Update of /cvsroot/playerstage/code/player/client_libs/libplayerc
In directory
sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv20366/client_libs/libplayerc
Modified Files:
Makefile.am playerc.h
Added Files:
dev_blackboard.c
Log Message:
Commit of Ben Morellis 'Blackboard' driver and interface
Index: Makefile.am
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/Makefile.am,v
retrieving revision 1.99
retrieving revision 1.100
diff -C2 -d -r1.99 -r1.100
*** Makefile.am 21 Aug 2007 23:16:23 -0000 1.99
--- Makefile.am 20 Sep 2007 02:50:47 -0000 1.100
***************
*** 27,30 ****
--- 27,31 ----
dev_aio.c \
dev_audio.c \
+ dev_blackboard.c \
dev_bumper.c \
dev_blobfinder.c \
Index: playerc.h
===================================================================
RCS file: /cvsroot/playerstage/code/player/client_libs/libplayerc/playerc.h,v
retrieving revision 1.231
retrieving revision 1.232
diff -C2 -d -r1.231 -r1.232
*** playerc.h 17 Sep 2007 02:18:51 -0000 1.231
--- playerc.h 20 Sep 2007 02:50:47 -0000 1.232
***************
*** 1091,1095 ****
--- 1091,1134 ----
/**************************************************************************/
+ /** @ingroup playerc_proxies
+ * @defgroup playerc_proxy_blackboard blackboard
+
+ The blackboard proxy provides an interface to a simple data-store in a
similar fashion to a hash-map.
+ Data is set and retrieved by using a label. Any player message structure can
be stored in the blackboard.
+ At this time it is up to the user to pack and unpack the entry data. The xdr
functions can be used to do
+ this.
+ @{ */
+
+ /** @brief BlackBoard proxy. */
+ typedef struct
+ {
+ /** Device info; must be at the start of all device structures. */
+ playerc_device_t info;
+ /** Function to be called when a key is updated. */
+ void (*on_blackboard_event)(player_blackboard_entry_t);
+ } playerc_blackboard_t;
+
+ /** @brief Create a blackboard proxy. */
+ playerc_blackboard_t *playerc_blackboard_create(playerc_client_t *client, int
index);
+ /** @brief Destroy a blackboard proxy. */
+ void playerc_blackboard_destroy(playerc_blackboard_t *device);
+
+ /** @brief Subscribe to the blackboard device. */
+ int playerc_blackboard_subscribe(playerc_blackboard_t *device, int access);
+
+ /** @brief Un-subscribe from the blackboard device. */
+ int playerc_blackboard_unsubscribe(playerc_blackboard_t *device);
+
+ /** @brief Subscribe to a key. */
+ int playerc_blackboard_subscribe_to_key(playerc_blackboard_t *device, const
char* key, player_blackboard_entry_t* entry);
+
+ /** @brief Unsubscribe from a key. */
+ int playerc_blackboard_unsubscribe_from_key(playerc_blackboard_t *device,
const char* key);
+
+ /** @brief Set an entry value. */
+ int playerc_blackboard_set_entry(playerc_blackboard_t *device,
player_blackboard_entry_t* entry);
+
+ /** @} */
/***************************************************************************/
--- NEW FILE: dev_blackboard.c ---
/*
* libplayerc : a Player client library
* Copyright (C) Andrew Howard 2002-2003
*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA.
*
*/
/*
* Player - One Hell of a Robot Server
* Copyright (C) Andrew Howard 2003
*
*
* 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: Blackboard device proxy
* Author: Benjamin Morelli
* Date: September 2007
* CVS: $Id: dev_blackboard.c,v 1.1 2007/09/20 02:50:47 thjc Exp $
**************************************************************************/
#include <assert.h>
#include <math.h>
#include <stdlib.h>
#include <string.h>
#include <sys/types.h>
#include "playerc.h"
#include "error.h"
#include <libplayerxdr/playerxdr.h>
void playerc_blackboard_putmsg(playerc_blackboard_t *device,
player_msghdr_t *header,
player_blackboard_entry_t *data, size_t len);
// Create a new blackboard proxy
playerc_blackboard_t *playerc_blackboard_create(playerc_client_t *client, int
index)
{
playerc_blackboard_t *device= NULL;
device = malloc(sizeof(playerc_blackboard_t));
memset(device, 0, sizeof(playerc_blackboard_t));
playerc_device_init(&device->info, client, PLAYER_BLACKBOARD_CODE,
index, (playerc_putmsg_fn_t)playerc_blackboard_putmsg);
return device;
}
// Destroy a blackboard proxy
void playerc_blackboard_destroy(playerc_blackboard_t *device)
{
playerc_device_term(&device->info);
//playerc_blackboard_cleanup(device);
free(device);
}
// Subscribe to the blackboard device
int playerc_blackboard_subscribe(playerc_blackboard_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Un-subscribe from the blackboard device
int playerc_blackboard_unsubscribe(playerc_blackboard_t *device)
{
return playerc_device_unsubscribe(&device->info);
}
// Subscribe to a blackboard key
int playerc_blackboard_subscribe_to_key(playerc_blackboard_t* device, const
char* key,
player_blackboard_entry_t* entry_out)
{
player_blackboard_entry_t req;
memset(&req, 0, sizeof(req));
req.key = strdup(key);
req.key_count = strlen(key) + 1;
size_t entry_size = sizeof(req) + req.key_count;
if (playerc_client_request(
device->info.client,
&device->info,
PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY,
&req,
entry_out,
entry_size) < 0)
{
PLAYERC_ERR("failed to subscribe to blackboard key");
return -1;
}
free(req.key);
return 0;
}
// Unsubscribe from a blackboard key
int playerc_blackboard_unsubscribe_from_key(playerc_blackboard_t* device, const
char* key)
{
player_blackboard_entry_t req;
memset(&req, 0, sizeof(req));
req.key = strdup(key);
req.key_count = strlen(key) + 1;
size_t entry_size = sizeof(req) + req.key_count;
if (playerc_client_request(
device->info.client,
&device->info,
PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY,
&req,
NULL,
entry_size) < 0)
{
PLAYERC_ERR("failed to unsubscribe to blackboard key");
return -1;
}
free(req.key);
return 0;
}
// Set a key
int playerc_blackboard_set_entry(playerc_blackboard_t *device,
player_blackboard_entry_t* entry)
{
size_t entry_size = sizeof(entry) + entry->key_count +
entry->data_count;
player_blackboard_entry_t *reply;
if (playerc_client_request(
device->info.client,
&device->info,
PLAYER_BLACKBOARD_REQ_SET_ENTRY,
entry,
&reply,
entry_size) < 0)
{
PLAYERC_ERR("failed to set blackboard key");
return -1;
}
return 0;
}
void playerc_blackboard_putmsg(playerc_blackboard_t *device,
player_msghdr_t *header,
player_blackboard_entry_t *data, size_t len)
{
if (device->on_blackboard_event != NULL)
{
device->on_blackboard_event(*data);
}
}
-------------------------------------------------------------------------
This SF.net email is sponsored by: Microsoft
Defy all challenges. Microsoft(R) Visual Studio 2005.
http://clk.atdmt.com/MRT/go/vse0120000070mrt/direct/01/
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
