From 712fcb0da93d06f65e0a3e33ab6211f101593000 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Mar 2011 22:25:25 +0200 Subject: digital/mimot: use message type registry, refs #157 --- digital/mimot/src/dirty/simu.host.c | 14 +++++++++++--- 1 file changed, 11 insertions(+), 3 deletions(-) (limited to 'digital/mimot/src') diff --git a/digital/mimot/src/dirty/simu.host.c b/digital/mimot/src/dirty/simu.host.c index c773f5a2..af07d744 100644 --- a/digital/mimot/src/dirty/simu.host.c +++ b/digital/mimot/src/dirty/simu.host.c @@ -74,6 +74,10 @@ uint32_t simu_counter_aux[AC_ASSERV_AUX_NB]; /** Use mex. */ int simu_mex; +/** Mex message types. */ +uint8_t simu_mex_aux; +uint8_t simu_mex_limits; + /** Counter to limit the interval between information is sent. */ int simu_send_cpt; @@ -114,15 +118,19 @@ simu_init (void) { int argc; char **argv; + const char *mex_instance; host_get_program_arguments (&argc, &argv); if (argc == 2 && strncmp (argv[0], "-m", 2) == 0) { simu_mex = atoi (argv[0] + 2); + argc--; argv++; if (!simu_mex) simu_mex = 1; simu_send_cpt = simu_mex; mex_node_connect (); - mex_node_register (0xcc, simu_handle_limits, 0); - argc--; argv++; + mex_instance = host_get_instance ("mimot0", 0); + simu_mex_aux = mex_node_reservef ("%s:aux", mex_instance); + simu_mex_limits = mex_node_reservef ("%s:limits", mex_instance); + mex_node_register (simu_mex_limits, simu_handle_limits, 0); } if (argc != 1) { @@ -204,7 +212,7 @@ simu_send (void) } if (first || simu_aux_model_changed) { - m = mex_msg_new (0xc8); + m = mex_msg_new (simu_mex_aux); for (i = 0; i < AC_ASSERV_AUX_NB; i++) { if (simu_robot->aux_motor[i]) -- cgit v1.2.3