Update of /cvsroot/playerstage/code/player/server/drivers/shell
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv10946/server/drivers/shell
Modified Files:
readlog.cc writelog.cc
Log Message:
applied Toby's patch to replace fixed-size arrays
Index: writelog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/writelog.cc,v
retrieving revision 1.86
retrieving revision 1.87
diff -C2 -d -r1.86 -r1.87
*** writelog.cc 18 Oct 2007 21:34:37 -0000 1.86
--- writelog.cc 1 Nov 2007 22:16:23 -0000 1.87
***************
*** 897,901 ****
! void
WriteLog::WriteLocalizeParticles()
--- 897,901 ----
! void
WriteLog::WriteLocalizeParticles()
***************
*** 1081,1085 ****
// resolution field.
!
fprintf(this->file, "%10d %+07.3f %2d ",
hypoths->pending_count, hypoths->pending_time,
--- 1081,1085 ----
// resolution field.
!
fprintf(this->file, "%10d %+07.3f %2d ",
hypoths->pending_count, hypoths->pending_time,
***************
*** 1088,1096 ****
for (i = 0; i < hypoths->hypoths_count; i++)
fprintf(this->file, "%+7.3f %+7.3f %7.3f %7.3f %7.3f %7.3f %7.3f
",
! hypoths->hypoths[i].mean.px,
! hypoths->hypoths[i].mean.py,
hypoths->hypoths[i].mean.pa,
! hypoths->hypoths[i].cov[0],
! hypoths->hypoths[i].cov[1],
hypoths->hypoths[i].cov[2],
hypoths->hypoths[i].alpha);
--- 1088,1096 ----
for (i = 0; i < hypoths->hypoths_count; i++)
fprintf(this->file, "%+7.3f %+7.3f %7.3f %7.3f %7.3f %7.3f %7.3f
",
! hypoths->hypoths[i].mean.px,
! hypoths->hypoths[i].mean.py,
hypoths->hypoths[i].mean.pa,
! hypoths->hypoths[i].cov[0],
! hypoths->hypoths[i].cov[1],
hypoths->hypoths[i].cov[2],
hypoths->hypoths[i].alpha);
***************
*** 1117,1122 ****
for (i = 0; i < particles->particles_count; i++)
fprintf(this->file, "%+7.3f %+7.3f %7.3f %7.3f ",
! particles->particles[i].pose.px,
! particles->particles[i].pose.py,
particles->particles[i].pose.pa,
particles->particles[i].alpha);
--- 1117,1122 ----
for (i = 0; i < particles->particles_count; i++)
fprintf(this->file, "%+7.3f %+7.3f %7.3f %7.3f ",
! particles->particles[i].pose.px,
! particles->particles[i].pose.py,
particles->particles[i].pose.pa,
particles->particles[i].alpha);
***************
*** 1746,1775 ****
switch(hdr->type)
{
! case PLAYER_MSGTYPE_DATA:
! // Check the subtype
! switch(hdr->subtype)
! {
! case PLAYER_ACTARRAY_DATA_STATE:
! {
! player_actarray_data_t* pdata;
! pdata = (player_actarray_data_t*)data;
! fprintf (this->file, "%d ", pdata->actuators_count);
! for (i = 0; i < pdata->actuators_count; i++)
! fprintf (this->file,"%f %f %f %f %d ",
! pdata->actuators[i].position,
! pdata->actuators[i].speed,
! pdata->actuators[i].acceleration,
! pdata->actuators[i].current,
! pdata->actuators[i].state);
! fprintf (this->file, "%d ", pdata->motor_state);
! return (0);
! }
!
! default:
! return (-1);
! }
!
! default:
return (-1);
}
}
--- 1746,1773 ----
switch(hdr->type)
{
! case PLAYER_MSGTYPE_DATA:
! // Check the subtype
! switch(hdr->subtype)
! {
! case PLAYER_ACTARRAY_DATA_STATE:
! player_actarray_data_t* pdata;
! pdata = (player_actarray_data_t*)data;
! fprintf (this->file, "%d ", pdata->actuators_count);
! for (i = 0; i < pdata->actuators_count; i++)
! fprintf (this->file,"%f %f %f %f %d ",
! pdata->actuators[i].position,
! pdata->actuators[i].speed,
! pdata->actuators[i].acceleration,
! pdata->actuators[i].current,
! pdata->actuators[i].state);
! fprintf (this->file, "%d ", pdata->motor_state);
! delete[] pdata->actuators;
! return (0);
! default:
return (-1);
+ }
+ break;
+ default:
+ return (-1);
}
}
***************
*** 1797,1807 ****
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);
--- 1795,1798 ----
***************
*** 1893,1911 ****
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, "%04lu ", (long)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);
--- 1884,1892 ----
player_rfid_data_t* rdata(static_cast<player_rfid_data_t*>(data));
fprintf(file, "%04lu ", (long)rdata->tags_count);
for (player_rfid_tag_t *t(rdata->tags);
t != rdata->tags + rdata->tags_count; ++t) {
! char str[t->guid_count * 2 + 1];
memset(str, '\0', sizeof(str));
EncodeHex(str, sizeof(str), t->guid, t->guid_count);
Index: readlog.cc
===================================================================
RCS file: /cvsroot/playerstage/code/player/server/drivers/shell/readlog.cc,v
retrieving revision 1.55
retrieving revision 1.56
diff -C2 -d -r1.55 -r1.56
*** readlog.cc 18 Oct 2007 21:34:37 -0000 1.55
--- readlog.cc 1 Nov 2007 22:16:23 -0000 1.56
***************
*** 148,151 ****
--- 148,152 ----
#include <libplayercore/playercore.h>
+ #include <libplayerxdr/playerxdr.h>
#include "encode.h"
***************
*** 258,265 ****
int token_count, char **tokens, double time);
! // Parse localize data
! private: int ParseLocalize(player_devaddr_t id, unsigned short type,
unsigned short subtype,
! int linenum, int token_count,
char **tokens, double time);
--- 259,266 ----
int token_count, char **tokens, double time);
! // Parse localize data
! private: int ParseLocalize(player_devaddr_t id, unsigned short type,
unsigned short subtype,
! int linenum, int token_count,
char **tokens, double time);
***************
*** 363,367 ****
private: bool particles_set;
private: player_devaddr_t localize_addr;
!
// Input buffer
--- 364,368 ----
private: bool particles_set;
private: player_devaddr_t localize_addr;
!
// Input buffer
***************
*** 1632,1644 ****
hypoths.pending_time = atof(tokens[8]);
hypoths.hypoths_count = atoi(tokens[9]);
!
count = 0;
for (i = 10; i < token_count; i += 7)
{
hypoths.hypoths[count].mean.px = atof(tokens[i + 0]);
! hypoths.hypoths[count].mean.py = atof(tokens[i + 1]);
hypoths.hypoths[count].mean.pa = atof(tokens[i + 2]);
hypoths.hypoths[count].cov[0] = atof(tokens[i + 3]);
! hypoths.hypoths[count].cov[1] = atof(tokens[i + 4]);
hypoths.hypoths[count].cov[2] = atof(tokens[i + 5]);
hypoths.hypoths[count].alpha = atof(tokens[i + 6]);
--- 1633,1645 ----
hypoths.pending_time = atof(tokens[8]);
hypoths.hypoths_count = atoi(tokens[9]);
!
count = 0;
for (i = 10; i < token_count; i += 7)
{
hypoths.hypoths[count].mean.px = atof(tokens[i + 0]);
! hypoths.hypoths[count].mean.py = atof(tokens[i + 1]);
hypoths.hypoths[count].mean.pa = atof(tokens[i + 2]);
hypoths.hypoths[count].cov[0] = atof(tokens[i + 3]);
! hypoths.hypoths[count].cov[1] = atof(tokens[i + 4]);
hypoths.hypoths[count].cov[2] = atof(tokens[i + 5]);
hypoths.hypoths[count].alpha = atof(tokens[i + 6]);
***************
*** 2170,2174 ****
data.pose.ppitch = atof (tokens[11]);
data.pose.pyaw = atof (tokens[12]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
--- 2171,2175 ----
data.pose.ppitch = atof (tokens[11]);
data.pose.pyaw = atof (tokens[12]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
***************
*** 2194,2198 ****
data.magn_y = atof (tokens[14]);
data.magn_z = atof (tokens[15]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
--- 2195,2199 ----
data.magn_y = atof (tokens[14]);
data.magn_z = atof (tokens[15]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
***************
*** 2222,2226 ****
data.q2 = atof (tokens[18]);
data.q3 = atof (tokens[19]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
--- 2223,2227 ----
data.q2 = atof (tokens[18]);
data.q3 = atof (tokens[19]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
***************
*** 2249,2253 ****
data.orientation.ppitch = atof (tokens[17]);
data.orientation.pyaw = atof (tokens[18]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
--- 2250,2254 ----
data.orientation.ppitch = atof (tokens[17]);
data.orientation.pyaw = atof (tokens[18]);
!
this->Publish (id, type, subtype,
(void*)&data, sizeof(data), &time);
***************
*** 2363,2403 ****
switch(type)
{
! case PLAYER_MSGTYPE_DATA:
! switch(subtype)
{
! case PLAYER_ACTARRAY_DATA_STATE:
! {
! player_actarray_data_t data;
! data.actuators_count = atoi (tokens[7]);
! if (token_count < (int)(7+data.actuators_count))
! {
! PLAYER_ERROR2("invalid line at %s:%d",
this->filename, linenum);
! return -1;
! }
! for (i = 0; i < data.actuators_count; i++)
! {
! player_actarray_actuator actuator;
! actuator.position = atof (tokens[5*i+8]);
! actuator.speed = atof (tokens[5*i+9]);
! actuator.acceleration = atof (tokens[5*i+10]);
! actuator.current = atof (tokens[5*i+11]);
! actuator.state = atoi (tokens[5*i+12]);
! data.actuators[i] = actuator;
! }
! data.motor_state = atoi (tokens[data.actuators_count*5 +
8]);
!
!
! this->Publish (id, type, subtype,
! (void*)&data, sizeof(data), &time);
! return (0);
! }
!
! default:
! PLAYER_ERROR1 ("unknown Actarray data subtype %d\n",
subtype);
! return (-1);
}
! default:
! PLAYER_ERROR1 ("unknown Actarray message type %d\n", type);
return (-1);
}
}
--- 2364,2402 ----
switch(type)
{
! case PLAYER_MSGTYPE_DATA:
! switch(subtype)
! {
! case PLAYER_ACTARRAY_DATA_STATE:
! player_actarray_data_t data;
! data.actuators_count = atoi (tokens[7]);
! data.actuators = new
player_actarray_actuator[data.actuators_count];
! if (token_count < (int)(7+data.actuators_count))
{
! PLAYER_ERROR2("invalid line at %s:%d", this->filename,
linenum);
! return -1;
}
! for (i = 0; i < data.actuators_count; i++)
! {
! player_actarray_actuator actuator;
! actuator.position = atof (tokens[5*i+8]);
! actuator.speed = atof (tokens[5*i+9]);
! actuator.acceleration = atof (tokens[5*i+10]);
! actuator.current = atof (tokens[5*i+11]);
! actuator.state = atoi (tokens[5*i+12]);
! data.actuators[i] = actuator;
! }
! data.motor_state = atoi (tokens[data.actuators_count*5 + 8]);
!
! this->Publish (id, type, subtype, (void*)&data, sizeof(data),
&time);
! delete[] data.actuators;
! return (0);
! default:
! PLAYER_ERROR1 ("unknown Actarray data subtype %d\n", subtype);
return (-1);
+ }
+ break;
+ default:
+ PLAYER_ERROR1 ("unknown Actarray message type %d\n", type);
+ return (-1);
}
}
***************
*** 2429,2439 ****
}
- 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)
--- 2428,2433 ----
}
char **t(tokens + 8);
+ inputs.voltages = new float[inputs.voltages_count];
for (float *v(inputs.voltages);
v != inputs.voltages + inputs.voltages_count; ++v, ++t)
***************
*** 2442,2445 ****
--- 2436,2440 ----
Publish(id, type, subtype, (void *)&inputs, sizeof(inputs),
&time);
+ delete [] inputs.voltages;
return 0;
}
***************
*** 2551,2561 ****
}
- 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) {
--- 2546,2552 ----
}
char **t(tokens + 8);
+ rdata.tags = new player_rfid_tag_t[ rdata.tags_count];
for (player_rfid_tag_t *r(rdata.tags);
r != rdata.tags + rdata.tags_count; ++r, ++t) {
***************
*** 2563,2571 ****
++t;
r->guid_count = strlen(*t) / 2;
! DecodeHex(r->guid, PLAYER_RFID_MAX_GUID, *t, strlen(*t));
}
Publish(id, type, subtype, (void *)&rdata, sizeof(rdata),
&time);
return 0;
}
--- 2554,2564 ----
++t;
r->guid_count = strlen(*t) / 2;
! r->guid = new char [r->guid_count];
! DecodeHex(r->guid, r->guid_count, *t, strlen(*t));
}
Publish(id, type, subtype, (void *)&rdata, sizeof(rdata),
&time);
+ player_rfid_data_t_cleanup(&rdata);
return 0;
}
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