[simspark-cvs] simspark/spark/plugin/sparkmonitor sparkmonitorlogfileserver.cpp, NONE, 1.1.2.1 spa

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Update of /cvsroot/simspark/simspark/spark/plugin/sparkmonitor
In directory sc8-pr-cvs8.sourceforge.net:/tmp/cvs-serv26634

Modified Files:
      Tag: projectx
	Makefile.am export.cpp 
Added Files:
      Tag: projectx
	sparkmonitorlogfileserver.cpp sparkmonitorlogfileserver.h 
	sparkmonitorlogfileserver_c.cpp 
Log Message:
added sparkmonitorlogfileserver

--- NEW FILE: sparkmonitorlogfileserver_c.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group
   $Id: sparkmonitorlogfileserver_c.cpp,v 1.1.2.1 2007/07/18 23:08:50 fruit Exp $

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "sparkmonitorlogfileserver.h"

using namespace std;
using namespace oxygen;

FUNCTION(SparkMonitorLogFileServer, setFileName)
{
    string inName;

    if (
        (in.GetSize() != 1) ||
        (! in.GetValue(in[0], inName))
        )
        {
            return false;
        }

    obj->SetFileName(inName);
    return true;
}

FUNCTION(SparkMonitorLogFileServer, setStepDelay)
{
    int inDelay;

    if (
        (in.GetSize() != 1) ||
        (! in.GetValue(in[0], inDelay))
        )
        {
            return false;
        }

    obj->SetStepDelay(inDelay);
    return true;
}

FUNCTION(SparkMonitorLogFileServer, pauseMode)
{
    if (in.GetSize() != 0) 
        {
            return false;
        }

    obj->Pause();
    return true;
}

FUNCTION(SparkMonitorLogFileServer, stepForward)
{
    if (in.GetSize() != 0) 
        {
            return false;
        }

    obj->ForwardStep();
    return true;
}

FUNCTION(SparkMonitorLogFileServer, stepBackward)
{
    if (in.GetSize() != 0) 
        {
            return false;
        }

    obj->BackwardStep();
    return true;
}

FUNCTION(SparkMonitorLogFileServer, playBackward)
{
    if (in.GetSize() != 0) 
        {
            return false;
        }

    obj->BackwardPlayback();
    return true;
}

void
CLASS(SparkMonitorLogFileServer)::DefineClass()
{
    DEFINE_BASECLASS(oxygen/SimControlNode);
    DEFINE_FUNCTION(setFileName);
    DEFINE_FUNCTION(pauseMode);
    DEFINE_FUNCTION(stepForward);
    DEFINE_FUNCTION(stepBackward);
    DEFINE_FUNCTION(playBackward);
    DEFINE_FUNCTION(setStepDelay);
}

--- NEW FILE: sparkmonitorlogfileserver.h ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#ifndef SPARK_SPARKMONITORLOGFILESERVER_H
#define SPARK_SPARKMONITORLOGFILESERVER_H

#include <sfsexp/sexp.h>
#include <zeitgeist/class.h>
#include <oxygen/simulationserver/simcontrolnode.h>
#include <oxygen/sceneserver/sceneserver.h>
#include <oxygen/sceneserver/scene.h>
#include <oxygen/sceneserver/sceneimporter.h>
#include <oxygen/gamecontrolserver/predicate.h>
#include <fstream>
#include <stack>

class SparkMonitorLogFileServer : public oxygen::SimControlNode
{
public:
    SparkMonitorLogFileServer();
    virtual ~SparkMonitorLogFileServer();

    /** called once when the simulation is started */
    virtual void InitSimulation();

    /** called once before the simulation is shut down */
    virtual void DoneSimulation();

    /** called when a new simulation cycle starts, before the
        simulation is stepped */
    virtual void StartCycle();

    /** set the log file name */
    void SetFileName(std::string fileName){ mLogfileName = fileName; }

    /** pause the log player */
    void Pause(){ mPause = !mPause; }

    /** go to the next step */
    void ForwardStep(){ mForwardStep = true; }

    /** go to the previous step */
    void BackwardStep();

    /** backward play the log file back */
    void BackwardPlayback();

    /** set the length of delay between steps */
    void SetStepDelay(int delay){ mStepDelay = delay; }

protected:
    /** parses a received message */
    void ParseMessage(const std::string& msg);

    void ParseCustomPredicates(sexp_t* sexp, oxygen::PredicateList& pList);

    /** parses the given s-expression into a ParameterList and
        transfers it to a registered user monitor
     */
    void ParseCustomPredicates(sexp_t* sexp);

    virtual void OnLink();
    virtual void OnUnlink();

protected:
    /** cached reference to the SceneServer */
    boost::shared_ptr<oxygen::SceneServer> mSceneServer;

    /** cached reference to the current active scene */
    boost::shared_ptr<oxygen::Scene> mActiveScene;

    /** chached reference to the scene importer */
    boost::shared_ptr<oxygen::SceneImporter> mSceneImporter;

    /** the root node of the managed scene */
    boost::shared_ptr<oxygen::BaseNode> mManagedScene;

    /** the logfile name */
    std::string mLogfileName;

    /** the logfile */
    std::ifstream mLog;

    /** the pause state of the log player */
    bool mPause;

    /** go to the next step in the log file */
    bool mForwardStep;

    /** line numbers storage */
    std::stack<unsigned> linePositions;

    /** the length of delay between seteps */
    int mStepDelay;

    bool mBackwardPlayback;

    /** cached reference to the script server */
    boost::shared_ptr<zeitgeist::ScriptServer> mScriptServer;
};

DECLARE_CLASS(SparkMonitorLogFileServer);

#endif // SPARKMONITORLOGFILESERVER_H

Index: Makefile.am
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkmonitor/Makefile.am,v
retrieving revision 1.1
retrieving revision 1.1.4.1
diff -C2 -d -r1.1 -r1.1.4.1
*** Makefile.am	13 Dec 2005 21:48:50 -0000	1.1
--- Makefile.am	18 Jul 2007 23:08:50 -0000	1.1.4.1
***************
*** 8,12 ****
  	sparkmonitorclient.h \
  	sparkmonitorclient.cpp \
! 	sparkmonitorclient_c.cpp

  sparkmonitor_la_LDFLAGS = -module -version-info 0:0:0 -L${top_srcdir}/utility/sfsexp/
--- 8,15 ----
  	sparkmonitorclient.h \
  	sparkmonitorclient.cpp \
! 	sparkmonitorclient_c.cpp \
! 	sparkmonitorlogfileserver.h \
! 	sparkmonitorlogfileserver.cpp \
! 	sparkmonitorlogfileserver_c.cpp

  sparkmonitor_la_LDFLAGS = -module -version-info 0:0:0 -L${top_srcdir}/utility/sfsexp/

--- NEW FILE: sparkmonitorlogfileserver.cpp ---
/* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*-

   this file is part of rcssserver3D
   Fri May 9 2003
   Copyright (C) 2002,2003 Koblenz University
   Copyright (C) 2003 RoboCup Soccer Server 3D Maintenance Group

   This program is free software; you can redistribute it and/or modify
   it under the terms of the GNU General Public License as published by
   the Free Software Foundation; version 2 of the License.

   This program is distributed in the hope that it will be useful,
   but WITHOUT ANY WARRANTY; without even the implied warranty of
   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
   GNU General Public License for more details.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "sparkmonitorlogfileserver.h"
#include <oxygen/monitorserver/custommonitor.h>
#include <zeitgeist/logserver/logserver.h>
#include <zeitgeist/scriptserver/scriptserver.h>
#include <netinet/in.h>
#include <rcssnet/exception.hpp>
#include <cerrno>

using namespace oxygen;
using namespace zeitgeist;
using namespace rcss::net;
using namespace salt;
using namespace boost;
using namespace std;

SparkMonitorLogFileServer::SparkMonitorLogFileServer() : SimControlNode()
{
    mPause = false;
    mForwardStep = false;
    mStepDelay = 0;
    mBackwardPlayback = false;
}

SparkMonitorLogFileServer::~SparkMonitorLogFileServer()
{
}

void SparkMonitorLogFileServer::OnLink()
{
    mScriptServer = GetCore()->GetScriptServer();

    // setup SceneServer reference
    mSceneServer = shared_dynamic_cast<SceneServer>
        (GetCore()->Get("/sys/server/scene"));

    if (mSceneServer.get() == 0)
        {
            GetLog()->Error()
                << "(SparkMonitor) ERROR: SceneServer not found\n";
        }

}

void SparkMonitorLogFileServer::OnUnlink()
{
    mSceneServer.reset();
    if (mManagedScene.get() != 0)
        {
            mManagedScene->UnlinkChildren();
            mManagedScene.reset();
        }
}

void SparkMonitorLogFileServer::InitSimulation()
{
    // get the SceneImporter
    mSceneImporter = shared_dynamic_cast<SceneImporter>
        (GetCore()->Get("/sys/server/scene/RubySceneImporter"));

    if (mSceneImporter.get() == 0)
        {
            GetLog()->Error()
                << "(SparkMonitorLogFileServer) ERROR: cannot create"
                << " a RubySceneImporter instance\n";
        }

    mLog.open(mLogfileName.c_str());

    if (! mLog.is_open())
        {
            GetLog()->Error()
                << "(SparkMonitorLogFileServer) ERROR: cannot open"
                << " the log file\n";

            exit(1);
        }
}

void SparkMonitorLogFileServer::DoneSimulation()
{
    mActiveScene.reset();
    mSceneImporter.reset();
    mLog.close();
}

void SparkMonitorLogFileServer::StartCycle()
{

    if (mPause && !mForwardStep)
        {
            return;
        }

    if (mBackwardPlayback)
        {
            if (linePositions.size() < 3)
                return;

            linePositions.pop();
            linePositions.pop();

            mLog.seekg( linePositions.top() );
        }

    string msg;

    linePositions.push( mLog.tellg() );
    std::getline(mLog,msg);

    if (msg.size() != 0)
        {
            ParseMessage(msg);
        }

    usleep(mStepDelay);

    mForwardStep = false;
}

void SparkMonitorLogFileServer::ParseCustomPredicates(sexp_t* sexp, PredicateList& pList)
{
    if (
        (sexp == 0) ||
        (sexp->ty != SEXP_VALUE)
        )
        {
            return;
        }

    Predicate& pred = pList.AddPredicate();
    pred.name = sexp->val;

    sexp = sexp->next;
    while (sexp != 0)
        {
            if (sexp->ty == SEXP_VALUE)
                {
                    pred.parameter.AddValue(sexp->val);
                }

            sexp = sexp->next;
        }
}

void SparkMonitorLogFileServer::ParseCustomPredicates(sexp_t* sexp)
{
    // ( (name param1 param2 ...) (name param1 param2 ...) ... )
    if (sexp == 0)
        {
            return;
        }

    // get list of registered CustomMonitor objects
    TLeafList customList;
    ListChildrenSupportingClass<CustomMonitor>(customList);
    customList.push_back(GetCore()->Get("/sys/server/simulation/SparkMonitorClient/SoccerMonitor"));

    if (customList.empty())
        {
            return;
        }

    // parse predicates
    PredicateList pList;

    sexp = sexp->list;
    while (sexp != 0)
        {
            if (sexp->ty == SEXP_LIST)
                {
                    sexp_t* sPred = sexp->list;
                    ParseCustomPredicates(sPred,pList);
                }

            sexp = sexp->next;
        }

    // pass predicates to all registered CustomMonitor objects
    for (
         TLeafList::iterator iter = customList.begin();
         iter != customList.end();
         ++iter
         )
        {
            shared_static_cast<CustomMonitor>((*iter))
                ->ParseCustomPredicates(pList);
        }
}

void SparkMonitorLogFileServer::ParseMessage(const string& msg)
{
    if (
        (mSceneServer.get() == 0) ||
        (mSceneImporter.get() == 0)
        )
        {
            return;
        }

    mActiveScene = mSceneServer->GetActiveScene();

    if (mActiveScene.get() == 0)
        {
            return;
        }

    if (mManagedScene.get() == 0)
        {
            mManagedScene = shared_dynamic_cast<BaseNode>
                (GetCore()->New("oxygen/BaseNode"));
            mActiveScene->AddChildReference(mManagedScene);
        }

    // parse s-expressions; we expect a leading list of custom
    // predicates followed by the RubySceneGraph expressions

    /** (
        (predicate parameter ...)
        (predicate parameter ...)
        ...
        )
        (RubySceneGraph Header)
        (RubySceneGraph Body)
        )
    **/

    char* msgBuf        = const_cast<char*>(msg.c_str());
    pcont_t* pcont      = init_continuation(msgBuf);
    sexp_t* sexp_custom = iparse_sexp(msgBuf,msg.size(),pcont);

    if (sexp_custom == 0)
        {
            destroy_sexp(sexp_custom);
            destroy_continuation(pcont);
            return;
        }

    ParseCustomPredicates(sexp_custom);

    mSceneImporter->ParseScene(string(pcont->lastPos),
                               mManagedScene,
                               shared_ptr<ParameterList>());

    destroy_sexp(sexp_custom);
    destroy_continuation(pcont);
}

void
SparkMonitorLogFileServer::BackwardStep()
{
    if (linePositions.size() < 3)
        return;

    linePositions.pop();
    linePositions.pop();

    mLog.seekg( linePositions.top() );

    mForwardStep = true;
}

void
SparkMonitorLogFileServer::BackwardPlayback()
{
    mBackwardPlayback = !mBackwardPlayback;
    mPause = false;
}

Index: export.cpp
===================================================================
RCS file: /cvsroot/simspark/simspark/spark/plugin/sparkmonitor/export.cpp,v
retrieving revision 1.1
retrieving revision 1.1.4.1
diff -C2 -d -r1.1 -r1.1.4.1
*** export.cpp	13 Dec 2005 21:48:50 -0000	1.1
--- export.cpp	18 Jul 2007 23:08:50 -0000	1.1.4.1
***************
*** 22,25 ****
--- 22,26 ----
  #include "sparkmonitor.h"
  #include "sparkmonitorclient.h"
+ #include "sparkmonitorlogfileserver.h"
  #include <zeitgeist/zeitgeist.h>

***************
*** 29,31 ****
--- 30,33 ----
      ZEITGEIST_EXPORT(SparkMonitor);
      ZEITGEIST_EXPORT(SparkMonitorClient);
+     ZEITGEIST_EXPORT(SparkMonitorLogFileServer);
  ZEITGEIST_EXPORT_END()

[simspark-cvs] simspark/spark/plugin/sparkmonitor sparkmonitorlogfileserver.cpp, NONE, 1.1.2.1 spa

[simspark-cvs] simspark/spark/plugin/sparkmonitor sparkmonitorlogfileserver.cpp, NONE, 1.1.2.1 sparkmonitorlogfileserver.h, NONE, 1.1.2.1 sparkmonitorlogfileserver_c.cpp, NONE, 1.1.2.1 Makefile.am, 1.1, 1.1.4.1 export.cpp, 1.1, 1.1.4.1