/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/dump/dump.cpp

Go to the documentation of this file.

/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2009:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
                Mobots group, Laboratory of Robotics Systems, EPFL, Lausanne
        
        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, either version 3 of the License, or
        any other version as decided by the two original authors
        Stephane Magnenat and Valentin Longchamp.
        
        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, see <http://www.gnu.org/licenses/>.
*/

#include "../msg/msg.h"
#include "../utils/utils.h"
#include <dashel/dashel.h>
#include <time.h>
#include <iostream>
#include <cstring>

namespace Aseba
{
        using namespace Dashel;
        using namespace std;
        
        
        class Dump : public Hub
        {
        private:
                bool rawTime; 
        
        public:
                Dump(bool rawTime) :
                        rawTime(rawTime)
                {
                }
        
        protected:
                
                void connectionCreated(Stream *stream)
                {
                        dumpTime(cout, rawTime);
                        cout << stream->getTargetName()  << " connection created." << endl;
                }
                
                void incomingData(Stream *stream)
                {
                        Message *message = Message::receive(stream);
                        
                        dumpTime(cout, rawTime);
                        cout << stream->getTargetName()  << " ";
                        if (message)
                                message->dump(cout);
                        else
                                cout << "unknown message received";
                        cout << endl;
                }
                
                void connectionClosed(Stream *stream, bool abnormal)
                {
                        dumpTime(cout);
                        cout << stream->getTargetName() << " connection closed";
                        if (abnormal)
                                cout << " : " << stream->getFailReason();
                        cout << "." << endl;
                }
        };
        
}


void dumpHelp(std::ostream &stream, const char *programName)
{
        stream << "Aseba dump, print the content of aseba messages, usage:\n";
        stream << programName << " [options] [targets]*\n";
        stream << "Options:\n";
        stream << "--rawtime       : shows time in the form of sec:usec since 1970\n";
        stream << "-h, --help      : shows this help\n";
        stream << "Targets are any valid Dashel targets." << std::endl;
}

int main(int argc, char *argv[])
{
        bool rawTime = false;
        std::vector<std::string> targets;
        
        int argCounter = 1;
        
        while (argCounter < argc)
        {
                const char *arg = argv[argCounter];
                
                if (strcmp(arg, "--rawtime") == 0)
                {
                        rawTime = true;
                }
                else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0))
                {
                        dumpHelp(std::cout, argv[0]);
                        return 0;
                }
                else
                {
                        targets.push_back(argv[argCounter]);
                }
                argCounter++;
        }
        
        if (targets.empty())
                targets.push_back(ASEBA_DEFAULT_TARGET);
        
        try
        {
                Aseba::Dump dump(rawTime);
                for (size_t i = 0; i < targets.size(); i++)
                        dump.connect(targets[i]);
                dump.run();
        }
        catch(Dashel::DashelException e)
        {
                std::cerr << e.what() << std::endl;
        }
        
        return 0;
}

---

asebaros
Author(s): $author
autogenerated on Mon Sep 5 08:41:53 2011