int processCommand(struct InputParserC * ipc , struct motionStats * st ,char * line , unsigned int words_count , unsigned int startAtFrame)
{
if (InputParser_WordCompareAuto(ipc,0,"MOVE"))
{
int frameNum = InputParser_GetWordInt(ipc,2);
if (frameNum<startAtFrame) { return 0; }
float x = InputParser_GetWordFloat(ipc,3);
float y = InputParser_GetWordFloat(ipc,4);
float z = InputParser_GetWordFloat(ipc,5);
float qW = InputParser_GetWordFloat(ipc,6);
float qX = InputParser_GetWordFloat(ipc,7);
float qY = InputParser_GetWordFloat(ipc,8);
float qZ = InputParser_GetWordFloat(ipc,9);
updatePosition(st,x,y,z,qW,qX,qY,qZ);
}
else
if (InputParser_WordCompareAuto(ipc,0,"POSE"))
{
int frameNum = InputParser_GetWordInt(ipc,2);
if (frameNum<startAtFrame) { return 0; }
//fprintf(stdout,"Found Frame %u \n",InputParser_GetWordInt(ipc,1));
char str[128];
if (InputParser_GetWord(ipc,3,str,128)!=0)
{//Flush next frame
float x = InputParser_GetWordFloat(ipc,4);
float y = InputParser_GetWordFloat(ipc,5);
float z = InputParser_GetWordFloat(ipc,6);
unsigned int where2work=0;
if ( getJointMemoryID(st,str,&where2work) )
{
updateJoint(st,where2work,x,y,z);
}
//fprintf(stdout," %0.2f %0.2f %0.2f \n",x,y,z);
return 1;
}
}
return 0;
}
int readVirtualStream(struct VirtualStream * newstream)
{
#if USE_FILE_INPUT
#if PRINT_DEBUGGING_INFO
fprintf(stderr,"readVirtualStream(%s) called \n",newstream->filename);
#endif
//Our stack variables ..
unsigned int readOpResult = 0;
char line [LINE_MAX_LENGTH]={0};
//Try and open filename
FILE * fp = fopen(newstream->filename,"r");
if (fp == 0 ) { fprintf(stderr,"Cannot open trajectory stream %s \n",newstream->filename); return 0; }
//Find out the size of the file..!
fseek (fp , 0 , SEEK_END);
unsigned long lSize = ftell (fp);
rewind (fp);
fprintf(stderr,"Opening a %lu byte file %s \n",lSize,newstream->filename);
//Allocate a token parser
struct InputParserC * ipc=0;
ipc = InputParser_Create(LINE_MAX_LENGTH,5);
if (ipc==0) { fprintf(stderr,"Cannot allocate memory for new stream\n"); return 0; }
newstream->fileSize = lSize;
//Add a dummy CAMERA Object here!
growVirtualStreamObjectsTypes(newstream,OBJECT_TYPES_TO_ADD_STEP);
strcpy( newstream->objectTypes[0].name , "camera" );
strcpy( newstream->objectTypes[0].model , "camera" );
++newstream->numberOfObjectTypes;
growVirtualStreamObjects(newstream,OBJECTS_TO_ADD_STEP);
strcpy( newstream->object[0].name, "camera");
strcpy( newstream->object[0].typeStr, "camera");
strcpy( newstream->object[0].value, "camera");
newstream->object[0].type = 0; //Camera
newstream->object[0].R =0;
newstream->object[0].G =0;
newstream->object[0].B =0;
newstream->object[0].Transparency=0;
++newstream->numberOfObjects;
// CAMERA OBJECT ADDED
newstream->debug=0;
//Everything is set , Lets read the file!
while (!feof(fp))
{
//We get a new line out of the file
readOpResult = (fgets(line,LINE_MAX_LENGTH,fp)!=0);
if ( readOpResult != 0 )
{
//We tokenize it
unsigned int words_count = InputParser_SeperateWords(ipc,line,0);
if ( words_count > 0 )
{
if (InputParser_WordCompareNoCase(ipc,0,(char*)"DEBUG",5)==1)
{
fprintf(stderr,"DEBUG Mode on\n");
newstream->debug=1;
} else
/*! REACHED AN AUTO REFRESH DECLERATION ( AUTOREFRESH(1500) )
argument 0 = AUTOREFRESH , argument 1 = value in milliseconds (0 = off ) */
if (InputParser_WordCompareNoCase(ipc,0,(char*)"AUTOREFRESH",11)==1)
{
newstream->autoRefresh = InputParser_GetWordInt(ipc,1);
} else
/*! REACHED AN INTERPOLATE TIME SWITCH DECLERATION ( INTERPOLATE_TIME(1) )
argument 0 = INTERPOLATE_TIME , argument 1 = (0 = off ) ( 1 = on )*/
if (InputParser_WordCompareNoCase(ipc,0,(char*)"INTERPOLATE_TIME",16)==1)
{
//The configuration INTERPOLATE_TIME is the "opposite" of this flag ignore time
newstream->ignoreTime = InputParser_GetWordInt(ipc,1);
// so we flip it here.. , the default is not ignoring time..
if (newstream->ignoreTime == 0 ) { newstream->ignoreTime=1; } else
{ newstream->ignoreTime=0; }
} else
/*! REACHED AN BACKGROUND DECLERATION ( BACKGROUND(0,0,0) )
argument 0 = BACKGROUND , argument 1 = R , argument 2 = G , argument 3 = B , */
if (InputParser_WordCompareNoCase(ipc,0,(char*)"BACKGROUND",10)==1)
{
//The configuration INTERPOLATE_TIME is the "opposite" of this flag ignore time
newstream->backgroundR = (float) InputParser_GetWordInt(ipc,1) / 255;
newstream->backgroundG = (float) InputParser_GetWordInt(ipc,2) / 255;
newstream->backgroundB = (float) InputParser_GetWordInt(ipc,3) / 255;
// so we flip it here.. , the default is not ignoring time..
} else
/*! REACHED AN OBJECT TYPE DECLERATION ( OBJECTTYPE(spatoula_type,"spatoula.obj") )
argument 0 = OBJECTTYPE , argument 1 = name , argument 2 = value */
if (InputParser_WordCompareNoCase(ipc,0,(char*)"OBJECTTYPE",10)==1)
{
char name[MAX_PATH]={0};
char model[MAX_PATH]={0};
InputParser_GetWord(ipc,1,name,MAX_PATH);
InputParser_GetWord(ipc,2,model,MAX_PATH);
addObjectTypeToVirtualStream( newstream , name, model );
} else
/*! REACHED AN OBJECT DECLERATION ( OBJECT(something,spatoula_type,0,255,0,0,0,1.0,spatoula_something) )
argument 0 = OBJECT , argument 1 = name , argument 2 = type , argument 3-5 = RGB color , argument 6 Transparency , argument 7 = No Color , argument 8 = Scale
argument 9 = String Freely formed Data */
if (InputParser_WordCompareNoCase(ipc,0,(char*)"OBJECT",6)==1)
{
char name[MAX_PATH]={0} , typeStr[MAX_PATH]={0};
InputParser_GetWord(ipc,1,name,MAX_PATH);
InputParser_GetWord(ipc,2,typeStr,MAX_PATH);
unsigned char R = (unsigned char) InputParser_GetWordInt(ipc,3);
unsigned char G = (unsigned char) InputParser_GetWordInt(ipc,4);
unsigned char B = (unsigned char) InputParser_GetWordInt(ipc,5);
unsigned char Alpha = (unsigned char) InputParser_GetWordInt(ipc,6) ;
unsigned char nocolor = (unsigned char) InputParser_GetWordInt(ipc,7);
float scale = (float) InputParser_GetWordFloat(ipc,8);
//Value , not used : InputParser_GetWord(ipc,8,newstream->object[pos].value,15);
addObjectToVirtualStream(newstream ,name,typeStr,R,G,B,Alpha,nocolor,0,0,scale);
} else
/*! REACHED A POSITION DECLERATION ( POS(hand,0, 0.0,0.0,0.0 , 0.0,0.0,0.0,0.0 ) )
argument 0 = POS , argument 1 = name , argument 2 = time in MS , argument 3-5 = X,Y,Z , argument 6-9 = Rotations*/
if (InputParser_WordCompareNoCase(ipc,0,(char*)"POS",3)==1)
{
char name[MAX_PATH];
InputParser_GetWord(ipc,1,name,MAX_PATH);
unsigned int time = InputParser_GetWordInt(ipc,2);
float pos[7]={0};
pos[0] = InputParser_GetWordFloat(ipc,3);
pos[1] = InputParser_GetWordFloat(ipc,4);
pos[2] = InputParser_GetWordFloat(ipc,5);
pos[3] = InputParser_GetWordFloat(ipc,6);
pos[4] = InputParser_GetWordFloat(ipc,7);
pos[5] = InputParser_GetWordFloat(ipc,8);
pos[6] = InputParser_GetWordFloat(ipc,9);
int coordLength=7;
addPositionToObject( newstream , name , time , (float*) pos , coordLength );
}
else
/*! REACHED A PROJECTION MATRIX DECLERATION ( PROJECTION_MATRIX( ... 16 values ... ) )
argument 0 = PROJECTION_MATRIX , argument 1-16 matrix values*/
if (InputParser_WordCompareNoCase(ipc,0,(char*)"PROJECTION_MATRIX",17)==1)
{
newstream->projectionMatrixDeclared=1;
int i=1;
for (i=1; i<=16; i++) { newstream->projectionMatrix[i-1] = (double) InputParser_GetWordFloat(ipc,i); }
fprintf(stderr,"Projection Matrix given to TrajectoryParser\n");
}
else
/*! REACHED A MODELVIEW MATRIX DECLERATION ( MODELVIEW_MATRIX( ... 16 values ... ) )
argument 0 = MODELVIEW_MATRIX , argument 1-16 matrix values*/
if (InputParser_WordCompareNoCase(ipc,0,(char*)"MODELVIEW_MATRIX",16)==1)
{
newstream->modelViewMatrixDeclared=1;
int i=1;
for (i=1; i<=16; i++) { newstream->modelViewMatrix[i-1] = (double) InputParser_GetWordFloat(ipc,i); }
fprintf(stderr,"ModelView Matrix given to TrajectoryParser\n");
}
} // End of line containing tokens
} //End of getting a line while reading the file
}
fclose(fp);
InputParser_Destroy(ipc);
return 1;
#else
fprintf(stderr,RED "This build of Trajectory parser does not have File Input compiled in!\n" NORMAL);
fprintf(stderr,YELLOW "Please rebuild after setting USE_FILE_INPUT to 1 on file TrajectoryParser.cpp or .c\n" NORMAL);
fprintf(stderr,YELLOW "also note that by enabling file input you will also need to link with InputParser_C.cpp or .c \n" NORMAL);
fprintf(stderr,YELLOW "It can be found here https://github.com/AmmarkoV/InputParser/ \n" NORMAL);
#endif
return 0;
}