[136] | 1 | /* 3dv-client/main.cc
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| 2 | *
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| 3 | * Copyright (C) 2013 VisLab
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| 4 | *
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| 5 | * This file is part of 3dv-client; you can redistribute it and/or modify
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| 6 | * it under the terms of the GNU Lesser General Public License as published by
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| 7 | * the Free Software Foundation; either version 3 of the License, or (at
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| 8 | * your option) any later version.
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| 9 | *
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| 10 | * This program is distributed in the hope that it will be useful, but
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| 11 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 13 | * General Public License for more details.
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| 14 | *
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| 15 | * You should have received a copy of the GNU Lesser General Public License
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| 16 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 |
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| 19 | #include "disk_writer.h"
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| 20 | #include "display.h"
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| 21 | #include "utils.h"
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| 22 |
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| 23 | #include <lib3dv/3dv.h>
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| 24 | #include "playback.h"
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| 25 |
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| 26 | #include <boost/algorithm/string/replace.hpp>
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| 27 | #include <boost/asio/io_service.hpp>
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| 28 | #include <boost/asio/signal_set.hpp>
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| 29 | #include <boost/asio/ip/tcp.hpp>
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| 30 | #include <boost/asio/ip/udp.hpp>
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| 31 | #include <boost/asio/placeholders.hpp>
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| 32 | #include <boost/cast.hpp>
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| 33 | #include <boost/filesystem/path.hpp>
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| 34 | #include <boost/program_options.hpp>
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| 35 | #include <boost/property_tree/ptree.hpp>
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| 36 | #include <boost/thread.hpp>
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| 37 | #include <boost/uuid/uuid.hpp>
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| 38 | #include <boost/uuid/uuid_io.hpp>
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| 39 |
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| 40 | #include <algorithm>
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| 41 | #include <iostream>
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| 42 | #include <sstream>
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| 43 | #include <string>
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| 44 | #include <vector>
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| 45 |
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| 46 | #define VERSION 20150310
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| 47 |
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| 48 | int main(int argc, char* argv[])
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| 49 | {
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| 50 | std::string address;
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| 51 | std::vector<boost::asio::ip::address> addresses;
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| 52 | unsigned int log_level;
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| 53 | bool autonumber;
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| 54 | std::vector<std::string> pathnames;
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| 55 | data_file_format::types data_format;
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| 56 | #ifdef ARCHIVE
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| 57 | archive_file_format::types archive_format;
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| 58 | std::string archive_name;
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| 59 | #endif
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| 60 | std::string device_params_file_name;
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| 61 | std::vector<std::string> set_value;
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| 62 | std::string get_value;
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| 63 | boost::uuids::uuid device_guid;
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| 64 | uint64_t timeout;
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| 65 | std::vector<std::string> playback_value;
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| 66 |
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| 67 | boost::program_options::typed_value<unsigned int>* log_option = new boost::program_options::typed_value<unsigned int>(&log_level);
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| 68 | boost::program_options::typed_value<std::string>* interface_option = new boost::program_options::typed_value<std::string>(&address);
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| 69 | boost::program_options::typed_value<std::vector<std::string> >* pathnames_option = new boost::program_options::typed_value<std::vector<std::string> >(&pathnames);
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| 70 | boost::program_options::typed_value<bool>* autonumber_option = new boost::program_options::typed_value<bool>(&autonumber);
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| 71 | boost::program_options::typed_value<data_file_format::types>* data_format_option = new boost::program_options::typed_value<data_file_format::types>(&data_format);
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| 72 | #ifdef ARCHIVE
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| 73 | boost::program_options::typed_value<archive_file_format::types>* archive_format_option = new boost::program_options::typed_value<archive_file_format::types>(&archive_format);
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| 74 | boost::program_options::typed_value<std::string>* archive_name_option = new boost::program_options::typed_value<std::string>(&archive_name);
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| 75 | #endif
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| 76 | boost::program_options::typed_value<std::string>* export_properties_option = new boost::program_options::typed_value<std::string>(&device_params_file_name);
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| 77 | boost::program_options::typed_value<std::vector<std::string> >* set_value_option = new boost::program_options::typed_value<std::vector<std::string> >(&set_value);
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| 78 | boost::program_options::typed_value<std::string>* get_value_option = new boost::program_options::typed_value<std::string>(&get_value);
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| 79 | boost::program_options::typed_value<boost::uuids::uuid>* device_guid_option = new boost::program_options::typed_value<boost::uuids::uuid>(&device_guid);
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| 80 | boost::program_options::typed_value<uint64_t>* timeout_option = new boost::program_options::typed_value<uint64_t>(&timeout);
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| 81 | boost::program_options::typed_value<std::vector<std::string> >* playback_option = new boost::program_options::typed_value<std::vector<std::string> >(&playback_value);
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| 82 | log_option->value_name("<level>");
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| 83 | log_option->default_value(0U);
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| 84 |
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| 85 | interface_option->value_name("<address>");
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| 86 |
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| 87 | pathnames_option->multitoken();
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| 88 | pathnames_option->value_name("<paths>");
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| 89 | pathnames_option->default_value(std::vector<std::string>(), "$GUID_$DATE-$TIME | .");
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| 90 |
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| 91 | autonumber_option->value_name("<enable>");
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| 92 | autonumber_option->default_value(true, "true");
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| 93 |
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| 94 | data_format_option->value_name("{raw|binary|text|gnuplot}");
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| 95 | data_format_option->default_value(data_file_format::TEXT, "text");
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| 96 |
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| 97 | #ifdef ARCHIVE
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| 98 | archive_name_option->default_value("$GUID_$DATE-$TIME");
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| 99 |
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| 100 | archive_format_option->value_name("{zip|tar}");
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| 101 | #ifdef __GNUC__
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| 102 | archive_format_option->default_value(archive_file_format::TAR, "tar");
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| 103 | #else
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| 104 | archive_format_option->default_value(archive_file_format::ZIP, "zip");
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| 105 | #endif
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| 106 | #endif
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| 107 |
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| 108 | export_properties_option->value_name("<file>");
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| 109 | export_properties_option->default_value("$GUID_$DATE-$TIME.xml");
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| 110 |
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| 111 | set_value_option->multitoken();
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| 112 | set_value_option->value_name("<address> <value> {bool|int64|int32|int16|int8|uint64|uint32|uint16|uint8|float32|float64|string}");
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| 113 |
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| 114 | get_value_option->value_name("<address>");
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| 115 |
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| 116 | device_guid_option->value_name("<guid>");
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| 117 |
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| 118 | timeout_option->value_name("<ms>");
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| 119 | timeout_option->default_value(lib3dv::device::DEFAULT_TIMEOUT.total_milliseconds());
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| 120 |
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| 121 | playback_option->multitoken();
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| 122 | playback_option->value_name("<path>");
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| 123 |
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| 124 |
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| 125 | boost::program_options::options_description description("Options");
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| 126 |
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| 127 | description.add_options()
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| 128 | ("help", "this help message")
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| 129 | ("log", log_option, "log level")
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| 130 | ("list-interfaces", "list the available network connections")
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| 131 | ("interface", interface_option, "the IP address of the local interface to bind to")
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| 132 | ("device-guid", device_guid_option, "target device GUID")
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| 133 | ("record", "perform recording")
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| 134 | #ifdef PCL
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| 135 | ("display", "display live data")
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| 136 | ("playback",playback_option, "display recorded data in a given path")
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| 137 | #endif
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| 138 | ("recording-paths", pathnames_option, "the recording path(s)")
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| 139 | ("autonumber", autonumber_option, "append the frame number to the file name")
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| 140 | ("data-format", data_format_option, "data files format")
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| 141 | #ifdef ARCHIVE
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| 142 | ("archive", "use a single archive to store recorded files")
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| 143 | ("archive-name", archive_name_option, "archive name")
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| 144 | ("archive-format", archive_format_option, "archive file format")
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| 145 | #endif
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| 146 | ("list-devices", "list devices")
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| 147 | ("list-properties", "list device properties")
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| 148 | ("export-properties", export_properties_option, "export device properties to an xml file")
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| 149 | ("save-properties", "save property values on the device")
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| 150 | ("reset-properties", "restore default property values on the device")
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| 151 | ("set-value", set_value_option, "set a property value")
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| 152 | ("get-value", get_value_option, "get a property value")
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| 153 | ("poweroff", "shut down the device")
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| 154 | ("reboot", "reboot the device")
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| 155 | ("timeout", timeout_option, "network timeout")
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| 156 | ("version", "program version");
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| 157 |
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| 158 | boost::program_options::variables_map variables_map;
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| 159 |
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| 160 | try
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| 161 | {
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| 162 | boost::program_options::store(boost::program_options::parse_command_line(argc, argv,
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| 163 | description,
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| 164 | boost::program_options::command_line_style::unix_style ^ boost::program_options::command_line_style::allow_short),
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| 165 | variables_map);
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| 166 | boost::program_options::notify(variables_map);
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| 167 |
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| 168 | if(variables_map.count("help") || argc == 1)
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| 169 | {
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| 170 | std::cout << description << std::endl;
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| 171 | return 0;
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| 172 | }
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| 173 |
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| 174 | if(variables_map.count("version"))
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| 175 | {
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| 176 | std::cout << "3dv-client " << VERSION << " using lib3dv " << LIB3DV_VERSION_MAJOR << '.' << LIB3DV_VERSION_MINOR << '.' << LIB3DV_VERSION_PATCH << std::endl;
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| 177 | std::cout << "Copyright (C) 2013 VisLab S.r.L.\nThis is free software; see the source for copying conditions.\nThere is NO warranty; not even for MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE." << std::endl << std::endl;
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| 178 |
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| 179 | return 0;
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| 180 | }
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| 181 |
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| 182 | if(variables_map.count("list-interfaces"))
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| 183 | {
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| 184 | addresses = list_interface_addresses();
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| 185 |
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| 186 | if(addresses.empty())
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| 187 | {
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| 188 | std::cerr << "[EE] 3dv-client: " << "no configured address found" << std::endl;
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| 189 |
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| 190 | return lib3dv::error::NETWORK_FAILURE;
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| 191 | }
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| 192 |
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| 193 | std::cout << "[II] 3dv-client: available interfaces are:" << std::endl;
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| 194 |
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| 195 | for(unsigned int a = 0; a < addresses.size(); ++a)
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| 196 | std::cout << "\t" << addresses[a].to_v4().to_string() << std::endl;
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| 197 |
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| 198 | return lib3dv::error::NONE;
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| 199 | }
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| 200 |
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| 201 | if(!variables_map.count("interface"))
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| 202 | {
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| 203 | addresses = list_interface_addresses();
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| 204 |
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| 205 | if(addresses.empty())
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| 206 | {
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| 207 | std::cerr << "[EE] 3dv-client: " << "no configured address found" << std::endl;
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| 208 |
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| 209 | return lib3dv::error::NETWORK_FAILURE;
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| 210 | }
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| 211 | }
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| 212 | else
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| 213 | addresses.push_back(boost::asio::ip::address_v4::from_string(address));
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| 214 | }
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| 215 | catch(boost::program_options::error& e)
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| 216 | {
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| 217 | std::cerr << "[EE] 3dv-client: " << e.what() << std::endl;
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| 218 | std::cout << description << std::endl;
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| 219 |
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| 220 | return lib3dv::error::NONE;
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| 221 | }
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| 222 |
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| 223 | std::vector<lib3dv::device> devices;
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| 224 | std::vector<lib3dv::device>::iterator device = devices.end();
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| 225 | lib3dv::error error;
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| 226 |
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| 227 | if(variables_map.count("playback"))
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| 228 | {
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| 229 | return playback(playback_value,log_level);
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| 230 | }
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| 231 |
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| 232 |
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| 233 |
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| 234 | for(unsigned int a = 0; a < addresses.size(); ++a)
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| 235 | {
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| 236 | std::cout << "[II] 3dv-client: detecting devices on " << addresses[a].to_v4().to_string() << std::endl;
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| 237 |
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| 238 | std::vector<lib3dv::device> curr_devices = lib3dv::device::enumerate(addresses[a].to_v4(), log_level, error, boost::posix_time::milliseconds(timeout));
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| 239 |
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| 240 | if(error != lib3dv::error::NONE)
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| 241 | std::cout << "[EE] 3dv-client: error detected: " << error << std::endl;
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| 242 | else
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| 243 | devices.insert(devices.end(), curr_devices.begin(), curr_devices.end());
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| 244 | }
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| 245 |
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| 246 | if(devices.empty())
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| 247 | {
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| 248 | std::cout << "[EE] 3dv-client: no devices found" << std::endl;
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| 249 | return lib3dv::error::NONE;
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| 250 | }
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| 251 |
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| 252 | if(variables_map.count("timeout"))
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| 253 | {
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| 254 | if(!devices.empty())
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| 255 | for(std::vector<lib3dv::device>::iterator dd = devices.begin(); dd != devices.end(); ++dd)
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| 256 | dd->timeout(boost::posix_time::milliseconds(timeout));
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| 257 | }
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| 258 |
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| 259 | if(variables_map.count("list-devices"))
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| 260 | {
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| 261 | for(std::vector<lib3dv::device>::iterator dd = devices.begin(); dd != devices.end(); ++dd)
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| 262 | std::cout << '\t' << *dd << std::endl;
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| 263 |
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| 264 | return lib3dv::error::NONE;
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| 265 | }
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| 266 |
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| 267 | if(variables_map.count("device-guid"))
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| 268 | {
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| 269 | for(std::vector<lib3dv::device>::iterator dd = devices.begin(); dd != devices.end(); ++dd)
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| 270 | if(dd->guid() == device_guid)
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| 271 | {
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| 272 | device = dd;
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| 273 | break;
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| 274 | }
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| 275 |
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| 276 | if(device == devices.end())
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| 277 | {
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| 278 | std::cerr << "[EE] 3dv-client: device " << device_guid << " not found" << std::endl;
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| 279 |
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| 280 | return lib3dv::error::DEVICE_NOT_FOUND;
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| 281 | }
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| 282 | }
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| 283 | else
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| 284 | {
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| 285 | device = devices.begin();
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| 286 |
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| 287 | if(devices.size() > 1)
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| 288 | std::cout << "[WW] 3dv-client: multiple devices found, but --device-guid not specified" << std::endl;
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| 289 | }
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| 290 |
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| 291 | std::cout << "[II] 3dv-client: selected device " << device->guid() << std::endl;
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| 292 |
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| 293 | if(variables_map.count("list-properties"))
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| 294 | {
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| 295 | std::vector<lib3dv::device::property> properties = device->enumerate_properties(error);
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| 296 |
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| 297 | if(error == lib3dv::error::NONE)
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| 298 | {
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| 299 | std::cout << "[II] 3dv-client: device properties:" << std::endl;
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| 300 |
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| 301 | for(unsigned int p = 0; p < properties.size(); ++p)
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| 302 | std::cout << '\t' << properties[p] << std::endl;
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| 303 | }
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| 304 | else
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| 305 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
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| 306 |
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| 307 | return error;
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| 308 | }
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| 309 |
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| 310 | if(variables_map.count("save-properties"))
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| 311 | {
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| 312 | device->save_properties(error);
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| 313 |
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| 314 | if(error != lib3dv::error::NONE)
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| 315 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
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| 316 | else
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| 317 | std::cout << "[EE] 3dv-client: operation completed" << std::endl;
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| 318 |
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| 319 | return error;
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| 320 | }
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| 321 |
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| 322 | if(variables_map.count("reset-properties"))
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| 323 | {
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| 324 | device->reset_properties(error);
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| 325 |
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| 326 | if(error != lib3dv::error::NONE)
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| 327 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
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| 328 | else
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| 329 | std::cout << "[EE] 3dv-client: operation completed" << std::endl;
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| 330 |
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| 331 | return error;
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| 332 | }
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| 333 |
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| 334 | if(variables_map.count("set-value"))
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| 335 | {
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| 336 | if(set_value.size() == 3)
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| 337 | {
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| 338 | std::stringstream ss;
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| 339 | uint16_t address;
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| 340 | const std::string& value = set_value[1];
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| 341 | const std::string& type = set_value[2];
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| 342 |
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| 343 | ss << std::hex << set_value[0];
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| 344 | ss >> address;
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| 345 |
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| 346 | std::cout << "[II] 3dv-client: setting property " << set_value[0] << " value to " << value << std::endl;
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| 347 |
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| 348 | if(type == "bool") device->set_property_value(address, boost::any(boost::lexical_cast<bool>(value)), error);
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| 349 | else if(type == "int64") device->set_property_value(address, boost::any(boost::lexical_cast<int64_t>(value)), error);
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| 350 | else if(type == "int32") device->set_property_value(address, boost::any(boost::numeric_cast<int32_t>(boost::lexical_cast<int64_t>(value))), error);
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| 351 | else if(type == "int16") device->set_property_value(address, boost::any(boost::numeric_cast<int16_t>(boost::lexical_cast<int64_t>(value))), error);
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| 352 | else if(type == "int8") device->set_property_value(address, boost::any(boost::numeric_cast<int8_t>(boost::lexical_cast<int64_t>(value))), error);
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| 353 | else if(type == "uint64") device->set_property_value(address, boost::any(boost::lexical_cast<uint64_t>(value)), error);
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| 354 | else if(type == "uint32") device->set_property_value(address, boost::any(boost::numeric_cast<uint32_t>(boost::lexical_cast<uint64_t>(value))), error);
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| 355 | else if(type == "uint16") device->set_property_value(address, boost::any(boost::numeric_cast<uint16_t>(boost::lexical_cast<uint64_t>(value))), error);
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| 356 | else if(type == "uint8") device->set_property_value(address, boost::any(boost::numeric_cast<uint8_t>(boost::lexical_cast<uint64_t>(value))), error);
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| 357 | else if(type == "float32") device->set_property_value(address, boost::any(boost::lexical_cast<float>(value)), error);
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| 358 | else if(type == "float64") device->set_property_value(address, boost::any(boost::lexical_cast<double>(value)), error);
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| 359 | else if(type == "string") device->set_property_value(address, boost::any(value), error);
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| 360 | else std::cout << "[EE] 3dv-client: unsupported data type " << type << std::endl;
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| 361 |
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| 362 | if(error != lib3dv::error::NONE)
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| 363 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
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| 364 | else
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| 365 | std::cout << "[EE] 3dv-client: operation completed" << std::endl;
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| 366 |
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| 367 | return error;
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| 368 | }
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| 369 | else
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| 370 | {
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| 371 | std::cerr << "[EE] 3dv-client: exactly 3 arguments must be provided to --set-value" << std::endl;
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| 372 |
|
---|
| 373 | return lib3dv::error::NONE;
|
---|
| 374 | }
|
---|
| 375 | }
|
---|
| 376 |
|
---|
| 377 | if(variables_map.count("get-value"))
|
---|
| 378 | {
|
---|
| 379 | std::stringstream ss;
|
---|
| 380 | uint16_t address;
|
---|
| 381 |
|
---|
| 382 | ss << std::hex << get_value;
|
---|
| 383 | ss >> address;
|
---|
| 384 |
|
---|
| 385 | const boost::any& value = device->get_property_value(address, error);
|
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| 386 |
|
---|
| 387 | if(error != lib3dv::error::NONE)
|
---|
| 388 | {
|
---|
| 389 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
|
---|
| 390 |
|
---|
| 391 | return error;
|
---|
| 392 | }
|
---|
| 393 |
|
---|
| 394 | const std::type_info& type = value.type();
|
---|
| 395 |
|
---|
| 396 | std::cout << "[II] 3dv-client: property " << get_value << " value is ";
|
---|
| 397 |
|
---|
| 398 | if(type == typeid(bool)) std::cout << boost::any_cast<bool>(value) << std::endl;
|
---|
| 399 | else if(type == typeid(int64_t)) std::cout << boost::any_cast<int64_t>(value) << std::endl;
|
---|
| 400 | else if(type == typeid(int32_t)) std::cout << boost::any_cast<int32_t>(value) << std::endl;
|
---|
| 401 | else if(type == typeid(int32_t)) std::cout << boost::any_cast<int32_t>(value) << std::endl;
|
---|
| 402 | else if(type == typeid(int16_t)) std::cout << boost::any_cast<int16_t>(value) << std::endl;
|
---|
| 403 | else if(type == typeid(int8_t)) std::cout << static_cast<int32_t>(boost::any_cast<int8_t>(value)) << std::endl;
|
---|
| 404 | else if(type == typeid(uint64_t)) std::cout << boost::any_cast<uint64_t>(value) << std::endl;
|
---|
| 405 | else if(type == typeid(uint32_t)) std::cout << boost::any_cast<uint32_t>(value) << std::endl;
|
---|
| 406 | else if(type == typeid(uint32_t)) std::cout << boost::any_cast<uint32_t>(value) << std::endl;
|
---|
| 407 | else if(type == typeid(uint16_t)) std::cout << boost::any_cast<uint16_t>(value) << std::endl;
|
---|
| 408 | else if(type == typeid(uint8_t)) std::cout << static_cast<uint32_t>(boost::any_cast<uint8_t>(value)) << std::endl;
|
---|
| 409 | else if(type == typeid(float)) std::cout << boost::any_cast<float>(value) << std::endl;
|
---|
| 410 | else if(type == typeid(double)) std::cout << boost::any_cast<double>(value) << std::endl;
|
---|
| 411 | else if(type == typeid(std::string)) std::cout << boost::any_cast<std::string>(value) << std::endl;
|
---|
| 412 |
|
---|
| 413 | return lib3dv::error::NONE;
|
---|
| 414 | }
|
---|
| 415 |
|
---|
| 416 | if(variables_map.count("record")
|
---|
| 417 | #ifdef PCL
|
---|
| 418 | || variables_map.count("display")
|
---|
| 419 | #endif
|
---|
| 420 | )
|
---|
| 421 | {
|
---|
| 422 | boost::asio::io_service sighandler_io_service;
|
---|
| 423 | boost::asio::io_service::work sighandler_io_service_work(sighandler_io_service);
|
---|
| 424 |
|
---|
| 425 | boost::thread disk_writer_thread;
|
---|
| 426 | boost::shared_ptr<disk_writer> disk_writer;
|
---|
| 427 |
|
---|
| 428 | device_params params;
|
---|
| 429 | params.downsample=(uint32_t)2;
|
---|
| 430 |
|
---|
| 431 | std::vector<lib3dv::device::property> properties = device->enumerate_properties(error);
|
---|
| 432 |
|
---|
| 433 | if(error == lib3dv::error::NONE)
|
---|
| 434 | {
|
---|
| 435 | for(unsigned int p = 0; p < properties.size(); ++p)
|
---|
| 436 | {
|
---|
| 437 | const std::string& name = properties[p].m_name;
|
---|
| 438 | const boost::any& value = properties[p].m_value;
|
---|
| 439 |
|
---|
| 440 | if(name == "calibration.u0")
|
---|
| 441 | params.intrinsics.m_u0 = boost::any_cast<double>(value);
|
---|
| 442 | else if(name == "calibration.v0")
|
---|
| 443 | params.intrinsics.m_v0 = boost::any_cast<double>(value);
|
---|
| 444 | else if(name == "calibration.ku")
|
---|
| 445 | params.intrinsics.m_ku = boost::any_cast<double>(value);
|
---|
| 446 | else if(name == "calibration.kv")
|
---|
| 447 | params.intrinsics.m_kv = boost::any_cast<double>(value);
|
---|
| 448 | else if(name == "calibration.x")
|
---|
| 449 | params.position.m_x = boost::any_cast<double>(value);
|
---|
| 450 | else if(name == "calibration.y")
|
---|
| 451 | params.position.m_y = boost::any_cast<double>(value);
|
---|
| 452 | else if(name == "calibration.z")
|
---|
| 453 | params.position.m_z = boost::any_cast<double>(value);
|
---|
| 454 | else if(name == "calibration.yaw")
|
---|
| 455 | params.orientation.m_yaw = boost::any_cast<double>(value);
|
---|
| 456 | else if(name == "calibration.pitch")
|
---|
| 457 | params.orientation.m_pitch = boost::any_cast<double>(value);
|
---|
| 458 | else if(name == "calibration.roll")
|
---|
| 459 | params.orientation.m_roll = boost::any_cast<double>(value);
|
---|
| 460 | else if(name == "calibration.baseline")
|
---|
| 461 | params.baseline = boost::any_cast<double>(value);
|
---|
| 462 | else if(name == "depth mapping.downsample ratio")
|
---|
| 463 | params.downsample =boost::any_cast<uint32_t>(value);
|
---|
| 464 | else if(name =="advanced.detection.area.step")
|
---|
| 465 | params.area_step = boost::any_cast<double>(value);
|
---|
| 466 | }
|
---|
| 467 | }
|
---|
| 468 | else
|
---|
| 469 | {
|
---|
| 470 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
|
---|
| 471 | return error;
|
---|
| 472 | }
|
---|
| 473 |
|
---|
| 474 | if(variables_map.count("record"))
|
---|
| 475 | {
|
---|
| 476 | if(pathnames.empty())
|
---|
| 477 | pathnames.push_back(variables_map.count("archive") ? "." : "$GUID_$DATE-$TIME");
|
---|
| 478 |
|
---|
| 479 | std::vector<boost::filesystem::path> paths;
|
---|
| 480 |
|
---|
| 481 | // remove duplicates
|
---|
| 482 | std::sort(pathnames.begin(), pathnames.end());
|
---|
| 483 | pathnames.erase(std::unique(pathnames.begin(), pathnames.end()), pathnames.end());
|
---|
| 484 |
|
---|
| 485 | // expand variables
|
---|
| 486 | std::stringstream guid_ss;
|
---|
| 487 | guid_ss << device->guid();
|
---|
| 488 |
|
---|
| 489 | //Check 3DV application version
|
---|
| 490 | uint32_t app_version=device->version().m_application[2]+device->version().m_application[1]*100+device->version().m_application[0]*10000;
|
---|
| 491 |
|
---|
| 492 | uint8_t guid_type=9;
|
---|
| 493 |
|
---|
| 494 | if (app_version <10100) guid_type=7;
|
---|
| 495 | else if (app_version <10200) guid_type=8;
|
---|
| 496 |
|
---|
| 497 | for(unsigned int p = 0; p < pathnames.size(); ++p)
|
---|
| 498 | boost::replace_all(pathnames[p], "$GUID", guid_ss.str());
|
---|
| 499 |
|
---|
| 500 | boost::posix_time::ptime timestamp(boost::posix_time::second_clock::local_time());
|
---|
| 501 |
|
---|
| 502 | std::stringstream date_ss;
|
---|
| 503 | boost::posix_time::time_facet* date_facet = new boost::posix_time::time_facet("%Y%m%d");
|
---|
| 504 | date_ss.imbue(std::locale(date_ss.getloc(), date_facet));
|
---|
| 505 | date_ss << timestamp;
|
---|
| 506 |
|
---|
| 507 | for(unsigned int p = 0; p < pathnames.size(); ++p)
|
---|
| 508 | boost::replace_all(pathnames[p], "$DATE", date_ss.str());
|
---|
| 509 |
|
---|
| 510 | std::stringstream time_ss;
|
---|
| 511 | boost::posix_time::time_facet* time_facet = new boost::posix_time::time_facet("%H%M%S");
|
---|
| 512 | time_ss.imbue(std::locale(time_ss.getloc(), time_facet));
|
---|
| 513 | time_ss << timestamp;
|
---|
| 514 |
|
---|
| 515 | for(unsigned int p = 0; p < pathnames.size(); ++p)
|
---|
| 516 | boost::replace_all(pathnames[p], "$TIME", time_ss.str());
|
---|
| 517 |
|
---|
| 518 | paths.reserve(pathnames.size());
|
---|
| 519 |
|
---|
| 520 | for(unsigned int p = 0; p < pathnames.size(); ++p)
|
---|
| 521 | {
|
---|
| 522 | paths.push_back(boost::filesystem::path(pathnames[p]));
|
---|
| 523 | paths.back().make_preferred();
|
---|
| 524 | }
|
---|
| 525 | #ifdef ARCHIVE
|
---|
| 526 |
|
---|
| 527 | if(variables_map.count("archive"))
|
---|
| 528 | {
|
---|
| 529 | boost::replace_all(archive_name, "$GUID", guid_ss.str());
|
---|
| 530 | boost::replace_all(archive_name, "$DATE", date_ss.str());
|
---|
| 531 | boost::replace_all(archive_name, "$TIME", time_ss.str());
|
---|
| 532 |
|
---|
| 533 | disk_writer = boost::shared_ptr< ::disk_writer>(new ::disk_writer(paths, archive_name, archive_format, data_format, autonumber, params, guid_type, log_level));
|
---|
| 534 | }
|
---|
| 535 | else
|
---|
| 536 | #endif
|
---|
| 537 | disk_writer = boost::shared_ptr< ::disk_writer>(new ::disk_writer(paths, data_format, autonumber, params, guid_type, log_level));
|
---|
| 538 |
|
---|
| 539 | disk_writer_thread = boost::thread(boost::bind(&::disk_writer::run, disk_writer.get()));
|
---|
| 540 |
|
---|
| 541 | //device->connect_image_callback(boost::bind(&::disk_writer::image_callback, disk_writer.get(), _1, _2));
|
---|
| 542 | //device->connect_obstacles_callback(boost::bind(&::disk_writer::obstacles_callback, disk_writer.get(), _1, _2));
|
---|
| 543 | //device->connect_terrain_callback(boost::bind(&::disk_writer::terrain_callback, disk_writer.get(), _1, _2));
|
---|
| 544 | //device->connect_motion_callback(boost::bind(&::disk_writer::motion_callback, disk_writer.get(), _1, _2));
|
---|
| 545 | device->connect_image_callback(boost::function<void(boost::shared_ptr< const lib3dv::image>, unsigned int)>(boost::bind(&::disk_writer::image_callback, disk_writer.get(), _1, _2)));
|
---|
| 546 | device->connect_obstacles_callback(boost::function<void (boost::shared_ptr< const std::vector<lib3dv::obstacle> >, unsigned int)>(boost::bind(&::disk_writer::obstacles_callback, disk_writer.get(), _1, _2)));
|
---|
| 547 | device->connect_terrain_callback(boost::function<void(boost::shared_ptr< const lib3dv::terrain>, unsigned int)>(boost::bind(&::disk_writer::terrain_callback, disk_writer.get(), _1, _2)));
|
---|
| 548 | device->connect_motion_callback( boost::function<void(boost::shared_ptr< const lib3dv::motion>, unsigned int)>(boost::bind(&::disk_writer::motion_callback, disk_writer.get(), _1, _2)));
|
---|
| 549 | device->connect_classification_callback( boost::function<void(boost::shared_ptr< const lib3dv::classification >, unsigned int)>(boost::bind(&::disk_writer::classification_callback, disk_writer.get(), _1, _2)));
|
---|
| 550 | }
|
---|
| 551 | #ifdef PCL
|
---|
| 552 |
|
---|
| 553 | boost::thread display_thread;
|
---|
| 554 | boost::shared_ptr<display> display;
|
---|
| 555 |
|
---|
| 556 | if(variables_map.count("display"))
|
---|
| 557 | {
|
---|
| 558 |
|
---|
| 559 | display = boost::shared_ptr< ::display>(new ::display(params.intrinsics, params.position, params.orientation, params.baseline, params.downsample, params.area_step,log_level));
|
---|
| 560 | display_thread = boost::thread(boost::bind(&::display::run, display.get()));
|
---|
| 561 |
|
---|
| 562 | //device->connect_image_callback(boost::bind(image_callback_display, _1, _2, boost::ref(*display), log_level));
|
---|
| 563 | //device->connect_terrain_callback(boost::bind(terrain_callback_display, _1, _2, boost::ref(*display), log_level));
|
---|
| 564 | //device->connect_obstacles_callback(boost::bind(obstacles_callback_display, _1, _2, boost::ref(*display), log_level));
|
---|
| 565 | //device->connect_motion_callback(boost::bind(motion_callback_display, _1, _2, boost::ref(*display), log_level));
|
---|
| 566 | device->connect_image_callback(boost::function<void(boost::shared_ptr<const lib3dv::image>, unsigned int)>(boost::bind(image_callback_display, _1, _2, boost::ref(*display), log_level)));
|
---|
| 567 | device->connect_terrain_callback(boost::function<void(boost::shared_ptr<const lib3dv::terrain>, unsigned int)>(boost::bind(terrain_callback_display, _1, _2, boost::ref(*display), log_level)));
|
---|
| 568 | device->connect_obstacles_callback(boost::function<void (boost::shared_ptr<const std::vector<lib3dv::obstacle> >, unsigned int)>(boost::bind(obstacles_callback_display, _1, _2, boost::ref(*display), log_level)));
|
---|
| 569 | device->connect_motion_callback(boost::function<void (boost::shared_ptr< const lib3dv::motion>, unsigned int)>(boost::bind(motion_callback_display, _1, _2, boost::ref(*display), log_level)));
|
---|
| 570 | device->connect_classification_callback(boost::function<void (boost::shared_ptr< const lib3dv::classification>, unsigned int)>(boost::bind(classification_callback_display, _1, _2, boost::ref(*display), log_level)));
|
---|
| 571 | device->connect_classification_callback(boost::function<void (boost::shared_ptr< const lib3dv::classification>, unsigned int)>(boost::bind(classification_callback_display, _1, _2, boost::ref(*display), log_level)));
|
---|
| 572 | //std::cout << "binded callback" <<std::endl;
|
---|
| 573 | }
|
---|
| 574 |
|
---|
| 575 | device->connect_timeout_callback(boost::bind(timeout_callback, disk_writer, display, boost::ref(sighandler_io_service)));
|
---|
| 576 | boost::asio::signal_set signals(sighandler_io_service, SIGINT, SIGTERM);
|
---|
| 577 | signals.async_wait(boost::bind(signal_handler, boost::asio::placeholders::error, boost::asio::placeholders::signal_number, disk_writer, display, boost::ref(sighandler_io_service)));
|
---|
| 578 | #else
|
---|
| 579 |
|
---|
| 580 | device->connect_timeout_callback(boost::bind(timeout_callback, disk_writer, boost::ref(sighandler_io_service)));
|
---|
| 581 | boost::asio::signal_set signals(sighandler_io_service, SIGINT, SIGTERM);
|
---|
| 582 | signals.async_wait(boost::bind(signal_handler, boost::asio::placeholders::error, boost::asio::placeholders::signal_number, disk_writer, boost::ref(sighandler_io_service)));
|
---|
| 583 | #endif
|
---|
| 584 |
|
---|
| 585 | device->stop_transmission(error);
|
---|
| 586 |
|
---|
| 587 | if(error != lib3dv::error::NONE)
|
---|
| 588 | {
|
---|
| 589 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
|
---|
| 590 |
|
---|
| 591 | return error;
|
---|
| 592 | }
|
---|
| 593 |
|
---|
| 594 | device->start_transmission(error);
|
---|
| 595 |
|
---|
| 596 | if(error != lib3dv::error::NONE)
|
---|
| 597 | {
|
---|
| 598 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
|
---|
| 599 |
|
---|
| 600 | return error;
|
---|
| 601 | }
|
---|
| 602 |
|
---|
| 603 | sighandler_io_service.run();
|
---|
| 604 |
|
---|
| 605 | device->stop_transmission(error);
|
---|
| 606 |
|
---|
| 607 | if(disk_writer)
|
---|
| 608 | {
|
---|
| 609 | disk_writer->stop();
|
---|
| 610 | disk_writer_thread.join();
|
---|
| 611 | }
|
---|
| 612 |
|
---|
| 613 | #ifdef PCL
|
---|
| 614 | if(display)
|
---|
| 615 | {
|
---|
| 616 | display->stop();
|
---|
| 617 | display_thread.join();
|
---|
| 618 | }
|
---|
| 619 | #endif
|
---|
| 620 |
|
---|
| 621 | std::cout << "[II] 3dv-client: operation completed" << std::endl;
|
---|
| 622 |
|
---|
| 623 | return lib3dv::error::NONE;
|
---|
| 624 | }
|
---|
| 625 |
|
---|
| 626 | if(variables_map.count("poweroff"))
|
---|
| 627 | {
|
---|
| 628 | device->poweroff(error);
|
---|
| 629 |
|
---|
| 630 | if(error != lib3dv::error::NONE)
|
---|
| 631 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
|
---|
| 632 | else
|
---|
| 633 | std::cout << "[EE] 3dv-client: operation completed" << std::endl;
|
---|
| 634 |
|
---|
| 635 | return error;
|
---|
| 636 | }
|
---|
| 637 |
|
---|
| 638 | if(variables_map.count("reboot"))
|
---|
| 639 | {
|
---|
| 640 | device->reboot(error);
|
---|
| 641 |
|
---|
| 642 | if(error != lib3dv::error::NONE)
|
---|
| 643 | std::cout << "[EE] 3dv-client: device error " << error << std::endl;
|
---|
| 644 | else
|
---|
| 645 | std::cout << "[EE] 3dv-client: operation completed" << std::endl;
|
---|
| 646 |
|
---|
| 647 | return error;
|
---|
| 648 | }
|
---|
| 649 |
|
---|
| 650 | return lib3dv::error::NONE;
|
---|
| 651 | }
|
---|