void getParamFromServer() {
if (mBotParam != NULL) return;
mBotParam = bot_param_get_global(mLcm->getUnderlyingLCM(), 1);
// mBotParam = bot_param_new_from_server(mLcm->getUnderlyingLCM(), 1);
if (mBotParam == NULL) {
mexPrintf("BotParam not received; is server running?\n");
return;
}
bot_param_add_update_subscriber(mBotParam, onParamUpdate, this);
}
LCMFrontEnd::LCMFrontEnd(const std::string & in_log_fname, const std::string & out_log_fname,
const std::string & param_fname, const std::string & param_override_str,
const std::string & begin_timestamp, double processing_rate)
{
state_estimator = NULL;
bool running_from_log = !in_log_fname.empty();
bool running_to_log = !out_log_fname.empty();
if (running_from_log && in_log_fname == out_log_fname) {
fprintf(stderr, "must specify different logname for output %s!\n", out_log_fname.c_str());
exit(1);
}
if (running_from_log) {
printf("running from log file: %s\n", in_log_fname.c_str());
//std::string lcmurl = "file://" + in_log_fname + "?speed=0";
std::stringstream lcmurl;
lcmurl << "file://" << in_log_fname << "?speed=" << processing_rate << "&start_timestamp=" << begin_timestamp;
lcm_recv = new lcm::LCM(lcmurl.str());
if (!lcm_recv->good()) {
fprintf(stderr, "Error couldn't load log file %s\n", lcmurl.str().c_str());
exit(1);
}
}
else {
lcm_recv = new lcm::LCM(bot_lcm_get_global(NULL));
}
if (running_to_log) {
printf("publishing into log file: %s\n", out_log_fname.c_str());
std::string lcmurl = "file://" + out_log_fname + "?mode=w";
lcm_pub = new lcm::LCM(lcmurl);
if (!lcm_pub->good()) {
fprintf(stderr, "Error couldn't open log file %s\n", lcmurl.c_str());
exit(1);
}
}
else {
lcm_pub = new lcm::LCM(); // mfallon publish back to lcm if run from log
}
if (param_fname.empty()) {
param = bot_param_get_global(lcm_pub->getUnderlyingLCM(), 0);
}
else {
param = bot_param_new_from_file(param_fname.c_str());
}
if (param == NULL) {
exit(1);
}
else if (!param_override_str.empty()) {
int ret = bot_param_override_local_params(param, param_override_str.c_str());
if (ret <= 0) {
fprintf(stderr, "Error overriding params with %s\n", param_override_str.c_str());
exit(1);
}
}
char** active_sensor_names = bot_param_get_str_array_alloc(param, "state_estimator.active_sensors");
if (active_sensor_names == NULL) {
fprintf(stderr, "Error: must specify active sensors using key state_estimator.active_sensors\n");
exit(1);
}
else {
for (int i = 0; active_sensor_names[i]; i++) {
active_sensors.insert(std::string(active_sensor_names[i]));
}
}
bot_param_str_array_free(active_sensor_names);
frames = bot_frames_get_global(lcm_recv->getUnderlyingLCM(), param);
filter_state_channel = bot_param_get_str_or_fail(param, "state_estimator.filter_state_channel");
pose_channel = bot_param_get_str_or_fail(param, "state_estimator.pose_channel");
publish_filter_state = bot_param_get_boolean_or_fail(param, "state_estimator.publish_filter_state");
publish_pose = bot_param_get_boolean_or_fail(param, "state_estimator.publish_pose");
republish_sensors = bot_param_get_boolean_or_fail(param, "state_estimator.republish_sensors");
char *init_message_channel_char;
char *init_complete_channel_char;
if (bot_param_get_str(param, "state_estimator.init_message.channel", &init_message_channel_char) != 0) {
// failed to get this key
init_message_channel = "";
} else {
init_message_channel = string(init_message_channel_char);
free(init_message_channel_char);
}
if (bot_param_get_str(param, "state_estimator.init_message.init_complete_channel", &init_complete_channel_char) != 0) {
// failed to get this key
init_complete_channel = "";
} else {
init_complete_channel = string(init_complete_channel_char);
free(init_complete_channel_char);
}
exit_estimator = false; // when this is true, we exit the estimator handlers, mfallon
}
ImageReceive() {
mLcmWrapper.reset(new drc::LcmWrapper());
mLcm = mLcmWrapper->get();
mBotParam = bot_param_get_global(mLcmWrapper->get()->getUnderlyingLCM(),0);
mJpegQuality = 90;
}
