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authorNicolas Schodet2011-03-30 22:25:25 +0200
committerNicolas Schodet2011-03-30 23:52:36 +0200
commit712fcb0da93d06f65e0a3e33ab6211f101593000 (patch)
treeb725dc1fab5ff8692d898db417da89c7e8807390 /digital/mimot/src/dirty/simu.host.c
parenta663069b33a6ed5344187dcd1ab48022a681ae1b (diff)
digital/mimot: use message type registry, refs #157
Diffstat (limited to 'digital/mimot/src/dirty/simu.host.c')
-rw-r--r--digital/mimot/src/dirty/simu.host.c14
1 files changed, 11 insertions, 3 deletions
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])