dump.cpp

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/*
        Aseba - an event-based framework for distributed robot control
        Copyright (C) 2007--2012:
                Stephane Magnenat <stephane at magnenat dot net>
                (http://stephane.magnenat.net)
                and other contributors, see authors.txt for details
        
        This program is free software: you can redistribute it and/or modify
        it under the terms of the GNU Lesser General Public License as published
        by the Free Software Foundation, version 3 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 Lesser General Public License for more details.
        
        You should have received a copy of the GNU Lesser General Public License
        along with this program. If not, see <http://www.gnu.org/licenses/>.
*/

#include "../common/consts.h"
#include "../msg/msg.h"
#include "../utils/utils.h"
#include <dashel/dashel.h>
#include "../transport/dashel_plugins/dashel-plugins.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(wcout);
                        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 << "-V, --version   : shows the version number\n";
        stream << "Targets are any valid Dashel targets." << std::endl << std::endl;
        stream << "Report bugs to: aseba-dev@gna.org" << std::endl;
}

void dumpVersion(std::ostream &stream)
{
        stream << "Aseba dump " << ASEBA_VERSION << std::endl;
        stream << "Aseba protocol " << ASEBA_PROTOCOL_VERSION << std::endl;
        stream << "Licence LGPLv3: GNU LGPL version 3 <http://www.gnu.org/licenses/lgpl.html>\n";
}

int main(int argc, char *argv[])
{
        Dashel::initPlugins();
        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 if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0))
                {
                        dumpVersion(std::cout);
                        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;
}