Update of /cvsroot/playerstage/code/player/server/drivers/shell
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv16952/shell
Modified Files:
readlog.cc writelog.cc
Log Message:
commited patch 1722668 AIO, DIO and RFID logging
Index: writelog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/writelog.cc,v
retrieving revision 1.76
retrieving revision 1.77
diff -C2 -d -r1.76 -r1.77
*** writelog.cc 14 Mar 2007 16:47:13 -0000 1.76
--- writelog.cc 9 Jun 2007 01:28:26 -0000 1.77
***************
*** 229,232 ****
--- 229,242 ----
// Write Actarray data to file
private: int WriteActarray (player_msghdr_t* hdr, void *data);
+
+ // Write AIO data to file
+ private: int WriteAIO(player_msghdr_t* hdr, void *data);
+
+ // Write AIO data to file
+ private: int WriteDIO(player_msghdr_t* hdr, void *data);
+
+ // Write RFID data to file
+ private: int WriteRFID(player_msghdr_t* hdr, void *data);
+
#if 0
// Write blobfinder data to file
***************
*** 778,781 ****
--- 788,800 ----
retval = this->WriteActarray (hdr, data);
break;
+ case PLAYER_AIO_CODE:
+ retval = this->WriteAIO(hdr, data);
+ break;
+ case PLAYER_DIO_CODE:
+ retval = this->WriteDIO(hdr, data);
+ break;
+ case PLAYER_RFID_CODE:
+ retval = this->WriteRFID(hdr, data);
+ break;
/* HHAA 15-02-2007 */
case PLAYER_BUMPER_CODE:
***************
*** 1513,1516 ****
--- 1532,1685 ----
}
+ /** @ingroup tutorial_datalog
+ * @defgroup player_driver_writelog_aio aio format
+
+ @brief AIO log format
+
+ The format for each @ref interface_aio message is:
+ - voltages_count (int): the numer of analog input voltages
+ - list of inputs; for each input:
+ - voltage (float): the voltage on that input
+
+ */
+ int
+ WriteLog::WriteAIO(player_msghdr_t* hdr, void* data)
+ {
+ // Check the type
+ switch (hdr->type) {
+ case PLAYER_MSGTYPE_DATA:
+ // Check the subtype
+ switch (hdr->subtype) {
+ case PLAYER_AIO_DATA_STATE: {
+ player_aio_data_t* inputs(static_cast<player_aio_data_t*>(data));
+
+ // check for buffer overrun
+ if (inputs->voltages_count > PLAYER_AIO_MAX_INPUTS) {
+ // this shouldn't happen
+ PLAYER_ERROR("count too big for buffer");
+ return -1;
+ }
+
+ fprintf(this->file, "%04d ", inputs->voltages_count);
+
+ for (float *v(inputs->voltages);
+ v != inputs->voltages + inputs->voltages_count; ++v)
+ fprintf(this->file, "%.3f ", *v);
+
+ return 0;
+ }
+ default:
+ PLAYER_WARN1("cannot log unknown aio data subtype '%d'",
+ hdr->subtype);
+ return -1;
+ }
+ default:
+ PLAYER_WARN1("cannot log unknown aio message type '%d'", hdr->type);
+ return -1;
+ }
+ }
+
+ /** @ingroup tutorial_datalog
+ * @defgroup player_driver_writelog_dio dio format
+
+ @brief DIO log format
+
+ The format for each @ref interface_dio message is:
+ - count (int): the numer of digital inputs
+ - list of input signals; for each input:
+ state (string): '0' or '1'
+
+ */
+ int
+ WriteLog::WriteDIO(player_msghdr_t* hdr, void* data)
+ {
+ // Check the type
+ switch (hdr->type) {
+ case PLAYER_MSGTYPE_DATA:
+ // Check the subtype
+ switch (hdr->subtype) {
+ case PLAYER_DIO_DATA_VALUES: {
+ player_dio_data_t* inputs(static_cast<player_dio_data_t*>(data));
+
+ // check for buffer overrun
+ if (inputs->count > /* MAX_INPUTS */ 32) {
+ // this shouldn't happen
+ PLAYER_ERROR("count too big for bitfield");
+ return -1;
+ }
+
+ fprintf(this->file, "%04d ", inputs->count);
+
+ for (uint32_t mask(1); mask != (1ul << inputs->count); mask <<= 1)
+ fprintf(this->file, "%d ", !!(mask & inputs->digin));
+
+ return 0;
+ }
+ default:
+ PLAYER_WARN1("cannot log unknown dio data subtype '%d'",
+ hdr->subtype);
+ return -1;
+ }
+ default:
+ PLAYER_WARN1("cannot log unknown dio message type '%d'", hdr->type);
+ return -1;
+ }
+ }
+
+ /** @ingroup tutorial_datalog
+ * @defgroup player_driver_writelog_rfid rfid format
+
+ @brief RFID log format
+
+ The format for each @ref interface_rfid message is:
+ - tags_count (int): the numer of tags found
+ - list of tags; for each tag:
+ - guid (string): tag guid in hex
+
+ */
+ int
+ WriteLog::WriteRFID(player_msghdr_t* hdr, void* data)
+ {
+ // Check the type
+ switch (hdr->type) {
+ case PLAYER_MSGTYPE_DATA:
+ // Check the subtype
+ switch (hdr->subtype) {
+ case PLAYER_RFID_DATA: {
+ player_rfid_data_t* rdata(static_cast<player_rfid_data_t*>(data));
+
+ if (rdata->tags_count > PLAYER_RFID_MAX_TAGS) {
+ // this shouldn't happen
+ PLAYER_ERROR("count too big for buffer");
+ return -1;
+ }
+
+ fprintf(file, "%04d ", rdata->tags_count);
+
+ for (player_rfid_tag_t *t(rdata->tags);
+ t != rdata->tags + rdata->tags_count; ++t) {
+ if (t->guid_count > PLAYER_RFID_MAX_GUID) {
+ PLAYER_ERROR("guid count too big for buffer");
+ return -1;
+ }
+ char str[PLAYER_RFID_MAX_GUID * 2 + 1];
+ memset(str, '\0', sizeof(str));
+ EncodeHex(str, sizeof(str), t->guid, t->guid_count);
+ fprintf(file, "%s ", str);
+ }
+
+ return 0;
+ }
+ default:
+ PLAYER_WARN1("cannot log unknown rfid data subtype '%d'",
+ hdr->subtype);
+ return -1;
+ }
+ default:
+ PLAYER_WARN1("cannot log unknown rfid message type '%d'", hdr->type);
+ return -1;
+ }
+ }
+
int
WriteLog::WriteIR(player_msghdr_t* hdr, void *data)
Index: readlog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/readlog.cc,v
retrieving revision 1.46
retrieving revision 1.47
diff -C2 -d -r1.46 -r1.47
*** readlog.cc 20 Nov 2006 12:25:18 -0000 1.46
--- readlog.cc 9 Jun 2007 01:28:26 -0000 1.47
***************
*** 302,305 ****
--- 302,323 ----
int linenum,
int token_count, char **tokens, double time);
+
+ // Parse AIO data
+ private: int ParseAIO(player_devaddr_t id,
+ unsigned short type, unsigned short subtype,
+ int linenum, int token_count, char **tokens,
+ double time);
+
+ // Parse DIO data
+ private: int ParseDIO(player_devaddr_t id,
+ unsigned short type, unsigned short subtype,
+ int linenum, int token_count, char **tokens,
+ double time);
+
+ // Parse RFID data
+ private: int ParseRFID(player_devaddr_t id,
+ unsigned short type, unsigned short subtype,
+ int linenum, int token_count, char **tokens,
+ double time);
#if 0
***************
*** 1180,1183 ****
--- 1198,1210 ----
return this->ParseActarray (id, type, subtype, linenum,
token_count, tokens, time);
+ else if (id.interf == PLAYER_AIO_CODE)
+ return this->ParseAIO(id, type, subtype, linenum, token_count, tokens,
+ time);
+ else if (id.interf == PLAYER_DIO_CODE)
+ return this->ParseDIO(id, type, subtype, linenum, token_count, tokens,
+ time);
+ else if (id.interf == PLAYER_RFID_CODE)
+ return this->ParseRFID(id, type, subtype, linenum, token_count, tokens,
+ time);
#if 0
else if (id.interf == PLAYER_POSITION3D_CODE)
***************
*** 2127,2130 ****
--- 2154,2320 ----
}
+ ////////////////////////////////////////////////////////////////////////////
+ // Parse AIO data
+ int ReadLog::ParseAIO(player_devaddr_t id, unsigned short type,
+ unsigned short subtype, int linenum, int token_count,
+ char **tokens, double time)
+ {
+ switch (type) {
+ case PLAYER_MSGTYPE_DATA:
+ switch (subtype) {
+ case PLAYER_AIO_DATA_STATE: {
+ player_aio_data_t inputs;
+
+ if (token_count < 8) {
+ PLAYER_ERROR2("invalid line at %s:%d: count missing", filename,
+ linenum);
+ return -1;
+ }
+
+ inputs.voltages_count = atoi(tokens[7]);
+
+ if (token_count - 8 != (int)inputs.voltages_count) {
+ PLAYER_ERROR2("invalid line at %s:%d: number of tokens does not
"
+ "match count", filename, linenum);
+ return -1;
+ }
+
+ if (inputs.voltages_count > PLAYER_AIO_MAX_INPUTS) {
+ PLAYER_ERROR2("invalid line at %s:%d: too much data for buffer",
+ filename, linenum);
+ return -1;
+ }
+
+ char **t(tokens + 8);
+ for (float *v(inputs.voltages);
+ v != inputs.voltages + inputs.voltages_count; ++v, ++t)
+ *v = atof(*t);
+
+ Publish(id, NULL, type, subtype, (void *)&inputs, sizeof(inputs),
+ &time);
+ return 0;
+ }
+ default:
+ PLAYER_WARN3("cannot parse log of unknown aio data subtype '%d' at "
+ "%s:%d", subtype, filename, linenum);
+ return -1;
+ }
+ default:
+ PLAYER_WARN3("cannot parse log unknown of aio message type '%d' at "
+ "%s:%d", type, filename, linenum);
+ return -1;
+ }
+ }
+
+ ////////////////////////////////////////////////////////////////////////////
+ // Parse DIO data
+ int ReadLog::ParseDIO(player_devaddr_t id, unsigned short type,
+ unsigned short subtype, int linenum, int token_count,
+ char **tokens, double time)
+ {
+ switch (type) {
+ case PLAYER_MSGTYPE_DATA:
+ switch (subtype) {
+ case PLAYER_DIO_DATA_VALUES: {
+ player_dio_data_t inputs;
+
+ if (token_count < 8) {
+ PLAYER_ERROR2("invalid line at %s:%d: count missing", filename,
+ linenum);
+ return -1;
+ }
+
+ inputs.count = atoi(tokens[7]);
+ inputs.digin = 0;
+
+ if (token_count - 8 != static_cast<int>(inputs.count)) {
+ PLAYER_ERROR2("invalid line at %s:%d: number of tokens does not
"
+ "match count", filename, linenum);
+ return -1;
+ }
+
+ if (inputs.count > 32 /* MAX_INPUTS */) {
+ PLAYER_ERROR2("invalid line at %s:%d: too much data for buffer",
+ filename, linenum);
+ return -1;
+ }
+
+ char **t(tokens + 8);
+ for (uint32_t mask(1); mask != (1ul << inputs.count);
+ mask <<=1, ++t) {
+ if (strcmp(*t, "1") == 0) inputs.digin |= mask;
+ }
+
+ Publish(id, NULL, type, subtype, (void *)&inputs, sizeof(inputs),
+ &time);
+ return 0;
+ }
+ default:
+ PLAYER_WARN3("cannot parse log of unknown dio data subtype '%d' at "
+ "%s:%d", subtype, filename, linenum);
+ return -1;
+ }
+ default:
+ PLAYER_WARN3("cannot parse log of unknown dio message type '%d' at "
+ "%s:%d", type, filename, linenum);
+ return -1;
+ }
+ }
+
+ ////////////////////////////////////////////////////////////////////////////
+ // Parse RFID data
+ int ReadLog::ParseRFID(player_devaddr_t id, unsigned short type,
+ unsigned short subtype, int linenum, int token_count,
+ char **tokens, double time)
+ {
+ switch (type) {
+ case PLAYER_MSGTYPE_DATA:
+ switch (subtype) {
+ case PLAYER_RFID_DATA: {
+ player_rfid_data_t rdata;
+
+ if (token_count < 8) {
+ PLAYER_ERROR2("invalid line at %s:%d: count missing",
+ this->filename, linenum);
+ return -1;
+ }
+
+ rdata.tags_count = atoi(tokens[7]);
+
+ if (token_count - 8 != static_cast<int>(rdata.tags_count)) {
+ PLAYER_ERROR2("invalid line at %s:%d: number of tokens does not
"
+ "match count", this->filename, linenum);
+ return -1;
+ }
+
+ if (rdata.tags_count > PLAYER_RFID_MAX_TAGS) {
+ PLAYER_ERROR2("invalid line at %s:%d: too much data for buffer",
+ this->filename, linenum);
+ return -1;
+ }
+
+ char **t(tokens + 8);
+ for (player_rfid_tag_t *r(rdata.tags);
+ r != rdata.tags + rdata.tags_count; ++r, ++t) {
+ r->guid_count = strlen(*t) / 2;
+ DecodeHex(r->guid, PLAYER_RFID_MAX_GUID, *t, strlen(*t));
+ }
+
+ Publish(id, NULL, type, subtype, (void *)&rdata, sizeof(rdata),
+ &time);
+ return 0;
+ }
+ default:
+ PLAYER_WARN3("cannot parse log of unknown rfid data subtype '%d' at
"
+ "%s:%d", subtype, filename, linenum);
+ return -1;
+ }
+ default:
+ PLAYER_WARN3("cannot parse log of unknown rfid message type '%d' at "
+ "%s:%d", type, filename, linenum);
+ return -1;
+ }
+ }
+
#if 0
////////////////////////////////////////////////////////////////////////////
-------------------------------------------------------------------------
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