lcm_eventlog_event_t *lcm_eventlog_read_next_event(lcm_eventlog_t *l)
{
lcm_eventlog_event_t *le =
(lcm_eventlog_event_t*) calloc(1, sizeof(lcm_eventlog_event_t));
int32_t magic = 0;
int r;
do {
r = fgetc(l->f);
if (r < 0) goto eof;
magic = (magic << 8) | r;
} while( magic != MAGIC );
if (0 != fread64(l->f, &le->eventnum) ||
0 != fread64(l->f, &le->timestamp) ||
0 != fread32(l->f, &le->channellen) ||
0 != fread32(l->f, &le->datalen)) {
return NULL;
}
// Sanity check the channel length and data length
if (le->channellen < 0 || le->channellen >= 1000) {
fprintf(stderr, "Log event has invalid channel length: %d\n", le->channellen);
return NULL;
}
if (le->datalen < 0) {
fprintf(stderr, "Log event has invalid data length: %d\n", le->datalen);
return NULL;
}
le->channel = (char *) calloc(1, le->channellen+1);
if (fread(le->channel, 1, le->channellen, l->f) != (size_t) le->channellen)
goto eof;
le->data = calloc(1, le->datalen+1);
if (fread(le->data, 1, le->datalen, l->f) != (size_t) le->datalen)
goto eof;
// Check that there's a valid event or the EOF after this event.
int32_t next_magic;
if (0 == fread32(l->f, &next_magic)) {
if (next_magic != MAGIC) {
fprintf(stderr, "Invalid header after log data\n");
return NULL;
}
fseeko (l->f, -4, SEEK_CUR);
}
return le;
eof:
free(le->channel);
free(le->data);
free(le);
return NULL;
}
lcm_eventlog_event_t *lcm_eventlog_read_next_event(lcm_eventlog_t *l)
{
lcm_eventlog_event_t *le =
(lcm_eventlog_event_t*) calloc(1, sizeof(lcm_eventlog_event_t));
int32_t magic = 0;
int r;
do {
r = fgetc(l->f);
if (r < 0) goto eof;
magic = (magic << 8) | r;
} while( magic != MAGIC );
fread64(l->f, &le->eventnum);
fread64(l->f, &le->timestamp);
fread32(l->f, &le->channellen);
fread32(l->f, &le->datalen);
assert (le->channellen < 1000);
if (l->eventcount != le->eventnum) {
// these warnings will spew unnecessarily for log files that have been
// filtered through lcm-logplayer-gui since it preserves event numbers
// printf ("Mismatch: eventcount %"PRId64" eventnum %"PRId64"\n",
// l->eventcount, le->eventnum);
// printf ("file offset %"PRId64"\n", ftello (l->f));
l->eventcount = le->eventnum;
}
le->channel = (char *) calloc(1, le->channellen+1);
if (fread(le->channel, 1, le->channellen, l->f) != (size_t) le->channellen)
goto eof;
le->data = calloc(1, le->datalen+1);
if (fread(le->data, 1, le->datalen, l->f) != (size_t) le->datalen)
goto eof;
l->eventcount++;
return le;
eof:
return NULL;
}
eventlog_event_t *eventlog_read_next_event(eventlog_t *l)
{
eventlog_event_t *le =
(eventlog_event_t*) calloc(1, sizeof(eventlog_event_t));
int32_t magic = 0;
int r;
do {
r = fgetc(l->f);
if (r < 0) goto eof;
magic = (magic << 8) | r;
} while( magic != MAGIC );
fread64(l->f, &le->eventnum);
fread64(l->f, &le->timestamp);
fread32(l->f, &le->channellen);
fread32(l->f, &le->datalen);
assert (le->channellen < 1000);
assert (le->datalen < 65536);
if (l->eventcount != le->eventnum) {
printf ("Mismatch: eventcount %"PRId64" eventnum %"PRId64"\n",
l->eventcount, le->eventnum);
printf ("file offset %"PRId64"\n", ftello (l->f));
l->eventcount = le->eventnum;
}
le->channel = calloc(1, le->channellen+1);
if (fread(le->channel, 1, le->channellen, l->f) != (size_t) le->channellen)
goto eof;
le->data = calloc(1, le->datalen+1);
if (fread(le->data, 1, le->datalen, l->f) != (size_t) le->datalen)
goto eof;
l->eventcount++;
return le;
eof:
return NULL;
}
int fread_header(Header *header, FILE *file) {
int i = 0;
unsigned int *namesize = malloc(sizeof(unsigned int));
unsigned short *treesize = malloc(sizeof(unsigned short));
unsigned long long *originalsize = malloc(sizeof(unsigned long long));
unsigned long long *filesize = malloc(sizeof(unsigned long long));
uint32_t *crc = malloc(sizeof(uint32_t));
char *filename;
char *tree;
if(fread32(namesize, file)) {
return 1;
}
header->namesize = *namesize;
filename = malloc(sizeof(char) * *namesize);
fread(filename, sizeof(char), header->namesize, file);
header->filename = filename;
if(fread16(treesize, file)) {
return 1;
}
header->treesize = *treesize;
tree = malloc(sizeof(char) * *treesize);
fread(tree, sizeof(char), header->treesize, file);
header->tree = tree;
if(fread32(crc, file)) {
return 1;
}
header->crc = *crc;
if(fread64(originalsize, file)) {
return 1;
}
header->originalsize = *originalsize;
if(fread64(filesize, file)) {
return 1;
}
header->filesize = *filesize;
return 0;
}
static int64_t get_event_time(lcm_eventlog_t *l)
{
int32_t magic = 0;
int r;
do {
r = fgetc(l->f);
if (r < 0) goto eof;
magic = (magic << 8) | r;
} while( magic != MAGIC );
int64_t event_num;
int64_t timestamp;
if (0 != fread64(l->f, &event_num)) return -1;
if (0 != fread64(l->f, ×tamp)) return -1;
fseeko (l->f, -20, SEEK_CUR);
l->eventcount = event_num;
return timestamp;
eof:
return -1;
}
