Patched and committed to the SVN repository.
Thanks Kurt!
Best,
R.
Kurt Konolige wrote:
> Folks, here's a new diff for MapInterface.java, fixing a problem with
> compressed map tiles. The previous version didn't uncompress the tile;
> this version uses Java's ZLIB classes to do it. Tested with Player 2.0.2.
>
> Cheers --Kurt
>
>
> ------------------------------------------------------------------------
>
> Index: MapInterface.java
> ===================================================================
> --- MapInterface.java (revision 68)
> +++ MapInterface.java (working copy)
> @@ -34,6 +34,8 @@
> import javaclient2.structures.map.PlayerMapData;
> import javaclient2.structures.map.PlayerMapDataVector;
>
> +import java.util.zip.*;
> +
> /**
> * The map interface provides acces to an occupancy grid map. This interface returns no data
> * and accepts no commands. The map is delivered in tiles, via a sequence of configuration
> @@ -147,14 +149,15 @@
> */
> public void requestMapData (PlayerMapData pmd) {
> try {
> - sendHeader (PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA, 20);
> - XdrBufferEncodingStream xdr = new XdrBufferEncodingStream (20);
> + sendHeader (PLAYER_MSGTYPE_REQ, PLAYER_MAP_REQ_GET_DATA, 24);
> + XdrBufferEncodingStream xdr = new XdrBufferEncodingStream (24);
> xdr.beginEncoding (null, 0);
> xdr.xdrEncodeInt (pmd.getCol ());
> xdr.xdrEncodeInt (pmd.getRow ());
> xdr.xdrEncodeInt (pmd.getWidth ());
> xdr.xdrEncodeInt (pmd.getHeight ());
> xdr.xdrEncodeInt (0);
> + xdr.xdrEncodeInt (0);
> xdr.endEncoding ();
> os.write (xdr.getXdrData (), 0, xdr.getXdrLength ());
> xdr.close ();
> @@ -203,12 +206,13 @@
> }
> case PLAYER_MAP_REQ_GET_DATA: {
> // Buffer for reading col, row, width, height, data_count
> - byte[] buffer = new byte[20];
> + // NOTE: extra 4 bytes are also returned
> + byte[] buffer = new byte[24];
> // Read col, row, width, height, data_count
> - is.readFully (buffer, 0, 20);
> -
> - pmdata = new PlayerMapData ();
> -
> + is.readFully (buffer, 0, 24);
> +
> + pmdata = new PlayerMapData ();
> +
> // Begin decoding the XDR buffer
> XdrBufferDecodingStream xdr = new XdrBufferDecodingStream (buffer);
> xdr.beginDecoding ();
> @@ -224,13 +228,31 @@
> buffer = new byte[PLAYER_MAP_MAX_TILE_SIZE];
> // Read data
> is.readFully (buffer, 0, pmdata.getData_count ());
> - pmdata.setData (new String (buffer).toCharArray ());
> -
> - // Take care of the residual zero bytes
> - if ((pmdata.getData_count () % 4) != 0)
> - is.readFully (buffer, 0, 4 - (pmdata.getData_count () % 4));
> -
> - readyPmdata = true;
> +
> + try
> + {
> + byte [] outbuffer = new byte[PLAYER_MAP_MAX_TILE_SIZE];
> + Inflater decomp = new Inflater();
> + decomp.reset();
> + // NOTE: need to offset input buffer by 4 bytes
> + decomp.setInput(buffer,0,pmdata.getData_count());
> + int len = decomp.inflate(outbuffer);
> + pmdata.setData (new String (outbuffer).toCharArray ());
> +
> + // Take care of the residual zero bytes
> + if ((pmdata.getData_count () % 4) != 0)
> + is.readFully (buffer, 0, 4 - (pmdata.getData_count () % 4));
> +
> + // Reset data count
> + pmdata.setData_count(len);
> + System.err.println("Map decompress: "+pmdata.getData_count()+" bytes");
> + readyPmdata = true;
> + }
> + catch (Exception ex)
> + {
> + ex.printStackTrace();
> + }
> +
> break;
> }
> case PLAYER_MAP_REQ_GET_VECTOR: {
>
>
> ------------------------------------------------------------------------
>
> Using Tomcat but need to do more? Need to support web services, security?
> Get stuff done quickly with pre-integrated technology to make your job easier
> Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo
> http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642
>
>
> ------------------------------------------------------------------------
>
> _______________________________________________
> Java-player-developers mailing list
> Jav...@li...
> https://lists.sourceforge.net/lists/listinfo/java-player-developers
--
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen
|
