static int
Velodyne_init(Velodyne *self, PyObject *args, PyObject *kwds)
{
PyObject *images;
char* poster_name;
if (!PyArg_ParseTuple(args, "snnn", &poster_name, &(self->width), &(self->height), &(self->nb_rot)))
return -1;
size_t poster_size = sizeof(velodyne3DImage);
STATUS s = posterCreate (poster_name, poster_size, &self->id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
return -1;
}
printf("Succesfully created poster %s of size %zd\n", poster_name, poster_size);
self->size = self->width * self->height;
self->img.width = VELODYNE_3D_IMAGE_WIDTH;
self->img.maxScanWidth = VELODYNE_3D_IMAGE_WIDTH;
self->img.height = (int)(ceil)(self->size * self->nb_rot / VELODYNE_3D_IMAGE_WIDTH);
self->current_rot = 0;
return 0;
}
POSTER_ID init_data (const char* poster_name, const char* reference_frame,
float confidence, int* ok)
{
POSTER_ID id;
STATUS s = posterCreate (poster_name, sizeof(POM_ME_POS), &id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n", poster_name, buf);
*ok = 0;
return (NULL);
}
printf ("INIT ID = %p (pointer)\n", id);
ref_name = strdup(reference_frame);
POM_ME_POS* pos = posterAddr(id);
memset(pos, 0, sizeof(POM_ME_POS));
pos->kind = POM_ME_ABSOLUTE;
pos->confidence = confidence;
*ok = 1;
return (id);
}
/*
* Create a poster, and fill it with information which don't change during the
* execution, including bank_name, camera_name, nb_images, size of images,
* camera calibration...
*
* Return a POSTER_ID on success, NULL otherwise
*
* you must call finalize when you don't use anymore the POSTER_ID
*/
POSTER_ID init_data (char* poster_name)
{
POSTER_ID id;
STATUS s = posterCreate (poster_name, sizeof(SICK_CART_MEASURES_STR), &id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
return (NULL);
}
return (id);
}
static int
Stereopixel_init(Stereopixel *self, PyObject *args, PyObject *kwds)
{
PyObject *images;
char* poster_name;
if (!PyArg_ParseTuple(args, "snn", &poster_name, &(self->width), &(self->height)))
return -1;
size_t poster_size = sizeof(Spix3DImage) +
self->width * self->height * sizeof(Spix3DPixel);
STATUS s = posterCreate (poster_name, poster_size, &self->id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
return -1;
}
printf("Succesfully created poster %s of size %zd\n", poster_name, poster_size);
Spix3DImage* img = posterAddr(self->id);
posterTake(self->id, POSTER_WRITE);
img->width = self->width;
img->height = self->height;
self->size = self->width * self->height;
// dummy matrix
memset(img->intrinseque_rectified, 0, sizeof(img->intrinseque_rectified));
posterGive(self->id);
return 0;
}
/*
* Create a poster, and fill it with information that don't change during the
* execution
*
* Return a POSTER_ID on success, NULL otherwise
*
* you must call finalize when you don't use anymore the POSTER_ID
*/
POSTER_ID init_data (char* poster_name, int* ok)
{
size_t poster_size = 0;
POSTER_ID id;
poster_size = sizeof(VimanObjectPublicArray);
STATUS s = posterCreate (poster_name, poster_size, &id);
if (s == ERROR)
{
char buf[1024];
h2getErrMsg(errnoGet(), buf, sizeof(buf));
printf ("Unable to create the %s poster : %s\n",poster_name, buf);
*ok = 0;
return (NULL);
}
//printf("Poster '%s' created of type VIMAN (size %zd)\n", poster_name, poster_size);
//printf ("INIT ID = %p (pointer)\n", id);
*ok = 1;
return (id);
}
static void
$module$ActivitiesXML (FILE *f, $MODULE$_CNTRL_STR *sdic)
{
#define $MODULE$_NB_RQST_EXEC $nbExecRqst$
#if $MODULE$_NB_RQST_EXEC != 0
$requestNameTabDeclare$
int i;
ACTIVITY_EVENT evn;
ACTIVITY_STATE status;
int bilan;
int rqst;
char strerr[64];
for (i=0; i<MAX_ACTIVITIES; i++) {
status = M_ACTIVITY_STATUS(sdic,i);
bilan = M_ACTIVITY_BILAN(sdic,i);
if (status != ETHER || bilan != OK) {
evn = M_ACTIVITY_EVN(sdic,i);
xmlBalise("activity", BEGIN_BALISE_NEWLINE, f, 1);
xmlBalise("id", BEGIN_BALISE, f, 2);
fprintf(f, "%d", M_ACTIVITY_ID(sdic, i));
xmlBalise("id", TERMINATE_BALISE, f, 0);
/* find the name */
rqst=0;
while($module$ExecRqstNumTab[rqst] != M_ACTIVITY_RQST_TYPE(sdic,i)
&& rqst<$MODULE$_NB_RQST_EXEC)
rqst++;
xmlBalise("name", BEGIN_BALISE, f, 2);
fprintf(f, "%s",
rqst == $MODULE$_NB_RQST_EXEC?
"Unknown" : $module$ExecRqstNameTab[rqst]);
xmlBalise("name", TERMINATE_BALISE, f, 0);
xmlBalise("task", BEGIN_BALISE, f, 2);
fprintf(f, "%s",
M_ACTIVITY_TASK_NUM(sdic,i) == -1 ?
"not exec" : $module$ExecTaskNameTab[M_ACTIVITY_TASK_NUM(sdic,i)]);
xmlBalise("task", TERMINATE_BALISE, f, 0);
xmlBalise("status", BEGIN_BALISE, f, 2);
fprintf(f, "%s",
evn == NO_EVENT ?
h2GetEvnStateString(status) : h2GetEvnStateString(evn));
xmlBalise("status", TERMINATE_BALISE, f, 0);
xmlBalise("errno", BEGIN_BALISE, f, 2);
fprintf(f, "%s", h2getErrMsg(bilan, strerr, 64));
xmlBalise("errno", TERMINATE_BALISE, f, 0);
xmlBalise("activity", TERMINATE_BALISE, f, 1);
}
} /* for */
#endif /* $MODULE$_NB_RQST_EXEC != 0 */
}
STATUS $module$CntrlPosterXML (FILE *f)
{
$MODULE$_CNTRL_STR *sdic;
int i;
char strerr[64];
/* Read the control IDS */
sdic = ($MODULE$_CNTRL_STR *)malloc(sizeof($MODULE$_CNTRL_STR));
if (sdic == NULL) {
h2perror ("$module$CntrlPosterXML");
return ERROR;
}
if ($module$CntrlPosterRead (sdic) != OK) {
free(sdic);
return ERROR;
}
/*
* display
*/
/* control task */
xmlBalise("task", BEGIN_BALISE_NEWLINE, f, 1);
xmlBalise("name", BEGIN_BALISE, f, 2);
fprintf(f, "ControlTask");
xmlBalise("name", TERMINATE_BALISE, f, 0);
xmlBalise("status", BEGIN_BALISE, f, 2);
fprintf(f, "%s",
M_CNTRL_TASK_STATUS(sdic)==OK ? "OK":"ERROR");
xmlBalise("status", TERMINATE_BALISE, f, 0);
if (M_CNTRL_TASK_STATUS(sdic) != OK) {
xmlBalise("errno", BEGIN_BALISE, f, 2);
fprintf(f, "%s", h2getErrMsg(M_CNTRL_TASK_BILAN(sdic), strerr, 64));
xmlBalise("errno", TERMINATE_BALISE, f, 0);
}
xmlBalise("task", TERMINATE_BALISE, f, 1);
/* execution tasks */
for (i=0; i<$MODULE$_NB_EXEC_TASK; i++) {
xmlBalise("task", BEGIN_BALISE_NEWLINE, f, 1);
xmlBalise("name", BEGIN_BALISE, f, 2);
fprintf(f, "%s", $module$ExecTaskNameTab[i]);
xmlBalise("name", TERMINATE_BALISE, f, 0);
xmlBalise("status", BEGIN_BALISE, f, 2);
fprintf(f, "%s", M_EXEC_TASK_STATUS(sdic,i) == OK ? "OK": "ERROR");
xmlBalise("status", TERMINATE_BALISE, f, 0);
if (M_EXEC_TASK_STATUS(sdic, i) != OK) {
xmlBalise("errno", BEGIN_BALISE, f, 2);
fprintf(f, "%s", h2getErrMsg(M_EXEC_TASK_BILAN(sdic,i), strerr, 64));
xmlBalise("errno", TERMINATE_BALISE, f, 0);
}
if (M_EXEC_TASK_PERIOD(sdic,i) != 0) {
xmlBalise("period", BEGIN_BALISE, f, 2);
fprintfBuf (f, "%d", (int)(M_EXEC_TASK_PERIOD(sdic,i)*1000.));
xmlBalise("period", TERMINATE_BALISE, f, 0);
}
xmlBalise("task", TERMINATE_BALISE, f, 1);
}
/* Activities */
$module$ActivitiesXML(f, sdic);
free(sdic);
return OK;
}
int main(int argc, char *argv[])
{
POSTER_ID posterIdC;
POSTER_ID posterIdF;
TESTPOST_STR testIn = INIT_TESTPOST_STR;
TESTPOST_STR testOut;
int size = sizeof(TESTPOST_STR);
int sizeOut;
H2_ENDIANNESS endianness;
char c;
char msg[256];
printf ("testPosterWrite: LOCAL ENDIANNESS = %d\n", h2localEndianness());
/* create */
if (posterCreate(TEST_POSTER_NAME, size, &posterIdC) == ERROR) {
printf ("testPosterWrite: posterCreate(%s) failed : %s\n",
TEST_POSTER_NAME, h2getErrMsg(errnoGet(), msg, 256));
return 1;
}
printf ("testPosterWrite: poster %s created. Id = %0x\n",
TEST_POSTER_NAME, (int)posterIdC);
posterEndianness(posterIdC, &endianness);
printf ("testPosterWrite: posterEndianness(%s) = %d\n\n",
TEST_POSTER_NAME, endianness);
/* write */
if ((sizeOut=posterWrite(posterIdC, 0, (void *)&testIn, size)) != size) {
printf ("testPosterWrite: posterWrite size = %d != %d \n", sizeOut, size);
return testEnd(posterIdC);
}
printf ("testPosterWrite: poster %s writen\n", TEST_POSTER_NAME);
/* read after create */
if ((sizeOut=posterRead(posterIdC, 0, (void *)&testOut, size)) != size) {
printf ("testPosterWrite: posterRead size = %d != %d \n", sizeOut, size);
return testEnd(posterIdC);
}
printf ("testPosterWrite: poster %s read OK\n", TEST_POSTER_NAME);
/* display */
if (endianness != h2localEndianness())
endianswap_TESTPOST_STR(&testOut);
printTestStr("Write", &testOut);
printf ("\n");
/* find */
if (posterFind(TEST_POSTER_NAME, &posterIdF) == ERROR) {
printf ("testPosterWrite: posterFind failed\n");
return testEnd(posterIdC);
}
/* printf ("posterFind TEST_POSTER_NAME posterIdF = %d\n", (int)posterIdF); */
posterEndianness(posterIdF, &endianness);
printf (" endianness = %d\n", endianness);
/* read after find */
if ((sizeOut=posterRead(posterIdF, 0, (void *)&testOut, size)) != size) {
printf ("testPosterWrite: posterRead size = %d != %d \n", sizeOut, size);
return testEnd(posterIdC);
}
/* display */
if (endianness != h2localEndianness())
endianswap_TESTPOST_STR(&testOut);
printTestStr("Write", &testOut);
/* find again */
if (posterFind(TEST_POSTER_NAME, &posterIdF) == ERROR) {
printf ("testPosterWrite: posterFind failed\n");
return testEnd(posterIdC);
}
printf ("PosterIdF %s = %d\n", TEST_POSTER_NAME, (int)posterIdF);
posterEndianness(posterIdF, &endianness);
printf (" endianness = %d\n", endianness);
printf ("Return to end ....");
fflush(stdout);
scanf("%c", &c);
/* end */
return testEnd(posterIdF);
}
