void
v_dataReaderSampleFree(
v_dataReaderSample sample)
{
v_dataReaderInstance instance;
v_index index;
v_dataReader dataReader;
v_message message;
if (sample) {
assert(C_TYPECHECK(sample, v_dataReaderSample));
if (c_refCount(sample) == 1) {
/* Free the slave-samples as well */
instance = v_readerSample(sample)->instance;
index = v_index(instance->index);
dataReader = v_dataReader(index->reader);
if (!v_readerSampleTestState(sample,L_READ)) {
dataReader->notReadCount--;
}
#ifdef _SL_
if (dataReader->cachedSampleCount < 1000) {
message = v_dataReaderSampleMessage(sample);
c_free(message);
v_dataReaderSampleTemplate(sample)->message = NULL;
sample->prev = dataReader->cachedSample;
dataReader->cachedSample = sample;
dataReader->cachedSampleCount++;
#else
if (dataReader->cachedSample == NULL) {
dataReader->cachedSample = sample;
message = v_dataReaderSampleMessage(sample);
c_free(message);
v_dataReaderSampleTemplate(sample)->message = NULL;
#endif
} else {
c_free(sample);
}
} else {
c_free(sample);
}
}
}
void
v_dataReaderSampleRemoveFromLifespanAdmin(
v_dataReaderSample sample)
{
v_dataReaderInstance instance;
v_index index;
if (sample) {
assert(C_TYPECHECK(sample, v_dataReaderSample));
instance = v_readerSample(sample)->instance;
index = v_index(instance->index);
v_lifespanAdminRemove(v_dataReaderEntry(index->entry)->lifespanAdmin,
v_lifespanSample(sample));
}
}
void
v_dataReaderSampleRemoveFromLifespanAdmin(
v_dataReaderSample sample)
{
v_dataReaderInstance instance;
v_index index;
assert(sample);
assert(C_TYPECHECK(sample, v_dataReaderSample));
instance = v_readerSample(sample)->instance;
index = v_index(instance->index);
v_lifespanAdminRemove(v_dataReaderEntry(index->entry)->lifespanAdmin, v_lifespanSample(sample));
}
static c_bool
indexCompare(
void *o,
c_iterActionArg arg)
{
v_index index = v_index(o);
v_topic topic = v_topic(arg);
v_topic currentTopic = NULL;
if (index->entry) {
currentTopic = v_dataReaderEntryTopic(index->entry);
}
return (currentTopic == topic);
}
v_dataReaderSample
v_dataReaderSampleNew(
v_dataReaderInstance instance,
v_message message)
{
v_dataReader dataReader;
v_dataReaderSample sample;
v_readerQos readerQos;
v_index index;
os_timeE msgEpoch;
assert(instance != NULL);
assert(C_TYPECHECK(message,v_message));
index = v_index(instance->index);
dataReader = v_dataReader(index->reader);
readerQos = v_reader(dataReader)->qos;
assert(readerQos);
sample = v_dataReaderSample(c_new(dataReader->sampleType));
if (sample != NULL) {
v_readerSample(sample)->instance = (c_voidp)instance;
v_readerSample(sample)->viewSamples = NULL;
v_readerSample(sample)->sampleState = 0;
sample->insertTime = os_timeWGet();
/* The expiry time calculation is dependent on the DestinationOrderQos(readerQos->orderby.v.kind):
* In case of the by_reception_timestamp kind the expiry time is determined based on insertion time(sample->insertTime).
* In case of the by_source_timestamp kind the expiry time is determined based on source time (message->writeTime).
*/
msgEpoch = os_timeEGet();
if (readerQos->orderby.v.kind == V_ORDERBY_SOURCETIME) {
/* assuming wall clocks of source and destination are aligned!
* calculate the age of the message and then correct the message epoch.
*/
os_duration message_age = os_timeWDiff(os_timeWGet(), message->writeTime);
msgEpoch = os_timeESub(msgEpoch, message_age);
}
v_dataReaderSampleTemplate(sample)->message = c_keep(message);
sample->disposeCount = instance->disposeCount;
sample->noWritersCount = instance->noWritersCount;
sample->publicationHandle = message->writerGID;
sample->readId = 0;
sample->newer = NULL;
/* When both ReaderLifespanQos(readerQos->lifespan.used) and the inline LifespanQos (v_messageQos_getLifespanPeriod(message->qos))
* are set the expiryTime will be set to the earliest time among them.
*/
if (message->qos) {
os_duration lifespan = v_messageQos_getLifespanPeriod(message->qos);
if (readerQos->lifespan.v.used) {
if (os_durationCompare(readerQos->lifespan.v.duration, lifespan) == OS_LESS) {
v_lifespanSample(sample)->expiryTime = os_timeEAdd(msgEpoch, readerQos->lifespan.v.duration);
} else {
v_lifespanSample(sample)->expiryTime = os_timeEAdd(msgEpoch, lifespan);
}
v_lifespanAdminInsert(v_dataReaderEntry(index->entry)->lifespanAdmin, v_lifespanSample(sample));
} else {
if (OS_DURATION_ISINFINITE(lifespan)) {
v_lifespanSample(sample)->expiryTime = OS_TIMEE_INFINITE;
} else {
v_lifespanSample(sample)->expiryTime = os_timeEAdd(msgEpoch, lifespan);
v_lifespanAdminInsert(v_dataReaderEntry(index->entry)->lifespanAdmin, v_lifespanSample(sample));
}
}
} else {
if (readerQos->lifespan.v.used) {
v_lifespanSample(sample)->expiryTime = os_timeEAdd(msgEpoch,readerQos->lifespan.v.duration);
v_lifespanAdminInsert(v_dataReaderEntry(index->entry)->lifespanAdmin, v_lifespanSample(sample));
} else {
v_lifespanSample(sample)->expiryTime = OS_TIMEE_INFINITE;
}
}
} else {
OS_REPORT(OS_FATAL, OS_FUNCTION, V_RESULT_INTERNAL_ERROR, "Failed to allocate v_dataReaderSample.");
}
return sample;
}
v_dataReaderSample
v_dataReaderSampleNew(
v_dataReaderInstance instance,
v_message message)
{
v_dataReader dataReader;
v_dataReaderSample sample;
v_readerQos readerQos;
v_index index;
assert(instance != NULL);
assert(C_TYPECHECK(message,v_message));
index = v_index(instance->index);
dataReader = v_dataReader(index->reader);
readerQos = v_reader(dataReader)->qos;
if (dataReader->cachedSample != NULL) {
sample = dataReader->cachedSample;
/* Unfinished proto for cache size control
* #define _SL_
*/
#ifdef _SL_
dataReader->cachedSample = sample->prev;
sample->prev = NULL;
dataReader->cachedSampleCount--;
#else
dataReader->cachedSample = NULL;
#endif
} else {
sample = v_dataReaderSample(c_extentCreate(dataReader->sampleExtent));
}
v_readerSample(sample)->instance = (c_voidp)instance;
v_readerSample(sample)->viewSamples = NULL;
if ((message->transactionId != 0) &&
(v_reader(dataReader)->subQos->presentation.coherent_access))
{
v_readerSample(sample)->sampleState = L_TRANSACTION;
} else {
v_readerSample(sample)->sampleState = 0;
}
#ifdef _NAT_
sample->insertTime = v_timeGet();
#else
#define _INCORRECT_BUT_LOW_INSERT_LATENCY_
#ifdef _INCORRECT_BUT_LOW_INSERT_LATENCY_
if (v_timeIsZero(v_reader(dataReader)->qos->latency.duration)) {
sample->insertTime = v_timeGet();
} else {
sample->insertTime = message->allocTime;
}
#else
sample->insertTime = v_timeGet();
#endif
#endif
if (readerQos->lifespan.used) {
v_lifespanSample(sample)->expiryTime =
c_timeAdd(sample->insertTime, readerQos->lifespan.duration);
} else {
v_lifespanSample(sample)->expiryTime =
c_timeAdd(sample->insertTime,
v_messageQos_getLifespanPeriod(message->qos));
}
sample->disposeCount = instance->disposeCount;
sample->noWritersCount = instance->noWritersCount;
sample->publicationHandle = message->writerGID;
sample->readId = 0;
sample->prev = NULL;
assert(message);
v_dataReaderSampleTemplate(sample)->message = c_keep(message);
v_lifespanAdminInsert(v_dataReaderEntry(index->entry)->lifespanAdmin,
v_lifespanSample(sample));
dataReader->notReadCount++;
return sample;
}
//read vertices, normals and vertex indices from CG1 atoff files
bool read_atoff_object(string& filename, std::vector<float>& vertices_out, std::vector<float>& normals_out, std::vector<unsigned int>& indices_out)
{
std::ifstream fp_in;
fp_in.open(filename.c_str(), std::ios::in);
string header;
fp_in >> header; //"ATOFF"
int num_vertices, num_normals, num_colors, num_edges, num_faces;
fp_in >> num_vertices >> num_normals >> num_colors >> num_edges >> num_faces;
//setup normals_out to be the same size as indices_out
normals_out = std::vector<float>(num_vertices*4);
std::vector<float> normals_temp;
//read vertices
float x,y,z;
for (int i=0; i < num_vertices; i++)
{
fp_in >> x >> y >> z;
vertices_out.push_back(x);
vertices_out.push_back(y);
vertices_out.push_back(z);
vertices_out.push_back(1.0f); //homogenous coordinate
}
//read normals (into temporary vector)
for (int i=0; i < num_normals; i++)
{
fp_in >> x >> y >> z;
normals_temp.push_back(x);
normals_temp.push_back(y);
normals_temp.push_back(z);
}
//read colors (and discard them)
int discard;
for (int i=0; i < num_colors*3; i++) {
fp_in >> discard;
}
//read faces, i.e., indices
int face;
//for each face
for (face=0; face < num_faces;face++)
{
int verts_per_face;
fp_in >> verts_per_face;
std::vector<int> v_index(4);
for (int vert=0; vert < verts_per_face; vert++)
{
fp_in >> v_index[vert];
}
//read normal indices and fill normals_out to match vertex indices
std::vector<int> n_index(4);
if (num_normals > 0)
{
for (int norm=0; norm < verts_per_face; norm++)
{
fp_in >> n_index[norm];
}
for (int norm=0; norm < verts_per_face; norm++)
{
//put the normals at the same index as the corresponding vertex
normals_out[3*v_index[norm]] = normals_temp[3*n_index[norm]];
normals_out[3*v_index[norm]+1] = normals_temp[3*n_index[norm]+1];
normals_out[3*v_index[norm]+2] = normals_temp[3*n_index[norm]+2];
}
}
else
{
fp_in >> discard; //discard "-1"
}
//discard color index
fp_in >> discard;
//append indices to output
if (verts_per_face == 3)
{
indices_out.push_back(v_index[0]);
indices_out.push_back(v_index[1]);
indices_out.push_back(v_index[2]);
}
//split quads into 2 triangles
else if (verts_per_face == 4)
{
//triangle 1
indices_out.push_back(v_index[0]);
indices_out.push_back(v_index[1]);
indices_out.push_back(v_index[2]);
//triangle 2
indices_out.push_back(v_index[2]);
indices_out.push_back(v_index[3]);
indices_out.push_back(v_index[0]);
}
else { std::cout << "error: file contains faces > QUAD!\n";}
}
v_index
v__indexNew(
v_dataReader reader,
q_expr _from,
c_iter indexList,
v_indexNewAction action,
c_voidp arg)
{
v_kernel kernel;
v_index index;
v_topic topic;
c_type instanceType;
c_iter list;
c_char *keyExpr;
c_array keyList;
c_ulong nrOfTopics;
assert(C_TYPECHECK(reader,v_dataReader));
kernel = v_objectKernel(reader);
if (q_isId(_from)) {
list = v_resolveTopics(kernel,q_getId(_from));
nrOfTopics = c_iterLength(list);
if (nrOfTopics == 0) {
OS_REPORT(OS_ERROR,
"v__indexNew", V_RESULT_ILL_PARAM,
"Unknown topic %s",
q_getId(_from));
c_iterFree(list);
return NULL;
}
if (nrOfTopics > 1) {
OS_REPORT(OS_ERROR,
"v__indexNew", V_RESULT_ILL_PARAM,
"Multiple topic definitions of: %s",
q_getId(_from));
topic = v_topic(c_iterTakeFirst(list));
while (topic != NULL) {
c_free(topic);
topic = v_topic(c_iterTakeFirst(list));
}
c_iterFree(list);
return NULL;
}
topic = c_iterTakeFirst(list);
c_iterFree(list);
index = v_index(c_iterReadAction(indexList, indexCompare, topic));
if (index == NULL) {
/* If the userKey is enabled then the instance type key field type
* will be determined from the user key expression and topic.
* Otherwise when no user key is specified the default Topic key
* type will be used.
*/
if (v_reader(reader)->qos->userKey.v.enable) {
keyExpr = v_reader(reader)->qos->userKey.v.expression;
} else {
keyExpr = NULL;
}
instanceType = createInstanceType(topic,keyExpr,&keyList);
if (instanceType) {
index = v_index(v_objectNew(kernel,K_INDEX));
v_indexInit(index, instanceType, keyList, v_reader(reader));
}
c_free(keyList);
c_free(instanceType);
if (index != NULL) {
if (action != NULL && !action(index, topic, arg)) {
OS_REPORT(OS_ERROR,
"v_indexNew", V_RESULT_INTERNAL_ERROR,
"v_indexNewAction failed!");
c_free(index);
index = NULL;
} else {
(void)c_iterAppend(indexList, index);
}
}
}
} else {
OS_REPORT(OS_ERROR,
"v_indexNew failed",V_RESULT_ILL_PARAM,
"illegal from clause specified");
assert(FALSE);
index = NULL;
}
return index;
}
