// Subscribe to the joystick device
int playerc_joystick_subscribe(playerc_joystick_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the gripper device
int playerc_gripper_subscribe (playerc_gripper_t *device, int access)
{
return playerc_device_subscribe (&device->info, access);
}
// Subscribe to the audio device
int playerc_audio_subscribe(playerc_audio_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the localize device
int playerc_localize_subscribe(playerc_localize_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the health device
int playerc_health_subscribe(playerc_health_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the pointcloud3d device
int playerc_pointcloud3d_subscribe (playerc_pointcloud3d_t *device, int access)
{
return playerc_device_subscribe (&device->info, access);
}
// Disconnect from the server, with potential retry
int playerc_client_disconnect_retry(playerc_client_t *client)
{
int retval;
int i;
int j;
struct timespec sleeptime;
sleeptime.tv_sec = (long) client->retry_time;
sleeptime.tv_nsec = 0;
/* Disconnect */
if((retval = playerc_client_disconnect(client)) != 0)
PLAYERC_WARN("playerc_client_disconnect() failed");
for(j=0; (client->retry_limit < 0) || (j<client->retry_limit); j++)
{
PLAYERC_WARN1("Reconnecting, attempt %d", j);
/* Reconnect */
if((retval = playerc_client_connect(client)) != 0)
PLAYERC_WARN("playerc_client_connect() failed");
else
{
/* Clean out buffers */
client->read_xdrdata_len = 0;
/* TODO: re-establish replacement rules, delivery modes, etc. */
/* Re-subscribe to devices */
for(i=0;i<client->device_count;i++)
{
if(client->device[i]->subscribed)
{
// TODO: what should access be here?
if((retval = playerc_device_subscribe(client->device[i],
PLAYERC_OPEN_MODE)) != 0)
{
PLAYERC_WARN2("playerc_device_subscribe() failed for %d:%d",
client->device[i]->addr.interf,
client->device[i]->addr.index);
// TODO: Subscription failed for one device; should we give up?
if(playerc_client_disconnect(client) != 0)
PLAYERC_WARN("playerc_client_disconnect() failed");
break;
}
}
}
// Did we get all of them?
if(i == client->device_count)
break;
}
nanosleep(&sleeptime,NULL);
}
if((client->retry_limit < 0) || (j < client->retry_limit))
{
PLAYERC_WARN("successfully reconnected");
return(0);
}
else
{
PLAYERC_WARN("failed to reconnect");
return(-1);
}
}
// Subscribe to the position1d device
int playerc_position1d_subscribe(playerc_position1d_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the lightsensor device
int playerc_lightsensor_subscribe(playerc_lightsensor_t *device, int access) {
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the wifi device
int playerc_wifi_subscribe(playerc_wifi_t *self, int access)
{
return playerc_device_subscribe(&self->info, access);
}
// Subscribe to the actarray device
int playerc_actarray_subscribe(playerc_actarray_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the blobfinder device
int playerc_blobfinder_subscribe(playerc_blobfinder_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the speech_recognition device
int playerc_speechrecognition_subscribe(playerc_speechrecognition_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the blinkenlight device
int playerc_blinkenlight_subscribe(playerc_blinkenlight_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
// Subscribe to the micron sonar device
int playerc_micronsonar_subscribe(playerc_micronsonar_t *device, int access)
{
return playerc_device_subscribe(&device->info, access);
}
