IPCMotionHook.cc

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00001 #include "IPCMotionHook.h"
00002 #include "IPC/MessageQueue.h"
00003 #include <sstream>
00004 
00005 using namespace std;
00006 
00007 unsigned int IPCMotionHook::count=0;
00008 
00009 IPCMotionHook::~IPCMotionHook() {
00010   for(msgbuf_t::iterator it=regions.begin();it!=regions.end(); ++it)
00011     (*it)->RemoveReference();
00012 }
00013 
00014 void IPCMotionHook::motionCheck(const float outputs[][NumOutputs]) {
00015   RCRegion * r = getRegion();
00016   memcpy(r->Base(),outputs,r->Size());
00017   mq.sendMessage(r);
00018   regions.push_back(r);
00019 }
00020 
00021 void IPCMotionHook::updatePIDs(const std::vector<PIDUpdate>& pids) {
00022   stringstream ss;
00023   ss << "MotionPIDUpdate." << count++;
00024   //cout << "Created " << ss.str() << endl;
00025   RCRegion * r = new RCRegion(ss.str(),pids.size()*sizeof(PIDUpdate));
00026   memcpy(r->Base(),&pids[0],r->Size());
00027   pidmq.sendMessage(r,true);
00028 }
00029 
00030 RCRegion* IPCMotionHook::getRegion() {
00031   for(msgbuf_t::iterator it=regions.begin();it!=regions.end(); ++it) {
00032     if((*it)->NumberOfReference()==1) {
00033       RCRegion * ans=*it;
00034       regions.erase(it);
00035       return ans;
00036     }
00037   }
00038   // no unused regions found, make a new one
00039   stringstream ss;
00040   ss << "MotionUpdate." << count++;
00041   //cout << "Created " << ss.str() << endl;
00042   return new RCRegion(ss.str(),sizeof(float)*NumOutputs*NumFrames);
00043 }
00044 
00045 /*! @file
00046  * @brief 
00047  * @author Ethan Tira-Thompson (ejt) (Creator)
00048  */