/****************************************************************************** * * PROJECT: Carnegie Mellon Planetary Rover Project * Task Control Architecture * * (c) Copyright 1991 Christopher Fedor and Reid Simmons. All rights reserved. * * MODULE: behaviors * * FILE: behaviors.c * * ABSTRACT: * * x_ipc behavior level. * * $Source: /cvsroot/carmen/carmen/src/ipc/behaviors.h,v $ * $Revision: 1.1.1.1 $ * $Date: 2004/10/15 14:33:14 $ * $Author: tomkol $ * * REVISION HISTORY: * * $Log: behaviors.h,v $ * Revision 1.1.1.1 2004/10/15 14:33:14 tomkol * Initial Import * * Revision 1.5 2003/04/20 02:28:12 nickr * Upgraded to IPC 3.7.6. * Reversed meaning of central -s to be default silent, * -s turns silent off. * * Revision 2.3 2002/06/25 16:44:58 reids * Fixed the way memory is freed when responses are handled; * Allowed me to remove "responseIssuedGlobal". * * Revision 2.2 2000/07/03 17:03:21 hersh * Removed all instances of "tca" in symbols and messages, plus changed * the names of all other symbols which conflicted with TCA. This new * version of IPC should be able to interoperate TCA fully. Client * programs can now link to both tca and ipc. * * Revision 2.1.1.1 1999/11/23 19:07:33 reids * Putting IPC Version 2.9.0 under local (CMU) CVS control. * * Revision 1.2.2.7 1997/01/27 20:09:05 udo * ipc_2_6_006 to r3_Dev merge * * Revision 1.2.2.5 1997/01/11 01:20:43 udo * ipc 2.6.002 to r3_dev merge * * Revision 1.2.2.4.6.1 1996/12/24 14:41:29 reids * Merge the C and Lisp IPC libraries (both C and Lisp modules can now * link with the same libipc.a). * Moved the Lisp-specific code to ipcLisp.c: Cleaner design and it will * not be linked into C modules this way. * * Revision 1.2.2.4 1996/10/22 18:49:25 reids * Point-to-point broadcast messages. * * Revision 1.2.2.3 1996/10/14 15:01:11 reids * Changes to fix freeing of formatters, and to handle errors more cleanly. * * Revision 1.2.2.2 1996/10/08 14:23:33 reids * Changes for IPC operating under Lispworks on the PPC. Mainly changes * (LISPWORKS_FFI_HACK) due to the fact that Lispworks on the PPC is currently * missing the foreign-callable function. * * Revision 1.2.2.1 1996/10/02 20:58:20 reids * Changes to support LISPWORKS. * * Revision 1.2 1996/05/09 18:19:27 reids * Changes to support CLISP. * * Revision 1.1 1996/05/09 01:01:10 reids * Moved all the X_IPC files over to the IPC directory. * Fixed problem with sending NULL data. * Added function IPC_setCapacity. * VxWorks m68k version released. * * Revision 1.4 1996/04/01 02:36:53 reids * Needed to make x_ipc_queryNotifySend globally accessible for IPC * * Revision 1.3 1996/03/19 03:38:33 reids * Plugging more memory leaks; Able to free formatter data structures. * * Revision 1.2 1996/03/12 03:19:29 reids * Added "enum" format type. * Plugged memory leaks (using Purify). * * Revision 1.1 1996/03/03 04:30:54 reids * First release of IPC files. X_IPC code (8.5), modified to support NM-DS1 IPC. * * Revision 1.17 1996/05/09 18:30:20 reids * Changes to keep X_IPC consistent with the NASA IPC package. * Some bug fixes (mainly to do with freeing formatters). * * Revision 1.16 1996/05/07 16:49:16 rich * Changes for clisp. * * Revision 1.15 1996/03/15 21:13:19 reids * Added x_ipcQueryNotify and plugged a memory leak -- ref was not being * freed when inform/broadcast handler completed. * * Revision 1.14 1996/03/05 05:04:14 reids * Changes (mainly delineated by NMP_IPC conditionals) to support the * New Millennium IPC. * * Revision 1.13 1996/02/10 16:49:28 rich * Fixed header problems and a crash related to direct connections. * * Revision 1.12 1996/01/27 21:52:53 rich * Pre-release of 8.4. * Added recursive named formatters and "BAD" formats. Also incorporated * Iain's windows changes. * * Revision 1.11 1995/07/12 04:54:12 rich * Release of 8.0. * Fixed problems with sending between machines of different endien. * * Revision 1.10 1995/05/31 19:35:00 rich * Fixed problem with reply data being freed early from replys. * Initial work on getting the PC version to work. * * Revision 1.9 1995/04/08 02:06:16 rich * Added x_ipc_waitForReplyFrom to be able to block on replies from only one * source. Useful when querying for the msg info information. Added a * x_ipcQueryCentral that only accepts input from the central server. Fixed * timing problems with direct connections. * * Revision 1.8 1995/01/18 22:39:38 rich * X_IPC 7.9: Speed improvements. * Use unix sockets for communication on the same machine. * Eliminate copying. * Optimize loop for arrays, especially simple, primitive arrays. * Optimize the buffer size. * * Revision 1.7 1994/05/17 23:15:09 rich * Added global variables and associated routines. * Added some error checking. The central connection is now set to -1 * rather than zero to prevent x_ipc messages from being send to stdout. * Now compiles on the sgi machines. Still need to have the endian and * alignment figured out automatically. * * Revision 1.6 1994/04/16 19:41:36 rich * First release of X_IPC for the DEC alpha. * Changes were needed because longs are 64 bits. * Fixed alignment assumption in the data message format. * Fixed the way offsets are calculated for variable length arrays. This * was a problem even without 64 bit longs and pointers. * * Added the commit date to the version information printed out with the -v * option. * * Now uses standard defines for byte order * (BYTE_ORDER = BIG_ENDIAN, LITTLE_ENDIAN or PDP_ENDIAN) * * Defined alignment types: ALIGN_INT ALINE_LONGEST and ALIGN_WORD. * * *** WARNING *** * sending longs between alphas and non-alpha machines will probably not work. * *** WARNING *** * * Revision 1.5 1993/12/01 18:02:37 rich * Fixed a problem with the port number being double converted to network * byte order. * Some general cleanup. * * Revision 1.4 1993/11/21 20:17:09 rich * Added shared library for sun4c_411 sunos machines. * Added install to the makefile. * Fixed problems with global variables. * * Revision 1.3 1993/08/30 21:53:02 fedor * V7+V6+VXWORKS Everything compiles but there are initialization problems. * * Revision 1.2 1993/08/27 08:38:20 fedor * Pass 2 aat a V7+V6+VxWorks merge. Many many problems with pointless casting. * * Revision 1.1 1993/08/27 07:14:07 fedor * First Pass at V7 and V6+VXWORKS merge * * Revision 1.4 1993/08/23 17:37:31 rich * Fixed the type definitions for function pointers. Added const * declarations. Removed definitions VOID_FN and INT_FN. * * Revision 1.3 1993/07/08 05:38:08 rich * Added function prototypes * * Revision 1.2 1993/05/27 22:16:08 rich * Added automatic logging. * * ****************************************************************/ #ifndef INCbehaviors #define INCbehaviors const char *x_ipc_messageClassName(X_IPC_MSG_CLASS_TYPE msg_class); void x_ipc_checkMessageClass(MSG_PTR msg, X_IPC_MSG_CLASS_TYPE msg_class); void x_ipc_execHnd(CONNECTION_PTR connection, DATA_MSG_PTR dataMsg); BOOLEAN x_ipc_execFdHnd(int fd); MSG_PTR x_ipc_msgFind(const char *name); CONST_FORMAT_PTR x_ipc_fmtFind(const char *name); int32 testInconsistent(int32 tplConstraints); X_IPC_RETURN_VALUE_TYPE x_ipcQueryFd(const char *name, void *queryData, void *replyData, int fd); X_IPC_RETURN_VALUE_TYPE x_ipcQueryCentral(const char *name, void *queryData, void *replyData); MSG_PTR x_ipc_msgFind2(const char *name, const char *hndName); X_IPC_RETURN_VALUE_TYPE _x_ipcQueryNotify(const char *name, void *query, REPLY_HANDLER_FN replyHandler, HND_LANGUAGE_ENUM language, void *clientData); #ifdef NMP_IPC /* Three-argument handler type, for NMP IPC */ typedef void (*IPC_HANDLER_TYPE)(X_IPC_REF_PTR ref, void *callData, void *clientData); typedef struct { int length; void *content; } *IPC_VAR_DATA_PTR; FORMAT_CLASS_TYPE ipcFormatClassType (CONST_FORMAT_PTR format); /* Pick out the byte array in the data -- eventually replace */ char *ipcData (CONST_FORMAT_PTR formatter, char *data); #endif /* NMP_IPC */ X_IPC_RETURN_VALUE_TYPE x_ipc_queryNotifySend (MSG_PTR msg, const char *name, void *query, REPLY_HANDLER_FN replyHandler, HND_LANGUAGE_ENUM language, void *clientData); /* Clean-up stuff to do when a handler has completed */ void endExecHandler (X_IPC_REF_PTR x_ipcRef, CONNECTION_PTR connection, MSG_PTR msg, int tmpParentRef); #endif /* INCbehaviors */