/** Emit output that is common to every header file **/
static void emit_header_top(lcmgen_t *lcm, FILE *f, char *name)
{
emit_auto_generated_warning(f);
fprintf(f, "#include <stdint.h>\n");
fprintf(f, "#include <stdlib.h>\n");
fprintf(f, "#include <lcm/lcm_coretypes.h>\n");
// fprintf(f, "#include \"%s%slcm_lib.h\"\n",
// getopt_get_string(lcm->gopt, "cinclude"),
// strlen(getopt_get_string(lcm->gopt, "cinclude"))>0 ? "/" : "");
if(!getopt_get_bool(lcm->gopt, "c-no-pubsub")) {
fprintf(f, "#include <lcm/lcm.h>\n");
}
if(strlen(getopt_get_string(lcm->gopt, "c-export-include"))) {
fprintf(f, "#include \"%s%s%s\"\n",
getopt_get_string(lcm->gopt, "cinclude"),
strlen(getopt_get_string(lcm->gopt, "cinclude"))>0 ? "/" : "",
getopt_get_string(lcm->gopt, "c-export-include"));
}
fprintf(f, "\n");
fprintf(f, "#ifndef _%s_h\n", name);
fprintf(f, "#define _%s_h\n", name);
fprintf(f, "\n");
fprintf(f, "#ifdef __cplusplus\n");
fprintf(f, "extern \"C\" {\n");
fprintf(f, "#endif\n");
fprintf(f, "\n");
}
int
main (int argc, char *argv[])
{
getopt_t *gopt = getopt_create ();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help screen");
getopt_add_string (gopt, 'd', "device", "/dev/ttyUSB0", "Device name");
getopt_add_int (gopt, 'b', "baud", "1000000", "Device baud rate");
getopt_add_int (gopt, 'n', "num_servos", "6", "Number of servos");
getopt_add_string (gopt, '\0', "status-channel", "ARM_STATUS2", "LCM status channel");
getopt_add_string (gopt, '\0', "command-channel", "ARM_COMMAND2", "LCM command channel");
if (!getopt_parse (gopt, argc, argv, 1) || getopt_get_bool (gopt, "help")) {
getopt_do_usage (gopt);
exit (-1);
}
arm_state_t *arm_state = arm_state_create (getopt_get_string (gopt, "device"),
getopt_get_int (gopt, "baud"),
getopt_get_int (gopt, "num_servos"));
// LCM Initialization
arm_state->lcm = lcm_create (NULL);
arm_state->command_channel = getopt_get_string (gopt, "command-channel");
arm_state->status_channel = getopt_get_string (gopt, "status-channel");
if (!arm_state->lcm)
return -1;
dynamixel_command_list_t_subscribe (arm_state->lcm,
arm_state->command_channel,
command_handler,
arm_state);
pthread_create (&arm_state->status_thread, NULL, status_loop, arm_state);
pthread_create (&arm_state->driver_thread, NULL, driver_loop, arm_state);
// Probably not needed, given how this operates
pthread_join (arm_state->status_thread, NULL);
pthread_join (arm_state->driver_thread, NULL);
// Cleanup
arm_state_destroy (arm_state);
getopt_destroy (gopt);
}
AprilTagDetector(const std::unique_ptr<getopt_t, void(*)(getopt_t*)> &options){
tf = tag16h5_create();
tf->black_border = getopt_get_int(options.get(), "border");
td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
show_window = getopt_get_bool(options.get(), "window");
td->quad_decimate = getopt_get_double(options.get(), "decimate");
td->quad_sigma = getopt_get_double(options.get(), "blur");
td->nthreads = getopt_get_int(options.get(), "threads");
td->debug = getopt_get_bool(options.get(), "debug");
td->refine_edges = getopt_get_bool(options.get(), "refine-edges");
td->refine_decode = getopt_get_bool(options.get(), "refine-decode");
td->refine_pose = getopt_get_bool(options.get(), "refine-pose");
quiet = getopt_get_bool(options.get(), "quiet");
tag_size = getopt_get_double(options.get(), "size");
tag_id = getopt_get_int(options.get(), "tag_id");
}
int main(int argc, char *argv[])
{
getopt_t *getopt = getopt_create();
getopt_add_bool(getopt, 'h', "help", 0, "Show this help");
getopt_add_bool(getopt, 'd', "debug", 0, "Enable debugging output (slow)");
getopt_add_bool(getopt, 'q', "quiet", 0, "Reduce output");
getopt_add_string(getopt, 'f', "family", "tag36h11", "Tag family to use");
getopt_add_int(getopt, '\0', "border", "1", "Set tag family border size");
getopt_add_int(getopt, 'i', "iters", "1", "Repeat processing on input set this many times");
getopt_add_int(getopt, 't', "threads", "4", "Use this many CPU threads");
getopt_add_double(getopt, 'x', "decimate", "1.0", "Decimate input image by this factor");
getopt_add_double(getopt, 'b', "blur", "0.0", "Apply low-pass blur to input");
getopt_add_bool(getopt, '1', "refine-decode", 0, "Spend more time trying to decode tags");
getopt_add_bool(getopt, '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
if (!getopt_parse(getopt, argc, argv, 1) || getopt_get_bool(getopt, "help")) {
printf("Usage: %s [options] <input files>\n", argv[0]);
getopt_do_usage(getopt);
exit(0);
}
const zarray_t *inputs = getopt_get_extra_args(getopt);
apriltag_family_t *tf = NULL;
const char *famname = getopt_get_string(getopt, "family");
if (!strcmp(famname, "tag36h11"))
tf = tag36h11_create();
else if (!strcmp(famname, "tag36h10"))
tf = tag36h10_create();
else if (!strcmp(famname, "tag36artoolkit"))
tf = tag36artoolkit_create();
else if (!strcmp(famname, "tag25h9"))
tf = tag25h9_create();
else if (!strcmp(famname, "tag25h7"))
tf = tag25h7_create();
else {
printf("Unrecognized tag family name. Use e.g. \"tag36h11\".\n");
exit(-1);
}
tf->black_border = getopt_get_int(getopt, "border");
apriltag_detector_t *td = apriltag_detector_create();
apriltag_detector_add_family(td, tf);
td->quad_decimate = getopt_get_double(getopt, "decimate");
td->quad_sigma = getopt_get_double(getopt, "blur");
td->nthreads = getopt_get_int(getopt, "threads");
td->debug = getopt_get_bool(getopt, "debug");
td->refine_decode = getopt_get_bool(getopt, "refine-decode");
td->refine_pose = getopt_get_bool(getopt, "refine-pose");
int quiet = getopt_get_bool(getopt, "quiet");
int maxiters = getopt_get_int(getopt, "iters");
const int hamm_hist_max = 10;
for (int iter = 0; iter < maxiters; iter++) {
if (maxiters > 1)
printf("iter %d / %d\n", iter + 1, maxiters);
for (int input = 0; input < zarray_size(inputs); input++) {
int hamm_hist[hamm_hist_max];
memset(hamm_hist, 0, sizeof(hamm_hist));
char *path;
zarray_get(inputs, input, &path);
if (!quiet)
printf("loading %s\n", path);
image_u8_t *im = image_u8_create_from_pnm(path);
if (im == NULL) {
printf("couldn't find %s\n", path);
continue;
}
zarray_t *detections = apriltag_detector_detect(td, im);
for (int i = 0; i < zarray_size(detections); i++) {
apriltag_detection_t *det;
zarray_get(detections, i, &det);
if (!quiet)
printf("detection %3d: id (%2dx%2d)-%-4d, hamming %d, goodness %8.3f, margin %8.3f\n",
i, det->family->d*det->family->d, det->family->h, det->id, det->hamming, det->goodness, det->decision_margin);
hamm_hist[det->hamming]++;
apriltag_detection_destroy(det);
}
zarray_destroy(detections);
if (!quiet) {
timeprofile_display(td->tp);
printf("nedges: %d, nsegments: %d, nquads: %d\n", td->nedges, td->nsegments, td->nquads);
}
if (!quiet)
printf("Hamming histogram: ");
for (int i = 0; i < hamm_hist_max; i++)
printf("%5d", hamm_hist[i]);
if (quiet) {
printf("%12.3f", timeprofile_total_utime(td->tp) / 1.0E3);
}
printf("\n");
image_u8_destroy(im);
}
}
// don't deallocate contents of inputs; those are the argv
apriltag_detector_destroy(td);
tag36h11_destroy(tf);
return 0;
}
int main(int argc, char *argv[])
{
auto options = std::unique_ptr<getopt_t, void(*)(getopt_t*)> (getopt_create(), getopt_destroy);
// getopt_t *options = getopt_create();
getopt_add_bool(options.get(), 'h', "help", 0, "Show this help");
getopt_add_bool(options.get(), 'd', "debug", 0, "Enable debugging output (slow)");
getopt_add_bool(options.get(), 'w', "window", 1, "Show the detected tags in a window");
getopt_add_bool(options.get(), 'q', "quiet", 0, "Reduce output");
getopt_add_int(options.get(), '\0', "border", "1", "Set tag family border size");
getopt_add_int(options.get(), 't', "threads", "4", "Use this many CPU threads");
getopt_add_double(options.get(), 'x', "decimate", "1.0", "Decimate input image by this factor");
getopt_add_double(options.get(), 'b', "blur", "0.0", "Apply low-pass blur to input");
getopt_add_bool(options.get(), '0', "refine-edges", 1, "Spend more time trying to align edges of tags");
getopt_add_bool(options.get(), '1', "refine-decode", 0, "Spend more time trying to decode tags");
getopt_add_bool(options.get(), '2', "refine-pose", 0, "Spend more time trying to precisely localize tags");
getopt_add_double(options.get(), 's', "size", "0.04047", "Physical side-length of the tag (meters)");
getopt_add_int(options.get(), 'c', "camera", "0", "Camera ID");
getopt_add_int(options.get(), 'i', "tag_id", "-1", "Tag ID (-1 for all tags in family)");
if (!getopt_parse(options.get(), argc, argv, 1) || getopt_get_bool(options.get(), "help")) {
printf("Usage: %s [options]\n", argv[0]);
getopt_do_usage(options.get());
exit(0);
}
AprilTagDetector tag_detector(options);
auto lcm = std::make_shared<lcm::LCM>();
Eigen::Matrix3d camera_matrix = Eigen::Matrix3d::Identity();
// camera_matrix(0,0) = bot_camtrans_get_focal_length_x(mCamTransLeft);
// camera_matrix(1,1) = bot_camtrans_get_focal_length_y(mCamTransLeft);
// camera_matrix(0,2) = bot_camtrans_get_principal_x(mCamTransLeft);
// camera_matrix(1,2) = bot_camtrans_get_principal_y(mCamTransLeft);
camera_matrix(0,0) = 535.04778754;
camera_matrix(1,1) = 533.37100256;
camera_matrix(0,2) = 302.83654976;
camera_matrix(1,2) = 237.69023961;
Eigen::Vector4d distortion_coefficients(-7.74010810e-02, -1.97835565e-01, -4.47956948e-03, -5.42361499e-04);
// camera matrix:
// [[ 535.04778754 0. 302.83654976]
// [ 0. 533.37100256 237.69023961]
// [ 0. 0. 1. ]]
// distortion coefficients: [ -7.74010810e-02 -1.97835565e-01 -4.47956948e-03 -5.42361499e-04
// 9.30985112e-01]
cv::VideoCapture capture(getopt_get_int(options.get(), "camera"));
if (!capture.isOpened()) {
std::cout << "Cannot open the video cam" << std::endl;
return -1;
}
cv::Mat frame;
Eigen::Isometry3d tag_to_camera = Eigen::Isometry3d::Identity();
crazyflie_t::webcam_pos_t tag_to_camera_msg;
while (capture.read(frame)) {
std::vector<TagMatch> tags = tag_detector.detectTags(frame);
if (tags.size() > 0) {
tag_to_camera = getRelativeTransform(tags[0], camera_matrix, distortion_coefficients, tag_detector.getTagSize());
tag_to_camera_msg = encodeWebcamPos(tag_to_camera);
tag_to_camera_msg.frame_id = 1;
} else {
tag_to_camera_msg = encodeWebcamPos(tag_to_camera);
tag_to_camera_msg.frame_id = -1;
}
tag_to_camera_msg.timestamp = timestamp_now();
lcm->publish("WEBCAM_POS", &tag_to_camera_msg);
}
return 0;
}
int main(int argc, char *argv[])
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help");
getopt_add_bool (gopt, 't', "tokenize", 0, "Show tokenization");
getopt_add_bool (gopt, 'd', "debug", 0, "Show parsed file");
getopt_add_bool (gopt, 0, "lazy", 0, "Generate output file only if .lcm is newer");
getopt_add_string(gopt, 0, "package-prefix", "",
"Add this package name as a prefix to the declared package");
getopt_add_bool (gopt, 0, "version", 0, "Show version information and exit");
// we only support portable declarations now.
// getopt_add_bool (gopt, 0, "warn-unsafe", 1, "Warn about unportable declarations");
getopt_add_spacer(gopt, "**** C options ****");
getopt_add_bool (gopt, 'c', "c", 0, "Emit C code");
setup_c_options(gopt);
getopt_add_spacer(gopt, "**** C++ options ****");
getopt_add_bool (gopt, 'x', "cpp", 0, "Emit C++ code");
setup_cpp_options(gopt);
getopt_add_spacer(gopt, "**** Java options ****");
getopt_add_bool (gopt, 'j', "java", 0, "Emit Java code");
setup_java_options(gopt);
getopt_add_spacer(gopt, "**** Python options ****");
getopt_add_bool (gopt, 'p', "python", 0, "Emit Python code");
setup_python_options(gopt);
getopt_add_spacer(gopt, "**** Lua options ****");
getopt_add_bool (gopt, 'l', "lua", 0, "Emit Lua code");
setup_lua_options(gopt);
getopt_add_spacer(gopt, "**** C#.NET options ****");
getopt_add_bool (gopt, 0, "csharp", 0, "Emit C#.NET code");
setup_csharp_options(gopt);
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf("Usage: %s [options] <input files>\n\n", argv[0]);
getopt_do_usage(gopt);
return 0;
}
lcmgen_t *lcm = lcmgen_create();
lcm->gopt = gopt;
for (unsigned int i = 0; i < g_ptr_array_size(gopt->extraargs); i++) {
char *path = (char *) g_ptr_array_index(gopt->extraargs, i);
int res = lcmgen_handle_file(lcm, path);
if (res)
return res;
}
// If "--version" was specified, then show version information and exit.
if (getopt_get_bool(gopt, "version")) {
printf("lcm-gen %d.%d.%d\n", LCM_MAJOR_VERSION, LCM_MINOR_VERSION,
LCM_MICRO_VERSION);
return 0;
}
// If "-t" or "--tokenize" was specified, then show tokenization
// information and exit.
if (getopt_get_bool(gopt, "tokenize")) {
return 0;
}
int did_something = 0;
if (getopt_get_bool(gopt, "debug")) {
did_something = 1;
lcmgen_dump(lcm);
}
if (getopt_get_bool(gopt, "c")) {
did_something = 1;
if (emit_c(lcm)) {
printf("An error occurred while emitting C code.\n");
}
}
if (getopt_get_bool(gopt, "cpp")) {
did_something = 1;
if (emit_cpp(lcm)) {
printf("An error occurred while emitting C++ code.\n");
}
}
if (getopt_get_bool(gopt, "java")) {
did_something = 1;
if (emit_java(lcm)) {
perror("An error occurred while emitting Java code.\n");
}
}
if (getopt_get_bool(gopt, "python")) {
did_something = 1;
if (emit_python(lcm)) {
printf("An error occurred while emitting Python code.\n");
}
}
if (getopt_get_bool(gopt, "lua")) {
did_something = 1;
if (emit_lua(lcm)) {
printf("An error occurred while emitting Lua code.\n");
}
}
if (getopt_get_bool(gopt, "csharp")) {
did_something = 1;
if (emit_csharp(lcm)) {
printf("An error occurred while emitting C#.NET code.\n");
}
}
if (did_something == 0) {
printf("No actions specified. Try --help.\n");
}
return 0;
}
static int
emit_package (lcmgen_t *lcm, _package_contents_t *pc)
{
// create the package directory, if necessary
char **dirs = g_strsplit (pc->name, ".", 0);
char *pdname = build_filenamev (dirs);
char package_dir[PATH_MAX];
char package_dir_prefix[PATH_MAX];
int have_package = dirs[0] != NULL;
int write_init_py = !getopt_get_bool(lcm->gopt, "python-no-init");
sprintf (package_dir_prefix, "%s%s", getopt_get_string(lcm->gopt, "ppath"),
strlen(getopt_get_string(lcm->gopt, "ppath")) > 0 ?
G_DIR_SEPARATOR_S : "");
sprintf(package_dir, "%s%s%s", package_dir_prefix, pdname,
have_package ? G_DIR_SEPARATOR_S : "");
free (pdname);
if (strlen (package_dir)) {
if (! g_file_test (package_dir, G_FILE_TEST_EXISTS)) {
// g_mkdir_with_parents (package_dir, 0755);
mkdir_with_parents (package_dir, 0755);
}
if (!g_file_test (package_dir, G_FILE_TEST_IS_DIR)) {
err ("Could not create directory %s\n", package_dir);
return -1;
}
}
// write the package __init__.py files, if necessary
FILE *init_py_fp = NULL;
GHashTable * init_py_imports = g_hash_table_new_full(g_str_hash,
g_str_equal, free, NULL);
if (have_package && write_init_py) {
int ndirs = 0;
for (ndirs=0; dirs[ndirs]; ndirs++);
for (int i=0 ; i<ndirs; i++) {
char *initpy_fname_parts[1024];
assert(ndirs + 4 < 1024);
initpy_fname_parts[0] = package_dir_prefix;
for (int j=0; j<=i; j++) {
initpy_fname_parts[j+1] = dirs[j];
}
initpy_fname_parts[i+2] = "__init__.py";
initpy_fname_parts[i+3] = NULL;
char *initpy_fname = build_filenamev (initpy_fname_parts);
int created_initpy = 0;
// close init_py_fp if already open
if(init_py_fp) {
fclose(init_py_fp);
init_py_fp = NULL;
}
if (! g_file_test (initpy_fname, G_FILE_TEST_EXISTS)) {
// __init__.py does not exist for this package. Create it.
created_initpy = 1;
init_py_fp = fopen(initpy_fname, "w");
} else {
// open the existing __init__.py file, and make note of the
// modules it imports
created_initpy = 0;
init_py_fp = fopen(initpy_fname, "r+");
}
if (!init_py_fp) {
perror ("fopen");
free (initpy_fname);
return -1;
}
#ifndef WIN32
// lock __init__.py for exclusive write access
// TODO do the equivalent in windows
struct flock lockinfo;
lockinfo.l_type = F_WRLCK;
lockinfo.l_start = 0;
lockinfo.l_whence = SEEK_SET;
lockinfo.l_len = 0 ;
lockinfo.l_pid = getpid();
if(0 != fcntl(fileno(init_py_fp), F_SETLKW, &lockinfo)) {
perror("locking __init__.py");
free(initpy_fname);
fclose(init_py_fp);
return -1;
}
#endif
if(created_initpy) {
fprintf (init_py_fp, "\"\"\"LCM package __init__.py file\n"
"This file automatically generated by lcm-gen.\n"
"DO NOT MODIFY BY HAND!!!!\n"
"\"\"\"\n\n");
} else {
while(!feof(init_py_fp)) {
char buf[4096];
memset(buf, 0, sizeof(buf));
char *result = fgets(buf, sizeof(buf)-1, init_py_fp);
if(!result)
break;
g_strstrip(buf);
char **words = g_strsplit(buf, " ", -1);
if(!words[0] || !words[1] || !words[2] || !words[3])
continue;
if(!strcmp(words[0], "from") && !strcmp(words[2], "import")) {
char *module_name = strdup(words[1]+1); // ignore leading dot
g_hash_table_replace(init_py_imports, module_name,
module_name);
}
g_strfreev(words);
}
}
free (initpy_fname);
}
}
g_strfreev (dirs);
////////////////////////////////////////////////////////////
// ENUMS
for (int i=0; i<pc->enums->len; i++) {
lcm_enum_t *le = (lcm_enum_t *) g_ptr_array_index (pc->enums, i);
char path[PATH_MAX];
sprintf (path, "%s%s.py", package_dir, le->enumname->shortname);
if(init_py_fp &&
!g_hash_table_lookup(init_py_imports, le->enumname->shortname))
fprintf(init_py_fp, "from .%s import %s\n",
le->enumname->shortname,
le->enumname->shortname);
if (!lcm_needs_generation(lcm, le->lcmfile, path))
continue;
FILE *f = fopen(path, "w");
if (f==NULL) return -1;
fprintf(f, "\"\"\"LCM type definitions\n"
"This file automatically generated by lcm.\n"
"DO NOT MODIFY BY HAND!!!!\n"
"\"\"\"\n"
"\n"
"try:\n"
" import cStringIO.StringIO as BytesIO\n"
"except ImportError:\n"
" from io import BytesIO\n"
"import struct\n\n");
// enums always encoded as int32
emit (0, "class %s(object):", le->enumname->shortname);
emit (1, "__slots__ = [ \"value\" ]");
for (unsigned int v = 0; v < le->values->len; v++) {
lcm_enum_value_t *lev = (lcm_enum_value_t *) g_ptr_array_index(le->values, v);
emit(1, "%s = %i", lev->valuename, lev->value);
}
emit (1, "_packed_fingerprint = struct.pack(\">Q\", 0x%"PRIx64")",
le->hash);
fprintf (f, "\n");
emit (1, "def __init__ (self, value):");
emit (2, "self.value = value");
fprintf (f, "\n");
emit (1, "def _get_hash_recursive(parents):");
emit (2, "return 0x%"PRIx64, le->hash);
emit (1, "_get_hash_recursive=staticmethod(_get_hash_recursive)");
emit (1, "def _get_packed_fingerprint():");
emit (2, "return %s._packed_fingerprint", le->enumname->shortname);
emit (1, "_get_packed_fingerprint = staticmethod(_get_packed_fingerprint)");
fprintf (f, "\n");
emit (1, "def encode(self):");
emit (2, "return struct.pack(\">Qi\", 0x%"PRIx64", self.value)",
le->hash);
emit (1, "def _encode_one(self, buf):");
emit (2, "buf.write (struct.pack(\">i\", self.value))");
fprintf (f, "\n");
emit (1, "def decode(data):");
emit (2, "if hasattr (data, 'read'):");
emit (3, "buf = data");
emit (2, "else:");
emit (3, "buf = BytesIO(data)");
emit (2, "if buf.read(8) != %s._packed_fingerprint:",
le->enumname->shortname);
emit (3, "raise ValueError(\"Decode error\")");
emit (2, "return %s(struct.unpack(\">i\", buf.read(4))[0])",
le->enumname->shortname);
emit (1, "decode = staticmethod(decode)");
emit (1, "def _decode_one(buf):");
emit (2, "return %s(struct.unpack(\">i\", buf.read(4))[0])",
le->enumname->shortname);
emit (1, "_decode_one = staticmethod(_decode_one)");
fprintf (f, "\n");
fclose (f);
}
////////////////////////////////////////////////////////////
// STRUCTS
for (int i = 0; i<pc->structs->len; i++) {
lcm_struct_t *ls = (lcm_struct_t *) g_ptr_array_index(pc->structs, i);
char path[PATH_MAX];
sprintf (path, "%s%s.py", package_dir, ls->structname->shortname);
if(init_py_fp &&
!g_hash_table_lookup(init_py_imports, ls->structname->shortname))
fprintf(init_py_fp, "from .%s import %s\n",
ls->structname->shortname,
ls->structname->shortname);
if (!lcm_needs_generation(lcm, ls->lcmfile, path))
continue;
FILE *f = fopen(path, "w");
if (f==NULL) return -1;
fprintf(f, "\"\"\"LCM type definitions\n"
"This file automatically generated by lcm.\n"
"DO NOT MODIFY BY HAND!!!!\n"
"\"\"\"\n"
"\n"
"try:\n"
" import cStringIO.StringIO as BytesIO\n"
"except ImportError:\n"
" from io import BytesIO\n"
"import struct\n\n");
emit_python_dependencies (lcm, f, ls);
fprintf(f, "class %s(object):\n", ls->structname->shortname);
fprintf (f," __slots__ = [");
for (unsigned int member = 0; member < ls->members->len; member++) {
lcm_member_t *lm = (lcm_member_t *) g_ptr_array_index (ls->members, member);
fprintf (f, "\"%s\"%s", lm->membername,
member < ls->members->len-1 ? ", " : "");
}
fprintf (f, "]\n\n");
// CONSTANTS
for (unsigned int cn = 0; cn < g_ptr_array_size(ls->constants); cn++) {
lcm_constant_t *lc = (lcm_constant_t *) g_ptr_array_index(ls->constants, cn);
assert(lcm_is_legal_const_type(lc->lctypename));
emit(1, "%s = %s", lc->membername, lc->val_str);
}
if (g_ptr_array_size(ls->constants) > 0)
emit(0, "");
emit_python_init (lcm, f, ls);
emit_python_encode (lcm, f, ls);
emit_python_encode_one (lcm, f, ls);
emit_python_decode (lcm, f, ls);
emit_python_decode_one (lcm, f, ls);
emit_python_fingerprint (lcm, f, ls);
fclose (f);
}
if(init_py_fp)
fclose(init_py_fp);
g_hash_table_destroy(init_py_imports);
return 0;
}
int emit_java(zcmgen_t *zcm)
{
GHashTable *type_table = g_hash_table_new(g_str_hash, g_str_equal);
g_hash_table_insert(type_table, "byte", prim("byte",
"# = ins.readByte();",
"outs.writeByte(#);"));
g_hash_table_insert(type_table, "int8_t", prim("byte",
"# = ins.readByte();",
"outs.writeByte(#);"));
g_hash_table_insert(type_table, "int16_t", prim("short",
"# = ins.readShort();",
"outs.writeShort(#);"));
g_hash_table_insert(type_table, "int32_t", prim("int",
"# = ins.readInt();",
"outs.writeInt(#);"));
g_hash_table_insert(type_table, "int64_t", prim("long",
"# = ins.readLong();",
"outs.writeLong(#);"));
g_hash_table_insert(type_table, "string", prim("String",
"__strbuf = new char[ins.readInt()-1]; for (int _i = 0; _i < __strbuf.length; _i++) __strbuf[_i] = (char) (ins.readByte()&0xff); ins.readByte(); # = new String(__strbuf);",
"__strbuf = new char[#.length()]; #.getChars(0, #.length(), __strbuf, 0); outs.writeInt(__strbuf.length+1); for (int _i = 0; _i < __strbuf.length; _i++) outs.write(__strbuf[_i]); outs.writeByte(0);"));
// g_hash_table_insert(type_table, "string", prim("String",
// "__strbuf = new byte[ins.readInt()-1]; ins.readFully(__strbuf); ins.readByte(); # = new String(__strbuf, \"UTF-8\");",
// "__strbuf = #.getBytes(\"UTF-8\"); outs.writeInt(__strbuf.length+1); outs.write(__strbuf, 0, __strbuf.length); outs.writeByte(0);"));
g_hash_table_insert(type_table, "boolean", prim("boolean",
"# = ins.readByte()!=0;",
"outs.writeByte( # ? 1 : 0);"));
g_hash_table_insert(type_table, "float", prim("float",
"# = ins.readFloat();",
"outs.writeFloat(#);"));
g_hash_table_insert(type_table, "double", prim("double",
"# = ins.readDouble();",
"outs.writeDouble(#);"));
//////////////////////////////////////////////////////////////
// ENUMS
for (unsigned int en = 0; en < g_ptr_array_size(zcm->enums); en++) {
zcm_enum_t *le = (zcm_enum_t *) g_ptr_array_index(zcm->enums, en);
const char *classname = make_fqn(zcm, le->enumname->lctypename);
char *path = g_strdup_printf("%s%s%s.java",
getopt_get_string(zcm->gopt, "jpath"),
strlen(getopt_get_string(zcm->gopt, "jpath")) > 0 ? G_DIR_SEPARATOR_S : "",
dots_to_slashes(classname));
if (!zcm_needs_generation(zcm, le->zcmfile, path))
continue;
if (getopt_get_bool(zcm->gopt, "jmkdir"))
make_dirs_for_file(path);
FILE *f = fopen(path, "w");
if (f==NULL)
return -1;
if (strlen(le->enumname->package) > 0)
emit(0, "package %s;", le->enumname->package);
else
emit(0, "package %s;", getopt_get_string(zcm->gopt, "jdefaultpkg"));
emit(0, " ");
emit(0, "import java.io.*;");
emit(0, "import java.util.*;");
emit(0, " ");
emit(0, "public final class %s %s", le->enumname->shortname, getopt_get_string(zcm->gopt, "jdecl"));
emit(0, "{");
emit(1, "public int value;");
emit(0, " ");
for (unsigned int v = 0; v < g_ptr_array_size(le->values); v++) {
zcm_enum_value_t *lev = (zcm_enum_value_t *) g_ptr_array_index(le->values, v);
emit(1, "public static final int %-16s = %i;",
lev->valuename, lev->value);
}
emit(0," ");
emit(1,"public %s(int value) { this.value = value; }",
le->enumname->shortname);
emit(0," ");
emit(1,"public int getValue() { return value; }");
emit(0," ");
emit(1,"public void _encodeRecursive(DataOutput outs) throws IOException");
emit(1,"{");
emit(2,"outs.writeInt(this.value);");
emit(1,"}");
emit(0," ");
emit(1,"public void encode(DataOutput outs) throws IOException");
emit(1,"{");
emit(2,"outs.writeLong(ZCM_FINGERPRINT);");
emit(2,"_encodeRecursive(outs);");
emit(1,"}");
emit(0," ");
emit(1,"public static %s _decodeRecursiveFactory(DataInput ins) throws IOException", make_fqn(zcm, le->enumname->lctypename));
emit(1,"{");
emit(2,"%s o = new %s(0);", make_fqn(zcm, le->enumname->lctypename), make_fqn(zcm, le->enumname->lctypename));
emit(2,"o._decodeRecursive(ins);");
emit(2,"return o;");
emit(1,"}");
emit(0," ");
emit(1,"public void _decodeRecursive(DataInput ins) throws IOException");
emit(1,"{");
emit(2,"this.value = ins.readInt();");
emit(1,"}");
emit(0," ");
emit(1,"public %s(DataInput ins) throws IOException", le->enumname->shortname);
emit(1,"{");
emit(2,"long hash = ins.readLong();");
emit(2,"if (hash != ZCM_FINGERPRINT)");
emit(3, "throw new IOException(\"ZCM Decode error: bad fingerprint\");");
emit(2,"_decodeRecursive(ins);");
emit(1,"}");
emit(0," ");
emit(1,"public %s copy()", classname);
emit(1,"{");
emit(2,"return new %s(this.value);", classname);
emit(1,"}");
emit(0," ");
emit(1,"public static final long _hashRecursive(ArrayList<Class<?>> clss)");
emit(1,"{");
emit(2,"return ZCM_FINGERPRINT;");
emit(1,"}");
emit(0," ");
emit(1, "public static final long ZCM_FINGERPRINT = 0x%016"PRIx64"L;", le->hash);
emit(0, "}");
fclose(f);
}
for (unsigned int st = 0; st < g_ptr_array_size(zcm->structs); st++) {
zcm_struct_t *lr = (zcm_struct_t *) g_ptr_array_index(zcm->structs, st);
const char *classname = make_fqn(zcm, lr->structname->lctypename);
char *path = g_strdup_printf("%s%s%s.java",
getopt_get_string(zcm->gopt, "jpath"),
strlen(getopt_get_string(zcm->gopt, "jpath")) > 0 ? G_DIR_SEPARATOR_S : "",
dots_to_slashes(classname));
if (!zcm_needs_generation(zcm, lr->zcmfile, path))
continue;
if (getopt_get_bool(zcm->gopt, "jmkdir"))
make_dirs_for_file(path);
FILE *f = fopen(path, "w");
if (f==NULL)
return -1;
emit(0, "/* ZCM type definition class file\n"
" * This file was automatically generated by zcm-gen\n"
" * DO NOT MODIFY BY HAND!!!!\n"
" */\n");
if (strlen(lr->structname->package) > 0)
emit(0, "package %s;", lr->structname->package);
else
emit(0, "package %s;", getopt_get_string(zcm->gopt, "jdefaultpkg"));
emit(0, " ");
emit(0, "import java.io.*;");
if (0) {
// Determine if we even need the java.nio.* package.
int usenio = 0;
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
if (pinfo!=NULL && !strcmp(pinfo->storage, "float")) {
usenio = 1;
break;
}
}
if (usenio)
emit(0, "import java.nio.*;");
}
emit(0, "import java.util.*;");
emit(0, "import zcm.zcm.*;");
emit(0, " ");
emit(0, "public final class %s %s", lr->structname->shortname, getopt_get_string(zcm->gopt, "jdecl"));
emit(0, "{");
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
emit_start(1, "public ");
if (pinfo==NULL) {
emit_continue("%s", make_fqn(zcm, lm->type->lctypename));
} else {
emit_continue("%s", pinfo->storage);
}
emit_continue(" %s", lm->membername);
for (unsigned int i = 0; i < g_ptr_array_size(lm->dimensions); i++)
emit_continue("[]");
emit_end(";");
}
emit(0," ");
// public constructor
emit(1,"public %s()", lr->structname->shortname);
emit(1,"{");
// pre-allocate any fixed-size arrays.
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
if (g_ptr_array_size(lm->dimensions)==0 || !zcm_is_constant_size_array(lm))
continue;
emit_start(2, "%s = new ", lm->membername);
if (pinfo != NULL)
emit_continue("%s", pinfo->storage);
else
emit_continue("%s", make_fqn(zcm, lm->type->lctypename));
for (unsigned int i = 0; i < g_ptr_array_size(lm->dimensions); i++) {
zcm_dimension_t *dim = (zcm_dimension_t*) g_ptr_array_index(lm->dimensions, i);
emit_continue("[%s]", dim->size);
}
emit_end(";");
}
emit(1,"}");
emit(0," ");
emit(1, "public static final long ZCM_FINGERPRINT;");
emit(1, "public static final long ZCM_FINGERPRINT_BASE = 0x%016"PRIx64"L;", lr->hash);
emit(0," ");
//////////////////////////////////////////////////////////////
// CONSTANTS
for (unsigned int cn = 0; cn < g_ptr_array_size(lr->constants); cn++) {
zcm_constant_t *lc = (zcm_constant_t *) g_ptr_array_index(lr->constants, cn);
assert(zcm_is_legal_const_type(lc->lctypename));
if (!strcmp(lc->lctypename, "int8_t")) {
emit(1, "public static final byte %s = (byte) %s;", lc->membername, lc->val_str);
} else if (!strcmp(lc->lctypename, "int16_t")) {
emit(1, "public static final short %s = (short) %s;", lc->membername, lc->val_str);
} else if (!strcmp(lc->lctypename, "int32_t")) {
emit(1, "public static final int %s = %s;", lc->membername, lc->val_str);
} else if (!strcmp(lc->lctypename, "int64_t")) {
emit(1, "public static final long %s = %sL;", lc->membername, lc->val_str);
} else if (!strcmp(lc->lctypename, "float")) {
emit(1, "public static final float %s = %sf;", lc->membername, lc->val_str);
} else if (!strcmp(lc->lctypename, "double")) {
emit(1, "public static final double %s = %s;", lc->membername, lc->val_str);
} else {
assert(0);
}
}
if (g_ptr_array_size(lr->constants) > 0)
emit(0, "");
///////////////// compute fingerprint //////////////////
emit(1, "static {");
emit(2, "ZCM_FINGERPRINT = _hashRecursive(new ArrayList<Class<?>>());");
emit(1, "}");
emit(0, " ");
emit(1, "public static long _hashRecursive(ArrayList<Class<?>> classes)");
emit(1, "{");
emit(2, "if (classes.contains(%s.class))", make_fqn(zcm, lr->structname->lctypename));
emit(3, "return 0L;");
emit(0, " ");
emit(2, "classes.add(%s.class);", make_fqn(zcm, lr->structname->lctypename));
emit(2, "long hash = ZCM_FINGERPRINT_BASE");
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
if (pinfo)
continue;
emit(3, " + %s._hashRecursive(classes)", make_fqn(zcm, lm->type->lctypename));
}
emit(3,";");
emit(2, "classes.remove(classes.size() - 1);");
emit(2, "return (hash<<1) + ((hash>>63)&1);");
emit(1, "}");
emit(0, " ");
///////////////// encode //////////////////
emit(1,"public void encode(DataOutput outs) throws IOException");
emit(1,"{");
emit(2,"outs.writeLong(ZCM_FINGERPRINT);");
emit(2,"_encodeRecursive(outs);");
emit(1,"}");
emit(0," ");
emit(1,"public void _encodeRecursive(DataOutput outs) throws IOException");
emit(1,"{");
if(struct_has_string_member(lr))
emit(2, "char[] __strbuf = null;");
char accessor[1024];
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
make_accessor(lm, "this", accessor);
encode_recursive(zcm, lm, f, pinfo, accessor, 0);
emit(0," ");
}
emit(1,"}");
emit(0," ");
///////////////// decode //////////////////
// decoding constructors
emit(1, "public %s(byte[] data) throws IOException", lr->structname->shortname);
emit(1, "{");
emit(2, "this(new ZCMDataInputStream(data));");
emit(1, "}");
emit(0, " ");
emit(1,"public %s(DataInput ins) throws IOException", lr->structname->shortname);
emit(1,"{");
emit(2,"if (ins.readLong() != ZCM_FINGERPRINT)");
emit(3, "throw new IOException(\"ZCM Decode error: bad fingerprint\");");
emit(0," ");
emit(2,"_decodeRecursive(ins);");
emit(1,"}");
emit(0," ");
emit(1,"public static %s _decodeRecursiveFactory(DataInput ins) throws IOException", make_fqn(zcm, lr->structname->lctypename));
emit(1,"{");
emit(2,"%s o = new %s();", make_fqn(zcm, lr->structname->lctypename), make_fqn(zcm, lr->structname->lctypename));
emit(2,"o._decodeRecursive(ins);");
emit(2,"return o;");
emit(1,"}");
emit(0," ");
emit(1,"public void _decodeRecursive(DataInput ins) throws IOException");
emit(1,"{");
if(struct_has_string_member(lr))
emit(2, "char[] __strbuf = null;");
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
make_accessor(lm, "this", accessor);
// allocate an array if necessary
if (g_ptr_array_size(lm->dimensions) > 0) {
emit_start(2, "this.%s = new ", lm->membername);
if (pinfo != NULL)
emit_continue("%s", pinfo->storage);
else
emit_continue("%s", make_fqn(zcm, lm->type->lctypename));
for (unsigned int i = 0; i < g_ptr_array_size(lm->dimensions); i++) {
zcm_dimension_t *dim = (zcm_dimension_t*) g_ptr_array_index(lm->dimensions, i);
emit_continue("[(int) %s]", dim->size);
}
emit_end(";");
}
decode_recursive(zcm, lm, f, pinfo, accessor, 0);
emit(0," ");
}
emit(1,"}");
emit(0," ");
///////////////// copy //////////////////
emit(1,"public %s copy()", classname);
emit(1,"{");
emit(2,"%s outobj = new %s();", classname, classname);
for (unsigned int member = 0; member < g_ptr_array_size(lr->members); member++) {
zcm_member_t *lm = (zcm_member_t *) g_ptr_array_index(lr->members, member);
primitive_info_t *pinfo = (primitive_info_t*) g_hash_table_lookup(type_table, lm->type->lctypename);
make_accessor(lm, "", accessor);
// allocate an array if necessary
if (g_ptr_array_size(lm->dimensions) > 0) {
emit_start(2, "outobj.%s = new ", lm->membername);
if (pinfo != NULL)
emit_continue("%s", pinfo->storage);
else
emit_continue("%s", make_fqn(zcm, lm->type->lctypename));
for (unsigned int i = 0; i < g_ptr_array_size(lm->dimensions); i++) {
zcm_dimension_t *dim = (zcm_dimension_t*) g_ptr_array_index(lm->dimensions, i);
emit_continue("[(int) %s]", dim->size);
}
emit_end(";");
}
copy_recursive(zcm, lm, f, pinfo, accessor, 0);
emit(0," ");
}
emit(2,"return outobj;");
emit(1,"}");
emit(0," ");
////////
emit(0, "}\n");
fclose(f);
}
/* XXX deallocate our storage. unfinished since memory leaks are non-critical for zcm-gen.
hashtable_iterator_t *hit = hashtable_iterator_create(type_table);
hashtable_entry_t *entry;
while ((entry = hashtable_iterator_next(hit)) != NULL) {
free((char*) entry->value);
}
hashtable_iterator_destroy(hit);
hashtable_destroy(type_table);
*/
return 0;
}
int main(int argc, char *argv[])
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help");
getopt_add_bool (gopt, 't', "tokenize", 0, "Show tokenization");
getopt_add_bool (gopt, 'd', "debug", 0, "Show parsed file");
getopt_add_bool (gopt, 0, "lazy", 0, "Generate output file only if .lcm is newer");
// we only support portable declarations now.
// getopt_add_bool (gopt, 0, "warn-unsafe", 1, "Warn about unportable declarations");
getopt_add_spacer(gopt, "**** C options ****");
getopt_add_bool (gopt, 'c', "c", 0, "Emit C code");
setup_c_options(gopt);
getopt_add_spacer(gopt, "**** C++ options ****");
getopt_add_bool (gopt, 'x', "cpp", 0, "Emit C++ code");
setup_cpp_options(gopt);
getopt_add_spacer(gopt, "**** Java options ****");
getopt_add_bool (gopt, 'j', "java", 0, "Emit Java code");
setup_java_options(gopt);
getopt_add_spacer(gopt, "**** Python options ****");
getopt_add_bool (gopt, 'p', "python", 0, "Emit Python code");
setup_python_options(gopt);
getopt_add_spacer(gopt, "**** Lua options ****");
getopt_add_bool (gopt, 'l', "lua", 0, "Emit Lua code");
setup_lua_options(gopt);
getopt_add_spacer(gopt, "**** C#.NET options ****");
getopt_add_bool (gopt, 0, "csharp", 0, "Emit C#.NET code");
setup_csharp_options(gopt);
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf("Usage: %s [options] <input files>\n\n", argv[0]);
getopt_do_usage(gopt);
return 0;
}
lcmgen_t *lcm = lcmgen_create();
lcm->gopt = gopt;
for (unsigned int i = 0; i < g_ptr_array_size(gopt->extraargs); i++) {
char *path = (char *) g_ptr_array_index(gopt->extraargs, i);
int res = lcmgen_handle_file(lcm, path);
if (res)
return -1;
}
int did_something = 0;
// if they requested tokenizing (debug) output, we've done that now. Exit.
if (getopt_get_bool(gopt, "tokenize")) {
did_something = 1;
return 0;
}
if (getopt_get_bool(gopt, "debug")) {
did_something = 1;
lcmgen_dump(lcm);
}
if (getopt_get_bool(gopt, "c")) {
did_something = 1;
if (emit_c(lcm)) {
printf("An error occurred while emitting C code.\n");
}
}
if (getopt_get_bool(gopt, "cpp")) {
did_something = 1;
if (emit_cpp(lcm)) {
printf("An error occurred while emitting C++ code.\n");
}
}
if (getopt_get_bool(gopt, "java")) {
did_something = 1;
if (emit_java(lcm)) {
perror("An error occurred while emitting Java code.\n");
}
}
if (getopt_get_bool(gopt, "python")) {
did_something = 1;
if (emit_python(lcm)) {
printf("An error occurred while emitting Python code.\n");
}
}
if (getopt_get_bool(gopt, "lua")) {
did_something = 1;
if (emit_lua(lcm)) {
printf("An error occurred while emitting Lua code.\n");
}
}
if (getopt_get_bool(gopt, "csharp")) {
did_something = 1;
if (emit_csharp(lcm)) {
printf("An error occurred while emitting C#.NET code.\n");
}
}
if (did_something == 0) {
printf("No actions specified. Try --help.\n");
}
return 0;
}
int
main (int argc, char *argv[])
{
// so that redirected stdout won't be insanely buffered.
setvbuf (stdout, (char *) NULL, _IONBF, 0);
state_t *state = calloc (1, sizeof *state);
state->meters_per_tick = METERS_PER_TICK; // IMPLEMENT ME
state->alpha = ALPHA;
state->beta = BETA;
// file for gyro integration test
//state->fp = fopen("gyro-yaw-integration.txt","w");
state->fp = fopen("yaw.txt","w");
// Tests for the position estimate
/*
update_position(state,4456,4456);
update_position(state,0,1208);
update_position(state,4456,4456);
while(1);
*/
// Used for testing the gyro bias
/*
for(int i=0; i<100; i++){
state->yaw_cal_array[i] = 15*i;
}
state->gyro_bias = find_gyro_bias(state);
printf("Gyro Bias: %llu\n", state->gyro_bias);
*/
//printf("getting options\n");
state->gopt = getopt_create ();
getopt_add_bool (state->gopt, 'h', "help", 0, "Show help");
getopt_add_bool (state->gopt, 'g', "use-gyro", 0, "Use gyro for heading instead of wheel encoders");
getopt_add_string (state->gopt, '\0', "odometry-channel", "BOTLAB_ODOMETRY", "LCM channel name");
getopt_add_string (state->gopt, '\0', "feedback-channel", "MAEBOT_MOTOR_FEEDBACK", "LCM channel name");
getopt_add_string (state->gopt, '\0', "sensor-channel", "MAEBOT_SENSOR_DATA", "LCM channel name");
getopt_add_double (state->gopt, '\0', "alpha", ALPHA_STRING, "Longitudinal covariance scaling factor");
getopt_add_double (state->gopt, '\0', "beta", BETA_STRING, "Lateral side-slip covariance scaling factor");
getopt_add_double (state->gopt, '\0', "gyro-rms", GYRO_RMS_STRING, "Gyro RMS deg/s");
if (!getopt_parse (state->gopt, argc, argv, 1) || getopt_get_bool (state->gopt, "help")) {
printf ("Usage: %s [--url=CAMERAURL] [other options]\n\n", argv[0]);
getopt_do_usage (state->gopt);
exit (EXIT_FAILURE);
}
state->use_gyro = getopt_get_bool (state->gopt, "use-gyro");
state->odometry_channel = getopt_get_string (state->gopt, "odometry-channel");
state->feedback_channel = getopt_get_string (state->gopt, "feedback-channel");
state->sensor_channel = getopt_get_string (state->gopt, "sensor-channel");
state->alpha = getopt_get_double (state->gopt, "alpha");
state->beta = getopt_get_double (state->gopt, "beta");
state->gyro_rms = getopt_get_double (state->gopt, "gyro-rms") * DTOR;
state->yaw_calibrated = 0;
state->yaw = 0;
state->yaw_old = 0;
//printf("subscribing to channels\n");
// initialize LCM
state->lcm = lcm_create (NULL);
maebot_motor_feedback_t_subscribe (state->lcm, state->feedback_channel,
motor_feedback_handler, state);
maebot_sensor_data_t_subscribe (state->lcm, state->sensor_channel,
sensor_data_handler, state);
printf ("ticks per meter: %f\n", 1.0/state->meters_per_tick);
while (1){
lcm_handle (state->lcm);
}
}
int main(int argc, char ** argv)
{
eecs467_init(argc, argv);
state_t * state = (state_t*) calloc(1, sizeof(state_t));
global_state = state;
state->gopt = getopt_create();
state->app.display_finished = display_finished;
state->app.display_started = display_started;
state->app.impl = state;
state->update_arm_cont = 0;
state->update_arm = 0;
state->arm = new RexArm();
state->body = new Body();
state->ds = new DataSmoother(0.4, 0.3, 0, 0);
state->running = 1;
state->set_cbs = 0;
state->controlBoxColor[GRIPPER] = vx_green;
state->controlBoxColor[WRIST] = vx_yellow;
state->controlBoxColor[ARM] = vx_orange;
state->controlBoxColor[ROTATE] = vx_red;
for (int i = 0; i < NUM_CONTROL_BOXES; i++) {
state->controlBoxes[i] = new BoundingBox();
state->controlBoxes[i]->setDimensions(CB_WIDTH, CB_HEIGHT, CB_DEPTH);
}
lcm_t * lcm = lcm_create (NULL);
state->lcm = lcm;
BoundingBox floorBoard, base;
floorBoard.setPosition(0, 0, 0);
floorBoard.setDimensions(100, 100, 10);
state->cfs.addBoundingBox(&floorBoard);
base.setPosition(0, 0, 4);
base.setDimensions(7, 7, 8);
state->cfs.addBoundingBox(&base);
//signal(SIGINT, terminal_signal_handler);
pthread_mutex_init(&state->layer_mutex, NULL);
pthread_mutex_init(&state->lcm_mutex, NULL);
pthread_mutex_init(&state->running_mutex, NULL);
pthread_mutex_init(&state->fsm_mutex, NULL);
state->layer_map = zhash_create(sizeof(vx_display_t*), sizeof(vx_layer_t*), zhash_uint64_hash, zhash_uint64_equals);
getopt_add_bool(state->gopt, 'h', "help", 0, "Show this help");
//getopt_add_bool(state->gopt, 'v', "verbose", 0, "Show extra debugging output");
//getopt_add_int (state->gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
//getopt_add_double (state->gopt, 'd', "decimate", "0", "Decimate image by this amount before showing in vx");
if (!getopt_parse(state->gopt, argc, argv, 0) ||
getopt_get_bool(state->gopt,"help")) {
getopt_do_usage(state->gopt);
exit(-1);
}
pthread_create(&state->lcm_handle_thread, NULL, lcm_handle_loop, state);
//pthread_create(&state->gui_thread, NULL, gui_create, state);
pthread_create(&state->arm_commander_thread, NULL, arm_commander, state);
pthread_create(&state->fsm_thread, NULL, FSM, state);
//pthread_join(state->gui_thread, NULL);
gui_create(state);
printf("after gui_create\n");
// clean up
delete state->arm;
delete state->body;
delete state->ds;
for (int i = 0; i < NUM_CONTROL_BOXES; i++) {
delete state->controlBoxes[i];
}
vx_global_destroy();
getopt_destroy(state->gopt);
printf("Exited Cleanly!\n");
return 0;
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
state->img = image_u32_create_from_pnm(getopt_get_string(gopt, "pnm"));
printf("Loaded image %d x %d from %s\n",
state->img->width, state->img->height,
getopt_get_string(gopt, "pnm"));
}
draw(state, state->world);
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.advertise_name = "Vx Demo";
vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&state->app, &remote_attr);
pthread_create(&state->animate_thread, NULL, render_loop, state);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&state->app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
pthread_join(state->animate_thread, NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}
static void emit_header_prototypes(lcmgen_t *lcmgen, FILE *f, lcm_struct_t *ls)
{
char *xd = getopt_get_string(lcmgen->gopt, "c-export-symbol");
char *xd_ = add_space_or_empty(xd);
char *tn = ls->structname->lctypename;
char *tn_ = dots_to_underscores(tn);
emit(0, "/**");
emit(0, " * Create a deep copy of a %s.", tn_);
emit(0, " * When no longer needed, destroy it with %s_destroy()", tn_);
emit(0, " */");
emit(0,"%s%s* %s_copy(const %s* to_copy);", xd_, tn_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Destroy an instance of %s created by %s_copy()", tn_, tn_);
emit(0, " */");
emit(0,"%svoid %s_destroy(%s* to_destroy);", xd_, tn_, tn_);
emit(0,"");
if (!getopt_get_bool(lcmgen->gopt, "c-no-pubsub")) {
emit(0, "/**");
emit(0, " * Identifies a single subscription. This is an opaque data type.");
emit(0, " */");
emit(0,"typedef struct _%s_subscription_t %s_subscription_t;", tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Prototype for a callback function invoked when a message of type");
emit(0, " * %s is received.", tn_);
emit(0, " */");
emit(0,"typedef void(*%s_handler_t)(const lcm_recv_buf_t *rbuf,\n"
" const char *channel, const %s *msg, void *userdata);",
tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Publish a message of type %s using LCM.", tn_);
emit(0, " *");
emit(0, " * @param lcm The LCM instance to publish with.");
emit(0, " * @param channel The channel to publish on.");
emit(0, " * @param msg The message to publish.");
emit(0, " * @return 0 on success, <0 on error. Success means LCM has transferred");
emit(0, " * responsibility of the message data to the OS.");
emit(0, " */");
emit(0,"%sint %s_publish(lcm_t *lcm, const char *channel, const %s *msg);", xd_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Subscribe to messages of type %s using LCM.", tn_);
emit(0, " *");
emit(0, " * @param lcm The LCM instance to subscribe with.");
emit(0, " * @param channel The channel to subscribe to.");
emit(0, " * @param handler The callback function invoked by LCM when a message is received.");
emit(0, " * This function is invoked by LCM during calls to lcm_handle() and");
emit(0, " * lcm_handle_timeout().");
emit(0, " * @param userdata An opaque pointer passed to @p handler when it is invoked.");
emit(0, " * @return 0 on success, <0 if an error occured");
emit(0, " */");
emit(0,"%s%s_subscription_t* %s_subscribe(lcm_t *lcm, const char *channel, %s_handler_t handler, void *userdata);",
xd_, tn_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Removes and destroys a subscription created by %s_subscribe()", tn_);
emit(0, " */");
emit(0,"%sint %s_unsubscribe(lcm_t *lcm, %s_subscription_t* hid);", xd_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Sets the queue capacity for a subscription.");
emit(0, " * Some LCM providers (e.g., the default multicast provider) are implemented");
emit(0, " * using a background receive thread that constantly revceives messages from");
emit(0, " * the network. As these messages are received, they are buffered on");
emit(0, " * per-subscription queues until dispatched by lcm_handle(). This function");
emit(0, " * how many messages are queued before dropping messages.");
emit(0, " *");
emit(0, " * @param subs the subscription to modify.");
emit(0, " * @param num_messages The maximum number of messages to queue");
emit(0, " * on the subscription.");
emit(0, " * @return 0 on success, <0 if an error occured");
emit(0, " */");
emit(0,"%sint %s_subscription_set_queue_capacity(%s_subscription_t* subs,\n"
" int num_messages);\n", xd_, tn_, tn_);
}
emit(0, "/**");
emit(0, " * Encode a message of type %s into binary form.", tn_);
emit(0, " *");
emit(0, " * @param buf The output buffer.");
emit(0, " * @param offset Encoding starts at this byte offset into @p buf.");
emit(0, " * @param maxlen Maximum number of bytes to write. This should generally");
emit(0, " * be equal to %s_encoded_size().", tn_);
emit(0, " * @param msg The message to encode.");
emit(0, " * @return The number of bytes encoded, or <0 if an error occured.");
emit(0, " */");
emit(0,"%sint %s_encode(void *buf, int offset, int maxlen, const %s *p);", xd_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Decode a message of type %s from binary form.", tn_);
emit(0, " * When decoding messages containing strings or variable-length arrays, this");
emit(0, " * function may allocate memory. When finished with the decoded message,");
emit(0, " * release allocated resources with %s_decode_cleanup().", tn_);
emit(0, " *");
emit(0, " * @param buf The buffer containing the encoded message");
emit(0, " * @param offset The byte offset into @p buf where the encoded message starts.");
emit(0, " * @param maxlen The maximum number of bytes to read while decoding.");
emit(0, " * @param msg Output parameter where the decoded message is stored");
emit(0, " * @return The number of bytes decoded, or <0 if an error occured.");
emit(0, " */");
emit(0,"%sint %s_decode(const void *buf, int offset, int maxlen, %s *msg);", xd_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Release resources allocated by %s_decode()", tn_);
emit(0, " * @return 0");
emit(0, " */");
emit(0,"%sint %s_decode_cleanup(%s *p);", xd_, tn_, tn_);
emit(0, "");
emit(0, "/**");
emit(0, " * Check how many bytes are required to encode a message of type %s", tn_);
emit(0, " */");
emit(0,"%sint %s_encoded_size(const %s *p);", xd_, tn_, tn_);
if(getopt_get_bool(lcmgen->gopt, "c-typeinfo")) {
emit(0,"%ssize_t %s_struct_size(void);", xd_, tn_);
emit(0,"%sint %s_num_fields(void);", xd_, tn_);
emit(0,"%sint %s_get_field(const %s *p, int i, lcm_field_t *f);", xd_, tn_, tn_);
emit(0,"%sconst lcm_type_info_t *%s_get_type_info(void);", xd_, tn_);
}
emit(0,"");
emit(0,"// LCM support functions. Users should not call these");
emit(0,"%sint64_t __%s_get_hash(void);", xd_, tn_);
emit(0,"%suint64_t __%s_hash_recursive(const __lcm_hash_ptr *p);", xd_, tn_);
emit(0,"%sint __%s_encode_array(void *buf, int offset, int maxlen, const %s *p, int elements);", xd_, tn_, tn_);
emit(0,"%sint __%s_decode_array(const void *buf, int offset, int maxlen, %s *p, int elements);", xd_, tn_, tn_);
emit(0,"%sint __%s_decode_array_cleanup(%s *p, int elements);", xd_, tn_, tn_);
emit(0,"%sint __%s_encoded_array_size(const %s *p, int elements);", xd_, tn_, tn_);
emit(0,"%sint __%s_clone_array(const %s *p, %s *q, int elements);", xd_, tn_, tn_, tn_);
emit(0,"");
}
int emit_struct(lcmgen_t *lcmgen, lcm_struct_t *lr)
{
char *tn = lr->structname->lctypename;
char *tn_ = dots_to_underscores(tn);
char *header_name = g_strdup_printf("%s/%s.h", getopt_get_string(lcmgen->gopt, "c-hpath"), tn_);
char *c_name = g_strdup_printf("%s/%s.c", getopt_get_string(lcmgen->gopt, "c-cpath"), tn_);
if (lcm_needs_generation(lcmgen, lr->lcmfile, header_name)) {
FILE *f = fopen(header_name, "w");
if (f == NULL)
return -1;
emit_header_top(lcmgen, f, tn_);
emit_header_struct(lcmgen, f, lr);
emit_header_prototypes(lcmgen, f, lr);
emit_header_bottom(lcmgen, f);
fclose(f);
}
// STRUCT C file
if (lcm_needs_generation(lcmgen, lr->lcmfile, c_name)) {
FILE *f = fopen(c_name, "w");
if (f == NULL)
return -1;
emit_auto_generated_warning(f);
fprintf(f, "#include <string.h>\n");
fprintf(f, "#include \"%s%s%s.h\"\n",
getopt_get_string(lcmgen->gopt, "cinclude"),
strlen(getopt_get_string(lcmgen->gopt, "cinclude"))>0 ? "/" : "",
tn_);
fprintf(f, "\n");
emit_c_struct_get_hash(lcmgen, f, lr);
emit_c_encode_array(lcmgen, f, lr);
emit_c_encode(lcmgen, f, lr);
emit_c_encoded_array_size(lcmgen, f, lr);
emit_c_encoded_size(lcmgen, f, lr);
if(getopt_get_bool(lcmgen->gopt, "c-typeinfo")) {
emit_c_struct_size(lcmgen, f, lr);
emit_c_num_fields(lcmgen, f, lr);
emit_c_get_field(lcmgen, f, lr);
emit_c_get_type_info(lcmgen, f, lr);
}
emit_c_decode_array(lcmgen, f, lr);
emit_c_decode_array_cleanup(lcmgen, f, lr);
emit_c_decode(lcmgen, f, lr);
emit_c_decode_cleanup(lcmgen, f, lr);
emit_c_clone_array(lcmgen, f, lr);
emit_c_copy(lcmgen, f, lr);
emit_c_destroy(lcmgen, f, lr);
if(!getopt_get_bool(lcmgen->gopt, "c-no-pubsub")) {
emit_c_struct_publish(lcmgen, f, lr );
emit_c_struct_subscribe(lcmgen, f, lr );
}
fclose(f);
}
return 0;
}
int main(int argc, char ** argv)
{
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show help");
getopt_add_bool (gopt, '\0', "no-gtk", 0, "Don't show gtk window, only advertise remote connection");
getopt_add_int (gopt, 'l', "limitKBs", "-1", "Remote display bandwidth limit. < 0: unlimited.");
getopt_add_string (gopt, '\0', "pnm", "", "Path for pnm file to render as texture (.e.g BlockM.pnm)");
getopt_add_bool (gopt, '\0', "stay-open", 0, "Stay open after gtk exits to continue handling remote connections");
// parse and print help
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf ("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage (gopt);
exit (1);
}
signal(SIGPIPE, SIG_IGN); // potential fix for Valgrind "Killed" on
// remote viewer exit
state_t * state = state_create();
// Load a pnm from file, and repack the data so that it's understandable by vx
if (strcmp(getopt_get_string(gopt,"pnm"),"")) {
image_u8_t * img2 = image_u8_create_from_pnm(getopt_get_string(gopt, "pnm"));
state->img = image_util_convert_rgb_to_rgba (img2);
image_u8_destroy (img2);
}
vx_global_init(); // Call this to initialize the vx-wide lock. Required to start the GL thread or to use the program library
vx_application_t app = {.impl=state, .display_started=display_started, .display_finished=display_finished};
vx_remote_display_source_attr_t remote_attr;
vx_remote_display_source_attr_init(&remote_attr);
remote_attr.max_bandwidth_KBs = getopt_get_int(gopt, "limitKBs");
remote_attr.advertise_name = "Vx Stress Test";
vx_remote_display_source_t * cxn = vx_remote_display_source_create_attr(&app, &remote_attr);
for (int i = 0; i < NRENDER; i++) {
tinfo_t * tinfo = calloc(1,sizeof(tinfo_t));
tinfo->state = state;
tinfo->id = i;
pthread_create(&state->render_threads[i], NULL, render_loop, tinfo);
}
pthread_create(&state->camera_thread, NULL, camera_loop, state);
if (!getopt_get_bool(gopt,"no-gtk")) {
gdk_threads_init ();
gdk_threads_enter ();
gtk_init (&argc, &argv);
vx_gtk_display_source_t * appwrap = vx_gtk_display_source_create(&app);
GtkWidget * window = gtk_window_new (GTK_WINDOW_TOPLEVEL);
GtkWidget * canvas = vx_gtk_display_source_get_widget(appwrap);
gtk_window_set_default_size (GTK_WINDOW (window), 400, 400);
gtk_container_add(GTK_CONTAINER(window), canvas);
gtk_widget_show (window);
gtk_widget_show (canvas); // XXX Show all causes errors!
g_signal_connect_swapped(G_OBJECT(window), "destroy", G_CALLBACK(gtk_main_quit), NULL);
gtk_main (); // Blocks as long as GTK window is open
gdk_threads_leave ();
vx_gtk_display_source_destroy(appwrap);
// quit when gtk closes? Or wait for remote displays/Ctrl-C
if (!getopt_get_bool(gopt, "stay-open"))
state->running = 0;
}
for (int i = 0; i < NRENDER; i++)
pthread_join(state->render_threads[i], NULL);
vx_remote_display_source_destroy(cxn);
state_destroy(state);
vx_global_destroy();
getopt_destroy(gopt);
}
int main(int argc, char *argv[])
{
g_type_init ();
dbg_init ();
// initialize application state and zero out memory
g_self = (state_t*) calloc( 1, sizeof(state_t) );
state_t *self = g_self;
// run the main loop
self->loop = g_main_loop_new(NULL, FALSE);
getopt_t *gopt = getopt_create();
getopt_add_bool (gopt, 'h', "help", 0, "Show this help");
getopt_add_bool (gopt, 'v', "verbose", 0, "Be verbose");
if (!getopt_parse(gopt, argc, argv, 1) || getopt_get_bool(gopt,"help")) {
printf("Usage: %s [options]\n\n", argv[0]);
getopt_do_usage(gopt);
return 0;
}
self->verbose = getopt_get_bool(gopt, "verbose");
self->lcm = lcm_create(NULL);
if (!self->lcm)
return 1;
// read config file
if (!(self->config = read_config_file ())) {
dbg (DBG_ERROR, "[viewer] failed to read config file.");
return -1;
}
// attach lcm to main loop
glib_mainloop_attach_lcm (self->lcm);
// publish cam settings every now and then
// g_timeout_add_seconds (2, &publish_log_info_data, self);
// g_timeout_add_seconds (2, &dump_to_index_file, self);
// listen to tablet event
navlcm_log_info_t_subscribe (self->lcm, "LOG_INFO", on_log_info_set_event, self);
list_files (self);
publish_log_info_data (self);
// connect to kill signal
signal_pipe_glib_quit_on_kill (self->loop);
// run main loop
g_main_loop_run (self->loop);
// cleanup
g_main_loop_unref (self->loop);
return 0;
}