lots of vision stuff from Ben
diff --git a/vision/PacketNotifier.cpp b/vision/PacketNotifier.cpp
new file mode 100644
index 0000000..ca62f5f
--- /dev/null
+++ b/vision/PacketNotifier.cpp
@@ -0,0 +1,78 @@
+#include "vision/PacketNotifier.h"
+#include <stdio.h>
+#include <unistd.h>
+#include <stdlib.h>
+#include <sys/mman.h>
+#include <errno.h>
+#include <string.h>
+
+namespace frc971 {
+namespace vision {
+
+void PacketNotifier::RegisterSender(){
+ close(fd[1]);
+}
+void PacketNotifier::RegisterReciever(){
+ close(fd[0]);
+}
+PacketNotifier *PacketNotifier::MMap(size_t data_size){
+ PacketNotifier *data;
+ data = (PacketNotifier *)mmap(NULL, ((data_size * 3 + 4095 + sizeof(PacketNotifier)) / 4096) * 4096,
+ PROT_READ | PROT_WRITE, MAP_SHARED | MAP_ANONYMOUS, -1, 0);
+ data->data_size = data_size;
+ socketpair(PF_LOCAL, SOCK_STREAM, 0, data->fd);
+ for(int i = 0;i < 3;i++){
+ data->buffs[i] = (uint8_t *)data + (sizeof(PacketNotifier) + i * data_size);
+ }
+ void *place = &(data->mutex);
+ *((int *)place) = 0; // The Mutex class needs a placement new operator. (you know, keep the masses happy);
+ data->in_flight = false;
+ data->to_send = -1;
+ data->sending = -1;
+ return data;
+}
+void *PacketNotifier::GetBuffer(){
+ mutex.Lock();
+ for(int i = 0; i < 3 ; i++){ //search for open spot.
+ if(i != sending && i != to_send){ //open
+ filling = i;
+ mutex.Unlock();
+ printf("leasing out to fill buff # %d\n",i);
+ return buffs[i];
+ }
+ }
+ mutex.Unlock();
+ printf("Error in the fabric of the universe\n");
+ exit(-42);
+}
+void PacketNotifier::Notify(){
+ mutex.Lock();
+ to_send = filling;
+ filling = -1;
+ mutex.Unlock();
+ // wall error
+ if(write(fd[0],"\n",1)) {}
+}
+
+void PacketNotifier::DataSent(const void * /*data*/, size_t /*datalen*/){
+ printf("packet_sent: %d; fill: %d; to_send: %d \n",sending,filling,to_send);
+ mutex.Lock();
+ sending = -1;
+ mutex.Unlock();
+ in_flight = false;
+}
+bool PacketNotifier::GetData(char **place_to_put,size_t *length){
+ if(in_flight) return false;
+ mutex.Lock();
+ *length = data_size;
+ *place_to_put = (char *)buffs[to_send];
+ sending = to_send;
+ to_send = -1;
+ mutex.Unlock();
+ in_flight = true;
+ return true;
+}
+
+} // namespace vision
+} // namespace frc971
+