bool LogConverter::isConversionRequired(InMessage& message, const int representationId)
{
switch(representationId)
{
case idSensorData:
case idFilteredSensorData:
return (std::size_t)message.getMessageSize() == sizeofSensorDataRev5703 ||
(std::size_t)message.getMessageSize() == sizeofSensorData_2d284;
case idFrameInfo:
return (std::size_t)message.getMessageSize() == sizeofFrameInfo_83e22;
case idJointData:
case idFilteredJointData:
return (std::size_t)message.getMessageSize() == sizeofJointData_d198df791237;
case idCameraInfo:
return (std::size_t)message.getMessageSize() == 56; // very old logfiles
default:
return false;
}
}
bool CognitionLogDataProvider::handleMessage2(InMessage& message)
{
switch(message.getMessageID())
{
case idFrameInfo:
if(handle(message) && Blackboard::getInstance().exists("Image"))
((Image&) Blackboard::getInstance()["Image"]).timeStamp = ((const FrameInfo&) Blackboard::getInstance()["FrameInfo"]).time;
return true;
case idImage:
if(handle(message) && Blackboard::getInstance().exists("FrameInfo"))
{
FrameInfo& frameInfo = (FrameInfo&) Blackboard::getInstance()["FrameInfo"];
const Image& image = (const Image&) Blackboard::getInstance()["Image"];
frameInfo.cycleTime = (float) (image.timeStamp - frameInfo.time) * 0.001f;
frameInfo.time = image.timeStamp;
}
return true;
case idThumbnail:
if(Blackboard::getInstance().exists("Image"))
{
Thumbnail thumbnail;
message.bin >> thumbnail;
thumbnail.toImage((Image&) Blackboard::getInstance()["Image"]);
}
return true;
case idProcessFinished:
frameDataComplete = true;
return true;
case idStopwatch:
{
const int size = message.getMessageSize();
std::vector<unsigned char> data;
data.resize(size);
message.bin.read(&data[0], size);
Global::getDebugOut().bin.write(&data[0], size);
Global::getDebugOut().finishMessage(idStopwatch);
return true;
}
case idAnnotation:
{
const int size = message.getMessageSize();
std::vector<unsigned char> data;
data.resize(size);
message.bin.read(&data[0], size);
Global::getDebugOut().bin.write(&data[0], size);
Global::getDebugOut().finishMessage(idAnnotation);
return true;
}
case idJPEGImage:
if(Blackboard::getInstance().exists("Image"))
{
JPEGImage jpegImage;
message.bin >> jpegImage;
jpegImage.toImage((Image&) Blackboard::getInstance()["Image"]);
}
