void executeCodegen(CodegenOptions options) {
llvm::SmallString<128> outpath(options.inputFilePath);
llvm::sys::path::replace_extension(outpath, extension(options.type));
Parser p(options.inputFilePath);
AST ast = p.parse();
filebuf outfile;
outfile.open(outpath.c_str(), ios::out);
ostream os(&outfile);
if (options.type == codegen::AST) {
pretty_print(ast, os);
return;
}
llvm::raw_os_ostream raw_os(os);
llvm::InitializeAllTargets();
llvm::InitializeAllTargetMCs();
llvm::InitializeAllAsmPrinters();
Symbols symbols;
checkSemantics(ast, symbols);
MjModule module(ast, symbols);
Codegen cg(module, options);
cg.emitCode(&raw_os);
raw_os.flush();
}
bool CStatsUtil::ParseOutputPath( const string & path )
{
Poco::Path outpath(path);
if( outpath.isFile() || outpath.isDirectory() )
{
m_outputPath = path;
return true;
}
return false;
}
void ExtractScummMac::execute() {
unsigned long file_record_off, file_record_len;
unsigned long file_off, file_len;
unsigned long data_file_len;
char file_name[0x20];
char *buf;
unsigned long i;
int j;
Common::Filename inpath(_inputPaths[0].path);
Common::Filename outpath(_outputPath);
if (outpath.empty())
outpath.setFullPath("./");
Common::File ifp(inpath, "rb");
/* Get the length of the data file to use for consistency checks */
data_file_len = ifp.size();
/* Read offset and length to the file records */
file_record_off = ifp.readUint32BE();
file_record_len = ifp.readUint32BE();
/* Do a quick check to make sure the offset and length are good */
if (file_record_off + file_record_len > data_file_len) {
error("\'%s\'. file records out of bounds.", inpath.getFullPath().c_str());
}
/* Do a little consistancy check on file_record_length */
if (file_record_len % 0x28) {
error("\'%s\'. file record length not multiple of 40.", inpath.getFullPath().c_str());
}
/* Extract the files */
for (i = 0; i < file_record_len; i += 0x28) {
/* read a file record */
ifp.seek(file_record_off + i, SEEK_SET);
file_off = ifp.readUint32BE();
file_len = ifp.readUint32BE();
ifp.read_throwsOnError(file_name, 0x20);
if (!file_name[0])
error("\'%s\'. file has no name.", inpath.getFullPath().c_str());
print("extracting \'%s\'", file_name);
/* For convenience compatibility with scummvm (and case sensitive
* file systems) change the file name to lowercase.
*
* if i ever add the ability to pass flags on the command
* line, i will make this optional, but i really don't
* see the point to bothering
*/
for (j = 0; j < 0x20; j++) {
if (!file_name[j]) {
break;
}
#ifdef CHANGECASE
file_name[j] = tolower(file_name[j]);
#endif
}
if (j == 0x20) {
file_name[0x1f] = 0;
warning("\'%s\'. file name not null terminated.", file_name);
print("data file \'%s\' may be not a file extract_scumm_mac can extract.", inpath.getFullPath().c_str());
}
print(", saving as \'%s\'", file_name);
/* Consistency check. make sure the file data is in the file */
if (file_off + file_len > data_file_len) {
error("\'%s\'. file out of bounds.", inpath.getFullPath().c_str());
}
/* Write a file */
ifp.seek(file_off, SEEK_SET);
outpath.setFullName(file_name);
Common::File ofp(outpath, "wb");
if (!(buf = (char *)malloc(file_len))) {
error("Could not allocate %ld bytes of memory.", file_len);
}
ifp.read_throwsOnError(buf, file_len);
ofp.write(buf, file_len);
free(buf);
}
}
/* ---[ */
int
main (int argc, char** argv)
{
ros::init (argc, argv, "bag_to_pcd");
if (argc < 5)
{
std::cerr << "Syntax is: " << argv[0] << " <file_in.bag> <topic> <output_directory> <target_frame>" << std::endl;
std::cerr << "Example: " << argv[0] << " data.bag /laser_tilt_cloud ./pointclouds /base_link" << std::endl;
return (-1);
}
// TF
tf::TransformListener tf_listener;
tf::TransformBroadcaster tf_broadcaster;
rosbag::Bag bag;
rosbag::View view;
rosbag::View::iterator view_it;
try
{
bag.open (argv[1], rosbag::bagmode::Read);
}
catch (rosbag::BagException)
{
std::cerr << "Error opening file " << argv[1] << std::endl;
return (-1);
}
//view.addQuery (bag, rosbag::TypeQuery ("sensor_msgs/PointCloud2"));
view.addQuery (bag, rosbag::TopicQuery(argv[2]));
view.addQuery (bag, rosbag::TypeQuery ("tf/tfMessage"));
view_it = view.begin ();
std::string output_dir = std::string (argv[3]);
boost::filesystem::path outpath (output_dir);
if (!boost::filesystem::exists (outpath))
{
if (!boost::filesystem::create_directories (outpath))
{
std::cerr << "Error creating directory " << output_dir << std::endl;
return (-1);
}
std::cerr << "Creating directory " << output_dir << std::endl;
}
// Add the PointCloud2 handler
std::cerr << "Saving recorded sensor_msgs::PointCloud2 messages on topic " << argv[2] << " to " << output_dir << std::endl;
PointCloud cloud_t;
ros::Duration r (0.001);
// Loop over the whole bag file
while (view_it != view.end ())
{
try {
// Handle TF messages first
tf::tfMessage::ConstPtr tf = view_it->instantiate<tf::tfMessage> ();
if (tf != NULL)
{
tf_broadcaster.sendTransform (tf->transforms);
ros::spinOnce ();
r.sleep ();
}
else
{
// Get the PointCloud2 message
PointCloudConstPtr cloud = view_it->instantiate<PointCloud> ();
if (cloud == NULL)
{
++view_it;
continue;
}
// Transform it
tf::StampedTransform transform;
//if(argv[4] != cloud->header.frame_id)
tf_listener.lookupTransform(cloud->header.frame_id, argv[4], cloud->header.stamp, transform);
Eigen::Matrix4f out_mat;
pcl_ros::transformAsMatrix (transform, out_mat);
//pcl_ros::transformPointCloud ("/head_axis_link", *cloud, cloud_t, tf_listener);
pcl_ros::transformPointCloud (out_mat, *cloud, cloud_t);
pcl::PCLPointCloud2 cloud_t2;
pcl_conversions::toPCL(cloud_t, cloud_t2);
std::cerr << "Got " << cloud_t2.width * cloud_t2.height << " data points in frame " << cloud_t2.header.frame_id << " with the following fields: " << pcl::getFieldsList (cloud_t2) << std::endl;
std::stringstream ss;
ss << output_dir << "/" << cloud_t2.header.stamp << ".pcd";
std::cerr << "Data saved to " << ss.str () << std::endl;
pcl::io::savePCDFile (ss.str (), cloud_t2, Eigen::Vector4f::Zero (),
Eigen::Quaternionf::Identity (), false);
}
}
catch (tf::TransformException ex) {
ROS_ERROR("%s",ex.what());
}
// Increment the iterator
++view_it;
}
return (0);
}
/*
* NAME: showfiles()
* DESCRIPTION: display a set of files
*/
static
int showfiles(darray *files, int flags, int options, int width)
{
dlist list;
int i, sz, result = 0;
queueent *ents;
dstring str;
char **strs;
void (*show)(int, queueent *, char **, int, int, int);
if (dl_init(&list) == -1)
{
fprintf(stderr, "%s: not enough memory\n", argv0);
return -1;
}
sz = darr_size(files);
ents = darr_array(files);
dstr_init(&str);
for (i = 0; i < sz; ++i)
{
if (outpath(&str, &ents[i], flags) == -1 ||
dl_append(&list, dstr_string(&str)) == -1)
{
result = -1;
break;
}
}
dstr_free(&str);
strs = dl_array(&list);
switch (options & F_MASK)
{
case F_LONG:
show = show_long;
break;
case F_ONE:
show = show_one;
break;
case F_MANY:
show = show_many;
break;
case F_HORIZ:
show = show_horiz;
break;
case F_COMMAS:
show = show_commas;
break;
default:
abort();
}
show(sz, ents, strs, flags, options, width);
dl_free(&list);
return result;
}
