Revision: 8115
http://playerstage.svn.sourceforge.net/playerstage/?rev=8115&view=rev
Author: thjc
Date: 2009-07-24 11:33:29 +0000 (Fri, 24 Jul 2009)
Log Message:
-----------
change extension so they dont show up in my copyright search script
Added Paths:
-----------
code/player/trunk/design/module.c.doc
code/player/trunk/design/player.c.doc
Removed Paths:
-------------
code/player/trunk/design/module.c
code/player/trunk/design/player.c
Deleted: code/player/trunk/design/module.c
===================================================================
--- code/player/trunk/design/module.c 2009-07-24 11:28:20 UTC (rev 8114)
+++ code/player/trunk/design/module.c 2009-07-24 11:33:29 UTC (rev 8115)
@@ -1,151 +0,0 @@
-// Implementation of mymodule, a module that does laser-based obstacle
-// avoidance
-
-// My message-processing function
-int mymodule_processmessage(player_io_t *io, player_msghdr_t* hdr, void* data);
-
-// My configuration function
-int mymodule_configure(player_io_t* io, player_module_options_t* opt);
-
-// My run function
-void mymodule_run(player_io_t* io);
-
-int
-main(int argc, char** argv)
-{
- player_io_t* io;
- player_tcp_io_t tcpio;
- player_devaddr_t addr;
- player_module_options_t* opt = NULL;
-
- // Initialize player
- io = player_init(argc, argv);
-
- // Parse config file to create option table
- player_parse_config_file(&opt, argv[1]);
-
- // Configure module
- mymodule_configure(opt);
-
- // Construct my address
- addr.host = 0; // 0 means localhost
- addr.robot = 6665;
- addr.interf = PLAYER_POSITION2D_CODE;
- addr.index = 0;
-
- // Add my interface (could add more in the same way)
- player_add_interface(io,&addr);
-
- // In this case we'll use TCP, so do the necessary transport-specific
- // binding
- player_tcp_add_io(&tcpio, io);
- player_tcp_bind(&tcpio);
-
- // Start up my module
- mymodule_run(io);
-
- return(0);
-}
-
-int
-mymodule_configure(player_io_t* io, player_module_options_t* opt)
-{
- // Step through table, storing options to where?
-}
-
-int
-mymodule_processmessage(player_io_t *io, player_msghdr_t* hdr, void* data)
-{
- // If no ack is requested, just cache it. New messages overwrite old
- // ones, so if I want to see *every* message, I must process them here,
- // instead of caching them like this.
- if(!hdr->ack)
- {
- player_cache_insert(io->message_cache, hdr, data);
- return(0);
- }
- else
- {
- // An ack was requested. What kind of message is it?
-
- // Is it a message to me to set odometry?
- if(player_match_message_to(io, hdr,
- io->addrs[0].host,
- io->addrs[0].robot,
- io->addrs[0].interf,
- io->addrs[0].index,
- PLAYER_POSITION2D_REQ_SET_ODOM))
- {
- // Try to set odometry, return 0 on success, -1 on failure
- if(set_odometry() == 0)
- return(0);
- else
- return(-1);
- }
- // Is it a message to me to enable motor power?
- else if(player_match_message_to(io, hdr,
- io->addrs[0].host,
- io->addrs[0].robot,
- io->addrs[0].interf,
- io->addrs[0].index,
- PLAYER_POSITION2D_REQ_MOTOR_POWER))
- {
- // Forward it to the underlying device, somehow...
- }
- else
- {
- // don't know this message
- return(-1);
- }
- }
-}
-
-// Run, with me in control of the event loop
-void
-mymodule_run(player_io_t* io)
-{
- for(;;)
- {
- // Read incoming messages, with short timeout
- player_tcp_readmessages(io->tcp_io,10);
-
- // Call my update method
- mymodule_update(io);
-
- // Write outgoing messages
- player_tcp_writemessages(io->tcp_io);
- }
-}
-
-// Execute one loop of my module
-void
-mymodule_update(player_io_t* io)
-{
- // Read from my inqueue, processing each message:
- //
- player_processmessages(io, mymodule_processmessage);
-
- // Alternatively, I could just use the default processor, which puts
- // incoming messages into a cache:
- //
- //player_processmessages(io, player_processmessage_default);
-
- // Do some module-specific stuff here
-
- // Get latest laser scan, from anybody, to anybody, and delete it from
- // the cache
- player_laser_data_t scan;
- if(player_get_laser_scan(io, NULL, NULL, PLAYER_LASER_DATA_SCAN,
- &scan, 1))
- {
- // handle data in 'scan'
- }
-
- // Construct an outgoing message (fill it in)
- player_position2d_data_t msg;
- // Publish the message, to all interested parties, from my first address
- player_broadcast_position2d_pose(io,
- io->addrs[0],
- &msg);
-}
-
Copied: code/player/trunk/design/module.c.doc (from rev 8112,
code/player/trunk/design/module.c)
===================================================================
--- code/player/trunk/design/module.c.doc (rev 0)
+++ code/player/trunk/design/module.c.doc 2009-07-24 11:33:29 UTC (rev
8115)
@@ -0,0 +1,151 @@
+// Implementation of mymodule, a module that does laser-based obstacle
+// avoidance
+
+// My message-processing function
+int mymodule_processmessage(player_io_t *io, player_msghdr_t* hdr, void* data);
+
+// My configuration function
+int mymodule_configure(player_io_t* io, player_module_options_t* opt);
+
+// My run function
+void mymodule_run(player_io_t* io);
+
+int
+main(int argc, char** argv)
+{
+ player_io_t* io;
+ player_tcp_io_t tcpio;
+ player_devaddr_t addr;
+ player_module_options_t* opt = NULL;
+
+ // Initialize player
+ io = player_init(argc, argv);
+
+ // Parse config file to create option table
+ player_parse_config_file(&opt, argv[1]);
+
+ // Configure module
+ mymodule_configure(opt);
+
+ // Construct my address
+ addr.host = 0; // 0 means localhost
+ addr.robot = 6665;
+ addr.interf = PLAYER_POSITION2D_CODE;
+ addr.index = 0;
+
+ // Add my interface (could add more in the same way)
+ player_add_interface(io,&addr);
+
+ // In this case we'll use TCP, so do the necessary transport-specific
+ // binding
+ player_tcp_add_io(&tcpio, io);
+ player_tcp_bind(&tcpio);
+
+ // Start up my module
+ mymodule_run(io);
+
+ return(0);
+}
+
+int
+mymodule_configure(player_io_t* io, player_module_options_t* opt)
+{
+ // Step through table, storing options to where?
+}
+
+int
+mymodule_processmessage(player_io_t *io, player_msghdr_t* hdr, void* data)
+{
+ // If no ack is requested, just cache it. New messages overwrite old
+ // ones, so if I want to see *every* message, I must process them here,
+ // instead of caching them like this.
+ if(!hdr->ack)
+ {
+ player_cache_insert(io->message_cache, hdr, data);
+ return(0);
+ }
+ else
+ {
+ // An ack was requested. What kind of message is it?
+
+ // Is it a message to me to set odometry?
+ if(player_match_message_to(io, hdr,
+ io->addrs[0].host,
+ io->addrs[0].robot,
+ io->addrs[0].interf,
+ io->addrs[0].index,
+ PLAYER_POSITION2D_REQ_SET_ODOM))
+ {
+ // Try to set odometry, return 0 on success, -1 on failure
+ if(set_odometry() == 0)
+ return(0);
+ else
+ return(-1);
+ }
+ // Is it a message to me to enable motor power?
+ else if(player_match_message_to(io, hdr,
+ io->addrs[0].host,
+ io->addrs[0].robot,
+ io->addrs[0].interf,
+ io->addrs[0].index,
+ PLAYER_POSITION2D_REQ_MOTOR_POWER))
+ {
+ // Forward it to the underlying device, somehow...
+ }
+ else
+ {
+ // don't know this message
+ return(-1);
+ }
+ }
+}
+
+// Run, with me in control of the event loop
+void
+mymodule_run(player_io_t* io)
+{
+ for(;;)
+ {
+ // Read incoming messages, with short timeout
+ player_tcp_readmessages(io->tcp_io,10);
+
+ // Call my update method
+ mymodule_update(io);
+
+ // Write outgoing messages
+ player_tcp_writemessages(io->tcp_io);
+ }
+}
+
+// Execute one loop of my module
+void
+mymodule_update(player_io_t* io)
+{
+ // Read from my inqueue, processing each message:
+ //
+ player_processmessages(io, mymodule_processmessage);
+
+ // Alternatively, I could just use the default processor, which puts
+ // incoming messages into a cache:
+ //
+ //player_processmessages(io, player_processmessage_default);
+
+ // Do some module-specific stuff here
+
+ // Get latest laser scan, from anybody, to anybody, and delete it from
+ // the cache
+ player_laser_data_t scan;
+ if(player_get_laser_scan(io, NULL, NULL, PLAYER_LASER_DATA_SCAN,
+ &scan, 1))
+ {
+ // handle data in 'scan'
+ }
+
+ // Construct an outgoing message (fill it in)
+ player_position2d_data_t msg;
+ // Publish the message, to all interested parties, from my first address
+ player_broadcast_position2d_pose(io,
+ io->addrs[0],
+ &msg);
+}
+
Property changes on: code/player/trunk/design/module.c.doc
___________________________________________________________________
Added: svn:keywords
+ Author Date Id Revision
Added: svn:mergeinfo
+
/code/player/branches/release-2-1-patches/design/module.c:6672-6673,6738,6834,6886,6905,6930,6936,6946,6951,6955,6975,6979-6981,6985,6987-6996,7087-7088,7204,7226,7230,7248,7250-7252,7256,7262-7263,7276,7300,7602
/code/player/trunk/design/module.c:6985
Added: svn:eol-style
+ native
Deleted: code/player/trunk/design/player.c
===================================================================
--- code/player/trunk/design/player.c 2009-07-24 11:28:20 UTC (rev 8114)
+++ code/player/trunk/design/player.c 2009-07-24 11:33:29 UTC (rev 8115)
@@ -1,308 +0,0 @@
-typedef struct player_devaddr
-{
- /** The "host" on which the device resides. Transport-dependent. */
- uint32_t host;
- /** The "robot" or device collection in which the device resides.
- Transport-dependent */
- uint32_t robot;
- /** The interface provided by the device; must be one of PLAYER_*_CODE */
- uint16_t interf;
- /** Which device of that interface */
- uint16_t index;
-} player_devaddr_t;
-
-// Generic message header.
-typedef struct player_msghdr
-{
- /** Origin address */
- player_devaddr_t from;
- /** Destination address */
- player_devaddr_t to;
- /** Message type; interface-specific */
- uint8_t type;
- /** Time associated with message contents (seconds since epoch) */
- double timestamp;
- /** For keeping track of associated messages. Transport-specific. */
- uint32_t seq;
- /** Whether an acknowledgement is requeested */
- uint8_t ack;
- /** Size in bytes of the payload to follow */
- uint32_t size;
-} player_msghdr_t;
-
-// An acknowledgement message
-typedef struct player_player_ack
-{
- uint8_t value;
-} player_player_ack_t;
-
-typedef struct player_msgqueue
-{
- // A linked list gets implemented here, using glib
-} player_msgqueue_t;
-
-typedef struct player_cache
-{
- // A dictionary of messages, keyed by message signature, goes here
- // (use glib). New messages overwrite old ones with the same signature.
-} player_cache_t;
-
-// Insert data, with signature hdr, into the cache
-int player_cache_insert(player_cache_t* cache,
- player_msghdr_t* hdr,
- void* data);
-// Retrieve message with signature hdr, and put it in data.
-int player_cache_retrieve(player_cache_t* cache,
- player_msghdr_t* hdr,
- void* data);
-
-// Similar to player_cache_retrieve, but deletes message from the cache
-// after retrieval
-int player_cache_remove(player_cache_t* cache,
- player_msghdr_t* hdr,
- void* data);
-
-// Forward declaration of TCP manager;
-struct player_tcp_io;
-
-// A player_io_t object contains all the state necessary for a single
-// module. A single module may have multiple addresses.
-typedef struct player_io
-{
- // A list of my addresses
- player_devaddr_t* addrs;
- // My input queue
- player_msgqueue_t* inqueue;
- // My output queue
- player_msgqueue_t* outqueue;
- // A cache of incoming message
- player_cache_t* message_cache;
- // Which transport are we using?
- uint8_t transport_id;
- // TCP manager object, in case we're using TCP
- player_tcp_io_t* tcp_io;
- // Other local state goes here
-} player_io_t;
-
-typedef struct player_module_options
-{
- // A dictionary/hash-table of module name-value options goes here,
- // using glib
-} player_module_options_t;
-
-// initialize player. returns some local state.
-player_io_t* player_init(int argc, char* argv);
-
-// clean up
-int player_fini(player_io_t* io);
-
-// Parse a config file to build an option table
-//
-// If (*opt) is NULL, a new table is created.
-int
-player_parse_config_file(player_module_options_t** opt,
- const char* fname);
-
-// Declare an interface that I'll support
-int player_add_interface(player_io_t* io, player_devaddr_t* addr);
-
-// A message structure
-typedef struct player_$(INTERFACE)_$(TYPE)
-{
- // ...
-} player_$(INTERFACE)_$(TYPE)_t;
-
-// connect to a device somewhere out there. returns a handle to the device.
-int
-player_subscribe_$(INTERFACE)_$(TYPE)(player_io_t* io,
- player_devaddr_t* addr)
-{
- // Contact the device. Now, this should be done in a transport-specific
- // way.
- if(io->transport == PLAYER_TRANSPORT_TCP)
- {
- // Do a TCP-specific subscription
- }
-}
-
-// disconnect from a device somewhere out there.
-int
-player_unsubscribe_$(INTERFACE)_$(TYPE)(player_io_t* io,
- player_devaddr_t* addr);
-{
- // Contact the device. Now, this should be done in a transport-specific
- // way.
- if(io->transport == PLAYER_TRANSPORT_TCP)
- {
- // Do a TCP-specific unsubscription
- }
-}
-
-// Publish a message.
-//
-// io: Local io handle
-// from: Address of originating device. Needed to distinguish between
-// multiple interfaces. If NULL,
-// to: Address of destination device. If NULL, then the message is sent
-// to all subscribers.
-// data: The message itself.
-// ack: If 1, then an acknowledgement from the destination device is
-// requested. Cannot be 1 if 'to' is NULL (i.e., cannot request
-// acknowledgement for a multicast message).
-// ack_timeout: how long to wait for acknowledgement; 0 for no waiting,
-// -1 for indefinite timeout
-//
-// Returns: 0 on success, non-zero on error. If ack is 0, then the return
-// value only indicates whether the message was sent. If ack is 1, then
-// the return value is a response from the destination device (may need a
-// special value to distinguish timeout from device-generated error).
-int
-player_publish_$(INTERFACE)_$(TYPE)(player_io_t* io,
- player_devaddr_t* from,
- player_devaddr_t* to,
- player_$(INTERFACE)_$(TYPE)_t* data,
- int ack,
- int ack_timeout);
-
-// Short form of publishing, for convenience
-int player_broadcast_$(INTERFACE)_$(TYPE)(player_io_t* io,
- player_devaddr_t* from,
- player_$(INTERFACE)_$(TYPE)_t* data)
-{
- return(player_publish_$(INTERFACE)_$(TYPE)(io, from, NULL, data, 0, -1));
-}
-
-// A utility function to retrieve a certain type of message from the local
-// cache. The 'remove' argument indicates whether the message should be
-// removed from the cache.
-int player_get_$(INTERFACE)_$(TYPE)(player_io_t* io,
- player_devaddr_t* from,
- player_devaddr_t* to,
- player_$(INTERFACE)_$(TYPE)_t* data,
- int remove)
-{
- player_msghdr_t hdr;
- hdr.from = from;
- hdr.to = to;
- hdr.type = $(TYPE);
- if(remove)
- return(player_cache_remove(io->cache, &hdr, data));
- else
- return(player_cache_retrieve(io->cache, &hdr, data));
-}
-
-// A utility function to wait for a specific message to arrive on my
-// inqueue. The message is popped (?)
-int player_waitfor_$(INTERFACE)_$(THING)(player_io_t* io,
- player_devaddr_t* from,
- player_devaddr_t* to,
- player_$(INTERFACE)_$(TYPE)_t* data);
-
-// A utility function to send an acknowledgement
-int player_send_ack(player_io_t* io,
- player_devaddr_t* from,
- player_devaddr_t* to,
- uint8_t value)
-{
- player_player_ack_t ack;
- ack.value = value;
- return(player_publish_player_ack(io, from, to, &ack, 0, 0));
-}
-
-// A utility function to match message signature, using from address. -1
-// for any field means don't care
-int player_match_message_from(player_io_t* io,
- player_msghdr_t* hdr,
- int host,
- int robot,
- int interf,
- int index,
- int type);
-
-// A utility function to match message signature, using to address. -1
-// for any field means don't care
-int player_match_message_to(player_io_t* io,
- player_msghdr_t* hdr,
- int host,
- int robot,
- int interf,
- int index,
- int type);
-
-// Other message-match functions could be provided....
-
-// Signature for a message-processing function
-typedef int
-(*player_processmessage_fn_t)(player_io_t *io,
- player_msghdr_t* hdr,
- void* data);
-
-// A default message processer, which simply caches the messages for later
-// perusal
-int
-player_processmessage_default(player_io_t* io,
- player_msghdr_t* hdr,
- void* data)
-{
- player_cache_insert(io->message_cache, hdr, data);
-
- // If an ack was requested, send a success code (might not be the right
- // behavior, but what other option is there if the module is not
- // personally processing each messagee?)
- if(hdr->ack)
- player_send_ack(io, hdr->to, hdr->from, 0);
-}
-
-// A utility function to pop and process messages, one by one
-int player_processmessages(player_io_t* io,
- player_processmessage_fn_t process_fn)
-{
- int retval;
- while(!player_queue_empty(io->inqueue))
- {
- // Pop a message off the queue
- player_msghdr_t* hdr;
- void* data;
- player_queue_pop(&hdr, &data, io->inqueue);
-
- // Process the message and catch the return value
- retval = (process_fn)(io,hdr,data);
-
- // If an ack was requested, send it
- if(hdr->ack)
- player_send_ack(io, hdr->to, hdr->from, retval);
- }
-}
-
-
-/////////////////////////////////////////////////////////////////////////
-//
-// TCP-specific functionality
-//
-typedef struct player_tcp_io
-{
- // List of player_io objects that I'm managing (one per module)
- player_io_t** ios;
- // TCP state, like ports and sockets that I'm managing
-} player_tcp_io_t;
-
-// Add an io object (i.e., a module) to this TCP manager
-int player_tcp_add_io(player_tcp_io_t* tcpio, player_io_t* io);
-
-// Bind to one or more TCP ports, as indicated by the modules embedded
-// in 'tcpio'.
-int player_tcp_bind(player_tcp_io_t* io);
-
-// Read incoming messages from bound TCP sockets and push them onto
-// appropriate tcpio->io->inqueue.
-int player_tcp_readmessages(player_tcp_io_t* tcpio, int timeout);
-
-// Pop outgoing messages from all tcpio->io->outqueue and write them out
-// on TCP sockets
-int player_tcp_writemessages(player_tcp_io_t* tcpio);
-/////////////////////////////////////////////////////////////////////////
-
-
-
-
-
Copied: code/player/trunk/design/player.c.doc (from rev 8112,
code/player/trunk/design/player.c)
===================================================================
--- code/player/trunk/design/player.c.doc (rev 0)
+++ code/player/trunk/design/player.c.doc 2009-07-24 11:33:29 UTC (rev
8115)
@@ -0,0 +1,308 @@
+typedef struct player_devaddr
+{
+ /** The "host" on which the device resides. Transport-dependent. */
+ uint32_t host;
+ /** The "robot" or device collection in which the device resides.
+ Transport-dependent */
+ uint32_t robot;
+ /** The interface provided by the device; must be one of PLAYER_*_CODE */
+ uint16_t interf;
+ /** Which device of that interface */
+ uint16_t index;
+} player_devaddr_t;
+
+// Generic message header.
+typedef struct player_msghdr
+{
+ /** Origin address */
+ player_devaddr_t from;
+ /** Destination address */
+ player_devaddr_t to;
+ /** Message type; interface-specific */
+ uint8_t type;
+ /** Time associated with message contents (seconds since epoch) */
+ double timestamp;
+ /** For keeping track of associated messages. Transport-specific. */
+ uint32_t seq;
+ /** Whether an acknowledgement is requeested */
+ uint8_t ack;
+ /** Size in bytes of the payload to follow */
+ uint32_t size;
+} player_msghdr_t;
+
+// An acknowledgement message
+typedef struct player_player_ack
+{
+ uint8_t value;
+} player_player_ack_t;
+
+typedef struct player_msgqueue
+{
+ // A linked list gets implemented here, using glib
+} player_msgqueue_t;
+
+typedef struct player_cache
+{
+ // A dictionary of messages, keyed by message signature, goes here
+ // (use glib). New messages overwrite old ones with the same signature.
+} player_cache_t;
+
+// Insert data, with signature hdr, into the cache
+int player_cache_insert(player_cache_t* cache,
+ player_msghdr_t* hdr,
+ void* data);
+// Retrieve message with signature hdr, and put it in data.
+int player_cache_retrieve(player_cache_t* cache,
+ player_msghdr_t* hdr,
+ void* data);
+
+// Similar to player_cache_retrieve, but deletes message from the cache
+// after retrieval
+int player_cache_remove(player_cache_t* cache,
+ player_msghdr_t* hdr,
+ void* data);
+
+// Forward declaration of TCP manager;
+struct player_tcp_io;
+
+// A player_io_t object contains all the state necessary for a single
+// module. A single module may have multiple addresses.
+typedef struct player_io
+{
+ // A list of my addresses
+ player_devaddr_t* addrs;
+ // My input queue
+ player_msgqueue_t* inqueue;
+ // My output queue
+ player_msgqueue_t* outqueue;
+ // A cache of incoming message
+ player_cache_t* message_cache;
+ // Which transport are we using?
+ uint8_t transport_id;
+ // TCP manager object, in case we're using TCP
+ player_tcp_io_t* tcp_io;
+ // Other local state goes here
+} player_io_t;
+
+typedef struct player_module_options
+{
+ // A dictionary/hash-table of module name-value options goes here,
+ // using glib
+} player_module_options_t;
+
+// initialize player. returns some local state.
+player_io_t* player_init(int argc, char* argv);
+
+// clean up
+int player_fini(player_io_t* io);
+
+// Parse a config file to build an option table
+//
+// If (*opt) is NULL, a new table is created.
+int
+player_parse_config_file(player_module_options_t** opt,
+ const char* fname);
+
+// Declare an interface that I'll support
+int player_add_interface(player_io_t* io, player_devaddr_t* addr);
+
+// A message structure
+typedef struct player_$(INTERFACE)_$(TYPE)
+{
+ // ...
+} player_$(INTERFACE)_$(TYPE)_t;
+
+// connect to a device somewhere out there. returns a handle to the device.
+int
+player_subscribe_$(INTERFACE)_$(TYPE)(player_io_t* io,
+ player_devaddr_t* addr)
+{
+ // Contact the device. Now, this should be done in a transport-specific
+ // way.
+ if(io->transport == PLAYER_TRANSPORT_TCP)
+ {
+ // Do a TCP-specific subscription
+ }
+}
+
+// disconnect from a device somewhere out there.
+int
+player_unsubscribe_$(INTERFACE)_$(TYPE)(player_io_t* io,
+ player_devaddr_t* addr);
+{
+ // Contact the device. Now, this should be done in a transport-specific
+ // way.
+ if(io->transport == PLAYER_TRANSPORT_TCP)
+ {
+ // Do a TCP-specific unsubscription
+ }
+}
+
+// Publish a message.
+//
+// io: Local io handle
+// from: Address of originating device. Needed to distinguish between
+// multiple interfaces. If NULL,
+// to: Address of destination device. If NULL, then the message is sent
+// to all subscribers.
+// data: The message itself.
+// ack: If 1, then an acknowledgement from the destination device is
+// requested. Cannot be 1 if 'to' is NULL (i.e., cannot request
+// acknowledgement for a multicast message).
+// ack_timeout: how long to wait for acknowledgement; 0 for no waiting,
+// -1 for indefinite timeout
+//
+// Returns: 0 on success, non-zero on error. If ack is 0, then the return
+// value only indicates whether the message was sent. If ack is 1, then
+// the return value is a response from the destination device (may need a
+// special value to distinguish timeout from device-generated error).
+int
+player_publish_$(INTERFACE)_$(TYPE)(player_io_t* io,
+ player_devaddr_t* from,
+ player_devaddr_t* to,
+ player_$(INTERFACE)_$(TYPE)_t* data,
+ int ack,
+ int ack_timeout);
+
+// Short form of publishing, for convenience
+int player_broadcast_$(INTERFACE)_$(TYPE)(player_io_t* io,
+ player_devaddr_t* from,
+ player_$(INTERFACE)_$(TYPE)_t* data)
+{
+ return(player_publish_$(INTERFACE)_$(TYPE)(io, from, NULL, data, 0, -1));
+}
+
+// A utility function to retrieve a certain type of message from the local
+// cache. The 'remove' argument indicates whether the message should be
+// removed from the cache.
+int player_get_$(INTERFACE)_$(TYPE)(player_io_t* io,
+ player_devaddr_t* from,
+ player_devaddr_t* to,
+ player_$(INTERFACE)_$(TYPE)_t* data,
+ int remove)
+{
+ player_msghdr_t hdr;
+ hdr.from = from;
+ hdr.to = to;
+ hdr.type = $(TYPE);
+ if(remove)
+ return(player_cache_remove(io->cache, &hdr, data));
+ else
+ return(player_cache_retrieve(io->cache, &hdr, data));
+}
+
+// A utility function to wait for a specific message to arrive on my
+// inqueue. The message is popped (?)
+int player_waitfor_$(INTERFACE)_$(THING)(player_io_t* io,
+ player_devaddr_t* from,
+ player_devaddr_t* to,
+ player_$(INTERFACE)_$(TYPE)_t* data);
+
+// A utility function to send an acknowledgement
+int player_send_ack(player_io_t* io,
+ player_devaddr_t* from,
+ player_devaddr_t* to,
+ uint8_t value)
+{
+ player_player_ack_t ack;
+ ack.value = value;
+ return(player_publish_player_ack(io, from, to, &ack, 0, 0));
+}
+
+// A utility function to match message signature, using from address. -1
+// for any field means don't care
+int player_match_message_from(player_io_t* io,
+ player_msghdr_t* hdr,
+ int host,
+ int robot,
+ int interf,
+ int index,
+ int type);
+
+// A utility function to match message signature, using to address. -1
+// for any field means don't care
+int player_match_message_to(player_io_t* io,
+ player_msghdr_t* hdr,
+ int host,
+ int robot,
+ int interf,
+ int index,
+ int type);
+
+// Other message-match functions could be provided....
+
+// Signature for a message-processing function
+typedef int
+(*player_processmessage_fn_t)(player_io_t *io,
+ player_msghdr_t* hdr,
+ void* data);
+
+// A default message processer, which simply caches the messages for later
+// perusal
+int
+player_processmessage_default(player_io_t* io,
+ player_msghdr_t* hdr,
+ void* data)
+{
+ player_cache_insert(io->message_cache, hdr, data);
+
+ // If an ack was requested, send a success code (might not be the right
+ // behavior, but what other option is there if the module is not
+ // personally processing each messagee?)
+ if(hdr->ack)
+ player_send_ack(io, hdr->to, hdr->from, 0);
+}
+
+// A utility function to pop and process messages, one by one
+int player_processmessages(player_io_t* io,
+ player_processmessage_fn_t process_fn)
+{
+ int retval;
+ while(!player_queue_empty(io->inqueue))
+ {
+ // Pop a message off the queue
+ player_msghdr_t* hdr;
+ void* data;
+ player_queue_pop(&hdr, &data, io->inqueue);
+
+ // Process the message and catch the return value
+ retval = (process_fn)(io,hdr,data);
+
+ // If an ack was requested, send it
+ if(hdr->ack)
+ player_send_ack(io, hdr->to, hdr->from, retval);
+ }
+}
+
+
+/////////////////////////////////////////////////////////////////////////
+//
+// TCP-specific functionality
+//
+typedef struct player_tcp_io
+{
+ // List of player_io objects that I'm managing (one per module)
+ player_io_t** ios;
+ // TCP state, like ports and sockets that I'm managing
+} player_tcp_io_t;
+
+// Add an io object (i.e., a module) to this TCP manager
+int player_tcp_add_io(player_tcp_io_t* tcpio, player_io_t* io);
+
+// Bind to one or more TCP ports, as indicated by the modules embedded
+// in 'tcpio'.
+int player_tcp_bind(player_tcp_io_t* io);
+
+// Read incoming messages from bound TCP sockets and push them onto
+// appropriate tcpio->io->inqueue.
+int player_tcp_readmessages(player_tcp_io_t* tcpio, int timeout);
+
+// Pop outgoing messages from all tcpio->io->outqueue and write them out
+// on TCP sockets
+int player_tcp_writemessages(player_tcp_io_t* tcpio);
+/////////////////////////////////////////////////////////////////////////
+
+
+
+
+
Property changes on: code/player/trunk/design/player.c.doc
___________________________________________________________________
Added: svn:keywords
+ Author Date Id Revision
Added: svn:mergeinfo
+
/code/player/branches/release-2-1-patches/design/player.c:6672-6673,6738,6834,6886,6905,6930,6936,6946,6951,6955,6975,6979-6981,6985,6987-6996,7087-7088,7204,7226,7230,7248,7250-7252,7256,7262-7263,7276,7300,7602
/code/player/trunk/design/player.c:6985
Added: svn:eol-style
+ native
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