source: pacpussensors/trunk/StdDbtPlayerComponents/DbtPlyAlascaManager.cpp@ 85

Last change on this file since 85 was 65, checked in by DHERBOMEZ Gérald, 10 years ago

add replay component for DBT Alasca data

File size: 5.2 KB
Line 
1// *********************************************************************
2// created: 2007/11/13 - 16:49
3// filename: DbtPlyAlascaManager.cpp
4//
5// author: Gerald Dherbomez
6// Copyright Heudiasyc UMR UTC/CNRS 6599
7//
8// version: $Id: DbtPlyAlascaManager.cpp 1199 2012-08-01 08:51:24Z kurdejma $
9//
10// purpose:
11// *********************************************************************
12
13#include "DbtPlyAlascaManager.h"
14
15#include <boost/assert.hpp>
16#include <iostream>
17#include <string>
18
19#include "kernel/Log.h"
20#include "PacpusTools/ShMem.h"
21
22namespace pacpus {
23
24using namespace std;
25
26DECLARE_STATIC_LOGGER("pacpus.base.DbtPlyAlascaManager");
27
28/// Construction de la fabrique de composant DbtPlyAlascaManager
29static ComponentFactory<DbtPlyAlascaManager> sFactory("DbtPlyAlascaManager");
30
31static const char * kAlaskaMemoryName = "alasca";
32
33//////////////////////////////////////////////////////////////////////////
34/// Constructor.
35DbtPlyAlascaManager::DbtPlyAlascaManager(QString name)
36 : DbtPlyFileManager(name)
37{
38 LOG_TRACE("constructor(" << name << ")");
39
40 mShMem = new ShMem(kAlaskaMemoryName, sizeof(ScanAlascaData));
41}
42
43//////////////////////////////////////////////////////////////////////////
44/// Destructor.
45DbtPlyAlascaManager::~DbtPlyAlascaManager()
46{
47 LOG_TRACE("destructor");
48 delete mShMem;
49}
50
51//////////////////////////////////////////////////////////////////////////
52/// Configure the component.
53ComponentBase::COMPONENT_CONFIGURATION DbtPlyAlascaManager::configureComponent(XmlComponentConfig config)
54{
55 DbtPlyFileManager::configureComponent(config);
56 mDataFilename = param.getProperty("binFile");
57
58 return ComponentBase::CONFIGURED_OK;
59}
60
61//////////////////////////////////////////////////////////////////////////
62/// Starts the component.
63void DbtPlyAlascaManager::startActivity()
64{
65 mDataFilename = mEngine->getDataDir() + mDataFilename;
66
67 mDataFile.open(mDataFilename.toLatin1().data(),std::ios_base::in|std::ios_base::binary);
68 if (!mDataFile) {
69 LOG_ERROR("cannot open file '" << mDataFilename << "'");
70 return;
71 }
72 DbtPlyFileManager::startActivity();
73}
74
75//////////////////////////////////////////////////////////////////////////
76/// Stops the component.
77void DbtPlyAlascaManager::stopActivity()
78{
79 DbtPlyFileManager::stopActivity();
80 mDataFile.close();
81}
82
83//////////////////////////////////////////////////////////////////////////
84/// processData
85void DbtPlyAlascaManager::processData(road_time_t t, road_timerange_t tr, void * buffer)
86{
87 if (!buffer) {
88 LOG_DEBUG("no data available: NULL buffer");
89 return;
90 }
91
92 LOG_TRACE("sizeof(AlascaXT) = " << sizeof(AlascaXT));
93 BOOST_ASSERT(24 == sizeof(AlascaXT));
94 AlascaXT * alascaXT = static_cast<AlascaXT *>(buffer);
95
96 // copy the values contained in the dbt file
97 mAlascaData.startAngle = alascaXT->startAngle;
98 mAlascaData.endAngle = alascaXT->endAngle;
99 mAlascaData.nbPoint = alascaXT->nbPoint;
100 mAlascaData.scannertype = alascaXT->scannertype;
101 mAlascaData.timeStart = alascaXT->timeStart;
102 mAlascaData.time = t;
103 mAlascaData.timerange = tr;
104
105 // set the get pointer to the correct place
106 mDataFile.seekg(alascaXT->dataPos);
107
108 // then copy the data contained in the binary file
109 for (size_t i = 0; i < mAlascaData.nbPoint; ++i) {
110 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].scannerId)), sizeof(uint8_t));
111 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].layerNumber)), sizeof(uint8_t));
112 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].echoNumber)), sizeof(uint8_t));
113 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].pointStatus)), sizeof(uint8_t));
114 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].x)), sizeof(int16_t));
115 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].y)), sizeof(int16_t));
116 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].z)), sizeof(int16_t));
117 mDataFile.read(reinterpret_cast<char *>(&(mAlascaData.point[i].width)), sizeof(uint16_t));
118 }
119
120 // verify that the last value is the UTC magic word
121 int32_t utcMagicWord = 0;
122 mDataFile.read(reinterpret_cast<char *>(&(utcMagicWord)), sizeof(utcMagicWord));
123 if (UTC_MAGIC_WORD != utcMagicWord) {
124 LOG_WARN("corrupted data, do not use them!");
125 LOG_DEBUG("wrong magic word: EXPECTED=" << UTC_MAGIC_WORD << ", ACTUAL=" << utcMagicWord);
126 } else {
127 LOG_TRACE("writing scan");
128 mShMem->write(&mAlascaData, sizeof(ScanAlascaData));
129 }
130
131 if (mVerbose) {
132 cout << "[ALASCA]:\t"
133 << "#points=" << mAlascaData.nbPoint << "\t"
134 << "timeStart=" << mAlascaData.timeStart << endl
135 ;
136 }
137 if (mVerbose >= 2) {
138 cout << "[ALASCA]:\t"
139 << "scannertype=" << (int) mAlascaData.scannertype << "\t"
140 << "startAngle=" << mAlascaData.startAngle << "\t"
141 << "endAngle=" << mAlascaData.endAngle << endl
142 ;
143 }
144}
145
146//////////////////////////////////////////////////////////////////////////
147/// Displays the graphical user interface (GUI)
148void DbtPlyAlascaManager::displayUI()
149{
150 LOG_WARN("GUI not implemented");
151
152 // TODO
153}
154
155} // namespace pacpus
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