Revision: 9048
http://playerstage.svn.sourceforge.net/playerstage/?rev=9048&view=rev
Author: jpgr87
Date: 2011-05-24 01:47:08 +0000 (Tue, 24 May 2011)
Log Message:
-----------
Fixed typo in PLAYER_REQ_CAPABILITIES definition, ran sed to fix instances of
typo, and added capability handlers to several drivers
Modified Paths:
--------------
code/player/trunk/server/drivers/actarray/amtecM5.cc
code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
Modified: code/player/trunk/server/drivers/actarray/amtecM5.cc
===================================================================
--- code/player/trunk/server/drivers/actarray/amtecM5.cc 2011-05-22
23:50:26 UTC (rev 9047)
+++ code/player/trunk/server/drivers/actarray/amtecM5.cc 2011-05-24
01:47:08 UTC (rev 9048)
@@ -45,8 +45,12 @@
@par Configuration requests
+- PLAYER_ACTARRAY_REQ_POWER
+- PLAYER_ACTARRAY_REQ_GEOM
+- PLAYER_ACTARRAY_REQ_SPEED
+- PLAYER_ACTARRAY_REQ_ACCEL
+- PLAYER_ACTARRAY_REQ_BRAKES
-
@par Configuration file options
- highpriority (int)
@@ -574,11 +578,15 @@
int AmtecM5::ProcessMessage(QueuePointer &resp_queue,
player_msghdr * hdr,
void * data) {
- // Process messages here. Send a response if necessary, using
Publish().
- // If you handle the message successfully, return 0. Otherwise,
- // return -1, and a NACK will be sent for you, if a response is required
+ // Capability requests
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_REQ_CAPABILITIES);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_POWER);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_GEOM);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_SPEED);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_ACCEL);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_ACTARRAY_REQ_BRAKES);
- //puts("ProcessMessage.");
+
// Handle Requests and Commands
if(hdr->type == PLAYER_MSGTYPE_REQ)
return(HandleRequest(resp_queue,hdr,data));
Modified: code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
===================================================================
--- code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
2011-05-22 23:50:26 UTC (rev 9047)
+++ code/player/trunk/server/drivers/blackboard/localbb/localbb.cpp
2011-05-24 01:47:08 UTC (rev 9048)
@@ -45,17 +45,24 @@
@par Configuration requests
- - None
-
+ - PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY
+ - PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY
+ - PLAYER_BLACKBOARD_REQ_SET_ENTRY
+ - PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP
+ - PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP
+ - PLAYER_BLACKBOARD_REQ_GET_ENTRY
+
@par Configuration file options
+ - None
+
@par Example
@verbatim
driver
(
- name "localbb"
- provides [ "blackboard:0" ]
+ name "localbb"
+ provides [ "blackboard:0" ]
)
@endverbatim
@@ -400,6 +407,15 @@
// Process an incoming message.
int LocalBB::ProcessMessage(QueuePointer &resp_queue, player_msghdr * hdr,
void * data)
{
+ // Capability Requests
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLACKBOARD_REQ_SET_ENTRY);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_GROUP);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_GROUP);
+ HANDLE_CAPABILITY_REQUEST (device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLACKBOARD_REQ_GET_ENTRY);
+
// Request for a subscription
if (Message::MatchMessage(hdr, PLAYER_MSGTYPE_REQ,
PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY, this->device_addr))
{
Modified: code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
===================================================================
--- code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
2011-05-22 23:50:26 UTC (rev 9047)
+++ code/player/trunk/server/drivers/blobfinder/cmvision/P2CMV.cc
2011-05-24 01:47:08 UTC (rev 9048)
@@ -57,7 +57,8 @@
@par Configuration requests
-- none
+- PLAYER_BLOBFINDER_REQ_SET_COLOR
+- PLAYER_BLOBFINDER_REQ_GET_COLOR
@par Configuration file options
@@ -442,6 +443,9 @@
player_msghdr* hdr,
void* data)
{
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_CAPABILITIES_REQ);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLOBFINDER_REQ_SET_COLOR);
+ HANDLE_CAPABILITY_REQUEST(device_addr, resp_queue, hdr, data,
PLAYER_MSGTYPE_REQ, PLAYER_BLOBFINDER_REQ_GET_COLOR);
// Handle new data from the camera
if(Message::MatchMessage(hdr, PLAYER_MSGTYPE_DATA, PLAYER_CAMERA_DATA_STATE,
this->mCameraAddr))
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