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emulab
emulab-devel
Commits
6545e099
Commit
6545e099
authored
May 31, 2005
by
Timothy Stack
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Cleanup the events that get sent for dynamic obstacles
parent
935505c5
Changes
1
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1 changed file
with
32 additions
and
15 deletions
+32
-15
robots/emc/emcd.c
robots/emc/emcd.c
+32
-15
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robots/emc/emcd.c
View file @
6545e099
...
...
@@ -1351,21 +1351,38 @@ int rmc_callback(elvin_io_handler_t handler,
case
MTP_CREATE_OBSTACLE
:
{
struct
obstacle_config
*
oc
;
oc
=
&
mp
->
data
.
mtp_payload_u
.
create_obstacle
;
/* XXX Hack */
event_do
(
handle
,
EA_Experiment
,
pideid
,
EA_Type
,
TBDB_OBJECTTYPE_TOPOGRAPHY
,
EA_Event
,
TBDB_EVENTTYPE_CREATE
,
EA_Name
,
topography_name
,
EA_ArgInteger
,
"ID"
,
oc
->
id
,
EA_ArgFloat
,
"XMIN"
,
oc
->
xmin
+
0
.
25
,
EA_ArgFloat
,
"YMIN"
,
oc
->
ymin
+
0
.
25
,
EA_ArgFloat
,
"XMAX"
,
oc
->
xmax
-
0
.
25
,
EA_ArgFloat
,
"YMAX"
,
oc
->
ymax
-
0
.
25
,
EA_TAG_DONE
);
struct
dyn_obstacle_config
*
doc
;
struct
emc_robot_config
*
erc
;
doc
=
&
mp
->
data
.
mtp_payload_u
.
create_obstacle
;
erc
=
robot_list_search
(
hostname_list
,
doc
->
robot_id
);
if
(
erc
!=
NULL
)
{
event_do
(
handle
,
EA_Experiment
,
pideid
,
EA_Type
,
TBDB_OBJECTTYPE_TOPOGRAPHY
,
EA_Event
,
TBDB_EVENTTYPE_CREATE
,
EA_Name
,
topography_name
,
EA_ArgInteger
,
"ID"
,
doc
->
config
.
id
,
EA_ArgFloat
,
"XMIN"
,
doc
->
config
.
xmin
+
0
.
25
,
EA_ArgFloat
,
"YMIN"
,
doc
->
config
.
ymin
+
0
.
25
,
EA_ArgFloat
,
"XMAX"
,
doc
->
config
.
xmax
-
0
.
25
,
EA_ArgFloat
,
"YMAX"
,
doc
->
config
.
ymax
-
0
.
25
,
EA_ArgString
,
"ROBOT"
,
erc
->
vname
,
EA_TAG_DONE
);
}
else
{
event_do
(
handle
,
EA_Experiment
,
pideid
,
EA_Type
,
TBDB_OBJECTTYPE_TOPOGRAPHY
,
EA_Event
,
TBDB_EVENTTYPE_CREATE
,
EA_Name
,
topography_name
,
EA_ArgInteger
,
"ID"
,
doc
->
config
.
id
,
EA_ArgFloat
,
"XMIN"
,
doc
->
config
.
xmin
+
0
.
25
,
EA_ArgFloat
,
"YMIN"
,
doc
->
config
.
ymin
+
0
.
25
,
EA_ArgFloat
,
"XMAX"
,
doc
->
config
.
xmax
-
0
.
25
,
EA_ArgFloat
,
"YMAX"
,
doc
->
config
.
ymax
-
0
.
25
,
EA_TAG_DONE
);
}
retval
=
1
;
}
...
...
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