Revision: 7894
http://playerstage.svn.sourceforge.net/playerstage/?rev=7894&view=rev
Author: rtv
Date: 2009-06-24 23:55:46 +0000 (Wed, 24 Jun 2009)
Log Message:
-----------
broke HandleSimRequests into manageable chunks and cleaned up a bit
Modified Paths:
--------------
code/websim/CMakeLists.txt
code/websim/src/websim.cc
code/websim/src/websim.hh
Added Paths:
-----------
code/websim/src/req_sim.cc
Modified: code/websim/CMakeLists.txt
===================================================================
--- code/websim/CMakeLists.txt 2009-06-24 22:54:43 UTC (rev 7893)
+++ code/websim/CMakeLists.txt 2009-06-24 23:55:46 UTC (rev 7894)
@@ -57,8 +57,8 @@
include_directories(src)
-add_library(websim SHARED src/websim.cc src/parser.cc src/confederate.cc
src/puppet.cc )
-add_library(websim-static STATIC src/websim.cc src/parser.cc
src/confederate.cc src/puppet.cc )
+add_library(websim SHARED src/websim.cc src/parser.cc src/confederate.cc
src/puppet.cc src/req_sim.cc )
+add_library(websim-static STATIC src/websim.cc src/parser.cc
src/confederate.cc src/puppet.cc src/req_sim.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
Added: code/websim/src/req_sim.cc
===================================================================
--- code/websim/src/req_sim.cc (rev 0)
+++ code/websim/src/req_sim.cc 2009-06-24 23:55:46 UTC (rev 7894)
@@ -0,0 +1,194 @@
+#include "websim.hh"
+using namespace websim;
+
+// todo: XML format for sim requests
+
+bool WebSim::HandleSimRequest(const std::string& prop,
+ const std::string& action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ printf( "[%s] sim %s %s\n",
+ IdentificationString().c_str(), prop.c_str(), action.c_str() );
+
+ if(prop == "factory")
+ return HandleSimFactoryRequest( action, format, kv, response );
+
+ if(prop == "clock")
+ return HandleSimClockRequest( action, format, kv, response );
+
+ if(prop == "geometry")
+ return HandleSimGeometryRequest( action, format, kv, response );
+
+ if(prop == "children")
+ return HandleSimChildrenRequest( action, format, kv, response );
+
+ if(prop == "tree")
+ return HandleSimTreeRequest( action, format, kv, response );
+
+ if(prop == "greet")
+ return HandleSimGreetRequest( action, format, kv, response );
+
+ response = "ERROR: Unknown property " + prop + " for sim. Candidates are:
children clock factory greet tree.";
+ return false;
+}
+
+bool WebSim::HandleSimGeometryRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ /*
+ double x,y,z;
+ Pose center;
+ GetModelExtent("sim", x, y, z, center, response);
+ GetXMLModelExtent("sim", x, y, z, center, response);
+ */
+
+ response = "Warning: geometry not yet implemented";
+ return true;
+}
+
+bool WebSim::HandleSimChildrenRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if( action == "" )
+ action = "get"; // default action
+
+ if( action == "get" )
+ {
+ std::vector<std::string> children;
+ GetModelChildren("",children);
+
+ for(unsigned int i=0;i<children.size();i++)
+ response += "-" + children[i];
+
+ return true;
+ }
+
+ response = "ERROR: Unknown action " + action + " for sim/children.
Candidates are: get (default).";
+ return false;
+}
+
+bool WebSim::HandleSimTreeRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if( action == "" )
+ action = "get"; // default action
+
+ if( action == "get" )
+ {
+ GetModelTree("", format, response, false);
+ return true;
+ }
+
+ response = "ERROR: Unknown action " + action + " for sim/tree. Candidates
are: get (default).";
+ return false;
+}
+
+bool WebSim::HandleSimGreetRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if( action == "" )
+ action = "get"; // default action
+
+ if( action == "get" )
+ {
+ // TODO - check to see if this server was anticipated
+ response = "Greetings " + action;
+ printf( "[websim] WebSim peer %s connected\n", action.c_str() );
+ return true;
+ }
+
+ response = "ERROR: Unknown action " + action + " for sim/greet. Candidates
are: get (default).";
+ return false;
+}
+
+bool WebSim::HandleSimFactoryRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if(action == "create")
+ {
+ std::string name, type;
+ if(!GetValue(name, kv, "name"))
+ {
+ response = "ERROR: Missing name argument for sim/factory/create";
+ return false;
+ }
+
+ if( !GetValue(type, kv, "type"))
+ {
+ response = "ERROR: Missing name type argument for sim/factory/create";
+ return false;
+ }
+
+ return(CreateModel(name, type, response));
+ }
+
+ if(action == "destroy")
+ {
+ std::string name, type;
+ if(!GetValue(name, kv, "name"))
+ {
+ response = "ERROR: Missing name argument for sim/factory/destroy";
+ return false;
+ }
+
+ return(DeleteModel(name, response));
+ }
+
+ response = "ERROR: Unknown action " + action + " for sim/factory. Candidates
are: create destroy";
+ return false;
+}
+
+bool WebSim::HandleSimClockRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if( action == "" ) // DEFAULT ACTION
+ action = "get";
+
+ if( action == "get" )
+ {
+ response = "Current time: " + GetTime().String() + " seconds.";
+ return true;
+ }
+
+ if(action == "tick")
+ {
+ ticks_remaining--;
+ response = "Ticked the clock";
+ return true;
+ }
+
+ if(action == "start")
+ {
+ if( ClockStart() )
+ response = "Started the clock";
+ else
+ response = "Failed to start the clock";
+ return true;
+ }
+
+ if(action == "stop")
+ {
+ if( ClockStop() )
+ response = "Stopped the clock";
+ else
+ response = "Failed to stop the clock";
+ return true;
+ }
+
+ response = "ERROR: Unknown action " + action + " for sim/clock. Candidates
are: get (default) start stop.";
+ return false;
+}
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-06-24 22:54:43 UTC (rev 7893)
+++ code/websim/src/websim.cc 2009-06-24 23:55:46 UTC (rev 7894)
@@ -19,8 +19,8 @@
*
*/
-/* Desc: WebSim http server for robot interactiony
- * Author: Brian Gerkey, Richard Vaughan, Abbas
+/* Desc: HTTP interface to simulators
+ * Author: Brian Gerkey, Richard Vaughan, Abbas Sadat
* Date: 9 March 2009
* SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
*/
@@ -276,111 +276,10 @@
}
}
-bool
-WebSim::HandleSimRequest(const std::string& prop,
- const std::string& action,
- Format format,
- struct evkeyvalq* kv,
- std::string& response)
-{
- printf( "[%s] sim request %s %s\n",
- IdentificationString().c_str(), prop.c_str(), action.c_str() );
- // The special factory property
- if(prop == "factory")
- {
- if(action == "create")
- {
- std::string name, type;
- if(!GetValue(name, kv, "name"))
- {
- response = "ERROR: Missing name argument for sim/factory/create";
- return false;
- }
-
- if( !GetValue(type, kv, "type"))
- {
- response = "ERROR: Missing name type argument for
sim/factory/create";
- return false;
- }
-
- return(CreateModel(name, type, response));
- }
- else if(action == "destroy")
- {
- std::string name, type;
- if(!GetValue(name, kv, "name"))
- {
- response = "ERROR: Missing name argument for sim/factory/destroy";
- return false;
- }
-
- return(DeleteModel(name, response));
- }
- else
- {
- response = "ERROR: Unknown action " + action + " for sim/factory";
- return false;
- }
- }
- else if(prop == "clock")
- {
- if(action == "tick")
- {
- ticks_remaining--;
- response = "Ticked the clock";
- return true;
- }
- else if(action == "get")
- {
- response = "Current time: " + GetTime().String();
- return true;
- }
- else
- {
- response = "ERROR: Unknown action " + action + " for sim/clock";
- return false;
- }
- }
- else if(prop == "extent")
- {/*
- double x,y,z;
- Pose center;
- GetModelExtent("sim", x, y, z, center, response);
- GetXMLModelExtent("sim", x, y, z, center, response);
- */
- return true;
- }
- else if(prop == "children")
- {
- std::vector<std::string> children;
- GetModelChildren("",children);
-
- for(unsigned int i=0;i<children.size();i++)
- response += "-" + children[i];
- }
- else if(prop == "tree")
- {
- GetModelTree("", format, response, false);
- return true;
-
- }
- else if(prop == "greet") // action is the name of the greeting server
- {
- // TODO - check to see if this server was anticipated
- response = "Greetings " + action;
- printf( "[websim] WebSim peer %s connected\n", action.c_str() );
- return true;
- }
- else
- {
- response = "ERROR: Unknown property " + prop + " for sim";
- return false;
- }
-
- return false;
-}
+
+
bool
WebSim::HandleModelRequest(const std::string& model,
const std::string& prop,
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-06-24 22:54:43 UTC (rev 7893)
+++ code/websim/src/websim.hh 2009-06-24 23:55:46 UTC (rev 7894)
@@ -20,7 +20,7 @@
*/
/* Desc: HTTP interface to simulators
- * Author: Brian Gerkey, Richard Vaughan
+ * Author: Brian Gerkey, Richard Vaughan, Abbas Sadat
* Date: 9 March 2009
* SVN: $Id: gazebo.h 7398 2009-03-09 07:21:49Z natepak $
*/
@@ -85,6 +85,20 @@
for a human reader, e.g. "1.3.1" */
virtual std::string VersionString() = 0;
+ /** Start the virtual clock running, unpausing the simulation. If
+ the clock is already running, this does nothing.
+
+ @return true on succes, false on failure.
+ */
+ virtual bool ClockStart()=0;
+
+ /** Stop the virtual clock running, pausing the simulation. If the
+ clock is already stopped, this does nothing.
+
+ @return true on succes, false on failure.
+ */
+ virtual bool ClockStop()=0;
+
virtual bool CreateModel(const std::string& name,
const
std::string& type,
std::string& response) = 0;
@@ -230,29 +244,63 @@
@returns TRUE if a parameter with the given key exists.
*/
bool GetValue( std::string& value,
- struct evkeyvalq* query_args,
- const std::string& key);
+ 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);
+ const std::string& prop,
+ const std::string& action,
+ struct evkeyvalq* kv,
+ std::string& response);
+
bool HandleSimRequest(const std::string& prop,
- const
std::string& action,
- Format format,
- struct
evkeyvalq* kv,
- std::string&
response);
+ const std::string& action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleSimClockRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleSimFactoryRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleSimChildrenRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleSimTreeRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleSimGeometryRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleSimGreetRequest( std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
bool HandleModelRequest(const std::string& model,
- const
std::string& prop,
- const
std::string& action,
- Format format,
- struct
evkeyvalq* kv,
- std::string&
response);
+ const std::string& prop,
+ const std::string& action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
bool ParseURI(std::string& model,
- std::string& prop,
- std::string& action,
- std::string uri,
- std::string& response);
+ std::string& prop,
+ std::string& action,
+ std::string uri,
+ std::string& response);
void DeleteKeyVal(struct evkeyvalq* query_args);
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