Update of /cvsroot/playerstage/code/player/server/drivers/shell
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv27967/server/drivers/shell
Modified Files:
readlog.cc writelog.cc
Log Message:
applied patch 1771458
Index: writelog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/writelog.cc,v
retrieving revision 1.84
retrieving revision 1.85
diff -C2 -d -r1.84 -r1.85
*** writelog.cc 18 Oct 2007 21:14:18 -0000 1.84
--- writelog.cc 18 Oct 2007 21:31:20 -0000 1.85
***************
*** 76,79 ****
--- 76,80 ----
- @ref interface_wifi
- @ref interface_wsn
+ - @ref interface_opaque
- @ref interface_imu
- @ref interface_pointcloud3d
***************
*** 213,216 ****
--- 214,220 ----
private: int WriteLocalize(player_msghdr_t* hdr, void *data);
+ // Write opaque data to file
+ private: int WriteOpaque(player_msghdr_t* hdr, void *data);
+
// Write position data to file
private: int WritePosition(player_msghdr_t* hdr, void *data);
***************
*** 808,811 ****
--- 812,818 ----
retval = this->WritePTZ(hdr, data);
break;
+ case PLAYER_OPAQUE_CODE:
+ retval = this->WriteOpaque(hdr, data);
+ break;
case PLAYER_SONAR_CODE:
retval = this->WriteSonar(hdr, data);
***************
*** 1245,1248 ****
--- 1252,1326 ----
/** @ingroup tutorial_datalog
+ @defgroup player_driver_writelog_opaque opaque format
+
+ * @defgroup player_driver_writelog_position aio format
+
+ @brief opaque log format
+
+ The following type:subtype opaque messages can be logged:
+ - 1:1 (PLAYER_OPAQUE_DATA_STATE) Data information. The format is:
+ - data_count (uint32_t): Number of valid bytes to follow
+ - list of bytes; for each byte:
+ - data uint8_t:
+
+ - 2:2 (PLAYER_OPAQUE_CMD) Command information. The format is:
+ - data_count (uint32_t): Number of valid bytes to follow
+ - list of bytes; for each byte:
+ - data uint8_t:
+ */
+ int
+ WriteLog::WriteOpaque (player_msghdr_t* hdr, void *data)
+ {
+ // Check the type
+ switch(hdr->type)
+ {
+ case PLAYER_MSGTYPE_DATA:
+ printf("Data State:\n");
+ // Check the subtype
+ switch(hdr->subtype)
+ {
+ case PLAYER_OPAQUE_DATA_STATE:
+ {
+ player_opaque_data_t* odata =
+ (player_opaque_data_t*)data;
+ fprintf(this->file, "%04d ", odata->data_count);
+
+ for (unsigned int i = 0; i < odata->data_count; i++)
+ {
+ fprintf(this->file, "%03d ", odata->data[i]);
+ }
+
+ return(0);
+ }
+ default:
+ return(-1);
+ }
+ case PLAYER_MSGTYPE_CMD:
+ printf("Data Command: \n");
+ // Check the subtype
+ switch(hdr->subtype)
+ {
+ case PLAYER_OPAQUE_CMD:
+ {
+ player_opaque_data_t* odata =
+ (player_opaque_data_t*)data;
+ fprintf(this->file, "%04d ", odata->data_count);
+
+ for (unsigned int i = 0; i < odata->data_count; i++)
+ {
+ fprintf(this->file, "%03d ", odata->data[i]);
+ }
+
+ return(0);
+ }
+ default:
+ return(-1);
+ }
+ default:
+ return(-1);
+ }
+ }
+
+ /** @ingroup tutorial_datalog
@defgroup player_driver_writelog_sonar sonar format
Index: readlog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/readlog.cc,v
retrieving revision 1.53
retrieving revision 1.54
diff -C2 -d -r1.53 -r1.54
*** readlog.cc 21 Sep 2007 03:31:50 -0000 1.53
--- readlog.cc 18 Oct 2007 21:31:20 -0000 1.54
***************
*** 64,67 ****
--- 64,68 ----
- @ref interface_imu
- @ref interface_pointcloud3d
+ - @ref interface_opaque
- @ref interface_ptz
- @ref interface_actarray
***************
*** 274,277 ****
--- 275,284 ----
int token_count, char **tokens, double time);
+ // Parse opaque data
+ private: int ParseOpaque(player_devaddr_t id,
+ unsigned short type, unsigned short subtype,
+ int linenum,
+ int token_count, char **tokens, double time);
+
// Parse wifi data
private: int ParseWifi(player_devaddr_t id,
***************
*** 1206,1209 ****
--- 1213,1219 ----
return this->ParsePosition(id, type, subtype, linenum,
token_count, tokens, time);
+ else if (id.interf == PLAYER_OPAQUE_CODE)
+ return this->ParseOpaque(id, type, subtype, linenum,
+ token_count, tokens, time);
else if (id.interf == PLAYER_WIFI_CODE)
return this->ParseWifi(id, type, subtype, linenum,
***************
*** 1924,1927 ****
--- 1934,2034 ----
////////////////////////////////////////////////////////////////////////////
+ // Parse opaque data
+ int ReadLog::ParseOpaque(player_devaddr_t id,
+ unsigned short type, unsigned short subtype,
+ int linenum,
+ int token_count, char **tokens, double time)
+ {
+ int i, count;
+
+ switch(type)
+ {
+ case PLAYER_MSGTYPE_DATA:
+ switch(subtype)
+ {
+ case PLAYER_OPAQUE_DATA_STATE:
+ {
+ player_opaque_data_t data;
+
+ if (token_count < 8)
+ {
+ PLAYER_ERROR2("incomplete line at %s:%d",
+ this->filename, linenum);
+ return -1;
+ }
+
+ data.data_count = atoi(tokens[7]);
+
+ count = 0;
+ for (i = 8; i < token_count; i++)
+ {
+ data.data[count] = atoi(tokens[i]);
+ count++;
+ }
+
+ if (count != (int)data.data_count)
+ {
+ PLAYER_ERROR2("data count mismatch at %s:%d",
+ this->filename, linenum);
+ return -1;
+ }
+ this->Publish(id, type, subtype,
+ (void*)&data, sizeof(data), &time);
+ return(0);
+ }
+
+ default:
+ PLAYER_ERROR1("unknown opaque data subtype %d\n", subtype);
+ return(-1);
+ }
+ break;
+
+ case PLAYER_MSGTYPE_CMD:
+ switch(subtype)
+ {
+ case PLAYER_OPAQUE_CMD:
+ {
+ player_opaque_data_t data;
+
+ if (token_count < 8)
+ {
+ PLAYER_ERROR2("incomplete line at %s:%d",
+ this->filename, linenum);
+ return -1;
+ }
+
+ data.data_count = atoi(tokens[7]);
+
+ count = 0;
+ for (i = 8; i < token_count; i++)
+ {
+ data.data[count] = atoi(tokens[i]);
+ count++;
+ }
+
+ if (count != (int)data.data_count)
+ {
+ PLAYER_ERROR2("data count mismatch at %s:%d",
+ this->filename, linenum);
+ return -1;
+ }
+ this->Publish(id, type, subtype,
+ (void*)&data, sizeof(data), &time);
+ return(0);
+ }
+
+ default:
+ PLAYER_ERROR1("unknown opaque data subtype %d\n", subtype);
+ return(-1);
+ }
+ break;
+
+ default:
+ PLAYER_ERROR1("unknown opaque msg type %d\n", type);
+ return(-1);
+ }
+ }
+
+ ////////////////////////////////////////////////////////////////////////////
// Parse wifi data
int ReadLog::ParseWifi(player_devaddr_t id,
***************
*** 2182,2185 ****
--- 2289,2293 ----
{
player_pointcloud3d_element_t element;
+
memset(&element,0,sizeof(player_pointcloud3d_element_t));
player_point_3d_t point;
point.px = atof (tokens[8+i*3]);
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