LocomotionEvent.cc

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#include "LocomotionEvent.h"
#include <sstream>
#include <libxml/tree.h>
#include <iostream>

using namespace std;

const EventBase::classTypeID_t LocomotionEvent::autoRegisterLocomotionEvent=getTypeRegistry().registerType<LocomotionEvent>(makeClassTypeID("LOCO"));

std::string
LocomotionEvent::getDescription(bool showTypeSpecific/*=true*/, unsigned int verbosity/*=0*/) const {
  if(!showTypeSpecific)
    return EventBase::getDescription(showTypeSpecific,verbosity);
  std::ostringstream logdata;
  logdata << EventBase::getDescription(showTypeSpecific,verbosity) << '\t' << x << '\t' << y << '\t' << a;
  return logdata.str();
}
  
unsigned int
LocomotionEvent::getBinSize() const {
  unsigned int used=EventBase::getBinSize();
  if(saveFormat==XML)
    return used; //if using XML, the XMLLoadSave::getBinSize (called by EventBase::getBinSize) is all we need
  //otherwise need to add our own fields
  used+=creatorSize("EventBase::LocomotionEvent");
  used+=getSerializedSize(x);
  used+=getSerializedSize(y);
  used+=getSerializedSize(a);
  return used;
}

unsigned int
LocomotionEvent::loadBinaryBuffer(const char buf[], unsigned int len) {
  unsigned int origlen=len;
  if(!checkInc(EventBase::loadBinaryBuffer(buf,len),buf,len)) return 0;
  if(!checkCreatorInc("EventBase::LocomotionEvent",buf,len,true)) return 0;
  if(!decodeInc(x,buf,len)) return 0;
  if(!decodeInc(y,buf,len)) return 0;
  if(!decodeInc(a,buf,len)) return 0;
  return origlen-len; 
}

unsigned int
LocomotionEvent::saveBinaryBuffer(char buf[], unsigned int len) const {
  unsigned int origlen=len;
  if(!checkInc(EventBase::saveBinaryBuffer(buf,len),buf,len)) return 0;
  if(!saveCreatorInc("EventBase::LocomotionEvent",buf,len)) return 0;
  if(!encodeInc(x,buf,len)) return 0;
  if(!encodeInc(y,buf,len)) return 0;
  if(!encodeInc(a,buf,len)) return 0;
  return origlen-len;
}

void
LocomotionEvent::loadXML(xmlNode* node) {
  if(node==NULL)
    return;
  
  EventBase::loadXML(node);
  
  for(xmlNode* cur = skipToElement(node->children); cur!=NULL; cur = skipToElement(cur->next)) {
    if(xmlStrcmp(cur->name, (const xmlChar *)"param"))
      continue;
    
    xmlChar * name = xmlGetProp(cur,(const xmlChar*)"name");
    if(name==NULL)
      throw bad_format(cur,"property missing name");
    
    xmlChar * val = xmlGetProp(cur,(const xmlChar*)"value");
    if(val==NULL)
      throw bad_format(cur,"property missing value");
    
    //cout << "loadXML: " << name << "=" << val << endl;
    
    if(xmlStrcmp(name, (const xmlChar *)"x")==0)
      x=(float)atof((const char*)val);
    else if(xmlStrcmp(name, (const xmlChar *)"y")==0)
      y=(float)atof((const char*)val);
    else if(xmlStrcmp(name, (const xmlChar *)"a")==0)
      a=(float)atof((const char*)val);
    
    xmlFree(val);
    xmlFree(name);
  }
}

//! a little local macro to make saving fields easier
#define SAVE_PARAM(name) { \
xmlNode* cur=xmlNewChild(node,NULL,(const xmlChar*)"param",NULL); \
if(cur==NULL) \
throw bad_format(node,"Error: LocomotionEvent xml error on saving param"); \
xmlSetProp(cur,(const xmlChar*)"name",(const xmlChar*)#name); \
char valbuf[20]; \
snprintf(valbuf,20,"%g",name); \
xmlSetProp(cur,(const xmlChar*)"value",(const xmlChar*)valbuf); }

void
LocomotionEvent::saveXML(xmlNode * node) const {
  if(node==NULL)
    return;
  EventBase::saveXML(node);
  
  //clear old params first
  for(xmlNode* cur = skipToElement(node->children); cur!=NULL; ) {
    if(xmlStrcmp(cur->name, (const xmlChar *)"param")==0) {
      xmlUnlinkNode(cur);
      xmlFreeNode(cur);
      cur = skipToElement(node->children); //restart the search (boo)
    } else
      cur = skipToElement(cur->next);
  }
  
  //cout << "saveXML: " << x << ' ' << y << ' ' << a << endl;

  SAVE_PARAM(x);
  SAVE_PARAM(y);
  SAVE_PARAM(a);
}

/*! @file
 * @brief Implements LocomotionEvent, which gives updates regarding the current movement of the robot through the world
 * @author ejt (Creator)
 */