void write_filter(cmp_ctx_t *ctx, uint32_t id, uint32_t mask)
{
bool rtr = false, ide = false;
if ((id & CAN_FRAME_RTR_FLAG) != 0) {
rtr = true;
}
if ((id & CAN_FRAME_EXT_FLAG) != 0) {
ide = true;
id &= CAN_FRAME_EXT_ID_MASK;
} else {
id &= CAN_FRAME_STD_ID_MASK;
}
cmp_write_array(ctx, 6);
cmp_write_bool(ctx, ide);
cmp_write_bool(ctx, rtr);
cmp_write_uint(ctx, id);
rtr = false;
ide = false;
if ((mask & CAN_FRAME_RTR_FLAG) != 0) {
rtr = true;
}
if ((mask & CAN_FRAME_EXT_FLAG) != 0) {
ide = true;
mask &= CAN_FRAME_EXT_ID_MASK;
} else {
mask &= CAN_FRAME_STD_ID_MASK;
}
cmp_write_bool(ctx, ide);
cmp_write_bool(ctx, rtr);
cmp_write_uint(ctx, mask);
}
static void stream_thread(void *p)
{
chRegSetThreadName("stream");
static uint8_t buffer[64];
static char topic_name[TOPIC_NAME_LEN];
cmp_ctx_t ctx;
cmp_mem_access_t mem;
ip_addr_t server;
(void) p;
STREAM_HOST(&server);
while (1) {
motor_driver_t *drv_list;
uint16_t drv_list_len;
motor_manager_get_list(&motor_manager, &drv_list, &drv_list_len);
int i;
for (i = 0; i < drv_list_len; i++) {
if (motor_driver_get_stream_change_status(&drv_list[i]) != 0) {
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_CURRENT_SETPT)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/current_setp", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_CURRENT_SETPT));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_CURRENT)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/current", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_CURRENT));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_MOTOR_VOLTAGE)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/voltage", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_MOTOR_VOLTAGE));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_VELOCITY_SETPT)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/velocity_setp", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_VELOCITY_SETPT));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_VELOCITY)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/velocity", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_VELOCITY));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_POSITION_SETPT)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/position_setp", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_POSITION_SETPT));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_POSITION)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/position", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_POSITION));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_INDEX)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/index", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_array(&ctx, 2);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_INDEX));
cmp_write_uint(&ctx, drv_list[i].stream.value_stream_index_update_count);
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_MOTOR_ENCODER)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/encoder", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_MOTOR_ENCODER));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
if (motor_driver_get_stream_change_status(&drv_list[i])
& (1 << MOTOR_STREAM_MOTOR_TORQUE)) {
strncpy(topic_name, "actuator/", TOPIC_NAME_LEN);
strncat(topic_name, motor_driver_get_id(&drv_list[i]), TOPIC_NAME_LEN);
strncat(topic_name, "/torque", TOPIC_NAME_LEN);
message_write_header(&ctx, &mem, buffer, sizeof(buffer), topic_name);
cmp_write_float(&ctx, motor_driver_get_and_clear_stream_value(&drv_list[i], MOTOR_STREAM_MOTOR_TORQUE));
message_transmit(buffer, cmp_mem_access_get_pos(&mem), &server, STREAM_PORT);
}
}
}
chThdSleepMilliseconds(STREAM_TIMESTEP_MS);
}
}
static THD_FUNCTION(stream, arg)
{
(void)arg;
chRegSetThreadName("stream");
static event_listener_t sensor_event_listener;
chEvtRegisterMaskWithFlags(&sensor_events, &sensor_event_listener,
(eventmask_t)ONBOARDSENSOR_EVENT,
(eventflags_t)SENSOR_EVENT_MPU6000 | SENSOR_EVENT_H3LIS331DL | SENSOR_EVENT_HMC5883L | SENSOR_EVENT_MS5611);
static char dtgrm[100];
static cmp_mem_access_t mem;
static cmp_ctx_t cmp;
while (1) {
eventmask_t events = chEvtWaitAny(ONBOARDSENSOR_EVENT);
if (events & ONBOARDSENSOR_EVENT) {
eventflags_t event_flags = chEvtGetAndClearFlags(&sensor_event_listener);
if (event_flags & SENSOR_EVENT_MPU6000) {
rate_gyro_sample_t gyro;
accelerometer_sample_t acc;
onboard_sensor_get_mpu6000_gyro_sample(&gyro);
onboard_sensor_get_mpu6000_acc_sample(&acc);
cmp_mem_access_init(&cmp, &mem, dtgrm, sizeof(dtgrm));
bool err = false;
err = err || !msg_header_write(&cmp, "imu");
err = err || !cmp_write_map(&cmp, 3);
err = err || !CMP_WRITE_C_STRING(cmp, "gyro");
err = err || !cmp_write_array(&cmp, 3);
err = err || !cmp_write_float(&cmp, gyro.rate[0]);
err = err || !cmp_write_float(&cmp, gyro.rate[1]);
err = err || !cmp_write_float(&cmp, gyro.rate[2]);
err = err || !CMP_WRITE_C_STRING(cmp, "acc");
err = err || !cmp_write_array(&cmp, 3);
err = err || !cmp_write_float(&cmp, acc.acceleration[0]);
err = err || !cmp_write_float(&cmp, acc.acceleration[1]);
err = err || !cmp_write_float(&cmp, acc.acceleration[2]);
err = err || !CMP_WRITE_C_STRING(cmp, "time");
err = err || !cmp_write_uint(&cmp, gyro.timestamp);
if (!err) {
datagram_message_send(dtgrm, cmp_mem_access_get_pos(&mem));
}
cmp_mem_access_init(&cmp, &mem, dtgrm, sizeof(dtgrm));
err = false;
float att[4];
attitude_determination_get_attitude(att);
err = err || !msg_header_write(&cmp, "att");
err = err || !cmp_write_array(&cmp, 4);
err = err || !cmp_write_float(&cmp, att[0]);
err = err || !cmp_write_float(&cmp, att[1]);
err = err || !cmp_write_float(&cmp, att[2]);
err = err || !cmp_write_float(&cmp, att[3]);
if (!err) {
datagram_message_send(dtgrm, cmp_mem_access_get_pos(&mem));
}
}
if (event_flags & SENSOR_EVENT_HMC5883L) {
magnetometer_sample_t magnetometer;
onboard_sensor_get_hmc5883l_mag_sample(&magnetometer);
cmp_mem_access_init(&cmp, &mem, dtgrm, sizeof(dtgrm));
bool err = false;
err = err || !msg_header_write(&cmp, "mag");
err = err || !cmp_write_map(&cmp, 2);
err = err || !CMP_WRITE_C_STRING(cmp, "field");
err = err || !cmp_write_array(&cmp, 3);
err = err || !cmp_write_float(&cmp, magnetometer.magnetic_field[0]);
err = err || !cmp_write_float(&cmp, magnetometer.magnetic_field[1]);
err = err || !cmp_write_float(&cmp, magnetometer.magnetic_field[2]);
err = err || !CMP_WRITE_C_STRING(cmp, "time");
err = err || !cmp_write_uint(&cmp, magnetometer.timestamp);
if (!err) {
datagram_message_send(dtgrm, cmp_mem_access_get_pos(&mem));
}
}
if (event_flags & SENSOR_EVENT_H3LIS331DL) {
accelerometer_sample_t acc;
onboard_sensor_get_h3lis331dl_acc_sample(&acc);
cmp_mem_access_init(&cmp, &mem, dtgrm, sizeof(dtgrm));
bool err = false;
err = err || !msg_header_write(&cmp, "hi_acc");
err = err || !cmp_write_map(&cmp, 2);
err = err || !CMP_WRITE_C_STRING(cmp, "acc");
err = err || !cmp_write_array(&cmp, 3);
err = err || !cmp_write_float(&cmp, acc.acceleration[0]);
err = err || !cmp_write_float(&cmp, acc.acceleration[1]);
err = err || !cmp_write_float(&cmp, acc.acceleration[2]);
err = err || !CMP_WRITE_C_STRING(cmp, "time");
err = err || !cmp_write_uint(&cmp, acc.timestamp);
if (!err) {
datagram_message_send(dtgrm, cmp_mem_access_get_pos(&mem));
}
}
if (event_flags & SENSOR_EVENT_MS5611) {
barometer_sample_t baro;
onboard_sensor_get_ms5511_baro_sample(&baro);
cmp_mem_access_init(&cmp, &mem, dtgrm, sizeof(dtgrm));
bool err = false;
err = err || !msg_header_write(&cmp, "baro");
err = err || !cmp_write_map(&cmp, 3);
err = err || !CMP_WRITE_C_STRING(cmp, "static_press");
err = err || !cmp_write_float(&cmp, baro.pressure);
err = err || !CMP_WRITE_C_STRING(cmp, "air_temp");
err = err || !cmp_write_float(&cmp, baro.temperature);
err = err || !CMP_WRITE_C_STRING(cmp, "time");
err = err || !cmp_write_uint(&cmp, baro.timestamp);
if (!err) {
datagram_message_send(dtgrm, cmp_mem_access_get_pos(&mem));
}
}
} // ONBOARDSENSOR_EVENT
}
}
int main(void) {
FILE *fh = NULL;
cmp_ctx_t cmp;
uint16_t year = 1983;
uint8_t month = 5;
uint8_t day = 28;
int64_t sint = 0;
uint64_t uint = 0;
float flt = 0.0f;
double dbl = 0.0;
bool boolean = false;
uint8_t fake_bool = 0;
uint32_t string_size = 0;
uint32_t array_size = 0;
uint32_t binary_size = 0;
uint32_t map_size = 0;
int8_t ext_type = 0;
uint32_t ext_size = 0;
char sbuf[12] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
fh = fopen("cmp_data.dat", "w+b");
if (fh == NULL)
error_and_exit("Error opening data.dat");
cmp_init(&cmp, fh, file_reader, file_skipper, file_writer);
/*
* When you write an array, you first specify the number of array
* elements, then you write that many elements.
*/
if (!cmp_write_array(&cmp, 9))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_sint(&cmp, -14))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_uint(&cmp, 38))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_float(&cmp, 1.8f))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_double(&cmp, 300.4))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_nil(&cmp))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_true(&cmp))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_false(&cmp))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_bool(&cmp, false))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_u8_as_bool(&cmp, 1))
error_and_exit(cmp_strerror(&cmp));
/* Array full */
/*
* Maps work similar to arrays, but the length is in "pairs", so this
* writes 2 pairs to the map. Subsequently, pairs are written in key,
* value order.
*/
if (!cmp_write_map(&cmp, 2))
error_and_exit(cmp_strerror(&cmp));
/* You can write string data all at once... */
if (!cmp_write_str(&cmp, "Greeting", 8))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_str(&cmp, "Hello", 5))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_str(&cmp, "Name", 4))
error_and_exit(cmp_strerror(&cmp));
/* ...or in chunks */
if (!cmp_write_str_marker(&cmp, 5))
error_and_exit(cmp_strerror(&cmp));
if (file_writer(&cmp, "Li", 2) != 2)
error_and_exit(strerror(errno));
if (file_writer(&cmp, "nus", 3) != 3)
error_and_exit(strerror(errno));
/* Map full */
/* Binary data functions the same as string data */
if (!cmp_write_bin(&cmp, "MessagePack", 11))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_write_bin_marker(&cmp, 8))
error_and_exit(cmp_strerror(&cmp));
if (file_writer(&cmp, "is ", 3) != 3)
error_and_exit(strerror(errno));
if (file_writer(&cmp, "great", 5) != 5)
error_and_exit(strerror(errno));
/*
* With extended types, you can create your own custom types. Here we
* create a simple date type.
*/
/* cmp_write_ext_marker(type, size) */
if (!cmp_write_ext_marker(&cmp, 1, 4))
error_and_exit(cmp_strerror(&cmp));
file_writer(&cmp, &year, sizeof(uint16_t));
file_writer(&cmp, &month, sizeof(uint8_t));
file_writer(&cmp, &day, sizeof(uint8_t));
/* Now we can read the data back just as easily */
rewind(fh);
if (!cmp_read_array(&cmp, &array_size))
error_and_exit(cmp_strerror(&cmp));
if (array_size != 9)
error_and_exit("Array size was not 9");
if (!cmp_read_sinteger(&cmp, &sint))
error_and_exit(cmp_strerror(&cmp));
if (sint != -14)
error_and_exit("Signed int was not -14");
if (!cmp_read_uinteger(&cmp, &uint))
error_and_exit(cmp_strerror(&cmp));
if (uint != 38)
error_and_exit("Unsigned int was not 38");
if (!cmp_read_float(&cmp, &flt))
error_and_exit(cmp_strerror(&cmp));
if (flt != 1.8f)
error_and_exit("Float was not 1.8f");
if (!cmp_read_double(&cmp, &dbl))
error_and_exit(cmp_strerror(&cmp));
if (dbl != 300.4)
error_and_exit("Double was not 300.f");
if (!cmp_read_nil(&cmp))
error_and_exit(cmp_strerror(&cmp));
if (!cmp_read_bool(&cmp, &boolean))
error_and_exit(cmp_strerror(&cmp));
if (boolean != true)
error_and_exit("First boolean was not true");
if (!cmp_read_bool(&cmp, &boolean))
error_and_exit(cmp_strerror(&cmp));
if (boolean != false)
error_and_exit("Second boolean was not false");
if (!cmp_read_bool(&cmp, &boolean))
error_and_exit(cmp_strerror(&cmp));
if (boolean != false)
error_and_exit("Third boolean was not false");
if (!cmp_read_bool_as_u8(&cmp, &fake_bool))
error_and_exit(cmp_strerror(&cmp));
if (fake_bool != 1) {
fprintf(stderr, "%u.\n", fake_bool);
error_and_exit("Third boolean (u8) was not 1");
}
if (!cmp_read_map(&cmp, &map_size))
error_and_exit(cmp_strerror(&cmp));
if (map_size != 2)
error_and_exit("Map size was not 2");
/*
* String reading here. Note that normally strings are encoded using
* UTF-8. I have cleverly restricted this example to ASCII, which overlaps
* UTF-8 encoding, but this must not be assumed in real-world code.
*
* You can read strings in two ways. Either you can read the string's size
* in bytes and then read the bytes manually...
*/
if (!cmp_read_str_size(&cmp, &string_size))
error_and_exit(cmp_strerror(&cmp));
if (string_size != 8)
error_and_exit("Greeting string key size was not 8");
if (!read_bytes(sbuf, 8, fh))
error_and_exit(strerror(errno));
sbuf[string_size] = 0;
if (strncmp(sbuf, "Greeting", 8) != 0)
error_and_exit("Greeting string key name was not 'Greeting'");
/*
* ...or you can set the maximum number of bytes to read and do it all in
* one call. cmp_read_str will write no more than "size" bytes, including
* the terminating NULL, to the passed buffer. If the string's size
* exceeds the passed buffer size, the "size" input is set to the number of
* bytes necessary, not including the terminating NULL. Otherwise, the
* "size" input is set to the number of bytes written, not including the
* terminating NULL.
*/
string_size = sizeof(sbuf);
if (!cmp_read_str(&cmp, sbuf, &string_size))
error_and_exit(cmp_strerror(&cmp));
if (strncmp(sbuf, "Hello", 5) != 0)
error_and_exit("Greeting string value was not 'Hello'");
string_size = sizeof(sbuf);
if (!cmp_read_str(&cmp, sbuf, &string_size))
error_and_exit(cmp_strerror(&cmp));
if (strncmp(sbuf, "Name", 4) != 0)
error_and_exit("Name key name was not 'Name'");
string_size = sizeof(sbuf);
if (!cmp_read_str(&cmp, sbuf, &string_size))
error_and_exit(cmp_strerror(&cmp));
if (strncmp(sbuf, "Linus", 5) != 0)
error_and_exit("Name key value was not 'Linus'");
memset(sbuf, 0, sizeof(sbuf));
binary_size = sizeof(sbuf);
if (!cmp_read_bin(&cmp, &sbuf, &binary_size))
error_and_exit(cmp_strerror(&cmp));
if (memcmp(sbuf, "MessagePack", 11) != 0)
error_and_exit("1st binary value was not 'MessagePack'");
memset(sbuf, 0, sizeof(sbuf));
binary_size = sizeof(sbuf);
if (!cmp_read_bin(&cmp, &sbuf, &binary_size))
error_and_exit(cmp_strerror(&cmp));
if (memcmp(sbuf, "is great", 8) != 0)
error_and_exit("2nd binary value was not 'is great'");
if (!cmp_read_ext_marker(&cmp, &ext_type, &ext_size))
error_and_exit(cmp_strerror(&cmp));
if (!read_bytes(&year, sizeof(uint16_t), fh))
error_and_exit(strerror(errno));
if (!read_bytes(&month, sizeof(uint8_t), fh))
error_and_exit(strerror(errno));
if (!read_bytes(&day, sizeof(uint8_t), fh))
error_and_exit(strerror(errno));
if (year != 1983)
error_and_exit("Year was not 1983");
if (month != 5)
error_and_exit("Month was not 5");
if (day != 28)
error_and_exit("Day was not 28");
rewind(fh);
/* Alternately, you can read objects until the stream is empty */
while (1) {
cmp_object_t obj;
if (!cmp_read_object(&cmp, &obj)) {
if (feof(fh))
break;
error_and_exit(cmp_strerror(&cmp));
}
switch (obj.type) {
case CMP_TYPE_POSITIVE_FIXNUM:
case CMP_TYPE_UINT8:
printf("Unsigned Integer: %u\n", obj.as.u8);
break;
case CMP_TYPE_FIXMAP:
case CMP_TYPE_MAP16:
case CMP_TYPE_MAP32:
printf("Map: %u\n", obj.as.map_size);
break;
case CMP_TYPE_FIXARRAY:
case CMP_TYPE_ARRAY16:
case CMP_TYPE_ARRAY32:
printf("Array: %u\n", obj.as.array_size);
break;
case CMP_TYPE_FIXSTR:
case CMP_TYPE_STR8:
case CMP_TYPE_STR16:
case CMP_TYPE_STR32:
if (!read_bytes(sbuf, obj.as.str_size, fh))
error_and_exit(strerror(errno));
sbuf[obj.as.str_size] = 0;
printf("String: %s\n", sbuf);
break;
case CMP_TYPE_BIN8:
case CMP_TYPE_BIN16:
case CMP_TYPE_BIN32:
memset(sbuf, 0, sizeof(sbuf));
if (!read_bytes(sbuf, obj.as.bin_size, fh))
error_and_exit(strerror(errno));
printf("Binary: %s\n", sbuf);
break;
case CMP_TYPE_NIL:
printf("NULL\n");
break;
case CMP_TYPE_BOOLEAN:
if (obj.as.boolean)
printf("Boolean: true\n");
else
printf("Boolean: false\n");
break;
case CMP_TYPE_EXT8:
case CMP_TYPE_EXT16:
case CMP_TYPE_EXT32:
case CMP_TYPE_FIXEXT1:
case CMP_TYPE_FIXEXT2:
case CMP_TYPE_FIXEXT4:
case CMP_TYPE_FIXEXT8:
case CMP_TYPE_FIXEXT16:
if (obj.as.ext.type == 1) { /* Date object */
if (!read_bytes(&year, sizeof(uint16_t), fh))
error_and_exit(strerror(errno));
if (!read_bytes(&month, sizeof(uint8_t), fh))
error_and_exit(strerror(errno));
if (!read_bytes(&day, sizeof(uint8_t), fh))
error_and_exit(strerror(errno));
printf("Date: %u/%u/%u\n", year, month, day);
}
else {
printf("Extended type {%d, %u}: ",
obj.as.ext.type, obj.as.ext.size
);
while (obj.as.ext.size--) {
read_bytes(sbuf, sizeof(uint8_t), fh);
printf("%02x ", sbuf[0]);
}
printf("\n");
}
break;
case CMP_TYPE_FLOAT:
printf("Float: %f\n", obj.as.flt);
break;
case CMP_TYPE_DOUBLE:
printf("Double: %f\n", obj.as.dbl);
break;
case CMP_TYPE_UINT16:
printf("Unsigned Integer: %u\n", obj.as.u16);
break;
case CMP_TYPE_UINT32:
printf("Unsigned Integer: %u\n", obj.as.u32);
break;
case CMP_TYPE_UINT64:
printf("Unsigned Integer: %" PRIu64 "\n", obj.as.u64);
break;
case CMP_TYPE_NEGATIVE_FIXNUM:
case CMP_TYPE_SINT8:
printf("Signed Integer: %d\n", obj.as.s8);
break;
case CMP_TYPE_SINT16:
printf("Signed Integer: %d\n", obj.as.s16);
break;
case CMP_TYPE_SINT32:
printf("Signed Integer: %d\n", obj.as.s32);
break;
case CMP_TYPE_SINT64:
printf("Signed Integer: %" PRId64 "\n", obj.as.s64);
break;
default:
printf("Unrecognized object type %u\n", obj.type);
break;
}
}
fclose(fh);
return EXIT_SUCCESS;
}
