Revision: 7729
http://playerstage.svn.sourceforge.net/playerstage/?rev=7729&view=rev
Author: asadat
Date: 2009-05-27 19:42:15 +0000 (Wed, 27 May 2009)
Log Message:
-----------
Added a method to get the extent of the world and models. And also did some
refactoring
Modified Paths:
--------------
code/websim/src/websim.cc
code/websim/src/websim.hh
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-05-27 19:39:57 UTC (rev 7728)
+++ code/websim/src/websim.cc 2009-05-27 19:42:15 UTC (rev 7729)
@@ -255,6 +255,13 @@
return false;
}
}
+ else if(prop == "extent")
+ {
+ double x,y,z;
+ GetModelExtent("sim", x, y, z, response);
+ GetXMLModelExtent("sim", x, y, z, response);
+
+ }
else if(prop == "greet") // action is the name of the greeting server
{
// TODO - check to see if this server was anticipated
@@ -313,35 +320,16 @@
return false;
}
- }else if(prop=="lasercfg"){
-
- Time t;
- uint32_t res;
- double fov;
- Pose p;
-
- if(GetLaserCfgData(model, t, res, fov, p, response))
- {
-
- GetTextLaserCfgData(model, t, res, fov, p, response);
- return true;
-
- }
- else
- {
- response = "ERROR: Failed to get laser cfg data for model " + model;
- return false;
- }
-
}else if(prop=="ranger"){
Time t;
std::vector<double> ranges;
+ std::vector<Pose> p;
- if(GetRangerData(model, t, ranges, response))
+ if(GetRangerData(model, t, p, ranges, response))
{
- GetTextRangerData(model, t, ranges, response);
+ GetXMLRangerData(model, t, p, ranges, response);
return true;
}
@@ -351,24 +339,13 @@
return false;
}
- }else if(prop=="rangercfg"){
-
- Time t;
- std::vector<Pose> p;
-
- if(GetRangerCfgData(model, t, p, response))
- {
+ }else if(prop == "extent")
+ {
+ double x,y,z;
+ GetModelExtent(model, x, y, z, response);
+ GetXMLModelExtent(model, x, y, z, response);
- GetTextRangerCfgData(model, t, p, response);
- return true;
-
- }
- else
- {
- response = "ERROR: Failed to get ranger Cfg data for model " + model;
- return false;
}
- }
else
{
response = "ERROR: Unknown property " + prop + " for model " + model;
@@ -720,28 +697,10 @@
xmlBufferFree(buf);
}
-void
-WebSim::GetTextLaserCfgData(const std::string& name,
- Time& t,
-
uint32_t& resolution,
- double&
fov,
- Pose& p,
-
std::string& response)
-{
- char buf[2048];
- snprintf(buf, sizeof(buf),
- "%s's state @%s: \n resolution(%d)\n fov(%.2f)\n"
- " pose (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n",
- name.c_str(),
- t.String().c_str(),
- resolution,
- fov,
- p.x,p.y,p.z,p.r,p.p,p.a);
- response = buf;
-}
void
WebSim::GetTextRangerData(const std::string& name,
Time& t,
+
std::vector<Pose>& p,
std::vector<double>& ranges,
std::string& response)
{
std::string res;
@@ -753,19 +712,30 @@
res.append(",");
}
+ std::string pstr;
+ char ptmp[256];
+ for(unsigned int i=0;i<p.size();i++){
+ Pose pos = p.at(i);
+ sprintf(ptmp," (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
+ pos.x,pos.y,pos.x,pos.r,pos.p,pos.a);
+ pstr.append(ptmp);
+
+ }
char buf[2048];
snprintf(buf, sizeof(buf),
- "%s's state @%s: \n ranger: (%s)\n",
+ "%s's state @%s: \n ranger\n ranges: (%s)\n pose:
%s",
name.c_str(),
t.String().c_str(),
- res.c_str());
+ res.c_str(),
+ pstr.c_str());
response = buf;
}
void
WebSim::GetXMLRangerData(const std::string& name,
Time& t,
+
std::vector<Pose>& p,
std::vector<double>& ranges,
std::string& response)
{
@@ -776,7 +746,7 @@
std::string res;
- char temp[128];
+ char temp[1024];
for(unsigned int i=0;i<ranges.size();i++){
sprintf(temp,"%.3f",ranges.at(i));
res.append(temp);
@@ -784,6 +754,14 @@
res.append(",");
}
+ std::string pstr;
+ char ptmp[2048];
+ for(unsigned int i=0;i<p.size();i++){
+ Pose pos = p.at(i);
+ sprintf(ptmp," (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
+ pos.x,pos.y,pos.x,pos.r,pos.p,pos.a);
+ pstr.append(ptmp);
+ }
buf = xmlBufferCreate();
writer = xmlNewTextWriterMemory(buf, 0);
@@ -803,8 +781,10 @@
tmp = ConvertInput(res.c_str(), MY_ENCODING);
- xmlTextWriterWriteAttribute(writer, BAD_CAST "samples", BAD_CAST tmp);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Samples", BAD_CAST tmp);
+ tmp = ConvertInput(pstr.c_str(), MY_ENCODING);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Positions", BAD_CAST tmp);
xmlTextWriterEndElement(writer);
@@ -823,37 +803,80 @@
}
+void
+WebSim::GetTextModelExtent(const std::string& name,
+ double& x,
+ double& y,
+ double& z,
+ std::string& response)
+{
+ char buf[1024];
+ if(name == "sim")
+ snprintf(buf, sizeof(buf),"World Extent: (%.3f,%.3f,%.3f)\n",
+ x, y, z);
+ else
+ snprintf(buf, sizeof(buf),"%s's Extent: (%.3f,%.3f,%.3f)\n",
+ name.c_str(), x, y, z);
+ response = buf;
+
+}
+
void
-WebSim::GetTextRangerCfgData(const std::string& name,
- Time& t,
-
std::vector<Pose>& p,
-
std::string& response)
+WebSim::GetXMLModelExtent(const std::string& name,
+ double& x,
+ double& y,
+ double& z,
+ std::string& response)
{
+
+ xmlTextWriterPtr writer;
+ xmlBufferPtr buf;
+ xmlChar *tmp;
+ char str[32];
- std::string res;
- char temp[256];
- for(unsigned int i=0;i<p.size();i++){
- Pose pos = p.at(i);
- sprintf(temp," (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)",
- pos.x,pos.y,pos.x,pos.r,pos.p,pos.a);
- res.append(temp);
-
- }
+ buf = xmlBufferCreate();
+ writer = xmlNewTextWriterMemory(buf, 0);
-
- char buf[2048];
- snprintf(buf, sizeof(buf),
- "%s's state @%s: \n rangerCfg:Pose (%s)\n",
- name.c_str(),
- t.String().c_str(),
- res.c_str());
- response = buf;
+
+ xmlTextWriterStartElement(writer, BAD_CAST "Data");
+
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Type", BAD_CAST "extent");
+
+ tmp = ConvertInput(name.c_str(),MY_ENCODING);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Model", BAD_CAST tmp);
+
+ xmlTextWriterStartElement(writer, BAD_CAST "ModelExtent");
+
+
+ sprintf(str,"%.3f",x);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "X", BAD_CAST tmp);
+
+ sprintf(str,"%.3f",y);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Y", BAD_CAST tmp);
+ sprintf(str,"%.3f",z);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Z", BAD_CAST tmp);
+
+ xmlTextWriterEndElement(writer);
+
+ xmlTextWriterEndElement(writer);
+ xmlTextWriterEndDocument(writer);
+ xmlFreeTextWriter(writer);
+
+ puts((const char*) buf->content);
+
+ response = (const char*) buf->content;
+
+ xmlBufferFree(buf);
+
+
}
-
xmlChar *
ConvertInput(const char *in, const char *encoding)
{
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-05-27 19:39:57 UTC (rev 7728)
+++ code/websim/src/websim.hh 2009-05-27 19:42:15 UTC (rev 7729)
@@ -122,47 +122,44 @@
std::vector<double>& ranges,
std::string& response);
- virtual bool GetLaserCfgData(const std::string& name,
- Time& t,
-
uint32_t& resolution,
- double&
fov,
- Pose& p,
-
std::string& response) = 0;
-
- void GetTextLaserCfgData(const std::string& name,
- Time& t,
-
uint32_t& resolution,
- double&
fov,
- Pose& p,
-
std::string& response);
virtual bool GetRangerData(const std::string& name,
Time& t,
+
std::vector<Pose>& p,
std::vector<double>& ranges,
std::string& response) = 0;
void GetTextRangerData(const std::string& name,
Time& t,
+
std::vector<Pose>& p,
std::vector<double>& ranges,
std::string& response);
void GetXMLRangerData(const std::string& name,
Time& t,
+
std::vector<Pose>& p,
std::vector<double>& ranges,
std::string& response);
-
- virtual bool GetRangerCfgData(const std::string& name,
- Time& t,
-
std::vector<Pose>& p,
-
std::string& response) = 0;
- void GetTextRangerCfgData(const std::string& name,
- Time& t,
-
std::vector<Pose>& p,
+
+ virtual bool GetModelExtent(const std::string& name,
+ double&
x,
+ double&
y,
+ double&
z,
+
std::string& response) = 0;
+ void GetTextModelExtent(const std::string& name,
+ double&
x,
+ double&
y,
+ double&
z,
std::string& response);
+ void GetXMLModelExtent(const std::string&,
+ double&
x,
+ double&
y,
+ double&
z,
+
std::string& response);
/** Get the current simulation time */
virtual Time GetTime() = 0;
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