// this sets the property of a puck to a value
osaPuck::Errno osaPuck::SetProperty( Barrett::ID propid,
Barrett::Value propval,
bool verify){
// empty CAN frame
osaCANBusFrame frame;
// pack the property ID and value in a "set" CAN frame
if( PackProperty( frame, Barrett::SET, propid, propval )!=osaPuck::ESUCCESS ){
CMN_LOG_RUN_WARNING << LogPrefix() << "Failed to pack property " << propid
<< std::endl;
return osaPuck::EFAILURE;
}
// send the CAN frame
if( canbus->Send( frame ) != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to send the CAN frame."
<< std::endl;
return osaPuck::EFAILURE;
}
// do we double check that the value was set?
if( verify ){
// If we just changed the status of the puck, give it a bit of time to
// initialize itself
if( propid == Barrett::STATUS && propval == osaPuck::STATUS_READY )
osaSleep( 1.0 );
else
osaSleep( 0.01 );
// query the puck to make sure that the property is set
Barrett::Value recvpropval = rand();
if( GetProperty( propid, recvpropval ) != osaPuck::ESUCCESS ){
CMN_LOG_RUN_WARNING << LogPrefix()<<"Failed to get puck property"
<< std::endl;
return osaPuck::EFAILURE;
}
if( propval != recvpropval ){
CMN_LOG_RUN_WARNING << LogPrefix() << "Oop! Unexpected property value. "
<< "Expected " << propval << " got " << recvpropval
<< std::endl;
return osaPuck::EFAILURE;
}
}
return osaPuck::ESUCCESS;
}
static MessageData
PackWinEntry(Display *dpy,
int screen_num, MessageData data, WSMWinEntry *win_entry)
{
int i;
data = PackListNum(data, win_entry->num_windows);
for (i = 0; i < win_entry->num_windows; i++)
data = PackWindow(data, win_entry->windows[i]);
data = PackListNum(data, win_entry->num_match_properties);
for (i = 0; i < win_entry->num_match_properties; i++)
data = PackProperty(data, win_entry->match_properties[i]);
return(data);
}
// Get a property from the puck. this sends a query to the puck and wait for
// its reply
osaPuck::Errno osaPuck::GetProperty( Barrett::ID propid,
Barrett::Value& propvalue ){
// empty CAN frame
osaCANBusFrame sendframe;
// pack the query in a can frame
if( PackProperty( sendframe, Barrett::GET, propid ) != osaPuck::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to pack property" << std::endl;
return osaPuck::EFAILURE;
}
// send the CAN frame
if( canbus->Send( sendframe ) != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to querry puck" << std::endl;
return osaPuck::EFAILURE;
}
// empty CAN frame
osaCANBusFrame recvframe;
// receive the response in a CAN frame
if( canbus->Recv( recvframe ) != osaCANBus::ESUCCESS ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to receive property"
<< std::endl;
return osaPuck::EFAILURE;
}
// unpack the can frame
Barrett::ID recvpropid;
if(UnpackCANFrame( recvframe, recvpropid, propvalue ) != osaPuck::ESUCCESS){
CMN_LOG_RUN_ERROR << LogPrefix() << "Failed to unpack CAN frame."
<< std::endl;
return osaPuck::EFAILURE;
}
// make sure that the property received is the one we asked for
if( propid != recvpropid ){
CMN_LOG_RUN_ERROR << LogPrefix() << "Oop! Unexpected property ID. "
<< "Expected " << propid << " got " << recvpropid
<< std::endl;
return osaPuck::EFAILURE;
}
return osaPuck::ESUCCESS;
}
MessageData
_WSMPackRequest(Display *dpy, int screen_num, WSMRequest *request,
unsigned long *msg_data_len, WSMErrorCode *error)
{
MessageData data, save;
int i;
long size;
WSMWinInfo *win_info;
WSMConfigFormatData *global_attrs, *win_attrs, *icon_attrs;
*msg_data_len = 0; /* default value. */
global_attrs = _WSMGetConfigFormat(dpy, screen_num, WSM_GLOBAL_FMT);
win_attrs = _WSMGetConfigFormat(dpy, screen_num, WSM_WINDOW_FMT);
icon_attrs = _WSMGetConfigFormat(dpy, screen_num, WSM_ICON_FMT);
*error = WSM_SUCCESS;
if (_WSMRequiresConfigFormat(request->any.type) &&
(global_attrs->num_attrs == 0) &&
(win_attrs->num_attrs == 0) && (icon_attrs->num_attrs == 0))
{
*error = WSM_ERROR_NO_CONFIG_FORMAT;
return(NULL);
}
if (((request->any.type == WSM_CONNECT) ||
(request->any.type == WSM_CONFIG_FMT)) &&
((global_attrs->num_attrs != 0) ||
(win_attrs->num_attrs != 0) || (icon_attrs->num_attrs != 0)))
{
*error = WSM_ERROR_ALREADY_HAVE_CONFIG_FORMAT;
return(NULL);
}
/* before sending extensions make sure screen_info config format
is cleared */
/* may want to remove this and leave it up to application writer */
if ((request->any.type == WSM_EXTENSIONS) &&
((global_attrs->num_attrs != 0) ||
(win_attrs->num_attrs != 0) || (icon_attrs->num_attrs != 0)))
{
_WSMClearConfigScreenInfo(dpy,screen_num);
}
/*
* Calculate the size of the request.
*/
switch (request->any.type) {
case WSM_CONNECT:
size = COUNT_SIZE;
size += sizeof(CARD8) * request->connect.num_versions;
break;
case WSM_EXTENSIONS:
size = COUNT_SIZE;
for (i = 0; i < request->extensions.num_extensions; i++) {
size += (strlen(request->extensions.extension_suggestions[i]) +
COUNT_SIZE);
}
break;
case WSM_CONFIG_FMT:
size = 0;
break;
case WSM_GET_STATE:
size = sizeof(CARD32) + BOOL_SIZE;
break;
case WSM_SET_STATE:
size = COUNT_SIZE; /* The count of window info. */
win_info = request->set_state.win_info_list;
for (i = 0; i < request->set_state.num_win_info_list; i++,win_info++)
size += WinInfoSizePacked(dpy, screen_num, win_info);
break;
case WSM_REG_WINDOW:
size = sizeof(CARD32);
break;
case WSM_WM_GET_BACKGROUND_WINDOW:
size = sizeof(CARD16);
break;
case WSM_WM_SET_BACKGROUND_WINDOW:
size = sizeof(CARD32);
break;
case WSM_WM_WINDOWS:
size = sizeof(CARD32); /* flag */
size += COUNT_SIZE; /* prop count */
size += request->wm_windows.num_window_properties * sizeof(Window);
size += COUNT_SIZE; /* num match attributes */
for (i=0; i<request->wm_windows.num_match_attributes; i++)
{
size += COUNT_SIZE; /* num attributes */
size += 2 *
request->wm_windows.match_attributes[i]->num_attributes *
sizeof(WindowProperty);
}
break;
case WSM_WM_FOCUS:
size = 0;
break;
case WSM_WM_POINTER:
size = 0;
break;
default:
return(NULL);
}
save = data = (MessageData) XtMalloc(size);
/*
* Fill in the message.
*/
switch (request->any.type) {
case WSM_CONNECT:
data = PackListNum(data, request->connect.num_versions);
for (i = 0; i < request->connect.num_versions; i++)
data = PackCARD8(data, (CARD8) request->connect.known_versions[i]);
break;
case WSM_EXTENSIONS:
data = PackListNum(data, request->extensions.num_extensions);
for (i = 0; i < request->extensions.num_extensions; i++)
data=PackString(data,request->extensions.extension_suggestions[i]);
break;
case WSM_CONFIG_FMT:
break;
case WSM_GET_STATE:
data = PackWindow(data, request->get_state.window);
(void) PackBoolean(data, request->get_state.diffs_allowed);
break;
case WSM_SET_STATE:
win_info = request->set_state.win_info_list;
data = PackListNum(data, request->set_state.num_win_info_list);
for (i = 0; i < request->set_state.num_win_info_list; i++, win_info++)
data = PackWinInfo(dpy, screen_num, data, win_info);
break;
case WSM_REG_WINDOW:
(void) PackWindow(data, request->register_window.window);
break;
case WSM_WM_GET_BACKGROUND_WINDOW:
(void) PackCARD16(data, request->get_background.screen);
break;
case WSM_WM_SET_BACKGROUND_WINDOW:
(void) PackWindow(data, request->set_background.window);
break;
case WSM_WM_WINDOWS:
{
int i, j;
data = PackCARD32(data, request->wm_windows.location_flag);
data = PackListNum(data, request->wm_windows.num_window_properties);
for (i=0; i<request->wm_windows.num_window_properties; i++)
data = PackProperty(data, request->wm_windows.window_properties[i]);
data = PackListNum(data, request->wm_windows.num_match_attributes);
for (i = 0; i < request->wm_windows.num_match_attributes; i++)
{
AttributePair *match_attr;
match_attr = request->wm_windows.match_attributes[i];
data = PackListNum(data, match_attr->num_attributes);
for (j = 0; j < match_attr->num_attributes; j++)
data = PackProperty(data, match_attr->allowed_attributes[j]);
for (j = 0; j < match_attr->num_attributes; j++)
data = PackProperty(data, match_attr->prohibited_attributes[j]);
}
}
break;
case WSM_WM_FOCUS:
break;
case WSM_WM_POINTER:
break;
default:
break;
}
*msg_data_len = size;
return(save);
} /* _WSMPackRequest */
