?? powerdevice.cc
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/* * Stage : a multi-robot simulator. * Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey. * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * *//* * Desc: Simulates a sonar ring. * Author: Andrew Howard, Richard Vaughan * Date: 28 Nov 2000 * CVS info: $Id: powerdevice.cc,v 1.2 2002/11/01 19:12:32 rtv Exp $ */#include <math.h>#include "world.hh"#include "powerdevice.hh"#include "world.hh"// constructorCPowerDevice::CPowerDevice(LibraryItem* libit,CWorld *world, CEntity *parent ) : CPlayerEntity(libit,world, parent ) { // set the Player IO sizes correctly for this type of Entity m_data_len = sizeof( player_power_data_t ); m_command_len = 0; m_config_len = 1; m_reply_len = 1; m_player.code = PLAYER_POWER_CODE; // from player's messages.h this->charge = 120; // volts/10 // once per second is fine for battery charge this->m_interval = 1.0; }///////////////////////////////////////////////////////////////////////////// Startup routine//bool CPowerDevice::Startup(){ if (!CPlayerEntity::Startup()) return false; return true;}///////////////////////////////////////////////////////////////////////////// Update the sonar datavoid CPowerDevice::Update( double sim_time ) { CPlayerEntity::Update( sim_time ); // dump out if noone is subscribed if(!Subscribed()) return; // Check to see if it is time to update // - if not, return right away. if( sim_time - m_last_update < m_interval) return; m_last_update = sim_time; // Process configuration requests UpdateConfig(); // TODO - have a configurable power consumption model in here. // for now I just return the same voltage all the time // pack the charge data in the buffer player_power_data_t powdata; powdata.charge = htons( charge ); // and publish it PutData( &powdata, sizeof(powdata) ); return;}///////////////////////////////////////////////////////////////////////////// Process configuration requests.void CPowerDevice::UpdateConfig(){ int len; void* client; player_power_config_t conf; while (true) { len = GetConfig(&client, &conf, sizeof(conf)); if (len <= 0) break; switch( conf.subtype ) { case PLAYER_MAIN_POWER_REQ: // we got a request for the power data // pack the charge data in the buffer and reply with the data attached player_power_data_t powdata; powdata.charge = htons( charge ); PutReply(client, PLAYER_MSGTYPE_RESP_ACK, NULL, &powdata, sizeof(powdata)); break; default: PRINT_WARN1("invalid power device configuration request [%c]", conf.subtype ); PutReply(client, PLAYER_MSGTYPE_RESP_NACK); break; } }}
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