typedef struct motion_speed_type motion_speed;
struct motion_speed_type {
- CORBA_short left;
- CORBA_short right;
+ CORBA_short left;
+ CORBA_short right;
};
struct robottype_orte_data {
- ORTEDomain *orte_domain;
- int strength;
+ ORTEDomain *orte_domain;
+ int strength;
- struct motion_speed_type motion_speed;
- ORTEPublication *publication_motion_speed;
+ struct motion_speed_type motion_speed;
+ ORTEPublication *publication_motion_speed;
};
struct robottype_orte_data orte;
ORTESubscription *s;
-int robottype_roboorte_init(struct robottype_orte_data *data) {
- int rv = 0;
- ORTEDomainProp prop;
- ORTEInit();
-
- if (data->strength < 0)
- data->strength = 1;
-
- ORTEVerbositySetOptions("ALL.0");
- ORTEDomainPropDefaultGet(&prop);
- NTPTIME_BUILD(prop.baseProp.refreshPeriod, 3);
- NTPTIME_BUILD(prop.baseProp.expirationTime, 10);
- data->orte_domain = ORTEDomainAppCreate(ORTE_DEFAULT_DOMAIN, &prop, NULL, ORTE_FALSE);
- if (!data->orte_domain) {
- printf("ORTEDomainAppCreate failed!\n");
- rv = -1;
- }
-
- return rv;
+int
+robottype_roboorte_init(struct robottype_orte_data *data)
+{
+ int rv = 0;
+ ORTEDomainProp prop;
+
+ ORTEInit();
+
+ if (data->strength < 0)
+ data->strength = 1;
+
+ ORTEVerbositySetOptions("ALL.0");
+ ORTEDomainPropDefaultGet(&prop);
+ NTPTIME_BUILD(prop.baseProp.refreshPeriod, 3);
+ NTPTIME_BUILD(prop.baseProp.expirationTime, 10);
+ data->orte_domain = ORTEDomainAppCreate(ORTE_DEFAULT_DOMAIN, &prop, NULL, ORTE_FALSE);
+ if (!data->orte_domain) {
+ printf("ORTEDomainAppCreate failed!\n");
+ rv = -1;
+ }
+
+ return rv;
}
-void motion_speed_serialize(CDR_Codec *cdrCodec, motion_speed *object) {
- CORBA_short_serialize(cdrCodec,&(object->left));
+void
+motion_speed_serialize(CDR_Codec *cdrCodec, motion_speed *object)
+{
+ CORBA_short_serialize(cdrCodec, &(object->left));
- CORBA_short_serialize(cdrCodec,&(object->right));
+ CORBA_short_serialize(cdrCodec, &(object->right));
}
-void motion_speed_deserialize(CDR_Codec *cdrCodec, motion_speed *object) {
- CORBA_short_deserialize(cdrCodec,&(object->left));
+void
+motion_speed_deserialize(CDR_Codec *cdrCodec, motion_speed *object)
+{
+ CORBA_short_deserialize(cdrCodec, &(object->left));
- CORBA_short_deserialize(cdrCodec,&(object->right));
+ CORBA_short_deserialize(cdrCodec, &(object->right));
}
-int motion_speed_get_max_size(ORTEGetMaxSizeParam *gms, int num) {
- int loop_lim=2;
- int csize_save;
- while(num) {
- if (!loop_lim--) {
- gms->csize+=num*(gms->csize-csize_save);
- return gms->csize;
- }
- num--;
- csize_save=gms->csize;
- CORBA_short_get_max_size(gms, 1);
- CORBA_short_get_max_size(gms, 1);
- }
- return gms->csize;
+int
+motion_speed_get_max_size(ORTEGetMaxSizeParam *gms, int num)
+{
+ int loop_lim = 2;
+ int csize_save;
+
+ while (num) {
+ if (!loop_lim--) {
+ gms->csize += num*(gms->csize-csize_save);
+ return gms->csize;
+ }
+ num--;
+ csize_save = gms->csize;
+ CORBA_short_get_max_size(gms, 1);
+ CORBA_short_get_max_size(gms, 1);
+ }
+ return gms->csize;
}
Boolean
-motion_speed_type_register(ORTEDomain *d) {
- Boolean ret;
-
- ret=ORTETypeRegisterAdd(d,
- "motion_speed",
- (ORTETypeSerialize)motion_speed_serialize,
- (ORTETypeDeserialize)motion_speed_deserialize,
- motion_speed_get_max_size,
- 0);
+motion_speed_type_register(ORTEDomain *d)
+{
+ Boolean ret;
+
+ ret = ORTETypeRegisterAdd(d,
+ "motion_speed",
+ (ORTETypeSerialize)motion_speed_serialize,
+ (ORTETypeDeserialize)motion_speed_deserialize,
+ motion_speed_get_max_size,
+ 0);
}
-void robottype_subscriber_motion_speed_create(struct robottype_orte_data *data, ORTERecvCallBack callback, void *arg) {
- NtpTime deadline, minimumSeparation;
+void
+robottype_subscriber_motion_speed_create(struct robottype_orte_data *data, ORTERecvCallBack callback, void *arg)
+{
+ NtpTime deadline, minimumSeparation;
- motion_speed_type_register(data->orte_domain);
+ motion_speed_type_register(data->orte_domain);
- NtpTimeAssembFromMs(deadline, 0, 300);
- NtpTimeAssembFromMs(minimumSeparation, 0, 0);
- s = ORTESubscriptionCreate(
- data->orte_domain, IMMEDIATE, BEST_EFFORTS,
- "motion_speed", "motion_speed",
- &data->motion_speed, &deadline, &minimumSeparation,
- callback, arg, IPADDRESS_INVALID);
+ NtpTimeAssembFromMs(deadline, 0, 300);
+ NtpTimeAssembFromMs(minimumSeparation, 0, 0);
+ s = ORTESubscriptionCreate(
+ data->orte_domain, IMMEDIATE, BEST_EFFORTS,
+ "motion_speed", "motion_speed",
+ &data->motion_speed, &deadline, &minimumSeparation,
+ callback, arg, IPADDRESS_INVALID);
}
-void rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
- void *recvCallBackParam)
+void
+rcv_motion_speed_cb(const ORTERecvInfo *info, void *vinstance,
+ void *recvCallBackParam)
{
- struct motion_speed_type *m = (struct motion_speed_type *)vinstance;
-
- switch (info->status) {
- case NEW_DATA:
- printf("Prijata data: left: %d, right: %d\n", m->left, m->right);
- break;
- case DEADLINE:
- printf("ORTE deadline occurred - motion_speed receive\n");
- break;
- }
+ struct motion_speed_type *m = (struct motion_speed_type *)vinstance;
+
+ switch (info->status) {
+ case NEW_DATA:
+ printf("Prijata data: left: %d, right: %d\n", m->left, m->right);
+ break;
+ case DEADLINE:
+ printf("ORTE deadline occurred - motion_speed receive\n");
+ break;
+ }
}
-void destroy(int sig) {
- ORTESubscriptionDestroy(s);
- ORTETypeRegisterDestroyAll(orte.orte_domain);
- ORTEDomainAppDestroy(orte.orte_domain);
+void
+destroy(int sig)
+{
+ ORTESubscriptionDestroy(s);
+ ORTETypeRegisterDestroyAll(orte.orte_domain);
+ ORTEDomainAppDestroy(orte.orte_domain);
}
-int main(void) {
- orte.strength = 30;
- robottype_roboorte_init(&orte);
- robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
+int
+main(void)
+{
+ orte.strength = 30;
+ robottype_roboorte_init(&orte);
+ robottype_subscriber_motion_speed_create(&orte, rcv_motion_speed_cb, &orte);
- signal(SIGINT, &destroy);
- signal(SIGTERM, &destroy);
- pause();
+ signal(SIGINT, &destroy);
+ signal(SIGTERM, &destroy);
+ pause();
- return 0;
+ return 0;
}
projects / orte.git / blobdiff