static int
pylog_initobj(PyObject *s, PyObject *args, PyObject *kwds)
{
PyLogObject *self = (PyLogObject *)s;
static char *keywords[] = { "filename", "mode", 0 };
char *filename = NULL;
char *mode = "r";
if (!PyArg_ParseTupleAndKeywords(args, kwds, "s|s", keywords, &filename,
&mode))
return -1;
if (!strcmp (mode, "r")) {
self->mode = 'r';
} else if (!strcmp (mode, "w")) {
self->mode = 'w';
} else {
PyErr_SetString (PyExc_ValueError, "invalid mode");
return -1;
}
if (self->eventlog) { lcm_eventlog_destroy (self->eventlog); }
self->eventlog = lcm_eventlog_create (filename, mode);
if (!self->eventlog) {
PyErr_SetFromErrno (PyExc_IOError);
return -1;
}
return 0;
}
int main(int argc, char **argv)
{
if(argc < 2) {
fprintf(stderr, "usage: example1-poses <logfile>\n");
return 1;
}
lcm_eventlog_t *log = lcm_eventlog_create(argv[1], "r");
if(!log) {
fprintf(stderr, "error opening log file\n");
return 1;
}
printf("# utime x y z x' y' z'\n");
lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(log);
while(event) {
if(!strcmp(event->channel, "POSE")) {
lcmtypes_pose_t pose;
lcmtypes_pose_t_decode(event->data, 0, event->datalen, &pose);
printf("%lld %f %f %f %f %f %f\n",
(long long)pose.utime,
pose.pos[0],
pose.pos[1],
pose.pos[2],
pose.vel[0],
pose.vel[1],
pose.vel[2]);
lcmtypes_pose_t_decode_cleanup(&pose);
}
lcm_eventlog_free_event(event);
event = lcm_eventlog_read_next_event(log);
}
lcm_eventlog_destroy(log);
return 0;
}
int main(int argc, char **argv)
{
if(argc < 2) {
fprintf(stderr, "usage: example3-gps <logfile>\n");
return 1;
}
lcm_eventlog_t *log = lcm_eventlog_create(argv[1], "r");
if(!log) {
fprintf(stderr, "error opening log file\n");
return 1;
}
lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(log);
while(event) {
if(!strcmp(event->channel, "GPS_TO_LOCAL")) {
lcmtypes_gps_to_local_t gps;
lcmtypes_gps_to_local_t_decode(event->data, 0, event->datalen,
&gps);
printf("%lld %.10f %.10f %f %f\n",
(long long)gps.utime,
gps.lat_lon_el_theta[0],
gps.lat_lon_el_theta[1],
gps.lat_lon_el_theta[2],
gps.lat_lon_el_theta[3]);
lcmtypes_gps_to_local_t_decode_cleanup(&gps);
}
lcm_eventlog_free_event(event);
event = lcm_eventlog_read_next_event(log);
}
lcm_eventlog_destroy(log);
return 0;
}
LogFile::LogFile(const std::string & path, const std::string & mode) :
eventlog(lcm_eventlog_create(path.c_str(), mode.c_str())),
last_event(NULL)
{
}
int
main(int argc, char **argv)
{
int verbose = 0;
int filterChannels =0;
char *pattern = strdup(".*");
char *dest_fname = NULL;
int64_t start_utime = 0;
int64_t end_utime = -1;
int have_end_utime = 0;
int invert_regex = 0;
char *optstring = "hc:vs:e:i";
int c;
while ((c = getopt_long(argc, argv, optstring, NULL, 0)) >= 0) {
switch (c)
{
case 'h':
usage();
break;
case 's':
{
char *eptr = NULL;
double start_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
start_utime = (int64_t) (start_time * 1000000);
}
break;
case 'e':
{
char *eptr = NULL;
double end_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
end_utime = (int64_t) (end_time * 1000000);
have_end_utime = 1;
}
break;
case 'i':
invert_regex = 1;
filterChannels = 1;
break;
case 'c':
free(pattern);
pattern = strdup(optarg);
filterChannels = 1;
break;
case 'v':
verbose = 1;
break;
default:
usage();
break;
};
}
if (start_utime < 0 || (have_end_utime && end_utime < start_utime))
usage();
if (optind > argc - 3)
usage();
regex_t preg;
if (0 != regcomp(&preg, pattern, REG_NOSUB | REG_EXTENDED)) {
fprintf(stderr, "bad regex\n");
exit(1);
}
int num_src_logs = argc - optind - 1;
fprintf(stderr, "Splicing together %d logs\n", num_src_logs);
lcm_eventlog_t *src_logs[num_src_logs];
for (int i = 0; i < argc - optind - 1; i++) {
char * src_fname = argv[optind + i];
src_logs[i] = lcm_eventlog_create(src_fname, "r");
if (!src_logs[i]) {
perror("Unable to open source logfile");
for (int j = 0; j < i; j++)
lcm_eventlog_destroy(src_logs[j]);
regfree(&preg);
return 1;
}
}
dest_fname = argv[argc - 1];
lcm_eventlog_t *dst_log = lcm_eventlog_create(dest_fname, "w");
if (!dst_log) {
perror("Unable to open destination logfile");
for (int i = 0; i < num_src_logs; i++)
lcm_eventlog_destroy(src_logs[i]);
regfree(&preg);
return 1;
}
GHashTable *counts = g_hash_table_new_full(g_str_hash, g_str_equal, free,
free);
int nwritten = 0;
int have_first_event_timestamp = 0;
int64_t first_event_timestamp = -1;
lcm_eventlog_event_t *events[num_src_logs];
for (int i = 0; i < num_src_logs; i++)
events[i] = lcm_eventlog_read_next_event(src_logs[i]);
while (1) {
lcm_eventlog_event_t *event;
int mind = -1;
int64_t mtime = INT64_MAX;
for (int i = 0; i < num_src_logs; i++) {
if (events[i] == NULL)
continue;
else if (events[i]->timestamp < mtime) {
mtime = events[i]->timestamp;
mind = i;
}
}
if (mind < 0) //all are null
break;
event = events[mind];
events[mind] = lcm_eventlog_read_next_event(src_logs[mind]);
if (!have_first_event_timestamp) {
first_event_timestamp = event->timestamp;
have_first_event_timestamp = 1;
}
int64_t elapsed = event->timestamp - first_event_timestamp;
if (elapsed < start_utime) {
lcm_eventlog_free_event(event);
continue;
}
if (have_end_utime && elapsed > end_utime) {
lcm_eventlog_free_event(event);
break;
}
int copy_to_dest = 1;
if (filterChannels) {
int regmatch = regexec(&preg, event->channel, 0, NULL, 0);
copy_to_dest = (regmatch == 0 && !invert_regex) || (regmatch != 0
&& invert_regex);
}
if (copy_to_dest) {
lcm_eventlog_write_event(dst_log, event);
nwritten++;
if (verbose) {
int *count = g_hash_table_lookup(counts, event->channel);
if (!count) {
count = (int*) malloc(sizeof(int));
*count = 1;
g_hash_table_insert(counts, strdup(event->channel), count);
printf("matched channel %s\n", event->channel);
} else {
*count += 1;
}
}
}
lcm_eventlog_free_event(event);
}
if (verbose) {
g_hash_table_foreach(counts, _verbose_entry_summary, NULL);
printf("=====\n");
printf("Events written: %d\n", nwritten);
}
regfree(&preg);
for (int i = 0; i < num_src_logs; i++)
lcm_eventlog_destroy(src_logs[i]);
lcm_eventlog_destroy(dst_log);
g_hash_table_destroy(counts);
return 0;
}
int main(int argc, char **argv)
{
int verbose = 0;
char *pattern = g_strdup(".*");
char *source_fname = NULL;
char *dest_fname = NULL;
int64_t start_utime = 0;
int64_t end_utime = -1;
int have_end_utime = 0;
int invert_regex = 0;
char *optstring = "hc:vs:e:i";
int c;
while ((c = getopt_long(argc, argv, optstring, NULL, 0)) >= 0) {
switch (c) {
case 'h':
usage();
break;
case 's': {
char *eptr = NULL;
double start_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
start_utime = (int64_t)(start_time * 1000000);
} break;
case 'e': {
char *eptr = NULL;
double end_time = strtod(optarg, &eptr);
if (*eptr != 0)
usage();
end_utime = (int64_t)(end_time * 1000000);
have_end_utime = 1;
} break;
case 'i':
invert_regex = 1;
break;
case 'c':
g_free(pattern);
pattern = g_strdup(optarg);
break;
case 'v':
verbose = 1;
break;
default:
usage();
break;
};
}
if (start_utime < 0 || (have_end_utime && end_utime < start_utime))
usage();
if (optind != argc - 2)
usage();
GRegex *regex;
GError *rerr = NULL;
regex = g_regex_new(pattern, (GRegexCompileFlags) 0, (GRegexMatchFlags) 0, &rerr);
if (rerr) {
fprintf(stderr, "bad regex\n");
exit(1);
}
source_fname = argv[argc - 2];
dest_fname = argv[argc - 1];
lcm_eventlog_t *src_log = lcm_eventlog_create(source_fname, "r");
if (!src_log) {
perror("Unable to open source logfile");
g_regex_unref(regex);
return 1;
}
lcm_eventlog_t *dst_log = lcm_eventlog_create(dest_fname, "w");
if (!dst_log) {
perror("Unable to open destination logfile");
lcm_eventlog_destroy(src_log);
g_regex_unref(regex);
return 1;
}
GHashTable *counts = g_hash_table_new_full(g_str_hash, g_str_equal, g_free, free);
int nwritten = 0;
int have_first_event_timestamp = 0;
int64_t first_event_timestamp = 0;
for (lcm_eventlog_event_t *event = lcm_eventlog_read_next_event(src_log); event != NULL;
event = lcm_eventlog_read_next_event(src_log)) {
if (!have_first_event_timestamp) {
first_event_timestamp = event->timestamp;
have_first_event_timestamp = 1;
}
int64_t elapsed = event->timestamp - first_event_timestamp;
if (elapsed < start_utime) {
lcm_eventlog_free_event(event);
continue;
}
if (have_end_utime && elapsed > end_utime) {
lcm_eventlog_free_event(event);
break;
}
int regmatch = g_regex_match(regex, event->channel, (GRegexMatchFlags) 0, NULL);
if ((!regmatch && invert_regex) || (regmatch && !invert_regex)) {
lcm_eventlog_write_event(dst_log, event);
nwritten++;
if (verbose) {
int *count = (int *) g_hash_table_lookup(counts, event->channel);
if (!count) {
count = (int *) malloc(sizeof(int));
*count = 1;
g_hash_table_insert(counts, g_strdup(event->channel), count);
printf("matched channel %s\n", event->channel);
} else {
*count += 1;
}
}
}
lcm_eventlog_free_event(event);
}
if (verbose) {
g_hash_table_foreach(counts, _verbose_entry_summary, NULL);
printf("=====\n");
printf("Events written: %d\n", nwritten);
}
g_regex_unref(regex);
lcm_eventlog_destroy(src_log);
lcm_eventlog_destroy(dst_log);
g_hash_table_destroy(counts);
return 0;
}
static lcm_provider_t *
lcm_logprov_create (lcm_t * parent, const char *target, const GHashTable *args)
{
if (!target || !strlen (target)) {
fprintf (stderr, "Error: Missing filename\n");
return NULL;
}
lcm_logprov_t * lr = (lcm_logprov_t *) calloc (1, sizeof (lcm_logprov_t));
lr->lcm = parent;
lr->filename = strdup(target);
lr->speed = 1;
lr->next_clock_time = -1;
lr->start_timestamp = -1;
g_hash_table_foreach ((GHashTable*) args, new_argument, lr);
dbg (DBG_LCM, "Initializing LCM log provider context...\n");
dbg (DBG_LCM, "Filename %s\n", lr->filename);
if(lcm_internal_pipe_create(lr->notify_pipe) != 0) {
perror(__FILE__ " - pipe (notify)");
lcm_logprov_destroy (lr);
return NULL;
}
if(lcm_internal_pipe_create(lr->timer_pipe) != 0) {
perror(__FILE__ " - pipe (timer)");
lcm_logprov_destroy (lr);
return NULL;
}
//fcntl (lcm->notify_pipe[1], F_SETFL, O_NONBLOCK);
if (!lr->writer) {
lr->log = lcm_eventlog_create (lr->filename, "r");
} else {
lr->log = lcm_eventlog_create (lr->filename, "w");
}
if (!lr->log) {
fprintf (stderr, "Error: Failed to open %s: %s\n", lr->filename,
strerror (errno));
lcm_logprov_destroy (lr);
return NULL;
}
// only start the reader thread if not in write mode
if (!lr->writer){
if (load_next_event (lr) < 0) {
fprintf (stderr, "Error: Failed to read first event from log\n");
lcm_logprov_destroy (lr);
return NULL;
}
/* Start the reader thread */
lr->timer_thread = g_thread_create (timer_thread, lr, TRUE, NULL);
if (!lr->timer_thread) {
fprintf (stderr, "Error: LCM failed to start timer thread\n");
lcm_logprov_destroy (lr);
return NULL;
}
lr->thread_created = 1;
if(lcm_internal_pipe_write(lr->notify_pipe[1], "+", 1) < 0) {
perror(__FILE__ " - write (reader create)");
}
if(lr->start_timestamp > 0){
dbg (DBG_LCM, "Seeking to timestamp: %lld\n", (long long)lr->start_timestamp);
lcm_eventlog_seek_to_timestamp(lr->log, lr->start_timestamp);
}
}
return lr;
}
static int
open_logfile(logger_t* logger)
{
// maybe run the filename through strftime
if (logger->use_strftime) {
char new_prefix[PATH_MAX];
time_t now = time (NULL);
strftime(new_prefix, sizeof(new_prefix),
logger->input_fname, localtime(&now));
// If auto-increment is enabled and the strftime-formatted filename
// prefix has changed, then reset the auto-increment counter.
if(logger->auto_increment && strcmp(new_prefix, logger->fname_prefix))
logger->next_increment_num = 0;
strcpy(logger->fname_prefix, new_prefix);
} else {
strcpy(logger->fname_prefix, logger->input_fname);
}
if (logger->auto_increment) {
/* Loop through possible file names until we find one that doesn't
* already exist. This way, we never overwrite an existing file. */
do {
snprintf(logger->fname, sizeof(logger->fname), "%s.%02d",
logger->fname_prefix, logger->next_increment_num);
logger->next_increment_num++;
} while(g_file_test(logger->fname, G_FILE_TEST_EXISTS));
if (errno != ENOENT) {
perror ("Error: checking for previous logs");
return 1;
}
} else {
strcpy(logger->fname, logger->fname_prefix);
if (! logger->force_overwrite) {
if (g_file_test(logger->fname, G_FILE_TEST_EXISTS))
{
fprintf (stderr, "Refusing to overwrite existing file \"%s\"\n",
logger->fname);
return 1;
}
}
}
// create directories if needed
char *dirpart = g_path_get_dirname (logger->fname);
if (! g_file_test (dirpart, G_FILE_TEST_IS_DIR)) {
mkdir_with_parents (dirpart, 0755);
}
g_free (dirpart);
fprintf (stderr, "Opening log file \"%s\"\n", logger->fname);
// open output file
logger->log = lcm_eventlog_create(logger->fname, "w");
if (logger->log == NULL) {
perror ("Error: fopen failed");
return 1;
}
return 0;
}
