void MAPSJoin::WriteOutputs()
{
_ioOutput = StartWriting(Output("LaserObjects"));
AUTO_Objects &LaserObj = *static_cast<AUTO_Objects*>(_ioOutput->Data());
LaserObj = ArrayLaserObjects;
StopWriting(_ioOutput);
_ioOutput = StartWriting(Output("CameraObjects"));
AUTO_Objects &CameraObj = *static_cast<AUTO_Objects*>(_ioOutput->Data());
CameraObj = ArrayCameraObjects;
StopWriting(_ioOutput);
_ioOutput = StartWriting(Output("AObjects"));
AssociatedObjs &AssociatedObj = *static_cast<AssociatedObjs*>(_ioOutput->Data());
AssociatedObj = joined;
StopWriting(_ioOutput);
_ioOutput = StartWriting(Output("NALaser"));
NonAssociated &NALObj = *static_cast<NonAssociated*>(_ioOutput->Data());
NALObj = nonLaserJoined;
StopWriting(_ioOutput);
_ioOutput = StartWriting(Output("NACamera"));
NonAssociated &NACObj = *static_cast<NonAssociated*>(_ioOutput->Data());
NACObj = nonCameraJoined;
StopWriting(_ioOutput);
}
void MAPSPredictor::WriteOutputs()
{
// When we write the output we put the variable predicted to false to predict the next frame
predicted = false;
_ioOutput = StartWriting(Output("LaserObjects"));
AUTO_Objects &list = *static_cast<AUTO_Objects*>(_ioOutput->Data());
list = LaserObjectsOutput;
StopWriting(_ioOutput);
_ioOutput = StartWriting(Output("CameraObjects"));
AUTO_Objects &list2 = *static_cast<AUTO_Objects*>(_ioOutput->Data());
list2 = CameraObjectsOutput;
StopWriting(_ioOutput);
}
void GameGPD::CleanGPD()
{
StartWriting();
xdbf->Clean();
io = xdbf->io;
StopWriting();
}
//To be completed by programmer, then called by programmer whenever necessary in order to
//output a data sample on output port data
void MAPShokuyo::Output_data(MAPSTimestamp t)
{
MAPSIOElt* ioeltout = StartWriting(Output("data"));
// Start of user code Output on data implementation
int count_LaserScan_out = 1; //changed it to the number of samples to write in output MAPSIOElt
//(but never more than the max vector size allocated on the output).
LaserScan* data_out = (LaserScan*)ioeltout->Data();
int i ;
//Fill in data_out here.
for (i=0 ; i < 361 ; i++ )
{ data_out->range.push_back( 10.10f ) ;
if (i == 300 ) data_out->range.push_back( 1.10f ) ;
}
for (i=361 ; i < 421 ; i++ )
{ data_out->range.push_back( 10.10f ) ;
if (i == 400 ) data_out->range.push_back( 2.20f ) ;
}
for (i=461 ; i < 621 ; i++ )
{ data_out->range.push_back( 10.10f ) ;
if (i == 600 ) data_out->range.push_back( 3.30f ) ;
}
for (i=621 ; i < 721 ; i++ )
{ data_out->range.push_back( 10.10f ) ;
if (i == 700 ) data_out->range.push_back( 4.40f ) ;
}
for (i=721 ; i < 1081 ; i++ )
{ data_out->range.push_back( 10.10f ) ;
if (i == 900 ) data_out->range.push_back( 5.50f ) ;
}
data_out->angle_min = -135.0f ;
data_out->angle_max = 135.0f ;
//....
ioeltout->VectorSize() = count_LaserScan_out * sizeof(LaserScan); //For non-standard datatypes, by convention,
// End of user code
ioeltout->Timestamp() = t;
StopWriting(ioeltout);
}
void MAPSwifibot_inputs_robotml_to_rtmaps::Core()
{
MAPSIOElt* ioeltin = StartReading(Input(0));
if (ioeltin == NULL)
return;
Speed_Tics_Left_Right* data_in = (Speed_Tics_Left_Right*)ioeltin->Data();
MAPSIOElt* ioeltout = StartWriting(Output(0));
ioeltout->Integer32(0) = data_in->speed_tics_left.value;
ioeltout->Integer32(1) = data_in->speed_tics_right.value;
ioeltout->Timestamp() = ioeltin->Timestamp();
StopWriting(ioeltout);
}
//To be completed by programmer, then called by programmer whenever necessary in order to
//output a data sample on output port ouput
void MAPSPilote::Output_ouput(MAPSTimestamp t)
{
MAPSIOElt* ioeltout = StartWriting(Output("ouput"));
// Start of user code Output on ouput implementation
int count_SpeedTics_out = 1; //changed it to the number of samples to write in output MAPSIOElt
//(but never more than the max vector size allocated on the output).
SpeedTics* data_out = (SpeedTics*)ioeltout->Data();
//Fill in data_out here.
//....
ioeltout->VectorSize() = count_SpeedTics_out * sizeof(SpeedTics); //For non-standard datatypes, by convention,
// End of user code
ioeltout->Timestamp() = t;
StopWriting(ioeltout);
}
//To be completed by programmer, then called by programmer whenever necessary in order to
//output a data sample on output port output
void MAPSPerception::Output_output(MAPSTimestamp t)
{
MAPSIOElt* ioeltout = StartWriting(Output("output"));
// Start of user code Output on output implementation
int count_Zone_out = 1; //changed it to the number of samples to write in output MAPSIOElt
//(but never more than the max vector size allocated on the output).
Zone* data_out = (Zone*)ioeltout->Data();
//Fill in data_out here.
data_out->values[0] = (UInt16)(m_rfl[0]) ;
data_out->values[1] = (UInt16)(m_rfl[1]) ;
data_out->values[2] = (UInt16)(m_rfl[2]) ;
data_out->values[3] = (UInt16)(m_rfl[3]) ;
data_out->values[4] = (UInt16)(m_rfl[4]) ;
ioeltout->VectorSize() = count_Zone_out * sizeof(Zone); //For non-standard datatypes, by convention,
// End of user code
ioeltout->Timestamp() = t;
StopWriting(ioeltout);
}
bf_write::bf_write( void *pData, int nBytes, int nBits )
{
m_bAssertOnOverflow = true;
StartWriting( pData, nBytes, 0, nBits );
}
bf_write::bf_write( const char *pDebugName, void *pData, int nBytes, int nBits )
{
m_bAssertOnOverflow = true;
m_pDebugName = pDebugName;
StartWriting( pData, nBytes, 0, nBits );
}
old_bf_write::old_bf_write( void *pData, int nBytes, int nBits )
{
m_bAssertOnOverflow = true;
m_pDebugName = NULL;
StartWriting( pData, nBytes, 0, nBits );
}
