[Playerstage-developers] spread-spectrum commit

[brian g. <bg...@po...>]

hi guys,

  just committed changes to *lots* of source files.  mostly minor changes,
however:

  - there is a new type 'player_device_id_t', which store the identifying
    info for a device: code, index, and port.  variables of this type are
    now used, for example, in calls to CDeviceTable::GetDevice().  in general,
    all internal references in Player to a device should use this type.

  - 'player_device_id_t' replaced stage's 'player_id_t', with the only real
     change being that the 'type' member is now called 'code', to be
     consistent.  i have already updated *all* Stage and Player code to
     account for this change.

  - config req/rep queues now store a 'player_device_id_t' that tells either
    to whom the request is addressed, or from whom the reply should be
    addressed.  i added this so that when multiple devices share a pair of
    queues (e.g., P2OS), the requests and replies can be properly handled and
    addressed.  accordingly, the Put/Get Config/Reply interfaces changed
    slightly.
    
  - every Player CDevice now has a public player_device_id_t, called
    'device_id'.  this member effectively tells the device who it is.  it is
    set by CDeviceTable::AddDevice() when the device is added to the
    instantiated device table.  thus you cannot access it in a device
    constructor, but you can do so in your Setup().

  - for convenience there is a new "short form" of PutReply() for 
    zero-length replies, e.g.:

      if(PutReply(client, PLAYER_MSGTYPE_RESP_NACK) != 0)
        PLAYER_ERROR("PutReply() failed");


  - i've tested with the real robot and all is well.

  - i've tested with Stage and all is well, except for laserbeacondevice
    (Richard: what happened to CEntity::Subscribe() and 
     CEntity::Unsubscribe()?)


        brian.