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/*
* Player - One Hell of a Robot Server
* Copyright (C) 2004, 2005 Richard Vaughan
*
*
* 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: A plugin driver for Player that gives access to Stage devices.
* Author: Richard Vaughan
* Date: 10 December 2004
* CVS: $Id$
*/
// DOCUMENTATION ------------------------------------------------------------
/** @addtogroup player
@par Power interface
- PLAYER_POWER_DATA_STATE
*/
// CODE ----------------------------------------------------------------------
#include "p_driver.h"
using namespace Stg;
InterfacePower::InterfacePower( player_devaddr_t addr,
StgDriver* driver,
ConfigFile* cf,
int section )
: InterfaceModel( addr, driver, cf, section, "power" )
{
// nothing to see here. move along.
}
void InterfacePower::Publish( void )
{
Model* mod = this->mod;
PowerPack* pp = mod->FindPowerPack();
// don't publish anything if there is no power pack
if(! pp )
return;
// translate stage data to player data packet
player_power_data_t pen;
pen.valid = 0;
pen.valid |= PLAYER_POWER_MASK_JOULES;
pen.joules = pp->GetStored();
pen.valid |= PLAYER_POWER_MASK_CHARGING;
pen.charging = pp->GetCharging();
pen.valid |= PLAYER_POWER_MASK_PERCENT;
pen.percent = pp->ProportionRemaining();
//printf( "player power data: valid %d joules %.2f watts %.2f percent %.2f charging %d\n",
// pen.valid, pen.joules, pen.watts, pen.percent, pen.charging );
this->driver->Publish(this->addr,
PLAYER_MSGTYPE_DATA,
PLAYER_POWER_DATA_STATE,
(void*)&pen, sizeof(pen), NULL);
}
int InterfacePower::ProcessMessage(QueuePointer &resp_queue,
player_msghdr_t* hdr,
void* data)
{
// Don't know how to handle this message.
PRINT_WARN2( "stg_power doesn't support msg with type %d subtype %d",
hdr->type, hdr->subtype);
return(-1);
}
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