Architecture:Specification of BABEL Interfaces - Revision history

Jlblanco: /* DRV_MOBILE_BASE */

2009-05-23T09:23:37Z

‎DRV_MOBILE_BASE

Jlblanco: /* Common Sensory Interface */

2009-05-22T10:17:39Z

‎Common Sensory Interface

Jlblanco: /* DRV_WHEELS_MOBILE_BASE */

2009-05-21T17:21:21Z

‎DRV_WHEELS_MOBILE_BASE

Jlblanco: /* Strings as output parameters in a service (point of view of the SERVER) */

2009-05-20T19:50:03Z

‎Strings as output parameters in a service (point of view of the SERVER)

Jlblanco: /* Remarks about calling services (VERY IMPORTANT) */

2009-05-20T19:36:58Z

‎Remarks about calling services (VERY IMPORTANT)

Jlblanco: /* Remarks about calling services */

2009-05-20T19:36:02Z

‎Remarks about calling services

Jlblanco at 19:35, 20 May 2009

2009-05-20T19:35:11Z

Jlblanco: /* Hardware Abstraction Driver (HAD) interfaces */

2009-05-20T11:10:55Z

‎Hardware Abstraction Driver (HAD) interfaces

Jlblanco: /* DRV_INERTIAL_SENSOR */

2009-05-17T23:41:08Z

‎DRV_INERTIAL_SENSOR

Jlblanco: /* DRV_CAMERA_SENSOR */

2009-05-17T23:38:55Z

‎DRV_CAMERA_SENSOR

@@ Line 277: / Line 277: @@
 </td>
 </tr>
 </table>

@@ Line 663: / Line 663: @@
 <cpp>
 ::getObservations(
 out COMMON::SeqOfBytes SF,
 out boolean error

@@ Line 194: / Line 194: @@
-=== DRV_WHEELS_MOBILE_BASE ===
+=== DRV_MOBILE_BASE ===
 <center>
@@ Line 204: / Line 204: @@
 <tr>
   <td rowspan="8" align="center" valign="center">
-<big><code> DRV_WHEELS_MOBILE_BASE   </code></big><br> <br>
+<big><code> DRV_MOBILE_BASE   </code></big><br> <br>
 For robotics mobile bases using wheels on 2D surfaces.
   </td>
@@ Line 280: / Line 280: @@
 </table>
 </center>
 === DRV_2D_RANGE_SCANNER ===

@@ Line 843: / Line 843: @@
 			str = BABEL::string_dup("Ok");
+		}
+	}
 </cpp>

← Older revision		Revision as of 19:36, 20 May 2009
Line 820:		Line 820:
	= Remarks about calling services ('''VERY IMPORTANT''') =		= Remarks about calling services ('''VERY IMPORTANT''') =

−	The following sections are taken from the Babel Definition Language (BDL) help file.	+	The following sections are taken from the Babel Definition Language (BDL) help file. They define some basic rules to avoid memory leaks in the current CORBA-based BABEL implementations.

← Older revision		Revision as of 19:36, 20 May 2009
Line 818:		Line 818:


−	= Remarks about calling services =	+	= Remarks about calling services ('''VERY IMPORTANT''') =
		+
		+	The following sections are taken from the Babel Definition Language (BDL) help file.
		+

	== Strings as output parameters in a service (point of view of the CLIENT) ==		== Strings as output parameters in a service (point of view of the CLIENT) ==

← Older revision		Revision as of 19:35, 20 May 2009
Line 812:		Line 812:
	</table>		</table>
	</center>		</center>
		+
		+
		+
		+	<br><br>
		+
		+
		+	= Remarks about calling services =
		+
		+	== Strings as output parameters in a service (point of view of the CLIENT) ==
		+
		+	Use a char* variable as parameter (the parameter is a class that behaves as a char*&). The variable value will be overwritten without freeing its content, so, make sure to free its contents before using it as an output parameter. The returned value can be "" but never NULL. When you do not need the returned string anymore, you must delete it using BABEL::string_free() as described earlier (do not use delete/delete[] to free it).
		+
		+	Also, you can pass as output parameter a string which is part of a composed type. In that case the current string will be automatically freed. For example, if you have a service "MyOp" with an output parameter "string s", you can pass as that parameter the following: "MyStruct.stringfield", provided that MyStruct is a variable of some struct type that contains a field ("stringfield") of type string.
		+
		+
		+
		+	== Strings as output parameters in a service (point of view of the SERVER) ==
		+
		+	The parameter will be a class that behaves as a char*&. The callee must do the assignment to a string output parameter once and only once. If you do it more than once, the previous string will not be freed. If you do not assign any string to it, the parameter value will be undefined and that is an error. However, the following is valid:
		+
		+	<cpp>
		+	void foo::MyOperation(/out string parameter data type/ str)
		+	{
		+	str = BABEL::string_dup("Unknown");
		+	if(/.../) {
		+	BABEL::string_free(str); // free the previous string
		+	str = BABEL::string_dup("Ok");
		+	}
		+	}
		+	</cpp>

← Older revision		Revision as of 11:10, 20 May 2009
Line 23:		Line 23:

	The next section ([[Architecture:Specification_of_BABEL_Modules \| Modules]]) contains a list of existing modules and the corresponding implemented IFs.		The next section ([[Architecture:Specification_of_BABEL_Modules \| Modules]]) contains a list of existing modules and the corresponding implemented IFs.
		+
		+
		+	=== DRV_ALIASES ===
		+
		+	This interface is implemented in all hardware-related Modules that support multiple internal working copies ("aliases"). It is mainly used to retrieve the number of physical devices represented by this module, such as the parameter <code>deviceIndex</code> in all other interfaces can be in the range [0,nAliases-1].
		+
		+
		+	<center>
		+	<table width="95%" border="1">
		+	<tr>
		+	<td align="center"><b><big>BABEL service group</big></b></td>
		+	<td colspan="2" align="center"><b><big>BABEL services to implement</big></b></td>
		+	</tr>
		+	<tr>
		+	<td rowspan="8" align="center" valign="center">
		+	<big><code> DRV_ALIASES </code></big><br> <br>
		+	Common part for all modules supporting aliasing.
		+	</td>
		+	<td> <!-- DECLARATION -->
		+	<cpp>
		+	::getAliasCount(
		+	out short nAliases
		+	</cpp>
		+	</td>
		+	<td> <!-- COMMENTS -->
		+	Retrieves the number of physical devices represented by this module, such as the parameter deviceIndex in all other interfaces can be in the range [0,nAliases-1].
		+	</td>
		+	</tr>
		+	</table>
		+	</center>
		+
		+
		+	<br>
		+
		+
		+

	=== DRV_IOBOARD ===		=== DRV_IOBOARD ===

← Older revision		Revision as of 23:41, 17 May 2009
Line 324:		Line 324:


		+	<br>
		+
		+
		+	=== DRV_GAS_SENSOR ===
		+
		+	<center>
		+	<table width="95%" border="1">
		+	<tr>
		+	<td align="center"><b><big>BABEL service group</big></b></td>
		+	<td colspan="2" align="center"><b><big>BABEL services to implement</big></b></td>
		+	</tr>
		+	<tr>
		+	<td rowspan="8" align="center" valign="center">
		+	<big><code> DRV_GAS_SENSOR </code></big><br> <br>
		+	For e-Noses
		+	</td>
		+	<td> <!-- DECLARATION -->
		+	<cpp>
		+	::getObservation(
		+	in short devIndex,
		+	out COMMON::SeqOfBytes obs,
		+	out boolean error
		+	)
		+	</cpp>
		+	</td>
		+	<td> <!-- COMMENTS -->
		+	Return the last reading as a serialized MRPT object of the class [http://babel.isa.uma.es/mrpt/reference/svn/classmrpt_1_1slam_1_1_c_observation_gas_sensors.html mrpt::slam::CObservationGasSensors].
		+	</td>
		+	</tr>
		+	</table>
		+	</center>
		+
		+
		+	<br>

	=== DRV_CAMERA_SENSOR ===		=== DRV_CAMERA_SENSOR ===

@@ Line 354: / Line 354: @@
 NOTE: At the choice of each image-server module, images can be stored in MRPT "delayed-load" format, which allows ultra-fast passing of image objects
 through the BABEL interface by a file-based cache system which is transparent to the final user. However, even this mechanism being transparent,
-images may be caches for a small period of time only, thus make a copy of the image if it will be needed a few seconds (~10 secs?) after grabbing.
+images may be cached for a small period of time only, thus make a copy of the image if it will be needed a few seconds (~10 secs?) after grabbing.
 </td>
 </tr>