device.h

/*
 *  Player - One Hell of a Robot Server
 *  Copyright (C) 2000  
 *     Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard
 *                      
 *
 *  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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 */
/********************************************************************
 *
 *  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., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA
 *
 ********************************************************************/

/*
 * $Id: device.h 9120 2013-01-07 00:18:52Z jpgr87 $
 *
 * A device is a driver/interface pair.
 */

#ifndef _DEVICE_H
#define _DEVICE_H

#if defined (WIN32)
  #if defined (PLAYER_STATIC)
    #define PLAYERCORE_EXPORT
  #elif defined (playercore_EXPORTS)
    #define PLAYERCORE_EXPORT    __declspec (dllexport)
  #else
    #define PLAYERCORE_EXPORT    __declspec (dllimport)
  #endif
#else
  #define PLAYERCORE_EXPORT
#endif

#include <libplayerinterface/player.h>
#include <libplayercore/message.h>

#define LOCALHOST_ADDR 16777343

// Forward declarations
class Driver;

class PLAYERCORE_EXPORT Device
{
  public:
    Device(player_devaddr_t addr, Driver *driver);

    ~Device();

    int Subscribe(QueuePointer &sub_queue);

    int Unsubscribe(QueuePointer &sub_queue);

    void PutMsg(QueuePointer &resp_queue,
                uint8_t type, 
                uint8_t subtype,
                void* src, 
                size_t deprecated,
                double* timestamp);

    void PutMsg(QueuePointer &resp_queue,
                player_msghdr_t* hdr,
                void* src,
                bool copy=true);

    Message* Request(QueuePointer &resp_queue,
                     uint8_t type,
                     uint8_t subtype,
                     void* src,
                     size_t deprecated,
                     double* timestamp,
                     bool threaded = true);
                     
    Message* TimedRequest(QueuePointer &resp_queue,
                     uint8_t type,
                     uint8_t subtype,
                     void* src,
                     double timeout = 0,
                     double* timestamp = NULL,
                     bool threaded = true);
                     

    static bool MatchDeviceAddress(player_devaddr_t addr1,
                                   player_devaddr_t addr2)
    {
      // On some machines, looking up "localhost" gives you
      // "127.0.0.1", which packs into a 32-bit int as 16777343.  On other
      // machines, it gives you "0.0.0.0", which packs as 0.  In order to
      // be able to do things like play back logfiles made on any machine,
      // we'll treat these two addresses as identical.
      return(((addr1.host == addr2.host) ||
              ((addr1.host == 0) && (addr2.host == LOCALHOST_ADDR)) ||
              ((addr1.host == LOCALHOST_ADDR) && (addr2.host == 0))) &&
             (addr1.robot == addr2.robot) &&
             (addr1.interf == addr2.interf) &&
             (addr1.index == addr2.index));
    }

    Device* next;

    player_devaddr_t addr;

    char drivername[PLAYER_MAX_DRIVER_STRING_LEN];

    
    QueuePointer InQueue;

    QueuePointer* queues;

    size_t len_queues;

    Driver* driver;

  private:
    pthread_mutex_t accessMutex;
    void Lock(void); 
    void Unlock(void);
  
    
};

#endif