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<h1>device.h</h1> </div>
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<div class="contents">
<div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Player - One Hell of a Robot Server</span>
<a name="l00003"></a>00003 <span class="comment"> * Copyright (C) 2000 </span>
<a name="l00004"></a>00004 <span class="comment"> * Brian Gerkey, Kasper Stoy, Richard Vaughan, & Andrew Howard</span>
<a name="l00005"></a>00005 <span class="comment"> * </span>
<a name="l00006"></a>00006 <span class="comment"> *</span>
<a name="l00007"></a>00007 <span class="comment"> * This program is free software; you can redistribute it and/or modify</span>
<a name="l00008"></a>00008 <span class="comment"> * it under the terms of the GNU General Public License as published by</span>
<a name="l00009"></a>00009 <span class="comment"> * the Free Software Foundation; either version 2 of the License, or</span>
<a name="l00010"></a>00010 <span class="comment"> * (at your option) any later version.</span>
<a name="l00011"></a>00011 <span class="comment"> *</span>
<a name="l00012"></a>00012 <span class="comment"> * This program is distributed in the hope that it will be useful,</span>
<a name="l00013"></a>00013 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00014"></a>00014 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span>
<a name="l00015"></a>00015 <span class="comment"> * GNU General Public License for more details.</span>
<a name="l00016"></a>00016 <span class="comment"> *</span>
<a name="l00017"></a>00017 <span class="comment"> * You should have received a copy of the GNU General Public License</span>
<a name="l00018"></a>00018 <span class="comment"> * along with this program; if not, write to the Free Software</span>
<a name="l00019"></a>00019 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00020"></a>00020 <span class="comment"> *</span>
<a name="l00021"></a>00021 <span class="comment"> */</span>
<a name="l00022"></a>00022 <span class="comment">/********************************************************************</span>
<a name="l00023"></a>00023 <span class="comment"> *</span>
<a name="l00024"></a>00024 <span class="comment"> * This library is free software; you can redistribute it and/or</span>
<a name="l00025"></a>00025 <span class="comment"> * modify it under the terms of the GNU Lesser General Public</span>
<a name="l00026"></a>00026 <span class="comment"> * License as published by the Free Software Foundation; either</span>
<a name="l00027"></a>00027 <span class="comment"> * version 2.1 of the License, or (at your option) any later version.</span>
<a name="l00028"></a>00028 <span class="comment"> *</span>
<a name="l00029"></a>00029 <span class="comment"> * This library is distributed in the hope that it will be useful,</span>
<a name="l00030"></a>00030 <span class="comment"> * but WITHOUT ANY WARRANTY; without even the implied warranty of</span>
<a name="l00031"></a>00031 <span class="comment"> * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU</span>
<a name="l00032"></a>00032 <span class="comment"> * Lesser General Public License for more details.</span>
<a name="l00033"></a>00033 <span class="comment"> *</span>
<a name="l00034"></a>00034 <span class="comment"> * You should have received a copy of the GNU Lesser General Public</span>
<a name="l00035"></a>00035 <span class="comment"> * License along with this library; if not, write to the Free Software</span>
<a name="l00036"></a>00036 <span class="comment"> * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA</span>
<a name="l00037"></a>00037 <span class="comment"> *</span>
<a name="l00038"></a>00038 <span class="comment"> ********************************************************************/</span>
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">/*</span>
<a name="l00041"></a>00041 <span class="comment"> * $Id: device.h 8462 2009-12-16 00:27:55Z gbiggs $</span>
<a name="l00042"></a>00042 <span class="comment"> *</span>
<a name="l00043"></a>00043 <span class="comment"> * A device is a driver/interface pair.</span>
<a name="l00044"></a>00044 <span class="comment"> */</span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="preprocessor">#ifndef _DEVICE_H</span>
<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#define _DEVICE_H</span>
<a name="l00048"></a>00048 <span class="preprocessor"></span>
<a name="l00049"></a>00049 <span class="preprocessor">#if defined (WIN32)</span>
<a name="l00050"></a>00050 <span class="preprocessor"></span><span class="preprocessor"> #if defined (PLAYER_STATIC)</span>
<a name="l00051"></a>00051 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCORE_EXPORT</span>
<a name="l00052"></a>00052 <span class="preprocessor"></span><span class="preprocessor"> #elif defined (playercore_EXPORTS)</span>
<a name="l00053"></a>00053 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCORE_EXPORT __declspec (dllexport)</span>
<a name="l00054"></a>00054 <span class="preprocessor"></span><span class="preprocessor"> #else</span>
<a name="l00055"></a>00055 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCORE_EXPORT __declspec (dllimport)</span>
<a name="l00056"></a>00056 <span class="preprocessor"></span><span class="preprocessor"> #endif</span>
<a name="l00057"></a>00057 <span class="preprocessor"></span><span class="preprocessor">#else</span>
<a name="l00058"></a>00058 <span class="preprocessor"></span><span class="preprocessor"> #define PLAYERCORE_EXPORT</span>
<a name="l00059"></a>00059 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
<a name="l00060"></a>00060 <span class="preprocessor"></span>
<a name="l00061"></a>00061 <span class="preprocessor">#include <libplayerinterface/player.h></span>
<a name="l00062"></a>00062 <span class="preprocessor">#include <libplayercore/message.h></span>
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="preprocessor">#define LOCALHOST_ADDR 16777343</span>
<a name="l00065"></a>00065 <span class="preprocessor"></span>
<a name="l00066"></a>00066 <span class="comment">// Forward declarations</span>
<a name="l00067"></a>00067 <span class="keyword">class </span><a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a>;
<a name="l00068"></a>00068
<a name="l00074"></a><a class="code" href="classDevice.html">00074</a> <span class="keyword">class </span>PLAYERCORE_EXPORT <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>
<a name="l00075"></a>00075 {
<a name="l00076"></a>00076 <span class="keyword">public</span>:
<a name="l00081"></a>00081 <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr, <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a> *driver);
<a name="l00082"></a>00082
<a name="l00084"></a>00084 ~<a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>();
<a name="l00085"></a>00085
<a name="l00089"></a>00089 <span class="keywordtype">int</span> Subscribe(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &sub_queue);
<a name="l00090"></a>00090
<a name="l00094"></a>00094 <span class="keywordtype">int</span> Unsubscribe(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &sub_queue);
<a name="l00095"></a>00095
<a name="l00109"></a>00109 <span class="keywordtype">void</span> PutMsg(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue,
<a name="l00110"></a>00110 uint8_t type,
<a name="l00111"></a>00111 uint8_t subtype,
<a name="l00112"></a>00112 <span class="keywordtype">void</span>* src,
<a name="l00113"></a>00113 <span class="keywordtype">size_t</span> deprecated,
<a name="l00114"></a>00114 <span class="keywordtype">double</span>* timestamp);
<a name="l00115"></a>00115
<a name="l00125"></a>00125 <span class="keywordtype">void</span> PutMsg(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue,
<a name="l00126"></a>00126 <a class="code" href="structplayer__msghdr.html" title="Generic message header.">player_msghdr_t</a>* hdr,
<a name="l00127"></a>00127 <span class="keywordtype">void</span>* src,
<a name="l00128"></a>00128 <span class="keywordtype">bool</span> copy=<span class="keyword">true</span>);
<a name="l00129"></a>00129
<a name="l00152"></a>00152 <a class="code" href="classMessage.html" title="Reference-counted message objects.">Message</a>* Request(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue,
<a name="l00153"></a>00153 uint8_t type,
<a name="l00154"></a>00154 uint8_t subtype,
<a name="l00155"></a>00155 <span class="keywordtype">void</span>* src,
<a name="l00156"></a>00156 <span class="keywordtype">size_t</span> deprecated,
<a name="l00157"></a>00157 <span class="keywordtype">double</span>* timestamp,
<a name="l00158"></a>00158 <span class="keywordtype">bool</span> threaded = <span class="keyword">true</span>);
<a name="l00159"></a>00159
<a name="l00187"></a>00187 <a class="code" href="classMessage.html" title="Reference-counted message objects.">Message</a>* TimedRequest(<a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> &resp_queue,
<a name="l00188"></a>00188 uint8_t type,
<a name="l00189"></a>00189 uint8_t subtype,
<a name="l00190"></a>00190 <span class="keywordtype">void</span>* src,
<a name="l00191"></a>00191 <span class="keywordtype">double</span> timeout = 0,
<a name="l00192"></a>00192 <span class="keywordtype">double</span>* timestamp = NULL,
<a name="l00193"></a>00193 <span class="keywordtype">bool</span> threaded = <span class="keyword">true</span>);
<a name="l00194"></a>00194
<a name="l00195"></a>00195
<a name="l00201"></a><a class="code" href="classDevice.html#a23253859a221d3e66fbd67e8f440132f">00201</a> <span class="keyword">static</span> <span class="keywordtype">bool</span> MatchDeviceAddress(<a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr1,
<a name="l00202"></a>00202 <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr2)
<a name="l00203"></a>00203 {
<a name="l00204"></a>00204 <span class="comment">// On some machines, looking up "localhost" gives you</span>
<a name="l00205"></a>00205 <span class="comment">// "127.0.0.1", which packs into a 32-bit int as 16777343. On other</span>
<a name="l00206"></a>00206 <span class="comment">// machines, it gives you "0.0.0.0", which packs as 0. In order to</span>
<a name="l00207"></a>00207 <span class="comment">// be able to do things like play back logfiles made on any machine,</span>
<a name="l00208"></a>00208 <span class="comment">// we'll treat these two addresses as identical.</span>
<a name="l00209"></a>00209 <span class="keywordflow">return</span>(((addr1.<a class="code" href="structplayer__devaddr.html#a7514f8e66c9532d235cc4258a7102af5" title="The &quot;host&quot; on which the device resides.">host</a> == addr2.<a class="code" href="structplayer__devaddr.html#a7514f8e66c9532d235cc4258a7102af5" title="The &quot;host&quot; on which the device resides.">host</a>) ||
<a name="l00210"></a>00210 ((addr1.<a class="code" href="structplayer__devaddr.html#a7514f8e66c9532d235cc4258a7102af5" title="The &quot;host&quot; on which the device resides.">host</a> == 0) && (addr2.<a class="code" href="structplayer__devaddr.html#a7514f8e66c9532d235cc4258a7102af5" title="The &quot;host&quot; on which the device resides.">host</a> == LOCALHOST_ADDR)) ||
<a name="l00211"></a>00211 ((addr1.<a class="code" href="structplayer__devaddr.html#a7514f8e66c9532d235cc4258a7102af5" title="The &quot;host&quot; on which the device resides.">host</a> == LOCALHOST_ADDR) && (addr2.<a class="code" href="structplayer__devaddr.html#a7514f8e66c9532d235cc4258a7102af5" title="The &quot;host&quot; on which the device resides.">host</a> == 0))) &&
<a name="l00212"></a>00212 (addr1.<a class="code" href="structplayer__devaddr.html#a5bfc4826407c3a01f4ae884ffcef00c7" title="The &quot;robot&quot; or device collection in which the device resides.">robot</a> == addr2.<a class="code" href="structplayer__devaddr.html#a5bfc4826407c3a01f4ae884ffcef00c7" title="The &quot;robot&quot; or device collection in which the device resides.">robot</a>) &&
<a name="l00213"></a>00213 (addr1.<a class="code" href="structplayer__devaddr.html#ac6a1d9efc69d7dee301aba2ef4b5948d" title="The interface provided by the device; must be one of PLAYER_*_CODE.">interf</a> == addr2.<a class="code" href="structplayer__devaddr.html#ac6a1d9efc69d7dee301aba2ef4b5948d" title="The interface provided by the device; must be one of PLAYER_*_CODE.">interf</a>) &&
<a name="l00214"></a>00214 (addr1.<a class="code" href="structplayer__devaddr.html#a2814dc42b4162c8451876312fc85f0a8" title="Which device of that interface.">index</a> == addr2.<a class="code" href="structplayer__devaddr.html#a2814dc42b4162c8451876312fc85f0a8" title="Which device of that interface.">index</a>));
<a name="l00215"></a>00215 }
<a name="l00216"></a>00216
<a name="l00218"></a><a class="code" href="classDevice.html#a8b9abbac5e655959a512bcf1c254cf3f">00218</a> <a class="code" href="classDevice.html" title="Encapsulates a device (i.e., a driver bound to an interface).">Device</a>* next;
<a name="l00219"></a>00219
<a name="l00221"></a><a class="code" href="classDevice.html#a8709f3daf14c81e3171a7b830df48d05">00221</a> <a class="code" href="structplayer__devaddr.html" title="A device address.">player_devaddr_t</a> addr;
<a name="l00222"></a>00222
<a name="l00224"></a><a class="code" href="classDevice.html#ab008af8ea4fbbd117876f75606a55051">00224</a> <span class="keywordtype">char</span> drivername[PLAYER_MAX_DRIVER_STRING_LEN];
<a name="l00225"></a>00225
<a name="l00226"></a>00226
<a name="l00228"></a><a class="code" href="classDevice.html#a67ba68fe0a571649c7102b45474e3d49">00228</a> <a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a> InQueue;
<a name="l00229"></a>00229
<a name="l00231"></a><a class="code" href="classDevice.html#a375136f79dcb0fd53f2ed19eeae94d08">00231</a> <a class="code" href="classQueuePointer.html" title="An autopointer for the message queue.">QueuePointer</a>* queues;
<a name="l00232"></a>00232
<a name="l00234"></a><a class="code" href="classDevice.html#a6aa405426409083c9636b27164818c9e">00234</a> <span class="keywordtype">size_t</span> len_queues;
<a name="l00235"></a>00235
<a name="l00237"></a><a class="code" href="classDevice.html#a368b0f68162b000fb49d444f856addaf">00237</a> <a class="code" href="classDriver.html" title="Base class for all drivers.">Driver</a>* driver;
<a name="l00238"></a>00238
<a name="l00239"></a>00239 <span class="keyword">private</span>:
<a name="l00242"></a><a class="code" href="classDevice.html#a34e4808425e5aef50be532a3d7a4ed7d">00242</a> pthread_mutex_t accessMutex;
<a name="l00244"></a>00244 <span class="keywordtype">void</span> Lock(<span class="keywordtype">void</span>);
<a name="l00246"></a>00246 <span class="keywordtype">void</span> Unlock(<span class="keywordtype">void</span>);
<a name="l00247"></a>00247
<a name="l00248"></a>00248
<a name="l00249"></a>00249 };
<a name="l00250"></a>00250
<a name="l00251"></a>00251 <span class="preprocessor">#endif</span>
</pre></div></div>
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