p, a )
+ {}
+};
+
+
+}
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