forked from radarsat1/influence
/
AgentAutoConnect.c
175 lines (150 loc) · 5.85 KB
/
AgentAutoConnect.c
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#include "AgentAutoConnect.h"
void make_influence_connections()
{
char signame1[1024], signame2[1024];
struct _agentInfo *info = &agentInfo;
sprintf(signame1, "%s/node/%d/observation",
info->influence_device_name, mdev_ordinal(info->dev));
sprintf(signame2, "%s/observation", mdev_name(info->dev));
mapper_monitor_connect(info->mon, signame1, signame2, 0, 0);
sprintf(signame1, "%s/position", mdev_name(info->dev));
sprintf(signame2, "%s/node/%d/position",
info->influence_device_name, mdev_ordinal(info->dev));
mapper_monitor_connect(info->mon, signame1, signame2, 0, 0);
}
void make_xagora_connections()
{
char signame1[1024], signame2[1024];
struct _agentInfo *info = &agentInfo;
sprintf(signame2, "%s/Butterfly%d",
info->xagora_device_name, mdev_ordinal(info->dev));
mapper_monitor_connect(info->mon, signame1, signame2, 0, 0);
}
void signal_handler(mapper_signal msig,
mapper_db_signal props,
mapper_timetag_t *timetag,
void *value)
{
memcpy(obs, value, sizeof(float)*2);
printf("observation: %f, %f\n", obs[0], obs[1]);
}
void dev_db_callback(mapper_db_device record,
mapper_db_action_t action,
void *user)
{
// if we see /influence.1 or /XAgora.1, send /link message
struct _agentInfo *info = (struct _agentInfo*)user;
if (action == MDB_NEW) {
if (strcmp(record->name, info->influence_device_name)==0) {
mapper_monitor_link(info->mon, mdev_name(info->dev),
record->name);
mapper_monitor_link(info->mon, record->name,
mdev_name(info->dev));
}
else if (strcmp(record->name, info->xagora_device_name)==0)
mapper_monitor_link(info->mon, mdev_name(info->dev),
record->name);
}
else if (action == MDB_REMOVE) {
if (strcmp(record->name, info->influence_device_name)==0) {
mapper_monitor_unlink(info->mon, mdev_name(info->dev),
record->name);
info->linked_influence = 0;
}
}
}
void link_db_callback(mapper_db_link record,
mapper_db_action_t action,
void *user)
{
// if we see our links, send /connect messages
struct _agentInfo *info = (struct _agentInfo*)user;
if (action == MDB_NEW) {
if (((strcmp(record->src_name, info->influence_device_name)==0) &&
(strcmp(record->dest_name, mdev_name(info->dev))==0)) ||
((strcmp(record->dest_name, info->influence_device_name)==0) &&
(strcmp(record->src_name, mdev_name(info->dev))==0))) {
info->linked_influence++;
if (info->linked_influence >= 2)
make_influence_connections();
}
else if ((strcmp(record->src_name, mdev_name(info->dev))==0) &&
(strcmp(record->dest_name, info->xagora_device_name)==0)) {
make_xagora_connections();
}
}
else if (action == MDB_REMOVE) {
if ((strcmp(record->src_name, info->influence_device_name)==0) ||
(strcmp(record->dest_name, info->influence_device_name)==0))
info->linked_influence--;
}
}
struct _agentInfo *agentInit()
{
obs[0] = obs[1] = 0;
id = 0;
struct _agentInfo *info = &agentInfo;
memset(info, 0, sizeof(struct _agentInfo));
info->influence_device_name = strdup("/influence.1");
info->xagora_device_name = strdup("/XAgora_receiver.1");
info->admin = mapper_admin_new(0, 0, 0);
// add device
info->dev = mdev_new("agent", 9000 + id, info->admin);
while (!mdev_ready(info->dev)) {
mdev_poll(info->dev, 100);
}
printf("ordinal: %d\n", mdev_ordinal(info->dev));
fflush(stdout);
// add monitor and monitor callbacks
info->mon = mapper_monitor_new(info->admin, 0);
info->db = mapper_monitor_get_db(info->mon);
mapper_db_add_device_callback(info->db, dev_db_callback, info);
mapper_db_add_link_callback(info->db, link_db_callback, info);
// add signals
float mn=-1, mx=1;
mdev_add_input(info->dev, "observation", 2, 'f', "norm", &mn, &mx,
signal_handler, 0);
int imn=0, imx=WIDTH;
info->sig_pos = mdev_add_output(info->dev, "position", 2, 'i', 0, &imn, &imx);
info->sig_gain = mdev_add_output(info->dev, "gain", 1, 'f',
"normalized", &mn, &mx);
mx = 0.9;
info->sig_fade = mdev_add_output(info->dev, "fade", 1, 'f', "normalized", &mn, &mx);
mn = -1.5;
mx = 1.5;
info->sig_spin = mdev_add_output(info->dev, "spin", 1, 'f', "radians", &mn, &mx);
mn = -3.1415926;
mx = 3.1315926;
info->sig_dir = mdev_add_output(info->dev, "direction", 1, 'f', "radians", &mn, &mx);
mn = -1;
info->sig_flow = mdev_add_output(info->dev, "flow", 1, 'f', "noramlized", &mn, &mx);
return info;
}
void agentLogout()
{
struct _agentInfo *info = &agentInfo;
if (info->influence_device_name) {
mapper_monitor_unlink(info->mon,
info->influence_device_name,
mdev_name(info->dev));
free(info->influence_device_name);
}
if (info->xagora_device_name) {
mapper_monitor_unlink(info->mon,
mdev_name(info->dev),
info->xagora_device_name);
free(info->xagora_device_name);
}
if (info->dev)
mdev_free(info->dev);
if (info->db) {
mapper_db_remove_device_callback(info->db, dev_db_callback, info);
mapper_db_remove_link_callback(info->db, link_db_callback, info);
}
if (info->mon)
mapper_monitor_free(info->mon);
if (info->admin) {
mapper_admin_free(info->admin);
}
memset(info, 0, sizeof(struct _agentInfo));
}