Revision: 7741
http://playerstage.svn.sourceforge.net/playerstage/?rev=7741&view=rev
Author: asadat
Date: 2009-05-29 21:10:46 +0000 (Fri, 29 May 2009)
Log Message:
-----------
added 'format' as a parameter of http request to specify response format
Modified Paths:
--------------
code/websim/src/websim.cc
code/websim/src/websim.hh
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-05-29 21:09:08 UTC (rev 7740)
+++ code/websim/src/websim.cc 2009-05-29 21:10:46 UTC (rev 7741)
@@ -186,21 +186,34 @@
struct evkeyvalq* kv,
std::string& response)
{
+
+ bool xmlresponse = false;
+ std::string format;
+ // specify the format of the response: Text or Xml
+ if(GetValue(format,kv,"format")){
+
+ if(format == "xml")
+ xmlresponse = true;
+ else
+ xmlresponse = false;
+ }
+
// The special simulation model
if(model == "sim")
{
- return HandleSimRequest(prop, action, kv, response);
+ return HandleSimRequest(prop, action, xmlresponse, kv, response);
}
// Everything else must be an existing model
else
{
- return HandleModelRequest(model, prop, action, kv, response);
+ return HandleModelRequest(model, prop, action, xmlresponse, kv, response);
}
}
bool
WebSim::HandleSimRequest(const std::string& prop,
const std::string& action,
+ bool xmlresponse,
struct evkeyvalq* kv,
std::string& response)
{
@@ -258,8 +271,9 @@
else if(prop == "extent")
{
double x,y,z;
- GetModelExtent("sim", x, y, z, response);
- GetXMLModelExtent("sim", x, y, z, response);
+ Pose center;
+ GetModelExtent("sim", x, y, z, center, response);
+ GetXMLModelExtent("sim", x, y, z, center, response);
}
else if(prop == "robots")
@@ -295,6 +309,7 @@
WebSim::HandleModelRequest(const std::string& model,
const std::string& prop,
const std::string& action,
+ bool xmlresponse,
struct evkeyvalq* kv,
std::string& response)
{
@@ -308,7 +323,12 @@
Time t;
if(GetModelPVA(model, t, p, v, a, response))
{
- GetTextPVA(model, t, p, v, a, response);
+
+ if(xmlresponse)
+ GetXMLPVA(model, t, p, v, a, response);
+ else
+ GetTextPVA(model, t, p, v, a, response);
+
return true;
}
@@ -325,8 +345,12 @@
std::vector<double> ranges;
if(GetLaserData(model, t, res, fov, p,ranges, response))
{
- GetTextLaserData(model, t, res, fov, p, ranges, response);
- return true;
+ if(xmlresponse)
+ GetXMLLaserData(model, t, res, fov, p, ranges,
response);
+ else
+ GetTextLaserData(model, t, res, fov, p, ranges,
response);
+
+ return true;
}
else
@@ -343,9 +367,13 @@
if(GetRangerData(model, t, p, ranges, response))
{
-
- GetXMLRangerData(model, t, p, ranges, response);
- return true;
+ if(xmlresponse)
+
+ GetXMLRangerData(model, t, p, ranges, response);
+ else
+ GetTextRangerData(model, t, p, ranges, response);
+
+ return true;
}
else
@@ -354,23 +382,32 @@
return false;
}
- }else if(prop == "extent")
- {
- double x,y,z;
- GetModelExtent(model, x, y, z, response);
- GetXMLModelExtent(model, x, y, z, response);
+ }else if(prop == "extent"){
+ double x,y,z;
+ Pose center;
+ if(GetModelExtent(model, x, y, z, center, response))
+ {
+ if(xmlresponse)
+ GetXMLModelExtent(model, x, y, z, center, response);
+ else
+ GetTextModelExtent(model, x, y, z, center, response);
- }
- else
- {
- response = "ERROR: Unknown property " + prop + " for model " + model;
- return false;
- }
- }
- else if(action == "set")
+ }else{
+
+ response = "ERROR: failed to get the extent of model " + model;
+ return false;
+
+ }
+ }else{
+ response = "ERROR: Unknown property " + prop + " for model " + model;
+ return false;
+ }
+
+
+}else if(action == "set")
{
if(prop == "pva")
- {
+ {
std::string sx, sy, sz, sroll, spitch, syaw;
// Get pose first, fill in what the caller provided
@@ -625,7 +662,7 @@
}
- char buf[2048];
+ char buf[4096];
snprintf(buf, sizeof(buf),
"%s's state @%s: \n laser: (%s)\n resolution: (%d)\n
fov(%.2f)\n"
" pose (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n",
@@ -652,7 +689,7 @@
xmlTextWriterPtr writer;
xmlBufferPtr buf;
xmlChar *tmp;
- char str[32];
+ char str[128];
std::string res;
@@ -671,9 +708,8 @@
xmlTextWriterStartElement(writer, BAD_CAST "Data");
- sprintf(str,"%s",t.String().c_str());
- tmp = ConvertInput(str,MY_ENCODING);
- xmlTextWriterWriteAttribute(writer, BAD_CAST "Time", BAD_CAST tmp);
+
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Time", BAD_CAST
t.String().c_str());
xmlTextWriterWriteAttribute(writer, BAD_CAST "Type", BAD_CAST "laser");
tmp = ConvertInput(name.c_str(),MY_ENCODING);
@@ -689,7 +725,7 @@
tmp = ConvertInput(str,MY_ENCODING);
xmlTextWriterWriteAttribute(writer, BAD_CAST "FOV", BAD_CAST tmp);
- sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",p.x, p.y, 0.f, 0.f, 0.f, p.a);
+ sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",p.x, p.y, p.z, p.r, p.p, p.a);
tmp = ConvertInput(str,MY_ENCODING);
xmlTextWriterWriteAttribute(writer, BAD_CAST "Pose", BAD_CAST tmp);
@@ -823,15 +859,16 @@
double& x,
double& y,
double& z,
+ Pose& center,
std::string& response)
{
char buf[1024];
if(name == "sim")
- snprintf(buf, sizeof(buf),"World Extent: (%.3f,%.3f,%.3f)\n",
- x, y, z);
+ snprintf(buf, sizeof(buf),"World Extent: (%.3f,%.3f,%.3f)\n
Origin (%.3f,%.3f,%.3f,%.3f,%.3f,%.3f)",
+ x, y, z, center.x, center.y, center.z,
center.r, center.p, center.a);
else
- snprintf(buf, sizeof(buf),"%s's Extent: (%.3f,%.3f,%.3f)\n",
- name.c_str(), x, y, z);
+ snprintf(buf, sizeof(buf),"%s's Extent: (%.3f,%.3f,%.3f)\n
Origin (%.3f,%.3f,%.3f,%.3f,%.3f,%.3f)",
+ name.c_str(), x, y, z, center.x, center.y,
center.z, center.r, center.p, center.a);
response = buf;
@@ -842,13 +879,14 @@
double& x,
double& y,
double& z,
+ Pose& center,
std::string& response)
{
xmlTextWriterPtr writer;
xmlBufferPtr buf;
xmlChar *tmp;
- char str[32];
+ char str[1024];
buf = xmlBufferCreate();
writer = xmlNewTextWriterMemory(buf, 0);
@@ -876,6 +914,10 @@
tmp = ConvertInput(str,MY_ENCODING);
xmlTextWriterWriteAttribute(writer, BAD_CAST "Z", BAD_CAST tmp);
+
sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",center.x,center.y,center.z,center.r,center.p,center.a);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlTextWriterWriteAttribute(writer, BAD_CAST "Origin", BAD_CAST tmp);
+
xmlTextWriterEndElement(writer);
xmlTextWriterEndElement(writer);
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-05-29 21:09:08 UTC (rev 7740)
+++ code/websim/src/websim.hh 2009-05-29 21:10:46 UTC (rev 7741)
@@ -48,6 +48,7 @@
class Velocity;
class Acceleration;
class Time;
+class Bounds;
class WebSim
{
@@ -83,19 +84,6 @@
Acceleration& a,
std::string& response) = 0;
- void GetTextPVA(const std::string& name,
- Time& t,
- const
Pose& p,
- const
Velocity& v,
- const
Acceleration& a,
-
std::string& response);
-
- void GetXMLPVA(const std::string& name,
- Time& t,
- const
Pose& p,
- const
Velocity& v,
- const
Acceleration& a,
-
std::string& response);
virtual bool GetLaserData(const std::string& name,
Time& t,
uint32_t& resolution,
@@ -103,25 +91,7 @@
Pose& p,
std::vector<double>& ranges,
std::string& response) = 0;
-
- void GetTextLaserData(const std::string& name,
- Time& t,
-
uint32_t& resolution,
- double&
fov,
- Pose& p,
-
-
std::vector<double>& ranges,
-
std::string& response);
-
- void GetXMLLaserData(const std::string& name,
- Time& t,
-
uint32_t& resolution,
- double&
fov,
- Pose& p,
-
std::vector<double>& ranges,
-
std::string& response);
-
virtual bool GetRangerData(const std::string& name,
Time& t,
@@ -130,36 +100,14 @@
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 GetModelExtent(const std::string& name,
- double&
x,
- double&
y,
- double&
z,
+ double&
bx,
+ double&
by,
+ double&
bz,
+ Pose&
center,
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);
virtual bool GetNumberOfRobots(unsigned int& n) = 0;
virtual bool GetSayStrings(std::vector<std::string>& sayings) = 0;
@@ -202,11 +150,13 @@
std::string& response);
bool HandleSimRequest(const std::string& prop,
const
std::string& action,
+ bool
xmlresponse,
struct
evkeyvalq* kv,
std::string&
response);
bool HandleModelRequest(const std::string& model,
const
std::string& prop,
const
std::string& action,
+ bool
xmlresponse,
struct
evkeyvalq* kv,
std::string&
response);
bool ParseURI(std::string& model,
@@ -216,6 +166,62 @@
std::string& response);
void DeleteKeyVal(struct evkeyvalq* query_args);
+ void GetTextPVA(const std::string& name,
+ Time& t,
+ const
Pose& p,
+ const
Velocity& v,
+ const
Acceleration& a,
+
std::string& response);
+
+ void GetXMLPVA(const std::string& name,
+ Time& t,
+ const
Pose& p,
+ const
Velocity& v,
+ const
Acceleration& a,
+
std::string& response);
+
+ void GetTextLaserData(const std::string& name,
+ Time& t,
+
uint32_t& resolution,
+ double&
fov,
+ Pose& p,
+
+
std::vector<double>& ranges,
+
std::string& response);
+
+
+ void GetXMLLaserData(const std::string& name,
+ Time& t,
+
uint32_t& resolution,
+ double&
fov,
+ Pose& p,
+
std::vector<double>& ranges,
+
std::string& response);
+ 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);
+ void GetTextModelExtent(const std::string& name,
+ double&
x,
+ double&
y,
+ double&
z,
+ Pose&
center,
+
std::string& response);
+
+ void GetXMLModelExtent(const std::string&,
+ double&
x,
+ double&
y,
+ double&
z,
+ Pose&
center,
+
std::string& response);
// forward decare
class Confederate;
@@ -383,6 +389,15 @@
{}
};
+class Bounds
+{
+public:
+ /// largest value in range, initially zero
+ double max;
+ /// smallest value in range, initially zero
+ double min;
+
+ Bounds() : max(0), min(0) { /* empty*/ }
+};
-
}
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