template<typename Container, typename PointT> void
octree_base<Container, PointT>::saveToFile ()
{
// Create JSON object
boost::shared_ptr<cJSON> idx (cJSON_CreateObject (), cJSON_Delete);
cJSON* name = cJSON_CreateString ("test");
cJSON* version = cJSON_CreateNumber ( OUTOFCORE_VERSION_ );
cJSON* pointtype = cJSON_CreateString ("urp");
cJSON* lod = cJSON_CreateNumber (static_cast<double>(root_->m_tree_->max_depth_));
// cJSON does not allow 64 bit ints. Have to put the points in a double to
// use this api, will allow counts up to 2^52 points to be stored correctly
std::vector<double> lodPoints_db;
lodPoints_db.insert (lodPoints_db.begin (), lodPoints_.begin (), lodPoints_.end ());
cJSON* numpts = cJSON_CreateDoubleArray ( &(lodPoints_db.front ()), static_cast<int>(lodPoints_db.size ()) );
cJSON_AddItemToObject (idx.get (), "name", name);
cJSON_AddItemToObject (idx.get (), "version", version);
cJSON_AddItemToObject (idx.get (), "pointtype", pointtype);
cJSON_AddItemToObject (idx.get (), "lod", lod);
cJSON_AddItemToObject (idx.get (), "numpts", numpts);
cJSON_AddStringToObject(idx.get(), "coord_system", coord_system_.c_str());
char* idx_txt = cJSON_Print (idx.get ());
std::ofstream f (treepath_.string ().c_str (), std::ios::out | std::ios::trunc);
f << idx_txt;
f.close ();
free (idx_txt);
}
void
OutofcoreOctreeBaseMetadata::serializeMetadataToDisk ()
{
// Create JSON object
boost::shared_ptr<cJSON> idx (cJSON_CreateObject (), cJSON_Delete);
cJSON* name = cJSON_CreateString (tree_name_.c_str ());
cJSON* version = cJSON_CreateNumber ( __PCL_OUTOFCORE_VERSION__ );
cJSON* pointtype = cJSON_CreateString (point_type_.c_str ());
cJSON* lod = cJSON_CreateNumber (static_cast<double> (levels_of_depth_));
// cJSON does not allow 64 bit ints. Have to put the points in a double to
// use this api, will allow counts up to 2^52 points to be stored correctly
//or split into LSB MSB?
std::vector<double> lodPoints_db;
lodPoints_db.insert (lodPoints_db.begin (), LOD_num_points_.begin (), LOD_num_points_.end ());
cJSON* numpts = cJSON_CreateDoubleArray ( &(lodPoints_db.front ()), static_cast<int>(lodPoints_db.size ()));
cJSON_AddItemToObject (idx.get (), "name", name);
cJSON_AddItemToObject (idx.get (), "version", version);
cJSON_AddItemToObject (idx.get (), "pointtype", pointtype);
cJSON_AddItemToObject (idx.get (), "lod", lod);
cJSON_AddItemToObject (idx.get (), "numpts", numpts);
cJSON_AddStringToObject(idx.get(), "coord_system", coordinate_system_.c_str());
char* idx_txt = cJSON_Print (idx.get ());
std::ofstream f (metadata_filename_.string ().c_str (), std::ios::out | std::ios::trunc);
f << idx_txt;
f.close ();
free (idx_txt);
}
DiagnosticVisualisation::DiagnosticVisualisation(UdpClient *udpClient,
unsigned int numberParticles, Particle2 *particleTable,
RoboclawProxy *roboClaw, HokuyoProxy *hokuyo) {
client = udpClient;
NumberParticles = numberParticles;
Particles = particleTable;
RoboClaw = roboClaw;
Hokuyo = hokuyo;
rootJSON = cJSON_CreateObject();
roboClawJSON = cJSON_CreateObject();
hokuyoJSON = cJSON_CreateObject();
particlesJSONTable = cJSON_CreateArray();
//cJSON_AddItemToObject(rootJSON, "RoboClaw", roboClawJSON);
cJSON_AddItemToObject(rootJSON, "Hokuyo", hokuyoJSON);
cJSON_AddItemToObject(rootJSON, "Particles", particlesJSONTable);
hokuyoJSONAngleTable = cJSON_CreateDoubleArray(Hokuyo->Angles,
Hokuyo->Length);
hokuyoJSONDistancesTable = cJSON_CreateIntArray(Hokuyo->Distances,
Hokuyo->Length);
cJSON_AddItemToObject(hokuyoJSON, "Angles", hokuyoJSONAngleTable);
cJSON_AddItemToObject(hokuyoJSON, "Distances", hokuyoJSONDistancesTable);
cJSON *itemParticle;
cJSON *tableCalculatedProbability;
cJSON *tableCalculatedDistances;
for (unsigned int i = 0; i < NumberParticles; i++) {
itemParticle = cJSON_CreateObject();
cJSON_AddNumberToObject(itemParticle, "X", Particles[i].X);
cJSON_AddNumberToObject(itemParticle, "Y", Particles[i].Y);
cJSON_AddNumberToObject(itemParticle, "P", Particles[i].P);
cJSON_AddNumberToObject(itemParticle, "Angle", Particles[i].Angle);
tableCalculatedProbability = cJSON_CreateDoubleArray(
Particles[i].CalculatedProbability, Particles[i].Length);
cJSON_AddItemToObject(itemParticle, "CalculatedProbability",
tableCalculatedProbability);
tableCalculatedDistances = cJSON_CreateDoubleArray(
Particles[i].CalculatedDistances, Particles[i].Length);
cJSON_AddItemToObject(itemParticle, "CalculatedDistances",
tableCalculatedDistances);
cJSON_AddItemToArray(particlesJSONTable, itemParticle);
}
/*particlesJSONTable = cJSON_CreateArray();
cJSON *itemParticle;
for(int i = 0; i < NumberParticles;i++)
{
itemParticle = cJSON_CreateObject();
cJSON_AddNumberToObject(itemParticle,"X",Particles[i].X);
cJSON_AddItemToArray(particlesJSONTable,itemParticle);
}
*/
// cJSON_AddItemToObject(particlesJSON,"Particle",particlesJSONTable);
//(Particles,
// NumberParticles);
//cJSON_AddNumberToObject(particlesJSON,"X",)
char * rendered = cJSON_Print(rootJSON);
printf(rendered);
fflush(NULL);
Hokuyo->Distances[0] = 777;
Hokuyo->Angles[0] = 555;
Particles[0].X = Particles[0].Angle = 888;
Particles[0].CalculatedDistances[0] = 0.7777;
Particles[0].CalculatedProbability[0] = 5000;
Send();
rendered = cJSON_Print(rootJSON);
printf(rendered);
fflush(NULL);
//particlesJSONTable = cJSON_CreateArray();
//cJSON_AddItemToArray()
//
// cJSON_AddItemToObject(particlesJSON, "X", )
//cJSON_AddNumberToObject()
//cJSON_AddItemToObject(rootJSON,
/*cJSON_AddItemToObject(root, "name", cJSON_CreateString("Jack (\"Bee\") Nimble"));
cJSON_AddItemToObject(root, "format", fmt = cJSON_CreateObject());
cJSON_AddStringToObject(fmt, "type", "rect");
cJSON_AddNumberToObject(fmt, "width", 1920);
cJSON_AddNumberToObject(fmt, "height", 1080);
cJSON_AddFalseToObject (fmt, "interlace");
cJSON_AddNumberToObject(fmt, "frame rate", 24);
{
"name": "Jack (\"Bee\") Nimble",
"format": {
"type": "rect",
"width": 1920,
"height": 1080,
"interlace": false,
"frame rate": 24
}
}
*/
}
cJSON* CHPRepPayloadToJson(OCRepPayload* repData)
{
cJSON *outJson = cJSON_CreateObject();
if (outJson == NULL)
{
return NULL;
}
OCRepPayloadValue* val = repData->values;
while (val)
{
switch (val->type)
{
case OCREP_PROP_NULL:
break;
case OCREP_PROP_INT:
OIC_LOG_V(DEBUG, TAG, "%s(int):%d", val->name, (int)val->i);
cJSON_AddNumberToObject(outJson,val->name,(int)val->i);
break;
case OCREP_PROP_DOUBLE:
OIC_LOG_V(DEBUG, TAG, "%s(double):%f", val->name, val->d);
cJSON_AddNumberToObject(outJson,val->name,val->d);
break;
case OCREP_PROP_BOOL:
OIC_LOG_V(DEBUG, TAG, "%s(bool):%s", val->name, val->b ? "true" : "false");
cJSON_AddBoolToObject(outJson,val->name,val->b);
break;
case OCREP_PROP_STRING:
OIC_LOG_V(DEBUG, TAG, "%s(string):%s", val->name, val->str);
cJSON_AddStringToObject(outJson,val->name,val->str);
break;
case OCREP_PROP_OBJECT:
{
cJSON *objJson = CHPRepPayloadToJson(val->obj);
if (objJson != NULL)
{
cJSON_AddItemToObject(outJson,val->name,objJson);
}
break;
}
case OCREP_PROP_ARRAY:
{
unsigned int i = 0;
int arraySize = (int)val->arr.dimensions[0];
switch (val->arr.type)
{
case OCREP_PROP_INT:
OIC_LOG_V(DEBUG, TAG, "%s(int array)", val->name);
if (arraySize > 0)
{
int castVal[val->arr.dimensions[0]];
for (i = 0 ; i < (unsigned int)arraySize ; i++)
{
castVal[i] = (int)val->arr.iArray[i];
}
cJSON *array = cJSON_CreateIntArray(castVal,arraySize);
if (array != NULL)
{
cJSON_AddItemToObject(outJson,val->name,array);
}
}
break;
case OCREP_PROP_DOUBLE:
OIC_LOG_V(DEBUG, TAG, "%s(double array)", val->name);
if (arraySize > 0)
{
cJSON *array = cJSON_CreateDoubleArray(val->arr.dArray,arraySize);
if (array != NULL)
{
cJSON_AddItemToObject(outJson,val->name,array);
}
}
break;
case OCREP_PROP_STRING:
OIC_LOG_V(DEBUG, TAG, "%s(string array)", val->name);
if (arraySize > 0)
{
cJSON *array = cJSON_CreateStringArray((const char**)val->arr.strArray,
arraySize);
if (array != NULL)
{
cJSON_AddItemToObject(outJson,val->name,array);
}
}
break;
case OCREP_PROP_OBJECT:
if (arraySize > 0)
{
cJSON *arrayJson = cJSON_CreateArray();
for (i = 0 ; i < (unsigned int)arraySize ; i++)
{
cJSON *objJson = CHPRepPayloadToJson(val->arr.objArray[i]);
if (objJson != NULL && arrayJson != NULL)
{
cJSON_AddItemToArray(arrayJson, objJson);
}
}
if (arrayJson != NULL)
{
cJSON_AddItemToObject(outJson,val->name,arrayJson);
}
}
break;
case OCREP_PROP_BOOL:
//TODO : Not support - cJSON_CreateBoolArray
break;
default:
OIC_LOG_V(ERROR, TAG, "Unknown/unsupported array type: %s", val->name);
break;
}
break;
}
default:
OIC_LOG_V(ERROR, TAG, "Unknown type: %s", val->name);
break;
}
val = val->next;
}
if( repData->values != NULL)
{
return outJson;
}
else
{
cJSON_Delete(outJson);
return NULL;
}
}
void cJSONExt_AddDoubleArrayToObject(cJSON* object, const char* name, double* vars, int numinarray)
{
cJSON* jsonarray = cJSON_CreateDoubleArray( vars, numinarray );
cJSON_AddItemToObject( object, name, jsonarray );
}
