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lifomcom.h Go to the documentation of this file. /* * Player - One Hell of a Robot Server * Copyright (C) 2000 Brian Gerkey & Kasper Stoy * gerkey@usc.edu kaspers@robotics.usc.edu * * LifoMCom device by Matthew Brewer <mbrewer@andrew.cmu.edu> (updated for 1.3 by * Reed Hedges <reed@zerohour.net>) at the Laboratory for Perceptual * Robotics, Dept. of Computer Science, University of Massachusetts, * Amherst. * * 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 * */ #ifndef _MCOMDEVICE_HH_ #define _MCOMDEVICE_HH_ #include <player.h> #include <driver.h> #include <drivertable.h> /* * This device is designed for exchanging information between clients. * A client sends a message of a given "type" and "channel". This * device stores adds the message to that channel's stack. * A second client can then request data of a given "type" and "channel" * if Pop is called the last piece of data added to the buffer is returned * and then deleted. * If Read is called the last piece of data added is returned, and left there * This is a filo, or a stack first in last out - * This way if were reading drive command for example we can be sure to * get a "STOP" and interupt a "FWD" before it's been read. * Player's "configuration"-style message passing is used. */ class LifoMCom : public Driver { private: class Buffer { private: player_mcom_data_t dat[MCOM_N_BUFS]; int top; int capacity; public: int type; char channel[MCOM_CHANNEL_LEN]; Buffer(); ~Buffer(); void Push(player_mcom_data_t newdat); player_mcom_data_t Pop(); player_mcom_data_t Read(); void Clear(); void print(); void SetCapacity(int cap); int GetCapacity() { return capacity; } }; struct Link{ Buffer buf; Link* next; }; class LinkList { private: Link * top; public: LinkList(); ~LinkList(); void Push(player_mcom_data_t d,int type, char channel[MCOM_CHANNEL_LEN]); player_mcom_data_t Pop(int type, char channel[MCOM_CHANNEL_LEN]); player_mcom_data_t Read(int type,char channel[MCOM_CHANNEL_LEN]); void Clear(int type,char channel[MCOM_CHANNEL_LEN]); void SetCapacity(int type, char channel[MCOM_CHANNEL_LEN], unsigned char cap); Link * FindLink(int type, char channel[MCOM_CHANNEL_LEN]); }; LinkList Data; public: // Constructor LifoMCom(ConfigFile* cf, int section); // Called when we recieve a config request; overrides Driver::PutConfig virtual int PutConfig(player_device_id_t id, void *client, void* src, size_t len, struct timeval* timestamp); // These do nothing but are abstract in Driver, so here they are virtual int Setup() { printf("startup...\n"); return 0; } virtual int Shutdown() { printf("shutdown ...\n"); return 0; } }; Driver* LifoMCom_Init(char* interface, ConfigFile* cf, int section); // a driver registration function void LifoMCom_Register(DriverTable* table); #endif //ifdef _MCOMDEVICE_HH_