rec.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 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 << "-V, --version   : shows the version number\n";
        stream << "Targets are any valid Dashel targets." << std::endl;
        stream << "Report bugs to: aseba-dev@gna.org" << std::endl;
}

void dumpVersion(std::ostream &stream)
{
        stream << "Aseba rec " << 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();
        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 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::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;
}