void FlowStream::messageHandler(const string& action,AMFReader& message) {
if(action=="play") {
disengage();
_state = PLAYING;
message.read((string&)name);
// TODO implements completly NetStream.play method, with possible NetStream.play.failed too!
double start = -2000;
if(message.available())
start = message.readNumber();
BinaryWriter& data = writer.writeRawMessage(true);
data.write8(0x0F);
data.write32(0x00);
data.write8(0x00);
AMFWriter amf(data);
amf.write("|RtmpSampleAccess");
amf.writeBool(handler.audioSampleAccess);
amf.writeBool(handler.videoSampleAccess);
writer.writeStatusResponse("Play.Reset","Playing and resetting " + name);
writer.writeStatusResponse("Play.Start","Started playing " + name);
handler.streams.subscribe(peer,_index,name,writer,start);
} else if(action == "closeStream") {
disengage();
} else if(action=="publish") {
disengage();
string type;
message.read((string&)name);
if(message.available())
message.read(type); // TODO recording publication feature!
if(handler.streams.publish(peer,_index,name)) {
writer.writeStatusResponse("Publish.Start",name +" is now published");
_state = PUBLISHING;
} else
writer.writeStatusResponse("Publish.BadName",name +" is already publishing");
} else if(_state==PUBLISHING) {
if(!_pPublication) {
Publications::Iterator it = handler.streams.publications(name);
if(it!=handler.streams.publications.end())
_pPublication = it->second;
else
ERROR("Publication %s unfound, related for the %s message",name.c_str(),action.c_str());
}
if(_pPublication)
_pPublication->pushDataPacket(peer,action,message.reader);
} else
Flow::messageHandler(action,message);
}
void FlowStream::messageHandler(const string& action,AMFReader& message) {
if(action=="play") {
disengage();
message.read((string&)name);
// TODO implements completly NetStream.play method, with possible NetStream.play.failed too!
double start = -2000;
if(message.available())
start = message.readNumber();
try {
_pListener = &invoker._streams.subscribe(peer,_index,name,writer,start);
_state = PLAYING;
} catch(...) {}
} else if(action == "closeStream") {
disengage();
} else if(action=="publish") {
disengage();
string type;
message.read((string&)name);
if(message.available())
message.read(type); // TODO recording publication feature!
try {
invoker._streams.publish(peer,_index,name,&writer);
_state = PUBLISHING;
} catch(...) {}
} else if(_state==PUBLISHING) {
if(!_pPublication) {
Publications::Iterator it = invoker.publications(name);
if(it!=invoker.publications.end())
_pPublication = it->second;
else
ERROR("Publication %s unfound, related for the %s message",name.c_str(),action.c_str());
}
if(_pPublication)
_pPublication->pushDataPacket(action,message.reader);
} else if(_pListener && action=="receiveAudio")
_pListener->receiveAudio = message.readBoolean();
else if(_pListener && action=="receiveVideo")
_pListener->receiveVideo = message.readBoolean();
else
Flow::messageHandler(action,message);
}
// ***************************************************************************
// MVDetails desctructor.
// Delete the join graph of the MV.
// ***************************************************************************
MVDetails::~MVDetails()
{
if (joinGraph_)
deletePtr(joinGraph_);
// In outputByColumnName_ we use the ID qualified column name as the key.
// For each entry we dynamically allocate this string and initialize it,
// so now we need to delete it.
// The value of this hash table is a descriptor element, that will be deleted
// with the rest of the descriptor.
QRElementHashIterator iter(outputByColumnName_);
CollIndex maxEntries = iter.entries();
const NAString* key;
QRElementPtr value;
for (CollIndex i=0; i<maxEntries; i++)
{
iter.getNext(key, value);
delete key;
}
outputByColumnName_.clear();
if (mvMemoGroups_.entries() > 0)
disengage();
outputByExprText_.clear();
}
int depulse_and_get_temp_sysfs() {
if (cur_lvl >= DEPULSE_MIN_LVL && cur_lvl <= DEPULSE_MAX_LVL) {
disengage();
setfan_sysfs();
}
return get_temp_sysfs();
}
// Set the OpenGL mode to use for texture addressing in
// the S and T dimensions respectively.
void gTexture::setWrap(GLint wrapS, GLint wrapT)
{
engage();
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, wrapS);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, wrapT);
disengage();
}
// Set the OpenGL texture-filtering mode to use for texture
// magnification and minification respectively.
void gTexture::setFilter(GLint magFilter, GLint minFilter)
{
engage();
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, magFilter);
glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, minFilter);
disengage();
}
void gTexture::loadData(GLint internalFormat, GLint format, GLint type, int width, int height, const void *data, bool mipmaps)
{
engage();
mWidth = width;
mHeight = height;
size_t lineSize = width * gTexture::getPixelSize(format, type);
GLint alignment;
glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
while ((lineSize & (alignment / 2)) != 0) {
glPixelStorei(GL_UNPACK_ALIGNMENT, alignment / 2);
glGetIntegerv(GL_UNPACK_ALIGNMENT, &alignment);
}
if (data && mipmaps) {
glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, type, data);
glGenerateMipmap(GL_TEXTURE_2D);
} else {
glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, type, data);
}
disengage();
}
void FlowStream::messageHandler(const string& action,AMFReader& message) {
if(action=="play") {
disengage();
message.read((string&)name);
// TODO implements completly NetStream.play method, with possible NetStream.play.failed too!
double start = -2000;
if(message.available())
start = message.readNumber();
if(invoker._streams.subscribe(peer,_index,name,writer,start))
_state = PLAYING;
} else if(action == "closeStream") {
disengage();
} else if(action=="publish") {
disengage();
string type;
message.read((string&)name);
if(message.available())
message.read(type); // TODO recording publication feature!
try {
invoker._streams.publish(peer,_index,name);
_state = PUBLISHING;
writer.writeStatusResponse("Publish.Start",name +" is now published");
} catch(Exception& ex) {
writer.writeStatusResponse(ex.code() == Publication::BADNAME ? "Publish.BadName" : "Publish.Failed", ex.displayText());
}
} else if(_state==PUBLISHING) {
if(!_pPublication) {
Publications::Iterator it = invoker.publications(name);
if(it!=invoker.publications.end())
_pPublication = it->second;
else
ERROR("Publication %s unfound, related for the %s message",name.c_str(),action.c_str());
}
if(_pPublication)
_pPublication->pushDataPacket(action,message.reader);
} else
Flow::messageHandler(action,message);
}
void gTexture::allocateSpace(GLint internalFormat, GLint format, GLint type, int width, int height)
{
engage();
mWidth = width;
mHeight = height;
glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, format, type, NULL);
disengage();
}
void *gTexture::getData(GLint format, GLint type)
{
size_t lineSize = mWidth * gTexture::getPixelSize(format, type);
GLint alignment;
glGetIntegerv(GL_PACK_ALIGNMENT, &alignment);
while ((lineSize & (alignment / 2)) != 0) {
glPixelStorei(GL_PACK_ALIGNMENT, alignment / 2);
glGetIntegerv(GL_PACK_ALIGNMENT, &alignment);
}
void *data = malloc(lineSize * mHeight);
engage();
glGetTexImage(GL_TEXTURE_2D, 0, format, type, data);
disengage();
return data;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "advanced_servo_client");
ros::NodeHandle n;
ros::Subscriber servo_sub =
n.subscribe("phidgets/servos", 1, servoCallback);
client_servo_reference =
n.serviceClient<phidgets::servo_reference>("servo_reference");
ros::Rate loop_rate(30);
while(ros::ok) {
set_servo_reference(1, true, 255/2 - 23, 20,20);
set_servo_reference(2, true, 255/2 - 23, 20,20);
ros::spinOnce();
loop_rate.sleep();
if ((int)getc(stdin) == 27) break;
}
disengage();
return 0;
}
FlowStream::~FlowStream() {
disengage();
}
