/opt/ros/diamondback/stacks/ethzasl_aseba/asebaros/aseba/svn/replay/rec.cpp

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/*
        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 Recorder : public Hub
        {
        protected:
                
                void incomingData(Stream *stream)
                {
                        Message *message = Message::receive(stream);
                        UserMessage *userMessage = dynamic_cast<UserMessage *>(message);
                        if (userMessage)
                        {
                                dumpTime(cout, true);
                                cout << userMessage->source << " ";
                                cout << userMessage->type << " ";
                                cout << userMessage->data.size() << " ";
                                for (UserMessage::DataVector::const_iterator it = userMessage->data.begin(); it != userMessage->data.end(); ++it)
                                        cout << *it << " ";
                                cout << endl;
                        }
                }
        };
        
}


void dumpHelp(std::ostream &stream, const char *programName)
{
        stream << "Aseba rec, record the user messages to stdout for later replay, usage:\n";
        stream << programName << " [options] [targets]*\n";
        stream << "Options:\n";
        stream << "-h, --help      : shows this help\n";
        stream << "Targets are any valid Dashel targets." << std::endl;
}

int main(int argc, char *argv[])
{
        std::vector<std::string> targets;
        
        int argCounter = 1;
        
        while (argCounter < argc)
        {
                const char *arg = argv[argCounter];
                
                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::Recorder recorder;
                for (size_t i = 0; i < targets.size(); i++)
                        recorder.connect(targets[i]);
                recorder.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