MemoryMappedFile::MemoryMappedFile(const char *filename, size_t offset, size_t length)
: m_file(NULL), m_mapping(NULL)
{
FileHandle fd;
fd.handle = CreateFile(filename, GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, OPEN_EXISTING, FILE_ATTRIBUTE_NORMAL, NULL);
if (fd.handle == INVALID_HANDLE_VALUE)
{
throw IOException(std::string("Failed to open existing file: ") + filename + " " + toString(GetLastError()), SOURCEINFO);
}
if (0 == length && 0 == offset)
{
LARGE_INTEGER fileSize;
if (!GetFileSizeEx(fd.handle, &fileSize))
{
cleanUp();
throw IOException(std::string("Failed query size of existing file: ") + filename + " " + toString(GetLastError()), SOURCEINFO);
}
length = (size_t)fileSize.QuadPart;
}
m_memorySize = length;
m_memory = doMapping(m_memorySize, fd, offset);
if (!m_memory)
{
cleanUp();
throw IOException(std::string("Failed to Map Memory: ") + filename + " " + toString(GetLastError()), SOURCEINFO);
}
}
MemoryMappedFile::MemoryMappedFile(const char *filename, size_t size)
: m_file(NULL), m_mapping(NULL), m_memory(NULL)
{
FileHandle fd;
fd.handle = CreateFile(filename, GENERIC_READ | GENERIC_WRITE, FILE_SHARE_READ | FILE_SHARE_WRITE, NULL, CREATE_ALWAYS, FILE_ATTRIBUTE_NORMAL, NULL);
if (fd.handle == INVALID_HANDLE_VALUE)
{
throw IOException(std::string("Failed to create file: ") + filename + " " + toString(GetLastError()), SOURCEINFO);
}
if (!fill(fd, size, 0))
{
cleanUp();
throw IOException(std::string("Failed to write to file: ") + filename + " " + toString(GetLastError()), SOURCEINFO);
}
m_memorySize = size;
m_memory = doMapping(m_memorySize, fd, 0);
if (!m_memory)
{
cleanUp();
throw IOException(std::string("Failed to Map Memory: ") + filename + " " + toString(GetLastError()), SOURCEINFO);
}
}
MemoryMappedFile::MemoryMappedFile(const char *filename, size_t length)
{
FileHandle fd;
fd.handle = open(filename, O_RDWR|O_CREAT, 0666);
if (fd.handle < 0)
{
throw IOException(std::string("Failed to create file: ") + filename, SOURCEINFO);
}
m_memorySize = length;
OnScopeExit tidy ([&]()
{
close(fd.handle);
});
if (!fill(fd, length, 0))
{
throw IOException(std::string("Failed to write to file: ") + filename, SOURCEINFO);
}
m_memory = doMapping(length, fd, 0);
}
//we want the boat to stay within 350-425 range finders for sensors
//Get feedback from fanboat
void mapping::sensorFilter_callback(const fanboat_ll::fanboatLL::ConstPtr& f_ll)
{
fll = *f_ll;
lab2::angle_msg boat;
//ROS_INFO("mapping");
leftS = fll.a0;
rightS = fll.a1;
if (initLeftS == -100){
initLeftS = 300;
}
if (initRightS == -100){
initRightS = 300;
}
if(state == 0){
doMapping();
ROS_INFO("MAPPING");
} else if (state == 1){
angle = yawClose;
turn(yawClose);
ROS_INFO("TURN CLOSE");
} else if (state == 2){
angle = yawFar;
turn(yawFar);
ROS_INFO("TURN FAR");
} else if (state == 3){
reactive();
ROS_INFO("GO TO THERE");
}
boat.angle = angle;
boat.thrust = thrust;
ROS_INFO("angle: %f", angle);
angles_pub_.publish(boat);
}
MemoryMappedFile::MemoryMappedFile(const char *filename, size_t length, size_t offset)
{
FileHandle fd;
fd.handle = ::open(filename, O_RDWR, 0666);
if (fd.handle < 0)
{
throw IOException(std::string("Failed to open existing file: ") + filename, SOURCEINFO);
}
OnScopeExit tidy([&]()
{
close(fd.handle);
});
if (0 == length && 0 == offset)
{
struct stat statInfo;
::fstat(fd.handle, &statInfo);
length = statInfo.st_size;
}
m_memorySize = length;
m_memory = doMapping(m_memorySize, fd, offset);
}
