Beispiel #1
0
void output_points(const Eigen::Vector3d& p1, const Eigen::Vector3d& p2)
{
    if( csv.binary() )
    {
        std::cout.write( reinterpret_cast< const char* >( &p1 ), sizeof( double ) * 3 );
        std::cout.write( reinterpret_cast< const char* >( &p2 ), sizeof( double ) * 3 );
        std::cout.flush();
    }
    else 
    {
        std::cout << ascii.put( p1 ) << csv.delimiter << ascii.put( p2 ) << std::endl; 
    }
}
Beispiel #2
0
template < typename T > void handle( const nmea::string& s )
{
    static comma::csv::ascii< T > ascii;
    handle( ascii.get( s.values() ) );
}
Beispiel #3
0
TEST( hokuyo_packed, scip_gd_response )
{
    hok::request_gd gd;
    gd.header.start_step = 0;
    gd.header.end_step = 10;
    gd.message_id.seq_num = 999;
    
    const std::string gd_request( "GD0000001000;GD00000999\n" );
    // GD reponse for request with steps 0-10: 11 data points
    const std::string response =  "GD0000001000;GD00000999\n00P\nG]\\VF\n06306J06_07407607106i06i06i075070n\n\n";
    
    const hok::reply_gd< 11 >* gd_reply = reinterpret_cast< const hok::reply_gd< 11 >* >( &response[0] );
    
    EXPECT_EQ( "00P", std::string( gd_reply->header.status.data(), hok::status_t::size ) );
    EXPECT_TRUE( hok::verify_checksum( std::string( gd_reply->header.status.data(), hok::status_t::size ) ) );
    EXPECT_EQ( "00", std::string( gd_reply->header.status.status.data(), 2 ) );
    EXPECT_EQ( "G]\\VF", std::string( gd_reply->header.timestamp.data(), hok::timestamp_t::size ) );
//     EXPECT_EQ( 0, gd_reply->header.status.status() );
    EXPECT_EQ( 6216486, gd_reply->header.timestamp() );
    EXPECT_EQ( 'F', gd_reply->header.timestamp.sum );
    /// Line feeds are included in the data, remove it to verify checksum, as that value is the last 'n'
    EXPECT_EQ( "06306J06_07407607106i06i06i075070n", std::string( gd_reply->encoded.raw_data.data(), hok::distance_data< 11 >::value-1 ) );
    
    hok::distance_data< 11 >::rays rays;
    gd_reply->encoded.get_values( rays );
    
    {
        std::ostringstream ss;
        for( std::size_t i=0; i<rays.steps.size(); ++i )
        {
            ss << rays.steps[i]() << ' ';
        }
        // distances in mm
        EXPECT_EQ( "387 410 431 452 454 449 441 441 441 453 448 ", ss.str() );
    }
    
    {
        std::string line;
        static comma::csv::ascii< hok::distance_data< 11 >::points_t > ascii;
        EXPECT_EQ( "387,410,431,452,454,449,441,441,441,453,448", ascii.put( rays.steps, line ) );
        
    }
    
    /// Why fails checksum
    //     std::cerr << "11 values are : ";
    //     comma::csv::output_stream< hok::distance_data< 11 > > oss( std::cerr );
    //     oss.write( gd_reply->data );
    
    /// 100 steps/rays
    gd.header.end_step = 100;
    
    const char* reply101 = "GD0000010000;GD00000999\n00P\n\\0[Vm"
        "\n0Mm0MV0Jc0If0I30HX0HL0H;0G`0Gb0Gm0GV0GT0G;0FQ0FB0F<0F40Eo0En0E`0a"
        "\nEW0ER0ER0E40E90E40E80E<0E90E90E=0E>0E>0ED0EI0EQ0EX0EX0EW0EY0E_0Ef"
        "\ng0F80F>0FA0FC0FA0F?0FK0FN0F[0F^0F[0Fa0G50Gb?om?om?om?om?om?om?omi"
        "\n?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?f"
        "\nom?om0I\\0IR0I[0I\\0I`?om?om?om?om?om0J60J60In0Ie5\n\n";
    
    
    const hok::reply_gd< 101 >* reply = reinterpret_cast< const hok::reply_gd< 101 >* >( reply101 );
    EXPECT_EQ( "00P", std::string( reply->header.status.data(), hok::status_t::size ) );
    EXPECT_TRUE( hok::verify_checksum( std::string( reply->header.status.data(), hok::status_t::size ) ) );
    EXPECT_EQ( "00", std::string( reply->header.status.status.data(), 2 ) );
    EXPECT_EQ( "\\0[Vm", std::string( reply->header.timestamp.data(), hok::timestamp_t::size ) );
    EXPECT_TRUE( hok::verify_checksum( "0Mm0MV0Jc0If0I30HX0HL0H;0G`0Gb0Gm0GV0GT0G;0FQ0FB0F<0F40Eo0En0E`0a" ) );
    EXPECT_TRUE( hok::verify_checksum( "EW0ER0ER0E40E90E40E80E<0E90E90E=0E>0E>0ED0EI0EQ0EX0EX0EW0EY0E_0Ef" ) );
    EXPECT_TRUE( hok::verify_checksum( "g0F80F>0FA0FC0FA0F?0FK0FN0F[0F^0F[0Fa0G50Gb?om?om?om?om?om?om?omi" ) );
    EXPECT_TRUE( hok::verify_checksum( "?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?om?f" ) );
    EXPECT_TRUE( hok::verify_checksum( "om?om0I\\0IR0I[0I\\0I`?om?om?om?om?om0J60J60In0Ie5" ) );

    hok::distance_data< 101 >::rays rays101;
    reply->encoded.get_values( rays101 );
    
    // std::cerr << "11 values are : ";
    // for( std::size_t i=0; i<rays101.steps.size(); ++i )
    // {
    //     std::cerr << rays101.steps[i]() << ' ';
    // }
    // std::cerr << std::endl;

}