Re: [Java-player-developers] MapInterface

[Radu B. R. <ru...@cs...>]

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: {
> 
> 
> ------------------------------------------------------------------------
> 
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> 
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-- 
| Radu Bogdan Rusu | http://rbrusu.com/
| http://www9.cs.tum.edu/people/rusu/
| Intelligent Autonomous Systems
| Technische Universitaet Muenchen