Logged Messages Player
[Logging]

This module plays recorded messages via IPC. The module is compromised of two diferent programs, player and playback. The playbacl works in the v1.X log format (1 header file ASCII, 1 data file binary), the player works in the v2.X log format (1 header XML, various data files, binary). More...

Collaboration diagram for Logged Messages Player:

Data Structures
struct	TYPE_shm
struct	logger_callback_t
struct	struct_message
struct	logged_message_type
struct	linked_list
struct	struct_message_types
struct	struct_window
struct	struct_gui_config
struct	struct_combo
class	playback
struct	playback_command_message
	This is a test message, Here you insert the description of the entity, in this case the struct. More...
struct	playback_status_message
	This is a test message, Here you insert the description of the entity, in this case the struct. More...
struct	struct_reduced_message
struct	list
struct	player_config_message
struct	player_messages_message
	Private message for this module. More...
struct	player_contig_message
	Private message for this module. More...
Files
file	playback.cpp
file	player.cpp
	Player main file.
file	player.h
	Player main header, global vars and prototypes.
file	player_common.h
	Common header of tghe player module.
file	player_functions.cpp
	Playback class source code.
file	player_functions.h
	Playback class header file.
file	player_gui.cpp
	Player GUI source code.
file	player_gui.h
	Player GUI header.
file	player_interface.cpp
	Interface file for this module.
file	player_interface.h
	Interface headers for this module.
file	player_messages.h
	messages.h file for this module. Defines messages this module publishes or serves to others.
Defines
#define	MAX_LINE_LENGTH 3000000
#define	CLF_READ_DOUBLE(str) strtod(*(str), (str))
#define	CLF_READ_INT(str) (int)strtol(*(str), (str), 10)
#define	CLF_READ_HEX(str) (char)strtol(*(str), (str), 16)
#define	CLF_READ_CHAR(str) (char) ( ( (*str)++)[0] )
#define	MAX_NUMBER_MESSAGE_TYPES 20
	Maximum number of messages types.
#define	null NULL
	Same as NULL.
#define	null NULL
	Same as NULL.
#define	perr(a) _perr(__FUNCTION__,__LINE__,(a));
	Custom error print function, this function prints a error message in the formagt: Error!! (__FUNCTION__,__LINE__) custom_message.
#define	pwarn(a) _pwarn(__FUNCTION__,__LINE__,(a));
	Custom warning print function, this function prints a warning message in the formagt: Warning!! (__FUNCTION__,__LINE__) custom_message.
#define	pdeb(a) _pdeb(__FUNCTION__,__LINE__,(a));
	Custom debug print function, this function prints a debug message in the formagt: Debug! (__FUNCTION__,__LINE__) custom_message.
#define	p(a) _p(a);
	Custom print function, this function prints a message in the formagt: MODULE_NAME (__FUNCTION__,__LINE__) custom_message.
#define	LOG_VERSION "v2.14"
	Log_recorder version.
#define	PLAYBACK_RESET_OCCURRED_NAME "playback_reset_occurred"
	Control message to pass to the process control module. Always capitals finishes with _RESET_OCCURRED_NAME and the value is small letters the same without the suffix name.
#define	PLAYBACK_RESET_COMMAND_NAME "playback_reset_command"
	Control message to pass to the process control module. Always capitals finishes with _RESET_COMMAND_NAME and the value is small letters the same without the suffix name.
#define	PLAYER_CONFIG_MESSAGE_NAME (char*)"player_config"
	Name of the message passed to IPC.
#define	PLAYER_CONFIG_MESSAGE_FMT (char*)"{double,double,uint,<string:3>}"
	Format of the message passed to IPC.
#define	PLAYBACK_COMMAND_MESSAGE_NAME (char*)"playback_command"
	Name of the message passed to IPC. Always capitals finishes with _MESSAGE_NAME and the value is small letters the same without the suffix.
#define	PLAYBACK_COMMAND_MESSAGE_FMT (char*)"{int,double,int,double,string}"
	Format of the message passed to IPC. Always capitals finishes with _MESSAGE_FMT and the value is given similar to the one bellow. For more information view the IPC manual.
#define	PLAYBACK_STATUS_MESSAGE_NAME (char*)"playback_status"
	Name of the message passed to IPC. Always capitals finishes with _MESSAGE_NAME and the value is small letters the same without the suffix.
#define	PLAYBACK_STATUS_MESSAGE_FMT (char*)"{double,int,int,double,string}"
	Format of the message passed to IPC. Always capitals finishes with _MESSAGE_FMT and the value is given similar to the one bellow. For more information view the IPC manual.
#define	PLAYER_LIST_MESSAGE_NAME (char*)"player_list"
	Name of the message passed to IPC.
#define	PLAYER_LIST_MESSAGE_FMT (char*)"{uint,<{double,uint}:1>}"
	Format of the message passed to IPC.
Typedefs
typedef char (	converter_func )(char , void , char , FORMATTER_PTR)
typedef linked_list	mlist
typedef carmen_default_message	playback_reset_occurred_message
typedef carmen_default_message	playback_reset_command_message
typedef struct list	player_list_message
Enumerations
enum	enum_status { STOP, PLAY, SEEK, FORWARD, BACKWARD, SPEED, STEP_FORWARD, STEP_BACKWARD }
enum	enum_publish_commands { ACTIVATE = 50, DEACTIVATE }
Functions
void	ipm_query_shminfo_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *clientData)
char *	lar_ipm_shm_to_message (char string, void message, char logger_message_name, FORMATTER_PTR fmt)
char *	auxiliar_ipm_shm_to_message (char string, void message, char logger_message_name, FORMATTER_PTR)
char *	auxiliar_firei_server_3_shm_to_message (char string, void message, char logger_message_name, FORMATTER_PTR)
char *	auxiliar_hokuyo_shm_to_message (char string, void message, char logger_message_name, FORMATTER_PTR fmt)
void	query_laser_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *clientData)
char *	data_file_to_message (char string, void message, char logger_message_name, FORMATTER_PTR)
void	print_playback_status (void)
void	playback_command_handler (carmen_playback_command_message *command)
void	register_ipc_messages (void)
void	wait_for_timestamp (double ts)
int	read_message (int message_num, int publish)
void	main_playback_loop (void)
void	usage (char *fmt,...)
void	read_parameters (int argc, char **argv)
void	shutdown_playback_module (int sig)
void	initialize_playback_format ()
void	firei_server_n3_query_shminfo_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *)
void	hokuyo_server_query_shminfo_handler (MSG_INSTANCE msgRef, BYTE_ARRAY callData, void *)
void	subscribe_ipm_initial_data (void)
void	subscribe_camera_3_initial_data (void)
void	subscribe_hokuyo_initial_data (void)
int	main (int argc, char **argv)
char *	lar_unified_string_to_message (char string, void message, char logger_message_name, FORMATTER_PTR fmt)
int	first_wordlength (char *str)
void	copy_host_string (char host, char string)
char *	auxiliar_unified_string_to_message (char string, void message, char logger_message_name, FORMATTER_PTR fmt, carmen_FILE *datafile)
void	PublishConfigMessage (void)
	Publish a configure message to the gui. This function sends a configure message to the GUI. It waits for it to be ready.
void	command_handler (playback_command_message *command_message)
	Handle command messages This function handles command messages sent by the GUI.
void	manager_shutdown_module (int x)
void	read_line (FILE buffer, char line)
	Reads a line from a buffer.
void	printf_usage (char *argv)
	Prints this module usage.
void	_perr (const char function_name, unsigned int line, const char text)
	Print Error This function prints a error message using the name of the calling function, the line it was called and a custom message.
void	_pwarn (const char function_name, unsigned int line, const char text)
	Print warning This function prints a warning message using the name of the calling function, the line it was called and a custom message.
void	_pdeb (const char function_name, unsigned int line, const char text)
	Print debug This function prints a debug message using the name of the calling function, the line it was called and a custom message.
void	_p (const char *text)
	Print This function prints a message using the name of the module and a custom message.
void	print_xpath_nodes (xmlNodeSetPtr nodes, FILE *output)
int	StartGui (int argc, char **argv)
	Main GUI function This function starts the GUI.
gint	timeout_callback (gpointer)
	GTK timeout. This function forces the GUI to sleep.
void	ConfigGui (struct_gui_config *config)
	Default variables This function sets the default values for some variables,.
void	MarkHighlitedType (struct_combo *combo)
	Changes the background on the selected message type.
void	WaitForFirstMessage (struct_gui_config *config)
	Waits for first message.
void	button_callback (GtkButton *button, gpointer data)
	Main button callback This function is a callback for all buttons.
void	MoveScrollBar (struct_combo *combo)
	Move the scroll bar This function moves the horizontal scroll bar if the autoscroll is enabled.
gboolean	h_scroll_moved (GtkRange *, GtkScrollType, gdouble, gpointer data)
	Callback for scroll bar moves This function checks if it was i that moved the scroll bar and if not we turn off the autoscroll. When the used moves the scroll bar by hand the autoscroll is disabled.
gboolean	zoom_change (GtkRange *, gpointer data)
	Callback for zoom change This function redraws widgets based on the new zoom level.
void	CreatMainWindow (struct_window gtk, struct_gui_config config)
	Create main window. This function packs all widgets together.
void	checkbutton_toggled (GtkToggleButton *button, gpointer)
	Callback for checkbuttons Activates or deactivates a message type.
gboolean	speed_change (GtkRange *range, gpointer)
	Callback for speed change Gets the new value and sends it to the manager.
gboolean	on_destroy (GtkWidget *, gpointer)
	Destroy callback Kill it self and the father.
void	CreateMarker (struct_combo *combo)
	Create marker Create a marker at the current time position.
gboolean	mouse_over (GtkWidget , GdkEventCrossing event, gpointer data)
	Mouse over callback Change marker background color.
void	LayoutTimebar (struct_window gtk, struct_gui_config config)
	Layout labels with the time Draws a serires of labels on the GUI timestamps.
gboolean	zone_pressed_callback (GtkWidget widget, GdkEventButton event, gpointer data)
	Function called when a zone was pressed Seeks to the position seleted and changes the highlited_type.
void	CreateDrawingArea (GtkWidget *widget, struct_combo combo)
	Create drawing area Create the underlying drawing area of the zone.
gboolean	motion_event_callback (GtkWidget , GdkEventMotion event, gpointer data)
	Drags the marker Drags the marker to a new position making a seek in the manager.
gboolean	drag_event_callback (GtkWidget , GdkEventButton event, gpointer data)
	Draw event callback Sets or resets drawing state. If the marker was pressed begin drawing else stop draging.
gboolean	expose_event_callback (GtkWidget widget, GdkEventExpose , gpointer data)
	Redraw the underlying widget and timebars.
int	ColorShort2Long (int input)
void	status_handler (playback_status_message *msg)
void	MoveMarker (struct_combo *combo, double time)
	Move the marker to a new position.
void	gui_shutdown_module (int x)
gboolean	force_redraw (GtkWidget *widget)
int	playback_subscribe_command (playback_command_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	Subscribes playback_command_message messages. Uses broadcast to all subscribers. Can be used by other modules.
int	playback_publish_command (playback_command_message *msg)
	Publishes playback_command_message messages. Uses broadcast to all subscribers. Usually is only used by playback.
int	playback_subscribe_status (playback_status_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	Subscribes playback_status_message messages. Uses broadcast to all subscribers. Can be used by other modules.
int	playback_publish_status (playback_status_message *msg)
	Publishes playback_status_message messages. Uses broadcast to all subscribers. Usually is only used by playback.
int	player_subscribe_config (player_config_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	Subscribes player_config_message messages.
int	player_publish_config (player_config_message *msg)
	Publishes player_config_message messages.
int	player_subscribe_list (player_list_message *msg, carmen_handler_t handler, carmen_subscribe_t subscribe_how)
	Subscribes player_messages_message messages. Uses broadcast to all subscribers. Can be used by other modules.
int	player_publish_list (player_list_message *msg)
	playback::playback ()
	PLayback constructur. Stars a new playback class.
	playback::~playback ()
	PLayback deconstructur.
int	playback::OpenLogFile (char *filename)
	Open log file.
void	playback::CountMessages (char *filename)
void	playback::CountHandler (xmlTextReaderPtr reader)
void	playback::LowLevelIndex (char *filename)
void	playback::IndexHandler (xmlTextReaderPtr reader)
int	playback::IndexMessagesXML ()
	Index the xml header file.
int	playback::CloseLogXml (void)
	Close the log header.
int	playback::RegisterMessages (void)
	Register IPC messages.
int	playback::ReadMessageFromFile (int message_number)
	Read message from data file.
int	playback::SendMessage (int message_number)
	Send message via IPC.
int	playback::PlaySingleMessage (int message_number)
	Play single message.
int	playback::Play (void)
	Play mode.
int	playback::SetStatus (enum_status new_status)
	Sets the status variable.
int	playback::SetDirection (enum_status new_status)
	Sets the direction variable.
int	playback::SetSpeed (double new_speed)
	Sets the speed variable.
int	playback::Dispatch (void)
	Dispatch new recived status.
int	playback::Stop (void)
	Stop the player.
int	playback::StepForward (double type)
	Steps one message forward.
int	playback::StepBackward (double type)
	Steps one message backward.
int	playback::Activate (int id)
	Activate the publish of a specific type of messages.
int	playback::Deactivate (int id)
	Deactivate the publish of a specific type of messages.
void	playback::Sleep (double time)
	Sleep function.
int	playback::Seek (double time)
	Jump to a specific time.
int	playback::PublishStatus (playback_status_message *msg, bool force=FALSE)
	Publish a status message.
void	playback::GetName (xmlTextReaderPtr reader)
void	playback::GetValue (xmlTextReaderPtr reader)
void	playback::GetAttribute (xmlTextReaderPtr reader, const xmlChar *name)
Variables
carmen_FILE *	logfile = NULL
carmen_FILE *	datafile = NULL
carmen_logfile_index_p	logfile_index = NULL
double	playback_starttime = 0.0
double	last_logfile_time = 0.0
double	playback_speed = 1.0
int	current_position = 0
int	offset = 0
int	paused = 1
int	fast = 0
int	advance_frame = 0
int	rewind_frame = 0
int	basic_messages = 0
double	playback_timestamp
FORMATTER_PTR	format
robot_motion_command_message *	motion_command
robot_lights_command_message *	lights_command
TYPE_laser3d_pointcloud_message *	laser3d_message
xb3_3dpointcloud_message *	xb3_message
xb3_stereoimage_message *	xb3_image_message
xsens_data_message *	xsens_message
camera_image_message *	camera_n0
camera_image_message *	camera_n1
camera_image_message *	camera_n2
ipm_data_message *	ipm_data_msg
ipm_heartbeat_message *	ipm_heartbeat
camera_image_message *	camera_n3
camera_heartbeat_message *	camera_n3_heartbeat
carmen_laser_laser_message *	hokuyo_message
hokuyo_utm_heartbeat_message *	hokuyo_heartbeat
gps_gpgga_data_message *	gpgga
gps_gprmc_data_message *	gprmc
hokuyo_pointcloud_message *	hokuyo_3d
TYPE_ipm_expert_params	ipm_params
TYPE_shm	ipm_shm
TYPE_shm	firei_server_n3_shm
TYPE_shm	hokuyo_server_shm
IplImage *	ipmauxiliar = NULL
logger_callback_t	logger_callbacks []
playback	control
playback_command_message	command_message
playback_status_message	status_message
playback_status_message	status_message
struct_combo *	data
	Pointer to a global structure containing a representation of the GUI.
playback_command_message	command_message
playback_status_message	status_message

Detailed Description

This module plays recorded messages via IPC. The module is compromised of two diferent programs, player and playback. The playbacl works in the v1.X log format (1 header file ASCII, 1 data file binary), the player works in the v2.X log format (1 header XML, various data files, binary).

Author:: jalmeida

Version:: 2.14

Date:: 18 May 2010

Define Documentation

#define CLF_READ_CHAR ( str ) (char) ( ( (*str)++)[0] )

#define CLF_READ_DOUBLE ( str ) strtod(*(str), (str))

Referenced by auxiliar_firei_server_3_shm_to_message(), auxiliar_hokuyo_shm_to_message(), auxiliar_ipm_shm_to_message(), and data_file_to_message().

#define CLF_READ_HEX ( str ) (char)strtol(*(str), (str), 16)

#define CLF_READ_INT ( str ) (int)strtol(*(str), (str), 10)

Referenced by auxiliar_firei_server_3_shm_to_message(), auxiliar_hokuyo_shm_to_message(), auxiliar_ipm_shm_to_message(), and data_file_to_message().

#define LOG_VERSION "v2.14"

Log_recorder version.

Referenced by logger::logger(), and logger::StartLog().

#define MAX_LINE_LENGTH 3000000

Referenced by read_message().

#define MAX_NUMBER_MESSAGE_TYPES 20

Maximum number of messages types.

Todo:: not include message types that have 0 messages

#define null NULL

Same as NULL.

#define null NULL

Same as NULL.

Referenced by playback::IndexHandler(), logger::InstallParameters(), main(), playback::playback(), playback::ReadMessageFromFile(), and logger::SubscribeMessages().

#define p ( a ) _p(a);

Custom print function, this function prints a message in the formagt: MODULE_NAME (__FUNCTION__,__LINE__) custom_message.

Referenced by calculate_alfa_tracking(), calculate_l_tracking(), calculate_overall_score(), class_griddata::compute_grid(), convert_triclopscolorimage_2_iplimage(), give_alfa_l_to_hypothesis(), playback::IndexMessagesXML(), logger::InstallParameters(), main(), and logger::SetLogFiles().

#define pdeb ( a ) _pdeb(__FUNCTION__,__LINE__,(a));

Custom debug print function, this function prints a debug message in the formagt: Debug! (__FUNCTION__,__LINE__) custom_message.

#define perr ( a ) _perr(__FUNCTION__,__LINE__,(a));

Custom error print function, this function prints a error message in the formagt: Error!! (__FUNCTION__,__LINE__) custom_message.

Referenced by logger::AddMessage(), logger::CloseLog(), playback::CountMessages(), logger::InitMessageLoging(), logger::ReadFormatsFromFile(), logger::StartLog(), logger::UpdateStatistics(), logger::WriteHeader(), logger::WriteMessageTypes(), logger::WriteSensor(), logger::WriteSensorList(), and logger::WriteSession().

#define PLAYBACK_COMMAND_MESSAGE_FMT (char*)"{int,double,int,double,string}"

Format of the message passed to IPC. Always capitals finishes with _MESSAGE_FMT and the value is given similar to the one bellow. For more information view the IPC manual.

#define PLAYBACK_COMMAND_MESSAGE_NAME (char*)"playback_command"

Name of the message passed to IPC. Always capitals finishes with _MESSAGE_NAME and the value is small letters the same without the suffix.

#define PLAYBACK_RESET_COMMAND_NAME "playback_reset_command"

Control message to pass to the process control module. Always capitals finishes with _RESET_COMMAND_NAME and the value is small letters the same without the suffix name.

#define PLAYBACK_RESET_OCCURRED_NAME "playback_reset_occurred"

Control message to pass to the process control module. Always capitals finishes with _RESET_OCCURRED_NAME and the value is small letters the same without the suffix name.

#define PLAYBACK_STATUS_MESSAGE_FMT (char*)"{double,int,int,double,string}"

Format of the message passed to IPC. Always capitals finishes with _MESSAGE_FMT and the value is given similar to the one bellow. For more information view the IPC manual.

#define PLAYBACK_STATUS_MESSAGE_NAME (char*)"playback_status"

Name of the message passed to IPC. Always capitals finishes with _MESSAGE_NAME and the value is small letters the same without the suffix.

#define PLAYER_CONFIG_MESSAGE_FMT (char*)"{double,double,uint,<string:3>}"

Format of the message passed to IPC.

#define PLAYER_CONFIG_MESSAGE_NAME (char*)"player_config"

Name of the message passed to IPC.

#define PLAYER_LIST_MESSAGE_FMT (char*)"{uint,<{double,uint}:1>}"

Format of the message passed to IPC.

#define PLAYER_LIST_MESSAGE_NAME (char*)"player_list"

Name of the message passed to IPC.

#define pwarn ( a ) _pwarn(__FUNCTION__,__LINE__,(a));

Custom warning print function, this function prints a warning message in the formagt: Warning!! (__FUNCTION__,__LINE__) custom_message.

Referenced by playback::IndexHandler(), logger::InstallParameters(), and logger::ReadFormatsFromFile().

Typedef Documentation

typedef char*(* converter_func)(char *, void **, char *, FORMATTER_PTR)

typedef linked_list mlist

typedef carmen_default_message playback_reset_command_message

typedef carmen_default_message playback_reset_occurred_message

typedef struct list player_list_message

Enumeration Type Documentation

enum enum_publish_commands

Enumerator:

ACTIVATE	Activate the publish of a message type.
DEACTIVATE	Deactivatge the publish of a message type.

enum enum_status

Enumerator:

STOP	Stoped status.
PLAY	Playing status.
SEEK	Seek status.
FORWARD	The player is going forward.
BACKWARD	The player is going backward.
SPEED	Speed change.
STEP_FORWARD	Step one message forward.
STEP_BACKWARD	Step one message backward.

Function Documentation

void _p ( const char * text )

Print This function prints a message using the name of the module and a custom message.

void _pdeb	(	const char *	function_name,
		unsigned int	line,
		const char *	text
	)

Print debug This function prints a debug message using the name of the calling function, the line it was called and a custom message.

void _perr	(	const char *	function_name,
		unsigned int	line,
		const char *	text
	)

Print Error This function prints a error message using the name of the calling function, the line it was called and a custom message.

void _pwarn	(	const char *	function_name,
		unsigned int	line,
		const char *	text
	)

Print warning This function prints a warning message using the name of the calling function, the line it was called and a custom message.

int playback::Activate ( int id ) [inherited]

Activate the publish of a specific type of messages.

Parameters:

id

message type to activate.

Returns:: error code Messages of this type will be played.

References playback::message_types, struct_message_types::publish, and TRUE.

char * auxiliar_firei_server_3_shm_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR
	)

References CAMERA_N3_SHMINFO_QUERY_NAME, CLF_READ_DOUBLE, CLF_READ_INT, TYPE_shm::data, datafile, FALSE, firei_server_n3_query_shminfo_handler(), i, initialise, and TRUE.

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char * auxiliar_hokuyo_shm_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR	fmt
	)

References CLF_READ_DOUBLE, CLF_READ_INT, TYPE_shm::data, datafile, FALSE, hokuyo_server_query_shminfo_handler(), HOKUYO_SHMINFO_QUERY_NAME, i, initialise, and TRUE.

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char * auxiliar_ipm_shm_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR
	)

References CLF_READ_DOUBLE, CLF_READ_INT, TYPE_shm::data, datafile, FALSE, i, initialise, ipm_query_shminfo_handler(), IPM_QUERY_SHMINFO_MESSAGE_NAME, and TRUE.

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char* auxiliar_unified_string_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR	fmt,
		carmen_FILE *	datafile
	)

void button_callback	(	GtkButton *	button,
		gpointer	data
	)

Main button callback This function is a callback for all buttons.

Get the pointer to the config structure

play button pressed

stop button pressed

step forward button pressed

void checkbutton_toggled	(	GtkToggleButton *	button,
		gpointer
	)

Callback for checkbuttons Activates or deactivates a message type.

Get the widget name

int playback::CloseLogXml ( void ) [inherited]

Close the log header.

Returns:: error code This function closes the log header file.

Cleanup of XPath data

Free the document

int ColorShort2Long ( int input )

void command_handler ( playback_command_message * command_message )

Handle command messages This function handles command messages sent by the GUI.

void ConfigGui ( struct_gui_config * config )

Default variables This function sets the default values for some variables,.

void copy_host_string	(	char **	host,
		char **	string
	)

void playback::CountHandler ( xmlTextReaderPtr reader ) [inherited]

References playback::GetName(), playback::number_message_types, playback::text, and playback::total_messages.

Referenced by playback::CountMessages().

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void playback::CountMessages ( char * filename ) [inherited]

References playback::CountHandler(), perr, and ret.

Referenced by playback::IndexMessagesXML().

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void CreateDrawingArea	(	GtkWidget **	widget,
		struct_combo *	combo
	)

Create drawing area Create the underlying drawing area of the zone.

Create new drawing area

Connect to the expose event

Set widget events

Todo:: Create the handlers for some of the events

Set the drawing area size

void CreateMarker ( struct_combo * combo )

Create marker Create a marker at the current time position.

Set the drawing area size

Connect to the expose event

Set widget events

Todo:: Create the handlers for some of the events

void CreatMainWindow	(	struct_window *	gtk,
		struct_gui_config *	config
	)

Create main window. This function packs all widgets together.

Creat button hbox

Create the buttons

Create a new hbox that will acomodate the speed indicator

Create the speed label and scale

Pack the speed label and adjustment into the hbox and show them

Create a new hbox that will acomodate the zoom indicator

Create the zoom label and scale

Pack the speed label and adjustment into the hbox and show them

Pack all the buttons to the buttons box and also the speed hbox

Show all the widgets

--------------

Create scrolled window

----------------

Create layout

----------------

Add stuff to the layout

Background color of the drawing areas

Layout the timeline

Put the initial time label with the tooltip

Make checkbuttons

-----------------

Make Drawing areas

Put the drawing areas in the layout and change their background color

Define each drawing area name

Show the widget

Increment the y position

Show the layout

---------------- Create the separation bar

Create the status bar

Create main vbox

----------------

Create window

Put a icon on the window

-------------

char * data_file_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR	fmt
	)

References CLF_READ_DOUBLE, CLF_READ_INT, datafile, and i.

int playback::Deactivate ( int id ) [inherited]

Deactivate the publish of a specific type of messages.

Parameters:

id

message type to deactivate.

Returns:: error code Messages of this type will not be played.

References FALSE, playback::message_types, and struct_message_types::publish.

int playback::Dispatch ( void ) [inherited]

Dispatch new recived status.

Returns:: error code This function acts on a message recived.

References playback::Play(), PLAY, and playback::status.

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gboolean drag_event_callback	(	GtkWidget *	,
		GdkEventButton *	event,
		gpointer	data
	)

Draw event callback Sets or resets drawing state. If the marker was pressed begin drawing else stop draging.

Get the pointer to the config structure

gboolean expose_event_callback	(	GtkWidget *	widget,
		GdkEventExpose *	,
		gpointer	data
	)

Redraw the underlying widget and timebars.

Static segments and initialise flag

Get the pointer to the config structure

Get the total number of time ticks to use

Get the widget name

If initialise alloc the segments and set their values from the timestamps

Alloc the pointers

Go through all the message types

Alloc all the segments

Set all the segments values

Alloc time ticks

Go through all the message types

Set all the segments values

Alloc time ticks

transform the name into an id

Create the message bar color and tick color

Draw the segments correspondig to the zone being redrawn

Draw the time ticks

void firei_server_n3_query_shminfo_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY	callData,
		void *
	)

References CAMERA_N3_SHMINFO_SERVER_NAME, err, camera_shminfo_server_message::host, TYPE_shm::id, camera_shminfo_server_message::shm_id, camera_shminfo_server_message::shm_size, TYPE_shm::size, and camera_shminfo_server_message::timestamp.

Referenced by auxiliar_firei_server_3_shm_to_message().

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int first_wordlength ( char * str )

gboolean force_redraw ( GtkWidget * widget )

void playback::GetAttribute	(	xmlTextReaderPtr	reader,
		const xmlChar *	name
	)			`[inherited]`

References playback::text.

Referenced by playback::IndexHandler().

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void playback::GetName ( xmlTextReaderPtr reader ) [inherited]

References playback::text.

Referenced by playback::CountHandler(), and playback::IndexHandler().

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void playback::GetValue ( xmlTextReaderPtr reader ) [inherited]

References playback::text, and value.

Referenced by playback::IndexHandler().

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void gui_shutdown_module ( int x )

gboolean h_scroll_moved	(	GtkRange *	,
		GtkScrollType	,
		gdouble	,
		gpointer	data
	)

Callback for scroll bar moves This function checks if it was i that moved the scroll bar and if not we turn off the autoscroll. When the used moves the scroll bar by hand the autoscroll is disabled.

Get the pointer to the config structure

void hokuyo_server_query_shminfo_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY	callData,
		void *
	)

References err, HOKUYO_SHMINFO_SERVER_NAME, hokuyo_shminfo_server_message::host, TYPE_shm::id, hokuyo_shminfo_server_message::shm_id, hokuyo_shminfo_server_message::shm_size, TYPE_shm::size, and hokuyo_shminfo_server_message::timestamp.

Referenced by auxiliar_hokuyo_shm_to_message().

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void playback::IndexHandler ( xmlTextReaderPtr reader ) [inherited]

References playback::AddNode(), struct_message::comment, struct_message_types::data_file, FALSE, playback::file_handle, struct_message_types::fmt, playback::struct_file_handle::folder, struct_message_types::formatter, fp, struct_message_types::fp, playback::GetAttribute(), playback::GetName(), playback::GetValue(), struct_message::id, struct_message_types::message_storage, playback::message_types, playback::messages, struct_message_types::name, null, struct_message_types::publish, pwarn, ret, struct_message::size, struct_message::start_position, playback::text, timestamp, struct_message::timestamp, and TRUE.

Referenced by playback::LowLevelIndex().

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int playback::IndexMessagesXML ( void ) [inherited]

Index the xml header file.

Returns:: error code This function reads the xml header file and parses into memory the messages in it.

Alloc message types

Alloc Message structures

References playback::CountMessages(), playback::file_handle, playback::LowLevelIndex(), playback::message_types, playback::messages, playback::struct_file_handle::name, playback::number_message_types, p, and playback::total_messages.

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void initialize_playback_format ( )

References i.

void ipm_query_shminfo_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY	callData,
		void *	clientData
	)

References err, TYPE_shm::id, IPM_SERVER_SHMINFO_MESSAGE_NAME, and TYPE_shm::size.

Referenced by auxiliar_ipm_shm_to_message().

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char* lar_ipm_shm_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR	fmt
	)

char * lar_unified_string_to_message	(	char *	string,
		void **	message,
		char *	logger_message_name,
		FORMATTER_PTR	fmt
	)

void LayoutTimebar	(	struct_window *	gtk,
		struct_gui_config *	config
	)

Layout labels with the time Draws a serires of labels on the GUI timestamps.

If initialise create the new labels and put them if the right place

If two labels became too close together i separate them and calculate the new total labels

Recalculate dx with the new total and calculate the dt

Alloc all the pointes

Create all the new labels

Referenced by zoom_change().

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void playback::LowLevelIndex ( char * filename ) [inherited]

References playback::IndexHandler(), and ret.

Referenced by playback::IndexMessagesXML().

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int main	(	int	argc,
		char **	argv
	)

Check arg count

Do forking and start gui

Start Ipc comm

Catch signals

Open Log file

Index messages and types

Registry message types

Send configuration message to gui (this functions waits untill the gui is connected to the ipc to publish a config message)

Subscribe command messages

Do main loop

void main_playback_loop ( void )

References advance_frame, current_position, fast, logfile_index, offset, paused, playback_starttime, playback_timestamp, print_playback_status(), read_message(), and rewind_frame.

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void manager_shutdown_module ( int x )

void MarkHighlitedType ( struct_combo * combo )

Changes the background on the selected message type.

Parameters:

combo

general data pointer

gboolean motion_event_callback	(	GtkWidget *	,
		GdkEventMotion *	event,
		gpointer	data
	)

Drags the marker Drags the marker to a new position making a seek in the manager.

Get the pointer to the config structure

gboolean mouse_over	(	GtkWidget *	,
		GdkEventCrossing *	event,
		gpointer	data
	)

Mouse over callback Change marker background color.

Get the pointer to the config structure

void MoveMarker	(	struct_combo *	combo,
		double	time
	)

Move the marker to a new position.

void MoveScrollBar ( struct_combo * combo )

Move the scroll bar This function moves the horizontal scroll bar if the autoscroll is enabled.

void on_destroy	(	GtkWidget *	,
		gpointer
	)

Destroy callback Kill it self and the father.

Referenced by main().

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int playback::OpenLogFile ( char * filename ) [inherited]

Open log file.

Parameters:

filename

Name of the header file.

Returns:: error code This function set the log header file name.

Obtain log folder

References playback::file_handle, playback::struct_file_handle::folder, i, and playback::struct_file_handle::name.

int playback::Play ( void ) [inherited]

Play mode.

Returns:: error code This function enters play mode. In this mode messages are continuously read from memory and sent. Controls can be sent to the player module to stop this mode.

Check with direction are we going and select the right message

Sleep the required time to reach the next message

Test if this message is to be played or not

reached the end of file

References BACKWARD, playback::current_message, playback::direction, FORWARD, playback::message_types, playback::messages, PLAY, playback::ReadMessageFromFile(), playback::SendMessage(), playback::Sleep(), playback::speed, playback::status, STOP, timediff(), struct_message::timestamp, and playback::total_messages.

Referenced by playback::Dispatch().

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playback::playback ( ) [inherited]

PLayback constructur. Stars a new playback class.

References playback::cmsg, playback::current_message, playback::direction, FORWARD, null, playback::number_message_types, playback::publish_status_frequency, playback::smsg, playback::speed, playback::status, and STOP.

void playback_command_handler ( carmen_playback_command_message * command )

References advance_frame, current_position, offset, paused, playback_speed, playback_starttime, playback_timestamp, print_playback_status(), and rewind_frame.

Referenced by register_ipc_messages().

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int playback_publish_command ( playback_command_message * msg )

Publishes playback_command_message messages. Uses broadcast to all subscribers. Usually is only used by playback.

Parameters:

msg

Pointer to message.

Returns:: nothing

int playback_publish_status ( playback_status_message * msg )

Publishes playback_status_message messages. Uses broadcast to all subscribers. Usually is only used by playback.

Parameters:

msg

Pointer to message.

Returns:: nothing

Referenced by playback::PublishStatus().

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int playback_subscribe_command	(	playback_command_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Subscribes playback_command_message messages. Uses broadcast to all subscribers. Can be used by other modules.

Parameters:

	msg	Pointer to message. When a new message is received the variable msg is filled with the new command.
	handler	pointer to function that should be executed when a message is received. If NULL no function is called.
	subscribe_how	Value that says if all messages are to be received CARMEN_SUBSCRIBE_ALL or if only the more recent is important CARMEN_SUBSCRIBE_LATEST.

int playback_subscribe_status	(	playback_status_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Subscribes playback_status_message messages. Uses broadcast to all subscribers. Can be used by other modules.

Parameters:

	msg	Pointer to message. When a new message is received the variable msg is filled with the new status.
	handler	pointer to function that should be executed when a message is received. If NULL no function is called.
	subscribe_how	Value that says if all messages are to be received CARMEN_SUBSCRIBE_ALL or if only the more recent is important CARMEN_SUBSCRIBE_LATEST.

int player_publish_config ( player_config_message * msg )

Publishes player_config_message messages.

Parameters:

msg

Pointer to message.

Returns:: nothing

int player_publish_list ( player_list_message * msg )

int player_subscribe_config	(	player_config_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Subscribes player_config_message messages.

Parameters:

	msg	Pointer to message. When a new message is received the variable msg is filled with the new config.
	handler	pointer to function that should be executed when a message is received. If NULL no function is called.
	subscribe_how	Value that says if all messages are to be received CARMEN_SUBSCRIBE_ALL or if only the more recent is important CARMEN_SUBSCRIBE_LATEST.

int player_subscribe_list	(	player_list_message *	msg,
		carmen_handler_t	handler,
		carmen_subscribe_t	subscribe_how
	)

Subscribes player_messages_message messages. Uses broadcast to all subscribers. Can be used by other modules.

Parameters:

	msg	Pointer to message. When a new message is received the variable msg is filled with the new config.
	handler	pointer to function that should be executed when a message is received. If NULL no function is called.
	subscribe_how	Value that says if all messages are to be received CARMEN_SUBSCRIBE_ALL or if only the more recent is important CARMEN_SUBSCRIBE_LATEST.

int playback::PlaySingleMessage ( int message_number ) [inherited]

Play single message.

Parameters:

message_number

message to play

Returns:: error code This function reads from the data file a message and sends it with IPC.

References playback::ReadMessageFromFile(), ret, and playback::SendMessage().

Referenced by playback::Seek(), playback::StepBackward(), and playback::StepForward().

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void print_playback_status ( void )

References paused, playback_timestamp, and str.

Referenced by main_playback_loop(), playback_command_handler(), and read_message().

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void print_xpath_nodes	(	xmlNodeSetPtr	nodes,
		FILE *	output
	)

void printf_usage ( char * argv )

Prints this module usage.

void PublishConfigMessage ( void )

Publish a configure message to the gui. This function sends a configure message to the GUI. It waits for it to be ready.

Copy all data

Wait for the gui

int playback::PublishStatus	(	playback_status_message *	msg,
		bool	force = `FALSE`
	)			`[inherited]`

Publish a status message.

Parameters:

	msg	IPC message struct.
	force	force a message to be sent. This function periodicly sends a IPC message containing the player status. This message is recived the the GUI.

References playback::current_message, playback_status_message::message, playback::messages, playback_publish_status(), playback::publish_status_frequency, playback::status, playback_status_message::status, playback_status_message::time, and struct_message::timestamp.

Referenced by playback::Sleep(), playback::StepBackward(), and playback::StepForward().

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void query_laser_handler	(	MSG_INSTANCE	msgRef,
		BYTE_ARRAY	callData,
		void *	clientData
	)

void read_line	(	FILE *	buffer,
		char *	line
	)

Reads a line from a buffer.

get a full line from the file

Parameters:

	buffer	File buffer.
	line	pointer to a place where the line will be placed.

Referenced by load_pts(), and module_from_file().

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int read_message	(	int	message_num,
		int	publish
	)

References basic_messages, command, logger_callback_t::conv_func, err, i, logfile, logfile_index, MAX_LINE_LENGTH, playback_timestamp, print_playback_status(), and wait_for_timestamp().

Referenced by main_playback_loop().

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void read_parameters	(	int	argc,
		char **	argv
	)

References basic_messages, fast, index, paused, and usage().

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int playback::ReadMessageFromFile ( int message_number ) [inherited]

Read message from data file.

Parameters:

message_number

message to read

Returns:: error code This function reads from the data file a specific message corresponding to the number message_number.

Allocs the byte array with the known message size

Moves the file pointer to the start of the message

Reads the message from the data file

Free the last message

Unmarshall the message to the storage area

Free the byte array

References fp, i, struct_message::id, struct_message_types::message_storage, playback::message_types, playback::messages, null, playback::start_time, timestamp, and playback::total_messages.

Referenced by playback::Play(), and playback::PlaySingleMessage().

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void register_ipc_messages ( void )

References CAMERA_N0_IMAGE_FMT, CAMERA_N0_IMAGE_NAME, CAMERA_N1_IMAGE_FMT, CAMERA_N1_IMAGE_NAME, CAMERA_N2_IMAGE_FMT, CAMERA_N2_IMAGE_NAME, CAMERA_N3_HEARTBEAT_FMT, CAMERA_N3_HEARTBEAT_NAME, CAMERA_N3_IMAGE_FMT, CAMERA_N3_IMAGE_NAME, err, GPS_GPGGA_DATA_MESSAGE_FMT, GPS_GPGGA_DATA_MESSAGE_NAME, GPS_GPRMC_DATA_MESSAGE_FMT, GPS_GPRMC_DATA_MESSAGE_NAME, HOKUYO_POINTCLOUD_MESSAGE_FMT, HOKUYO_POINTCLOUD_MESSAGE_NAME, HOKUYO_UTM_HEARTBEAT_FMT, HOKUYO_UTM_HEARTBEAT_NAME, IPM_HEARTBEAT_MESSAGE_FMT, IPM_HEARTBEAT_MESSAGE_NAME, LASER3D_POINTCLOUD_MESSAGE_FMT, LASER3D_POINTCLOUD_MESSAGE_NAME, playback_command_handler(), ROBOT_LIGHTS_COMMAND_FMT, ROBOT_LIGHTS_COMMAND_NAME, ROBOT_MOTION_COMMAND_FMT, ROBOT_MOTION_COMMAND_NAME, XB3_3DPOINTCLOUD_MESSAGE_FMT, XB3_3DPOINTCLOUD_MESSAGE_NAME, XB3_STEREOIMAGE_MESSAGE_FMT, XB3_STEREOIMAGE_MESSAGE_NAME, XSENS_DATA_MESSAGE_FMT, and XSENS_DATA_MESSAGE_NAME.

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int playback::RegisterMessages ( void ) [inherited]

Register IPC messages.

Returns:: error code This function registers IPC message formats.

References err, i, playback::message_types, and playback::number_message_types.

int playback::Seek ( double time ) [inherited]

Jump to a specific time.

Parameters:

time

time to seek. Finds the time in the timesteps and moves the current_message.

References playback::current_message, i, playback::messages, playback::PlaySingleMessage(), and timestamp.

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int playback::SendMessage ( int message_number ) [inherited]

Send message via IPC.

Parameters:

message_number

message to send

Returns:: error code Sends a message via IPC corresponding to message_number.

Publish message

References playback::message_types, and playback::messages.

Referenced by playback::Play(), and playback::PlaySingleMessage().

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int playback::SetDirection ( enum_status new_status ) [inherited]

Sets the direction variable.

Parameters:

new_status

new direction to be set

Returns:: error code This function sets the direction variable. The direction variable indicates in which direction are messages being played.

References playback::direction.

int playback::SetSpeed ( double new_speed ) [inherited]

Sets the speed variable.

Parameters:

new_speed

new set to be used

Returns:: error code This function sets the speed variable.

References playback::speed.

int playback::SetStatus ( enum_status new_status ) [inherited]

Sets the status variable.

Parameters:

new_status

new status to be set

Returns:: error code This function sets the status variable. The status variable indicates if the player is playing or stoped, and a change in it's value forces the player to go to that status.

References playback::status.

void shutdown_playback_module ( int sig )

References TYPE_shm::data, and TYPE_shm::id.

void playback::Sleep ( double time ) [inherited]

Sleep function.

Parameters:

time

time to sleep. When the player is playing this function is used to perform the sleep between messages.

References playback::PublishStatus(), and status_message.

Referenced by playback::Play().

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gboolean speed_change	(	GtkRange *	range,
		gpointer
	)

Callback for speed change Gets the new value and sends it to the manager.

Get the current range position

If greater than 0 send a forward message and set speed

If 0 send a stop message

Else send a backward message and the speed value

int StartGui	(	int	argc,
		char **	argv
	)

Main GUI function This function starts the GUI.

Start Ipc comm

Catch signals

Set the config default values

With for the rest of the configuration from the father process

Subscribe status messages

void status_handler ( playback_status_message * msg )

int playback::StepBackward ( double type ) [inherited]

Steps one message backward.

Parameters:

type

message type to step.

Returns:: error code Jumps one message of a defined type, messages of other types that stand in the way are published disregarding their timestamp.

References playback::current_message, playback::messages, playback::PlaySingleMessage(), playback::PublishStatus(), status_message, and TRUE.

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int playback::StepForward ( double type ) [inherited]

Steps one message forward.

Parameters:

type

message type to step.

Returns:: error code Jumps one message of a defined type, messages of other types that stand in the way are published disregarding their timestamp.

References playback::current_message, playback::messages, playback::PlaySingleMessage(), playback::PublishStatus(), status_message, playback::total_messages, and TRUE.

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int playback::Stop ( void ) [inherited]

Stop the player.

Returns:: error code Same as SetStatus(STOP);

References playback::status, and STOP.

void subscribe_hokuyo_initial_data ( void )

References TYPE_shm::data, HOKUYO_SHMINFO_QUERY_FMT, HOKUYO_SHMINFO_QUERY_NAME, HOKUYO_SHMINFO_SERVER_FMT, HOKUYO_SHMINFO_SERVER_NAME, TYPE_shm::id, TYPE_shm::key, and TYPE_shm::size.

void subscribe_ipm_initial_data ( void )

gint timeout_callback ( gpointer )

GTK timeout. This function forces the GUI to sleep.

void usage	(	char *	fmt,
			...
	)

Referenced by read_parameters().

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void wait_for_timestamp ( double ts )

References fast, paused, playback_speed, and playback_starttime.

Referenced by read_message().

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void WaitForFirstMessage ( struct_gui_config * config )

Waits for first message.

Parameters:

config

general config This function waits for the player to send it a configuration message.

Get the layout width and log lenght, also set the unresticted_maximum_zoom config variable

Alloc the messages data structures

Copy the names and set the number of messages to zero

Get the number of messages

Malloc the messages timestamps

Create local counter of messages

Get the timestamps

gboolean zone_pressed_callback	(	GtkWidget *	widget,
		GdkEventButton *	event,
		gpointer	data
	)

Function called when a zone was pressed Seeks to the position seleted and changes the highlited_type.

Get the pointer to the config structure

Get the widget name

gboolean zoom_change	(	GtkRange *	range,
		gpointer	data
	)

Callback for zoom change This function redraws widgets based on the new zoom level.

Get the pointer to the config structure

References struct_combo::config, struct_combo::gtk, i, struct_window::layout, struct_gui_config::layout_height, struct_gui_config::layout_width, LayoutTimebar(), struct_gui_config::messages, struct_gui_config::number_message_types, logged_message_type::number_messages, struct_gui_config::redraw_lines, struct_gui_config::redraw_timeline, struct_gui_config::total_log_lenght, TRUE, struct_window::zone, struct_gui_config::zone_heigth, struct_gui_config::zoom, and struct_window::zoom_adjust.

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playback::~playback ( ) [inherited]

PLayback deconstructur.

Variable Documentation

int advance_frame = 0

Referenced by main_playback_loop(), and playback_command_handler().

int basic_messages = 0

Referenced by read_message(), and read_parameters().

camera_image_message* camera_n0

camera_image_message* camera_n1

camera_image_message* camera_n2

camera_image_message* camera_n3

camera_heartbeat_message* camera_n3_heartbeat

playback_command_message command_message

playback control

int current_position = 0

Referenced by main_playback_loop(), and playback_command_handler().

struct_combo* data

Pointer to a global structure containing a representation of the GUI.

Referenced by main().

carmen_FILE* datafile = NULL

Referenced by auxiliar_firei_server_3_shm_to_message(), auxiliar_hokuyo_shm_to_message(), auxiliar_ipm_shm_to_message(), and data_file_to_message().

int fast = 0

Referenced by main_playback_loop(), read_parameters(), and wait_for_timestamp().

TYPE_shm firei_server_n3_shm

FORMATTER_PTR format

Referenced by main(), logger::ReadFormatsFromFile(), subscribe_camera_3_initial_data(), subscribe_ipm_initial_data(), and logger::WriteMessageTypes().

gps_gpgga_data_message* gpgga

gps_gprmc_data_message* gprmc

hokuyo_pointcloud_message* hokuyo_3d

hokuyo_utm_heartbeat_message* hokuyo_heartbeat

carmen_laser_laser_message* hokuyo_message

TYPE_shm hokuyo_server_shm

ipm_data_message* ipm_data_msg

ipm_heartbeat_message* ipm_heartbeat

Referenced by heartbeat_handler(), and main().

TYPE_ipm_expert_params ipm_params

TYPE_shm ipm_shm

IplImage* ipmauxiliar = NULL

Referenced by subscribe_ipm_initial_data().

TYPE_laser3d_pointcloud_message* laser3d_message

double last_logfile_time = 0.0

robot_lights_command_message* lights_command

carmen_FILE* logfile = NULL

Referenced by read_message().

carmen_logfile_index_p logfile_index = NULL

Referenced by main_playback_loop(), and read_message().

logger_callback_t logger_callbacks[]

Initial value:

 {
    {(char*)ROBOT_MOTION_COMMAND_NAME,(char*)ROBOT_MOTION_COMMAND_FMT, (converter_func)data_file_to_message, (void**)&motion_command, 0,NULL},
    {(char*)ROBOT_LIGHTS_COMMAND_NAME,(char*)ROBOT_LIGHTS_COMMAND_FMT, (converter_func)data_file_to_message, (void**)&lights_command, 0,NULL},
    {(char*)LASER3D_POINTCLOUD_MESSAGE_NAME,(char*)LASER3D_POINTCLOUD_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&laser3d_message, 0,NULL},
    {(char*)CAMERA_N0_IMAGE_NAME,(char*)CAMERA_N0_IMAGE_FMT, (converter_func)data_file_to_message, (void**)&camera_n0, 0,NULL},
    {(char*)CAMERA_N1_IMAGE_NAME,(char*)CAMERA_N1_IMAGE_FMT, (converter_func)data_file_to_message, (void**)&camera_n1, 0,NULL},
    {(char*)CAMERA_N2_IMAGE_NAME,(char*)CAMERA_N2_IMAGE_FMT, (converter_func)data_file_to_message, (void**)&camera_n2, 0,NULL},
    {(char*)CAMERA_N3_IMAGE_NAME,(char*)CAMERA_N3_IMAGE_FMT, (converter_func)data_file_to_message, (void**)&camera_n3, 0,NULL},
    {(char*)IPM_HEARTBEAT_MESSAGE_NAME,(char*)IPM_HEARTBEAT_MESSAGE_FMT, (converter_func)auxiliar_ipm_shm_to_message, (void**)&ipm_heartbeat, 0,NULL},
    {(char*)CAMERA_N3_HEARTBEAT_NAME,(char*)CAMERA_N3_HEARTBEAT_FMT, (converter_func)auxiliar_firei_server_3_shm_to_message, (void**)&camera_n3_heartbeat, 0,NULL},
    {(char*)HOKUYO_UTM_HEARTBEAT_NAME,(char*)HOKUYO_UTM_SERVER_DATA_FMT, (converter_func)auxiliar_hokuyo_shm_to_message, (void**)&hokuyo_heartbeat, 0,NULL},
    {(char*)XSENS_DATA_MESSAGE_NAME,(char*)XSENS_DATA_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&xsens_message, 0,NULL},
    {(char*)XB3_3DPOINTCLOUD_MESSAGE_NAME,(char*)XB3_3DPOINTCLOUD_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&xb3_message, 0,NULL},
    {(char*)XB3_STEREOIMAGE_MESSAGE_NAME,(char*)XB3_STEREOIMAGE_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&xb3_image_message, 0,NULL},
    {(char*)GPS_GPGGA_DATA_MESSAGE_NAME,(char*)GPS_GPGGA_DATA_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&gpgga, 0,NULL},
    {(char*)GPS_GPRMC_DATA_MESSAGE_NAME,(char*)GPS_GPRMC_DATA_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&gprmc, 0,NULL},
    {(char*)HOKUYO_POINTCLOUD_MESSAGE_NAME,(char*)HOKUYO_POINTCLOUD_MESSAGE_FMT, (converter_func)data_file_to_message, (void**)&hokuyo_3d, 0,NULL}
}