From 9dfc9e8659f5ac7e0eb6f3ddd31046148507f148 Mon Sep 17 00:00:00 2001
From: Francois Bleibel <fbleibel@gmail.com>
Date: Tue, 29 Jun 2010 15:49:50 +0900
Subject: [PATCH] Added plugin "Reader" to read files generated by "Tracer".
---
include/CMakeLists.txt | 4 +-
include/sot-core/exception-traces.h | 75 ----------
include/sot-core/reader.h | 115 +++++++++++++++
src/CMakeLists.txt | 2 +
src/traces/reader.cpp | 218 ++++++++++++++++++++++++++++
5 files changed, 338 insertions(+), 76 deletions(-)
delete mode 100644 include/sot-core/exception-traces.h
create mode 100644 include/sot-core/reader.h
create mode 100644 src/traces/reader.cpp
diff --git a/include/CMakeLists.txt b/include/CMakeLists.txt
index 013ccbdb..b2e48559 100644
--- a/include/CMakeLists.txt
+++ b/include/CMakeLists.txt
@@ -22,7 +22,6 @@ exception-feature.h
exception-signal.h
exception-task.h
exception-tools.h
-exception-traces.h
#signal
signal-cast.h
@@ -88,6 +87,9 @@ sot.h
rotation-simple.h
weighted-sot.h
solver-hierarchical-inequalities.h
+
+#reader
+reader.h
)
# Recreate correct path for the headers
diff --git a/include/sot-core/exception-traces.h b/include/sot-core/exception-traces.h
deleted file mode 100644
index c0e3bb22..00000000
--- a/include/sot-core/exception-traces.h
+++ /dev/null
@@ -1,75 +0,0 @@
-/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- * Copyright Projet JRL-Japan, 2007
- *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
- *
- * File: exception-traces.h
- * Project: SOT
- * Author: Nicolas Mansard
- *
- * Version control
- * ===============
- *
- * $Id$
- *
- * Description
- * ============
- *
- *
- * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
-
-
-#ifndef __SOT_TRACES_EXCEPTION_H
-#define __SOT_TRACES_EXCEPTION_H
-
-/* --------------------------------------------------------------------- */
-/* --- INCLUDE --------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-
-#include <sot-core/exception-abstract.h>
-#include <sot-core/sot-core-api.h>
-/* --------------------------------------------------------------------- */
-/* --- CLASS ----------------------------------------------------------- */
-/* --------------------------------------------------------------------- */
-
-namespace sot {
-
-/* \class ExceptionTraces
- */
-class SOT_CORE_EXPORT ExceptionTraces
-:public ExceptionAbstract
-
-{
- public:
- enum ErrorCodeEnum
- {
- GENERIC = ExceptionAbstract::TRACES
-
- ,NOT_OPEN
- };
-
- static const std::string EXCEPTION_NAME;
- virtual const std::string& getExceptionName( void ) const { return EXCEPTION_NAME; }
-
-public:
-
- ExceptionTraces ( const ExceptionTraces::ErrorCodeEnum& errcode,
- const std::string & msg = "" );
- ExceptionTraces( const ExceptionTraces::ErrorCodeEnum& errcode,
- const std::string & msg,const char* format, ... );
- virtual ~ExceptionTraces( void ){}
-
-
-};
-
-} // namespace sot
-
-
-
-#endif /* #ifndef __SOT_TRACES_EXCEPTION_H */
-
-/*
- * Local variables:
- * c-basic-offset: 2
- * End:
- */
diff --git a/include/sot-core/reader.h b/include/sot-core/reader.h
new file mode 100644
index 00000000..fdf0db93
--- /dev/null
+++ b/include/sot-core/reader.h
@@ -0,0 +1,115 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotReader.h
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+
+#ifndef __SOT_TRACER_H__
+#define __SOT_TRACER_H__
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* Matrix */
+#include <MatrixAbstractLayer/boost.h>
+namespace ml = maal::boost;
+
+/* STD */
+#include <string>
+#include <vector>
+#include <list>
+#include <boost/function.hpp>
+#include <fstream>
+
+/* SOT & DG*/
+#include <dynamic-graph/signal-base.h>
+#include <dynamic-graph/signal-time-dependent.h>
+#include <dynamic-graph/signal-ptr.h>
+#include <dynamic-graph/entity.h>
+#include <dynamic-graph/exception-traces.h>
+#include <sot-core/flags.h>
+
+/* --------------------------------------------------------------------- */
+/* --- API ------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+#if defined (WIN32)
+# if defined (sotReader_EXPORTS)
+# define SOTREADER_EXPORT __declspec(dllexport)
+# else
+# define SOTREADER_EXPORT __declspec(dllimport)
+# endif
+#else
+# define SOTREADER_EXPORT
+#endif
+
+/* --------------------------------------------------------------------- */
+/* --- TRACER ---------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+namespace dg = dynamicgraph;
+
+class SOTREADER_EXPORT sotReader
+: public dg::Entity
+{
+ public:
+ static const std::string CLASS_NAME;
+ virtual const std::string& getClassName( void ) { return CLASS_NAME; }
+
+ public:
+
+ dg::SignalPtr< sot::Flags,int > selectionSIN;
+ dg::SignalTimeDependent<ml::Vector,int> vectorSOUT;
+ dg::SignalTimeDependent<ml::Matrix,int> matrixSOUT;
+
+ public:
+ sotReader( const std::string n );
+ virtual ~sotReader( void ){}
+
+ void load( const std::string& filename );
+ void clear( void );
+ void rewind( void );
+
+ protected:
+
+ typedef std::list< std::vector<double> > DataType;
+ DataType dataSet;
+ DataType::const_iterator currentData;
+ bool iteratorSet;
+
+ unsigned int nbRows,nbCols;
+
+ ml::Vector& getNextData( ml::Vector& res, const unsigned int time );
+ ml::Matrix& getNextMatrix( ml::Matrix& res, const unsigned int time );
+
+ public:
+ /* --- PARAMS --- */
+ void display( std::ostream& os ) const;
+ virtual void commandLine( const std::string& cmdLine
+ ,std::istringstream& cmdArgs
+ ,std::ostream& os );
+};
+
+
+
+
+
+#endif /* #ifndef __SOT_TRACER_H__ */
+
+
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 3101c604..6c6f431a 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -41,6 +41,8 @@ SET(plugins
feature/feature-visual-point
feature/feature-task
feature/feature-line-distance
+
+ traces/reader
)
SET(LIBRARY_NAME ${SOTCORE_LIB_NAME})
diff --git a/src/traces/reader.cpp b/src/traces/reader.cpp
new file mode 100644
index 00000000..3b13bd3e
--- /dev/null
+++ b/src/traces/reader.cpp
@@ -0,0 +1,218 @@
+/*+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ * Copyright Projet JRL-Japan, 2007
+ *+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+ *
+ * File: sotReader.cpp
+ * Project: SOT
+ * Author: Nicolas Mansard
+ *
+ * Version control
+ * ===============
+ *
+ * $Id$
+ *
+ * Description
+ * ============
+ *
+ *
+ * ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++*/
+
+
+/* --------------------------------------------------------------------- */
+/* --- INCLUDE --------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+/* SOT */
+#include <sot-core/reader.h>
+#include <sot-core/debug.h>
+
+#include <boost/bind.hpp>
+#include <sstream>
+#include <dynamic-graph/factory.h>
+
+using namespace dynamicgraph;
+using namespace sot;
+using namespace std;
+
+DYNAMICGRAPH_FACTORY_ENTITY_PLUGIN(sotReader,"Reader");
+
+/* --------------------------------------------------------------------- */
+/* --- CLASS ----------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+sotReader::sotReader( const std::string n )
+ :Entity(n)
+ ,selectionSIN( NULL,"Reader("+n+")::input(flag)::selec" )
+ ,vectorSOUT( boost::bind(&sotReader::getNextData,this,_1,_2),
+ sotNOSIGNAL,
+ "Reader("+n+")::vector" )
+ ,matrixSOUT( boost::bind(&sotReader::getNextMatrix,this,_1,_2),
+ vectorSOUT,
+ "Reader("+n+")::matrix" )
+ ,dataSet()
+ ,currentData()
+ ,iteratorSet(false)
+ ,nbRows(0),nbCols(0)
+{
+ signalRegistration( selectionSIN<<vectorSOUT<<matrixSOUT );
+ selectionSIN = true;
+ vectorSOUT.setNeedUpdateFromAllChildren(true);
+}
+
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+void sotReader::
+load( const string& filename )
+{
+ sotDEBUGIN(15);
+
+ std::ifstream datafile( filename.c_str() );
+ const unsigned int SIZE=1024;
+ char buffer[SIZE];
+ std::vector<double> newline;
+ while( datafile.good() )
+ {
+ datafile.getline( buffer,SIZE );
+ const unsigned int gcount = datafile.gcount();
+ if( gcount>=SIZE ) { /* TODO read error, line to long. */ }
+ std::istringstream iss(buffer);
+ newline.clear();
+ sotDEBUG(25) << "Get line = '" << buffer << "'" << std::endl;
+ while( 1 )
+ {
+ double x; iss>>x;
+ if(! iss.fail() )newline.push_back(x); else break;
+ sotDEBUG(45) << "New data = " << x << std::endl;
+ }
+ if( newline.size()>0 )dataSet.push_back( newline );
+ }
+
+ sotDEBUGOUT(15);
+}
+
+void sotReader::clear( void )
+{
+ sotDEBUGIN(15);
+
+ dataSet.clear();
+ iteratorSet = false;
+
+ sotDEBUGOUT(15);
+}
+
+void sotReader::
+rewind( void )
+{
+ sotDEBUGIN(15);
+ iteratorSet = false;
+ sotDEBUGOUT(15);
+}
+
+ml::Vector& sotReader::
+getNextData( ml::Vector& res, const unsigned int time )
+{
+ sotDEBUGIN(15);
+
+ if(! iteratorSet )
+ {
+ sotDEBUG(15) << "Start the list" << std::endl;
+ currentData = dataSet.begin(); iteratorSet=true;
+ }
+ else if( currentData!=dataSet.end() ){ ++currentData; }
+
+ if( currentData==dataSet.end() )
+ {
+ sotDEBUGOUT(15);
+ return res;
+ }
+
+ const Flags& selection = selectionSIN(time);
+ const std::vector<double> & curr = *currentData;
+
+ unsigned int dim=0;
+ for( unsigned int i=0;i<curr.size();++i ) if( selection(i) ) dim++;
+
+ res.resize(dim);
+ unsigned int cursor=0;
+ for( unsigned int i=0;i<curr.size();++i )
+ if( selection(i) ) res(cursor++)=curr[i];
+
+ sotDEBUGOUT(15);
+ return res;
+}
+
+ml::Matrix& sotReader::
+getNextMatrix( ml::Matrix& res, const unsigned int time )
+{
+ sotDEBUGIN(15);
+ const ml::Vector& vect = vectorSOUT(time);
+ if( vect.size()<nbRows*nbCols ) return res;
+
+ res.resize( nbRows,nbCols );
+ for( unsigned int i=0;i<nbRows;++i )
+ for( unsigned int j=0;j<nbCols;++j )
+ res(i,j)=vect(i*nbCols+j);
+
+ sotDEBUGOUT(15);
+ return res;
+}
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+/* --------------------------------------------------------------------- */
+
+
+void sotReader::
+display( std::ostream& os ) const
+{
+ os << CLASS_NAME << " " << name << endl;
+}
+
+
+std::ostream& operator<< ( std::ostream& os,const sotReader& t )
+{
+ t.display(os);
+ return os;
+}
+
+void sotReader::
+commandLine( const std::string& cmdLine
+ ,std::istringstream& cmdArgs
+ ,std::ostream& os )
+{
+ if( cmdLine=="help" )
+ {
+ os << "Reader: "<<endl
+ << " - load" << endl;
+
+ Entity::commandLine( cmdLine,cmdArgs,os );
+ }
+ else if( cmdLine=="load" )
+ {
+ string filename;
+ cmdArgs>>ws>>filename;
+ load(filename);
+ }
+ else if( cmdLine=="rewind" )
+ {
+ cmdArgs>>ws;
+ rewind( );
+ }
+ else if( cmdLine=="clear" )
+ {
+ cmdArgs>>ws;
+ clear( );
+ }
+ else if( cmdLine=="resize" )
+ {
+ cmdArgs >>ws;
+ if( cmdArgs.good() ) { cmdArgs >> nbRows >>nbCols; }
+ else { os << "Matrix size = " << nbRows << " x " <<nbCols <<std::endl; }
+ }
+ else { Entity::commandLine( cmdLine,cmdArgs,os ); }
+
+
+
+}
--
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