int carmen_logfile_read_next_line(carmen_logfile_index_p index, carmen_FILE *infile,
int max_line_length, char *line)
{
return carmen_logfile_read_line(index, infile,
index->current_position,
max_line_length, line);
}
bool LogFile::load(const char* filename, bool verbose) {
char line[100000];
carmen_FILE *logfile = NULL;
carmen_logfile_index_p logfile_index = NULL;
logfile = carmen_fopen(filename, "r");
if(logfile == NULL) {
if (verbose)
carmen_warn("Error: could not open file %s for reading.\n", filename);
return false;
}
/* index the logfile */
logfile_index = carmen_logfile_index_messages(logfile);
for(int i = 0; i < logfile_index->num_messages; i++) {
/* read i-th line */
carmen_logfile_read_line(logfile_index, logfile, i, 100000, line);
/* create messages */
if(strncmp(line, "ODOM ", 5) == 0) {
push_back(new OdometryMessage(line));
}
else if(strncmp(line, "RAWLASER", 8) == 0) {
push_back(new LaserMessage(line));
}
else if(strncmp(line, "ROBOTLASER", 10) == 0) {
push_back(new RobotLaserMessage(line));
}
else if(strncmp(line, "FLASER ", 7) == 0) {
push_back(new RobotLaserMessage(line));
}
else if(strncmp(line, "RLASER ", 7) == 0) {
push_back(new RobotLaserMessage(line));
}
else if(strncmp(line, "TRUEPOS ", 8) == 0) {
push_back(new TrueposMessage(line));
}
else if(strncmp(line, "IMU ", 4) == 0) {
push_back(new IMUMessage(line));
}
else if(strncmp(line, "SCANMARK ", 9) == 0) {
push_back(new ScanmarkMessage(line));
}
else if(strncmp(line, "POSITIONLASER ", 14) == 0) {
push_back(new LaserposMessage(line));
}
else if(strlen(line) > 1) {
push_back(new UnknownMessage(line));
}
}
carmen_fclose(logfile);
return true;
}
int read_message(int message_num, int publish, int no_wait)
{
// char *line[MAX_LINE_LENGTH];
char *line;
char *current_pos;
int i, j;
char command[100];
static double last_update = 0;
double current_time;
line = (char *) malloc(MAX_LINE_LENGTH * sizeof(char));
if (line == NULL)
carmen_die("Could not alloc memory in playback.c:read_message()\n");
carmen_logfile_read_line(logfile_index, logfile, message_num,
MAX_LINE_LENGTH, line);
current_pos = carmen_next_word(line);
for(i = 0; i < (int)(sizeof(logger_callbacks) /
sizeof(logger_callback_t)); i++) {
/* copy the command over */
j = 0;
while(line[j] != ' ') {
command[j] = line[j];
j++;
}
command[j] = '\0';
if(strncmp(command, logger_callbacks[i].logger_message_name, j) == 0) {
if(!basic_messages || !logger_callbacks[i].interpreted) {
current_pos =
logger_callbacks[i].conv_func(current_pos,
logger_callbacks[i].message_data);
playback_timestamp = atof(current_pos);
//printf("command = %s, playback_timestamp = %lf\n", command, playback_timestamp);
if(publish) {
current_time = carmen_get_time();
if(current_time - last_update > 0.2) {
print_playback_status();
last_update = current_time;
}
if (!no_wait)
wait_for_timestamp(playback_timestamp);
IPC_publishData(logger_callbacks[i].ipc_message_name,
logger_callbacks[i].message_data);
}
/* return 1 if it is a front laser message */
free(line);
return (strcmp(command, "FLASER") == 0);
}
}
}
free(line);
return 0;
}
