Revision: 7930
http://playerstage.svn.sourceforge.net/playerstage/?rev=7930&view=rev
Author: asadat
Date: 2009-06-29 22:58:45 +0000 (Mon, 29 Jun 2009)
Log Message:
-----------
did some refactoring
Modified Paths:
--------------
code/websim/CMakeLists.txt
code/websim/src/req_sim.cc
code/websim/src/websim.cc
code/websim/src/websim.hh
Added Paths:
-----------
code/websim/src/req_model.cc
Modified: code/websim/CMakeLists.txt
===================================================================
--- code/websim/CMakeLists.txt 2009-06-29 19:35:46 UTC (rev 7929)
+++ code/websim/CMakeLists.txt 2009-06-29 22:58:45 UTC (rev 7930)
@@ -57,7 +57,7 @@
include_directories(src)
-add_library(websim SHARED src/websim.cc src/parser.cc src/confederate.cc
src/puppet.cc src/req_sim.cc )
+add_library(websim SHARED src/websim.cc src/parser.cc src/confederate.cc
src/puppet.cc src/req_sim.cc src/req_model.cc )
add_library(websim-static STATIC src/websim.cc src/parser.cc
src/confederate.cc src/puppet.cc src/req_sim.cc )
# Set output name to be the same as shared lib (may not work on Windows)
set_target_properties(websim-static PROPERTIES OUTPUT_NAME websim)
Added: code/websim/src/req_model.cc
===================================================================
--- code/websim/src/req_model.cc (rev 0)
+++ code/websim/src/req_model.cc 2009-06-29 22:58:45 UTC (rev 7930)
@@ -0,0 +1,757 @@
+#include "websim.hh"
+#include <boost/lexical_cast.hpp>
+
+//#include <assert.h>
+//#include <stdlib.h>
+//#include <string.h>
+#include <libxml/encoding.h>
+using namespace websim;
+
+#define MY_ENCODING "ISO-8859-1"
+
+xmlChar *
+ConvertInput(const char *in, const char *encoding);
+
+bool
+WebSim::HandleModelRequest(const std::string& model,
+ const std::string& prop,
+ const std::string& action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if(prop == "pva")
+ return HandleModelPVARequest(model, action, format, kv, response );
+
+ if(prop == "data")
+ return HandleModelDataRequest( model, action, format, kv, response );
+
+ if(prop == "geometry")
+ return HandleModelGeometryRequest( model, action, format, kv, response );
+
+ if(prop == "tree")
+ return HandleModelTreeRequest( model, action, format, kv, response );
+
+ response = "ERROR: Unknown property " + prop + " for model. Candidates are:
pva data geometry tree.";
+ return false;
+}
+
+
+
+bool
+WebSim::HandleModelDataRequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if(action == "get"){
+
+ if(!GetModelData(model, response, format, NULL)){
+ response = "ERROR: failed to get the Data of model " + model;
+ return false;
+ }
+ }
+
+ return true;
+
+}
+
+bool
+WebSim::HandleModelTreeRequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+
+ if(action == "get"){
+ if(!GetModelTree(model, format, response, false)){
+ response = "ERROR: failed to get the tree of model " + model;
+ return false;
+ }
+ }
+
+ return true;
+}
+
+bool
+WebSim::HandleModelGeometryRequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+
+ double x,y,z;
+ Pose center;
+ if(GetModelGeometry(model, x, y, z, center, response))
+ {
+
+ GetGeometryData(model, x, y, z, center, format, response, NULL);
+ return true;
+
+ }else{
+
+ response = "ERROR: failed to get the Geometry of model " + model;
+ return false;
+
+ }
+
+ return true;
+}
+
+bool
+WebSim::HandleModelPVARequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response)
+{
+ if(action == "get"){
+
+ Pose p;
+ Velocity v;
+ Acceleration a;
+ Time t;
+ if(GetModelPVA(model, t, p, v, a, response)){
+
+ GetPVA(model, t, p, v, a, format, response, NULL);
+ return true;
+
+ }else{
+
+ response = "ERROR: failed to get the PVA of model "+model;
+ return false;
+ }
+
+
+ }else if(action == "set"){
+
+ std::string sx, sy, sz, sroll, spitch, syaw;
+
+ // Get pose first, fill in what the caller provided
+ Pose p;
+ Velocity v;
+ Acceleration a;
+ Time t;
+ if(!GetModelPVA(model, t, p, v, a, response))
+ {
+ response = "Failed to get pose before setting it";
+ return false;
+ }
+ try
+ {
+ if(GetValue(sx, kv, "px"))
+ p.x = boost::lexical_cast<float>(sx);
+ if(GetValue(sy, kv, "py"))
+ p.y = boost::lexical_cast<float>(sy);
+ if(GetValue(sz, kv, "pz"))
+ p.z = boost::lexical_cast<float>(sz);
+ if(GetValue(sroll, kv, "pr"))
+ p.r = boost::lexical_cast<float>(sroll);
+ if(GetValue(spitch, kv, "pp"))
+ p.p = boost::lexical_cast<float>(spitch);
+ if(GetValue(syaw, kv, "pa"))
+ p.a = boost::lexical_cast<float>(syaw);
+
+ if(GetValue(sx, kv, "vx"))
+ v.x = boost::lexical_cast<float>(sx);
+ if(GetValue(sy, kv, "vy"))
+ v.y = boost::lexical_cast<float>(sy);
+ if(GetValue(sz, kv, "vz"))
+ v.z = boost::lexical_cast<float>(sz);
+ if(GetValue(sroll, kv, "vr"))
+ v.r = boost::lexical_cast<float>(sroll);
+ if(GetValue(spitch, kv, "vp"))
+ v.p = boost::lexical_cast<float>(spitch);
+ if(GetValue(syaw, kv, "va"))
+ v.a = boost::lexical_cast<float>(syaw);
+
+ if(GetValue(sx, kv, "ax"))
+ a.x = boost::lexical_cast<float>(sx);
+ if(GetValue(sy, kv, "ay"))
+ a.y = boost::lexical_cast<float>(sy);
+ if(GetValue(sz, kv, "az"))
+ a.z = boost::lexical_cast<float>(sz);
+ if(GetValue(sroll, kv, "ar"))
+ a.r = boost::lexical_cast<float>(sroll);
+ if(GetValue(spitch, kv, "ap"))
+ a.p = boost::lexical_cast<float>(spitch);
+ if(GetValue(syaw, kv, "aa"))
+ a.a = boost::lexical_cast<float>(syaw);
+ }
+ catch(boost::bad_lexical_cast e)
+ {
+ response = std::string("Failed to parse input value(s): ") +
+ e.what();
+ return false;
+ }
+
+ return(SetModelPVA(model, p, v, a, response));
+ }
+
+ return false;
+}
+
+void
+WebSim::GetPVA(const std::string& name,
+ Time& t,
+ const Pose& p,
+ const Velocity& v,
+ const Acceleration& a,
+ Format format,
+ std::string& response,
+ void* xmlnode)
+{
+ if(format == TEXT){
+ char buf[1024];
+ snprintf(buf, sizeof(buf),
+ "%s's state @%s: \n pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n"
+ " vel : (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n"
+ " acc : (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n",
+ name.c_str(),
+ t.String().c_str(),
+ p.x, p.y, p.z, p.r, p.p, p.a,
+ v.x, v.y, v.z, v.r, v.p, v.a,
+ a.x, a.y, a.z, a.r, a.p, a.a);
+ response = buf;
+
+ }else if (format == XML){
+
+ xmlNodePtr root_node = NULL;
+ xmlDocPtr doc = NULL;
+ xmlNodePtr node;
+ xmlChar *tmp;
+ char str[128];
+
+ if(xmlnode == NULL){
+
+ doc = xmlNewDoc(BAD_CAST "1.0");
+ root_node = xmlNewNode(NULL, BAD_CAST "root");
+ xmlDocSetRootElement(doc, root_node);
+ node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
+ }else{
+ node = (xmlNodePtr) xmlnode;
+ xmlNodeSetName(node, xmlCharStrdup("Model"));
+ //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "PVA", NULL);
+ //root_node = (xmlNodePtr)parent;
+ }
+
+
+
+
+ sprintf(str,"%s",t.String().c_str());
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Time", BAD_CAST tmp);
+ xmlNewProp(node, BAD_CAST "Type", BAD_CAST "pva");
+
+ tmp = ConvertInput(name.c_str(),MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
+
+ 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);
+ xmlNewProp(node, BAD_CAST "Pose", BAD_CAST tmp);
+
+ sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",v.x, v.y, v.z, v.r, v.p, v.a);
+ tmp = ConvertInput(str, MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Velocity", BAD_CAST tmp);
+
+ sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",a.x, a.y, a.z, a.r, a.p, a.a);
+ tmp = ConvertInput(str, MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Acceleration", BAD_CAST tmp);
+
+ if(xmlnode == NULL){
+ xmlBufferPtr buf = xmlBufferCreate();
+ xmlKeepBlanksDefault(0);
+ xmlNodeDump(buf, doc,node, 0, 1);
+ response = (const char*) buf->content;
+ puts(response.c_str());
+ xmlBufferFree(buf);
+ xmlFreeDoc(doc);
+ }
+ }
+
+}
+
+
+void
+WebSim::GetLaserData(const std::string& name,
+ Time& t,
+ uint32_t& resolution,
+ double& fov,
+ Pose& p,
+ std::vector<double>& ranges,
+ Format format,
+ std::string& response,
+ void* xmlnode)
+{
+ if(format == TEXT){
+
+ std::string res;
+ char temp[128];
+ for(unsigned int i=0;i<ranges.size();i++){
+ sprintf(temp,"%.3f",ranges.at(i));
+ res.append(temp);
+ if(i+1 != ranges.size())
+ res.append(",");
+ }
+
+
+ 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",
+ name.c_str(),
+ t.String().c_str(),
+ res.c_str(),
+ resolution,
+ fov,
+ p.x,p.y,p.z,p.r,p.p,p.a);
+ response = buf;
+
+ }else if(format == XML){
+
+ xmlNodePtr root_node = NULL;
+ xmlDocPtr doc = NULL;
+ xmlNodePtr node;
+ xmlChar *tmp;
+ char str[128];
+
+ if(xmlnode == NULL){
+ puts("no parent\n");
+ doc = xmlNewDoc(BAD_CAST "1.0");
+ root_node = xmlNewNode(NULL, BAD_CAST "root");
+ xmlDocSetRootElement(doc, root_node);
+ node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
+ }else{
+ node = (xmlNodePtr) xmlnode;
+ xmlNodeSetName(node, xmlCharStrdup("Model"));
+ //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "Laser", NULL);
+ //root_node = (xmlNodePtr)parent;
+ }
+
+ std::string res;
+ char temp[128];
+ for(unsigned int i=0;i<ranges.size();i++){
+ sprintf(temp,"%.3f",ranges.at(i));
+ res.append(temp);
+ if(i+1 != ranges.size())
+ res.append(",");
+ }
+
+
+
+ xmlNewProp(node, BAD_CAST "Time", BAD_CAST t.String().c_str());
+ xmlNewProp(node, BAD_CAST "Type", BAD_CAST "laser");
+
+ tmp = ConvertInput(name.c_str(),MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
+
+ sprintf(str,"%d",resolution);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Resolution", BAD_CAST tmp);
+
+ sprintf(str,"%.3f",fov);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "FOV", BAD_CAST tmp);
+
+ 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);
+ xmlNewProp(node, BAD_CAST "Pose", BAD_CAST tmp);
+
+ tmp = ConvertInput(res.c_str(), MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Samples", BAD_CAST tmp);
+
+
+ if(xmlnode == NULL){
+ xmlBufferPtr buf = xmlBufferCreate();
+ xmlKeepBlanksDefault(0);
+ xmlNodeDump(buf, doc,node, 0, 1);
+
+ response = (const char*) buf->content;
+ puts(response.c_str());
+ xmlBufferFree(buf);
+ xmlFreeDoc(doc);
+ }
+
+
+
+
+ }
+}
+
+void
+WebSim::GetRangerData(const std::string& name,
+ Time& t,
+ std::vector<Pose>& p,
+ std::vector<double>& ranges,
+ Format format,
+ std::string& response,
+ void* xmlnode)
+{
+ if(format == TEXT){
+
+ std::string res;
+ char temp[128];
+ for(unsigned int i=0;i<ranges.size();i++){
+ sprintf(temp,"%.3f",ranges.at(i));
+ res.append(temp);
+ if(i+1 != ranges.size())
+ 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\n ranges: (%s)\n pose: %s",
+ name.c_str(),
+ t.String().c_str(),
+ res.c_str(),
+ pstr.c_str());
+ response = buf;
+
+ }else if(format == XML){
+
+ xmlNodePtr root_node = NULL;
+ xmlDocPtr doc = NULL;
+ xmlNodePtr node;
+ xmlChar *tmp;
+ char str[128];
+
+ if(xmlnode == NULL){
+ puts("no parent\n");
+ doc = xmlNewDoc(BAD_CAST "1.0");
+ root_node = xmlNewNode(NULL, BAD_CAST "root");
+ xmlDocSetRootElement(doc, root_node);
+ node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
+ }else{
+ node = (xmlNodePtr)xmlnode;
+ xmlNodeSetName(node, xmlCharStrdup("Model"));
+ //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "Ranger", NULL);
+ //root_node = (xmlNodePtr)parent;
+ }
+
+
+ std::string res;
+ char temp[1024];
+ for(unsigned int i=0;i<ranges.size();i++){
+ sprintf(temp,"%.3f",ranges.at(i));
+ res.append(temp);
+ if(i+1 != ranges.size())
+ 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);
+ }
+
+ //xmlNodePtr node = xmlNewChild(root_node, NULL, BAD_CAST "Ranger", NULL);
+
+
+ sprintf(str,"%s",t.String().c_str());
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Time", BAD_CAST tmp);
+ xmlNewProp(node, BAD_CAST "Type", BAD_CAST "ranger");
+
+ tmp = ConvertInput(name.c_str(),MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
+
+ tmp = ConvertInput(res.c_str(), MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Samples", BAD_CAST tmp);
+
+ tmp = ConvertInput(pstr.c_str(), MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Positions", BAD_CAST tmp);
+
+
+ if(xmlnode == NULL){
+ xmlBufferPtr buf = xmlBufferCreate();
+ xmlKeepBlanksDefault(0);
+ xmlNodeDump(buf, doc,node, 0, 1);
+
+ response = (const char*) buf->content;
+ puts(response.c_str());
+ xmlBufferFree(buf);
+ xmlFreeDoc(doc);
+ }
+
+
+ }
+
+}
+
+void
+WebSim::GetFiducialData(const std::string& name,
+ Time& t,
+ std::vector<Fiducial>& f,
+ Format format,
+ std::string& response,
+ void* xmlnode )
+{
+
+
+ if(format == TEXT){
+
+ std::string res;
+ char temp[512];
+ for(unsigned int i=0;i<f.size();i++){
+ sprintf(temp,"((%.3f,%.3f,%.3f),(%.3f,%.3f,%.3f),%d)\n", f.at(i).pos.x,
f.at(i).pos.y, f.at(i).pos.z,
+ f.at(i).pos.r, f.at(i).pos.p, f.at(i).pos.a,
f.at(i).id);
+ res.append(temp);
+
+ }
+
+
+ char buf[2048];
+ snprintf(buf, sizeof(buf),
+ "%s's state @%s: \n Fiducial:\n",
+ name.c_str(),
+ t.String().c_str());
+
+ response = buf;
+ response.append(res);
+
+ }else if(format == XML){
+
+ xmlNodePtr root_node = NULL;
+ xmlDocPtr doc = NULL;
+ xmlNodePtr node;
+ xmlChar *tmp;
+ char str[128];
+
+ if(xmlnode == NULL){
+ doc = xmlNewDoc(BAD_CAST "1.0");
+ root_node = xmlNewNode(NULL, BAD_CAST "root");
+ xmlDocSetRootElement(doc, root_node);
+ node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
+ }else{
+ node = (xmlNodePtr)xmlnode;
+ xmlNodeSetName(node, xmlCharStrdup("Model"));
+ //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "Ranger", NULL);
+ //root_node = (xmlNodePtr)parent;
+ }
+
+
+ std::string res;
+ char temp[512];
+ for(unsigned int i=0;i<f.size();i++){
+ sprintf(temp,"((%.3f,%.3f,%.3f),(%.3f,%.3f,%.3f),%d)", f.at(i).pos.x,
f.at(i).pos.y, f.at(i).pos.z,
+ f.at(i).pos.r, f.at(i).pos.p, f.at(i).pos.a,
f.at(i).id);
+ res.append(temp);
+
+ }
+
+
+ sprintf(str,"%s",t.String().c_str());
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Time", BAD_CAST tmp);
+ xmlNewProp(node, BAD_CAST "Type", BAD_CAST "fiducial");
+
+ tmp = ConvertInput(name.c_str(),MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
+
+ tmp = ConvertInput(res.c_str(), MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Targets", BAD_CAST tmp);
+
+ if(xmlnode == NULL){
+ xmlBufferPtr buf = xmlBufferCreate();
+ xmlKeepBlanksDefault(0);
+ xmlNodeDump(buf, doc,node, 0, 1);
+
+ response = (const char*) buf->content;
+ puts(response.c_str());
+ xmlBufferFree(buf);
+ xmlFreeDoc(doc);
+ }
+
+
+ }
+
+}
+
+void
+WebSim::GetGeometryData(const std::string& name,
+ double& x,
+ double& y,
+ double& z,
+ Pose& center,
+ Format format,
+ std::string& response,
+ void* xmlnode)
+{
+ if(format == TEXT){
+ char buf[1024];
+ if(name == "sim")
+ snprintf(buf, sizeof(buf),"World Size: (%.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 Size: (%.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;
+ }else if(format == XML){
+
+ xmlNodePtr root_node = NULL;
+ xmlDocPtr doc = NULL;
+ xmlNodePtr node;
+ xmlChar *tmp;
+ char str[128];
+
+ if(xmlnode == NULL){
+ doc = xmlNewDoc(BAD_CAST "1.0");
+ root_node = xmlNewNode(NULL, BAD_CAST "root");
+ xmlDocSetRootElement(doc, root_node);
+ node = xmlNewChild(root_node, NULL, BAD_CAST "ModelGeometry", NULL);
+ }else{
+ node = (xmlNodePtr)xmlnode;
+ xmlNodeSetName(node, xmlCharStrdup("ModelGeometry"));
+ }
+
+
+ xmlNewProp(node, BAD_CAST "Type", BAD_CAST "geometry");
+
+ tmp = ConvertInput(name.c_str(),MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
+
+ sprintf(str,"%.3f",x);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "X", BAD_CAST tmp);
+
+ sprintf(str,"%.3f",y);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, BAD_CAST "Y", BAD_CAST tmp);
+
+ sprintf(str,"%.3f",z);
+ tmp = ConvertInput(str,MY_ENCODING);
+ xmlNewProp(node, 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);
+ xmlNewProp(node, BAD_CAST "Origin", BAD_CAST tmp);
+
+
+ if(xmlnode == NULL){
+ xmlBufferPtr buf = xmlBufferCreate();
+ xmlKeepBlanksDefault(0);
+ xmlNodeDump(buf, doc,node, 0, 1);
+
+ response = (const char*) buf->content;
+ puts(response.c_str());
+ xmlBufferFree(buf);
+ xmlFreeDoc(doc);
+ }
+ }
+
+}
+
+bool
+WebSim::GetModelTree(const std::string& model,Format format, std::string&
response, bool everything){
+
+ if(format == XML){
+ xmlNodePtr root_node = NULL;
+ xmlDocPtr doc = NULL;
+ xmlBufferPtr buf;
+
+ doc = xmlNewDoc(BAD_CAST "1.0");
+ buf = xmlBufferCreate();
+ root_node = xmlNewNode(NULL, BAD_CAST "ModelTree");
+ xmlDocSetRootElement(doc, root_node);
+
+ if(GetModelTreeXML(model, root_node, everything)){
+
+ xmlKeepBlanksDefault(0);
+ xmlNodeDump(buf, doc, root_node, 0, 1);
+ response = (const char*) buf->content;
+ }else{
+ response = "Error in generating model tree.\n";
+
+ }
+
+ xmlBufferFree(buf);
+ xmlFreeDoc(doc);
+
+ std::string out = "Model Tree:\n " + response + "\n";
+ puts(out.c_str());
+
+ return true;
+
+ }else if(format == TEXT){
+
+ std::string str,type;
+ GetModelType(model, type);
+ str+= model + "("+type+")"+ "\n";
+ std::vector<std::string> children;
+ GetModelChildren(model, children);
+ for(unsigned int i=0; i<children.size(); i++){
+
+ std::string sub;
+ GetModelTree(children[i], TEXT, sub, false);
+ str += sub + "\n";
+ }
+
+ response = str;
+ return false;
+ }
+
+ return false;
+}
+
+bool
+WebSim::GetModelTreeXML(const std::string& model, void* xmlparent, bool
everything){
+
+ std::string res;
+ xmlNodePtr node;
+
+ if(!xmlparent){
+ printf("Invalid xmlNode pointer. \n");
+ return false;
+ }
+
+ if(model != ""){
+
+ node = xmlNewChild((xmlNodePtr)xmlparent, NULL, BAD_CAST "Model", NULL);
+
+ bool flag = false;
+ std::string type;
+
+ if(everything){
+ std::string error;
+ flag = !GetModelData(model, error, XML, node);
+
+ }
+
+ if(!everything || flag){
+
+ GetModelType(model, type);
+ xmlNodeSetName(node, xmlCharStrdup("Model"));
+ xmlNewProp(node, BAD_CAST "Name", BAD_CAST model.c_str());
+ xmlNewProp(node, BAD_CAST "Type", BAD_CAST type.c_str());
+ }
+
+ }else
+ node = (xmlNodePtr) xmlparent;
+
+ std::vector<std::string> children;
+ GetModelChildren(model, children);
+ for(unsigned int i=0;i<children.size();i++)
+ GetModelTreeXML(children[i], node, everything);
+
+
+
+ return true;
+
+}
Modified: code/websim/src/req_sim.cc
===================================================================
--- code/websim/src/req_sim.cc 2009-06-29 19:35:46 UTC (rev 7929)
+++ code/websim/src/req_sim.cc 2009-06-29 22:58:45 UTC (rev 7930)
@@ -36,7 +36,7 @@
if(prop == "viz")
return HandleSimVisualizationRequest( action, format, kv, response );
- response = "ERROR: Unknown property " + prop + " for sim. Candidates are:
children clock factory greet tree.";
+ response = "ERROR: Unknown property " + prop + " for sim. Candidates are:
clock factory greet tree.";
return false;
}
Modified: code/websim/src/websim.cc
===================================================================
--- code/websim/src/websim.cc 2009-06-29 19:35:46 UTC (rev 7929)
+++ code/websim/src/websim.cc 2009-06-29 22:58:45 UTC (rev 7930)
@@ -33,11 +33,10 @@
#include <stdlib.h>
#include <string.h>
#include <libxml/encoding.h>
-//#include <libxml/xmlwriter.h>
-//#include <libxml/tree.h>
-#define MY_ENCODING "ISO-8859-1"
+
+
using namespace websim;
const std::string WebSim::package = "WebSim";
@@ -60,8 +59,6 @@
"src=\"http://192.168.1.210/viz.html\";></iframe></BODY></HTML>";
-xmlChar *
-ConvertInput(const char *in, const char *encoding);
std::string Time::String()
{
@@ -246,724 +243,6 @@
-
-
-bool
-WebSim::HandleModelRequest(const std::string& model,
- const std::string& prop,
- const std::string& action,
- Format format,
- struct evkeyvalq* kv,
- std::string& response)
-{
- if(action == "get")
- {
- if(prop == "data" || prop == ""){
-
- return(GetModelData(model, response, format, NULL));
-
- }else if(prop == "pva"){
- Pose p;
- Velocity v;
- Acceleration a;
- Time t;
- if(GetModelPVA(model, t, p, v, a, response)){
-
- GetPVA(model, t, p, v, a, format, response, NULL);
- return true;
- }
- else
- return false;
-
- }else if(prop == "children"){
- std::vector<std::string> children;
- GetModelChildren(model,children);
-
- for(unsigned int i=0;i<children.size();i++)
- response += children[i] + "\n";
-
- return true;
-
- }else if(prop == "tree"){
-
-
- return(GetModelTree(model, format, response, false));
-
-
- }else if(prop == "geometry"){
- double x,y,z;
- Pose center;
- if(GetModelGeometry(model, x, y, z, center, response))
- {
-
- GetGeometryData(model, x, y, z, center, format, response, NULL);
- return true;
-
- }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
- Pose p;
- Velocity v;
- Acceleration a;
- Time t;
- if(!GetModelPVA(model, t, p, v, a, response))
- {
- response = "Failed to get pose before setting it";
- return false;
- }
- try
- {
- if(GetValue(sx, kv, "px"))
- p.x = boost::lexical_cast<float>(sx);
- if(GetValue(sy, kv, "py"))
- p.y = boost::lexical_cast<float>(sy);
- if(GetValue(sz, kv, "pz"))
- p.z = boost::lexical_cast<float>(sz);
- if(GetValue(sroll, kv, "pr"))
- p.r = boost::lexical_cast<float>(sroll);
- if(GetValue(spitch, kv, "pp"))
- p.p = boost::lexical_cast<float>(spitch);
- if(GetValue(syaw, kv, "pa"))
- p.a = boost::lexical_cast<float>(syaw);
-
- if(GetValue(sx, kv, "vx"))
- v.x = boost::lexical_cast<float>(sx);
- if(GetValue(sy, kv, "vy"))
- v.y = boost::lexical_cast<float>(sy);
- if(GetValue(sz, kv, "vz"))
- v.z = boost::lexical_cast<float>(sz);
- if(GetValue(sroll, kv, "vr"))
- v.r = boost::lexical_cast<float>(sroll);
- if(GetValue(spitch, kv, "vp"))
- v.p = boost::lexical_cast<float>(spitch);
- if(GetValue(syaw, kv, "va"))
- v.a = boost::lexical_cast<float>(syaw);
-
- if(GetValue(sx, kv, "ax"))
- a.x = boost::lexical_cast<float>(sx);
- if(GetValue(sy, kv, "ay"))
- a.y = boost::lexical_cast<float>(sy);
- if(GetValue(sz, kv, "az"))
- a.z = boost::lexical_cast<float>(sz);
- if(GetValue(sroll, kv, "ar"))
- a.r = boost::lexical_cast<float>(sroll);
- if(GetValue(spitch, kv, "ap"))
- a.p = boost::lexical_cast<float>(spitch);
- if(GetValue(syaw, kv, "aa"))
- a.a = boost::lexical_cast<float>(syaw);
- }
- catch(boost::bad_lexical_cast e)
- {
- response = std::string("Failed to parse input value(s): ") +
- e.what();
- return false;
- }
-
- return(SetModelPVA(model, p, v, a, response));
- }
- else
- {
- response = "ERROR: Unknown property " + prop + " for model " + model;
- return false;
- }
- }
- else
- {
- response = "ERROR: Unknown action " + action;
- return false;
- }
-
- return false;
-}
-
-
-
-
-void
-WebSim::GetPVA(const std::string& name,
- Time& t,
- const Pose& p,
- const Velocity& v,
- const Acceleration& a,
- Format format,
- std::string& response,
- void* xmlnode)
-{
- if(format == TEXT){
- char buf[1024];
- snprintf(buf, sizeof(buf),
- "%s's state @%s: \n pose: (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n"
- " vel : (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n"
- " acc : (%.3f,%.3f,%.3f) (%.3f,%.3f,%.3f)\n",
- name.c_str(),
- t.String().c_str(),
- p.x, p.y, p.z, p.r, p.p, p.a,
- v.x, v.y, v.z, v.r, v.p, v.a,
- a.x, a.y, a.z, a.r, a.p, a.a);
- response = buf;
-
- }else if (format == XML){
-
- xmlNodePtr root_node = NULL;
- xmlDocPtr doc = NULL;
- xmlNodePtr node;
- xmlChar *tmp;
- char str[128];
-
- if(xmlnode == NULL){
-
- doc = xmlNewDoc(BAD_CAST "1.0");
- root_node = xmlNewNode(NULL, BAD_CAST "root");
- xmlDocSetRootElement(doc, root_node);
- node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
- }else{
- node = (xmlNodePtr) xmlnode;
- xmlNodeSetName(node, xmlCharStrdup("Model"));
- //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "PVA", NULL);
- //root_node = (xmlNodePtr)parent;
- }
-
-
-
-
- sprintf(str,"%s",t.String().c_str());
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Time", BAD_CAST tmp);
- xmlNewProp(node, BAD_CAST "Type", BAD_CAST "pva");
-
- tmp = ConvertInput(name.c_str(),MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
-
- 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);
- xmlNewProp(node, BAD_CAST "Pose", BAD_CAST tmp);
-
- sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",v.x, v.y, v.z, v.r, v.p, v.a);
- tmp = ConvertInput(str, MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Velocity", BAD_CAST tmp);
-
- sprintf(str,"%.3f,%.3f,%.3f,%.3f,%.3f,%.3f",a.x, a.y, a.z, a.r, a.p, a.a);
- tmp = ConvertInput(str, MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Acceleration", BAD_CAST tmp);
-
- if(xmlnode == NULL){
- xmlBufferPtr buf = xmlBufferCreate();
- xmlKeepBlanksDefault(0);
- xmlNodeDump(buf, doc,node, 0, 1);
- response = (const char*) buf->content;
- puts(response.c_str());
- xmlBufferFree(buf);
- xmlFreeDoc(doc);
- }
- }
-
-}
-
-
-void
-WebSim::GetLaserData(const std::string& name,
- Time& t,
- uint32_t& resolution,
- double& fov,
- Pose& p,
- std::vector<double>& ranges,
- Format format,
- std::string& response,
- void* xmlnode)
-{
- if(format == TEXT){
-
- std::string res;
- char temp[128];
- for(unsigned int i=0;i<ranges.size();i++){
- sprintf(temp,"%.3f",ranges.at(i));
- res.append(temp);
- if(i+1 != ranges.size())
- res.append(",");
- }
-
-
- 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",
- name.c_str(),
- t.String().c_str(),
- res.c_str(),
- resolution,
- fov,
- p.x,p.y,p.z,p.r,p.p,p.a);
- response = buf;
-
- }else if(format == XML){
-
- xmlNodePtr root_node = NULL;
- xmlDocPtr doc = NULL;
- xmlNodePtr node;
- xmlChar *tmp;
- char str[128];
-
- if(xmlnode == NULL){
- puts("no parent\n");
- doc = xmlNewDoc(BAD_CAST "1.0");
- root_node = xmlNewNode(NULL, BAD_CAST "root");
- xmlDocSetRootElement(doc, root_node);
- node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
- }else{
- node = (xmlNodePtr) xmlnode;
- xmlNodeSetName(node, xmlCharStrdup("Model"));
- //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "Laser", NULL);
- //root_node = (xmlNodePtr)parent;
- }
-
- std::string res;
- char temp[128];
- for(unsigned int i=0;i<ranges.size();i++){
- sprintf(temp,"%.3f",ranges.at(i));
- res.append(temp);
- if(i+1 != ranges.size())
- res.append(",");
- }
-
-
-
- xmlNewProp(node, BAD_CAST "Time", BAD_CAST t.String().c_str());
- xmlNewProp(node, BAD_CAST "Type", BAD_CAST "laser");
-
- tmp = ConvertInput(name.c_str(),MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
-
- sprintf(str,"%d",resolution);
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Resolution", BAD_CAST tmp);
-
- sprintf(str,"%.3f",fov);
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "FOV", BAD_CAST tmp);
-
- 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);
- xmlNewProp(node, BAD_CAST "Pose", BAD_CAST tmp);
-
- tmp = ConvertInput(res.c_str(), MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Samples", BAD_CAST tmp);
-
-
- if(xmlnode == NULL){
- xmlBufferPtr buf = xmlBufferCreate();
- xmlKeepBlanksDefault(0);
- xmlNodeDump(buf, doc,node, 0, 1);
-
- response = (const char*) buf->content;
- puts(response.c_str());
- xmlBufferFree(buf);
- xmlFreeDoc(doc);
- }
-
-
-
-
- }
-}
-
-void
-WebSim::GetRangerData(const std::string& name,
- Time& t,
- std::vector<Pose>& p,
- std::vector<double>& ranges,
- Format format,
- std::string& response,
- void* xmlnode)
-{
- if(format == TEXT){
-
- std::string res;
- char temp[128];
- for(unsigned int i=0;i<ranges.size();i++){
- sprintf(temp,"%.3f",ranges.at(i));
- res.append(temp);
- if(i+1 != ranges.size())
- 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\n ranges: (%s)\n pose: %s",
- name.c_str(),
- t.String().c_str(),
- res.c_str(),
- pstr.c_str());
- response = buf;
-
- }else if(format == XML){
-
- xmlNodePtr root_node = NULL;
- xmlDocPtr doc = NULL;
- xmlNodePtr node;
- xmlChar *tmp;
- char str[128];
-
- if(xmlnode == NULL){
- puts("no parent\n");
- doc = xmlNewDoc(BAD_CAST "1.0");
- root_node = xmlNewNode(NULL, BAD_CAST "root");
- xmlDocSetRootElement(doc, root_node);
- node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
- }else{
- node = (xmlNodePtr)xmlnode;
- xmlNodeSetName(node, xmlCharStrdup("Model"));
- //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "Ranger", NULL);
- //root_node = (xmlNodePtr)parent;
- }
-
-
- std::string res;
- char temp[1024];
- for(unsigned int i=0;i<ranges.size();i++){
- sprintf(temp,"%.3f",ranges.at(i));
- res.append(temp);
- if(i+1 != ranges.size())
- 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);
- }
-
- //xmlNodePtr node = xmlNewChild(root_node, NULL, BAD_CAST "Ranger", NULL);
-
-
- sprintf(str,"%s",t.String().c_str());
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Time", BAD_CAST tmp);
- xmlNewProp(node, BAD_CAST "Type", BAD_CAST "ranger");
-
- tmp = ConvertInput(name.c_str(),MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
-
- tmp = ConvertInput(res.c_str(), MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Samples", BAD_CAST tmp);
-
- tmp = ConvertInput(pstr.c_str(), MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Positions", BAD_CAST tmp);
-
-
- if(xmlnode == NULL){
- xmlBufferPtr buf = xmlBufferCreate();
- xmlKeepBlanksDefault(0);
- xmlNodeDump(buf, doc,node, 0, 1);
-
- response = (const char*) buf->content;
- puts(response.c_str());
- xmlBufferFree(buf);
- xmlFreeDoc(doc);
- }
-
-
- }
-
-}
-
-void
-WebSim::GetFiducialData(const std::string& name,
- Time& t,
- std::vector<Fiducial>& f,
- Format format,
- std::string& response,
- void* xmlnode )
-{
-
-
- if(format == TEXT){
-
- std::string res;
- char temp[512];
- puts("here1\n");
- for(unsigned int i=0;i<f.size();i++){
- sprintf(temp,"((%.3f,%.3f,%.3f),(%.3f,%.3f,%.3f),%d)\n", f.at(i).pos.x,
f.at(i).pos.y, f.at(i).pos.z,
- f.at(i).pos.r, f.at(i).pos.p, f.at(i).pos.a,
f.at(i).id);
- puts("here2\n");
- res.append(temp);
-
- }
-
- puts("here3\n");
-
- char buf[2048];
- snprintf(buf, sizeof(buf),
- "%s's state @%s: \n Fiducial:\n",
- name.c_str(),
- t.String().c_str());
-
- response = buf;
- response.append(res);
-
- }else if(format == XML){
-
- xmlNodePtr root_node = NULL;
- xmlDocPtr doc = NULL;
- xmlNodePtr node;
- xmlChar *tmp;
- char str[128];
-
- if(xmlnode == NULL){
- puts("no parent\n");
- doc = xmlNewDoc(BAD_CAST "1.0");
- root_node = xmlNewNode(NULL, BAD_CAST "root");
- xmlDocSetRootElement(doc, root_node);
- node = xmlNewChild(root_node, NULL, BAD_CAST "Model", NULL);
- }else{
- node = (xmlNodePtr)xmlnode;
- xmlNodeSetName(node, xmlCharStrdup("Model"));
- //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "Ranger", NULL);
- //root_node = (xmlNodePtr)parent;
- }
-
-
- std::string res;
- char temp[512];
- for(unsigned int i=0;i<f.size();i++){
- sprintf(temp,"((%.3f,%.3f,%.3f),(%.3f,%.3f,%.3f),%d)", f.at(i).pos.x,
f.at(i).pos.y, f.at(i).pos.z,
- f.at(i).pos.r, f.at(i).pos.p, f.at(i).pos.a,
f.at(i).id);
- res.append(temp);
-
- }
-
-
- sprintf(str,"%s",t.String().c_str());
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Time", BAD_CAST tmp);
- xmlNewProp(node, BAD_CAST "Type", BAD_CAST "fiducial");
-
- tmp = ConvertInput(name.c_str(),MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
-
- tmp = ConvertInput(res.c_str(), MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Targets", BAD_CAST tmp);
-
- if(xmlnode == NULL){
- xmlBufferPtr buf = xmlBufferCreate();
- xmlKeepBlanksDefault(0);
- xmlNodeDump(buf, doc,node, 0, 1);
-
- response = (const char*) buf->content;
- puts(response.c_str());
- xmlBufferFree(buf);
- xmlFreeDoc(doc);
- }
-
-
- }
-
-}
-
-void
-WebSim::GetGeometryData(const std::string& name,
- double& x,
- double& y,
- double& z,
- Pose& center,
- Format format,
- std::string& response,
- void* xmlnode)
-{
- if(format == TEXT){
- char buf[1024];
- if(name == "sim")
- snprintf(buf, sizeof(buf),"World Size: (%.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 Size: (%.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;
- }else if(format == XML){
-
- xmlNodePtr root_node = NULL;
- xmlDocPtr doc = NULL;
- xmlNodePtr node;
- xmlChar *tmp;
- char str[128];
-
- if(xmlnode == NULL){
- puts("no parent\n");
- doc = xmlNewDoc(BAD_CAST "1.0");
- root_node = xmlNewNode(NULL, BAD_CAST "root");
- xmlDocSetRootElement(doc, root_node);
- node = xmlNewChild(root_node, NULL, BAD_CAST "ModelGeometry", NULL);
- }else{
- node = (xmlNodePtr)xmlnode;
- xmlNodeSetName(node, xmlCharStrdup("ModelGeometry"));
- //node = xmlNewChild((xmlNodePtr)parent, NULL, BAD_CAST "ModelExtent",
NULL);
- //root_node = (xmlNodePtr)parent;
- }
-
-
- xmlNewProp(node, BAD_CAST "Type", BAD_CAST "geometry");
-
- tmp = ConvertInput(name.c_str(),MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Name", BAD_CAST tmp);
-
- sprintf(str,"%.3f",x);
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "X", BAD_CAST tmp);
-
- sprintf(str,"%.3f",y);
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, BAD_CAST "Y", BAD_CAST tmp);
-
- sprintf(str,"%.3f",z);
- tmp = ConvertInput(str,MY_ENCODING);
- xmlNewProp(node, 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);
- xmlNewProp(node, BAD_CAST "Origin", BAD_CAST tmp);
-
-
- if(xmlnode == NULL){
- xmlBufferPtr buf = xmlBufferCreate();
- xmlKeepBlanksDefault(0);
- xmlNodeDump(buf, doc,node, 0, 1);
-
- response = (const char*) buf->content;
- puts(response.c_str());
- xmlBufferFree(buf);
- xmlFreeDoc(doc);
- }
- }
-
-}
-
-bool
-WebSim::GetModelTree(const std::string& model,Format format, std::string&
response, bool everything){
-
- if(format == XML){
- xmlNodePtr root_node = NULL;
- xmlDocPtr doc = NULL;
- xmlBufferPtr buf;
-
- doc = xmlNewDoc(BAD_CAST "1.0");
- buf = xmlBufferCreate();
- root_node = xmlNewNode(NULL, BAD_CAST "ModelTree");
- xmlDocSetRootElement(doc, root_node);
-
- if(GetModelTreeXML(model, root_node, everything)){
-
- xmlKeepBlanksDefault(0);
- xmlNodeDump(buf, doc, root_node, 0, 1);
- response = (const char*) buf->content;
- }else{
- response = "Error in generating model tree.\n";
-
- }
-
- xmlBufferFree(buf);
- xmlFreeDoc(doc);
-
- std::string out = "Model Tree:\n " + response + "\n";
- puts(out.c_str());
-
- return true;
-
- }else if(format == TEXT){
-
- std::string str,type;
- GetModelType(model, type);
- str+= model + "("+type+")"+ "\n";
- std::vector<std::string> children;
- GetModelChildren(model, children);
- for(unsigned int i=0; i<children.size(); i++){
-
- std::string sub;
- GetModelTree(children[i], TEXT, sub, false);
- str += sub + "\n";
- }
-
- response = str;
- return false;
- }
-
- return false;
-}
-
-bool
-WebSim::GetModelTreeXML(const std::string& model, void* xmlparent, bool
everything){
-
- std::string res;
- xmlNodePtr node;
-
- if(!xmlparent){
- printf("Invalid xmlNode pointer. \n");
- return false;
- }
-
- if(model != ""){
-
- node = xmlNewChild((xmlNodePtr)xmlparent, NULL, BAD_CAST "Model", NULL);
-
- bool flag = false;
- std::string type;
-
- if(everything){
- std::string error;
- flag = !GetModelData(model, error, XML, node);
-
- }
-
- if(!everything || flag){
-
- GetModelType(model, type);
- xmlNodeSetName(node, xmlCharStrdup("Model"));
- xmlNewProp(node, BAD_CAST "Name", BAD_CAST model.c_str());
- xmlNewProp(node, BAD_CAST "Type", BAD_CAST type.c_str());
- }
-
- }else
- node = (xmlNodePtr) xmlparent;
-
- std::vector<std::string> children;
- GetModelChildren(model, children);
- for(unsigned int i=0;i<children.size();i++)
- GetModelTreeXML(children[i], node, everything);
-
-
-
- return true;
-
-}
-
xmlChar *
ConvertInput(const char *in, const char *encoding)
{
@@ -1097,74 +376,7 @@
return true;
}
-// //puts(uri.c_str());
-// // Remove the query args
-// std::vector<std::string> uri_parts;
-// StringSplit(uri, uri_parts, "?");
-// assert(uri_parts.size() > 0);
-// std::string bare_uri = uri_parts[0];
-
-// StringSplit(bare_uri, uri_parts, "/");
-
-// //puts("parts:");
-// /*for(int j=0;j<uri_parts.size();j++)
-// puts(uri_parts[j].c_str());
-
-// puts("Here I am!");*/
-// if(uri_parts.size() < 2)
-// {
-// // return true, then generate the welcome html
-// return false;
-// }
-
-// // example: http://localhost:8000/viz
-// if(uri_parts.size() ==2){
-
-// //puts("1 Here I am!");
-// model = uri_parts[1];
-// prop = "";
-// action = "";
-// //puts("1.1 Here I am!");
-// return true;
-// }
-
-
-// // example: http://localhost:8000/viz/applet.class
-// if(uri_parts.size() ==3){
-
-// //puts("2 Here I am!");
-
-// model = uri_parts[1];
-// prop = uri_parts[2];
-// action = "";
-// return true;
-// }
-
-// //puts("3 here I am");
-// unsigned int size = uri_parts.size();
-// unsigned int modelendindex = 0;
-
-// if(uri_parts[size-1] == "get" || uri_parts[size-1]== "set"){
-// action = uri_parts[size-1];
-// modelendindex = size-3;
-// }
-// else{
-// action = "get";
-// modelendindex = size-2;
-// }
-
-// prop = uri_parts[modelendindex+1];
-
-// for(unsigned int i=1;i <= modelendindex;i++){
-// model += uri_parts[i];
-// if(i!=modelendindex)
-// model += ".";
-// }
-
-// return true;
-
-
bool
WebSim::SetPuppetPVA( const std::string& name,
Pose& p,
Modified: code/websim/src/websim.hh
===================================================================
--- code/websim/src/websim.hh 2009-06-29 19:35:46 UTC (rev 7929)
+++ code/websim/src/websim.hh 2009-06-29 22:58:45 UTC (rev 7930)
@@ -312,6 +312,30 @@
struct evkeyvalq* kv,
std::string& response);
+ bool HandleModelDataRequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleModelTreeRequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleModelGeometryRequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
+ bool HandleModelPVARequest( std::string model,
+ std::string action,
+ Format format,
+ struct evkeyvalq* kv,
+ std::string& response);
+
bool ParseURI(std::string& model,
std::string& prop,
std::string& action,
This was sent by the SourceForge.net collaborative development platform, the
world's largest Open Source development site.
------------------------------------------------------------------------------
_______________________________________________
Playerstage-commit mailing list
[email protected]
https://lists.sourceforge.net/lists/listinfo/playerstage-commit
