static PyObject *
Scan_update(Scan *self, PyObject *args, PyObject *kwds)
{
PyObject * py_lidar = NULL;
double hole_width_mm = 0;
PyObject * py_velocities = NULL;
static char* argnames[] = {"scans_mm", "hole_width_mm", "velocities", NULL};
if (!PyArg_ParseTupleAndKeywords(args, kwds,"Od|O", argnames,
&py_lidar,
&hole_width_mm,
&py_velocities))
{
return null_on_raise_argument_exception("Scan", "update");
}
// Bozo filter on LIDAR argument
if (!PyList_Check(py_lidar))
{
return null_on_raise_argument_exception_with_details("Scan", "update",
"lidar must be a list");
}
// Bozo filter on LIDAR argument list size
if (PyList_Size(py_lidar) != self->laser.scan_size)
{
return null_on_raise_argument_exception_with_details("Scan", "update",
"lidar size mismatch");
}
// Default to no velocities
double dxy_mm = 0;
double dtheta_degrees = 0;
// Bozo filter on velocities tuple
if (py_velocities)
{
if (!PyTuple_Check(py_velocities))
{
return null_on_raise_argument_exception_with_details("Scan", "update",
"velocities must be a tuple");
}
if (!double_from_tuple(py_velocities, 0, &dxy_mm) ||
!double_from_tuple(py_velocities, 1, &dtheta_degrees))
{
return null_on_raise_argument_exception_with_details("Scan", "update",
"velocities tuple must contain at least two numbers");
}
}
// Extract LIDAR values from argument
int k = 0;
for (k=0; k<self->laser.scan_size; ++k)
{
self->lidar_mm[k] = PyFloat_AsDouble(PyList_GetItem(py_lidar, k));
}
// Update the scan
scan_update(
&self->scan,
self->lidar_mm,
self->laser,
hole_width_mm,
dxy_mm,
dtheta_degrees);
Py_RETURN_NONE;
}
int main(int argc, char** argv)
{
if (argc != 3)
{
std::cout << "Arguments are <socket mysqld> <connect_string cluster>.\n";
exit(-1);
}
char * mysqld_sock = argv[1];
const char *connectstring = argv[2];
ndb_init();
MYSQL mysql;
/**************************************************************
* Connect to mysql server and create table *
**************************************************************/
{
if ( !mysql_init(&mysql) ) {
std::cout << "mysql_init failed\n";
exit(-1);
}
if ( !mysql_real_connect(&mysql, "localhost", "root", "", "",
0, mysqld_sock, 0) )
MYSQLERROR(mysql);
mysql_query(&mysql, "CREATE DATABASE ndb_examples");
if (mysql_query(&mysql, "USE ndb_examples") != 0) MYSQLERROR(mysql);
create_table(mysql);
}
/**************************************************************
* Connect to ndb cluster *
**************************************************************/
Ndb_cluster_connection cluster_connection(connectstring);
if (cluster_connection.connect(4, 5, 1))
{
std::cout << "Unable to connect to cluster within 30 secs." << std::endl;
exit(-1);
}
// Optionally connect and wait for the storage nodes (ndbd's)
if (cluster_connection.wait_until_ready(30,0) < 0)
{
std::cout << "Cluster was not ready within 30 secs.\n";
exit(-1);
}
Ndb myNdb(&cluster_connection,"ndb_examples");
if (myNdb.init(1024) == -1) { // Set max 1024 parallel transactions
APIERROR(myNdb.getNdbError());
exit(-1);
}
/*******************************************
* Check table definition *
*******************************************/
int column_color;
{
const NdbDictionary::Dictionary* myDict= myNdb.getDictionary();
const NdbDictionary::Table *t= myDict->getTable("api_scan");
if(t == NULL)
{
std::cout << "Dictionary::getTable() failed.";
exit(-1);
}
Car car;
if (t->getColumn("COLOR")->getLength() != sizeof(car.color) ||
t->getColumn("BRAND")->getLength() != sizeof(car.brand))
{
std::cout << "Wrong table definition" << std::endl;
exit(-1);
}
column_color= t->getColumn("COLOR")->getColumnNo();
}
if(populate(&myNdb) > 0)
std::cout << "populate: Success!" << std::endl;
if(scan_print(&myNdb) > 0)
std::cout << "scan_print: Success!" << std::endl << std::endl;
std::cout << "Going to delete all pink cars!" << std::endl;
{
/**
* Note! color needs to be of exact the same size as column defined
*/
Car tmp;
sprintf(tmp.color, "Pink");
if(scan_delete(&myNdb, column_color, tmp.color) > 0)
std::cout << "scan_delete: Success!" << std::endl << std::endl;
}
if(scan_print(&myNdb) > 0)
std::cout << "scan_print: Success!" << std::endl << std::endl;
{
/**
* Note! color1 & 2 need to be of exact the same size as column defined
*/
Car tmp1, tmp2;
sprintf(tmp1.color, "Blue");
sprintf(tmp2.color, "Black");
std::cout << "Going to update all " << tmp1.color
<< " cars to " << tmp2.color << " cars!" << std::endl;
if(scan_update(&myNdb, column_color, tmp1.color, tmp2.color) > 0)
std::cout << "scan_update: Success!" << std::endl << std::endl;
}
if(scan_print(&myNdb) > 0)
std::cout << "scan_print: Success!" << std::endl << std::endl;
/**
* Drop table
*/
drop_table(mysql);
return 0;
}
