GrxWorldStateItem.java
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1 /*
2  * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
3  * All rights reserved. This program is made available under the terms of the
4  * Eclipse Public License v1.0 which accompanies this distribution, and is
5  * available at http://www.eclipse.org/legal/epl-v10.html
6  * Contributors:
7  * General Robotix Inc.
8  * National Institute of Advanced Industrial Science and Technology (AIST)
9  */
10 /*
11  * GrxWorldStateItem.java
12  *
13  * Copyright (C) 2007 GeneralRobotix, Inc.
14  * All Rights Reserved
15  *
16  * @author Yuichiro Kawasumi (General Robotix, Inc.)
17  */
18 
19 package com.generalrobotix.ui.item;
20 
21 import java.io.*;
22 import java.lang.reflect.InvocationTargetException;
23 import java.lang.Runtime;
24 import java.nio.ByteBuffer;
25 import java.util.*;
26 import java.util.zip.ZipEntry;
27 import java.util.zip.ZipFile;
28 import javax.vecmath.Matrix3d;
29 
30 import org.eclipse.core.runtime.IProgressMonitor;
31 import org.eclipse.jface.action.Action;
32 import org.eclipse.jface.dialogs.MessageDialog;
33 import org.eclipse.jface.dialogs.ProgressMonitorDialog;
34 import org.eclipse.jface.operation.IRunnableWithProgress;
35 import org.eclipse.swt.SWT;
36 import org.eclipse.swt.widgets.FileDialog;
37 import org.eclipse.swt.widgets.DirectoryDialog;
38 
39 import jp.go.aist.hrp.simulator.*;
40 
41 import com.generalrobotix.ui.GrxBaseView;
42 import com.generalrobotix.ui.GrxPluginManager;
43 import com.generalrobotix.ui.GrxPositionObserver;
44 import com.generalrobotix.ui.GrxTimeSeriesItem;
45 import com.generalrobotix.ui.grxui.GrxUIPerspectiveFactory;
46 import com.generalrobotix.ui.util.AxisAngle4d;
47 import com.generalrobotix.ui.util.GrxDebugUtil;
48 import com.generalrobotix.ui.util.MessageBundle;
49 import com.generalrobotix.ui.view.graph.*;
50 import com.generalrobotix.ui.util.GrxCopyUtil;
51 
52 @SuppressWarnings("serial") //$NON-NLS-1$
53 public class GrxWorldStateItem extends GrxTimeSeriesItem {
54  public static final String TITLE = "World State"; //$NON-NLS-1$
55  public static final String DEFAULT_DIR = "/"; //$NON-NLS-1$
56  public static final String FILE_EXTENSION = "log"; //$NON-NLS-1$
57 
58  public static final double DEFAULT_TOTAL_TIME = 20.0;
59  private static final int MAX_RAM_BUFFER_SIZE = -1; // 無制限
60  private static final int LOAD_LOG_MODITOR_DIM = 32; // プログレスモニター用定数
61  private static final long HEAP_MEMORY_TOLERANCE = 4*1024*1024; //残りヒープメモリサイズの許容量
62  private static final String OVER_HEAP_LOG_DIR_NAME = "over"; //ヒープメモリを超えたときにログを退避させるディレクトリ //$NON-NLS-1$
63  private static String LOG_DIR;
64 
65  private WorldStateEx newStat_ = null;
66  private WorldStateEx preStat_ = null;
67  private int prePos_ = -1;
68 
69  public final LogManager logger_ = new LogManager();
70  private float recDat_[][];
71  private String lastCharName_ = null;
72  private boolean initLogFlag_ = false;
73  private boolean useDisk_ = true;
74  private boolean storeAllPos_ = true;
75 
76  private Action save_ = new Action(){
77  public String getText(){ return MessageBundle.get("GrxWorldStateItem.menu.saveLog"); } //$NON-NLS-1$
78  public void run(){
79  if(isRemoved()){
80  MessageDialog.openWarning(
81  GrxUIPerspectiveFactory.getCurrentShell(),
82  MessageBundle.get("GrxWorldStateItem.dialog.title.saveLog"), //$NON-NLS-1$
83  MessageBundle.get("GrxWorldStateItem.dialog.message.saveLog")); //$NON-NLS-1$
84  return;
85  }
86  _saveLog();
87  }
88  };
89  private Action saveCSV_ = new Action(){
90  public String getText(){ return MessageBundle.get("GrxWorldStateItem.menu.saveAsCSV"); } //$NON-NLS-1$
91  public void run(){
92  if(isRemoved()){
93  MessageDialog.openWarning(
94  GrxUIPerspectiveFactory.getCurrentShell(),
95  MessageBundle.get("GrxWorldStateItem.dialog.title.saveAsCSV"), //$NON-NLS-1$
96  MessageBundle.get("GrxWorldStateItem.dialog.message.saveAsCSV")); //$NON-NLS-1$
97  return;
98  }
99  _saveCSV();
100  }
101  };
102  private Action clear_ = new Action(){
103  public String getText(){ return MessageBundle.get("GrxWorldStateItem.menu.clearLog"); } //$NON-NLS-1$
104  public void run(){
105  if( MessageDialog.openQuestion( null, MessageBundle.get("GrxWorldStateItem.dialog.title.clearLog"), MessageBundle.get("GrxWorldStateItem.dialog.message.clearLog") ) ) //$NON-NLS-1$ //$NON-NLS-2$
106  clearLog();
107  }
108  };
109 
110  private AxisAngle4d a4d = new AxisAngle4d();
111  private Matrix3d m3d = new Matrix3d();
112  private AxisAngle4d a4dg = new AxisAngle4d();
113  private Matrix3d m3dg = new Matrix3d();
114 
115  private String tempDirBase_;
116  private String tempDir_;
117 
118  public GrxWorldStateItem(String name, GrxPluginManager manager) {
119  super(name, manager);
120 
121  tempDirBase_ = System.getProperty("java.io.tmpdir")+File.separator+"grxui-"+System.getProperty("user.name")+File.separator; //$NON-NLS-1$ //$NON-NLS-2$ //$NON-NLS-3$
122  tempDir_ = tempDirBase_+getName();
123 
124  Action load = new Action(){
125  public String getText(){ return MessageBundle.get("GrxWorldStateItem.menu.loadLog"); } //$NON-NLS-1$
126  public void run(){
127  FileDialog fdlg = new FileDialog(GrxUIPerspectiveFactory.getCurrentShell(), SWT.OPEN);
128  fdlg.setFilterExtensions(new String[]{"*.log"}); //$NON-NLS-1$
129  fdlg.setFilterPath(getDefaultDir().getAbsolutePath());
130  final String fPath = fdlg.open();
131  _loadLog(new File(fPath));
132  setDefaultDirectory(new File(fPath).getParent());
133  }
134  };
135  setMenuItem(save_);
136  setMenuItem(load);
137  setMenuItem(saveCSV_);
138  setMenuItem(clear_);
139 
140  setExclusive(true);
141  setIcon( "world.png" ); //$NON-NLS-1$
142 
143  logger_.init();
144  }
145 
146 // public static String[] getStaticMenu() {
147 // return new String[]{"create", "load"};
148 // }
149 
150  public boolean create() {
151  clearLog();
152  setDbl("logTimeStep", 0.001); //$NON-NLS-1$
153  return true;
154  }
155 
156  public boolean load(File f) {
157  _loadLog(f);
158  return true;
159  }
160 
161  public void setLogMenus(boolean bAble){
162  save_.setEnabled(bAble);
163  saveCSV_.setEnabled(bAble);
164  clear_.setEnabled(bAble);
165  }
166 
167  public void restoreProperties() {
168  super.restoreProperties();
169  useDisk_ = isTrue("useDisk", true); //$NON-NLS-1$
170  storeAllPos_ = isTrue("storeAllPosition", storeAllPos_); //$NON-NLS-1$
171  int size = getInt("bufferSize", MAX_RAM_BUFFER_SIZE); //$NON-NLS-1$
172  if ( useDisk_ ) {
173  super.setMaximumLogSize(MAX_RAM_BUFFER_SIZE);
174  } else {
175  GrxDebugUtil.println("GrxWorldStateItem: useDisk = false"); //$NON-NLS-1$
176  super.setMaximumLogSize(size);
177  }
178  }
179 
180  public void rename(String newName) {
181  File oldDir = new File(LOG_DIR+File.separator+getName());
182  super.rename(newName);
183  File newDir = new File(LOG_DIR+File.separator+getName());
184  if (newDir.isDirectory())
185  newDir.delete();
186 
187  if (oldDir.isDirectory())
188  oldDir.renameTo(newDir);
189  else
190  newDir.mkdir();
191 
192  logger_.setTempDir(newDir.getPath());
193  }
194 
195  public void clearLog() {
196  super.clearLog();
197  initLogFlag_ = false;
198  logger_.init();
199  newStat_ = null;
200  preStat_ = null;
201  prePos_ = -1;
202  lastCharName_ = null;
203  setLogMenus(false);
204  remove("url");
205  if(useDisk_)
206  logger_.closeReads();
207  syncExec(new Runnable(){
208  public void run(){
209  notifyObservers("ClearLog"); //$NON-NLS-1$
210  }
211  });
212  }
213 
214  @SuppressWarnings("unchecked") //$NON-NLS-1$
215  public void registerCharacter(String cname, BodyInfo binfo) {
216  ArrayList<String> logList = new ArrayList<String>();
217  logList.add("time"); //$NON-NLS-1$
218  logList.add("float"); //$NON-NLS-1$
219 
220  LinkInfo[] li = binfo.links();
221  ArrayList<Short> jointList = new ArrayList<Short>();
222  ArrayList<SensorInfoLocal> sensList = new ArrayList<SensorInfoLocal>();
223  for (int i=0; i<li.length; i++) {
224  jointList.add(li[i].jointId);
225 
226  SensorInfo[] si = li[i].sensors;
227  for (int j=0; j<si.length; j++)
228  sensList.add(new SensorInfoLocal(si[j]));
229  }
230 
231  Collections.sort(sensList);
232 
233  int len = storeAllPos_ ? li.length : 1;
234  for (int i=0; i< len; i++) {
235  String jname = li[i].name;
236  logList.add(jname+".translation"); //$NON-NLS-1$
237  logList.add("float[3]"); //$NON-NLS-1$
238  logList.add(jname+".rotation"); //$NON-NLS-1$
239  logList.add("float[4]"); //$NON-NLS-1$
240  }
241 
242  for (short i=0; i<jointList.size(); i++) { // short <- its depend on the idl def.
243  int idx = jointList.indexOf(i);
244  if (idx >= 0) {
245  String jname = li[idx].name;
246  logList.add(jname+".angle"); //$NON-NLS-1$
247  logList.add("float"); //$NON-NLS-1$
248  logList.add(jname+".jointTorque"); //$NON-NLS-1$
249  logList.add("float"); //$NON-NLS-1$
250  }
251  }
252 
253  for (int i=0; i<sensList.size(); i++) {
254  String sname = sensList.get(i).name;
255  // ##### [Changed] NewModelLoader.IDL
256  //switch(sensList.get(i).type) {
257  //case SensorType._FORCE_SENSOR:
258  // logList.add(sname+".force");
259  // logList.add("float[3]");
260  // logList.add(sname+".torque");
261  // logList.add("float[3]");
262  // break;
263  //case SensorType._RATE_GYRO:
264  // logList.add(sname+".angularVelocity");
265  // logList.add("float[3]");
266  // break;
267  //case SensorType._ACCELERATION_SENSOR:
268  // logList.add(sname+".acceleration");
269  // logList.add("float[3]");
270  // break;
271  //default:
272  // break;
273  //}
274  if(sensList.get(i).type.equals("Force")){ //$NON-NLS-1$
275  logList.add(sname+".force"); //$NON-NLS-1$
276  logList.add("float[3]"); //$NON-NLS-1$
277  logList.add(sname+".torque"); //$NON-NLS-1$
278  logList.add("float[3]"); //$NON-NLS-1$
279  }else if(sensList.get(i).type.equals("RateGyro")){ //$NON-NLS-1$
280  logList.add(sname+".angularVelocity"); //$NON-NLS-1$
281  logList.add("float[3]"); //$NON-NLS-1$
282  }else if(sensList.get(i).type.equals("Acceleration")){ //$NON-NLS-1$
283  logList.add(sname+".acceleration"); //$NON-NLS-1$
284  logList.add("float[3]"); //$NON-NLS-1$
285  }else if(sensList.get(i).type.equals("Range")){ //$NON-NLS-1$
286  logList.add(sname+".range"); //$NON-NLS-1$
287  SensorInfo info = sensList.get(i).info;
288  int half = (int)(info.specValues[0]/2/info.specValues[1]);// = scanAngle/scanStep
289  logList.add("float["+(half*2+1)+"]"); //$NON-NLS-1$ //$NON-NLS-2$
290  }else{
291  }
292  }
293 
294  logList.add("command"); //$NON-NLS-1$
295  logList.add("float["+jointList.size()+"]"); //$NON-NLS-1$ //$NON-NLS-2$
296  logList.add("servoState");
297  logList.add("float["+jointList.size()+"]");
298  logList.add("powerState");
299  logList.add("float[2]");
300  try {
301  logger_.addLogObject(cname, logList.toArray(new String[0]));
302  } catch (LogFileFormatException e) {
303  e.printStackTrace();
304  }
305  }
306 
307  public void addValue(Double t, Object obj) {
308  if ( useDisk_ ) {
309  _addValueToLog(t, obj);
310  }else {
311  if(overPos_ > 0){
312  // メモリ＋ファイル記録のログのファイル記録
313  _addValueToLog(t, obj);
314  ++overPos_;
315  } else {
316  if( Runtime.getRuntime().freeMemory() < HEAP_MEMORY_TOLERANCE){
317  //メモリからファイルへのログ保存に切替
318  File f = new File(tempDir_);
319  File pf = f.getParentFile();
320  if (!pf.isDirectory()){
321  pf.mkdir();
322  }
323  tempDir_ = tempDirBase_ + getName() + File.separator + OVER_HEAP_LOG_DIR_NAME;
324  changePos_ = super.getLogSize();
325  _addValueToLog(t, obj);
326  ++overPos_;
327  } else {
328  super.addValue(t, obj);
329  }
330  }
331  }
332  }
333 
334  private void _addValueToLog(Double t, Object obj){
335  if (obj instanceof WorldStateEx) {
336  newStat_ = (WorldStateEx) obj;
337  _initLog();
338  _toLogFile(logger_);
339  super.addValue(newStat_.time, null);
340  }
341  }
342 
343  private void _addValueToLogFromSuperLog(Double t, Object obj, LogManager temp){
344  if (obj instanceof WorldStateEx) {
345  newStat_ = (WorldStateEx) obj;
346  if(temp == logger_){
347  _initLog();
348  }
349  _toLogFile(temp);
350  }
351  }
352 
353  private void _toLogFile(LogManager temp){
354  temp.setTime(new Time((float)newStat_.time));
355 
356  try {
357  Collision[] cols = newStat_.collisions;
358  if (cols != null && cols.length > 0) {
359  List<CollisionPoint> cdList = new ArrayList<CollisionPoint>();
360  for (int i=0; i < cols.length; i++) {
361  if( cols[i].points == null){
362  continue;
363  }
364  for (int j=0; j<cols[i].points.length; j++)
365  cdList.add(cols[i].points[j]);
366  }
367  CollisionPoint[] cd = cdList.toArray(new CollisionPoint[0]);
368  temp.putCollisionPointData(cd);
369  }
370  } catch (Exception e) {
371  GrxDebugUtil.printErr("",e); //$NON-NLS-1$
372  }
373 
374  for (int i=0; i < newStat_.charList.size(); i++) {
375  int k = 0;
376  recDat_[i][k++] = (float) newStat_.time;
377  CharacterStateEx cpos = newStat_.charList.get(i);
378  int len = storeAllPos_ ? cpos.position.length : 1;
379  for (int j=0; j<len; j++) {
380  for (int m=0; m<3; m++)
381  recDat_[i][k++] = (float)cpos.position[j].p[m];
382  m3d.set(cpos.position[j].R);
383  //m3d.transpose();
384  a4d.setMatrix(m3d);
385  recDat_[i][k++] = (float) a4d.x;
386  recDat_[i][k++] = (float) a4d.y;
387  recDat_[i][k++] = (float) a4d.z;
388  recDat_[i][k++] = (float) a4d.angle;
389  }
390 
391  String cname = cpos.characterName;
392  SensorState sdata = cpos.sensorState;
393  if (sdata != null) {
394  for (int j=0; j<sdata.q.length; j++) {
395  recDat_[i][k++] = (float) sdata.q[j];
396  recDat_[i][k++] = (float) sdata.u[j];
397  }
398  for (int j=0; j<sdata.force.length; j++) {
399  for (int m=0; m<sdata.force[j].length; m++)
400  recDat_[i][k++] = (float)sdata.force[j][m];
401  }
402  for (int j=0; j<sdata.rateGyro.length; j++) {
403  for (int m=0; m<sdata.rateGyro[j].length; m++)
404  recDat_[i][k++] = (float)sdata.rateGyro[j][m];
405  }
406  for (int j=0; j<sdata.accel.length; j++) {
407  for (int m=0; m<sdata.accel[j].length; m++)
408  recDat_[i][k++] = (float)sdata.accel[j][m];
409  }
410  if (sdata.range != null){
411  for (int j=0; j<sdata.range.length; j++) {
412  for (int m=0; m<sdata.range[j].length; m++)
413  recDat_[i][k++] = (float)sdata.range[j][m];
414  }
415  }
416  }
417  if (cpos.targetState != null){
418  for (int j=0; j<cpos.targetState.length; j++){
419  recDat_[i][k++] = (float)cpos.targetState[j];
420  }
421  }
422  if (cpos.servoState != null){
423  for (int j=0; j<cpos.servoState.length; j++){
424  ByteBuffer buffer = ByteBuffer.allocate(10);
425  buffer.putInt(cpos.servoState[j]);
426  float f = buffer.getFloat(0);
427  recDat_[i][k++] = f;
428  //recDat_[i][k++] = (float)cpos.servoState[j];
429  }
430  }
431  if (cpos.powerState != null){
432  for (int j=0; j<cpos.powerState.length; j++){
433  recDat_[i][k++] = (float)cpos.powerState[j];
434  }
435  }
436  try {
437  temp.put(cname, recDat_[i]);
438  } catch (Exception e) {
439  e.printStackTrace();
440  }
441  }
442  }
443 
444  public void init(){
445  double val = getDbl("logTimeStep",0.001); //$NON-NLS-1$
446  setDbl("logTimeStep",val); //$NON-NLS-1$
447  }
448 
449  private void _initLog() {
450  if ( initLogFlag_ ){
451  return;
452  }
453  initLogFlag_ = true;
454  setLogMenus(true);
455  SimulationTime stime = new SimulationTime();
456  stime.setCurrentTime(newStat_.time);
457  stime.setStartTime(newStat_.time);
458 
459  double val = getDbl("logTimeStep",0.001); //$NON-NLS-1$
460  stime.setTimeStep(val);
461 
462  GrxSimulationItem simItem = manager_.<GrxSimulationItem>getSelectedItem(GrxSimulationItem.class, null);
463  String method = "";
464  if(simItem!=null){
465  val = simItem.getDbl("totalTime", DEFAULT_TOTAL_TIME); //$NON-NLS-1$
466  method = simItem.getStr("method");
467  }else
468  val = DEFAULT_TOTAL_TIME;
469  stime.setTotalTime(val);
470 
471  logger_.setTempDir(tempDir_);
472 
473  logger_.initCollisionLog(stime);
474  try {
475  logger_.openAsWrite(stime, method);
476  logger_.openAsRead();
477  logger_.openCollisionLogAsWrite();
478  logger_.openCollisionLogAsRead();
479  } catch (FileOpenFailException e) {
480  e.printStackTrace();
481  } catch (IOException e1) {
482  e1.printStackTrace();
483  }
484  recDat_ = new float[logger_.getLogObjectNum()][];
485  for (int i=0; i<recDat_.length; i++)
486  recDat_[i] = new float[logger_.getDataLength(newStat_.charList.get(i).characterName)];
487  preStat_ = newStat_;
488  }
489 
490  public WorldStateEx getValue() {
491  WorldStateEx ret = null;
492 
493  int pos = getPosition();
494  if(useDisk_){
495  if (pos >= 0){
496  if (pos == getLogSize()-1 && newStat_ != null){
497  ret = newStat_;
498  }
499  if (pos != prePos_ && preStat_ != null)
500  ret = getValue(pos);
501  }
502  } else {
503  if( pos > changePos_ && changePos_ >= 0){
504  ret = _getValueFromLog( pos - changePos_ );
505  } else {
506  ret = (WorldStateEx)super.getValue(pos);
507  }
508  }
509  return ret;
510  }
511 
512  public WorldStateEx getValue(int pos) {
513  WorldStateEx ret = null;
514  if (pos >= 0){
515  if ( useDisk_ ){
516  ret = _getValueFromLog( pos );
517  } else {
518  if( pos > changePos_ && changePos_ >= 0 ){
519  ret = _getValueFromLog(pos - changePos_);
520  } else {
521  ret = (WorldStateEx)super.getValue(pos);
522  }
523  }
524  }
525  return ret;
526  }
527 
528  private WorldStateEx _getValueFromLog(int pos){
529  if(pos == prePos_)
530  return preStat_;
531 
532  try {
533  preStat_.collisions = new Collision[]{new Collision()};
534  preStat_.collisions[0].points = logger_.getCollisionPointData(pos);
535 
536  for (int i=0; i<preStat_.charList.size(); i++) {
537  int k=0;
538  CharacterStateEx cpos = preStat_.charList.get(i);
539  float[] f = logger_.get(cpos.characterName, (long)pos);
540  preStat_.time = (double)f[k++];
541  for (int j=0; j<cpos.position.length; j++) {
542  LinkPosition lpos = cpos.position[j];
543  if (storeAllPos_ || j == 0) {
544  for (int m=0; m<3; m++)
545  lpos.p[m] = (double)f[k++];
546  a4dg.set((double)f[k++], (double)f[k++], (double)f[k++], (double)f[k++]);
547  m3dg.set(a4dg);
548  lpos.R[0] = m3dg.m00;
549  lpos.R[1] = m3dg.m01;
550  lpos.R[2] = m3dg.m02;
551  lpos.R[3] = m3dg.m10;
552  lpos.R[4] = m3dg.m11;
553  lpos.R[5] = m3dg.m12;
554  lpos.R[6] = m3dg.m20;
555  lpos.R[7] = m3dg.m21;
556  lpos.R[8] = m3dg.m22;
557  } else {
558  lpos.p = null; // to calculate kinema in model
559  lpos.R = null; // to calculate kinema in model
560  }
561  }
562 
563  SensorState sdata = cpos.sensorState;
564  if (sdata != null) {
565  for (int j=0; j<sdata.q.length; j++) {
566  sdata.q[j] = (double)f[k++];
567  sdata.u[j] = (double)f[k++];
568  }
569  for (int j=0; j<sdata.force.length; j++) {
570  for (int m=0; m<sdata.force[j].length; m++)
571  sdata.force[j][m] = (double)f[k++];
572  }
573  for (int j=0; j<sdata.rateGyro.length; j++) {
574  for (int m=0; m<sdata.rateGyro[j].length; m++)
575  sdata.rateGyro[j][m] = (double)f[k++];
576  }
577  for (int j=0; j<sdata.accel.length; j++) {
578  for (int m=0; m<sdata.accel[j].length; m++)
579  sdata.accel[j][m] = (double)f[k++];
580  }
581  if (sdata.range != null){
582  for (int j=0; j<sdata.range.length; j++) {
583  for (int m=0; m<sdata.range[j].length; m++)
584  sdata.range[j][m] = (double)f[k++];
585  }
586  }
587  }
588  if (cpos.targetState != null){
589  for (int j=0; j<cpos.targetState.length; j++){
590  cpos.targetState[j] = (double)f[k++];
591  }
592  }
593  if (cpos.servoState != null){
594  for (int j=0; j<cpos.servoState.length; j++){
595  ByteBuffer buffer = ByteBuffer.allocate(10);
596  buffer.putFloat(f[k++]);
597  int ss = buffer.getInt(0);
598  cpos.servoState[j] = ss;
599  //cpos.servoState[j] = (int)f[k++];
600  }
601  }
602  if (cpos.powerState != null){
603  for (int j=0; j<cpos.powerState.length; j++){
604  cpos.powerState[j] = (double)f[k++];
605  }
606  }
607  }
608  } catch (IOException e) {
609  e.printStackTrace();
610  }
611  prePos_ = pos;
612  return preStat_;
613  }
614 
615  private void _loadLog(final File logFile) {
616  try {
617  IRunnableWithProgress op = new IRunnableWithProgress() {
618  public void run(IProgressMonitor monitor) throws InvocationTargetException, InterruptedException {
619  int size = 0;
620  try{
621  ZipFile local = new ZipFile(logFile);
622  size = local.size();
623  local.close();
624  } catch ( IOException ex ){
625  ex.printStackTrace();
626  return;
627  } catch ( Exception ex){
628  ex.printStackTrace();
629  return;
630  }
631 
632  monitor.beginTask("Loading log as a file:"+logFile.getName(), size + LOAD_LOG_MODITOR_DIM + 2); //$NON-NLS-1$
633  _loadLog(logFile,monitor);
634  monitor.done();
635  notifyObservers("LoadLog");
636  }
637  };
638  new ProgressMonitorDialog(GrxUIPerspectiveFactory.getCurrentShell()).run(false, true, op);
639  setLogMenus(true);
640  } catch (InvocationTargetException e) {
641  e.printStackTrace();
642  } catch (InterruptedException e) {
643  clearLog();
644  }
645  }
646 
647  private void _loadLog(File logFile, IProgressMonitor monitor ) throws InterruptedException{
648  String fname = logFile.getAbsolutePath();
649  try {
650  if (logFile == null)
651  logFile = new File("log"+File.separator+getName()+".log"); //$NON-NLS-1$ //$NON-NLS-2$
652 
653  if (!logFile.isFile())
654  return;
655 
656  clearLog();
657  tempDir_ = tempDirBase_ + getName();
658  logger_.setTempDir(tempDir_);
659  logger_.load(fname, ""); //$NON-NLS-1$
660 
661  monitor.worked(1);
662  final SimulationTime sTime = new SimulationTime();
663  logger_.getSimulationTime(sTime);
664  syncExec(new Runnable(){
665  public void run(){
666  GrxSimulationItem simItem = manager_.<GrxSimulationItem>getSelectedItem(GrxSimulationItem.class, null);
667  if(simItem!=null)
668  simItem.setDbl("totalTime", sTime.getTotalTime());
669  setDbl("logTimeStep", sTime.getTimeStep()); //$NON-NLS-1$
670  }
671  });
672 
673  logger_.openAsRead();
674  logger_.openCollisionLogAsRead();
675 
676  preStat_ = new WorldStateEx();
677  Enumeration<? extends ZipEntry> e = new ZipFile(fname).entries();
678  while (e.hasMoreElements()) {
679  monitor.worked(1);
680  if (monitor.isCanceled())
681  throw new InterruptedException();
682  String entry = ((ZipEntry)e.nextElement()).getName();
683  if (entry.indexOf(LogManager.COLLISION_LOG_NAME) >= 0 ||
684  entry.indexOf(LogManager.COLLISION_LOG_DAT_NAME) >= 0) {
685  continue;
686  }
687 
688  lastCharName_ = new File(entry).getName().split(".tmp")[0]; //$NON-NLS-1$
689  String[] format = logger_.getDataFormat(lastCharName_);
690  List<LinkPosition> lposList = new ArrayList<LinkPosition>();
691  int jointCount = 0;
692  int forceCount = 0;
693  int gyroCount = 0;
694  int accelCount = 0;
695  int rangeCount = 0;
696 
697  for (int i=0; i<format.length; i++) {
698  String[] str = format[i].split("[.]"); //$NON-NLS-1$
699  if (str.length <= 1) {
700  continue;
701  } else if (str[1].equals("translation")) { //$NON-NLS-1$
702  LinkPosition lpos = new LinkPosition();
703  lpos.p = new double[3];
704  lpos.R = new double[9];
705  lposList.add(lpos);
706  } else if (str[1].equals("angle")) { //$NON-NLS-1$
707  if (!storeAllPos_)
708  lposList.add(new LinkPosition());
709  jointCount++;
710  } else if (str[1].equals("force")) { //$NON-NLS-1$
711  forceCount++;
712  } else if (str[1].equals("angularVelocity")) { //$NON-NLS-1$
713  gyroCount++;
714  } else if (str[1].equals("acceleration")) { //$NON-NLS-1$
715  accelCount++;
716  } else if (str[1].equals("range")){ //$NON-NLS-1$
717  rangeCount++;
718  }
719  }
720 
721  CharacterStateEx cpos = new CharacterStateEx();
722  cpos.characterName = lastCharName_;
723  cpos.position = lposList.toArray(new LinkPosition[0]);
724  if (jointCount+forceCount+accelCount+gyroCount+rangeCount > 1) {
725  SensorState sdata = new SensorState();
726  sdata.q = new double[jointCount];
727  sdata.u = new double[jointCount];
728  sdata.force = new double[forceCount][6];
729  sdata.rateGyro = new double[gyroCount][3];
730  sdata.accel = new double[accelCount][3];
731  sdata.range = new double[rangeCount][]; // TODO
732  cpos.sensorState = sdata;
733  }
734  preStat_.charList.add(cpos);
735  preStat_.charMap.put(lastCharName_, cpos);
736  }
737 
738  int datLen = logger_.getRecordNum(lastCharName_);
739 
740  // プログレス用変数の初期化
741  int workdim[] = new int[LOAD_LOG_MODITOR_DIM];
742  int workdimCounter = 0;
743  int localLength = workdim.length;
744 
745  for( int i = 0; i < localLength; ++i){
746  workdim[i] = datLen * (i + 1) / localLength;
747  }
748 
749  monitor.worked(1);
750 
751  if( !useDisk_ ){
752  recDat_ = new float[logger_.getLogObjectNum()][];
753  for (int i=0; i<recDat_.length; i++)
754  recDat_[i] = new float[logger_.getDataLength(preStat_.charList.get(i).characterName)];
755  }
756 
757  for (int i=0; i < datLen; i++){
758  if ( useDisk_ ) {
759  try{
760  super.addValue( null , null);
761  } catch (Exception ex){
762  ex.printStackTrace();
763  break;
764  }
765  } else {
766  //メモリーに展開する場合
767  WorldStateEx worldState = _getValueFromLog(i);
768 
769  if( Runtime.getRuntime().freeMemory() < HEAP_MEMORY_TOLERANCE){
770  //ヒープメモリが足りない場合の処理
771  _createOverLog( worldState.time,
772  i == 0 ? worldState.time : getTime(0),
773  i, datLen - i);
774  break;
775  }
776 
777  try{
778  super.addValue( worldState.time , worldState.clone());
779  } catch (Exception ex){
780  ex.printStackTrace();
781  break;
782  }
783  }
784 
785  //プログレスチェックと処理
786  if ( workdim[workdimCounter] < i){
787  workdimCounter ++;
788  monitor.worked(1);
789  }
790  }
791 
792  syncExec(new Runnable(){
793  public void run(){
794  setPosition(0);
795  }
796  });
797  monitor.worked(1);
798  } catch (FileOpenFailException e) {
799  e.printStackTrace();
800  MessageDialog.openError(
801  GrxUIPerspectiveFactory.getCurrentShell(),
802  MessageBundle.get("GrxWorldStateItem.dialog.title.errorLoadLogMessageDlg"),
803  MessageBundle.get("GrxWorldStateItem.dialog.message.errorFileOpenFail") +
804  System.getProperty("line.separator") + fname);
805  } catch (LogFileFormatException e) {
806  e.printStackTrace();
807  MessageDialog.openError(
808  GrxUIPerspectiveFactory.getCurrentShell(),
809  MessageBundle.get("GrxWorldStateItem.dialog.title.errorLoadLogMessageDlg"),
810  MessageBundle.get("GrxWorldStateItem.dialog.message.errorLogFileFormat") +
811  System.getProperty("line.separator") + fname);
812  } catch (IOException e) {
813  e.printStackTrace();
814  MessageDialog.openError(
815  GrxUIPerspectiveFactory.getCurrentShell(),
816  MessageBundle.get("GrxWorldStateItem.dialog.title.errorLoadLogMessageDlg"),
817  MessageBundle.get("GrxWorldStateItem.dialog.message.errorIOException") +
818  System.getProperty("line.separator") + fname);
819  }
820  }
821 
822  private void _saveLog() {
823  FileDialog fdlg = new FileDialog(GrxUIPerspectiveFactory.getCurrentShell(), SWT.SAVE);
824  fdlg.setFileName(GrxWorldStateItem.this.getName()+".log"); //$NON-NLS-1$
825  fdlg.setFilterExtensions(new String[]{"*.log"}); //$NON-NLS-1$
826  fdlg.setFilterPath(getDefaultDir().getAbsolutePath());
827  final String fPath = fdlg.open();
828  if (fPath != null) {
829  Thread t = new Thread() {
830  public void run() {
831  try {
832  if( useDisk_ ){
833  // 従来の処理
834  logger_.closeAsWrite();
835  logger_.closeCollisionLogAsWrite();
836  logger_.save(fPath, getName()+".prj"); //$NON-NLS-1$
837  } else {
838  // オンメモリデータをファイルへ
839  LogManager temp = _restoreLogFileFromSuperLog();
840  if(temp != null){
841  temp.save(fPath, getName()+".prj"); //$NON-NLS-1$
842  if(temp != logger_){
843  temp.closeReads();
844  }
845  }
846  }
847  } catch (IOException ex){
848  ex.printStackTrace();
849  } catch (Exception ex) {
850  ex.printStackTrace();
851  }
852  }
853  };
854  t.start();
855  setDefaultDirectory(new File(fPath).getParent());
856  setURL(fPath);
857  }
858  }
859 
860  private void _createOverLog(double currentTime, double startTime, int changePos, int overPos ){
861  changePos_ = changePos;
862  overPos_ = overPos;
863 
864  // サブディレクトリOVER_HEAP_LOG_DIR_NAMEにuseDiskがfalseの時と同様のログを生成
865  LogManager temp = new LogManager(logger_);
866  if( temp == null){
867  return;
868  }
869  String overDir = tempDirBase_ + getName() + File.separator + OVER_HEAP_LOG_DIR_NAME;
870  temp.setTempDir( overDir );
871  SimulationTime stime = new SimulationTime();
872  logger_.getSimulationTime(stime);
873  stime.setStartTime(currentTime);
874  temp.initCollisionLog(stime);
875  try {
876  temp.openAsWrite(stime, logger_.getIntegrationMethodStr());
877  temp.openCollisionLogAsWrite();
878  temp.separateLogs(changePos);
879  temp.closeAsWrite();
880  temp.closeCollisionLogAsWrite();
881  } catch (IOException ex) {
882  ex.printStackTrace();
883  }
884 
885  // loggerをOVER_HEAP_LOG_DIR_NAMEディレクトリ以下のファイルを参照するように変更
886  logger_.closeReads();
887  logger_.setTempDir(overDir);
888  try {
889  logger_.openAsRead();
890  logger_.openCollisionLogAsRead();
891  } catch (FileOpenFailException e) {
892  e.printStackTrace();
893  } catch (IOException ex) {
894  ex.printStackTrace();
895  }
896 
897  //overPos部分の時間を登録
898  for(int i = 0; i < overPos; ++i){
899  try{
900  super.addValue( (double)logger_.get(lastCharName_, i)[0], null);
901  } catch (Exception ex){
902  ex.printStackTrace();
903  break;
904  }
905  }
906  }
907 
908  private LogManager _restoreLogFileFromSuperLog() {
909  LogManager ret = null;
910  if( changePos_ < 0 ){
911  // 全てのログがメモリにある場合
912  for(int index = 0; index < getLogSize(); ++index){
913  TValue localTValue = getObject(index);
914  _addValueToLogFromSuperLog(localTValue.getTime(), localTValue.getValue(), logger_);
915  }
916  try{
917  logger_.closeAsWrite();
918  logger_.closeCollisionLogAsWrite();
919  ret = logger_;
920  } catch (IOException ex){
921  ex.printStackTrace();
922  } catch (Exception ex) {
923  ex.printStackTrace();
924  }
925  } else {
926  //全てのログがメモリにない場合
927  // 書き込みファイルストリームを全て閉じる
928  try{
929  logger_.closeAsWrite();
930  logger_.closeCollisionLogAsWrite();
931  } catch (IOException ex){
932  ex.printStackTrace();
933  } catch (Exception ex) {
934  ex.printStackTrace();
935  }
936 
937  // サブディレクトリOVER_HEAP_LOG_DIR_NAMEの親ディレクトリにuseDiskがtrueの時と同様のログを生成
938  LogManager temp = new LogManager(logger_);
939  if( temp == null){
940  return ret;
941  }
942  temp.setTempDir( tempDirBase_ + getName() );
943  SimulationTime stime = new SimulationTime();
944  stime.setCurrentTime(preStat_.time);
945  stime.setStartTime( super.getTime(0) );
946 
947  double localTime = getDbl("logTimeStep",0.001); //$NON-NLS-1$
948  stime.setTimeStep(localTime);
949 
950  GrxSimulationItem simItem = manager_.<GrxSimulationItem>getSelectedItem(GrxSimulationItem.class, null);
951  String method = "";
952  if(simItem!=null){
953  localTime = simItem.getDbl("totalTime", DEFAULT_TOTAL_TIME); //$NON-NLS-1$
954  method = simItem.getStr("method");
955  }else
956  localTime = DEFAULT_TOTAL_TIME;
957  stime.setTotalTime(localTime);
958  temp.initCollisionLog(stime);
959  try {
960  temp.openAsWrite(stime, method);
961  temp.openAsRead();
962  temp.openCollisionLogAsWrite();
963  temp.openCollisionLogAsRead();
964  } catch (FileOpenFailException e) {
965  e.printStackTrace();
966  } catch (IOException e1) {
967  e1.printStackTrace();
968  }
969 
970  //メモリ上のログをファイルへ展開
971  for(int index = 0; index < getLogSize(); ++index){
972  TValue localTValue = getObject(index);
973  Object val = localTValue.getValue();
974  if( val != null){
975  _addValueToLogFromSuperLog(localTValue.getTime(), val, temp);
976  continue;
977  }
978  break;
979  }
980 
981  try{
982  // 残りのサブディレクトリOVER_HEAP_LOG_DIR_NAMEのログを結合
983  temp.jointLogs();
984  temp.setTime( new Time( stime.getCurrentTime() ) );
985  temp.closeAsWrite();
986  temp.closeCollisionLogAsWrite();
987  ret = temp;
988  } catch (IOException ex){
989  ex.printStackTrace();
990  } catch (Exception ex) {
991  ex.printStackTrace();
992  }
993  }
994  return ret;
995  }
996 
997  private void _saveCSV() {
998  DirectoryDialog ddlg = new DirectoryDialog(GrxUIPerspectiveFactory.getCurrentShell());
999  try {
1000  ddlg.setFilterPath(getDefaultDir().getCanonicalPath());
1001  } catch (IOException e1) {
1002  // TODO 自動生成された catch ブロック
1003  e1.printStackTrace();
1004  }
1005  final String dir = ddlg.open();
1006  if (dir != null){
1007  Thread t = new Thread() {
1008  public void run() {
1009  LogManager temp = null;
1010  if( !useDisk_ ){
1011  // オンメモリデータをファイルへ
1012  temp = _restoreLogFileFromSuperLog();
1013  }
1014  for (int i=0; i<preStat_.charList.size(); i++) {
1015  String name = preStat_.charList.get(i).characterName;
1016  String fname = dir+File.separator+name+".csv"; //$NON-NLS-1$
1017  try {
1018  if( useDisk_ ){
1019  logger_.saveCSV(fname, name);
1020  }else{
1021  // オンメモリデータをファイルへ
1022  if(temp != null){
1023  temp.saveCSV(fname, name);
1024  }
1025  }
1026  } catch (FileOpenFailException e) {
1027  e.printStackTrace();
1028  }
1029  }
1030  if(temp != null && temp != logger_){
1031  temp.closeReads();
1032  }
1033  }
1034  };
1035  t.start();
1036  setDefaultDirectory(dir);
1037  }
1038  }
1039 
1040  public Double getTime(int pos) {
1041  if (pos < 0)
1042  return null;
1043  Double t = super.getTime(pos);
1044  if (t == null && lastCharName_ != null) {
1045  try {
1046  float[] f = logger_.get(lastCharName_, pos);
1047  t = (double)f[0];
1048  setTimeAt(pos, t);
1049  } catch (IOException e) {
1050  e.printStackTrace();
1051  }
1052  }
1053  return t;
1054  }
1055 
1056  public void extendTime(double time) {
1057  SimulationTime stime = new SimulationTime();
1058  stime.setCurrentTime(preStat_.time);
1059  stime.setStartTime(preStat_.time);
1060 
1061  double val = getDbl("logTimeStep",0.001); //$NON-NLS-1$
1062  stime.setTimeStep(val);
1063  setDbl("logTimeStep",val); //$NON-NLS-1$
1064 
1065  stime.setTotalTime(time);
1066 
1067  //logger_.initCollisionLog(stime);
1068  logger_.extendTime(stime);
1069  }
1070 
1071  public void stopSimulation(){
1072  if (useDisk_)
1073  logger_.closeWrites();
1074  }
1075 
1076  public boolean isUseDsik(){ return useDisk_; }
1077 
1082  public void setPosition(Integer pos) {
1083  if (super.setPosition(pos))
1084  notifyPosition(pos);
1085  }
1086 
1087  // viewで指定された以外に通知 //
1088  public void setPosition(Integer pos, GrxBaseView view) {
1089  if (super.setPosition(pos)){
1090  ListIterator<GrxPositionObserver> it = pos_obs_.listIterator();
1091  while (it.hasNext()) {
1092  GrxPositionObserver pos_ob = it.next();
1093  if(pos_ob != view)
1094  pos_ob.updatePosition(this ,pos);
1095  }
1096  }
1097  }
1098 
1099  private ArrayList<GrxPositionObserver> pos_obs_ = new ArrayList<GrxPositionObserver>();
1100 
1101  public void addPosObserver(GrxPositionObserver v){
1102  pos_obs_.add(v);
1103  }
1104 
1105  public void deletePosObserver(GrxPositionObserver v){
1106  pos_obs_.remove(v);
1107  }
1108 
1109  private void notifyPosition(Integer pos){
1110  ListIterator<GrxPositionObserver> it = pos_obs_.listIterator();
1111  while (it.hasNext()) {
1112  GrxPositionObserver pos_ob = it.next();
1113  pos_ob.updatePosition(this, pos);
1114  }
1115  }
1116 
1117  public static class WorldStateEx {
1118  public double time;
1119  public Collision[] collisions;
1120  private List<CharacterStateEx> charList = new ArrayList<CharacterStateEx>();
1121  private Map<String, CharacterStateEx> charMap = new HashMap<String, CharacterStateEx>();
1122 
1123  public WorldStateEx() {}
1124 
1125  public WorldStateEx(WorldState wstate) {
1126  setWorldState(wstate);
1127  }
1128 
1129  public CharacterStateEx get(int idx) {
1130  return charList.get(idx);
1131  }
1132 
1133  public CharacterStateEx get(String charName) {
1134  return charMap.get(charName);
1135  }
1136 
1137  private CharacterStateEx _get(String charName) {
1138  CharacterStateEx c = get(charName);
1139  if (c == null) {
1140  c = new CharacterStateEx();
1141  c.characterName = charName;
1142  charMap.put(charName, c);
1143  charList.add(c);
1144  }
1145  return c;
1146  }
1147 
1148  public int size() {
1149  return charList.size();
1150  }
1151 
1152  public String[] characters() {
1153  String[] chars = new String[charList.size()];
1154  for (int i=0; i<charList.size(); i++)
1155  chars[i] = charList.get(i).characterName;
1156  return chars;
1157  }
1158 
1159  public void setWorldState(WorldState wstate) {
1160  time = wstate.time;
1161  collisions = wstate.collisions;
1162  for (int i=0; i<wstate.characterPositions.length; i++) {
1163  _get(wstate.characterPositions[i].characterName).position =
1164  wstate.characterPositions[i].linkPositions;
1165  }
1166  }
1167 
1168  public void setSensorState(String charName, SensorState state) {
1169  _get(charName).sensorState = state;
1170  }
1171 
1172  public void setTargetState(String charName, double[] targets) {
1173  _get(charName).targetState = targets;
1174  }
1175 
1176  public void setServoState(String charName, int[] servoStat) {
1177  _get(charName).servoState = servoStat;
1178  }
1179 
1180  public void setPowerState(String charName, double voltage, double current){
1181  _get(charName).powerState = new double[]{voltage, current};
1182  }
1183 
1184  protected Object clone() throws CloneNotSupportedException{
1185  WorldStateEx ret = new WorldStateEx();
1186  ret.time = time;
1187  if(collisions != null){
1188  ret.collisions = new Collision[]{new Collision()};
1189  ret.collisions[0].points = collisions[0].points;
1190  }
1191  for(CharacterStateEx i:charList){
1192  ret.charList.add((CharacterStateEx)i.clone());
1193  }
1194  for (String i:charMap.keySet()){
1195  ret.charMap.put(new String(i), (CharacterStateEx)charMap.get(i).clone());
1196  }
1197  return ret;
1198  }
1199  }
1200 
1201  public static class CharacterStateEx {
1202  public String characterName;
1203  public LinkPosition[] position;
1204  public SensorState sensorState;
1205  public double[] targetState;
1206  public int[] servoState;
1207  public double[] powerState;
1208 
1209  protected Object clone() throws CloneNotSupportedException{
1210  CharacterStateEx ret = new CharacterStateEx();
1211  ret.characterName = new String( characterName );
1212  if(position != null){
1213  ret.position = new LinkPosition[ position.length ];
1214  for(int i = 0; i < position.length; ++i){
1215  ret.position[i] = new LinkPosition();
1216  if(position[i].p != null){
1217  ret.position[i].p = new double[position[i].p.length];
1218  GrxCopyUtil.copyDim(position[i].p, ret.position[i].p, position[i].p.length);
1219  }
1220  if(position[i].R != null){
1221  ret.position[i].R = new double[position[i].R.length];
1222  GrxCopyUtil.copyDim(position[i].R, ret.position[i].R, position[i].R.length);
1223  }
1224  }
1225  }
1226  if(sensorState != null){
1227  ret.sensorState = new SensorState();
1228  if( sensorState.accel != null){
1229  ret.sensorState.accel = GrxCopyUtil.copyDoubleWDim(sensorState.accel);
1230  }
1231  if(sensorState.force != null){
1232  ret.sensorState.force = GrxCopyUtil.copyDoubleWDim(sensorState.force);
1233  }
1234  if(sensorState.range != null){
1235  ret.sensorState.range = GrxCopyUtil.copyDoubleWDim(sensorState.range);
1236  }
1237  if(sensorState.rateGyro != null){
1238  ret.sensorState.rateGyro = GrxCopyUtil.copyDoubleWDim(sensorState.rateGyro);
1239  }
1240  if(sensorState.dq != null){
1241  ret.sensorState.dq = new double[sensorState.dq.length];
1242  GrxCopyUtil.copyDim(sensorState.dq, ret.sensorState.dq, sensorState.dq.length);
1243  }
1244  if(sensorState.q != null){
1245  ret.sensorState.q = new double[sensorState.q.length];
1246  GrxCopyUtil.copyDim(sensorState.q, ret.sensorState.q, sensorState.q.length);
1247  }
1248  if(sensorState.u != null){
1249  ret.sensorState.u = new double[sensorState.u.length];
1250  GrxCopyUtil.copyDim(sensorState.u, ret.sensorState.u, sensorState.u.length);
1251  }
1252  }
1253  if(targetState != null){
1254  ret.targetState = new double[targetState.length];
1255  GrxCopyUtil.copyDim(targetState, ret.targetState, targetState.length);
1256  }
1257  if(servoState != null){
1258  ret.servoState = new int[servoState.length];
1259  GrxCopyUtil.copyDim(servoState, ret.servoState, servoState.length);
1260  }
1261  if(powerState != null){
1262  ret.powerState = new double[powerState.length];
1263  GrxCopyUtil.copyDim(powerState, ret.powerState, powerState.length);
1264  }
1265  return ret;
1266  }
1267  }
1268 
1269  private static class SensorInfoLocal implements Comparable {
1270  String name;
1271  String type; //#####[Changed] int -> string ｕ5・Xｌ"・I
1272  int id;
1273  SensorInfo info;
1274  public SensorInfoLocal(SensorInfo _info) {
1275  info = _info;
1276  name = info.name;
1277  // ##### [Changed] NewModelLoader.IDL
1278  //if( info.type.equals("Force") )
1279  //{
1280  //type = Integer.valueOf(SensorType.FORCE_SENSOR).intValue();
1281  //}
1282  //else if( info.type.equals("RateGyro") )
1283  //{
1284  //type = SensorType.RATE_GYRO;
1285  //}
1286  //else if( info.type.equals("Acceleration") )
1287  //{
1288  //type = SensorType.ACCELERATION_SENSOR;
1289  //}
1290  // type = info.type.value();
1291  type = info.type;
1292  // ###### [Changed]
1293 
1294 
1295  id = info.id;
1296  }
1297 
1298  public int compareTo(Object o) {
1299  if (o instanceof SensorInfoLocal) {
1300  SensorInfoLocal s = (SensorInfoLocal) o;
1301  int _this = getOrder(type);
1302  int _s = getOrder(s.type);
1303  if (_this < _s)
1304  return -1;
1305  else if (_this == _s){
1306  if (id < s.id)
1307  return -1;
1308  }else
1309  return 1;
1310  }
1311  return 1;
1312  }
1313 
1314  private int getOrder(String type) {
1315  if (type.equals("Force")) //$NON-NLS-1$
1316  return 0;
1317  else if (type.equals("RateGyro")) //$NON-NLS-1$
1318  return 1;
1319  else if (type.equals("Acceleration")) //$NON-NLS-1$
1320  return 2;
1321  else if (type.equals("Vision")) //$NON-NLS-1$
1322  return 3;
1323  else if (type.equals("Range")) //$NON-NLS-1$
1324  return 4;
1325  else
1326  return -1;
1327 
1328 
1329  }
1330 
1331  }
1332 
1333  public void delete(){
1334  if(useDisk_)
1335  logger_.closeReads();
1336  super.delete();
1337  }
1338 
1339 }
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openhrp3
Author(s): AIST, General Robotix Inc., Nakamura Lab of Dept. of Mechano Informatics at University of Tokyo
autogenerated on Thu Sep 8 2022 02:24:03