// Read and process a packet (blocking)
void *playerc_client_read(playerc_client_t *client)
{
void* ret_proxy = NULL;
int ret;
// In case we're in PULL mode, first request a round of data.
// This function call here is changed to peek() as if we have data on the internal queue this will return without requesting data
// but if we don't, it will request and thus will wait until a SYNC message is received, without thisthe code
// if peek()
// read()
// can be blocking if there is data on the internal queue (causing peek to return true) but read will wait until there is new data
// as read_non block only returns 1 on getting a synch message, or if data hasn't been requested
if(playerc_client_peek(client, 0) < 0)
return NULL;
// now wait until we get a sync, or some data if in push mode
do
{
ret = playerc_client_read_nonblock_withproxy(client, &ret_proxy);
if (ret < 0 || client->sock < 0)
break;
if(ret > 0)
return ret_proxy;
// if no data is available, then do a peek with infinite timeout...
// we cant do this first as we may already have data waiting on the internal queue
} while (playerc_client_internal_peek(client, -1) >= 0);
return NULL;
}
// Main
int main(int argc, char **argv)
{
playerc_client_t *client;
rtk_app_t *app;
mainwnd_t *mainwnd;
opt_t *opt;
const char *host;
int port;
int i;
int count;
double rate;
char section[256];
int device_count;
device_t devices[PLAYER_MAX_DEVICES];
device_t *device;
struct timeval tv, tc = {0, 0};
struct timespec st = {0, (1.0/GUI_UPDATE_RATE) * 1e9};
printf("PlayerViewer %s\n", PLAYER_VERSION);
// Initialise rtk lib (after we have read the program options we
// want).
rtk_init(&argc, &argv);
// Register signal handlers
signal(SIGINT, sig_quit);
signal(SIGQUIT, sig_quit);
// Load program options
opt = opt_init(argc, argv, NULL);
if (!opt)
{
print_usage();
return -1;
}
// Pick out some important program options
host = opt_get_string(opt, "", "host", NULL);
if (!host)
host = opt_get_string(opt, "", "h", "localhost");
port = opt_get_int(opt, "", "port", -1);
if (port < 0)
port = opt_get_int(opt, "", "p", 6665);
rate = opt_get_double(opt, "", "rate", 5.0);
if(rate < 0.0)
rate = 0.0;
// Connect to the server
printf("Connecting to [%s:%d]\n", host, port);
client = playerc_client_create(NULL, host, port);
if (playerc_client_connect(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
print_usage();
return -1;
}
if(rate == 0.0)
{
printf("Setting delivery mode to PLAYER_DATAMODE_PUSH\n");
// Change the server's data delivery mode.
if (playerc_client_set_replace_rule(client, -1, -1, -1, -1, 0) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
// Change the server's data delivery mode.
// PLAYERC_DATAMODE_PUSH, PLAYERC_DATAMODE_PULL
if (playerc_client_datamode(client, PLAYERC_DATAMODE_PUSH) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
}
// Get the available devices.
if (playerc_client_get_devlist(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
// Create gui
app = rtk_app_create();
// Create a window for most of the sensor data
mainwnd = mainwnd_create(app, host, port);
if (!mainwnd)
return -1;
// Create a list of available devices, with their gui proxies.
device_count = 0;
for (i = 0; i < client->devinfo_count; i++)
{
device = devices + device_count;
device->addr = client->devinfos[i].addr;
device->drivername = strdup(client->devinfos[i].drivername);
// See if the device should be subscribed immediately.
snprintf(section, sizeof(section), "%s:%d",
interf_to_str(device->addr.interf), device->addr.index);
device->subscribe = opt_get_int(opt, section, "", 0);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
if (device->addr.index == 0)
{
snprintf(section, sizeof(section), "%s",
interf_to_str(device->addr.interf));
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
}
// Allow for --position instead of --position2d
if(device->addr.interf == PLAYER_POSITION2D_CODE)
{
snprintf(section, sizeof(section), "%s:%d",
PLAYER_POSITION2D_STRING, device->addr.index);
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
if (device->addr.index == 0)
{
snprintf(section, sizeof(section), "%s", PLAYER_POSITION2D_STRING);
device->subscribe = opt_get_int(opt, section, "", device->subscribe);
device->subscribe = opt_get_int(opt, section, "subscribe", device->subscribe);
}
}
// Create the GUI proxy for this device.
create_proxy(device, opt, mainwnd, client);
device_count++;
}
// Print the list of available devices.
printf("Available devices: %s:%d\n", host, port);
for (i = 0; i < device_count; i++)
{
device = devices + i;
snprintf(section, sizeof(section), "%s:%d",
interf_to_str(device->addr.interf), device->addr.index);
printf("%-16s %-40s", section, device->drivername);
if (device->proxy)
{
if (device->subscribe)
printf("subscribed");
else
printf("ready");
}
else
printf("unsupported");
printf("\n");
}
// Print out a list of unused options.
opt_warn_unused(opt);
// Start the gui; dont run in a separate thread and dont let it do
// its own updates.
rtk_app_main_init(app);
// start out timer if in pull mode
if(rate > 0.0)
gettimeofday(&tv, NULL);
while (!quit)
{
// Let gui process messages
rtk_app_main_loop(app);
if(rate == 0.0) // if we're in push mode
{
// see if there's data
count = playerc_client_peek(client, 50);
if (count < 0)
{
PRINT_ERR1("%s", playerc_error_str());
break;
}
if (count > 0)
{
/*proxy = */playerc_client_read_nonblock(client);
}
}
else // we're in pull mode
{
// we only want to request new data at the target rate
gettimeofday(&tc, NULL);
if(((tc.tv_sec - tv.tv_sec) + (tc.tv_usec - tv.tv_usec)/1e6) > 1.0/rate)
{
tv = tc;
// this requests a round of data from the server to be read
playerc_client_requestdata(client);
playerc_client_read_nonblock(client);
}
else
{
// sleep for the minimum time we can, so we don't use up too much
// processor
nanosleep(&st, NULL);
}
}
// Update the devices
for (i = 0; i < device_count; i++)
{
device = devices + i;
if(device->proxy)
(*(device->fnupdate)) (device->proxy);
}
// Update the main window
if (mainwnd_update(mainwnd) != 0)
break;
}
// Stop the gui
rtk_app_main_term(app);
// Destroy devices
for (i = 0; i < device_count; i++)
{
device = devices + i;
if (device->proxy)
(*(device->fndestroy)) (device->proxy);
free(device->drivername);
}
// Disconnect from server
if (playerc_client_disconnect(client) != 0)
{
PRINT_ERR1("%s", playerc_error_str());
return -1;
}
playerc_client_destroy(client);
// For some reason, either of the following calls makes the program
// segfault on exit. I haven't figured out why, so I'm commenting them out. - BPG
// Destroy the windows
//mainwnd_destroy(mainwnd);
// Destroy the gui
//rtk_app_destroy(app);
opt_term(opt);
return 0;
}
int main(int argc, const char **argv)
{
int i;
playerc_client_t *client;
nsdnet_t *device;
// Takes a parameter for the index.
int index = 0;
if (argc < 2)
{
printf("Needs one parameter.\n");
return 0;
}
else
{
index = atoi(argv[1]);
printf("Using index %d\n", index);
}
// Create a client and connect it to the server.
client = playerc_client_create(NULL, "localhost", 6665);
if (0 != playerc_client_connect(client))
{
printf("Could not connect\n");
return -1;
}
// Load the plugin interface
if (playerc_add_xdr_ftable (player_plugininterf_gettable (), 0) < 0)
printf("Could not add xdr functions\n");
// Create and subscribe to a device using the interface.
device = nsdnet_create(client, index);
if (nsdnet_subscribe(device, PLAYER_OPEN_MODE) != 0)
{
printf("Could not subscribe\n");
return -1;
}
// Get our clientid
if (nsdnet_property_get(device, "self.id"))
{
printf("Failed to get registered device id...\n");
return -1;
}
// Print out what we get...
printf("Client id: %s\n", device->propval);
// Get the list of clients
if (nsdnet_get_listclients(device))
{
printf("Failed to get list of clients...\n");
return -1;
}
// Print out what we get...
printf("Clients: ");
for (i = 0; i < device->listclients_count; i++)
{
printf("%s ", device->listclients[i]);
}
printf("\n");
// Endless loop...
for (i = 0; i < 1000; i++)
{
if (playerc_client_peek(client, 0) == 1)
{
playerc_client_read(client);
while (device->queue_head != device->queue_tail)
{
nsdmsg_t *msg; int err;
if ((err = nsdnet_receive_message(device, &msg)))
{
if (err < 0)
printf("ERROR\n");
else
printf("%s: %s [%d]\n", msg->clientid, msg->msg, i);
}
}
usleep(0);
}
else
{
printf("Sending Hello World\n");
if (nsdnet_send_message(device, NULL, 12, "Hello World"))
{
printf("Could not broadcast 'Hello World'\n");
return -1;
}
usleep(100000);
}
}
// Shutdown
nsdnet_unsubscribe(device);
nsdnet_destroy(device);
playerc_client_disconnect(client);
playerc_client_destroy(client);
return 0;
}
