OOModel::UnfinishedOperator* CommandDescriptor::createUnfinished(const QString& name,
const QList<OOModel::Expression*>& arguments)
{
auto unf = new OOModel::UnfinishedOperator();
unf->delimiters()->append(new Model::Text("\\"));
unf->operands()->append(new OOModel::ReferenceExpression(name));
if (!arguments.isEmpty())
{
unf->delimiters()->append(new Model::Text("("));
for(int i = 0; i< arguments.size(); ++i)
{
if (i > 0) unf->delimiters()->append(new Model::Text(","));
unf->operands()->append(arguments[i]);
}
unf->delimiters()->append(new Model::Text(")"));
}
else unf->delimiters()->append(new Model::Text(QString())); // append an empty postfix if there are no arguments
return unf;
}
SoundEffectPtr ResourceLoader::load<SoundEffect>(std::string file){
SoundEffectPtr res = nullptr;
vector<char> delimiters(3);
delimiters.push_back('.');
delimiters.push_back('/');
delimiters.push_back('\\');
string file_ext = Utils::split(file,delimiters).back();
if(file_ext == "wav"){
res = loadWAV(file);
}else{
throw ServiceException("Unimplemented resource loader");
}
return res;
}
void tokenize_dataline(string const& raw_line,vector<string> &tokens,char const *delim){
string delimiters(delim);
tokens.clear();
int lpos = 0;
int pos = raw_line.find_first_not_of(delimiters,lpos);
while (pos != std::string::npos){
lpos = pos;
pos = raw_line.find_first_of(delimiters,lpos);
tokens.push_back(raw_line.substr(lpos,pos-lpos));
//cout << tokens.back()<<"*"<<endl;
lpos = pos;
pos = raw_line.find_first_not_of(delimiters,lpos);
}
}
void Tokenize(const string &str, vector<string> &tokens, const char* DELIMITERS, int szDELIMITERS){
// Skip delimiters at beginning.
string delimiters(DELIMITERS,szDELIMITERS); //WARNING, DELIMITERS ISNT NULL TERMINATED
string::size_type lastPos = str.find_first_not_of(delimiters, 0);
// Find first "non-delimiter".
string::size_type pos = str.find_first_of(delimiters, lastPos);
while (string::npos != pos || string::npos != lastPos)
{
// Found a token, add it to the vector.
tokens.push_back(str.substr(lastPos, pos - lastPos));
// Skip delimiters. Note the "not_of"
lastPos = str.find_first_not_of(delimiters, pos);
// Find next "non-delimiter"
pos = str.find_first_of(delimiters, lastPos);
}
}
QStringList KStandardDirs::systemPaths( const QString& pstr )
{
QStringList tokens;
QString p = pstr;
if( p.isNull() )
{
p = getenv( "PATH" );
}
QString delimiters(QChar(KPATH_SEPARATOR));
delimiters += "\b";
tokenize( tokens, p, delimiters );
QStringList exePaths;
// split path using : or \b as delimiters
for( unsigned i = 0; i < tokens.count(); i++ )
{
p = tokens[ i ];
if ( p[ 0 ] == '~' )
{
int len = p.find( '/' );
if ( len == -1 )
len = p.length();
if ( len == 1 )
{
p.replace( 0, 1, QDir::homeDirPath() );
}
else
{
QString user = p.mid( 1, len - 1 );
struct passwd *dir = getpwnam( user.local8Bit().data() );
if ( dir && strlen( dir->pw_dir ) )
p.replace( 0, len, QString::fromLocal8Bit( dir->pw_dir ) );
}
}
exePaths << p;
}
return exePaths;
}
OperatorDescriptor::OperatorDescriptor(const QString& name, const QString& signature, int num_operands, int precedence, Associativity associativity)
: name_(name), num_operands_(num_operands), precedence_(precedence), associativity_(associativity), transient_(false)
{
signature_ = signature.split(" ", QString::SkipEmptyParts);
signature_.replaceInStrings("SPACE", " ");
// Compute prefix
for(int i = 0; i < signature_.size() && signature_.at(i) != "expr" && signature_.at(i) != "id"; ++i)
prefix_.append( signature_.at(i) );
// Compute posfix
for(int i = signature_.size()-1; i>=0 && signature_.at(i) != "expr" && signature_.at(i) != "id" ; --i)
postfix_.prepend( signature_.at(i) );
// Compute infixes
infixes_ = delimiters();
infixes_.removeAll("");
if ( !prefix_.isEmpty() ) infixes_.removeFirst();
if ( !postfix_.isEmpty() ) infixes_.removeLast();
}
void Entity::getTokens(std::string line)
{
tokens.clear();
std::string delimiters("\t");
// Skip delimiters at beginning.
std::string::size_type lastPos = line.find_first_not_of(delimiters, 0);
// Find first "non-delimiter".
std::string::size_type pos = line.find_first_of(delimiters, lastPos);
while (std::string::npos != pos || std::string::npos != lastPos)
{
// std::cout << "lastPos=" << lastPos << " diff" << (pos - lastPos) << std::endl;
// Found a token, add it to the vector.
tokens.push_back(line.substr(lastPos, pos - lastPos));
// Skip delimiters. Note the "not_of"
lastPos = line.find_first_not_of(delimiters, pos);
// Find next "non-delimiter"
pos = line.find_first_of(delimiters, lastPos);
}
}
void parse_string(std::string s)
{
if(!s.c_str())
return;
std::string delimiters("RL");
std::vector<std::string> tokens;
boost::split(tokens,s,boost::is_any_of(delimiters));
// First token is blank
// Second is right
// Third is left
if (tokens.size() != 3) {
//ROS_ERROR("Parsing error # of tokens = %d", tokens.size());
return;
} else {
//ROS_INFO("Sup");
}
int r = atoi(tokens[1].c_str());
int l = atoi(tokens[2].c_str());
double right_speed = 0.0256*r; //m/s
double left_speed = 0.0256*l;
geometry_msgs::Twist msg;
msg.linear.x = (right_speed + left_speed)/2.0;
msg.linear.y = right_speed;
msg.linear.z = left_speed;
msg.angular.z = (right_speed - left_speed)*2.318;
msg.angular.x = 0;
msg.angular.y = 0;
encoder_pub.publish(msg);
last_arduino_message = ros::Time::now();
}
bool ReadCell::readData( const string& line )
{
vector< string > argv;
string delimiters( "\t " );
tokenize( line, delimiters, argv );
if ( argv.size() < 6 ) {
cerr << "Error: ReadCell: Too few arguments in line: " << argv.size() <<
", should be > 6.\n";
cerr << "File: " << fileName_ << " Line: " << lineNum_ << endl;
return 0;
}
double x0 = 0.0;
double y0 = 0.0;
double z0 = 0.0;
double x, y, z;
double d;
int argOffset = 0;
string name = argv[ 0 ];
string parent = argv[ 1 ];
if ( doubleEndpointFlag_ ) {
argOffset = 3;
x0 = 1.0e-6 * atof( argv[ 2 ].c_str() );
y0 = atof( argv[ 3 ].c_str() );
z0 = atof( argv[ 4 ].c_str() );
if ( polarFlag_ ) {
double r = x0;
double theta = y0 * M_PI / 180.0;
double phi = z0 * M_PI / 180.0;
x0 = r * sin( phi ) * cos ( theta );
y0 = r * sin( phi ) * sin ( theta );
z0 = r * cos( phi );
} else {
y0 *= 1.0e-6;
z0 *= 1.0e-6;
}
}
x = 1.0e-6 * atof( argv[ argOffset + 2 ].c_str() );
y = atof( argv[ argOffset + 3 ].c_str() );
z = atof( argv[ argOffset + 4 ].c_str() );
if ( polarFlag_ ) {
double r = x;
double theta = y * M_PI / 180.0;
double phi = z * M_PI / 180.0;
x = r * sin( phi ) * cos ( theta );
y = r * sin( phi ) * sin ( theta );
z = r * cos( phi );
} else {
y *= 1.0e-6;
z *= 1.0e-6;
}
d = 1.0e-6 * atof( argv[ argOffset + 5 ].c_str() );
double length;
Id compt =
buildCompartment( name, parent, x0, y0, z0, x, y, z, d, length, argv );
if ( compt == Id() )
return 0;
return buildChannels( compt, argv, d, length );
}
bool ReadCell::readScript( const string& line )
{
vector< string > argv;
string delimiters( "\t " );
tokenize( line, delimiters, argv );
if ( argv[ 0 ] == "*cartesian" ) {
polarFlag_ = 0;
} else if ( argv[ 0 ] == "*polar" ) {
polarFlag_ = 1;
} else if ( argv[ 0 ] == "*relative" ) {
relativeCoordsFlag_ = 1;
} else if ( argv[ 0 ] == "*absolute" ) {
relativeCoordsFlag_ = 0;
} else if ( argv[ 0 ] == "*symmetric" ) {
symmetricFlag_ = 1;
} else if ( argv[ 0 ] == "*asymmetric" ) {
symmetricFlag_ = 0;
} else if ( argv[ 0 ] == "*set_global" || argv[ 0 ] == "*set_compt_param" ) {
if ( argv.size() != 3 ) {
cerr << "Error: ReadCell: Bad line: " <<
"File: " << fileName_ <<
"Line: " << lineNum_ << "\n";
return 0;
}
if ( argv[ 1 ] == "RM" )
RM_ = atof( argv[ 2 ].c_str() );
if ( argv[ 1 ] == "RA" )
RA_ = atof( argv[ 2 ].c_str() );
if ( argv[ 1 ] == "CM" )
CM_ = atof( argv[ 2 ].c_str() );
if ( argv[ 1 ] == "EREST_ACT" ) {
EREST_ACT_ = atof( argv[ 2 ].c_str() );
erestFlag_ = 1;
} if (argv[ 1 ] == "ELEAK" ) {
ELEAK_ = atof( argv[ 2 ].c_str() );
eleakFlag_ = 1;
}
} else if ( argv[ 0 ] == "*start_cell" ) {
if ( argv.size() == 1 ) {
graftFlag_ = 0;
currCell_ = cell_;
} else if ( argv.size() == 2 ) {
graftFlag_ = 1;
currCell_ = startGraftCell( argv[ 1 ] );
if ( currCell_ == Id() )
return 0;
} else {
cerr << "Error: ReadCell: Bad line: " <<
"File: " << fileName_ <<
"Line: " << lineNum_ << "\n";
return 0;
}
} else if ( argv[ 0 ] == "*compt" ) {
if ( argv.size() != 2 ) {
cerr << "Error: ReadCell: Bad line: " <<
"File: " << fileName_ <<
"Line: " << lineNum_ << "\n";
return 0;
}
Id protoId( argv[ 1 ] );
if ( protoId.path() != argv[ 1 ] ) {
cerr << "Error: ReadCell: Bad path: " << argv[ 1 ] << " " <<
"File: " << fileName_ <<
"Line: " << lineNum_ << "\n";
return 0;
}
protoCompt_ = protoId;
countProtos();
} else if ( argv[ 0 ] == "*double_endpoint" ) {
doubleEndpointFlag_ = 1;
} else if ( argv[ 0 ] == "*double_endpoint_off" ) {
doubleEndpointFlag_ = 0;
} else if ( argv[ 0 ] == "*makeproto" ) {
; // Nothing to be done.
} else {
cerr << "Warning: ReadCell: Command " <<
argv[ 0 ] << " not recognized. Ignoring. " <<
"File: " << fileName_ <<
"Line: " << lineNum_ << "\n";
}
return 1;
}
int main(int argc, char *argv[])
{
int ExitCode = 0;
std::string creoStartCommand;
std::string proeIsisExtensionsDir;
std::string templateFile_PathAndFileName;
std::stringstream exceptionErrorStringStream;
bool Logging_Set_Up = false;
isis::ProgramInputArguments programInputArguments;
::boost::filesystem::path workingDir;
try
{
// Parse Input Arguments
programInputArguments.ParseInputArguments(argc, argv);
// Setup Boost logging
SetupLogging(programInputArguments.logFileName, programInputArguments.logVerbosity);
Logging_Set_Up = true;
isis::ThrowException_If_InvalidInputArguments(argc, argv, programInputArguments);
// Must get the complete path to the working directory. This is necessary because when
// isis_ProDirectoryChange is called to change to a STEP directory, workingDir must be fully
// defined so that isis_ProDirectoryChange can be called to return to the original directory.
workingDir = isis::SetupWorkingDirectory(programInputArguments.workingDirectory);
isis::GlobalModelData::Instance.instanceId = programInputArguments.instanceID;
// Log CADCreoParametricCreateAssembly version information
std::string programName_Version_TimeStamp;
programName_Version_TimeStamp = "CADCreoParametricMetaLink " + std::string(ISIS_PRODUCT_VERSION_WITH_v_AND_DOTS);
///////////////////
// Add Time Stamp
///////////////////
programName_Version_TimeStamp += isis_CADCommon::GetDayMonthTimeYear();
isis_LOG(lg, isis_FILE, isis_INFO) << programName_Version_TimeStamp;
isis_LOG(lg, isis_FILE, isis_INFO) << "Notes: " << isis_EOL
<< " 1. The \"Component Instance ID\"s in this file equate to ComponentInstanceIDs in CyPhy." << isis_EOL
<< " 2. To map \"Component Instance ID\"s in this file to AVM-IDs, see .\\log\\CyPhy2CAD.log." << isis_EOL;
time_t time_start; /* calendar time */
time_start=time(NULL); /* get current cal time */
// Log input line and parameters
std::ostringstream inputLine;
for(int i = 0; i < argc; ++i)
{
inputLine << argv[i] << std::string(" ");
}
isis_LOG(lg, isis_FILE, isis_INFO) << "Command line: " << inputLine.str();
isis_LOG(lg, isis_FILE, isis_DEBUG) << "Input arguments (parsed): " << isis_EOL << programInputArguments;
if(workingDir.generic_string().size() >= PRO_PATH_SIZE) // PRO_PATH_SIZE 260
{
std::stringstream errorString;
errorString << "WORKING_DIR string too long. Maximum allowed number of characters: " << PRO_PATH_SIZE - 1 << " WORKING_DIR string: " << workingDir;
throw isis::application_exception(errorString);
}
isis::SetCreoEnvirVariable_RetrieveSystemSettings(programInputArguments.graphicsModeOn,
programInputArguments.synchronizeWithCyPhy,
creoStartCommand,
proeIsisExtensionsDir,
templateFile_PathAndFileName);
std::map<std::string, isis::CADComponentData> CADComponentData_map;
isis::CADAssemblies CADComponentAssemblies;
writeConfigProFile(workingDir, programInputArguments);
/////////////////////////////
/////// Start Pro/E /////////
/////////////////////////////
const char* proeIsisExt = std::getenv("PROE_ISIS_EXTENSIONS");
char* creoStartChar = const_cast<char*>(creoStartCommand.c_str());
::boost::filesystem::current_path(workingDir);
std::string textPath=std::string(proeIsisExt)+"plugins\\";
isis::isis_ProEngineerStart(creoStartChar, const_cast<char*>(textPath.c_str()));
ProTermFuncSet(ProTermAction);
isis_LOG(lg, isis_FILE, isis_INFO) << "Creo-Parametric successfully started.";
boost::asio::io_service ios;
std::string delimiters(":");
std::vector<std::string> parts;
boost::split(parts, programInputArguments.syncConnectionString, boost::is_any_of(delimiters));
std::string host = "127.0.0.1"; // localhost may be subject to firewall and DNS restrictions and not work
std::string service = "15152"; // it looks like ISIS with a zero
if(parts.size() > 1)
{
host = parts[0];
service = parts[1];
isis_LOG(lg, isis_FILE, isis_INFO) << "host: " << host << ", service: " << service;
}
else if(parts.size() > 0)
{
host = parts[0];
isis_LOG(lg, isis_FILE, isis_INFO) << "host: " << host << ", service: " << service << "(default)";
}
else
{
isis_LOG(lg, isis_FILE, isis_INFO) << "host: " << host << "(default), service: " << service << "(default)";
}
SetupCreoPlugins();
SetupCreoSelectPlugin();
ProNotificationSet(PRO_PARAM_MODIFY_POST, (ProFunction)metaParameterModifyAction);
isis::cad::CadFactoryAbstract::ptr cad_factory = isis::cad::creo::create();
isis::MetaLinkAssemblyEditor::Pointer assembler_ptr(new isis::MetaLinkAssemblyEditor(cad_factory, programInputArguments, isis::GlobalModelData::Instance.CadComponentData));
boost::mutex eventloop_mutex;
if(programInputArguments.is_passiveMode())
{
isis::GlobalModelData::Instance.designId = programInputArguments.designID;
}
isis::MetaLinkHandler metalink_handler(assembler_ptr, ios, host, service, programInputArguments.instanceID, programInputArguments.designID, eventloop_mutex); // pass design ID pass in as argument
isis::GlobalModelData::Instance.metalink_handler_ptr = &metalink_handler;
isis::GlobalModelData::Instance.metalinkAssemblyEditorPtr = assembler_ptr;
metalink_handler.change_m_operator("CAD");
bool inputFileProcessed = false;
while(!terminateProcess)
{
ProEventProcess();
if(programInputArguments.inputXmlFileName.size()!=0 && !inputFileProcessed)
{
metalink_handler.CreateAssembly(programInputArguments.inputXmlFileName);
inputFileProcessed = true;
}
if(metalink_handler.m_eventQueue.size()>0)
{
boost::unique_lock< boost::mutex > guard(eventloop_mutex);
isis::EditPointer edit = metalink_handler.m_eventQueue.front();
metalink_handler.m_eventQueue.pop();
bool result = metalink_handler.processEdit(edit);
if(result)
{
isis::EditPointer ack(new meta::Edit());
ack->set_guid(edit->guid());
for(int i = 0; i < edit->topic_size(); i++)
{
*(ack->add_topic()) = edit->topic(i);
}
metalink_handler.send(ack);
}
}
}
metalink_handler.interrupt();
metalink_handler.disconnect();
ProEngineerEnd();
} // END Try
catch(isis::application_exception& ex)
{
exceptionErrorStringStream << "application error: " << ex.what();
ExitCode = -1;
}
catch(std::exception& ex)
{
exceptionErrorStringStream << "general exception: " << ex.what();
ExitCode = -2;
}
catch(...)
{
exceptionErrorStringStream << "unspecified throwable (...): Please report the error to the help desk.";
ExitCode = -3;
}
if(ExitCode != 0)
{
// Write to _FAILED.txt
std::string failedTxtFileName = "_FAILED.txt";
bool addLineFeed = false;
if(isis::FileExists(failedTxtFileName.c_str()))
{
addLineFeed = true;
}
ofstream failedTxtFileStream;
failedTxtFileStream.open(failedTxtFileName, ios::app);
if(failedTxtFileStream.is_open())
{
if(addLineFeed)
{
failedTxtFileStream << std::endl;
}
failedTxtFileStream << isis_CADCommon::GetDayMonthTimeYear() << ", CADCreoParametricCreateAssembly.exe error code: " << ExitCode << ". For additional information, scroll to the bottom of " << programInputArguments.logFileName;
failedTxtFileStream.close();
}
if(Logging_Set_Up)
{
isis_LOG(lg, isis_FILE, isis_ERROR) << exceptionErrorStringStream.str();
}
else
{
std::cerr << std::endl << std::endl << exceptionErrorStringStream.str() << std::endl << std::endl;
}
}
/*
::boost::filesystem::current_path(original_directory);
// Cleanup - Delete the working dir after execution
::boost::system::error_code ec;
if (isis::GlobalModelData::Instance.mode == isis::DESIGNEDIT)
{
// Remove files one-by-one so if the directory removal fails still something is removed
::boost::filesystem::path deleteFile = workingDir / "*";
isis_LOG(lg, isis_FILE, isis_DEBUG) << workingDir / "*";
if (::boost::filesystem::exists(deleteFile) ) {
::boost::filesystem::remove_all(deleteFile, ec);
if (ec != 0)
{
isis_LOG(lg, isis_FILE, isis_ERROR) << "Failed to remove working directory, ec: " << ec;
}
}
deleteFile = workingDir;
isis_LOG(lg, isis_FILE, isis_DEBUG) << workingDir;
if (::boost::filesystem::exists(deleteFile) ) {
::boost::filesystem::remove_all(deleteFile, ec);
if (ec != 0)
{
isis_LOG(lg, isis_FILE, isis_ERROR) << "Failed to remove working directory, ec: " << ec;
}
}
} else if (isis::GlobalModelData::Instance.mode == isis::COMPONENTEDIT)
{
::boost::filesystem::path deleteFile = workingDir / "config.pro";
isis_LOG(lg, isis_FILE, isis_DEBUG) << workingDir / "config.pro";
if (::boost::filesystem::exists(deleteFile) ) {
::boost::filesystem::remove_all(deleteFile, ec);
if (ec != 0)
{
isis_LOG(lg, isis_FILE, isis_ERROR) << "Failed to remove working directory, ec: " << ec;
}
}
deleteFile = workingDir / "std.err";
isis_LOG(lg, isis_FILE, isis_DEBUG) << workingDir / "std.err";
if (::boost::filesystem::exists(deleteFile) ) {
::boost::filesystem::remove_all(deleteFile, ec);
if (ec != 0)
{
isis_LOG(lg, isis_FILE, isis_ERROR) << "Failed to remove working directory, ec: " << ec;
}
}
deleteFile = workingDir / "trail.txt.*";
isis_LOG(lg, isis_FILE, isis_DEBUG) << workingDir / "trail.txt.*";
if (::boost::filesystem::exists(deleteFile) ) {
::boost::filesystem::remove_all(deleteFile, ec);
if (ec != 0)
{
isis_LOG(lg, isis_FILE, isis_ERROR) << "Failed to remove working directory, ec: " << ec;
}
}
}
*/
exit(ExitCode);
}
int CXXSurface::readGraspFile(string path)
{
char buffer[1024];
string text;
float *coordBuffer;
int *triangleBuffer;
Delimiters delimiters(" \0\t\n~;()\"<>:{}[]+-=&*#.,/\\");
int hasVertices, hasAccessibles, hasNormals, hasTriangles, hasPotential,
hasProperty1, hasProperty2;
hasVertices= hasAccessibles= hasNormals= hasTriangles= hasPotential=
hasProperty1= hasProperty2 = 0;
CXXFortranFile graspFile(path,"r");
if (!graspFile.bad()) std::cout << "Opened grasp file [" << path << "]\n";
else {
std::cout << "Failed to open grasp file [" << path << "]\n";
return 1;
}
//Grasp Surface file format
graspFile.getFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
text = buffer;
cout << "[" << text << "]\n";
if (text.find("format=2",0) == string::npos) cout << "Unknown format" << text << endl;
//information about what things are in the file
graspFile.getFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
text = buffer;
cout << "[" << text << "]\n";
hasVertices = (text.find("vertices",0) != string::npos);
hasAccessibles = (text.find("accessibles",0) != string::npos);
hasNormals = (text.find("normals",0) != string::npos);
hasTriangles = (text.find("triangles",0) != string::npos);
//information about what properties are in the file
graspFile.getFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
text = buffer;
cout << "[" << text << "]\n";
hasPotential = (text.find("potential",0) != string::npos);
hasProperty1 = (text.find("gproperty1",0) != string::npos);
hasProperty2 = (text.find("gproperty2",0) != string::npos);
//Number of vertices and triangles: Here use the fancy tokeniterator to break down line into strings
graspFile.getFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
text = buffer;
cout << "[" << text << "]\n";
TokenIterator<char*, Delimiters>
charIter(buffer, buffer + strlen(buffer), delimiters), end2;
string token;
token = *charIter++;
int nVertices = atoi(token.c_str());
token = *charIter++;
nTriangles = atoi(token.c_str());
vertices.resize(nVertices);
triangles.resize(nTriangles);
std::cout << "Number of vertices is " << vertices.size() << " in " << triangles.size() << " nTriangles\n";
// ostream_iterator<string> out(cout, "\n");
// copy (wordlist.begin(), wordlist.end(), out);
// A line to skip
graspFile.getFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
text = buffer;
cout << "[" << text << "]\n";
//Read vertices if present
if (hasVertices){
coordBuffer = new float[3*nVertices];
double *coordDoubleBuffer = new double[3*nVertices];
graspFile.getFortranData((char *) coordBuffer, sizeof(float),
3*nVertices, CXXFortranFile::FortranFloatData);
for (int i=0; i<3*nVertices; i++) coordDoubleBuffer[i] = coordBuffer[i];
(void) addPerVertexVector ("vertices", coordDoubleBuffer);
delete [] coordBuffer;
delete [] coordDoubleBuffer;
}
//Read accessibles if present
if (hasAccessibles){
coordBuffer = new float[3*nVertices];
double *coordDoubleBuffer = new double[3*nVertices];
graspFile.getFortranData((char *) coordBuffer, sizeof(float),
3*nVertices, CXXFortranFile::FortranFloatData);
for (int i=0; i<3*nVertices; i++) coordDoubleBuffer[i] = coordBuffer[i];
(void) addPerVertexVector ("accessibles", coordDoubleBuffer);
delete [] coordBuffer;
delete [] coordDoubleBuffer;
}
//Read normals if present
if (hasNormals){
coordBuffer = new float[3*nVertices];
double *coordDoubleBuffer = new double[3*nVertices];
graspFile.getFortranData((char *) coordBuffer, sizeof(float),
3*nVertices, CXXFortranFile::FortranFloatData);
for (int i=0; i<3*nVertices; i++) coordDoubleBuffer[i] = coordBuffer[i];
(void) addPerVertexVector ("normals", coordDoubleBuffer);
delete [] coordBuffer;
delete [] coordDoubleBuffer;
}
//Read triangles if present
if (hasTriangles){
triangleBuffer = new int[3*nTriangles];
graspFile.getFortranData((char *) triangleBuffer, sizeof(int),
3*nTriangles, CXXFortranFile::FortranIntData);
for (int i=0; i<nTriangles; i++){
triangles[i] = CXXTriangle (triangleBuffer[3*i]-1,
triangleBuffer[3*i+1]-1,
triangleBuffer[3*i+2]-1);
}
delete [] triangleBuffer;
}
//Read potential if present
if (hasPotential){
float *potentialBuffer = new float[nVertices];
double *potentialDoubleBuffer = new double[nVertices];
graspFile.getFortranData((char *) potentialBuffer, sizeof(float),
nVertices, CXXFortranFile::FortranFloatData);
for (int i=0; i<nVertices; i++) potentialDoubleBuffer[i] = potentialBuffer[i];
addPerVertexScalar("potential", potentialDoubleBuffer);
delete [] potentialBuffer;
delete [] potentialDoubleBuffer;
}
//Read gproperty1 if present
if (hasProperty1){
float *potentialBuffer = new float[nVertices];
double *potentialDoubleBuffer = new double[nVertices];
graspFile.getFortranData((char *) potentialBuffer, sizeof(float),
nVertices, CXXFortranFile::FortranFloatData);
for (int i=0; i<nVertices; i++) potentialDoubleBuffer[i] = potentialBuffer[i];
addPerVertexScalar("gproperty1", potentialDoubleBuffer);
delete [] potentialBuffer;
delete [] potentialDoubleBuffer;
}
//Read gproperty2 if present
if (hasProperty2){
float *potentialBuffer = new float[nVertices];
double *potentialDoubleBuffer = new double[nVertices];
graspFile.getFortranData((char *) potentialBuffer, sizeof(float),
nVertices, CXXFortranFile::FortranFloatData);
for (int i=0; i<nVertices; i++) potentialDoubleBuffer[i] = potentialBuffer[i];
addPerVertexScalar("gproperty2", potentialDoubleBuffer);
delete [] potentialBuffer;
delete [] potentialDoubleBuffer;
}
return 0;
}
int CXXSurface::writeAsGrasp (const std::string &path)
{
char buffer[1024];
string text;
int i;
float *coordBuffer;
int *triangleBuffer;
std::cout << "writeAsGrasp" << path << "\n";
Delimiters delimiters(" \0\t\n~;()\"<>:{}[]+-=&*#.,/\\");
CXXFortranFile graspFile(path,"w");
if (!graspFile.bad()) std::cout << "Opened grasp file [" << path << "]\n";
else {
std::cout << "Failed to open grasp file [" << path << "]\n";
return 1;
}
//Grasp Surface file format
strcpy (buffer,"format=2");
for (i=strlen(buffer); i<80; i++) buffer[i] = ' ';
graspFile.putFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
//information about what things are in the file
strcpy (buffer,"vertices");
if (vectors.find("accessibles") != vectors.end()) strcat (buffer,",accessibles");
if (vectors.find("normals") != vectors.end()) strcat (buffer,",normals");
strcat (buffer,",triangles");
for (i=strlen(buffer); i<80; i++) buffer[i] = ' ';
graspFile.putFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
//information about what properties are in the file
int firstPotential = 1;
buffer[0] = '\0';
if (scalars.find("potential") != scalars.end()) {
firstPotential = 0;
strcat (buffer,"potential");
}
if (scalars.find("gproperty1") != scalars.end()) {
if (!firstPotential) strcat(buffer,",");
strcat (buffer,"gproperty1");
}
if (scalars.find("gproperty2") != scalars.end()) {
if (!firstPotential) strcat(buffer,",");
strcat (buffer,"gproperty2");
}
for (i=strlen(buffer); i<80; i++) buffer[i] = ' ';
graspFile.putFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
//Number of vertices and triangles, grid, and the number 3.0
sprintf(buffer,"%8d%8d%8d%8.5f ",
int(vertices.size()), nTriangles, 65, 3.0);
graspFile.putFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
// A line that seems to mention the origin
sprintf(buffer,"%8.3f%8.3f%8.3f ",
0., 0., 0.);
graspFile.putFortranData(buffer, 1, 64, CXXFortranFile::FortranCharData);
coordBuffer = new float[3*vertices.size()];
//Output vertices
for (i=0; i<int(vertices.size()); i++){
CXXCoord_ftype *xyz = vertices[i].xyzPntr(vectors["vertices"]);
for (int j=0; j<3; j++){
coordBuffer[3*i + j] = xyz[j];
}
}
graspFile.putFortranData((char *) coordBuffer, sizeof(float),
3*vertices.size(), CXXFortranFile::FortranFloatData);
//Write accessibles if present
if (vectors.find("accessibles") != vectors.end()){
for (i=0; i<int(vertices.size()); i++){
CXXCoord_ftype *xyz = vertices[i].xyzPntr(vectors["accessibles"]);
for (int j=0; j<3; j++){
coordBuffer[3*i + j] = xyz[j];
}
}
graspFile.putFortranData((char *) coordBuffer, sizeof(float),
3*vertices.size(), CXXFortranFile::FortranFloatData);
}
//Write normals if present
if (vectors.find("normals") != vectors.end()){
for (i=0; i<int(vertices.size()); i++){
CXXCoord_ftype *xyz = vertices[i].xyzPntr(vectors["normals"]);
for (int j=0; j<3; j++){
coordBuffer[3*i + j] = xyz[j];
}
}
graspFile.putFortranData((char *) coordBuffer, sizeof(float),
3*vertices.size(), CXXFortranFile::FortranFloatData);
}
delete [] coordBuffer;
//Write triangles
if (triangles.size()>1){
triangleBuffer = new int[3 * nTriangles];
for (i=0; i<nTriangles; i++){
for (int j=0; j<3; j++){
triangleBuffer[3*i + j] = 1 + triangles[i][j];
}
}
graspFile.putFortranData((char *) triangleBuffer, sizeof(int),
3*nTriangles, CXXFortranFile::FortranIntData);
delete [] triangleBuffer;
}
//Write potential if present
if (scalars.find("potential")!=scalars.end()){
int scalarHandle = getScalarHandle("potential");
float *potentialBuffer =new float[vertices.size()];
for (i=0; i<int(vertices.size()); i++){
potentialBuffer[i] = vertices[i].scalar(scalarHandle);
}
graspFile.putFortranData((char *) potentialBuffer, sizeof(float),
vertices.size(), CXXFortranFile::FortranFloatData);
delete [] potentialBuffer;
}
//Write potential if present
if (scalars.find("gproperty1")!=scalars.end()){
float *potentialBuffer =new float[vertices.size()];
for (i=0; i<int(vertices.size()); i++){
potentialBuffer[i] = vertices[i].scalar(scalars["gproperty1"]);
}
graspFile.putFortranData((char *) potentialBuffer, sizeof(float),
vertices.size(), CXXFortranFile::FortranFloatData);
delete [] potentialBuffer;
}
//Write potential if present
if (scalars.find("gproperty2")!=scalars.end()){
float *potentialBuffer =new float[vertices.size()];
for (i=0; i<int(vertices.size()); i++){
potentialBuffer[i] = vertices[i].scalar(scalars["gproperty2"]);
}
graspFile.putFortranData((char *) potentialBuffer, sizeof(float),
vertices.size(), CXXFortranFile::FortranFloatData);
delete [] potentialBuffer;
}
return 0;
}
VectorFont::Glyph::Glyph( const std::list<std::string> &cxf_glyph_definition, const double word_space_percentage, const double character_space_percentage )
{
m_word_space_percentage = word_space_percentage;
m_character_space_percentage = character_space_percentage;
for (std::list<std::string>::const_iterator l_itLine = cxf_glyph_definition.begin(); l_itLine != cxf_glyph_definition.end(); l_itLine++)
{
wxString line( Ctt(l_itLine->c_str()) );
wxString delimiters( _T(" \t\r\n,") );
std::vector<wxString> tokens = Tokens( line, delimiters );
if (tokens.size() == 0)
{
std::ostringstream l_ossError;
l_ossError << "Expected tokens in glyph definition";
throw(std::runtime_error(l_ossError.str().c_str()));
}
// Replace dot (.) for comma (,) if the locale settings require it.
for (std::vector<wxString>::iterator token = tokens.begin(); token != tokens.end(); token++)
{
*token = PrepareStringForConversion( *token );
}
const wxChar * c_str = tokens[0].c_str();
switch (c_str[0])
{
case 'L':
if (tokens.size() != 5)
{
std::ostringstream l_ossError;
l_ossError << "Expected 5 tokens when defining a line. We got "
<< tokens.size() << " tokens from '" << l_itLine->c_str() << "\n";
throw(std::runtime_error(l_ossError.str().c_str()));
}
else
{
GlyphLine *line = new GlyphLine( PointToMM(strtod( Ttc(tokens[1].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[2].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[3].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[4].c_str()), NULL )) );
m_graphics_list.push_back( line );
m_bounding_box.Insert( line->BoundingBox() );
}
break;
case 'A':
if (tokens.size() != 6)
{
std::ostringstream l_ossError;
l_ossError << "Expected 6 tokens when defining an arc";
throw(std::runtime_error(l_ossError.str().c_str()));
}
else
{
if ((tokens[0].size() == 2) && (c_str[1] == 'R'))
{
// Reverse the starting and ending points.
GlyphArc *arc = new GlyphArc( PointToMM(strtod( Ttc(tokens[1].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[2].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[3].c_str()), NULL )),
strtod( Ttc(tokens[5].c_str()), NULL) ,
strtod( Ttc(tokens[4].c_str()), NULL ));
m_graphics_list.push_back( arc );
m_bounding_box.Insert( arc->BoundingBox() );
} // End if - then
else
{
GlyphArc *arc = new GlyphArc( PointToMM(strtod( Ttc(tokens[1].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[2].c_str()), NULL )),
PointToMM(strtod( Ttc(tokens[3].c_str()), NULL )),
strtod( Ttc(tokens[4].c_str()), NULL ),
strtod( Ttc(tokens[5].c_str()), NULL ) );
m_graphics_list.push_back( arc );
m_bounding_box.Insert( arc->BoundingBox() );
}
}
break;
default:
std::ostringstream l_ossError;
l_ossError << "Unexpected graphics element type '" << c_str[0] << "'";
throw(std::runtime_error(l_ossError.str().c_str()));
} // End switch
} // End for
} // End constructor
