Revision: 6651
http://playerstage.svn.sourceforge.net/playerstage/?rev=6651&view=rev
Author: gbiggs
Date: 2008-06-19 23:42:15 -0700 (Thu, 19 Jun 2008)
Log Message:
-----------
Added driver wrapper for Gearbox flexiport data comms lib, fixed some bad
return codes
Modified Paths:
--------------
code/player/trunk/server/drivers/opaque/CMakeLists.txt
code/player/trunk/server/drivers/ranger/urg_nz.cc
Added Paths:
-----------
code/player/trunk/server/drivers/opaque/flexiport.cc
Modified: code/player/trunk/server/drivers/opaque/CMakeLists.txt
===================================================================
--- code/player/trunk/server/drivers/opaque/CMakeLists.txt 2008-06-20
03:52:11 UTC (rev 6650)
+++ code/player/trunk/server/drivers/opaque/CMakeLists.txt 2008-06-20
06:42:15 UTC (rev 6651)
@@ -1,3 +1,10 @@
+PLAYERDRIVER_OPTION (flexiport build_flexiport ON)
+PLAYERDRIVER_REQUIRE_PKG (flexiport build_flexiport flexiport
flexiport_includeDir flexiport_libDir
+ flexiport_linkFlags flexiport_cFlags)
+PLAYERDRIVER_ADD_DRIVER (flexiport build_flexiport INCLUDEDIRS
"${flexiport_includeDir}"
+ LIBDIRS "${flexiport_libDir}" LINKFLAGS "${flexiport_linkFlags}" CFLAGS
"${flexiport_cFlags}"
+ SOURCES flexiport.cc)
+
PLAYERDRIVER_OPTION (serialstream build_serialstream ON)
PLAYERDRIVER_ADD_DRIVER (serialstream build_serialstream SOURCES
serialstream.cc)
Added: code/player/trunk/server/drivers/opaque/flexiport.cc
===================================================================
--- code/player/trunk/server/drivers/opaque/flexiport.cc
(rev 0)
+++ code/player/trunk/server/drivers/opaque/flexiport.cc 2008-06-20
06:42:15 UTC (rev 6651)
@@ -0,0 +1,311 @@
+/*
+ * Player - One Hell of a Robot Server
+ * Copyright (C) 2003
+ * Brian Gerkey
+ *
+ *
+ * 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
+ *
+ */
+
+/** @ingroup drivers Drivers */
+/** @{ */
+/*
+ *
+The flexiport driver provides access to a data communications device (such as
a serial port or a TCP
+network port) via the Gearbox flexiport library. Any data received over this
device is published,
+and any writes to this driver are written to the device. It does not process
the data in any way.
+
[EMAIL PROTECTED] Compile-time dependencies
+
+ - flexiport (from Gearbox, see http://gearbox.sourceforge.net)
+
[EMAIL PROTECTED] Provides
+
+ - @ref opaque
+
[EMAIL PROTECTED] Requires
+
+ - none
+
[EMAIL PROTECTED] Configuration requests
+
+ - none
+
[EMAIL PROTECTED] Configuration file options
+
+ - See @ref Properties.
+
[EMAIL PROTECTED] Properties (may also be set in the configuration file)
+
+ - portopts (string)
+ - Default: "type=serial,device=/dev/ttyS0,timeout=1"
+ - Options to create the Flexiport port with.
+
+ - buffer_size (integer)
+ - The size of the buffer to be used when reading. This is the maximum that
can be read in one
+ read command
+ - Default: 4096
+
[EMAIL PROTECTED] Example
+
[EMAIL PROTECTED]
+driver
+(
+ name "sicks3000"
+ provides ["laser:0"]
+ requires ["opaque:0"]
+)
+
+driver
+(
+ name "flexiport"
+ provides ["opaque:0]
+ portopts "type=serial,device=/dev/ttyACM0"
+)
+
[EMAIL PROTECTED]
+
[EMAIL PROTECTED] Geoffrey Biggs
+
+*/
+/** @} */
+
+
+#include <libplayercore/playercore.h>
+#include <flexiport/flexiport.h>
+#include <flexiport/port.h>
+#include <string>
+
+const int DEFAULT_OPAQUE_BUFFER_SIZE = 4096;
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// Driver object
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+class Flexiport : public Driver
+{
+ public:
+ Flexiport (ConfigFile* cf, int section);
+ virtual ~Flexiport (void);
+
+ virtual int Setup (void);
+ virtual int Shutdown (void);
+ virtual int ProcessMessage (QueuePointer &respQueue,
player_msghdr *hdr, void *data);
+
+ protected:
+ IntProperty _bufferSize;
+ StringProperty _portOptions;
+
+ uint8_t *_receiveBuffer;
+
+ flexiport::Port *_port;
+
+ private:
+ virtual int CreatePort (void);
+ virtual void Main();
+ virtual void ReadData();
+};
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// Constructor/destructor
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Flexiport::Flexiport (ConfigFile* cf, int section)
+ : Driver (cf, section, false, PLAYER_MSGQUEUE_DEFAULT_MAXLEN,
PLAYER_OPAQUE_CODE),
+ _bufferSize ("buffer_size", DEFAULT_OPAQUE_BUFFER_SIZE, 0),
+ _portOptions ("portopts", "type=serial,device=/dev/ttyS0,timeout=1", 0),
+ _port (NULL)
+{
+ RegisterProperty ("buffer_size", &_bufferSize, cf, section);
+ RegisterProperty ("portopts", &_portOptions, cf, section);
+
+ if ((_receiveBuffer = new uint8_t[_bufferSize]) == NULL)
+ {
+ PLAYER_ERROR ("Failed to allocate receive buffer.");
+ }
+}
+
+Flexiport::~Flexiport (void)
+{
+ if (_receiveBuffer != NULL)
+ delete[] _receiveBuffer;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// Driver implementation
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+int Flexiport::CreatePort (void)
+{
+ try
+ {
+ if (_port != NULL)
+ delete _port;
+ _port = flexiport::CreatePort (_portOptions.GetValue ());
+ _port->Open ();
+ }
+ catch (flexiport::PortException e)
+ {
+ PLAYER_ERROR1 ("flexiport: Failed to create port instance: %s",
e.what ());
+ return 1;
+ }
+
+ return 0;
+}
+
+void Flexiport::Main (void)
+{
+ while (true)
+ {
+ pthread_testcancel ();
+ ProcessMessages ();
+ ReadData ();
+ usleep (100000);
+ }
+}
+
+int Flexiport::ProcessMessage (QueuePointer &respQueue, player_msghdr *hdr,
void *data)
+{
+ // Check for capability requests
+ HANDLE_CAPABILITY_REQUEST (device_addr, respQueue, hdr, data,
+ PLAYER_MSGTYPE_REQ, PLAYER_CAPABILTIES_REQ);
+
+ // Property handlers that need to be done manually due to calling into
the urg_nz library.
+ if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_SET_INTPROP_REQ, device_addr))
+ {
+ player_intprop_req_t *req =
reinterpret_cast<player_intprop_req_t*> (data);
+ // Change in the baud rate
+ if (strncmp (req->key, "buffer_size", 11) == 0)
+ {
+ // Reallocate the buffer
+ uint8_t *newBuffer;
+ if ((newBuffer = new uint8_t[req->value]) == NULL)
+ {
+ PLAYER_ERROR ("flexiport: Failed to reallocate
receive buffer.");
+ Publish (device_addr, respQueue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
+ NULL, 0, NULL);
+ return 0;
+ }
+
+ if (_receiveBuffer != NULL)
+ delete[] _receiveBuffer;
+ _receiveBuffer = newBuffer;
+ _bufferSize.SetValueFromMessage (data);
+
+ Publish (device_addr, respQueue,
PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_INTPROP_REQ, NULL,
+ 0, NULL);
+ return 0;
+ }
+ }
+ else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_REQ,
PLAYER_SET_STRPROP_REQ, device_addr))
+ {
+ player_strprop_req_t *req =
reinterpret_cast<player_strprop_req_t*> (data);
+ // Change in the port options
+ if (strncmp (req->key, "portopts", 8) == 0)
+ {
+ _portOptions.SetValueFromMessage (data);
+ if (CreatePort () != 0)
+ {
+ PLAYER_ERROR ("flexiport: Failed to create new
port with new options.");
+ Publish (device_addr, respQueue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_STRPROP_REQ,
+ NULL, 0, NULL);
+ return 0;
+ }
+ Publish (device_addr, respQueue,
PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_STRPROP_REQ, NULL,
+ 0, NULL);
+ return 0;
+ }
+ }
+
+ // Standard opaque messages
+ else if (Message::MatchMessage (hdr, PLAYER_MSGTYPE_CMD,
PLAYER_OPAQUE_CMD_DATA, device_addr))
+ {
+ player_opaque_data_t *recv =
reinterpret_cast<player_opaque_data_t *> (data);
+ if (recv->data_count <= 0)
+ return 0;
+
+ _port->Flush ();
+
+ try
+ {
+ size_t written;
+ if ((written = _port->Write (recv->data,
recv->data_count)) < recv->data_count)
+ {
+ PLAYER_ERROR2 ("flexiport: Wrote less data than
given: %d < %d", written,
+
recv->data_count);
+ }
+ }
+ catch (flexiport::PortException e)
+ {
+ PLAYER_ERROR1 ("flexiport: Error writing to port: %s",
e.what ());
+ }
+
+ return 0;
+ }
+
+ return -1;
+}
+
+void Flexiport::ReadData (void)
+{
+ size_t read = _port->Read (_receiveBuffer, _bufferSize);
+
+ if (read <= 0)
+ {
+ // Timed out/no data available
+ return;
+ }
+
+ player_opaque_data_t data;
+ data.data_count = read;
+ data.data = _receiveBuffer;
+ Publish (device_addr, PLAYER_MSGTYPE_DATA, PLAYER_OPAQUE_DATA_STATE,
+ reinterpret_cast<void*> (&data));
+}
+
+int Flexiport::Setup (void)
+{
+ if (CreatePort () != 0)
+ return 1;
+
+ StartThread();
+
+ return 0;
+}
+
+int Flexiport::Shutdown (void)
+{
+ StopThread();
+
+ delete _port;
+ _port = NULL;
+
+ return 0;
+}
+
+////////////////////////////////////////////////////////////////////////////////////////////////////
+// Driver management functions
+////////////////////////////////////////////////////////////////////////////////////////////////////
+
+Driver* FlexiportInit (ConfigFile* cf, int section)
+{
+ return reinterpret_cast <Driver*> (new Flexiport (cf, section));
+}
+
+void flexiport_Register (DriverTable* table)
+{
+ table->AddDriver ("flexiport", FlexiportInit);
+}
Modified: code/player/trunk/server/drivers/ranger/urg_nz.cc
===================================================================
--- code/player/trunk/server/drivers/ranger/urg_nz.cc 2008-06-20 03:52:11 UTC
(rev 6650)
+++ code/player/trunk/server/drivers/ranger/urg_nz.cc 2008-06-20 06:42:15 UTC
(rev 6651)
@@ -262,7 +262,7 @@
Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_SET_INTPROP_REQ,
NULL, 0, NULL);
- return -1;
+ return 0;
}
_baudRate.SetValueFromMessage (data);
Publish (device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_ACK, PLAYER_SET_INTPROP_REQ, NULL,
@@ -305,9 +305,10 @@
_maxAngle = newParams->max_angle;
if (!AllocateDataSpace ())
{
+ PLAYER_ERROR ("urg_nz: Failed to allocate space for
storing range data.");
Publish(device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG,
NULL, 0, NULL);
- return -1;
+ return 0;
}
_frequency = static_cast<int> (newParams->frequency);
@@ -334,7 +335,7 @@
SetError (e.Code ());
Publish(device_addr, resp_queue,
PLAYER_MSGTYPE_RESP_NACK, PLAYER_RANGER_REQ_GET_CONFIG,
NULL, 0, NULL);
- return -1;
+ return 0;
}
Publish(device_addr, resp_queue, PLAYER_MSGTYPE_RESP_ACK,
PLAYER_RANGER_REQ_GET_CONFIG,
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