model_wifi.cc

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//
// File: model_wifi.cc
// Authors: Benoit Morisset, Richard Vaughan
// Date: 2 March 2006
//
// CVS info:
//  $Source: /home/tcollett/stagecvs/playerstage-cvs/code/stage/libstage/model_wifi.cc,v $
//  $Author: rtv $
//  $Revision$
//

#include <sys/time.h>
#include "gui.h"

// Number pulled directly from my ass
#define STG_WIFI_WATTS 2.5

//#define DEBUG

#include "stage_internal.h"

// defined in model.c
int _model_update( model_t* mod, void* unused );

// standard callbacks
extern "C" {

        // declare functions used as callbacks
        static int wifi_update( model_t* mod, void* unused );
        static int wifi_startup( model_t* mod, void* unused );
        static int wifi_shutdown( model_t* mod, void* unused );
        static int wifi_load( model_t* mod, void* unused );

        // implented by the gui in some other file
        void gui_wifi_init( model_t* mod );


        int 
                wifi_init( model_t* mod )
                {
                        // we don't consume any power until subscribed
                        mod->watts = 0.0;

                        // override the default methods; these will be called by the simualtion
                        // engine
                        model_add_callback( mod, &mod->startup, wifi_startup, NULL );
                        model_add_callback( mod, &mod->shutdown, wifi_shutdown, NULL );
                        model_add_callback( mod, &mod->load, wifi_load, NULL );

                        // sensible wifi defaults; it doesn't take up any physical space
                        Geom geom;
                        geom.pose.x = 0.0;
                        geom.pose.y = 0.0;
                        geom.pose.a = 0.0;
                        geom.size.x = 0.0;
                        geom.size.y = 0.0;
                        model_set_geom( mod, &geom );

                        // wifi is invisible
                        model_set_obstacle_return( mod, 0 );
                        model_set_laser_return( mod, LaserTransparent );
                        model_set_blob_return( mod, 0 );
                        model_set_color( mod, (color_t)0 );

                        gui_wifi_init(mod);

                        return 0;
                }

        int 
                wifi_update( model_t* mod, void* unused )
                {   
                        // no work to do if we're unsubscribed
                        if( mod->subs < 1 )
                                return 0;

                        puts("wifi_update");

                        // Retrieve current configuration
                        wifi_config_t cfg;
                        memcpy(&cfg, mod->cfg, sizeof(cfg));

                        // Retrieve current geometry
                        Geom geom;
                        model_get_geom( mod, &geom );

                        // get the sensor's pose in global coords
                        Pose pz;
                        memcpy( &pz, &geom.pose, sizeof(pz) );
                        model_local_to_global( mod, &pz );


                        // We'll store current data here
                        wifi_data_t data;

                        // DO RADIO PROPAGATION HERE, and fill in the data structure

                        // publish the new stuff
                        model_set_data( mod, &data, sizeof(data));

                        // inherit standard update behaviour
                        _model_update( mod, NULL );

                        return 0; //ok
                }

        int 
                wifi_startup( model_t* mod, void* unused )
                { 
                        PRINT_DEBUG( "wifi startup" );
                        model_add_callback( mod, &mod->startup, wifi_startup, NULL );
                        model_set_watts( mod, STG_WIFI_WATTS );
                        return 0; // ok
                }

        int 
                wifi_shutdown( model_t* mod, void* unused )
                {
                        PRINT_DEBUG( "wifi shutdown" );
                        model_remove_callback( mod, &mod->startup, wifi_startup );
                        model_set_watts( mod, 0 );
                        return 0; // ok
                }

        int
                wifi_load( model_t* mod, void* unused )
                {
                        wifi_config_t cfg;

                        // TODO: read wifi params from the world file

                        model_set_cfg( mod, &cfg, sizeof(cfg));

                        return 0;
                }

} // ends extern "C"