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qrobosdk: コミット

コミットメタ情報

リビジョン	191 (tree)
日時	2008-08-31 18:18:22
作者	satofumi

ログメッセージ

add monitor sample

変更サマリ

modified: trunk/libs/monitor/MonitorDataHandler.cpp (diff)
modified: trunk/libs/monitor/LogNameHolder.cpp (diff)
modified: trunk/libs/monitor/mConnection.h (diff)
added: trunk/libs/monitor/samples/mConnectionSample.cpp (diff)
modified: trunk/libs/monitor/samples/Makefile (diff)
modified: trunk/libs/monitor/MonitorDataHandler.h (diff)
modified: trunk/libs/monitor/mConnection.cpp (diff)

差分

--- trunk/libs/monitor/MonitorDataHandler.cpp (revision 190)

+++ trunk/libs/monitor/MonitorDataHandler.cpp (revision 191)

		@@ -5,6 +5,9 @@
5	5	\author Satofumi KAMIMURA
6	6
7	7	$Id$
	8	+
	9	+ \todo 記録データにコメントを付加できるようにする
	10	+ \todo ログデータから、各データ毎に１行目を除去するスクリプトを作成する
8	11	*/
9	12
10	13	#include "MonitorDataHandler.h"

		@@ -30,9 +33,10 @@
30	33	}
31	34
32	35	virtual int fetchFirstLine(const int size) = 0;
33		- virtual void fetch(char* data, int size) = 0;
34		- virtual void fetch(std::string& data) = 0;
35		- virtual void fetch(bool& data) = 0;
	36	+ virtual int fetch(char* data, int size) = 0;
	37	+ virtual int fetch(std::string& data) = 0;
	38	+ virtual int fetch(bool& data) = 0;
	39	+ virtual int fetch(int& data) = 0;
36	40	};
37	41
38	42

		@@ -66,23 +70,37 @@
66	70	}
67	71
68	72
69		- void fetch(char* data, int size)
	73	+ int fetch(char* data, int size)
70	74	{
71	75	fout_.write(data, size);
72	76	fout_ << std::endl;
	77	+
	78	+ return size;
73	79	}
74	80
75	81
76		- void fetch(std::string& data)
	82	+ int fetch(std::string& data)
77	83	{
78	84	fout_ << data << std::endl;
	85	+
	86	+ return data.size();
79	87	}
80	88
81	89
82		- void fetch(bool& data)
	90	+ int fetch(bool& data)
83	91	{
84	92	fout_ << data << std::endl;
	93	+
	94	+ return data;
85	95	}
	96	+
	97	+
	98	+ int fetch(int& data)
	99	+ {
	100	+ fout_ << data << std::endl;
	101	+
	102	+ return data;
	103	+ }
86	104	};
87	105
88	106

		@@ -109,16 +127,19 @@
109	127
110	128	int fetchFirstLine(const int size)
111	129	{
	130	+ static_cast<void>(size);
	131	+
112	132	// １行目の読み出し
113	133	std::string line;
114	134	getline(fin_, line);
115	135	std::vector<std::string> tokens;
116	136	if (split(tokens, line, ",") != 2) {
	137	+ fprintf(stderr, "mismatch log.\n");
117	138	return 0;
118	139	}
119	140
120	141	int ticks = atoi(tokens[0].c_str());
121		- fprintf(stderr, "ticks: %d\n", ticks);
	142	+ static_cast<void>(ticks);
122	143	// !!! 指定 ticks まで待たせる
123	144	// !!! 指定時間まで delay() し、再評価を行うメソッドをここに配置する
124	145

		@@ -134,20 +155,33 @@
134	155	}
135	156
136	157
137		- void fetch(char* data, int size)
	158	+ int fetch(char* data, int size)
138	159	{
139		- fin_.read(data, size);
	160	+ if (data) {
	161	+ fin_.read(data, size);
	162	+ } else {
	163	+ // 読み捨てる
	164	+ // !!! 固定長バッファでの読み出しに変更すべき
	165	+ for (int i = 0; i < size; ++i) {
	166	+ char ch;
	167	+ fin_.read(&ch, 1);
	168	+ }
	169	+ }
140	170	skipEndl();
	171	+
	172	+ return size;
141	173	}
142	174
143	175
144		- void fetch(std::string& data)
	176	+ int fetch(std::string& data)
145	177	{
146	178	getline(fin_, data);
	179	+
	180	+ return data.size();
147	181	}
148	182
149	183
150		- void fetch(bool& data)
	184	+ int fetch(bool& data)
151	185	{
152	186	char ch;
153	187	fin_.read(&ch, 1);

		@@ -154,7 +188,17 @@
154	188	skipEndl();
155	189
156	190	data = (ch == 0) ? false : true;
	191	+ return data;
157	192	}
	193	+
	194	+
	195	+ int fetch(int& data)
	196	+ {
	197	+ fin_ >> data;
	198	+ skipEndl();
	199	+
	200	+ return data;
	201	+ }
158	202	};
159	203	};
160	204

		@@ -181,26 +225,33 @@
181	225	}
182	226
183	227
184		- void fetch(char* data, int size)
	228	+ int fetch(char* data, int size)
185	229	{
186	230	int data_size = handler_->fetchFirstLine(size);
187		- handler_->fetch(data, data_size);
	231	+ return handler_->fetch(data, data_size);
188	232	}
189	233
190	234
191		- void fetch(std::string& data)
	235	+ int fetch(std::string& data)
192	236	{
193	237	int size = data.size();
194	238	handler_->fetchFirstLine(size);
195		- handler_->fetch(data);
	239	+ return handler_->fetch(data);
196	240	}
197	241
198	242
199		- void fetch(bool& data)
	243	+ int fetch(bool& data)
200	244	{
201	245	handler_->fetchFirstLine(1);
202		- handler_->fetch(data);
	246	+ return handler_->fetch(data);
203	247	}
	248	+
	249	+
	250	+ int fetch(int& data)
	251	+ {
	252	+ handler_->fetchFirstLine(DummySize);
	253	+ return handler_->fetch(data);
	254	+ }
204	255	};
205	256
206	257

		@@ -216,19 +267,25 @@
216	267	}
217	268
218	269
219		-void MonitorDataHandler::fetch(char* data, int size)
	270	+int MonitorDataHandler::fetch(char* data, int size)
220	271	{
221		- pimpl->fetch(data, size);
	272	+ return pimpl->fetch(data, size);
222	273	}
223	274
224	275
225		-void MonitorDataHandler::fetch(std::string& data)
	276	+int MonitorDataHandler::fetch(std::string& data)
226	277	{
227		- pimpl->fetch(data);
	278	+ return pimpl->fetch(data);
228	279	}
229	280
230	281
231		-void MonitorDataHandler::fetch(bool& data)
	282	+int MonitorDataHandler::fetch(bool& data)
232	283	{
233		- pimpl->fetch(data);
	284	+ return pimpl->fetch(data);
234	285	}
	286	+
	287	+
	288	+int MonitorDataHandler::fetch(int& data)
	289	+{
	290	+ return pimpl->fetch(data);
	291	+}

--- trunk/libs/monitor/LogNameHolder.cpp (revision 190)

+++ trunk/libs/monitor/LogNameHolder.cpp (revision 191)

		@@ -35,7 +35,7 @@
35	35	char buffer[BufferSize];
36	36	snprintf(buffer, BufferSize, "_%d", id);
37	37
38		- return (std::string(baseName) + buffer).c_str();
	38	+ return (std::string(baseName) + buffer + ".log").c_str();
39	39	}
40	40	};
41	41

--- trunk/libs/monitor/mConnection.h (revision 190)

+++ trunk/libs/monitor/mConnection.h (revision 191)

		@@ -19,7 +19,7 @@
19	19	/*!
20	20	\brief モニタ対応の通信インターフェース
21	21	*/
22		- class mConnection : Connection
	22	+ class mConnection : public Connection
23	23	{
24	24	mConnection(void);
25	25	mConnection(const mConnection& rhs);

--- trunk/libs/monitor/samples/mConnectionSample.cpp (nonexistent)

+++ trunk/libs/monitor/samples/mConnectionSample.cpp (revision 191)

		@@ -0,0 +1,51 @@
	1	+/*!
	2	+ \file
	3	+ \brief mUrgCtrl の動作サンプル
	4	+
	5	+ \author Satofumi KAMIMURA
	6	+
	7	+ $Id$
	8	+*/
	9	+
	10	+#include "mConnection.h"
	11	+#include "SerialCtrl.h"
	12	+#include "ConnectionUtils.h"
	13	+#include "MonitorModeManager.h"
	14	+
	15	+using namespace qrk;
	16	+
	17	+
	18	+int main(int argc, char *argv[])
	19	+{
	20	+ MonitorModeManager::singleton()->setMode(argc, argv);
	21	+
	22	+ SerialCtrl serial;
	23	+ mConnection connection(&serial);
	24	+
	25	+ // 接続
	26	+ if (! connection.connect("/dev/ttyACM0", 19200)) {
	27	+ printf("SerialCtrl::connect: %s\n", connection.what());
	28	+ exit(1);
	29	+ }
	30	+
	31	+ // 文字列送信
	32	+ printf("--- send data ---\n");
	33	+ connection.send("V\r", 2);
	34	+
	35	+ // 文字列受信
	36	+ printf("--- recv data ---\n");
	37	+ enum {
	38	+ BufferSize = 255,
	39	+ Timeout = 1000,
	40	+ };
	41	+ char buffer[BufferSize];
	42	+ while (1) {
	43	+ int recv_size = readline(&connection, buffer, BufferSize, Timeout);
	44	+ if (recv_size <= 0) {
	45	+ break;
	46	+ }
	47	+ printf("%s\n", buffer);
	48	+ }
	49	+
	50	+ return 0;
	51	+}

Added: svn:keywords

## -0,0 +1 ##

+Id Date Author Rev URL

\ No newline at end of property

--- trunk/libs/monitor/samples/Makefile (revision 190)

+++ trunk/libs/monitor/samples/Makefile (revision 191)

		@@ -4,18 +4,19 @@
4	4
5	5	# Compile options
6	6	CC = g++
7		-CXXFLAGS = -g -O0 -Wall -Werror ${INCLUDES}
8		-INCLUDES = -I..
	7	+CXXFLAGS = -g -O0 -Wall -Werror ${INCLUDES} `sdl-config --cflags`
	8	+INCLUDES = -I.. -I../../connection
9	9	LDFLAGS =
10		-LDLIBS =
	10	+LDLIBS = `sdl-config --libs`
11	11
12	12	# Target
13	13	TARGET = \
	14	+ mConnectionSample \
14	15
15	16	all : ${TARGET}
16	17
17	18	clean :
18		- ${RM} *.o ${TARGET}
	19	+ ${RM} *.o ${TARGET} mConnection_0.log
19	20
20	21	depend :
21	22	makedepend -Y -- ${INCLUDES} -- ${wildcard .h .cpp}

		@@ -22,7 +23,7 @@
22	23
23	24	.PHONY : all clean depend
24	25	######################################################################
25		-REQUIRE_LIBS = ../monitor.a
	26	+REQUIRE_LIBS = ../monitor.a ../../connection/connection.a ../../common/common.a ../../system/sdl/system_sdl.a
26	27
27	28	${REQUIRE_LIBS} :
28	29	cd ${@D}/ && ${MAKE} ${@F}

		@@ -30,3 +31,8 @@
30	31	${TARGET} : ${REQUIRE_LIBS}
31	32
32	33	# DO NOT DELETE
	34	+
	35	+mConnectionSample.o: ../mConnection.h ../../connection/Connection.h
	36	+mConnectionSample.o: ../../connection/SerialCtrl.h
	37	+mConnectionSample.o: ../../connection/ConnectionUtils.h
	38	+mConnectionSample.o: ../MonitorModeManager.h

--- trunk/libs/monitor/MonitorDataHandler.h (revision 190)

+++ trunk/libs/monitor/MonitorDataHandler.h (revision 191)

		@@ -37,15 +37,16 @@
37	37	MonitorModeManager::MonitorMode mode);
38	38	~MonitorDataHandler(void);
39	39
40		- void fetch(char* data, int size);
	40	+ int fetch(char* data, int size);
41	41
42	42	/*!
43	43	\attention 改行が複数ある文字列データは、扱えない
44	44	*/
45		- void fetch(std::string& data);
46		- // !!!
	45	+ int fetch(std::string& data);
47	46
48		- void fetch(bool& data);
	47	+ int fetch(bool& data);
	48	+
	49	+ int fetch(int& data);
49	50	};
50	51	};
51	52

--- trunk/libs/monitor/mConnection.cpp (revision 190)

+++ trunk/libs/monitor/mConnection.cpp (revision 191)

		@@ -56,7 +56,7 @@
56	56	return false;
57	57
58	58	} else {
59		- return false;
	59	+ return con_->connect(device, baudrate);
60	60	}
61	61	}
62	62

		@@ -64,7 +64,8 @@
64	64	const char* what(void)
65	65	{
66	66	// エラーメッセージも記録と再生の対象とする
67		- if (mode_ != MonitorModeManager::Simulation) {
	67	+ if ((mode_ == MonitorModeManager::Record) \|\|
	68	+ (mode_ == MonitorModeManager::Play)) {
68	69	std::string error_message = std::string(con_->what());
69	70	handler_->fetch(error_message);
70	71	return error_message.c_str();

		@@ -77,6 +78,108 @@
77	78	return con_->what();
78	79	}
79	80	}
	81	+
	82	+
	83	+ bool changeBaudrate(long baudrate)
	84	+ {
	85	+ // 戻り値のみを記録対象とする
	86	+ if ((mode_ == MonitorModeManager::Record) \|\|
	87	+ (mode_ == MonitorModeManager::Play)) {
	88	+ bool ret = con_->changeBaudrate(baudrate);
	89	+ handler_->fetch(ret);
	90	+ return ret;
	91	+
	92	+ } else if (mode_ == MonitorModeManager::Simulation) {
	93	+ // !!!
	94	+ return false;
	95	+
	96	+ } else {
	97	+ return con_->changeBaudrate(baudrate);
	98	+ }
	99	+ }
	100	+
	101	+
	102	+ bool isConnected(void)
	103	+ {
	104	+ // !!! 戻り値のみを記録対象とする
	105	+ return false;
	106	+
	107	+ if ((mode_ == MonitorModeManager::Record) \|\|
	108	+ (mode_ == MonitorModeManager::Play)) {
	109	+ bool ret = con_->isConnected();
	110	+ handler_->fetch(ret);
	111	+ return ret;
	112	+
	113	+ } else if (mode_ == MonitorModeManager::Simulation) {
	114	+ // !!!
	115	+ return false;
	116	+
	117	+ } else {
	118	+ return con_->isConnected();
	119	+ }
	120	+ }
	121	+
	122	+
	123	+ int send(const char* data, size_t count)
	124	+ {
	125	+ if (mode_ == MonitorModeManager::Record) {
	126	+ // 記録する必要はないが、デバッグ情報として使うために残しておく
	127	+ int send_size = con_->send(data, count);
	128	+ return handler_->fetch(const_cast<char*>(data), send_size);
	129	+
	130	+ } else if (mode_ == MonitorModeManager::Play) {
	131	+ return handler_->fetch(NULL, 0);
	132	+
	133	+ } else if (mode_ == MonitorModeManager::Simulation) {
	134	+ // 対応するポートに対して接続を行う
	135	+ // !!!
	136	+ return false;
	137	+
	138	+ } else {
	139	+ return con_->send(data, count);
	140	+ }
	141	+ }
	142	+
	143	+
	144	+ int recv(char* data, size_t count, int timeout)
	145	+ {
	146	+ if (mode_ == MonitorModeManager::Record) {
	147	+ int recv_size = con_->recv(data, count, timeout);
	148	+ return handler_->fetch(data, recv_size);
	149	+
	150	+ } else if (mode_ == MonitorModeManager::Play) {
	151	+ return handler_->fetch(data, count);
	152	+
	153	+ } else if (mode_ == MonitorModeManager::Simulation) {
	154	+ // 対応するポートに対して接続を行う
	155	+ // !!!
	156	+ return false;
	157	+
	158	+ } else {
	159	+ return con_->recv(data, count, timeout);
	160	+ }
	161	+ }
	162	+
	163	+
	164	+ size_t size(void)
	165	+ {
	166	+ // !!! 記録対象
	167	+ return con_->size();
	168	+
	169	+ if ((mode_ == MonitorModeManager::Record) \|\|
	170	+ (mode_ == MonitorModeManager::Play)) {
	171	+ int data_size = con_->size();
	172	+ return handler_->fetch(data_size);
	173	+
	174	+ } else if (mode_ == MonitorModeManager::Simulation) {
	175	+ // 対応するポートに対して接続を行う
	176	+ // !!!
	177	+ return 0;
	178	+
	179	+ } else {
	180	+ return con_->size();
	181	+ }
	182	+ }
80	183	};
81	184
82	185

		@@ -99,67 +202,58 @@
99	202	bool mConnection::connect(const char* device, long baudrate)
100	203	{
101	204	return pimpl->connect(device, baudrate);
102		-};
	205	+}
103	206
104	207
105	208	void mConnection::disconnect(void)
106	209	{
107		- // !!!
	210	+ pimpl->con_->disconnect();
108	211	}
109	212
110	213
111	214	bool mConnection::changeBaudrate(long baudrate)
112	215	{
113		- // !!! ボーレート処理はシミュレートしない
114		- // !!! 戻り値のみを記録対象とする
115		-
116		- return false;
	216	+ return pimpl->changeBaudrate(baudrate);
117	217	}
118	218
119	219
120	220	bool mConnection::isConnected(void)
121	221	{
122		- // !!! 戻り値のみを記録対象とする
123		-
124		- return false;
	222	+ return pimpl->isConnected();
125	223	}
126	224
127	225
128	226	int mConnection::send(const char* data, size_t count)
129	227	{
130		- // !!!
131		-
132		- return false;
	228	+ return pimpl->send(data, count);
133	229	}
134	230
135	231
136	232	int mConnection::recv(char* data, size_t count, int timeout)
137	233	{
138		- // !!!
139		- return -1;
	234	+ return pimpl->recv(data, count, timeout);
140	235	}
141	236
142	237
143		-size_t Connection::size(void)
	238	+size_t mConnection::size(void)
144	239	{
145		- // !!!
146		- return 99;
	240	+ return pimpl->size();
147	241	}
148	242
149	243
150		-void Connection::flush(void)
	244	+void mConnection::flush(void)
151	245	{
152		- // !!!
	246	+ pimpl->con_->flush();
153	247	}
154	248
155	249
156		-void Connection::clear(void)
	250	+void mConnection::clear(void)
157	251	{
158		- // !!!
	252	+ pimpl->con_->clear();
159	253	}
160	254
161	255
162		-void Connection::ungetc(const char ch)
	256	+void mConnection::ungetc(const char ch)
163	257	{
164		- // !!!
	258	+ pimpl->con_->ungetc(ch);
165	259	}

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