blast_reader_t*
blast_reader_open(string_t source) {
void* addr;
int64_t size;
blast_reader_t* reader;
int fd;
fd = _open(source.str, O_RDONLY);
if (fd == 0)
return 0;
size = _lseek(fd, 0, SEEK_END);
if (size <= 0) {
_close(fd);
return 0;
}
_lseek(fd, 0, SEEK_SET);
addr = memory_allocate(HASH_BLAST, (size_t)size, 0, MEMORY_PERSISTENT);
_read(fd, addr, (int)size);
_close(fd);
/*addr = mmap( 0, size, PROT_READ, MAP_FILE | MAP_PRIVATE, fd, 0 );
if( addr == MAP_FAILED )
{
int err = system_error();
log_warnf( HASH_BLAST, WARNING_SYSTEM_CALL_FAIL, "Unable to mmap file '%s' (%d) size %d: %s (%d)", source, fd, size, system_error_message( err ), err );
close( fd );
return 0;
}
log_infof( HASH_BLAST, "Mapped '%s' size %lld to memory region 0x%" PRIfixPTR, source, size, addr );*/
reader = memory_allocate(HASH_BLAST, sizeof(blast_reader_t), 0,
MEMORY_PERSISTENT | MEMORY_ZERO_INITIALIZED);
string_const_t filename = path_file_name(STRING_ARGS(source));
reader->name = string_clone(STRING_ARGS(filename));
reader->data = addr;
//reader->id = fd;
reader->size = (uint64_t)size;
reader->cache = blast_reader_cache;
reader->uncache = blast_reader_uncache;
reader->map = blast_reader_map;
reader->unmap = blast_reader_unmap;
return reader;
}
char* path_subdirectory_name( const char* path, const char* root )
{
char* subpath;
char* testpath;
char* testroot;
char* pathofpath;
unsigned int pathprotocol, rootprotocol;
char* cpath = string_clone( path );
char* croot = string_clone( root );
cpath = path_clean( cpath, path_is_absolute( cpath ) );
croot = path_clean( croot, path_is_absolute( croot ) );
pathofpath = path_directory_name( cpath );
testpath = pathofpath;
pathprotocol = string_find_string( testpath, "://", 0 );
if( pathprotocol != STRING_NPOS )
testpath += pathprotocol + 2; // add two to treat as absolute path
testroot = croot;
rootprotocol = string_find_string( testroot, "://", 0 );
if( rootprotocol != STRING_NPOS )
testroot += rootprotocol + 2;
if( ( rootprotocol != STRING_NPOS ) && ( ( pathprotocol == STRING_NPOS ) || ( pathprotocol != rootprotocol ) || !string_equal_substr( cpath, croot, rootprotocol ) ) )
subpath = string_allocate( 0 );
else if( !string_equal_substr( testpath, testroot, string_length( testroot ) ) )
subpath = string_allocate( 0 );
else
{
char* filename = path_file_name( cpath );
subpath = string_substr( testpath, string_length( testroot ), STRING_NPOS );
subpath = path_clean( path_append( subpath, filename ), false );
string_deallocate( filename );
}
string_deallocate( pathofpath );
string_deallocate( cpath );
string_deallocate( croot );
return subpath;
}
Socket* set_up_connection__gui( Robot_location& robot_location_a,
Robot_location& robot_location_b,
Targets_manager* target_configurations_manager_ptr)
{
int host_port_g = 1103;
int conenctions = 1;
std::cout <<"in main thread : " <<boost::this_thread::get_id()<<std::endl;
std::cout <<"before connecting to gui "<<std::endl<<std::endl;
Socket_server server_g(host_port_g, conenctions);
//here gui should be executed
Socket* socket_g=server_g.accept();
std::cout <<"connected to gui"<<std::endl;
std::stringstream initial_command;
initial_command << configuration.get_workspace_file_name()<<" "; //workspace filename
initial_command << configuration.get_robot_file_name_a()<<" "; //robot filename
initial_command << configuration.get_all_target_configurations_file_name()<<" "; //query filename
socket_g->send_line(initial_command.str().c_str());
//now send intial placements of each robot
double x_a = CGAL::to_double(robot_location_a.get().get_location().x());
double y_a = CGAL::to_double(robot_location_a.get().get_location().y());
double t_a = robot_location_a.get().get_rotation().to_angle();
double x_b = CGAL::to_double(robot_location_b.get().get_location().x());
double y_b = CGAL::to_double(robot_location_b.get().get_location().y());
double t_b = robot_location_b.get().get_rotation().to_angle();
std::string path_file_name("initial_location.txt");
ofstream path_os(path_file_name.c_str());
path_os << 2 <<std::endl;
//initial location
path_os << x_a <<" " << y_a <<" " << t_a <<" "
<< x_b <<" " << y_b <<" " << t_b <<std::endl;
//no movement
path_os << 0 <<" " << 0 <<" " << 0 <<" "
<< 0 <<" " << 0 <<" " << 0 <<" " << 0 <<" " << std::endl;
//get motion status and write to file
std::string status_file_name("initial_status.txt");
ofstream status_os(status_file_name.c_str());
//get status
Int_vec configuration_status;
target_configurations_manager_ptr->get_configuration_status(configuration_status);
//write status to file
status_os <<"2" <<std::endl; //one entry
status_os <<0<<std::endl; //before motion
for (unsigned int i(0); i < configuration_status.size(); ++i)
status_os <<configuration_status[i]<<" ";
status_os <<1<<std::endl; //after motion
for (unsigned int i(0); i < configuration_status.size(); ++i)
status_os <<configuration_status[i]<<" ";
status_os <<std::endl;
std::stringstream path_update;
path_update << path_file_name << " "; //path to draw filename
path_update << status_file_name << " "; //state to draw filename
socket_g->send_line(path_update.str().c_str());
return socket_g;
}
