[Playerstage-commit] code/player/server/drivers/blackboard/localbb localbb.cpp, 1.4, 1.5

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Update of /cvsroot/playerstage/code/player/server/drivers/blackboard/localbb
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv2884/server/drivers/blackboard/localbb

Modified Files:
	localbb.cpp 
Log Message:
changes to blackboard interface and client proxies

Index: localbb.cpp
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/blackboard/localbb/localbb.cpp,v
retrieving revision 1.4
retrieving revision 1.5
diff -C2 -d -r1.4 -r1.5
*** localbb.cpp	6 Dec 2007 00:20:28 -0000	1.4
--- localbb.cpp	21 Jan 2008 02:58:45 -0000	1.5
***************
*** 76,92 ****
  #include <iostream>

! /**@brief Custom blackboard-entry data representation used internally by the driver. */
  typedef struct EntryData
  {
  	/** Constructor. Sets all members to 0 or NULL. */
!   EntryData() { interf = 0; type = 0; subtype = 0; data_count = 0; data = NULL; timestamp_sec = 0; timestamp_usec = 0; }
    //~EntryData() { if (data != NULL) delete [] data; } Why doesn't it like this?
!   
!   /** Player interface */
!   uint16_t interf;
    /** Message type */
!   uint8_t type;
    /** Message sub-type */
!   uint8_t subtype;

    /** Data size */
--- 76,91 ----
  #include <iostream>

! /**@struct EntryData
!  * @brief Custom blackboard-entry data representation used internally by the driver. */
  typedef struct EntryData
  {
  	/** Constructor. Sets all members to 0 or NULL. */
!   EntryData() { type = 0; subtype = 0; data_count = 0; data = NULL; timestamp_sec = 0; timestamp_usec = 0; }
    //~EntryData() { if (data != NULL) delete [] data; } Why doesn't it like this?
! 
    /** Message type */
!   uint16_t type;
    /** Message sub-type */
!   uint16_t subtype;

    /** Data size */
***************
*** 94,103 ****
    /** Data */
    uint8_t* data;
!   /** Time entry created */
    uint32_t timestamp_sec;
    uint32_t timestamp_usec;
  } EntryData;

! /**@brief Custom blackboard entry representation used internally by the driver.*/
  typedef struct BlackBoardEntry
  {
--- 93,104 ----
    /** Data */
    uint8_t* data;
!   /** Time entry created. Seconds since epoch. */
    uint32_t timestamp_sec;
+   /** Time entry created. Microseconds field. */
    uint32_t timestamp_usec;
  } EntryData;

! /**@struct BlackBoardEntry
!  * @brief Custom blackboard entry representation used internally by the driver.*/
  typedef struct BlackBoardEntry
  {
***************
*** 113,128 ****

  // Function prototypes
! /** Convienience function to convert from the internal blackboard entry representation to the player format. The user must clean-up the player blackboard entry. */
  player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry &entry);

! /** Convienience function to convert from the player blackboard entry to the internal representation. */
  BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t &entry);

- // Remember to clean-up the entry afterwards. Delete the key and data.
  player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry &entry)
  {
    player_blackboard_entry_t result;
    memset(&result, 0, sizeof(player_blackboard_entry_t));
-   result.interf = entry.data.interf;
    result.type = entry.data.type;
    result.subtype = entry.data.subtype;
--- 114,127 ----

  // Function prototypes
! /** @brief Convienience function to convert from the internal blackboard entry representation to the player format. The user must clean-up the player blackboard entry. Delete the key and data. */
  player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry &entry);

! /** @brief Convienience function to convert from the player blackboard entry to the internal representation. This entry will be cleaned-up automatically by the destructor.*/
  BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t &entry);

  player_blackboard_entry_t ToPlayerBlackBoardEntry(const BlackBoardEntry &entry)
  {
    player_blackboard_entry_t result;
    memset(&result, 0, sizeof(player_blackboard_entry_t));
    result.type = entry.data.type;
    result.subtype = entry.data.subtype;
***************
*** 137,146 ****
    return result;
  }
! 
! // This entry will be cleaned-up automatically by the destructor.
  BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t &entry)
  {
    BlackBoardEntry result;
-   result.data.interf = entry.interf;
    result.data.type = entry.type;
    result.data.subtype = entry.subtype;
--- 136,143 ----
    return result;
  }
!  
  BlackBoardEntry FromPlayerBlackBoardEntry(const player_blackboard_entry_t &entry)
  {
    BlackBoardEntry result;
    result.data.type = entry.type;
    result.data.subtype = entry.subtype;
***************
*** 156,194 ****

  ////////////////////////////////////////////////////////////////////////////////
! /** Local memory blackboard driver. Stores entries in a hash-map in local memory. */
  class LocalBB : public Driver
  {
  	public:
! 		/** Default constructor. */
  		LocalBB(ConfigFile* cf, int section);
! 		/** Default destructor. */
  		~LocalBB();
! 		/** Driver initialisation. */
  		int Setup();
! 		/** Driver de-initialisation. */
  		int Shutdown();

  		// MessageHandler
! 		/** Process incoming messages. */
  		int ProcessMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);
  	private:
  		// Message subhandlers
! 		/** Process a subscribe to key message. */
  		int ProcessSubscribeKeyMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);
! 		/** Process an unsubscribe from key message. */
  		int ProcessUnsubscribeKeyMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);
! 		/** Process a set entry message. */
  		int ProcessSetEntryMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);

  		// Blackboard handler functions
! 		/** Add the key and queue combination to the listeners hash-map and return the entry for the key. */
  		BlackBoardEntry SubscribeKey(const string &key, const QueuePointer &resp_queue);
! 		/** Remove the key and queue combination from the listeners hash-map. */
  		void UnsubscribeKey(const string &key, const QueuePointer &qp);
! 		/** Set the entry in the entries hashmap. */
  		void SetEntry(const BlackBoardEntry &entry);

  		// Helper functions
! 		/** Check that the message has a valid size. */
  		bool CheckHeader(player_msghdr * hdr);

--- 153,234 ----

  ////////////////////////////////////////////////////////////////////////////////
! /**@class LocalBB
!  * @brief Local memory blackboard driver. Stores entries in a hash-map in local memory. */
  class LocalBB : public Driver
  {
  	public:
! 		/**
! 		 * @brief Default constructor. 
! 		 * @param cf ConfigFile, the player configuration file information
! 		 * @param section The section of the configuration file
! 		 */
  		LocalBB(ConfigFile* cf, int section);
! 		/** @brief Default destructor. */
  		~LocalBB();
! 		/** @brief Driver initialisation. */
  		int Setup();
! 		/** @brief Driver de-initialisation. */
  		int Shutdown();

  		// MessageHandler
! 		/** @brief Process incoming messages.
! 		 * Check the incoming message types. If the message type is PLAYER_BLACKBOARD_REQ_SUBSCRIBE_TO_KEY, PLAYER_BLACKBOARD_REQ_UNSUBSCRIBE_FROM_KEY or PLAYER_BLACKBOARD_REQ_SET_ENTRY, call
! 		 * the appropriate private method to process it. Otherwise it is an unknown message.
! 		 * @param resp_queue Player response queue.
! 		 * @param hdr Message header.
! 		 * @param data Message data.
! 		 * @return 0 for success, -1 on error.
! 		 */
  		int ProcessMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);
  	private:
  		// Message subhandlers
! 		/** @brief Process a subscribe to key message.
! 		 * Adds the response queue to the list of devices listening to that key in the map.
! 		 * Retrieves the entry for the given key.
! 		 * Publishes the entry. 
! 		 * @param resp_queue Player response queue.
! 		 * @param hdr Message header.
! 		 * @param data Message data.
! 		 * @return 0 for success, -1 on error.
! 		 */
  		int ProcessSubscribeKeyMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);
! 		/** @brief Process an unsubscribe from key message.
! 		 * Removes the response queue from the list of devices listening to that key in the map.
! 		 * @param resp_queue Player response queue.
! 		 * @param hdr Message header.
! 		 * @param data Message data.
! 		 * @return 0 for success, -1 on error.
! 		 * */
  		int ProcessUnsubscribeKeyMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);
! 		/** @brief Process a set entry message.
! 		 * Set the entry message in the local hashmap.
! 		 * Send out update events to other listening devices.
! 		 * Send back an empty ack.
! 		 * @param resp_queue Player response queue.
! 		 * @param hdr Message header.
! 		 * @return 0 for success, -1 on error.
! 		 */
  		int ProcessSetEntryMessage(QueuePointer &resp_queue, player_msghdr * hdr, void * data);

  		// Blackboard handler functions
! 		/** @brief Add the key and queue combination to the listeners hash-map and return the entry for the key.
! 		 * @param key Entry key.
! 		 * @param resp_queue Player response queue of the subscriber. 
! 		 */
  		BlackBoardEntry SubscribeKey(const string &key, const QueuePointer &resp_queue);
! 		/** @brief Remove the key and queue combination from the listeners hash-map.
! 		 * @param key Entry key.
! 		 * @param qp Player response queue of the subscriber. 
! 		 */
  		void UnsubscribeKey(const string &key, const QueuePointer &qp);
! 		/** @brief Set the entry in the entries hashmap. *
! 		 * @param entry BlackBoardEntry that must be put in the hashmap.
! 		 */
  		void SetEntry(const BlackBoardEntry &entry);

  		// Helper functions
! 		/** @brief Check that the message has a valid size.
! 		 * @param hdr Header of the message to check. 
! 		 */
  		bool CheckHeader(player_msghdr * hdr);