From 8628af7a204741603342d25dc6e821a95b390b02 Mon Sep 17 00:00:00 2001
From: Timothy Stack <stack@flux.utah.edu>
Date: Thu, 16 Dec 2004 00:17:47 +0000
Subject: [PATCH] More wiring for the event system
---
robots/emc/emcd.c | 136 +++++++++++++++++++++++++++++++---------------
robots/emc/emcd.h | 1 +
2 files changed, 94 insertions(+), 43 deletions(-)
diff --git a/robots/emc/emcd.c b/robots/emc/emcd.c
index da182f5913..0180530a1b 100755
--- a/robots/emc/emcd.c
+++ b/robots/emc/emcd.c
@@ -502,6 +502,7 @@ void parse_config_file(char *config_file) {
}
memcpy(&rc->ia, he->h_addr, he->h_length);
rc->vname = vname;
+ rc->token = ~0;
robot_list_append(hostname_list,id,(void*)rc);
p = (struct position *)malloc(sizeof(struct position *));
@@ -597,60 +598,93 @@ void ev_callback(event_handle_t handle,
event_notification_t notification,
void *data)
{
- char host[TBDB_FLEN_IP];
- struct in_addr ia;
+ struct emc_robot_config *match = NULL;
+ char objname[TBDB_FLEN_EVOBJTYPE];
+ robot_list_item_t *rli;
- event_notification_get_host(handle, notification, host, sizeof(host));
+ if (! event_notification_get_objname(handle, notification,
+ objname, sizeof(objname))) {
+ error("Could not get objname from notification!\n");
+ }
+
+ for (rli = hostname_list->head; rli != NULL && !match; rli = rli->next) {
+ struct emc_robot_config *erc = rli->data;
+
+ if (strcmp(erc->vname, objname) == 0) {
+ match = erc;
+ break;
+ }
+ }
- if (!inet_aton(host, &ia)) {
- error("event's host value is not an IP address: %s\n", host);
+ if (match == NULL) {
+ error("no match for host\n");
}
else {
- struct emc_robot_config *match = NULL;
- robot_list_item_t *rli;
+ struct mtp_command_goto mcg;
+ char *value, args[BUFSIZ];
+ float x, y, orientation;
+ struct mtp_packet *mp;
- for (rli = hostname_list->head; rli != NULL && !match; rli = rli->next) {
- struct emc_robot_config *erc = rli->data;
-
- if (erc->ia.s_addr == ia.s_addr) {
- match = erc;
- break;
+ event_notification_get_arguments(handle, notification, args, sizeof(args));
+
+ if (event_arg_get(args, "X", &value) > 0) {
+ if (sscanf(value, "%f", &x) != 1) {
+ error("X argument in event is not a float: %s\n", value);
}
}
- if (match == NULL) {
- error("no match for IP: %s\n", host);
- }
- else {
- char *value, args[BUFSIZ];
- float x, y, orientation;
-
- event_notification_get_arguments(handle,
- notification, args, sizeof(args));
-
- if (event_arg_get(args, "X", &value) > 0) {
- if (sscanf(value, "%f", &x) != 1) {
- error("X argument in event is not a float: %s\n", value);
- }
- }
-
- if (event_arg_get(args, "Y", &value) > 0) {
- if (sscanf(value, "%f", &y) != 1) {
- error("Y argument in event is not a float: %s\n", value);
- }
+ if (event_arg_get(args, "Y", &value) > 0) {
+ if (sscanf(value, "%f", &y) != 1) {
+ error("Y argument in event is not a float: %s\n", value);
}
-
- if (event_arg_get(args, "ORIENTATION", &value) > 0) {
- if (sscanf(value, "%f", &orientation) != 1) {
- error("ORIENTATION argument in event is not a float: %s\n", value);
- }
+ }
+
+ if (event_arg_get(args, "ORIENTATION", &value) > 0) {
+ if (sscanf(value, "%f", &orientation) != 1) {
+ error("ORIENTATION argument in event is not a float: %s\n", value);
}
-
- // XXX What to do with the data?
+ }
+
+ event_notification_get_int32(handle, notification,
+ "TOKEN", (int32_t *)&match->token);
+
+ orientation = orientation * M_PI / 180.0;
- // construct a COMMAND_GOTO packet and send to rmc.
+ mcg.command_id = 1;
+ mcg.robot_id = match->id;
+ mcg.position.x = x;
+ mcg.position.y = y;
+ mcg.position.theta = orientation;
+ if ((mp = mtp_make_packet(MTP_COMMAND_GOTO,
+ MTP_ROLE_EMULAB,
+ &mcg)) == NULL) {
+ error("could not allocate packet\n");
+ }
+ else if (rmc_data.sock_fd != -1) {
+
+ mtp_send_packet(rmc_data.sock_fd, mp);
+ }
+ else {
+ mtp_print_packet(stdout, mp);
+
+ event_do(handle,
+ EA_Experiment, pideid,
+ EA_Type, TBDB_OBJECTTYPE_NODE,
+ EA_Name, match->vname,
+ EA_Event, TBDB_EVENTTYPE_COMPLETE,
+ EA_ArgInteger, "ERROR", 0,
+ EA_ArgInteger, "CTOKEN", match->token,
+ EA_TAG_DONE);
}
+
+ mtp_free_packet(mp);
+ mp = NULL;
+
+ // XXX What to do with the data?
+
+ // construct a COMMAND_GOTO packet and send to rmc.
+
}
}
@@ -974,7 +1008,8 @@ int rmc_callback(elvin_io_handler_t handler,
struct mtp_update_position *up = (struct mtp_update_position *)
robot_list_remove_by_id(rmc->position_list, my_id);
struct mtp_update_position *up_copy;
-
+ struct emc_robot_config *erc;
+
free(up);
up = NULL;
@@ -983,12 +1018,27 @@ int rmc_callback(elvin_io_handler_t handler,
*up_copy = *(mp->data.update_position);
robot_list_append(rmc->position_list, my_id, up_copy);
+ erc = robot_list_search(hostname_list,
+ mp->data.update_position->robot_id);
switch (mp->data.update_position->status) {
case MTP_POSITION_STATUS_ERROR:
case MTP_POSITION_STATUS_COMPLETE:
if (emulab_sock != -1) {
mtp_send_packet(emulab_sock, mp);
}
+ if (erc->token != ~0) {
+ event_do(handle,
+ EA_Experiment, pideid,
+ EA_Type, TBDB_OBJECTTYPE_NODE,
+ EA_Name, erc->vname,
+ EA_Event, TBDB_EVENTTYPE_COMPLETE,
+ EA_ArgInteger, "ERROR",
+ mp->data.update_position->status ==
+ MTP_POSITION_STATUS_ERROR ? 1 : 0,
+ EA_ArgInteger, "CTOKEN", erc->token,
+ EA_TAG_DONE);
+ erc->token = ~0;
+ }
break;
}
@@ -1170,7 +1220,7 @@ int vmc_callback(elvin_io_handler_t handler,
error("invalid client %p\n", mp);
}
else {
- if (debug) {
+ if (0 && debug) {
fprintf(stderr, "vmc_callback: ");
mtp_print_packet(stderr, mp);
}
diff --git a/robots/emc/emcd.h b/robots/emc/emcd.h
index 0eb27f2246..5cae17f149 100644
--- a/robots/emc/emcd.h
+++ b/robots/emc/emcd.h
@@ -7,6 +7,7 @@ struct emc_robot_config {
char *hostname;
char *vname;
struct in_addr ia;
+ int token;
};
struct rmc_client {
--
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