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[Csp-commits] svn:csp r957 - in trunk/CSP/CSPSim: . Data Include Source
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From: <sv...@ww...> - 2004-05-23 20:37:05
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Author: wolverine
Date: 2004-05-23 13:36:54 -0700 (Sun, 23 May 2004)
New Revision: 957
Modified:
trunk/CSP/CSPSim/CHANGES.current
trunk/CSP/CSPSim/Data/CSPSim.ini
trunk/CSP/CSPSim/Include/Networking.h
trunk/CSP/CSPSim/Source/DynamicObject.cpp
trunk/CSP/CSPSim/Source/ServerNode.cpp
Log:
changes to format of object update message
Modified: trunk/CSP/CSPSim/CHANGES.current
===================================================================
--- trunk/CSP/CSPSim/CHANGES.current 2004-05-17 18:07:54 UTC (rev 956)
+++ trunk/CSP/CSPSim/CHANGES.current 2004-05-23 20:36:54 UTC (rev 957)
@@ -1,6 +1,15 @@
Version 0.4.0 (in progress)
===========================
+2004-05-23: wolverine
+ * Changes to the format of the object update message. Now There
+ is a special class for the object update payload section that
+ contains fields for the payload data members. This should be
+ uptained by casting the payload ptr to a ObjectUpdateMessagePayload
+ pointer for both send and receive. Loading and Unloading can be
+ performed with object assignments instead of memcpys to make
+ the code a little clearer.
+
2004-05-16: wolverine
* changes to networking include configuration from CSPSim.ini
which includes ports, server node, option to disable/enable
Modified: trunk/CSP/CSPSim/Data/CSPSim.ini
===================================================================
--- trunk/CSP/CSPSim/Data/CSPSim.ini 2004-05-17 18:07:54 UTC (rev 956)
+++ trunk/CSP/CSPSim/Data/CSPSim.ini 2004-05-23 20:36:54 UTC (rev 957)
@@ -38,7 +38,7 @@
[Networking]
UseNetworking = true
LocalMessagePort = 3150
-LocalMessageHost = 127.0.0.1
+LocalMessageHost = 127.0.0.1
RemoteMessagePort = 3160
RemoteMessageHost = 127.0.0.1
Modified: trunk/CSP/CSPSim/Include/Networking.h
===================================================================
--- trunk/CSP/CSPSim/Include/Networking.h 2004-05-17 18:07:54 UTC (rev 956)
+++ trunk/CSP/CSPSim/Include/Networking.h 2004-05-23 20:36:54 UTC (rev 957)
@@ -37,6 +37,8 @@
#include <SimData/Vector3.h>
#include <SimData/String.h>
#include <SimData/Uniform.h>
+#include <SimData/Quat.h>
+#include <SimData/Date.h>
typedef int SockFd;
typedef simdata::uint16 Port;
@@ -91,16 +93,24 @@
};
-//class ObjectUpdateMessage : public NetworkMessage
-//{
-//
-// public:
-// ObjectUpdateMessage(simdata::uint16 id, simdata::Vector3 position, simdata::Vector3 velocity);
-//
-//
-//};
+class ObjectUpdateMessagePayload
+{
+ private:
+ ObjectUpdateMessagePayload();
+ public:
+ unsigned int id;
+ simdata::SimTime timeStamp;
+ simdata::Vector3 globalPosition;
+ simdata::Vector3 linearVelocity;
+ simdata::Vector3 angularVelocity;
+ simdata::Quat attitude;
+
+
+};
+
+
class NetworkNode
{
private:
Modified: trunk/CSP/CSPSim/Source/DynamicObject.cpp
===================================================================
--- trunk/CSP/CSPSim/Source/DynamicObject.cpp 2004-05-17 18:07:54 UTC (rev 956)
+++ trunk/CSP/CSPSim/Source/DynamicObject.cpp 2004-05-23 20:36:54 UTC (rev 957)
@@ -372,7 +372,7 @@
if (InputInterface::onMapEvent(event)) {
return true;
}
- if (m_SystemsModel.valid() && m_SystemsModel->onMapEvent(event)) {
+if (m_SystemsModel.valid() && m_SystemsModel->onMapEvent(event)) {
return true;
}
return false;
@@ -401,33 +401,14 @@
NetworkMessage * message = CSPSim::theSim->getNetworkMessenger()->getMessageFromPool(messageType, payloadLen);
- unsigned char * ptrBuf = (unsigned char*)message->getPayloadPtr();
-
-// printf("Generating network update message for object id: %d\n", m_ID);
- memcpy((void*)ptrBuf, (void*)&m_ID, sizeof(unsigned int)); ptrBuf += sizeof(unsigned int);
-
- simdata::SimTime timeStamp = CSPSim::theSim->getElapsedTime();
- memcpy((void*)ptrBuf, (void*)&timeStamp, sizeof(simdata::SimTime)); ptrBuf += sizeof(simdata::SimTime);
-
- int bytescopied;
- bytescopied = b_GlobalPosition->value().writeBinary(ptrBuf, sizeof(simdata::Vector3));
- ptrBuf += bytescopied;
-
- bytescopied = b_LinearVelocity->value().writeBinary(ptrBuf, sizeof(simdata::Vector3));
- ptrBuf += bytescopied;
-
- bytescopied = b_AngularVelocity->value().writeBinary(ptrBuf, sizeof(simdata::Vector3));
- ptrBuf += bytescopied;
-
- bytescopied = b_Attitude->value().writeBinary(ptrBuf, sizeof(simdata::Quat));
- ptrBuf += bytescopied;
-
-// bytescopied = b_Inertia->value().writeBinary(ptrBuf, sizeof(simdata::Quat));
-// ptrBuf += bytescopied;
+ ObjectUpdateMessagePayload * ptrPayload = (ObjectUpdateMessagePayload*)message->getPayloadPtr();
+ ptrPayload->id = m_ID;
+ ptrPayload->timeStamp = CSPSim::theSim->getElapsedTime();
+ ptrPayload->globalPosition = b_GlobalPosition->value();
+ ptrPayload->linearVelocity = b_LinearVelocity->value();
+ ptrPayload->angularVelocity = b_AngularVelocity->value();
+ ptrPayload->attitude = b_Attitude->value();
-// memcpy((void*)ptrBuf, (void*)&b_Mass->value(), sizeof(double));
-// ptrBuf += bytescopied;
-
CSP_LOG(APP, DEBUG, "DynamicObject::getUpdateMessage() - returning message");
@@ -438,15 +419,9 @@
{
// read message
- unsigned char * ptrBuf = (unsigned char*)message->getPayloadPtr();
-
- // skip object id
- unsigned int idValue;
- memcpy((void*)&idValue, (void*)ptrBuf, sizeof(unsigned int));
- ptrBuf += sizeof(unsigned int);
-
+ ObjectUpdateMessagePayload * ptrPayload = (ObjectUpdateMessagePayload*)message->getPayloadPtr();
// verify we have the correct id in the packet for this object.
- if (m_ID == idValue)
+ if (m_ID == ptrPayload->id)
{
// printf("Loading update message of object %d\n", m_ID);
}
@@ -455,32 +430,17 @@
// printf("Error loading update message, object id (%d) does not match\n", idValue);
}
- // get timestamp
- simdata::SimTime timeStamp;
- memcpy((void*)&timeStamp, (void*)ptrBuf, sizeof(simdata::SimTime)); ptrBuf += sizeof(simdata::SimTime);
-
- int bytescopied;
- bytescopied = b_GlobalPosition->value().readBinary(ptrBuf, sizeof(simdata::Vector3));
- ptrBuf += bytescopied;
- bytescopied = b_LinearVelocity->value().readBinary(ptrBuf, sizeof(simdata::Vector3));
- ptrBuf += bytescopied;
- bytescopied = b_AngularVelocity->value().readBinary(ptrBuf, sizeof(simdata::Vector3));
- ptrBuf += bytescopied;
- bytescopied = b_Attitude->value().readBinary(ptrBuf, sizeof(simdata::Quat));
- ptrBuf += bytescopied;
-// bytescopied = b_Inertia->value().readBinary(ptrBuf, sizeof(simdata::Matrix3));
-// ptrBuf += bytescopied;
+ // we can disregard this message if the timestamp is older then the most
+ // recent update.
-// double *pValue = &b_Mass->value();
-// memcpy((void*)&pValue, (void*)ptrBuf, sizeof(double));
+ //ptrPayload->timeStamp = CSPSim::theSim->getElapsedTime();
+ //
+ //load the other values.
+ b_GlobalPosition->value() = ptrPayload->globalPosition;
+ b_LinearVelocity->value() = ptrPayload->linearVelocity;
+ b_AngularVelocity->value() = ptrPayload->angularVelocity;
+ b_Attitude->value() = ptrPayload->attitude;
- //ptrBuf += sizeof(double);
-
- // return message to shared pool.
- // NetworkMessagePool.putMessageObject(message);
-// delete message;
-//
-// CSPSim::theSim->getNetworkMessenger()->returnMessageToPool(message);
}
Modified: trunk/CSP/CSPSim/Source/ServerNode.cpp
===================================================================
--- trunk/CSP/CSPSim/Source/ServerNode.cpp 2004-05-17 18:07:54 UTC (rev 956)
+++ trunk/CSP/CSPSim/Source/ServerNode.cpp 2004-05-23 20:36:54 UTC (rev 957)
@@ -35,6 +35,11 @@
printf("Received Data From Client:\n");
printf("Client addr: %s\n", node->getHostname());
printf("Client port: %d\n", node->getPort());
+ ObjectUpdateMessagePayload * ptrPayload = (ObjectUpdateMessagePayload*)message->getPayloadPtr();
+ printf("PositionX: %f, PositionY: %f, PositionZ: %f\n",
+ ptrPayload->globalPosition.x(),
+ ptrPayload->globalPosition.y(),
+ ptrPayload->globalPosition.z());
}
else
{
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